System and method for identifying inclination state of rigid shaft guide in vertical shaft

Abstract

Disclosed in the present invention are a system and method for identifying the inclination state of a rigid shaft guide in a vertical shaft. The system comprises a system apparatus fixing layer erected at the top of a shaftway, wherein several guide pulleys are mounted on the system apparatus fixing layer, and at least one guide pulley hoists a lifting container by means of a traction rope. The system further comprises a plumb-line position reference system, a laser detection system and a data acquisition and transmission system. By means of lowering plumb lines inside the shaftway to the bottom of a vertical shaft, and providing at a wellhead a vertical laser beam mechanism capable of pose adjustment, and in combination with three-point plumb reference coordinates, error mathematical models at different positions are obtained. In addition, a photosensitive sensor, such as a monitoring probe, is arranged on the lifting container to acquire the light-spot translation state of a light beam at the upper part of the lifting container during the entire operation process of the lifting container, a mathematical mapping model of light spots and the inclination state of a shaft guide is established, and characterization parameters of the inclination state are obtained, thereby regularly inspecting the inclination state of the shaft guide in the vertical shaft, and solving the problem whereby the inclination of the shaft guide cannot be accurately detected without affecting coal mine operations.

Description

A system and method for identifying the tilting state of a rigid shaft guideway Technical Field

[0001] This invention relates to the field of vertical shaft hoisting monitoring technology, specifically to a vertical shaft rigid guideway tilting state identification system and method. Background Technology

[0002] As a component of the coal mine vertical shaft hoisting system, the cage guideway provides guidance and stability during system operation. Rigid cage guideways effectively limit the horizontal rotation and sway of the hoisting container and prevent cage falls. Since the 21st century, with the continuous increase in the depth of coal mining in my country, the internal structure and equipment of the entire shaft have also increased, indirectly leading to increased pressure on the shaft wall. Especially during mining, the shaft is affected by dynamic pressure, causing cage guideway tilting and deformation, significantly increasing the safety hazards of deep shaft hoisting systems. Currently, fault detection technology for rigid cage guideways mainly relies on manual inspection methods. However, manual fault detection methods have significant limitations and low accuracy in fault diagnosis, while also being too costly.

[0003] Furthermore, Chinese patent application CN211141224U discloses a real-time monitoring system for rigid guideways in vertical shaft hoisting systems, which determines the status of the rigid guideways by combining sound and vibration data. However, in actual operating conditions, sound and vibration signals are subject to significant noise interference, placing excessive demands on noise processing technology, reducing the accuracy of signal recognition, and consequently decreasing safety.

[0004] To avoid such dangerous accidents, this invention develops a vertical shaft rigid tank passage tilting status identification system and method to detect faults in a timely manner and take maintenance measures to avoid personnel casualties. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a vertical shaft rigid guideway tilting state identification system and method. This system involves placing a plumb line extending to the bottom of the shaft within the guideway, and setting up a vertical laser beam mechanism with posture adjustment at the shaft opening. A mathematical model of the error at different positions is obtained by combining three-point vertical reference coordinates. Simultaneously, a light-sensitive sensor, such as a monitoring probe, is installed on the hoisting container to acquire the translational state of the laser beam spot on the upper part of the hoisting container throughout its operation. A mathematical mapping model between the laser beam spot and the guideway tilting state is established to obtain the characterization parameters of the tilting state, thus solving the problem that guideway tilting cannot be perceived through the hoisting container's operating status.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A vertical shaft rigid tank passage tilting state identification system includes a system equipment fixing layer erected on the top of the shaft, a number of guide wheels installed on the system equipment fixing layer, and a lifting container suspended on at least one guide wheel by a traction rope. It also includes a plumb line position reference system, a laser detection system and a data acquisition and transmission system.

[0008] The plumb line position reference system is used to provide plumb reference coordinates within the shaft. It includes at least three plumb lines and at least four CDD industrial cameras. The plumb lines pass through the system equipment fixing layer and hang down to the bottom of the vertical shaft pipe. The contact point between the plumb line and the system equipment fixing layer is defined as the plumb line vertex. The multiple CDD industrial cameras are divided into two groups, and the two groups of CDD industrial cameras are fixed at the wellhead and the bottom of the vertical shaft pipe, respectively.

[0009] The laser detection system includes at least two laser emitters and a rope traction mechanism. The rope traction mechanism is installed on the fixed layer of the system equipment, and the laser emitters are installed at the bottom of the rope traction mechanism. The laser emitters have a vertical state adjustment function. Multiple laser emitters emit vertical laser beams to the bottom of the shaft and the top of the lifting container, respectively. The rope traction mechanism is used to adjust the position of the laser emitters and the vertical state of the laser beams.

[0010] The data acquisition and transmission system includes a CCD industrial camera, a photosensitive sensor panel, and a data box. The photosensitive sensor panel is fixed on the top of the lifting container and is used to receive and display the light spot projected by the laser beam on the lifting container. The CCD industrial camera is mounted on the top center of the photosensitive sensor panel via an L-shaped bracket and is used to acquire the characteristic image of the laser beam. The data box is fixed on the top of the lifting container and is used to transmit analog signals.

[0011] Preferably, the top of the rope traction mechanism is installed at the bottom of the system equipment fixing layer via a crash barrier. The rope traction mechanism includes a drive system, a wire rope, and a load platform. The drive system includes multiple wire rollers driven by motors. The wire rollers pull the load platform via fixed pulleys and wire ropes. The multiple wire rollers correspond one-to-one with the multiple fixed pulleys and the wire ropes and are evenly distributed on the crash barrier and the load platform.

