Active isolation system and method for deep-shaft tail rope based on multi-source information fusion positioning

Abstract

An active isolation system and method for a deep-shaft tail rope based on multi-source information fusion positioning. The active isolation system comprises a tail rope separation beam (5), a positioning system (1), and an active protection system (2). The positioning system comprises a lidar and 2N visual positioning assemblies, and each visual positioning assembly comprises an X-direction camera and a Y-direction camera. The active protection system comprises 2N tail rope position adjustment assemblies corresponding one-to-one to 2N tail rope separation chambers (5-1), and each tail rope position adjustment assembly comprises a plurality of X-direction nozzles (2-1) and at least one Y-direction nozzle (2-2). The system can calculate the spatial position of a tail rope by using two perpendicularly arranged visual sensors to perform detection on the same tail rope at the same height. The position of a tail rope calculated from each image frame is compared with a preset threshold in real time. If the position of the tail rope exceeds the preset threshold, a nozzle in the tail rope position adjustment assemblies ejects an airflow so as to apply a force to the tail rope in the opposite direction, thereby actively avoiding collision and friction between the tail rope and the tail rope separation beam.

Description

Active Isolation System and Method for Deep Well Tail Rope under Multi-Source Information Fusion Positioning Technical Field

[0001] This invention relates to the field of tail rope protection in mine hoisting systems, and in particular to an active isolation system and method for deep well tail ropes under multi-source information fusion positioning. Background Technology

[0002] Currently, the protective devices used in the field of tail rope protection generally include active tail rope guidance technology and passive roller isolation. Active tail rope guidance technology involves installing guide wheels to guide the tail rope around them, achieving self-guided guidance for safe operation. Its advantages are simple structure and low collision friction, but it also has many drawbacks, such as difficult installation and high cost. Passive isolation of the tail rope using rollers is more common in mine hoisting systems. This structure uses multiple rollers to isolate the tail rope, preventing it from directly impacting the beam. Instead, the tail rope collides with the rollers, changing the sliding friction between the tail rope and the beam into rolling friction between the tail rope and the rollers. Its advantages are simple structure and convenient installation, but it also has many drawbacks, such as the tendency for large speed differences to cause the tail rope to break after impact. Furthermore, in this structure, once the tail rope collides with the roller, the friction between the tail rope and the roller will not stop until the tail rope's acceleration and deceleration have ended. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a deep well tail rope active isolation system and method under multi-source information fusion positioning. This deep well tail rope active isolation system and method under multi-source information fusion positioning can monitor the spatial sway position of the tail rope and apply a reverse force to the tail rope to prevent the tail rope from colliding with the tail rope separator beam, thereby significantly reducing the friction and wear of the tail rope and extending its service life.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] A deep well tail rope active isolation system based on multi-source information fusion positioning includes a tail rope separation beam, a positioning system, and an active protection system.

[0006] The tail rope separator beam is used to separate the left and right ropes at the bottom of each tail rope in the deep well. The tail rope separator beam includes 2N tail rope separator cavities; where N is equal to the number of tail ropes, and N = 1 or 2.

[0007] The positioning system can locate the spatial position of the tail rope in each tail rope compartment. The positioning system includes a lidar and 2N sets of visual positioning components.

[0008] The lidar is located at the center of the tail rope separator beam and can rotate 360° to scan.

[0009] The 2N sets of visual positioning components correspond one-to-one with the 2N tail rope compartments.

[0010] Each visual positioning component includes an X-axis camera and a Y-axis camera; the image plane of the X-axis camera is perpendicular to the vertical plane where the tail rope is in its natural state; the image plane of the Y-axis camera is parallel to the vertical plane where the tail rope is in its natural state.

[0011] The active protection system includes 2N sets of tail rope position adjustment components, each corresponding to one of the 2N tail rope compartments.

[0012] Each tail rope position adjustment assembly includes several X-direction nozzles and at least one Y-direction nozzle; wherein, the axis of the X-direction nozzle coincides with or is parallel to the vertical plane in which the tail rope is in its natural state; the axis of the Y-direction nozzle is perpendicular to the vertical plane in which the tail rope is in its natural state; each X-direction nozzle and each Y-direction nozzle can automatically spray high-pressure fluid.

