BE1026139B1 - Apparatus and method for optically monitoring the arrangement of at least one traction means and use - Google Patents

Abstract

A method is provided for optically monitoring the arrangement of at least one traction means (1) guided on a winding unit (2) rotatably mounted about an axial longitudinal axis (X) or wound in one or more winding layers (3) on the winding unit Steps: Projecting of radiation, in particular in the form of a light plane, on the lateral surface (2.1) of the winding unit; optically detecting the projected radiation; Evaluate the geometry and / or a temporal change of the projected radiation. According to the invention, the projecting and optical detection takes place such that the projected radiation as a both the cross section (Q1) of the traction means (1) and the arrangement of the traction means on the winding unit (2) and the orientation of the traction means and the time course during Up or unwinding of the traction means characterizing cross-sectional contour line (L) can be evaluated. As a result, a high reliability is possible. The invention further relates to a corresponding device and its use.

Description

Device and method for optically monitoring the arrangement of at least one traction device and use

TECHNICAL AREA

The present invention relates to a device for optically monitoring the arrangement of at least one traction means, in particular a traction means guided autonomously without mechanical aids, which is guided on a winding unit rotatably mounted about an axial longitudinal axis or is wound in one or more winding layers on the winding unit. Furthermore, the present invention relates to a method for optically monitoring the arrangement of the traction means or for controlling a traction means system based on the monitoring, in particular in traction means systems for civil engineering or mining. Last but not least, the present invention also relates to the use of a traction device monitoring device. In particular, the invention relates to a device and a method according to the preamble of the respective independent claim.

BACKGROUND OF THE INVENTION

Ropes, cables or other traction devices are guided on rolls or drums or winches or reels, especially when there are large usable lengths, and are also wound up and unwound at high speeds. Traction devices with large usable lengths and high safety requirements are e.g. for freight or passenger lifts or in particular also in building or civil engineering, and / or in mining, in particular in the mine area (conveyor technology). In particular at high speeds or with variations in traction or with other load changes, there is a risk that the traction device will not be guided cleanly on the drum. Overruns or other faults or gaps or jams can occur. On the one hand this means a safety risk, on the other hand also an additional load on the traction device. Correct target synchronism of the traction device must therefore be ensured in the most exact and reliable possible way.

When winding traction means, or similarly when unwinding, there is a requirement to wind up the traction means completely over the width of the drum, in particular up to a stop plate or a shoulder, and only then to divert it in the opposite width direction and a new layer (level ) to start when the underlying layer is complete and has no gaps or shoulders if possible. For the engineer or for the operator of systems with traction devices, the problem arises of ensuring that the rope runs synchronously as reliably as possible and also monitors it. For this purpose, the drums can have grooves, by means of which the traction means (in particular rope) can be guided in the width direction in some of the applications without any further mechanical aids in a comparatively reliable manner; the rope then runs autonomously. Unfortunately, these grooves only have a direct effect on the bottom layer. Any irregularities from the second layer onwards can nevertheless have a disadvantageous effect and in particular lead to the rope jumping over. Despite these risks, mechanical aids such as so - called Wimmler, do not like to be used, because in many cases they are very prone to errors or bulky or bring other restrictions on the operation of the

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Traction system with itself. In many cases, arrangements are preferred in which the traction device can drive autonomously.

Up to now, monitoring of the desired run or the desired position of the traction means was optically preferred. Especially in civil engineering or underground construction, long distances have to be bridged, and in some cases the traction devices have to be heavily greased or bring dirty parts with them. Example: People and / or load baskets in underground mining at depths (depth underground) to more than 2,000 or 3,000 meters and loads in the range of e.g. 175 to 200 tons [to], for example guided over a so-called Blair drum or double drum with two traction element sections guided in opposite directions, or also with a single drum, a conical drum, spiral drum, or the like. In mining operations, for example in the case of mines (mines), dust, dirt or particles also settle on the traction device, which can make it considerably more difficult to precisely detect the traction device's synchronization. Signs of aging on the traction mechanism are also problematic, e.g. a fraying rope, or kinks or dents or bulges in the traction mechanism. Particularly in these "dirty" application cases, optical detection is often inaccurate or error-prone. In particular, this can lead to frequent false alarms, with the tendency on the part of the mine operators that the monitoring system is switched off completely. This is not necessary in terms of operational safety and process monitoring. There is therefore a need for a measurement technique which overcomes the previous disadvantages, particularly in the case of “dirty” applications or applications that are strongly influenced by side effects.

In particular, measurement analysis seems to be of interest which is suitable for the following types of kinematics: traction means, in particular rope on drum; Rotation of the drum for winding or unwinding the traction means; Position of the traction device on the drum; Relative position of a section of the traction device to further sections of the traction device. The measurement analysis can be particularly suitable for winches. The measurement analysis can in particular be suitable for detecting overruns or for detecting jumping of the traction device or for detecting gaps or other irregularities or irregularities. The measurement analysis can be based in particular on optical methods.

EP 0 602 504 B1 describes a control system for winding up electrical cables (traction means), a laser source being used to illuminate a drum. The laser source projects a line along the entire length of the drum, near the point at which the cable is drawn onto the drum. The cable is routed using a cable guide. A characteristic point and its movement to the axis of the drum is determined, and the cable routing can be controlled in such a way that the most uniform possible winding can be ensured.

EP 0 129 926 B1 describes a method in which the outlines of turns are imaged by means of an optical system in order to be able to analyze the winding course. The analysis is intended to enable appropriate control when guiding the traction means by means of a cable guide.

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DE 40 36 370 A1 describes a method for checking the winding profile of orthocyclically wound coils, in which the surfaces of the coil are illuminated with light in those areas in which the winding layers of the traction device bend, light reflected by the winding layers being received and causing Reflection bands are checked for parallelism of the traction device.

EP 2 914 540 B1 describes a system for controlling the winding or unwinding of a traction means, in particular a cable or hoisting rope or a ship chain, an image capturing means providing a 3D image in order to detect the position and orientation of the traction means.