[0012] Preferably, the system further includes a wireless router and a host computer, wherein the number of wireless routers is set to multiple, and the multiple wireless routers are installed on the inner wall of the shaft, and the host computer is installed on the ground at the top of the shaft;

[0013] The data box includes a data acquisition card, which receives analog signals output from a CCD industrial camera and transmits the output analog signals to a host computer via a wireless router. The host computer then converts the analog signals into digital signals for corresponding calculations.

[0014] Preferably, the anti-collision plate and the load platform have the same cross-sectional shape, and the horizontal cross-sectional area of ​​the anti-collision plate is larger than that of the load platform, so that the multiple wire ropes are distributed in an inward contraction shape from top to bottom;

[0015] In the initial state, the load platform is located directly below the crash barrier, and the crash barrier and the load platform are coaxially distributed.

[0016] Preferably, the cross-sectional shape of the anti-collision plate and the load platform is set to hexagonal, and the anti-collision plate and the load platform have a 60° misalignment angle on the horizontal plane;

[0017] The number of combined structures formed by the wire roll, fixed pulley, and wire rope is set to six, and the six combined structures are installed at the six apex positions of the anti-collision plate.

[0018] Preferably, the number of plumb lines is set to three, the three plumb lines are distributed in an isosceles triangle, and the three plumb lines are parallel to each other in pairs, forming a three-point plumb reference coordinate with the CDD industrial camera;

[0019] The system equipment fixing layer has through holes at the two top corners on the left and the center on the right. Each of the three through holes has a vertical guide wheel on one side. Three plumb lines are installed on the guide wheels and pass through the three through holes.

[0020] The number of CDD industrial cameras is set to four. Two CDD industrial cameras are placed at the bottom of the shaft wall, using three plumb lines as references to obtain the relative position information of the laser beam. The other two CDD industrial cameras are placed at the shaft opening wall, using the absolute coordinate system formed by the three plumb lines as references to obtain the relative position information of each laser emitter and rope traction mechanism.

[0021] A method for identifying the tilt state of a rigid shaft guideway, employing a rigid shaft guideway tilt state identification system, includes the following steps:

[0022] S1: Establish an absolute coordinate system: Extract the vertices of the three plumb lines, establish an absolute coordinate system with the coordinates of the vertex of one of the left corners as the origin, and determine the position coordinates of the tops of the three plumb lines.

[0023] Where the origin of the absolute coordinate system is O(0,0,0), the unit scale is pixels, and the i-th coordinate point in the coordinate system is P(x i ,y i ,z i ), and i≥1;

[0024] x i The horizontal coordinate value of the i-th coordinate point on the cross section where the origin O is located;

[0025] y i The coordinate value of the i-th coordinate point is the vertical coordinate value on the cross section where the origin O is located;

[0026] z i Let z be the height coordinate value of the i-th coordinate point in the absolute coordinate system, and |z| i | is equal to the shortest straight-line distance from point P to the cross section containing the origin O;

[0027] S2: Determine the vertical state information of the laser beam: The determination steps are as follows:

[0028] S2.1: When the lifting container is in the ready-to-operate state, adjust the rope traction mechanism to move to the middle gap between the vertical shaft pipe and the lifting container on one side, so that the laser beam emitted by at least one laser emitter is vertically directed towards the bottom of the vertical shaft.

[0029] S2.2: Obtain images and relative position coordinates of the laser emitter and the laser point at the bottom of the shaft relative to the horizontal vertices of the three plumb lines using CDD cameras on both sides of the bottom of the shaft and CDD cameras on both sides of the shaft opening;

[0030] S2.3: The data box receives the image and relative position coordinate information obtained in S2.2, and transmits the analog signal to the host computer through the wireless router. The host computer converts it into digital quantity and uses the position algorithm to calculate the position difference of the laser beam projection.

[0031] S2.4: Calculate the position difference of the laser beam projection based on the position algorithm, determine the change in the horizontal distance of the laser beam before and after the projection from the three vertical lines, and then determine whether the laser beam is emitted perpendicularly.

[0032] S3: Adjusting the vertical state of the laser beam: If a significant deviation of the laser beam is determined in S2, the pose of the load platform of the rope traction mechanism is adjusted as follows:

[0033] S3.1: Adjust the rope traction mechanism on the side corresponding to the horizontal direction to change the tilt angle of the load platform in the horizontal direction, so that the laser beam tends to be projected vertically in the horizontal direction.

[0034] S3.2: Adjust the rope traction mechanism on the side corresponding to the vertical direction to change the tilt angle of the load platform in the vertical direction, so that the laser beam tends to be projected vertically in the vertical direction;

[0035] S3.3: In the adjustments of S3.1 and S3.2, the laser beam projection position difference is calculated again. The process of adjusting the posture of the reciprocating load platform and calculating the laser beam projection position difference makes the distance difference between the laser emitter and the laser point at the bottom of the shaft relative to the horizontal vertices of the three vertical lines zero, thereby enabling the laser beam to be in an absolutely vertical projection state.

[0036] S4: Determine the initial tilt of the laser beam: In the case where absolute verticality is not achieved, the image and relative position coordinates of the laser point and laser emitter at the bottom of the shaft are obtained by the CDD camera at the bottom of the shaft. The relative distances of the laser point and laser emitter at the bottom of the shaft to the horizontal vertices of the three vertical lines are calculated and the specific coordinate position information is determined. Thus, the tilt of the laser beam is determined and the tilt at this time is identified as the initial tilt, denoted by ΔFx and ΔFy. ΔFx and ΔFy are the initial slopes of the laser beam in the horizontal and vertical directions of the projection at the bottom of the shaft, respectively.