[0013] The active protection system is connected to the positioning system, and according to the spatial position of the tail rope in the corresponding tail rope compartment provided by the positioning system, it activates the corresponding tail rope position adjustment components, so that the tail rope in each tail rope compartment is within the set safety area.

[0014] N=2, the four tail rope partition chambers are arranged in a grid pattern, each tail rope partition chamber includes an X-axis outer frame and a Y-axis outer frame located on the outside; wherein, the X-axis outer frame is parallel to the vertical plane where the tail rope is in its natural state, and the Y-axis outer frame is perpendicular to the vertical plane where the tail rope is in its natural state; the X-axis nozzles in each group of tail rope position adjustment components are arranged on the Y-axis outer frame of the corresponding tail rope partition chamber, and the Y-axis nozzles in each group of tail rope position adjustment components are arranged on the X-axis outer frame of the corresponding tail rope partition chamber.

[0015] Each tail rope compartment has a safe zone and a danger zone. The danger zone is close to the Y-axis outer frame, and the Y-axis nozzles are all located on the X-axis outer frame directly opposite the danger zone.

[0016] The danger zone includes a severe danger zone and a general danger zone; the severe danger zone is close to the Y-axis outer frame, and the general danger zone is located between the severe danger zone and the safe zone; each tail rope position adjustment assembly has two Y-axis nozzles, one Y-axis nozzle is installed on the X-axis outer frame facing the severe danger zone, and the other Y-axis nozzle is installed on the X-axis outer frame facing the general danger zone.

[0017] The lidar is positioned at a 60° angle to both the X-axis and Y-axis cameras.

[0018] The pressure and flow rate of the high-pressure fluid injected by each X-axis nozzle and each Y-axis nozzle can be adjusted.

[0019] A method for active isolation of deep well tail ropes under multi-source information fusion positioning includes the following steps.

[0020] Step 1, Zone Division: Divide each tail rope compartment into a safe zone and a danger zone.

[0021] Step 2, Tail Rope Spatial Position Positioning: The lidar and 2N vision positioning components in the positioning system work together to achieve the spatial positioning of the tail rope in each tail rope compartment.

[0022] Step 3, Spatial Position Judgment: Compare the spatial position of the tail rope located in Step 2 with the area divided in Step 1 to determine whether the tail rope in each tail rope compartment is in a danger zone.

[0023] Step 4, Active Protection: When Step 3 determines that the tail rope A in the tail rope separation chamber A is in a dangerous area, the X-direction nozzle and Y-direction nozzle in the active protection system are activated to move the tail rope A from the dangerous area to the safe area.

[0024] Step 2, the method for locating the spatial position of the tail rope, includes the following steps:

[0025] Step 2-1, Parameter Calibration: The internal parameters of the X-axis camera and Y-axis camera corresponding to each tail rope separation cavity, as well as the external parameters of the lidar, are calibrated, and the correspondence between the lidar point cloud data and the camera image position information in each tail rope separation cavity is established.

[0026] Step 2-2, Visual Positioning: Use X-axis and Y-axis cameras to acquire images of the same height position H of the tail rope A in the tail rope partition cavity A and perform visual positioning.

[0027] Steps 2-3: Acquire radar point cloud data: Use a lidar to scan the tail rope A at height H in the tail rope compartment A to obtain the radar point cloud data of the tail rope A.

[0028] Step 2-3, Fusion Positioning: Based on the correspondence between the lidar point cloud data and the camera image position information established in Step 1, the visual positioning information in Step 2-2 and the lidar point cloud data collected in Step 2-3 are synchronized and fused in time to obtain the fused spatial position information of the tail rope A.

[0029] Step 2-2, the visual localization method, includes the following steps:

[0030] Step 2-2A: Acquire visual images: Use an X-axis camera and a Y-axis camera to acquire images of the tail rope A in the tail rope compartment A.

[0031] Step 2-2B, Denoising: The X-direction tail rope A image and the Y-direction tail rope A image acquired in Step 2-2 are filtered to eliminate the interference of tail rope shadows and background environment in the images.