WO 2008/028751 A1 describes a non-contact measurement sensor system arranged in a row, which measures the course of the cable pulling in with respect to a drum in a crane. So-called laser sensors are used to carry out a distance measurement.

These systems each provide advantages for individual aspects of the measurement. However, it is desirable that the measurement can be performed in an even simpler, more robust, or more reliable manner. Based on these systems, there is in particular a need for even more reliable, system-reliable optical measurement technology, in particular for large traction means lengths, in particular in applications with strong side effects or strong external influences, such as Dirt on the traction device.

Alternative measurement techniques have already been considered, e.g. the detection of load changes or load changes, e.g. due to a rope jump in order to draw conclusions about the synchronism of the rope. However, these measurement techniques involve uncertainties, especially since the type of evaluation is rather indirect, so that the influence of external factors such as Grease, dirt or the like cannot be taken into account particularly precisely, at least in some applications.

SUMMARY OF THE INVENTION

The object is to provide a device and a method by means of which the arrangement of at least one traction device on a winding unit can be monitored in a simple, robust and reliable manner, in particular in the case of a traction device that is guided autonomously without mechanical aids. This task can also be concretized in such a way that the monitoring of the arrangement of the traction device can be carried out without errors so that the monitoring also enables control of a traction device system, in particular the control of a drive of the winding unit, in particular in the case of a traction device guided autonomously without mechanical aids. Last but not least, the task also consists in providing a device and a method for monitoring the arrangement of the traction device, with which the monitoring can also be carried out reliably and as little as possible, if there are considerable lengths of a traction device that is heavily contaminated or already damaged or rough or soiled - and must be handled, especially at high speeds, especially in mining at great depths of more than 2,000 or 3,000 meters.

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This object is achieved by a method according to the independent method claim and by a traction device monitoring device according to the subordinate device claim. Advantageous developments of the invention are explained in the respective subclaims. The features of the exemplary embodiments described below can be combined with one another, unless this is explicitly denied. The invention is first explained with reference to the device.

A traction device monitoring device is provided for optically monitoring the synchronism or the arrangement of at least one traction device, in particular a rope, which is guided on a winding unit, in particular a drum, rotatably mounted about an axial longitudinal axis, or is wound in one or more winding positions on the winding unit, wherein the traction device monitoring device has: at least one projection unit set up for projecting radiation, in particular in the form of a light plane, onto the outer surface of the winding unit;

- At least one detection unit set up for optical detection of the radiation projected onto the lateral surface;

a computing unit set up to evaluate the geometry and / or a temporal change in the projected radiation.

It is proposed according to the invention that the traction device monitoring device is set up for projecting and capturing in such a way that the projected radiation as both the cross section of the traction device and the relative arrangement of the traction device on the winding unit and also the orientation of the traction device and also the time course during the opening or from winding the traction device characterizing cross-sectional contour line can be evaluated, wherein the projected radiation can be detected in particular from an at least approximately tangential direction or tangential plane. This facilitates the detection and evaluation of overruns, jumping of the traction device, gaps between wound traction device sections, or other irregularities or risks, particularly in the case of autonomously guided traction devices.

The cross-sectional contour line can be evaluated with respect to at least one reference variable or at least one reference point from the following group: time, radial direction or radial position of a target arrangement for at least one cross-sectional contour line section, longitudinal direction or longitudinal position of a target arrangement for at least one cross-sectional contour line section, geometry of the cross-sectional contour line or geometric deviation at least of a cross-sectional contour line section from a target geometry of the cross-sectional contour line, distance of a plurality of detected reference points relative to one another, speed of displacement of a detected reference point in the radial direction and / or in the longitudinal direction, amount of discontinuity in the displacement of the reference point in the radial direction and / or in the longitudinal direction. In this way, in particular a skipping of the traction device can be diagnosed in a reliable, robust manner.

Thanks to the evaluation according to the invention of the cross-sectional contour line, in particular the course of the line, the following benefits can also be realized: based on changes in direction (winding and unwinding), the number of layers on the winding unit can be determined. In many cases the number of winding layers is one

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Size specified by rope manufacturers in the context of strength (maximum permissible number of layers). So far, however, it has not yet been possible to detect the number of layers in a simple or sufficiently reliable manner. Thanks to the extensive evaluation options, this measurement can now be more resilient and robust.

It has been shown that the device according to the invention and the method according to the invention can be used particularly reliably, in particular when using laser technology and when analyzing the projected lines generated by laser beams or flat laser beam fans. Optionally, lattice structures can also be projected, in particular onto a transition between the outer surface of the winding unit and the cable outer surface, in particular for detecting a radius or angle in the transition between traction means and winding unit. Here, e.g. an analysis of a degree of distortion from a projected lattice structure is also performed. In particular, the arrangement of the rope can be deduced from the degree of curvature of individual lines of the lattice structure. The optical analysis of the relative position of the rope or the respective rope turn on the drum can also be focused on individual sections of the rope. The evaluation can take place with regard to unevenness in a distorted projected lattice structure, in particular with regard to a target distortion, which e.g. can also be predetermined by the drum used and / or by the rope used or by the interface between the drum and rope.

According to one exemplary embodiment, the traction means monitoring device is set up to evaluate the geometry of the cross-sectional contour line with respect to at least one deviation of the target geometry in the radial direction, in particular with regard to a deviation from a target geometry defined by at least one circular arc segment. This also provides advantages with regard to the evaluation with regard to overruns or jumped traction devices.

According to one exemplary embodiment, the traction means monitoring device is set up to evaluate a geometric deviation of the cross-sectional contour line from a target geometry and / or from a target arrangement in each case in the radial direction and / or in the longitudinal direction, in particular with regard to a geometric deviation from the target geometry of a circular arc segment circular cross-section and / or in relation to a target arrangement of a radial maximum (vertex) of the cross-sectional contour line. This also provides great flexibility in the evaluation.

According to one exemplary embodiment, the traction means monitoring device is set up for evaluating in relation to a radial maximum (apex) of a semicircular arc of the cross-sectional contour line and / or in relation to a curvature (radius of curvature) of at least one cross-sectional contour line section. This provides a metrological basis, particularly with regard to a single traction element section.