[0037] S5: Obtain the translation state of the laser beam spot on the upper part of the lifting container: After determining the initial tilt state of the laser beam in S4, move the rope traction mechanism to move one of the vertical laser beams to the relative center point of the photosensitive sensor panel, and adjust the position of the CDD camera until it can acquire the image of the entire screen.

[0038] S6: Assessment and judgment of the tilt state of the tank guide: During the operation of the lifting container, the data acquisition and transmission system continuously acquires the feature image and relative position coordinates of the laser point. By calculating the displacement difference between the current position coordinates and the initial position coordinates before operation, the change in the slope of the laser beam under the tilt state of the rigid tank guide is obtained, denoted by ΔFx' and ΔFy'. ΔFx' and ΔFy' are the changes in the slope of the laser beam projection in the horizontal and vertical directions after the rigid tank guide is tilted, respectively. The change in slope is compared with the initial slope to determine the offset of the rigid tank guide.

[0039] Preferably, the position algorithm in S2 conforms to the following formula:

[0040] ΔD(x,y,z)=D ABC -D A1B1C1 (2-1)

[0041] In formula (2-1): ΔD(x,y,z) is the change in the laser beam projection at the bottom of the well and the position coordinates of the laser beam at the wellhead;

[0042] D ABC The initial horizontal distances from the laser emitter projecting the laser beam to the bottom of the well to the three vertical lines are known values;

[0043] D A1B1C1 The distance from the laser point at the bottom of the well to the horizontal vertices of the three plumb lines is known.

[0044] Preferably, the motion trajectory for adjusting the pose of the load platform in step S3 conforms to the following formula:

[0045]

[0046] In formula (3-1): x is the horizontal movement distance of the load platform (14-3), which is a known value;

[0047] y is the vertical distance that the load platform (14-3) moves, which is a known value;

[0048] R is the base circle radius of the circumscribed circle of the load platform (14-3), which is a known value;

[0049] A is the amplitude of the sinusoidal trajectory, a fixed value, set according to the movement accuracy (it should be less than the value of the base circle radius);

[0050] D is the horizontal height of the load platform (14-3), a constant value;

[0051] z is the longitudinal movement distance of the load platform (14-3), a constant;

[0052] The movement of the load platform on the horizontal plane at a height of D is determined by the equation (3-1), so that the adjustment stroke of the load platform meets the movement requirements of the laser emitter on the upper part of the lifting container.

[0053] Preferably, the calculation formulas for ΔFx and ΔFy in S4 are as follows:

[0054]

[0055] In formulas (4-1) and (4-2): D X The horizontal coordinates of the laser emitter (5) are known.

[0056] D 2X Let be the horizontal coordinates of the actual projection of the laser beam (13), which are known values;

[0057] D Y Let be the vertical coordinate of the laser emitter (5), with known values;

[0058] D 2Y The vertical coordinates of the actual projection of the laser beam (13) are known values;

[0059] S is the distance from the laser emitter (5) to the bottom of the shaft, a known value;

[0060] The slope parameters of the laser beam (13) after the initial state are obtained by calculation. The calculated ΔFx and ΔFy are substituted into the following formula to calculate ΔFx' and ΔFy'.

[0061]

[0062] In formulas (6-1) and (6-2): D 4X The horizontal coordinates of the actual projection of the laser beam (13) onto the top of the lifting container (7);

[0063] D 4Y The vertical coordinates of the actual projection of the laser beam (13) onto the top of the lifting container (7);

[0064] X is the distance that the lifting container (7) descends during runtime;

[0065] When the tank channel is in an untilted state, the values ​​of the slope changes ΔFx' and ΔFy' of the laser beam (13) are zero.

[0066] The present invention has the following beneficial effects:

[0067] 1. By placing a plumb line inside the shaft up to the bottom, and setting up a vertical laser beam mechanism with posture adjustment at the shaft opening, and combining three-point plumb reference coordinates, an error mathematical model is obtained at different positions. At the same time, a light-sensitive sensor, such as a monitoring probe, is set up on the hoisting container to obtain the translation state of the laser beam spot on the upper part of the hoisting container during the entire operation process. A mathematical mapping model between the laser beam spot and the tilt state of the hoisting channel is established. The tilt state of the hoisting channel is evaluated and judged, and the offset of the rigid hoisting channel can be determined. This enables the periodic automated inspection of the tilt state of the vertical shaft hoisting channel without manual intervention, protecting the safety of the workers. Without affecting coal mine operations, it solves the problem of inaccurate detection of hoisting channel tilt. The measurement data has high reliability, and the measurement accuracy and recognition accuracy can meet the needs of the city level, significantly improving safety.

[0068] 2. The vertical shaft rigid tank passage tilting state identification system provided by this invention uses a combination of a plumb line position reference system, a laser detection system, and a data acquisition and transmission system. It uses multiple plumb lines and multiple CDD industrial cameras to construct a vertical reference coordinate system in the shaft. The data acquisition and transmission system receives and processes the data based on the adjustment of the rope traction mechanism and the laser beam and landing point of the laser emitter. The system has a simple structure, is easy to use, has good detection effect, and is low in cost, making it easy to promote and use. Attached Figure Description

[0069] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0070] Figure 1 is a schematic diagram of the topology of the vertical shaft rigid tank passage tilting state identification system provided by the present invention.

