CN106800233B - A kind of detection method of the barrier based on well-bucket operational safety integrated protection system - Google Patents
A kind of detection method of the barrier based on well-bucket operational safety integrated protection system Download PDFInfo
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- CN106800233B CN106800233B CN201710031945.3A CN201710031945A CN106800233B CN 106800233 B CN106800233 B CN 106800233B CN 201710031945 A CN201710031945 A CN 201710031945A CN 106800233 B CN106800233 B CN 106800233B
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- bucket
- well
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- wireless
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B19/00—Mining-hoist operation
- B66B19/06—Applications of signalling devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Emergency Alarm Devices (AREA)
Abstract
本发明公开了一种基于吊桶运行安全综合防护系统的障碍物的探测方法，包括机载探测子系统、无线传输子系统、地面保护子系统、远程监视子系统四大部分，所述机载探测子系统与无线传输子系统之间通过无线网络连接并传输数据，所述无线传输子系统与地面保护子系统之间通过光纤电缆连接并传输数据，所述地面保护子系统与远程监视子系统之间通过Internet连接并传输数据；实施障碍物的探测方法能主动探测吊桶下方障碍物情况，并能在事故发生初期发出报警，自动采取必要的保护措施，从而全方位保障吊桶的安全运行。
The invention discloses an obstacle detection method based on a bucket operation safety comprehensive protection system, comprising four parts: an airborne detection subsystem, a wireless transmission subsystem, a ground protection subsystem and a remote monitoring subsystem. The subsystem and the wireless transmission subsystem are connected and transmitted through a wireless network, the wireless transmission subsystem and the ground protection subsystem are connected and transmitted through optical fiber cables, and the ground protection subsystem and the remote monitoring subsystem are connected and transmitted. It connects and transmits data through the Internet; the implementation of the obstacle detection method can actively detect the obstacles under the bucket, and can issue an alarm in the early stage of the accident, and automatically take necessary protective measures, so as to ensure the safe operation of the bucket in an all-round way.
Description
Technical field
It is specifically a kind of to be based on well-bucket operational safety integrated protection the present invention relates to a kind of well-bucket operational safety protection technique
The detection method of the barrier of system.
Background technique
Lifts personnel during kibble hoist is shaft mineshaft construction, spoil, material prevailing traffic mode, in shaft of vertical well
Occupy irreplaceable core status in process of construction.Kibble hoist system safety work not only influences shaft construction effect
Rate is more related to the life security of worker and the economic interests of enterprise.Cumulative year after year and construction period with project under construction
Continuous shortening, the task intensity of kibble hoist is also increasing, and thus bring serious accident also constantly occurs, such as well-bucket
Horizontal have of foreign matter in decentralization process and caused by slack rope and crouching tank accident, shaft bottom ponding it is too deep and caused by well-bucket personnel drown thing
Therefore the casualty accident caused by falling under the prominent chance well-bucket of staff on disk.
The generation of the above accident is no doubt related with situ part personnel's violation operation, but also generally lacks with kibble hoist system
Weary safety system has direct relation.In current kibble hoist system, driver can not know well-bucket actual motion speed,
The important informations such as tilt angle, peripheral obstacle situation are only operated with limited indirect sensing data and experience.It is this
Traditional safety precautions has been far from satisfying the job requirement for kibble hoist at this stage.Especially under well-bucket
During putting, when having personnel, foreign matter to occur suddenly, ground driver can not have found in time at all, eventually lead to the generation of accident
And serious casualties and property loss are caused, therefore need the kibble hoist safety system of a set of automation, to keep away
Exempt from the generation once again of serious accident, ensures safe and stable, the efficient operation of kibble hoist system.
