Research And Application Of Hoisting Wire Rope Vibration Monitoring Based On Structured Light

The multi-rope friction hoisting system is widely used in mine mining because of its excellent practical performance.With the deepening of mining and the demand for high efficiency and high output,the hoisting system is facing more and more severe working conditions.As one of its key components,hoisting wire rope is subjected to multiple loads during hoisting,which will cause continuous vibration.It is of great importance for hoisting system to monitor the vibration of hoisting wire rope.This article proposes the monitoring method based on computer vision technology to monitor the lateral vibration of the hoisting steel wire rope,builds an experimental bench in the laboratory to test the performance of the monitoring method,and conducts field experiments.Firstly,a vibration monitoring method based on the line structured light measurement method is proposed.This computer vision method obtains the three-dimensional information of the wire rope according to the deformed light bar curve on the wire rope.The measurement accuracy of the light structured light method is mainly affected by the accuracy of the calibration of the light plane structure parameters.Based on Zhang Zhengyou's calibration method,this paper studies the method of the line structured light measurement calibration.The light line intersection line between the light plane and the calibration plate is obtained during the calibration,and the calibration results of the Zhang's calibration method are used to analyze the spatial equation of light strip intersection line on the calibration plate under different spatial poses.The space equation of the light plane is studied using least square method.The measurement coordinate system was established according to the calibration results,and the measurement principle of the horizontal vibration displacement of the wire rope was formulated.Secondly,a method to monitor the horizontal vibration displacement of the wire rope based on the depth camera KinectV1 is proposed.The three-dimensional point cloud of the wire rope is obtained by using the depth camera.The point cloud is filtered by using pass through filter and statistical outlier removal filtered,and simplified to eliminate the interference factors such as the background point cloud.The measurement principle of the horizontal vibration displacement of the steel wire rope is formulated based on the preliminary processed point cloud data.Then,the experimental platform was built in the laboratory to evaluate the performance of the above two computer vision methods.A practical performance evaluation method of measurement methods with accuracy,real-time and stability as indicators is established.For the line structured light measurement method,in order to ensure the accuracy and real-time of the measurement method,target tracking technology is used by the monitoring system to track the target area of the wire rope containing the light strip intersection line.The real-time displacement data of the lateral vibration is obtained by process the target area.Finally,a system scheme for monitoring the horizontal vibration of the hoisting wire rope based on the line structure light measurement method was developed in the Visual Studio,based on the OpenCV library and the functional needs of on-site monitoring.Field application experiments were carried out in a mine.The empirical mode decomposition is used to process the vibration data,and the energy of each component and the energy entropy are used as the input feature vector of the support vector machine to predict the load condition of the hoisting system.