[0071] Figure 2 is a schematic diagram of the data acquisition and transmission system of the present invention installed on the top of the lifting container and cooperating with the laser emitter.

[0072] Figure 3 is a schematic diagram of the data acquisition and transmission system in this invention;

[0073] Figure 4 is a schematic diagram of the rope traction mechanism in this invention;

[0074] Figure 5 is a schematic diagram of the geometric model of the beam spot displacement state on the upper part of the lifting container during the lifting operation of the lifting container according to the present invention.

[0075] Figure 6 is a schematic diagram of the geometric model of the initial spot displacement state of the laser beam at the bottom of the vertical shaft in this invention;

[0076] Figure 7 is a bottom view of the rope traction mechanism in this invention.

[0077] Among them are:

[0078] 1-Guide wheel; 2-Guide wheel fixing plate; 3-Anti-collision plate; 4-Data acquisition and transmission system; 5-Laser emitter; 6-CDD industrial camera; 7-Lifting container; 8-Plumb line; 9-Laser point at the bottom of the vertical shaft pipe; 10-Vertical pole of the plumb line; 11-Host computer; 12-Wireless router; 13-Laser beam; 14-Rope traction mechanism;

[0079] 4-1-L-shaped bracket; 4-2-CDD industrial camera; 4-3-Photosensitive sensor panel; 4-4-Data box;

[0080] 14-1-Drive system; 14-2-Wire rope; 14-3-Load platform. Detailed Implementation

[0081] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0082] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0083] As shown in Figures 1-3, a vertical shaft rigid tank passage tilting state identification system includes a system equipment fixing layer 2 erected on the top of the shaft, a plurality of guide wheels 1 installed on the system equipment fixing layer 2, and a lifting container 7 suspended on at least one guide wheel 1 by a traction rope. The system also includes a plumb line position reference system, a laser detection system and a data acquisition and transmission system.

[0084] A plumb line position reference system is used to provide plumb reference coordinates within the shaft. It includes at least three plumb lines 8 and at least four CDD industrial cameras 6. The plumb lines 8 pass through the system equipment fixing layer 2 and hang down to the bottom of the vertical shaft pipe. The contact point between the plumb line 8 and the system equipment fixing layer 2 is defined as the plumb line vertex 10. The multiple CDD industrial cameras 6 are divided into two groups, and the two groups of CDD industrial cameras 6 are fixed to the wellhead and the bottom of the vertical shaft pipe, respectively.

[0085] The laser detection system includes at least two laser emitters 5 and a rope traction mechanism 14. The rope traction mechanism 14 is installed on the system equipment fixing layer 2. The laser emitters 5 are installed at the bottom of the rope traction mechanism 14. The laser emitters 5 have a vertical state adjustment function. Multiple laser emitters 5 emit vertical laser beams 13 to the bottom of the shaft and the top of the lifting container 7 respectively. The rope traction mechanism 14 is used to adjust the position of the laser emitters 5 and the vertical state of the laser beams 13.

[0086] The data acquisition and transmission system includes a CCD industrial camera 4-2, a photosensitive sensor panel 4-3, and a data box 4-4. The photosensitive sensor panel 4-3 is fixed on the top of the lifting container 7 and is used to receive and display the light spot projected by the laser beam 13 on the lifting container 7. The CCD industrial camera 4-2 is mounted on the top center of the photosensitive sensor panel 4-3 via an L-shaped bracket 4-1 and is used to acquire the characteristic image of the laser beam 13. The data box 4-4 is fixed on the top of the lifting container 7 and is used to transmit analog signals.

[0087] As a preferred embodiment of the present invention:

[0088] As shown in Figures 1-4, the top of the rope traction mechanism 14 is installed at the bottom of the system equipment fixing layer 2 via the anti-collision plate 3. The rope traction mechanism 14 includes a drive system 14-1, a wire rope 14-2, and a load platform 14-3. The distribution of the drive system 14-1, the wire rope 14-2, and the load platform 14-3 is shown in Figure 4. The drive system 14-1 includes multiple wire rope rollers driven by motors. The wire rope rollers pull the load platform 14-3 through fixed pulleys and the wire rope 14-2. The multiple wire rope rollers correspond one-to-one with the multiple fixed pulleys and the wire rope 14-2 and are evenly distributed on the anti-collision plate 3 and the load platform 14-3.

[0089] As a preferred embodiment of the present invention:

[0090] The system also includes a wireless router 12 and a host computer 11. The number of wireless routers 12 is set to multiple, and the multiple wireless routers 12 are installed on the inner wall of the shaft. The host computer 11 is installed on the ground at the top of the shaft.

[0091] The data box 4-4 includes a data acquisition card, which is used to receive the analog signal output by the CCD industrial camera 4-2 and transmit the output analog signal to the host computer 11 through the wireless router 12. The host computer 11 then converts the analog signal into a digital signal for corresponding calculation.

[0092] As a preferred embodiment of the present invention:

[0093] As shown in Figures 4 and 7, the anti-collision plate 3 and the load platform 14-3 have the same cross-sectional shape. The horizontal cross-sectional area of ​​the anti-collision plate 3 is larger than that of the load platform 14-3, so that the multiple wire ropes 14-2 are distributed in an inward contraction shape from top to bottom.

[0094] In the initial state, the load platform 14-3 is located directly below the anti-collision plate 3, and the anti-collision plate 3 and the load platform 14-3 are coaxially distributed.