According to one exemplary embodiment, the traction means monitoring device is set up for evaluating with respect to a transition point between the outer surface of the winding unit and the outer surface of the

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Traction means, in particular with respect to an angle or radius formed at the transition point. This provides a metrological basis, in particular with regard to a section of the traction means that has been wound up or unwound at the current moment and can provide advantages with regard to a reaction time.

According to an exemplary embodiment, the projection unit has a laser light source, in particular a laser light source set up for projecting green laser light. Last but not least, this also results in a low susceptibility to errors, whereby the simultaneous projecting of several lines is also simplified. In particular, the evaluation can thereby be facilitated, in particular also with high accuracy. It has been shown that green laser light can promote reliable evaluation, particularly in civil engineering, when the traction means is heavily contaminated.

According to an exemplary embodiment, the traction means is a traction means guided autonomously without mechanical aids. The traction system is set up accordingly for an autonomously guided traction device. This can avoid sources of error, especially those based on mechanical aids.

According to an exemplary embodiment, the traction device monitoring device is set up for evaluating the alignment and / or arrangement of a free section of the traction device. This also has advantages in applications without mechanical aids for rope guidance.

According to an exemplary embodiment, the traction means monitoring device is designed for projecting in such a way that, in a radial plan view, an optical line is formed on the lateral surface in an orientation at least approximately parallel to the longitudinal axis of the winding unit. This also provides good accuracy and can facilitate evaluation, particularly with regard to cross-sectional variations.

According to an exemplary embodiment, the traction means monitoring device is designed to project in such a way that at least two optical lines are generated on the lateral surface, in particular in a parallel arrangement, in particular offset in the circumferential direction by a circumferential angle in the range from 1 to 45 °. This can improve the reliability of the measurement. In addition, the alignment or the course of the traction means can be detected in a simple manner. Optionally, a large number of optical lines can be projected and evaluated over a circumferential range of over 90 or 180 or 270 °, for example 5 or 10 optical lines each at an angle of 5 to 35 °, in particular in a parallel arrangement to one another. Optionally, grid structures generated from the lines or from the radiation can also be projected.

According to one exemplary embodiment, the traction device monitoring device is set up to evaluate the longitudinal position and / or the radial position of a radial deviation of the cross-sectional contour line with respect to a diameter of the winding unit and / or with respect to an already wound or unwound length of the traction device. In this way, an irregularity can also be evaluated, in particular in relation to a winding speed or in relation to an already wound length, which can increase the accuracy.

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According to one exemplary embodiment, the traction device monitoring device has a control device set up for controlling a traction device system with a winding unit, in particular set up for switching off or throttling a drive of the traction device system. As a result, not only monitoring, but also control or intervention in the operating mode of a traction system can take place. There are also safety-related advantages.

According to one exemplary embodiment, the traction means monitoring device is set up to track the projection unit as a function of the speed and / or as a function of the winding thickness or the number of winding layers on the winding unit. This ensures a high level of accuracy in the acquisition and evaluation. The type of tracking can be selected depending on the cameras (acquisition units) used, in particular depending on the depth of field. If space is limited, one or more detection units can be arranged, in particular, at a distance of 2 to 3 meters [m] from the winding unit. The contactless detection from this minimum distance has advantages in particular with regard to diameter variations and with regard to dirt on the traction mechanism.

ITEM The above-mentioned object is also achieved by a traction device monitoring device for optically monitoring the arrangement of at least one traction device, in particular a rope, which is guided on a winding unit, in particular a drum, rotatably mounted about an axial longitudinal axis, or is wound in one or more winding layers on the winding unit / is, the traction device monitoring device having:

at least one projection unit set up for projecting radiation, in particular in the form of a light plane, onto the lateral surface of the winding unit;

- At least one detection unit set up for optical detection of the radiation projected onto the lateral surface;

a computing unit set up to evaluate the geometry and / or a temporal change in the projected radiation;

wherein the traction device monitoring device is designed for projecting and detecting such that the projected radiation as both the cross section of the traction device and the relative arrangement of the traction device on the winding unit and also the orientation of the traction device and also the time course when winding or unwinding the traction device Characterizing cross-sectional contour line can be evaluated, in particular from an at least approximately tangential direction or tangential plane, the cross-sectional contour line being evaluable with respect to at least one reference variable or at least one reference point from the following group: time, radial direction or radial position of a target arrangement for at least one cross-sectional contour line section, longitudinal direction or Longitudinal position of a target arrangement for at least one cross-sectional contour line section, geometry of the cross-sectional contour line or geometric deviation of at least one cross-sectional contour line Section of a target geometry of the cross-sectional contour line, distance of a plurality of detected reference points relative to one another, speed of the displacement of a detected reference point in the radial direction and / or in the longitudinal direction, amount of discontinuity in the displacement of the reference point in the radial direction and / or in the longitudinal direction, direction of rotation of the winding unit; and where

BE2018 / 0085 the traction device monitoring device is set up for evaluating in relation to a radial maximum of a semicircular arc of the cross-sectional contour line and / or in relation to a curvature of at least one cross-sectional contour line section and / or in relation to a transition point between the outer surface of the winding unit and the outer surface of the traction unit, in particular with respect to an angle or radius formed at the transition point, and wherein the projection unit has a laser light source, in particular a laser light source set up for projecting green laser light, and wherein the traction means monitoring device is set up for projecting in such a way that, in a radial plan view, at least one optical line in one orientation is formed approximately parallel to the longitudinal axis of the winding unit on the lateral surface. This results in numerous of the advantages mentioned above, in particular in a traction system with an autonomously guided traction device without mechanical aids for guiding the traction device.

The aforementioned object is also achieved by a traction device system for controlled winding and / or unwinding of at least one traction device, with at least one winding unit, in particular a drum, rotatably mounted about an axial longitudinal axis, and with a drive unit, and with at least one traction device wound on the winding unit, in particular rope, and also with a traction device monitoring device described above. This results in the aforementioned advantages.