[0032] Step 2-2C, Tail Rope A Position Tracking: The Mean-Shift tracking algorithm is used to track the spatial position of tail rope A in the X-direction and Y-direction tail rope A images respectively; the tracked position in the X-direction tail rope A image is called spatial position A, and the tracked position in the Y-direction tail rope A image is called spatial position B.

[0033] Step 2-2D, Spatial Positioning: Based on the internal parameters of the X-axis camera and Y-axis camera calibrated in Step 1, and the coordinate relationship between the two, the spatial positions A and B in Step 2-2C are fused to obtain the visual spatial position of the tail rope A at the current moment.

[0034] Step 2-2E, Spatial Prediction of Tail Rope A Position: Using the Kalman prediction algorithm, the spatial position of tail rope A in the X-direction image of the next frame and the Y-direction image of tail rope A in the next frame are predicted and fused to obtain the visual spatial position of tail rope A at the next moment.

[0035] In step 4, if the tail rope A still has not moved from the danger zone to the safe zone after the X-direction nozzle and Y-direction nozzle have been continuously spraying for a set time T, the tail rope A will be moved from the danger zone to the safe zone by increasing the spray pressure or spray flow rate.

[0036] The present invention has the following beneficial effects:

[0037] Compared with existing technologies, the present invention has the following features and advantages:

[0038] This invention uses two vertically arranged vision sensors to detect the same tail rope at the same height, calculating its spatial position. The calculated tail rope position for each frame is compared in real-time with a set threshold. If the tail rope position exceeds the threshold, the host computer software sends a signal to the controller, which then controls the solenoid valve assembly. The nozzles then spray air, applying a counterforce to the tail rope, thus actively preventing collision and friction between the tail rope and the tail rope separator beam. If the rope remains outside the set safety range for a certain period, the industrial control computer adjusts the automatic regulating valve to output higher air pressure until the tail rope retracts into the safe zone, at which point the automatic regulating valve stops adjusting. The controller then closes the solenoid valve assembly at the end of the acceleration / deceleration cycle. Attached Figure Description

[0039] Figure 1 shows a schematic diagram of the structure of the deep well tail rope active isolation system under multi-source information fusion positioning according to the present invention.

[0040] Figure 2 shows a top view of Figure 1.

[0041] Figure 3 shows a schematic diagram of the control principle of the tail rope position adjustment component in this invention.

[0042] Figure 4 shows the flowchart of the visual detection algorithm in this invention.

[0043] Figure 5 shows a schematic diagram of coordinate transformation involved in the parameter calibration of the positioning system in this invention.

[0044] Among them are:

[0045] 1. Positioning system;

[0046] 1-1, Camera 1; 1-2, Camera 2; 1-3, Camera 3; 1-4, Camera 4; 1-5, Camera 5; 1-6, Camera 6; 1-7, Camera 7; 1-8, Camera 8; 1-9, LiDAR;

[0047] 2. Active protection system;

[0048] 2-1. X-direction nozzle; 2-2. Y-direction nozzle; 2-3. Solenoid valve assembly; 2-4. Electric regulating valve;

[0049] 3. Tail rope one; 3-1. Tail rope one left rope; 3-2. Tail rope one right rope;

[0050] 4-tail rope two; 4-1 tail rope two left rope; 4-2 tail rope two right rope;

[0051] 5. Tail rope separator beam; 5-1. Tail rope separator cavity; 5-11. Safe area; 5-12. Dangerous area; 5-13. General danger area; 5-14. Serious danger area. Detailed Implementation

[0052] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0053] 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.

[0054] As shown in Figures 1, 2 and 3, a deep well tail rope active isolation system based on multi-source information fusion positioning includes a tail rope separation beam 5, a positioning system 1 and an active protection system 2.

[0055] The tail rope separator beam is used to separate the left and right ropes at the bottom of each tail rope in the deep well. The tail rope separator beam includes 2N tail rope separator cavities 5-1; where N is equal to the number of tail ropes, and N = 1 or 2. In this embodiment, N = 2 is preferred.

[0056] The two tail ropes are tail rope 1 (3) and tail rope 2 (4). Tail rope 1 includes tail rope 1 left rope (3-1) and tail rope 1 right rope (3-2). Tail rope 2 includes tail rope 2 left rope (4-1) and tail rope 2 right rope (4-2).