[0095] As a preferred embodiment of the present invention:

[0096] As shown in Figure 7, the cross-sectional shape of the anti-collision plate 3 and the load platform 14-3 is set to hexagon, and the anti-collision plate 3 and the load platform 14-3 have a 60° misalignment angle on the horizontal plane;

[0097] The number of combined structures formed by the wire roll, fixed pulley and wire rope 14-2 is set to six, and the six combined structures are installed at the six apex positions of the anti-collision plate 3.

[0098] As a preferred embodiment of the present invention:

[0099] As shown in Figure 1, the number of plumb lines 8 is set to three. The three plumb lines 8 are distributed in an isosceles triangle and are parallel to each other in pairs, forming a three-point plumb reference coordinate with the CDD industrial camera 6.

[0100] The system equipment fixing layer 2 has through holes at the two top corners on the left and the center on the right. Each of the three through holes has a vertical guide wheel 1 on one side. Three plumb lines 8 are installed on the guide wheels 1 one by one and pass through the three through holes one by one.

[0101] The number of CDD industrial cameras 6 is set to four. Two CDD industrial cameras 6 are placed at the bottom of the shaft wall and, together with three plumb lines 8, are used as references to obtain the relative position information of the laser beam 13. The other two CDD industrial cameras 6 are placed at the shaft opening and, together with the absolute coordinate system formed by the three plumb lines 8, are used as references to obtain the relative position information of each laser emitter 5 and the rope traction mechanism 14.

[0102] As shown in Figures 1, 2, 5, and 6, a method for identifying the tilt state of a rigid shaft guideway is presented. This method employs a rigid shaft guideway tilt state identification system and includes the following steps:

[0103] S1: Establish an absolute coordinate system: Extract the vertices of the three plumb lines 8, establish an absolute coordinate system with the coordinates of the vertex 10 of the plumb line at one of the left corners as the origin, and determine the position coordinates of the top of the three plumb lines 8.

[0104] Where the origin of the absolute coordinate system is O(0,0,0), the unit scale is pixels, and the i-th coordinate point in the coordinate system is P(x i ,y i ,z i ), and i≥1;

[0105] x i The horizontal coordinate value of the i-th coordinate point on the cross section where the origin O is located;

[0106] y i The coordinate value of the i-th coordinate point is the vertical coordinate value on the cross section where the origin O is located;

[0107] z i Let z be the height coordinate value of the i-th coordinate point in the absolute coordinate system, and |z| i | is equal to the shortest straight-line distance from point P to the cross section containing the origin O;

[0108] S2: Determine the vertical state information of laser beam 13: The determination steps are as follows:

[0109] S2.1: When the lifting container 7 is in the standby state, adjust the rope traction mechanism 14 to move to the middle gap between the vertical shaft pipe and the lifting container 7 on one side, so that the laser beam 13 emitted by at least one laser emitter 5 is vertically directed towards the bottom of the vertical shaft.

[0110] S2.2: The CDD cameras 6 on both sides of the bottom of the shaft and the CDD cameras 6 on both sides of the shaft opening respectively acquire the images and relative position coordinate information of the laser emitter 5 and the laser point 9 at the bottom of the shaft relative to the horizontal vertices of the three vertical lines 8;

[0111] S2.3: Data box 4-4 receives the image and relative position coordinate information obtained in S2.2, and transmits the analog signal to host computer 11 through wireless router 12. Host computer 11 converts it into digital quantity and uses position algorithm to calculate the position difference of laser beam 13 projection.

[0112] S2.4: Calculate the position difference of the laser beam 13 projection based on the position algorithm, determine the change in the horizontal distance of the laser beam 13 before and after the projection of the three vertical lines 8, and then determine whether the laser beam 13 is emitted in an absolutely perpendicular manner.

[0113] The location algorithm conforms to the following formula:

[0114] ΔD(x,y,z)=D ABC -D A1B1C1 (2-1)

[0115] In formula (2-1): ΔD(x,y,z) is the change in the laser beam projection at the bottom of the well and the position coordinates of the laser beam at the wellhead;

[0116] D ABC The initial horizontal distances from the laser emitter projecting the laser beam to the bottom of the well to the three vertical lines are known values;

[0117] D A1B1C1 The distance from the laser point at the bottom of the well to the horizontal vertices of the three plumb lines is known.

[0118] S3: Adjusting the vertical state of laser beam 13: If it is determined in S2 that there is a significant deviation in laser beam 13, the pose of the load platform 14-3 of the rope traction mechanism 14 is adjusted as follows:

[0119] S3.1: Adjust the rope traction mechanism 14 on the side corresponding to the horizontal direction to change the tilt angle of the load platform 14-3 in the horizontal direction, so that the laser beam 13 tends to be projected vertically in the horizontal direction.

[0120] S3.2: Adjust the rope traction mechanism 14 on the side corresponding to the vertical direction to change the tilt angle of the load platform 14-3 in the vertical direction, so that the laser beam 13 tends to be projected vertically in the vertical direction.

[0121] S3.3: In the adjustments of S3.1 and S3.2, the motion trajectory for adjusting the pose of the load platform 14-3 conforms to the following formula:

[0122]

[0123] In formula (3-1): x is the horizontal movement distance of the load platform (14-3), which is a known value;

[0124] y is the vertical distance that the load platform (14-3) moves, which is a known value;

[0125] R is the base circle radius of the circumscribed circle of the load platform (14-3), which is a known value;

[0126] A is the amplitude of the sinusoidal trajectory, a fixed value, set according to the movement accuracy (it should be less than the value of the base circle radius);

[0127] D is the horizontal height of the load platform (14-3), a constant value;

[0128] z is the longitudinal movement distance of the load platform (14-3), a constant;

[0129] The uniform movement of the load platform 14-3 on the horizontal plane at a height of D is determined by the equation (3-1), so that the adjustment stroke of the load platform 14-3 meets the movement requirements of the laser emitter 5 on the upper part of the lifting container 7.