The aforementioned object is also achieved by a computer program or computer program product, each set up to carry out the evaluation described here or to specify the method steps described here.

As mentioned above, the aforementioned object is also achieved by a method for optically monitoring the synchronism or the arrangement of at least one traction means, in particular a rope, which is guided on a winding unit, in particular a drum, rotatably mounted about an axial longitudinal axis or in one or more winding layers the winding unit is / is wound, with the following steps: projecting radiation onto the outer surface of the winding unit;

-optical detection of the radiation projected onto the lateral surface in the side profile (radial plane) in a side view, the projected radiation being able to be imaged or reflected in the form of at least one optical line, in particular a straight line, in particular a laser light line, in particular in the form of a light plane or generated by a fan of light, from a radial top view from at least approximately the radial direction;

Evaluating the geometry and / or a temporal change in the projected radiation;

wherein the projection and optical detection is carried out in such a way that the projected radiation characterizes both the cross section of the traction means and the relative arrangement of the traction means on the winding unit and also the orientation of the traction means and also the course over time when the traction means is wound up or down Cross-sectional contour line can be evaluated, in particular by capturing the contour generated by the projected radiation from an at least approximately tangential direction or tangential plane.

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This results in the aforementioned advantages. In particular, a very reliable, robust measurement can be ensured.

The cross-sectional contour line can be evaluated with respect to at least one reference variable or at least one reference point from the following group: time, radial direction or radial position of a target arrangement for at least one cross-sectional contour line section, longitudinal direction or longitudinal position of a target arrangement for at least one cross-sectional contour line section, geometry of the cross-sectional contour line or geometric deviation of at least one cross-sectional contour line section from a target geometry of the cross-sectional contour line, distance of a plurality of detected reference points relative to one another, speed of displacement of a detected reference point in the radial direction and / or in the longitudinal direction, amount of discontinuity in the displacement of the reference point in the radial direction and / or in the longitudinal direction, direction of rotation of the winding unit. Optionally, the line thickness can also be evaluated.

According to one embodiment, the evaluation is carried out in relation to at least one geometric deviation of the cross-sectional contour line from a target geometry and / or from a target arrangement in each case in the radial direction and / or in the longitudinal direction, in particular with regard to a geometric deviation from the target Geometry of an arc segment of a circular cross-section and / or in relation to a target arrangement of a radial maximum (vertex) of the cross-sectional contour line. This also enables the specific evaluation with regard to individual sections of the traction device. The target arrangement can e.g. be / are predetermined by the distance between two adjacent wound traction element sections.

According to one embodiment, the evaluation is carried out with respect to at least one geometric deviation of the cross-sectional contour line, in particular a radial maximum (vertex) of a semicircular arc of the cross-sectional contour line, from a target geometry defined by a series of semicircular arcs. This type of geometric comparison can facilitate the evaluation.

According to one embodiment, the evaluation takes place in relation to a curvature (radius of curvature) of at least one cross-sectional contour line section. A reference to the curvature can expand the scope of the evaluation or make the evaluation more robust.

According to one embodiment, the evaluation is carried out at least also in relation to the arrangement of the cross-sectional contour line of the last section of the traction means which has been wound up or unwound, in particular in relation to the relative arrangement of the cross-sectional contour line of the outermost section relative to the cross-sectional contour line of the adjacent wound section of the traction means. This also enables a quick response time. The evaluation of the course of the outermost section also provides a particularly reliable measurement result.

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According to one embodiment, laser light is projected, in particular green laser light. This also enables a high degree of accuracy or a high level of sensitivity when measuring / recording / evaluating.

According to one embodiment, the method is carried out on a winding unit for civil engineering or mining, in particular on a double drum, in particular on a Blair drum. In this application, there are advantages of the method according to the invention in particular also due to frequent loads on the traction means by impurities (dirt, fat).

According to one embodiment, the traction device is guided autonomously without mechanical aids. This can avoid further sources of error from such mechanical aids.

According to one embodiment, an evaluation of the alignment and / or the arrangement of a free section of the traction means. This also provides advantages for arrangements without mechanical aids for the cable guide.

According to one embodiment, the evaluation is carried out at least also with respect to a transition point between the outer surface of the winding unit and the outer surface of the traction means, in particular with regard to an angle or radius formed at the transition point. This can also expand the scope of the evaluation and the data basis provided for the analysis.

According to one embodiment, the evaluation of the geometry and / or a change over time includes an evaluation of the optical cross-sectional contour line projected by means of the radiation onto the surface of the wound traction means with respect to at least one cross-section of the traction means.

According to one embodiment, the geometry is evaluated in relation to a continuous or discontinuous geometric deviation from the target geometry in the radial direction and / or in the longitudinal direction in relation to a further continuous or discontinuous geometric deviation from the target geometry, in particular by the Distance from two adjacent reference points in the longitudinal direction is detected and evaluated in relation to the diameter of the traction means. In particular, this also facilitates an evaluation in relation to a desired position of the traction means in the longitudinal direction.

According to one embodiment, the evaluation of the geometry or the change over time with respect to a cross-sectional contour line section in the form of a circular arc segment is carried out, which cross-sectional contour line section is located furthest radially on the outside and is arranged on the outside in the axial direction relative to further circular arc segments of the cross-sectional contour line. This also provides a data basis for an evaluation almost in real time, with a minimal time delay.

According to one embodiment, the evaluation of the geometry or the change over time in relation to an inconsistent geometric deviation from the desired geometry is carried out in the radial direction, whereby also

BE2018 / 0085 the longitudinal position of the discontinuous radial deviation is evaluated, in particular in relation to a further continuous or discontinuous deviation. According to one embodiment, the geometry or the temporal change in relation to an inconsistent geometric deviation from the target geometry is carried out in the radial direction, the radial position of the inconsistent radial deviation also being evaluated, in particular in relation to a further continuous or inconsistent deviation. This enables a specific reference to the radial direction or to the longitudinal direction.