Some research achievements are achieved in kibble hoist secure context in recent years: for example, coal five builds 49 in 2012
The Wang Huanxia at place summarizes the previous anti-fall technology of well-bucket, and proposes to the control of the quality of anti-fall technology specific
Index；Coal three builds the Hui Xiaofan of electromechanical installation place in 2014, and the structure for multiplying people's well-bucket is transformed, and solves pendant object wound
The accident potential that people and promotion gib head whereabouts are hurted sb.'s feelings；The last ten thousand of Pangzhuan Coal Mine, Xuzhou Mining Administration in 2014 elaborates a kind of well-bucket
Catching device can effectively avoid the generation of well-bucket falling accident；The Xu Huidong of Coal Mines construction group in 2015, for big straight
Diameter extra deep shaft devises large volume bottom discharge bucket, and suspension hook is transformed, and increases the safe and reliable of well-bucket entirety
Property.
Pulleying is concentrated mainly on for the research of well-bucket safeguard protection in the past it can be seen from Recent study status, is broken
In terms of the subsequent protection of the failures such as rope, and the status monitoring before occurring for failure is related to the rare research of failure prediction.Such as
Fruit can detect the situation of change of relevant state data before well-bucket breaks down, and timely interpretation is out of order type, and to operation
Personnel sound an alarm, and then trigger relevant protection act, then it is possible to prevente effectively from the generation of casualty, ensures enterprise
With the economic asset and life security of personnel.
Can be found that after analyzing common kibble hoist accident: its accident has its source in ground promotion driver can not
The ambient conditions of peripheral obstacle in well-bucket decentralization process is accurately known, especially when thering are personnel, foreign matter to suddenly appear in well-bucket
Ground driver can not have found in time at all when lower section, eventually lead to the generation of accident and serious casualties and property is caused to damage
It loses.Found by domestic research at present: there has been no the safety systems specifically for kibble hoist during shaft construction at present.
And now widely used dropping-down-proof pot device, catching device, overwinding-proof equipment belong to " subsequent protection ", i.e., after accident has occurred and that
How casualty loss is reduced, and the protection system of this " passive triggering formula " can not be suitable for complicated and changeable during shaft construction
Work on the spot environment.Therefore the special circumstances for shaft construction scene are needed, the well-bucket for researching and developing a set of " active probe formula " mentions
Rise the detection method of the barrier of safety comprehensive protection, i.e., a kind of barrier based on well-bucket operational safety integrated protection system
Detection method.
Summary of the invention
The invention solves above-mentioned technical problem and overcome existing defect, provides a kind of comprehensive based on well-bucket operational safety
The detection method of the barrier of guard system enables to ground handling operator and flexecutive that can understand well-bucket
The ambient conditions of peripheral obstacle in decentralization process, and can issue and alarm in accident early period of origination, and take necessary guarantor automatically
Shield measure, thus the safe operation of comprehensive guarantee well-bucket.
To achieve the goals above, the technical solution adopted by the present invention is that: one kind be based on well-bucket operational safety integrated protection
The detection method of the barrier of system, includes the following steps:
(1) detection of obstacles based on ultrasound
Three ultrasonic sensors are respectively in t1 n、t2 n、t3 nMoment launches outward ultrasonic wave, and respectively in t1 n+1、t2 n+1、
t3 n+1Moment obtains back wave, thus obtains real-time range D of three ultrasonic sensors away from barrier1 Utrl、D2 Utrl、D3 Utrl；
It is specific as follows:
CUtrl=C0+0.607T
In formula, CUtrlFor the speed of ultrasonic wave, C0The speed of ultrasonic wave when being 0 DEG C, value 331.45m/s, T are scene
Celsius temperature；
(2) based on the detection of obstacles of infrared video camera
The original image P below well-bucket at a time is obtained according to infrared video cameraOrig, to original image POrigIt carries out
Filtering noise reduction process obtains image PFilt, image P is solved laterFiltIn each pixel gradient value, then to non-maximum carry out
Inhibit, and then find out local maximum, is finally screened using the high low valve valve of setting portion's maximum of playing a game, and to barrier
Edge is attached, to obtain the appearance profile of barrier below well-bucket；It is specific as follows:
Firstly, to original image POrig(x, y) is filtered noise reduction process, obtains image P after noise reductionFilt(x, y), if its
Filter transfer function is W (x, y), then:
PFilt=WPOrig
δ is standard deviation in formula, is adjusted according to field condition, and value range is 35~60；Then, image P is calculatedFilt
In each pixel (x, y) gradient value G (x, y) and gradient direction θg:
θg=arctan (Gy/Gx)
Finally, carrying out non-maxima suppression to the gradient value in G, local maximum is found out, the high low valve valve of setting is utilized
Local maximum is screened, and barrier edge is attached, to obtain the appearance profile of barrier below well-bucket；
(3) data fusion is analyzed
Obstacle distance D below the well-bucket based on ultrasound that step (1) is obtained1 Utrl、D2 Utrl、D3 UtrlWith step (2)
Barrier appearance profile carries out data fusion below the obtained well-bucket based on infrared video camera, and comprehensive analysis, which goes out below well-bucket, is
It is no that there is barrier；Well-bucket lower space is divided into three regions by the investigative range of three ultrasonic sensors, when a certain region
Ultrasonic sensor detect lower section barrier or infrared video camera when detecting some region of barrier profile, depending on
For lower section, there are barrier risk, system automatic trigger exception handles；
(4) troubleshooting
According to the analysis of step (3) as a result, being sent out immediately by combined aural and visual alarm if there is barrier in well-bucket operation lower section
Alarm out, while warning message is sent to land protection subsystem and long-range watchdog subsystem by being wirelessly transferred subsystem,
And well-bucket operation braking is carried out by PLC controller.
Preferably, the well-bucket operational safety integrated protection system, including well-bucket, airborne detection subsystem, wireless transmission
Subsystem, land protection subsystem and long-range watchdog subsystem, between the airborne detection subsystem and wireless transmission subsystem
Pass through wireless network connection and transmit data, passes through fiber optic cables between the wireless transmission subsystem and land protection subsystem
Data are connected and transmitted, is connected between the land protection subsystem and long-range watchdog subsystem by Internet and transmits number
According to the On-Board Subsystem is installed on well-bucket；The Integrated Protection System enables to ground handling operator and long-range pipe
Real-time speed, posture, position in the comprehensive understanding well-bucket operational process of reason personnel, to detect whether well-bucket occurs slack rope
Failure, moreover it is possible to barrier situation below active probe well-bucket, and alarm can be issued in accident early period of origination and take guarantor automatically
Shield measure, thus the safe operation of comprehensive guarantee well-bucket.
Preferably, the airborne detection subsystem include: on-board controller, on-board batteries, six-axis accelerometer, three it is super
Sonic sensor, laser range finder, infrared video camera, combined aural and visual alarm, wireless transceiver, and it is provided with dust-proof, waterproof, explosion-proof
Shell；
Wherein, on-board batteries and on-board controller, six-axis accelerometer, ultrasonic sensor, laser range finder, infrared take the photograph
As instrument, combined aural and visual alarm, wireless transceiver are connected by flame retardant cable and provide electric energy；On-board controller and six-axis accelerometer
It is connected by flame retardant cable and transmits data；On-board controller is connect and is transmitted by flame retardant cable with three ultrasonic sensors
Data；On-board controller is connect by flame retardant cable with laser range finder and transmits data；On-board controller and infrared video camera
Data, on-board controller and combined aural and visual alarm are connected and transmitted by fire-retardant cable to connect by flame retardant cable and transmit data；
On-board controller is connect by flame retardant cable with wireless transceiver and transmits data；
On-Board Subsystem is installed on well-bucket, which is divided into upper, middle and lower segment: the top of upper section is unenclosed construction,
The covering of circular open have no occluder, for carrying material or personnel, outer wall is equipped with wireless transceiver；Middle section is with cover board
Enclosed construction, have dust-proof, waterproof effect, inside on-board controller, on-board batteries, six-axis accelerometer are installed；
The lower part of lower section is unenclosed construction, and circular open have no occluder covers, and upper part is lifted with ultrasonic sensor, laser ranging
Instrument, infrared video camera, combined aural and visual alarm, three ultrasonic sensors are set under the well-bucket diameter of a circle where pars infrasegmentalis
And center location.