[0057] The four tail rope separators are arranged in a grid pattern. Let the tail rope separator in the lower left corner be tail rope separator A. Then, in a clockwise direction, the other three tail rope separators are tail rope separator B, tail rope separator C, and tail rope separator D.

[0058] Among them, the left rope 4-1 of tail rope 2 is located in tail rope compartment A, the left rope 3-1 of tail rope 1 is located in tail rope compartment B, the right rope 3-2 of tail rope 1 is located in tail rope compartment C, and the right rope 4-2 of tail rope 2 is located in tail rope compartment D.

[0059] Each tail rope partition includes an X-direction outer frame 5-2 and a Y-direction outer frame 5-3 located on the outside; wherein, the X-direction outer frame is parallel to the vertical plane in which the tail rope is in its natural state, and the Y-direction outer frame is perpendicular to the vertical plane in which the tail rope is in its natural state.

[0060] Each tail rope compartment has a safety zone 5-11 and a danger zone 5-12, with the danger zone located near the Y-direction outer frame.

[0061] Furthermore, in this embodiment, the hazardous area includes a severely hazardous area 5-14 and a general hazardous area 5-13; wherein, the severely hazardous area is close to the Y-direction outer frame, and the general hazardous area is located between the severely hazardous area and the safe area.

[0062] In a safe area, the tail rope's spatial position is relatively stable, and it usually only slips to the left or right along the X direction.

[0063] In general danger zones, the position of the tail rope is relatively dangerous. If it slips along the X direction, it may collide with the outer frame in the X direction, and there may also be a slight drift in the Y direction.

[0064] In severely hazardous areas, the tail rope's spatial position is very dangerous. While there is a high risk of sliding along the X direction and colliding with the X-direction outer frame, there may also be a significant drift in the Y direction.

[0065] The positioning system can locate the spatial position of the tail rope in each tail rope compartment. The positioning system includes LiDAR 1-9 and 2N sets of visual positioning components.

[0066] The lidar is located at the center of the tail rope separator beam and can rotate 360° to scan.

[0067] The 2N sets of visual positioning components correspond one-to-one with the 2N tail rope compartments.

[0068] Each visual positioning component includes an X-axis camera and a Y-axis camera; the image plane of the X-axis camera is perpendicular to the vertical plane where the tail rope is in its natural state; the image plane of the Y-axis camera is parallel to the vertical plane where the tail rope is in its natural state.

[0069] In this embodiment, as shown in Figure 2, there are 4 tail rope separating beams with a total of 8 cameras, namely camera 1-1, camera 2-2, camera 3-3, camera 4-4, camera 5-5, camera 6-6, camera 7-7 and camera 8-8.

[0070] The aforementioned cameras 1-1, 4-4, 5-5 and 8-8 are all X-direction cameras, corresponding to tail rope separation chambers B, C, D and A, respectively.

[0071] Cameras 2 (1-2), 3 (1-3), 6 (1-6), and 7 (1-7) correspond to tail rope separation chambers B, C, D, and A, respectively.

[0072] Furthermore, in this embodiment, all the aforementioned X-axis and Y-axis cameras are located at the same height, preferably at the same height as the LiDAR. The angle between the LiDAR and the X-axis and Y-axis cameras is 60°.

[0073] The active protection system includes 2N sets of tail rope position adjustment components, each corresponding to one of the 2N tail rope compartments.

[0074] Each tail rope position adjustment assembly includes several X-direction nozzles 2-1, at least one Y-direction nozzle 2-2, a solenoid valve group 2-3, and an electric regulating valve 2-4; wherein, the axis of the X-direction nozzle coincides with or is parallel to the vertical plane in which the tail rope is in its natural state; the axis of the Y-direction nozzle is perpendicular to the vertical plane in which the tail rope is in its natural state.

[0075] Each X-direction nozzle and each Y-direction nozzle can automatically spray high-pressure fluid from the control box of the corresponding solenoid valve assembly. Furthermore, under the joint control of solenoid valve assembly 2-3 and electric regulating valve 2-4, the pressure and flow rate of the high-pressure fluid can also be regulated. In this embodiment, the high-pressure fluid can be high-pressure gas or high-pressure water, etc.