According to one embodiment, the longitudinal position and / or the radial position of the radial deviation of the cross-sectional contour line is evaluated in relation to a point in time or a time profile or a speed of a displacement in the longitudinal direction. This can also enable measurement redundancy and thus a kind of plausibility check.

In many cases, the mechanical cable guides used according to the prior art have the disadvantage that greases (lubricating greases) of the cable or the cable guides attract dirt very quickly and thereby become abrasive, and this can lead to malfunctions, even to operational failures. Plant operators would therefore like to forego mechanical feeders wherever possible.

Thanks to the device and method according to the invention, the arrangement and alignment of the traction means can also give the system operator information on where the malfunctions in his system are or how they could have arisen, with reference to a time course. In particular, the storage of the time profile allows a comparative analysis with other possible causes of a malfunction, e.g. B. in the shaft, e.g. a brief jamming caused by damaged rollers on the conveyor cage. For this purpose, the device can also have a data memory and a database for storing the measurement data.

Over a longer period e.g. Over several days of data analysis (comparison), a statement can be made (at least in the tendency) about a possible extension of the traction device (change in diameter), in particular with reference to a change in the extent or the bearing thickness. A safety check on the system can thus be initiated if necessary.

According to one embodiment, the cross-sectional contour line is evaluated at least with respect to the reference variable time, an evaluation of a change over time of at least one reference variable or at least one reference point from the following group being carried out: distance of a plurality of recorded reference points relative to one another, speed of displacement of a recorded reference point in the radial direction and / or in the longitudinal direction, diameter of the traction means, amount of discontinuity in the displacement of the reference point in the radial direction and / or in the longitudinal direction. This time-related evaluation can expand the scope of the analysis and further increase operational safety.

According to one embodiment, the longitudinal position and / or the radial position of the radial deviation of the cross-sectional contour line in relation to a diameter of the winding unit and / or in relation to one already

BE2018 / 0085 evaluated the length or length of the traction device. This also facilitates a relative reference of measurement results, especially with regard to the thickness of the traction device being examined.

According to one embodiment, a deviation formed by a semicircular arc or by an at least approximately circular arc segment is evaluated as a deviation from the target geometry in the radial direction, in particular delimiting at least one semicircular cross section of the traction means, in particular a radial maximum lying radially outward in the radial direction the cross-sectional contour line. This also makes it easier to refer to a single section or a single turn of the traction means.

According to one embodiment, the projection is carried out in such a way that, in a radial plan view, an optical line is formed on the lateral surface in an orientation at least approximately parallel to the longitudinal axis of the winding unit. This also facilitates a geometric comparison.

According to one embodiment, the projection is carried out in such a way that at least two optical lines are generated on the lateral surface, in particular in a parallel arrangement, in particular offset in the circumferential direction by a circumferential angle in the range from 1 to 45 °, in particular at least one line onto a wound section and at least one Line on a free section of the traction device. This also facilitates an evaluation with regard to the course in the circumferential direction. The offset can also be less than 1 °, provided that such an angle difference can be implemented technically. The lower limit 1 ° is given here by way of example to emphasize that a minimum offset in the circumferential direction is advantageous.

ITEM The aforementioned object is also achieved by a method for optically monitoring the arrangement of at least one traction means, in particular a rope, which is guided on a winding unit, in particular a drum, rotatably mounted about an axial longitudinal axis, or is wound in one or more winding layers on the winding unit / will, with the steps:

Projecting radiation, in particular in the form of a light plane, onto the outer surface of the winding unit; -optical detection of the projected radiation;

Evaluating the geometry and / or a temporal change in the projected radiation;

wherein the projection and optical detection are carried out in such a way that the projected radiation characterizes both a cross-sectional contour line that characterizes both the cross section of the traction means and the relative arrangement of the traction means on the winding unit and also the orientation of the traction means and also the time course when the traction means is wound up or unwound can be evaluated, the cross-sectional contour line being evaluated with respect to at least one reference variable or at least one reference point from the following group: time, radial direction or radial position of a target arrangement for at least one cross-sectional contour line section, longitudinal direction or longitudinal position of a target arrangement for at least one cross-section contour line section, geometry the cross-sectional contour line or the geometric deviation of at least one cross-sectional contour line section from a target geometry of the cross-sectional contour line, the distance of several recorded reference points relative to each other, speed of displacement of a captured

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Reference point in the radial direction and / or in the longitudinal direction, amount of discontinuity in the displacement of the reference point in the radial direction and / or in the longitudinal direction, direction of rotation of the winding unit; and wherein the evaluation with respect to at least one geometric deviation of the cross-sectional contour line from a desired geometry and / or from a desired arrangement is carried out in each case in the radial direction and / or in the longitudinal direction, and wherein the evaluation is carried out at least also with respect to a transition point between the outer surface of the winding unit and the outer surface of the traction means takes place, in particular with regard to an angle or radius formed at the transition point, and the projecting is carried out in such a way that an optical line is formed on the outer surface in a radial plan view in an orientation at least approximately parallel to the longitudinal axis of the winding unit , and wherein laser light is projected, in particular green laser light. This results in numerous of the advantages mentioned above, in particular in a traction system with an autonomously guided traction device without mechanical aids for guiding the traction device.

The aforementioned object is also achieved by a method for controlling a traction system with a winding unit, in particular for switching off or throttling a drive of the traction system, comprising a previously described method for monitoring, wherein at least one parameter from the following group is evaluated and when a threshold value is exceeded a control signal is emitted: radial position of a detected reference point; Longitudinal position of a recorded reference point; Distance of several recorded reference points relative to each other; Speed of displacement of a detected reference point in the radial direction and / or in the longitudinal direction; Amount of discontinuity in the displacement of the reference point in the radial direction and / or in the longitudinal direction; Change over time of at least one reference variable or at least one reference point from the following group: distance of several recorded reference points relative to one another, speed of displacement of a detected reference point in the radial direction and / or in the longitudinal direction, diameter of the traction means, amount of discontinuity in the displacement of the reference point in radial Direction and / or in the longitudinal direction. This results in the aforementioned advantages.