[0130] After each pose adjustment, the position difference of the laser beam 13 projection is calculated again. The process of adjusting the pose of the reciprocating load platform 14-3 and calculating the position difference of the laser beam 13 projection makes the distance difference between the laser emitter 5 and the laser point 9 at the bottom of the shaft relative to the horizontal vertices of the three vertical lines 8 zero, thereby enabling the laser beam 13 to be in an absolutely vertical projection state.

[0131] S4: Determine the initial tilt of the laser beam 13: In the case that absolute verticality is not achieved, the image and relative position coordinates of the laser point 9 and the laser emitter 5 at the bottom of the shaft are obtained by the CDD camera 6 at the bottom of the shaft. The relative distances of the laser point 9 and the laser emitter 5 at the bottom of the shaft from the horizontal vertices of the three vertical lines 8 are calculated and the specific coordinate position information is determined. Thus, the tilt of the laser beam 13 is determined and the tilt at this time is identified as the initial tilt, which is represented by ΔFx and ΔFy. ΔFx and ΔFy are the initial slopes of the laser beam 13 in the horizontal and vertical directions of the projection at the bottom of the shaft, respectively.

[0132] The formulas for calculating ΔFx and ΔFy are as follows:

[0133]

[0134] In formulas (4-1) and (4-2): D X The horizontal coordinates of the laser emitter (5) are known.

[0135] D 2X Let be the horizontal coordinates of the actual projection of the laser beam (13), which are known values;

[0136] D Y Let be the vertical coordinate of the laser emitter (5), with known values;

[0137] D 2Y The vertical coordinates of the actual projection of the laser beam (13) are known values;

[0138] S is the distance from the laser emitter (5) to the bottom of the shaft, a known value;

[0139] The slope parameters of the laser beam 13 after its initial state are obtained by substituting the required coordinates and distance parameters.

[0140] S5: Obtain the translation state of the laser beam 13 on the upper part of the lifting container 7: After determining the initial tilt state of the laser beam 13 in S4, move the rope traction mechanism 14 to move one of the vertical laser beams 13 to the relative center point of the photosensitive sensor panel 4-3, and adjust the position of the CDD camera 4-2 until it can acquire the image of the entire screen.

[0141] S6: Assessment and judgment of the tilt state of the hoistway: During the operation of the hoisting container 7, the data acquisition and transmission system 4 continuously acquires the feature image and relative position coordinates of the laser point 9. By calculating the displacement difference between the current position coordinates and the initial position coordinates before operation, the change in the slope of the laser beam 13 under the tilt state of the rigid hoistway is obtained, denoted by ΔFx' and ΔFy'. ΔFx' and ΔFy' are the changes in the slope of the laser beam 13 projection in the horizontal and vertical directions after the rigid hoistway tilts, respectively. The change in slope is compared with the initial slope to determine the offset of the rigid hoistway.

[0142] Substitute the ΔFx and ΔFy calculated in S4 into the following formula to calculate ΔFx' and ΔFy';

[0143]

[0144] In formulas (6-1) and (6-2): D 4X The horizontal coordinates of the actual projection of the laser beam (13) onto the top of the lifting container (7);

[0145] D 4Y The vertical coordinates of the actual projection of the laser beam (13) onto the top of the lifting container (7);

[0146] X is the distance that the lifting container (7) descends during runtime;

[0147] When the tank channel is in an untilted state, the values ​​of the slope changes ΔFx' and ΔFy' of the laser beam (13) are zero.

[0148] 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 shaft rigid guide inclination state recognition system, comprising a shaft top erection system equipment fixed layer (2), a plurality of guide wheels (1) are installed on the system equipment fixed layer (2), at least one guide wheel (1) is hoisted with a lifting container (7) through a traction rope, characterized in that, Also includes the plumb line position reference system, laser detection system and data acquisition transmission system; The plumb line position reference system is used to provide the vertical reference coordinates in the shaft, which comprises at least three plumb lines (8) and at least four CDD industrial cameras (6), the plumb lines (8) pass through the system equipment fixed layer (2) and hang down to the bottom of the shaft tube, and the contact points of the plumb lines (8) on the system equipment fixed layer (2) are defined as the plumb line vertices (10), the plurality of CDD industrial cameras (6) are evenly divided into two groups, and the two groups of CDD industrial cameras (6) are respectively fixed on the inner side of the shaft mouth and the shaft bottom of the shaft tube; The laser detection system comprises at least two laser emitters (5) and a rope traction mechanism (14), the rope traction mechanism (14) is installed on the system equipment fixed layer (2), the laser emitters (5) are installed at the bottom of the rope traction mechanism (14), the laser emitters (5) have a vertical state adjustment function, a plurality of laser emitters (5) respectively emit vertical laser beams (13) to the bottom of the shaft and the top of the lifting container (7), and the rope traction mechanism (14) is used to adjust the pose of the laser emitters (5) and the vertical state of the laser beams (13). The data acquisition transmission system comprises a CCD industrial camera (4-2), a photosensitive sensor panel (4-3) and a data box (4-4), the photosensitive sensor panel (4-3) is fixed on the top of the lifting container (7) and is used to receive the light spot projected by the laser beam (13) on the lifting container (7), the CCD industrial camera (4-2) is arranged on the top center position of the photosensitive sensor panel (4-3) through an L-shaped support (4-1) and is used to collect the characteristic image of the laser beam (13), and the data box (4-4) is fixed on the top of the lifting container (7) and is used to transmit analog signals.