[0076] The X-direction nozzles in each tail rope position adjustment assembly are evenly distributed on the Y-direction outer frame of the corresponding tail rope partition cavity, and the Y-direction nozzles in each tail rope position adjustment assembly are evenly distributed on the X-direction outer frame of the corresponding tail rope partition cavity.

[0077] Y-direction nozzles are evenly distributed on the X-direction outer frame facing the danger zone. In this embodiment, each set of tail rope position adjustment components preferably has two Y-direction nozzles, one Y-direction nozzle is distributed on the X-direction outer frame facing the serious danger zone, and the other Y-direction nozzle is distributed on the X-direction outer frame facing the general danger zone.

[0078] In this embodiment, all X-direction nozzles and each Y-direction nozzle are arranged at the same height, preferably equal to or substantially equal to the height of the X-direction camera or the Y-direction camera.

[0079] When the nozzle height is equal to the camera height, the nozzle outlet can be slightly higher or lower than the tail rope separator beam, and the nozzle outlet and the camera lens can be staggered to avoid the tail rope separator beam from obstructing the camera lens.

[0080] When the nozzle height is approximately equal to the camera height, the nozzle outlet can be located in the tail rope separator beam, and the camera lens can be slightly higher or lower than the tail rope separator beam. Record the height difference between the camera lens and the nozzle, and this height difference needs to be considered during positioning calculations.

[0081] Furthermore, the active protection system is connected to the positioning system, and according to the spatial position of the tail rope in the corresponding tail rope compartment provided by the positioning system, it activates the corresponding tail rope position adjustment components, so that the tail rope in each tail rope compartment is within the set safety area.

[0082] A method for active isolation of deep well tail ropes under multi-source information fusion positioning includes the following steps.

[0083] Step 1: Zone Division: Divide each tail rope compartment into a safe zone and a danger zone. The danger zone can be further divided into a general danger zone and a severe danger zone as needed.

[0084] Step 2, Tail Rope Spatial Position Positioning: The lidar and 2N vision positioning components in the positioning system work together to achieve the spatial positioning of the tail rope in each tail rope compartment.

[0085] The method for locating the tail rope's spatial position as described above preferably includes the following steps:

[0086] Step 2-1, Parameter Calibration: The internal parameters of the X-axis camera and Y-axis camera corresponding to each tail rope separation cavity, as well as the external parameters of the lidar, are calibrated, and the correspondence between the lidar point cloud data and the camera image position information in each tail rope separation cavity is established.

[0087] As shown in Figure 5, the coordinates of the target in three-dimensional space in the lidar coordinate system are (X... r ,Y r Z r The coordinates in the camera coordinate system are (X...c ,Y c Z c Both coordinate systems are three-dimensional spatial coordinate systems. The transformation relationship between them is as follows:

[0088]

[0089] In the formula: R is the extrinsic parameter matrix of the vision sensor (X-axis camera or Y-axis camera). c T is the translation vector from the lidar point cloud coordinates to the visual sensor coordinate system. c It is a rotation matrix.

[0090] The coordinates of the target in the image coordinate system are (X... p ,Y p The transformation relation satisfies:

[0091]

[0092] In the formula: f represents the focal length of the X-axis camera or the Y-axis camera.

[0093] If the two-dimensional coordinates of the target in the pixel coordinate system are (u, v), then the transformation between the target and the image coordinate system satisfies:

[0094]

[0095] In the formula: d x and d y Represents the pixels along the x and y axes, the conversion unit, and u0 and v0 represent the offset of the projection relative to the optical axis.

[0096] Given the intrinsic parameters of the camera, the above geometric transformation relationships can be rearranged as follows:

[0097]

[0098] Therefore, the visual sensor and lidar data are iterated and the linear equations are solved to complete the calibration.

[0099] Step 2-2, Visual Positioning: Use X-axis and Y-axis cameras to acquire images of the same height position H of the tail rope A in the tail rope partition cavity A and perform visual positioning.

[0100] As shown in Figure 4, the visual positioning method preferably includes the following steps.