The aforementioned object is also achieved, as mentioned, by using a previously described traction device monitoring device on a traction device system with a winding unit in the form of a Blair drum, in particular in civil engineering or mining applications, in particular on a traction device system with autonomously guided traction means without mechanical aids for the traction means guidance. This results in the aforementioned advantages.

The aforementioned object is also achieved, as mentioned, by using a previously described traction device monitoring device on a traction device system with a traction device, in particular rope, with a length of over 1000 or 2000 meters and with loads over 1 or 10 tons, in particular on a traction device system with an autonomously guided one Traction means without mechanical aids for the traction means guidance. This results in the aforementioned advantages.

BRIEF DESCRIPTION OF THE FIGURES

BE2018 / 0085

The invention is described in more detail in the following drawing figures, reference being made to the other drawing figures for reference signs which are not explicitly described in a respective drawing figure. Show it:

Figures 1A, 1B, IC each in a side view in a schematic representation of an arrangement of a traction device on a winding unit;

Figures 2A, 2B, 2C each in a side view or in a sectional view in a schematic representation of an arrangement according to an exemplary embodiment;

Figures 2D, 2E, 2F, 2G, 2H each in a tangential sectional view in a schematic representation of an arrangement according to an exemplary embodiment and examples of geometrically evaluable deviations;

FIGS. 3A, 3B, 3C each show, in a schematic representation, detection of geometric deviations and / or a time profile of a cross-sectional contour line according to an embodiment, by means of one or two projected lines;

Figures 4A, 4B, 4C, 4D each in a sectional view in a schematic representation of a tracking of a projection unit according to an embodiment; and

Figure 5 shows a schematic representation of a traction device monitoring device according to a

Exemplary.

DETAILED DESCRIPTION OF THE FIGURES

1A shows a traction means 1 which is wound on a winding unit 2, in particular a drum, and which rests in a single winding position on the outer surface 2.1 of the winding unit 2. The winding unit 2 extends in the longitudinal direction x along the longitudinal axis X about which the winding unit 2 is rotatably mounted.

FIG. 1B shows a track 4 which is provided on the lateral surface 2.1 and can define a desired position of the respective traction element section, in particular in order to facilitate autonomous guiding of the traction element without mechanical aids. The orientation xul (geometric profile) of a wound section of the traction means is also indicated.

FIG. IC shows a first traction element strand or traction element section 1A and a second traction element strand or traction element section 1B, which are wound simultaneously on two drums 2.1 of a double drum arrangement or a Blair drum arrangement, each in a plurality of winding layers 3. The respective traction element section IA, 1B is guided back and forth in the longitudinal direction when winding or unwinding. A pulling force F1 usually acts on the respective pulling means, the direction of the force defining the orientation xtl (pulling direction) of a free section of the pulling means. A free section of the traction means is to be understood as a section which leads to the load without further traction means guidance (in particular without the interposition of mechanical aids for rope guidance).

A (faulty) offset Ar in the radial direction can be observed in the second traction element section 1B. Such an offset can give rise to an error which can make it necessary to control a traction system.

BE2018 / 0085

FIGS. 2A, 2B each show a single winding unit 2, with radiation or light, in particular laser light, being projected onto the lateral surface 2.1 by means of a projection unit 11, in particular from an exactly radial direction.

FIG. 2C shows the manner of the projection in the sectional image. The projection takes place in a radial plane xrl in such a way that the cross-sectional contour of the traction means can be detected and evaluated in the side profile. The optical detection of the projected radiation takes place by means of a detection unit 13, in particular in a tangential orientation of the visual axis of the detection unit. The circumferential direction u is also indicated in FIG. 2C.

Figures 2D, 2E, 2F, 2G, 2H each show individual aspects of projecting, detecting and evaluating.

FIG. 2D shows the projected cross-sectional contour line L, in particular a laser light line, the lower half of the cross-section of the traction means being indicated by a dashed line. The diameter dl of the traction device can specify a target distance in the longitudinal direction dx, in particular between two reference points. Two actually existing distances between the center points of the respective cross-section are identified by the distances dxl, dx2.

FIG. 2E shows two first reference points RI, in particular two discontinuous interruptions. Due to an offset in the longitudinal direction, the projected radiation is not reflected by the uppermost winding layer. A radial maximum rL (apex) of the cross-sectional contour line that lies at the maximum outside in the radial direction can be evaluated with regard to the height position of the traction means.

FIG. 2F shows a second reference point R2, in particular a continuous discontinuity, based on an irregular transition between two adjacent cross-sectional contour line sections, which irregular transition is related to an offset Ar in the radial direction. A discontinuous jump in the cross-sectional contour lines, in particular with the same longitudinal coordinate, can be identified by a third reference point R3 (transition point). The reference point R3 can identify the outermost traction section.

FIG. 2G shows different cross-sections delimited by the cross-sectional contour line L, a first cross-section Q1 being able to define a target cross-section and a second cross-section Q2 and a third cross-section Q3 each being able to identify a section of the wound traction means.

FIG. 2H describes deviations that can be evaluated. In general, a geometric deviation of the cross-sectional contour line from the target geometry is designated by the reference symbol AL. A constant deviation ALI and a discontinuous deviation AL2 can each characterize different relative arrangements of the traction device. You can choose between a target arrangement represented by a dotted line (target geometry Gs, target radial position rs, target longitudinal position xs) and the actual actual arrangement (actual BE2018 / 0085

Geometry Gi, actual radial position ri, actual longitudinal position xi) can be distinguished. The respective deviation can be evaluated with regard to individual parameters.

FIGS. 3A, 3B, 3C show aspects of an evaluation with a temporal reference, in particular when at least two lines are projected. The relative arrangement of two projected cross-sectional contour lines L relative to one another can also be evaluated, as a result of which the alignment of the traction means can be determined; the evaluation can relate to a wound section and / or a free end or a free section of the traction means. The respective evaluation can take place in relation to a time unit t. The arrangement at time tO (initial time of a measurement) can be compared with an arrangement at least one other time t1. A relative offset between the two cross-sectional contour lines L, in particular between the respective semicircular line segment, in the longitudinal direction and / or radial direction can also be evaluated.