2. The system for recognizing the inclination state of the rigid shaft guide of the vertical shaft according to claim 1, characterized in that: The top of the rope traction mechanism (14) is installed on the bottom of the system equipment fixed layer (2) through a collision prevention plate (3), the rope traction mechanism (14) comprises a driving system (14-1), a steel wire rope (14-2) and a load platform (14-3), the driving system (14-1) comprises a plurality of steel wire rollers with motor drives, the steel wire rollers drive the load platform (14-3) through a fixed pulley and the steel wire rope (14-2), and the plurality of steel wire rollers, the plurality of fixed pulleys and the steel wire rope (14-2) are one-to-one corresponding and evenly distributed on the collision prevention plate (3) and the load platform (14-3).

3. The system for recognizing the inclination state of the rigid shaft guide of a vertical shaft according to claim 2, characterized in that: The system further comprises a wireless router (12) and an upper computer (11), wherein the number of the wireless routers (12) is set to be multiple, the plurality of wireless routers (12) are installed on the inner wall of the shaft, and the upper computer (11) is installed on the ground on the top of the shaft; The data box (4-4) comprises a data acquisition card, the data acquisition card is used to receive the analog output of the CCD industrial camera (4-2), and the analog output is transmitted to the upper computer (11) through the wireless router (12) and is converted into digital quantity for corresponding calculation by the upper computer (11).

4. The system for recognizing the inclined state of the rigid shaft guide of the vertical shaft according to claim 2, characterized in that: The cross-sectional shape of the anti-collision plate (3) and the load platform (14-3) is the same, the horizontal cross-sectional area of the anti-collision plate (3) is larger than that of the load platform (14-3), and a plurality of steel wire ropes (14-2) are distributed in a shrinking manner from top to bottom; In the initial state, the load platform (14-3) is located directly below the anti-collision plate (3), and the anti-collision plate (3) and the load platform (14-3) are coaxially distributed.

5. The system for recognizing the inclination state of the rigid shaft guide of a vertical shaft according to claim 4, characterized in that: The cross-sectional shape of the anti-collision plate (3) and the load platform (14-3) is set to hexagonal, and the anti-collision plate (3) and the load platform (14-3) have a 60° misalignment angle in the horizontal plane; The number of the combination structure formed by the steel wire roller, the fixed pulley and the steel wire rope (14-2) is set to six groups, and the six groups of combination structures are installed at the six top corner positions of the anti-collision plate (3).

6. The system for recognizing the inclination state of the rigid shaft guide of a vertical shaft according to claim 1, characterized in that: The number of the plumb lines (8) is set to three, the three plumb lines (8) are distributed in an isosceles triangle shape, and the three plumb lines (8) are parallel to each other, cooperating with the CDD industrial camera (6) to form a three-point plumb reference coordinate; The left two top corners and the right center of the system equipment fixing layer (2) are provided with through holes, and each of the three through holes is provided with a vertical guide wheel (1) on one side, and the three plumb lines (8) are installed on the guide wheels (1) one by one, and the three plumb lines (8) pass through the three through holes one by one. The number of the CDD industrial camera (6) is set to four, two CDD industrial cameras (6) are placed at the bottom of the shaft wall, combined with the three plumb lines (8) as a reference, to obtain the relative position information of the laser beam (13), and the other two CDD industrial cameras (6) are placed at the shaft wall, combined with the absolute coordinate system formed by the three plumb lines (8) as a reference, to obtain the relative position information of each laser emitter (5) and the rope traction mechanism (14).