[0101] Step 2-2A: Acquire visual images: Use an X-axis camera and a Y-axis camera to acquire images of the tail rope A in the tail rope compartment A.

[0102] Step 2-2B, Denoising: The X-direction and Y-direction tail rope A images acquired in Step 2-2 are filtered to eliminate interference from tail rope shadows and the background environment. The specific expressions are as follows:

[0103]

[0104] In the formula: I(x,y) represents the grayscale value of the acquired grayscale image at coordinates (x,y). br This represents the image after background interference has been removed, and Thresh represents the background processing threshold.

[0105] Step 2-2C, Tail Rope A Position Tracking: The Mean-Shift tracking algorithm is used to track the spatial position of tail rope A in the X-direction and Y-direction tail rope A images respectively; the tracked position in the X-direction tail rope A image is called spatial position A, and the tracked position in the Y-direction tail rope A image is called spatial position B.

[0106] Based on the position information of the tail rope in the first frame of the image, a target tracking box is calibrated for the target tracking region. This tracking box is used as the initial target tracking location for the Mean-Shift tracking algorithm. The method for initial position calibration is as follows: Before tracking the region to be measured, we first need to manually calibrate a target tracking box containing the tail rope features. The range contained in this box is called the initial target region of the tracked target. Then, the center position y0 of the initial tracking region is obtained, and the feature probability density q of the model in this region is determined. u :

[0107]

[0108] In the formula: n is the total number of pixels in the feature space contained in the initial frame tracking box; k is the contour function of the kernel function; h is the width of the kernel function; δ[b(x_i)-u] is the value of pixel x in the region to be measured. i The value of is 1 if it belongs to the gray-level feature value of the u interval, and 0 otherwise; C is the normalization coefficient; making

[0109] Next, in subsequent frames containing the target (the k-th frame, k>1), the feature probability density p in the current frame is calculated using y0 as the center point of the search window. u :

[0110]

[0111] After establishing the target model and candidate models, in order to accurately capture the precise location of the target point in each subsequent frame, it is usually necessary to compare the similarity between the target point and the candidate target point. Using the Bhattacharyya coefficient to measure the gray-scale feature space distribution of the two has good applicability and accelerates the iterative calculation of the MeanShift drift vector. This allows the center position of the candidate target region to drift towards the center position y of the actual moving target region, ultimately obtaining a new target position:

[0112]

[0113] Then, the swing position is predicted. Based on the target position y1 obtained in the previous step, it is substituted into the Kalman prediction algorithm to predict the estimated value for the next frame. However, this method is limited to linear systems, i.e., it satisfies the following condition:

[0114] X k =F k-1 X k-1 +W k

[0115] Z k =H k X k +V k

[0116] In the formula: X ( Z is the state vector of the system at time k; ( F is the observation vector; (+1 H is the transition matrix from time (k-1) to time k; ( The observation matrix; w ( The system input at time k is an arbitrary noise quantity; ν ( This is the observed noise vector.

[0117] Step 2-2D, Spatial Positioning: Based on the internal parameters of the X-axis camera and Y-axis camera calibrated in Step 1, and the coordinate relationship between the two, the spatial positions A and B in Step 2-2C are fused to obtain the visual spatial position of the tail rope A at the current moment.

[0118] Step 2-2E, Spatial Prediction of Tail Rope A Position: Using the Kalman prediction algorithm, the spatial position of tail rope A in the X-direction image of the next frame and the Y-direction image of tail rope A in the next frame are predicted and fused to obtain the visual spatial position of tail rope A at the next moment.

[0119] The time update equation is used to establish an estimate of the current state, and the values ​​of the current state variables and error covariance are calculated in a timely manner based on the previous state:

[0120]

[0121] In the formula: The state vector prediction equation; P / ( The state vector covariance prediction equation;

[0122] The update process is responsible for feedback, using the error matrix to calculate the Kalman gain, and obtaining a more accurate tail rope swing position displacement value based on the estimated value of the prediction process and the current measured variables.

[0123]

[0124] P k =(IK k H k )P k '

[0125] Where: K ( This is the Kalman gain matrix; The state vector update equation; P ( The equation for updating the state vector covariance is given.