Preferably, the wireless transmission subsystem includes several spacing being arranged on the borehole wall along pit shaft vertical direction
The wireless transmission base station of 50m, the wireless transmission base station are provided with dust-proof, waterproof, explosion-resistant enclosure；
Wherein, wireless transceiver is connected by wireless signal between wireless transmission base station and transmits data, and wireless receiving and dispatching
Device realizes airborne detection subsystem and wireless transmission subsystem with away from its nearest strongest wireless transmission base station wireless telecommunications of signal
Between data transmission；Each wireless transmission base station obtains electric energy by the service cable on the borehole wall.
Preferably, the land protection subsystem includes: optical fiber switch, PLC controller, industrial personal computer, server；
Wherein, optical fiber switch is connect with the wireless transmission base station at well head by fiber optic cables, realizes wireless transmission
Data transmission between system and land protection subsystem；Optical fiber switch and PLC controller, industrial personal computer, between server according to
It is secondary to pass through twisted pair line connection and transmit data；Land protection subsystem is installed in ground maneuvers room.
Preferably, the long-range watchdog subsystem includes: wireless router, industrial personal computer, mobile phone, notebook；
Wherein, wireless router is connected by Internet with server and transmits data, realizes land protection subsystem
It is transmitted with the data of long-range watchdog subsystem；It is connected simultaneously by wireless signal between router and industrial personal computer, mobile phone, notebook
Transmit data；Long-range watchdog subsystem is mountable to that long-range any position of Internet network can be connected.
The beneficial effects of the present invention are:
(1) present invention can barrier situation below active probe well-bucket so that ground handling operator and long-range management
Barrier situation below the comprehensive understanding well-bucket of personnel, and can issue and alarm in accident early period of origination, necessary guarantor is taken automatically
Shield measure, thus the safe operation of comprehensive guarantee well-bucket；
(2) detection method that the present invention breaks the barriers can effectively avoid letting off under well-bucket present in existing well-bucket construction
Horizontal have of foreign matter in journey and caused by slack rope and crouching tank accident, shaft bottom ponding it is too deep and caused by personnel's drowned accident in well-bucket, fall
The prominent generation for meeting casualty accident caused by well-bucket tenesmus of staff on disk, so that shaft construction efficiency is indirectly improved, it is full
The growing project under construction number of foot and the shortening of construction period requirement, the further life security for guaranteeing worker and enterprise
Economic interests；
(3) present invention, which can effectively solve driver present in kibble hoist system in the prior art, can not know well-bucket
The important informations such as actual motion speed, tilt angle, peripheral obstacle situation only come with limited indirect sensing data and experience
The problem of being operated.This traditional safety precautions has been far from satisfying the work for kibble hoist at this stage
It is required that.Especially in well-bucket decentralization process, when having personnel, foreign matter to occur suddenly, ground driver can not have found in time at all,
It eventually leads to the generation of accident and causes serious casualties and property loss.And the present invention include be sequentially connected electrically it is airborne
Detection subsystem, wireless transmission subsystem, land protection subsystem and long-range watchdog subsystem, and well-bucket lifting process is combined to transport
Monitoring method, the detection method of barrier and the direct detecting method of slack rope failure of dynamic parameter enable to ground handling operator
And flexecutive can barrier situation below active probe well-bucket, and can accident early period of origination issue alarm and from
It is dynamic to take safeguard measure, to avoid the generation once again of serious accident, so that comprehensive guarantee well-bucket is safe and stable, efficient
Operation；
(4) present invention avoids being concentrated mainly on pulleying, disconnected rope mainly for the research of well-bucket safeguard protection in the prior art
Etc. failures subsequent protection direction, but lay particular emphasis on failure occur before status monitoring and failure prediction, solve ground promotion department
Machine can not accurately know the problem of ambient conditions around in well-bucket decentralization process, can detect correlation before well-bucket breaks down
The situation of change of status data, timely interpretation are out of order type, and are sounded an alarm to operator, and then trigger relevant protection
Movement, the then it is possible to prevente effectively from generation of casualty, ensures the economic asset and life security of enterprise and personnel；Especially
It is that ground driver can have found in time when having personnel, foreign matter to suddenly appear in below well-bucket, avoids the generation of accident, reduce people
Member's injures and deaths and property loss.