7. A method for recognizing the inclination state of a shaft rigid guide, using the shaft rigid guide inclination state recognition system according to any one of claims 1 to 6, characterized in that: The steps include: S1: Establishing an absolute coordinate system: extracting the vertices of the three plumb lines (8), taking the plumb line vertex (10) at the left top corner as the origin to establish an absolute coordinate system, and determining the position coordinates of the top of the three plumb lines (8); Wherein, the absolute coordinate system origin O (0, 0, 0), pixel as unit scale, the i-th coordinate point in the coordinate system is P (x i ,y i ,z i ), and i≥1; x i Xi is the horizontal coordinate value on the cross section where the i-th coordinate point corresponds to the origin O; y i yi is the coordinate value of the vertical direction on the cross section where the i-th coordinate point corresponds to the origin O. z i z is the height coordinate value of the i-th coordinate point in the absolute coordinate system, and |z i | is equal to the shortest straight line distance from the P point to the cross section where the origin O is located; S2: Judging the vertical state information of the laser beam (13): the judgment steps are as follows: S2.1: In the standby state of the lifting container (7), adjust the rope traction mechanism (14) to move to the middle gap between the shaft pipe and the lifting container (7) on one side, so that at least one laser beam (13) emitted by the laser emitter (5) is vertically shot to the shaft bottom; S2.2: Through the CDD cameras (6) on both sides of the shaft bottom and the CDD cameras (6) at the shaft mouth, the image and relative position coordinate information of the laser emitter (5) and the shaft bottom laser point (9) relative to the horizontal vertex of the three plumb lines (8) are obtained respectively; S2.3: The data box (4-4) receives the image and relative position coordinate information obtained in S2.2, and transmits the analog signal to the upper computer (11) through the wireless router (12), and the upper computer (11) converts it into digital quantity and calculates the position difference of the laser beam (13) projection by using position algorithm; S2.4: According to the position algorithm, the position difference of the laser beam (13) projection is calculated, the change of the horizontal distance of the laser beam (13) projection before and after the three plumb lines (8) is judged, and then it is determined whether the laser beam (13) is absolutely vertically projected; S3: Adjust the vertical state of the laser beam (13): when it is determined in S2 that the laser beam (13) has obvious deviation, the pose of the load platform (14-3) of the rope traction mechanism (14) is adjusted, and the process is as follows: S3.1: Adjust the rope traction mechanism (14) on one side corresponding to the horizontal direction, change the inclination angle of the load platform (14-3) in the horizontal direction, and make the laser beam (13) tend to be vertically projected in the horizontal direction; S3.2: Adjust the rope traction mechanism (14) on one side corresponding to the vertical direction, change the inclination angle of the load platform (14-3) in the vertical direction, and make the laser beam (13) tend to be vertically projected in the vertical direction; S3.3: In the adjustment of S3.1 and S3.2, the position difference calculation of the laser beam (13) projection is performed again, and the pose adjustment of the reciprocating load platform (14-3) and the position difference calculation of the laser beam (13) projection are repeated, so that the distance difference between the laser emitter (5) and the vertical point of the three plumb lines (8) is zero, thereby realizing that the laser beam (13) can be in an absolutely vertical projection state; S4: Determine the initial inclination of the laser beam (13): in the case where the absolute vertical state is not achieved, the images and relative position coordinates of the laser emitter (5) and the vertical laser point (9) at the bottom of the shaft are obtained by the shaft bottom CDD camera (6), the relative distances of the laser emitter (5) and the vertical laser point (9) at the bottom of the shaft to the horizontal top points of the three plumb lines (8) are calculated, and the specific coordinate position information is determined, thereby determining the inclination of the laser beam (13), and identifying the inclination at this time as the initial inclination, denoted by ΔFx and ΔFy, which are the initial slopes of the laser beam (13) in the horizontal direction and the vertical direction at the shaft bottom, respectively; S5: Obtain the spot translation state of the laser beam (13) on the upper part of the lifting container (7): after determining the initial inclination state of the laser beam (13) in S4, move one of the vertical laser beams (13) to the relative center point of the photosensitive sensor panel (4-3), and adjust the position of the CDD camera (4-2) until the image of the entire light screen can be obtained; S6: Evaluate and judge the inclination state of the cage guide: during the operation of the lifting container (7), the data acquisition and transmission system (4) continuously obtains the feature images and relative position coordinates of the laser point (9), calculates the displacement difference between the current position coordinates and the initial position coordinates before operation, obtains the slope change of the laser beam (13) in the rigid cage inclination state, denoted by ΔFx' and ΔFy', which are the slope changes of the laser beam (13) in the horizontal direction and the vertical direction after the rigid cage inclination, respectively, compares the slope change with the initial slope, and determines the deviation of the rigid cage.

8. The method for recognizing the inclination state of a shaft rigid guide of claim 7, wherein The position algorithm in S2 conforms to the following formula: ΔD(x, y, z) = D ABC -D A1B1C1 (2-1) In formula (2-1): ΔD(x, y, z) is the change of the position coordinates of the bottom projection of the laser beam (13) and the wellhead laser beam (13); D ABC The initial horizontal distance of the laser emitter (5) to the three plumb lines (8) for projecting the laser beam (13) to the well bottom is a known value; D A1B1C1 D is the actual distance from the laser point (9) to the horizontal top of the three plumb lines (8), a known value.

9. The method for recognizing the inclination state of a shaft rigid guide of claim 7, wherein The motion trajectory of the pose adjustment of the load platform (14-3) in the S3 conforms to the following formula: In formula (3-1): x is the horizontal movement distance of the load platform (14-3), a known value; y is the vertical movement distance of the load platform (14-3), a known value; R is the base circle radius of the circumscribed circle of the load platform (14-3), a known value; A is the amplitude of the sinusoidal trajectory, a constant value, which is set according to the movement accuracy (should be less than the value of the base circle radius); D is the horizontal plane height of the load platform (14-3), a constant value; z is the longitudinal movement distance of the load platform (14-3), a constant value; Through the equation calculation of formula (3-1), the movement of the load platform (14-3) on the horizontal plane with a height of D is determined, so that the adjustment stroke of the load platform (14-3) meets the movement requirements of the laser emitter (5) on the upper part of the lifting container (7).

10. The method for recognizing the inclination state of a shaft rigid guide of claim 7, wherein The calculation formula of ΔFx and ΔFy in S4 is as follows: In formulas (4-1) and (4-2): D X is the horizontal coordinate of the laser emitter (5), known value; D 2X horizontal coordinate of the actual projection of the laser beam (13), known value; D Y is the vertical coordinate of the laser emitter (5), known value; D 2Y vertical coordinate of the actual projection of the laser beam (13), known value; S is the distance from the laser emitter (5) to the bottom of the vertical shaft, a known value; The slope parameters after the initial state of the laser beam (13) are obtained by calculation, and the calculated ΔFx and ΔFy are substituted into the following formula to calculate ΔFx' and ΔFy'; In formulas (6-1) and (6-2): D 4X is the horizontal coordinate of the actual projection of the laser beam (13) on the top of the lifting container (7); D 4Y is the vertical coordinate of the actual projection of the laser beam (13) on the top of the lifting container (7); X is the distance of the lowering of the lifting container (7) when it is running; When the cage guide is not inclined, the values of the slope change amounts ΔFx' and ΔFy' of the laser beam (13) are zero.

Images