[0126] Steps 2-3: Acquire radar point cloud data: Use a lidar to scan the tail rope A at height H in the tail rope compartment A to obtain the radar point cloud data of the tail rope A.

[0127] Step 2-3, Fusion Positioning: Based on the correspondence between the lidar point cloud data and the camera image position information established in Step 1, the visual positioning information in Step 2-2 and the lidar point cloud data collected in Step 2-3 are synchronized and fused in time to obtain the fused spatial position information of the tail rope A.

[0128] Step 3, Spatial Position Judgment: Compare the spatial position of the tail rope located in Step 2 with the area divided in Step 1 to determine whether the tail rope in each tail rope compartment is in a danger zone.

[0129] Step 4, Active Protection: When Step 3 determines that the tail rope A in the tail rope separation chamber A is in a dangerous area, the X-direction nozzle and Y-direction nozzle in the active protection system are activated to move the tail rope A from the dangerous area to the safe area.

[0130] If the tail rope A fails to move from the danger zone to the safety zone after the X-direction nozzle and Y-direction nozzle have been continuously spraying for a set time T, the tail rope A will be moved from the danger zone to the safety zone by increasing the spray pressure or spray flow rate.

[0131] 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 deep well tail rope active isolation system based on multi-source information fusion positioning, characterized in that: This includes the tail rope separator, positioning system, and active protection system; The tail rope separator beam is used to separate the left and right ropes at the bottom of each tail rope in the deep well. The tail rope separator beam includes 2N tail rope separator cavities; where N is equal to the number of tail ropes, and N = 1 or 2. The positioning system can locate the spatial position of the tail rope in each tail rope compartment. The positioning system includes a lidar and 2N sets of visual positioning components. The lidar is located at the center of the tail rope separator beam and can rotate 360° to scan. Each of the 2N visual positioning components corresponds to one of the 2N tail rope compartments. Each visual positioning component includes an X-axis camera and a Y-axis camera; the image plane of the X-axis camera is perpendicular to the vertical plane where the tail rope is in its natural state; the image plane of the Y-axis camera is parallel to the vertical plane where the tail rope is in its natural state. The active protection system includes 2N sets of tail rope position adjustment components, each corresponding to one of the 2N tail rope compartments; Each tail rope position adjustment assembly includes several X-direction nozzles and at least one Y-direction nozzle; wherein, the axis of the X-direction nozzle coincides with or is parallel to the vertical plane in which the tail rope is in its natural state; the axis of the Y-direction nozzle is perpendicular to the vertical plane in which the tail rope is in its natural state; each X-direction nozzle and each Y-direction nozzle can automatically spray high-pressure fluid. The active protection system is connected to the positioning system, and according to the spatial position of the tail rope in the corresponding tail rope compartment provided by the positioning system, it activates the corresponding tail rope position adjustment components, so that the tail rope in each tail rope compartment is within the set safety area.

2. The deep well tail rope active isolation system under multi-source information fusion positioning according to claim 1, characterized in that: N=2, the four tail rope partition chambers are arranged in a grid pattern, each tail rope partition chamber includes an X-axis outer frame and a Y-axis outer frame located on the outside; wherein, the X-axis outer frame is parallel to the vertical plane where the tail rope is in its natural state, and the Y-axis outer frame is perpendicular to the vertical plane where the tail rope is in its natural state; the X-axis nozzles in each group of tail rope position adjustment components are arranged on the Y-axis outer frame of the corresponding tail rope partition chamber, and the Y-axis nozzles in each group of tail rope position adjustment components are arranged on the X-axis outer frame of the corresponding tail rope partition chamber.

3. The deep well tail rope active isolation system under multi-source information fusion positioning according to claim 2, characterized in that: Each tail rope compartment has a safe zone and a danger zone. The danger zone is close to the Y-axis outer frame, and the Y-axis nozzles are all located on the X-axis outer frame directly opposite the danger zone.

4. The deep well tail rope active isolation system under multi-source information fusion positioning according to claim 3, characterized in that: The danger zone includes a severe danger zone and a general danger zone; the severe danger zone is close to the Y-axis outer frame, and the general danger zone is located between the severe danger zone and the safe zone; each tail rope position adjustment assembly has two Y-axis nozzles, one Y-axis nozzle is installed on the X-axis outer frame facing the severe danger zone, and the other Y-axis nozzle is installed on the X-axis outer frame facing the general danger zone.