Detailed description of the invention
Fig. 1 is system hardware structure schematic diagram of the invention；
Fig. 2 is system principle diagram of the invention；
Fig. 3 is the obstacle detection side in heretofore described well-bucket operational safety integrated protection system well-bucket lifting process
Method flow chart.
In Fig. 1,1- on-board controller, 2- on-board batteries, 3- six-axis accelerometer, 4- ultrasonic sensor, 5- Laser Measuring
Distance meter, 6- infrared video camera, 7- combined aural and visual alarm, 8- wireless transceiver, 9- wireless transmission base station, 10- optical fiber switch, 11-
PLC controller, 12- industrial personal computer, 13- server, 14- wireless router, 15- industrial personal computer, 16- mobile phone, 17- notebook.
Specific embodiment
Preferred embodiment of the invention is described in further detail with reference to the accompanying drawing.
As shown in Figure 1-3, a kind of detection method of the barrier based on well-bucket operational safety integrated protection system, described to hang
Bucket operational safety integrated protection system, including well-bucket, airborne detection subsystem, wireless transmission subsystem, land protection subsystem
Pass through wireless network connection with long-range watchdog subsystem, between the airborne detection subsystem and wireless transmission subsystem and transmits
Data connect by fiber optic cables and transmit data between the wireless transmission subsystem and land protection subsystem, describedly
Data, the On-Board Subsystem installation are connected and transmitted between face protected subsystem and long-range watchdog subsystem by Internet
In on well-bucket；The Integrated Protection System enables to ground handling operator and the comprehensive understanding well-bucket fortune of flexecutive
Real-time speed, posture during row, position, to detect whether well-bucket occurs slack rope failure, moreover it is possible to active probe well-bucket
Lower section barrier situation, and alarm can be issued in accident early period of origination and take safeguard measure automatically, thus comprehensive guarantee
The safe operation of well-bucket.
It is worth noting that, the airborne detection subsystem includes: on-board controller 1, on-board batteries 2, six-axle acceleration
3, three ultrasonic sensors 4, laser range finder 5, infrared video camera 6, combined aural and visual alarm 7, wireless transceiver (8) are counted, and
Have dust-proof, waterproof, explosion-resistant enclosure；
Wherein, on-board batteries 2 and on-board controller 1, six-axis accelerometer 3, ultrasonic sensor 4, laser range finder 5,
Infrared video camera 6, combined aural and visual alarm 7, wireless transceiver 8 are connected by flame retardant cable and provide electric energy；On-board controller 1 and six
Axis accelerometer 3 is connected by flame retardant cable and transmits data；On-board controller 1 passes through fire-retardant with three ultrasonic sensors 4
Cable connection simultaneously transmits data；On-board controller 1 is connect by flame retardant cable with laser range finder 5 and transmits data；Airborne control
Device 1 processed connect by fire-retardant cable with infrared video camera 6 and transmits data, on-board controller 1 and combined aural and visual alarm 7 pass through it is fire-retardant
Cable connection simultaneously transmits data；On-board controller 1 is connect by flame retardant cable with wireless transceiver 8 and transmits data；
On-Board Subsystem is installed on well-bucket, which is divided into upper, middle and lower segment: the top of upper section is unenclosed construction,
The covering of circular open have no occluder, for carrying material or personnel, outer wall is equipped with wireless transceiver 8；Middle section is with lid
The enclosed construction of plate, have dust-proof, waterproof effect, inside on-board controller 1, on-board batteries 2, six-axle acceleration are installed
Meter 3；The lower part of lower section is unenclosed construction, and circular open have no occluder covers, and upper part is lifted with ultrasonic sensor 4, swashs
Optar 5, infrared video camera 6, combined aural and visual alarm 7, three ultrasonic sensors 4 are set to pars infrasegmentalis institute under the well-bucket
In diameter of a circle and center location.