FIGS. 4A, 4B, 4C show different arrangements, in particular as a function of a varying diameter. An angle α is formed between the optical axes of the projection unit 11 and the detection unit 13.

4B, the angle α is somewhat larger due to a larger diameter of the lateral surface, in particular since the optical axis of the detection unit 13 is aligned more flatly than in FIG. 4A. A large number of winding layers 3 results in a larger diameter of the outer surface. The projection unit 11 is therefore displaced in the circumferential direction u, in particular in order to be able to project onto the lateral surface exactly in a radial plane xrl.

FIG. 4C shows a movement path MP for tracking the projection unit 11. Even when the optical axis of the detection unit 13 is constantly aligned, a projection onto the lateral surface can be ensured exactly in a radial plane xrl. This results in an angle a which is significantly smaller than in the arrangements shown in FIGS. 4A and 4B.

FIG. 4D shows an arrangement in which one or more projection units 11 project at least two lines onto the lateral surface (cf. FIG. 3C), and one or more detection units 13 record the cross-sectional contour line formed by the projection at an angle a. The acquisition and evaluation can take place simultaneously. The cross-sectional contour line can be compared with each other.

FIG. 5 shows a traction device monitoring device 10 which is arranged on a traction device system 20 and is in communication with a drive unit 5 of the traction device system 20. The projection direction rl 1 and the detection direction rl3 (optical axis of the detection unit) are also shown. A computing unit 15 and / or a control device 17 are each communicatively connected to the projection unit 11 and the detection unit 13.

BE2018 / 0085

LIST OF REFERENCE NUMBERS

traction means

1A first traction element strand or traction element section

1B second traction element strand or traction element section

Winding unit, in particular drum

2.1 lateral surface

wrapping location

track

Drive or drive unit

Zugmittelüberwachungseinrichtung

projection unit

acquisition unit

computer unit

control device

Zugmittelanlage

Fl traction on / in traction

P projection (emission) of radiation, especially light

L projected cross-sectional contour line, especially light line

AL geometric deviation of the cross-sectional contour line from the target geometry

ALI steady deviation

AL2 discrepancy dx, dxl, dx2 distance in the longitudinal direction, especially between two reference points

Ar offset in the radial direction

Gi actual geometry

Gs target geometry ri actual radial position rs target radial position xi actual longitudinal position xs target longitudinal position

RI first reference point, especially discontinuous interruption

R2 second reference point, in particular continuous discontinuity

R3 further reference point, especially transition point

BE2018 / 0085

MP movement path for tracking the projection unit

Ql first cross section, in particular target cross section

Q2 second cross section

Q3 third cross section dl diameter of the traction means xrl radial plane (side profile) t time unit, in particular milliseconds tO time ZERO (initial time of a measurement) tl time one

X longitudinal axis

X longitudinal direction xul alignment (geometric course) of a wound section of the traction means xtl alignment (traction direction) of a free section of the traction means r radial direction rL radial maximum (vertex) of the cross-sectional contour line rll projection direction rl3 detection direction or optical axis u circumferential direction α angle between projection direction and Detection direction <ί.οΧ

Claims (15)