5. The deep well tail rope active isolation system under multi-source information fusion positioning according to claim 1, characterized in that: The lidar is positioned at a 60° angle to both the X-axis and Y-axis cameras.

6. The deep well tail rope active isolation system under multi-source information fusion positioning according to claim 1, characterized in that: The pressure and flow rate of the high-pressure fluid injected by each X-axis nozzle and each Y-axis nozzle can be adjusted.

7. A method for active isolation of deep well tail ropes under multi-source information fusion positioning, characterized in that: Includes the following steps: Step 1, Zone Division: Divide each tail rope compartment into a safe zone and a danger zone; Step 2, Tail Rope Spatial Position Positioning: The lidar and 2N vision positioning components in the positioning system work together to achieve the positioning of the tail rope spatial position in each tail rope compartment. Step 3, Spatial Position Judgment: Compare the spatial position of the tail rope located in Step 2 with the area divided in Step 1 to determine whether the tail rope in each tail rope compartment is in a danger zone. Step 4, Active Protection: When Step 3 determines that the tail rope A in the tail rope separation chamber A is in a dangerous area, the X-direction nozzle and Y-direction nozzle in the active protection system are activated to move the tail rope A from the dangerous area to the safe area.

8. The deep well tail rope active isolation method under multi-source information fusion positioning according to claim 7, characterized in that: Step 2, the method for locating the spatial position of the tail rope, includes the following steps: Step 2-1, Parameter Calibration: The internal parameters of the X-axis camera and Y-axis camera corresponding to each tail rope separation cavity, as well as the external parameters of the lidar, are calibrated, and the correspondence between the lidar point cloud data and the camera image position information in each tail rope separation cavity is established. Step 2-2, Visual Positioning: Use X-axis and Y-axis cameras to acquire images of the same height position H of the tail rope A in the tail rope partition cavity A and perform visual positioning. Steps 2-3: Acquire radar point cloud data: Use lidar to scan tail rope A at height H in tail rope compartment A to obtain radar point cloud data of tail rope A. Step 2-3, Fusion Positioning: Based on the correspondence between the lidar point cloud data and the camera image position information established in Step 1, the visual positioning information in Step 2-2 and the lidar point cloud data collected in Step 2-3 are synchronized and fused in time to obtain the fused spatial position information of the tail rope A.

9. The deep well tail rope active isolation method under multi-source information fusion positioning according to claim 8, characterized in that: Step 2-2, the visual localization method, includes the following steps: Step 2-2A: Acquire visual images: Use an X-axis camera and a Y-axis camera to acquire images of the tail rope A in the tail rope compartment A. Step 2-2B, Denoising: The X-direction tail rope A image and the Y-direction tail rope A image acquired in Step 2-2 are filtered to eliminate the interference of tail rope shadows and background environment in the images. Step 2-2C, Tail Rope A Position Tracking: The Mean-Shift tracking algorithm is used to track the spatial position of tail rope A in the X-direction and Y-direction tail rope A images respectively; the tracked position in the X-direction tail rope A image is called spatial position A, and the tracked position in the Y-direction tail rope A image is called spatial position B. Step 2-2D, Spatial Positioning: Based on the internal parameters of the X-axis camera and Y-axis camera calibrated in Step 1, and the coordinate relationship between the two, the spatial positions A and B in Step 2-2C are fused to obtain the visual spatial position of the tail rope A at the current moment. Step 2-2E, Spatial Prediction of Tail Rope A Position: Using the Kalman prediction algorithm, the spatial position of tail rope A in the X-direction image of the next frame and the Y-direction image of tail rope A in the next frame are predicted and fused to obtain the visual spatial position of tail rope A at the next moment.

10. The deep well tail rope active isolation method under multi-source information fusion positioning according to claim 7, characterized in that: In step 4, if the tail rope A still has not moved from the danger zone to the safe zone after the X-direction nozzle and Y-direction nozzle have been continuously spraying for a set time T, the tail rope A will be moved from the danger zone to the safe zone by increasing the spray pressure or spray flow rate.

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