1. A method for optically monitoring the arrangement of at least one traction means (1) which is guided on a winding unit (2) rotatably mounted about an axial longitudinal axis (X) or is wound in one or more winding layers (3) on the winding unit, with the steps : Projecting radiation, in particular in the form of a light plane, onto the outer surface (2.1) of the winding unit; -optical detection of the projected radiation; Evaluating the geometry and / or a temporal change in the projected radiation; characterized in that the projection and optical detection is carried out in such a way that the projected radiation as both the cross section (Ql) of the traction means (1) and the arrangement of the traction means on the winding unit (2) and also the orientation of the traction means and also the Time course when winding or unwinding the traction device characterizing cross-sectional contour line (L) can be evaluated. 2. The method according to the preceding method claim, the evaluation of the Cross-sectional contour line (L) with respect to at least one reference variable or at least one reference point (RI) from the following group takes place: time (t), radial direction (r) or radial position of a target arrangement (rs, xs) for at least one cross-sectional contour line section, longitudinal direction (x ) or longitudinal position of a target arrangement (rs, xs) for at least one cross-sectional contour line section, geometry of the Cross-sectional contour line or geometric deviation (AL) of at least one cross-sectional contour line section from a target geometry (Gs) of the cross-sectional contour line (L), distance (dx, Ar) of several recorded reference points (RI, R2) relative to one another, speed of displacement of a recorded reference point in the radial direction and / or in the longitudinal direction, amount of discontinuity in the displacement of the reference point in the radial direction and / or in the longitudinal direction, direction of rotation of the winding unit; or wherein the cross-sectional contour line (L) is evaluated at least with respect to the reference variable time, an evaluation of a change over time of at least one reference variable or at least one reference point from the following group is carried out: distance (dx, Ar) of several recorded reference points relative to one another, speed of displacement of a detected reference point in the radial direction and / or in the longitudinal direction, diameter of the traction means (dl), amount of discontinuity in the displacement of the reference point in the radial direction and / or in the longitudinal direction. 3. The method according to any one of the preceding method claims, wherein the evaluation with respect to at least one geometric deviation of the cross-sectional contour line (L) from a target geometry (Gs) and / or from a target arrangement (rs, xs) in each case in the radial direction and / or is carried out in the longitudinal direction, in particular in relation to a geometric deviation from the desired geometry of an arc segment of a circular cross section and / or in relation to a desired arrangement of a radial maximum (rL) of the cross-sectional contour line; and / or wherein the evaluation takes place at least also with respect to a transition point (R3) between the outer surface (2.1) of the winding unit and the outer surface of the traction means, in particular with regard to an angle or radius formed at the transition point; and / or where BE2018 / 0085 evaluating the geometry in relation to a continuous or discontinuous geometric deviation from the target geometry in the radial direction and / or in the longitudinal direction in relation to a further continuous or discontinuous geometric deviation from the target geometry, in particular by carrying out the distance from two reference points (RI, rL) adjacent in the longitudinal direction are detected and evaluated in relation to the diameter (dl) of the traction means. 4. The method according to one of the preceding method claims, wherein the projection is carried out in such a way that an optical line is formed in a radial top view in an orientation at least approximately parallel to the longitudinal axis (X) of the winding unit (2) on the lateral surface (2.1); and / or wherein the projection is carried out in such a way that at least two optical lines are generated on the lateral surface, in particular in a parallel arrangement, in particular offset in the circumferential direction by a circumferential angle in the range from 1 to 45 °, in particular at least one line onto a wound section and at least a line on a free section of the traction device. 5. The method according to any one of the preceding method claims, wherein laser light is projected, in particular green laser light. 6. The method according to any one of the preceding method claims, wherein the method is carried out on a winding unit for civil engineering or mining, in particular on a double drum, in particular on a Blair drum. 7. The method according to any one of the preceding method claims, wherein the traction means is guided autonomously without mechanical aids; and / or an evaluation of the alignment and / or the arrangement of a free section of the traction device is carried out. 8. A method for controlling a traction system (20) with a winding unit (2), in particular for switching off or throttling a drive (5) of the traction system, comprising a method according to one of the preceding method claims, wherein at least one parameter from the following group is evaluated and in If a threshold value is exceeded, a control signal is emitted: radial position of a detected reference point (RI); Longitudinal position of a recorded reference point (RI); Distance of several recorded reference points (RI, R2) relative to each other; Speed of displacement of a detected reference point in the radial direction and / or in the longitudinal direction; Amount of discontinuity in the displacement of the reference point in the radial direction and / or in the longitudinal direction; Change over time of at least one reference variable or at least one reference point from the following group: distance (dx, Ar) of a plurality of detected reference points relative to one another, speed of displacement of a detected reference point in the radial direction and / or in the longitudinal direction, diameter of the traction means (dl), amount of a Discontinuity when moving the reference point in the radial direction and / or in the longitudinal direction. BE2018 / 0085 9. traction device monitoring device (10) set up for the optical monitoring of the arrangement of at least one traction device (1) which is guided on a winding unit (2) rotatably mounted about an axial longitudinal axis (X) or is wound in one or more winding layers (3) on the winding unit , wherein the traction device monitoring device (10) has: at least one projection unit (11) set up for projecting radiation, in particular in the form of a light plane, onto the lateral surface (2.1) of the winding unit; - At least one detection unit (13) set up for optical detection of the radiation projected onto the lateral surface; - a computing unit (15) set up for evaluating the geometry and / or a temporal change in the projected radiation; characterized in that the traction device monitoring device (10) is set up for projecting and detecting such that the projected radiation as both the cross section of the traction device (1) and the arrangement of the traction device on the winding unit (2) and also the orientation of the traction device and the cross-sectional contour line (L) characterizing the course of time when the traction means is wound up or down can be evaluated, in particular from an at least approximately tangential direction or tangential plane. 10. traction device monitoring device (10) according to the preceding device claim, wherein the cross-sectional contour line (L) can be evaluated with respect to at least one reference variable or at least one reference point from the following group: time, radial direction or radial position of a target arrangement for at least one cross-sectional contour line section, longitudinal direction or longitudinal position a target arrangement for at least one cross-sectional contour line section, geometry of the cross-section contour line or geometric deviation of at least one cross-section contour line section from a target geometry of the cross-section contour line, distance of several recorded reference points relative to one another, speed of displacement of a recorded reference point in the radial direction and / or in the longitudinal direction, amount of a Discontinuity when the reference point is shifted in the radial direction and / or in the longitudinal direction, direction of rotation of the winding unit. 11. traction device monitoring device (10) according to the preceding device claim, wherein the traction device monitoring device (10) is set up for evaluating in relation to a radial maximum (rL) of a semicircular arc of the cross-sectional contour line (L) and / or in relation to a curvature of at least one cross-sectional contour line section and / or in relation to a transition point (R3) between the outer surface (2.1) of the winding unit and the outer surface of the traction means, in particular with respect to an angle or radius formed at the transition point. 12. traction means monitoring device (10) according to one of the preceding device claims, wherein the projection unit (11) has a laser light source, in particular a laser light source set up for projecting green laser light; and / or wherein the traction means (1) is autonomous without mechanical aids BE2018 / 0085 is guided traction device; and / or wherein the traction device monitoring device (10) is set up to evaluate the alignment and / or arrangement of a free section of the traction device. 13. traction device monitoring device (10) according to one of the preceding device claims, wherein the traction device monitoring device (10) is set up for projecting in such a way that, in a radial plan view, an optical line in an orientation at least approximately parallel to the longitudinal axis (X) of the winding unit (2) on the lateral surface (2.1) is formed; and / or in such a way that at least two optical lines are generated on the lateral surface, in particular in a parallel arrangement, in particular offset in the circumferential direction by a circumferential angle in the range from 1 to 45 °. 14. traction device monitoring device (10) according to one of the preceding device claims, wherein the traction device monitoring device has a control device (17) set up for controlling a traction device system (20) with a winding unit (2), in particular set up for switching off or throttling a drive (5) of the traction device system; and / or wherein the traction device monitoring device (10) is set up to track the projection unit (11) depending on the speed and / or depending on the winding thickness or the number of winding layers on the winding unit (2). 15.Use of a traction device monitoring device (10) according to one of the preceding device claims on a traction device system (20) with a winding unit (2) in the form of a Blair drum, in particular in civil engineering or mining applications, in particular on a traction device system (20) with autonomously guided traction device ( 1) without mechanical aids for the traction mechanism; or use of a traction device monitoring device (10) according to one of the preceding device claims on a traction device system (20) with a traction device (1) with a length of over 1000 or 2000 meters and with loads over 1 or 10 tons, in particular on a traction device system (20) autonomously guided traction device (1) without mechanical aids for guiding the traction device.