In the present embodiment, the wireless transmission subsystem includes several being arranged on the borehole wall along pit shaft vertical direction
The wireless transmission base station 9 of spacing 50m, the wireless transmission base station 9 are provided with dust-proof, waterproof, explosion-resistant enclosure；
Wherein, wireless transceiver 8 is connected by wireless signal between wireless transmission base station 9 and transmits data, and wireless receipts
Device 8 is sent out with away from its nearest strongest 9 wireless telecommunications of wireless transmission base station of signal, realizes airborne detection subsystem and wireless transmission
Data transmission between system；Each wireless transmission base station 9 obtains electric energy by the service cable on the borehole wall.
In the present embodiment, the land protection subsystem includes: optical fiber switch 10, PLC controller 11, industrial personal computer
12, server 13；
Wherein, optical fiber switch 10 is connect with the wireless transmission base station 9 at well head by fiber optic cables, realizes wireless transmission
Data transmission between subsystem and land protection subsystem；Optical fiber switch 10 and PLC controller 11, industrial personal computer 12, service
Twisted pair line connection is passed sequentially through between device 13 and transmits data；Land protection subsystem is installed in ground maneuvers room.
Preferably, the long-range watchdog subsystem includes: wireless router 14, industrial personal computer 15, mobile phone 16, notebook 17；
Wherein, wireless router 14 is connected by Internet with server 13 and transmits data, realizes land protection
The data of system and long-range watchdog subsystem are transmitted；Router 14 and industrial personal computer 15, mobile phone 16 pass through nothing between notebook 17
Line signal is connected and transmits data；Long-range watchdog subsystem is mountable to that long-range any position of Internet network can be connected
It sets.
The detection method of the barrier includes the following steps:
(1) detection of obstacles based on ultrasound
Three ultrasonic sensors 4 are respectively in t1 n、t2 n、t3 nMoment launches outward ultrasonic wave, and respectively in t1 n+1、t2 n+1、
t3 n+1Moment obtains back wave, thus obtains real-time range D of three ultrasonic sensors away from barrier1 Utrl、D2 Utrl、D3 Utrl；
It is specific as follows:
CUtrl=C0+0.607T
In formula, CUtrlFor the speed of ultrasonic wave, C0The speed of ultrasonic wave when being 0 DEG C, value 331.45m/s, T are scene
Celsius temperature；
(2) based on the detection of obstacles of infrared video camera
The original image P below well-bucket at a time is obtained according to infrared video camera 6Orig, to original image POrigIt carries out
Filtering noise reduction process obtains image PFilt, image P is solved laterFiltIn each pixel gradient value, then to non-maximum carry out
Inhibit, and then find out local maximum, is finally screened using the high low valve valve of setting portion's maximum of playing a game, and to barrier
Edge is attached, to obtain the appearance profile of barrier below well-bucket；It is specific as follows:
Firstly, to original image POrig(x, y) is filtered noise reduction process, obtains image P after noise reductionFilt(x, y), if its
Filter transfer function is W (x, y), then:
PFilt=WPOrig
δ is standard deviation in formula, is adjusted according to field condition, and value range is 35~60；Then, image P is calculatedFilt
In each pixel (x, y) gradient value G (x, y) and gradient direction θg:
θg=arctan (Gy/Gx)
Finally, carrying out non-maxima suppression to the gradient value in G, local maximum is found out, the high low valve valve of setting is utilized
Local maximum is screened, and barrier edge is attached, to obtain the appearance profile of barrier below well-bucket；
(3) data fusion is analyzed
Obstacle distance D below the well-bucket based on ultrasound that step (1) is obtained1 Utrl、D2 Utrl、D3 UtrlWith step (2)
Barrier appearance profile carries out data fusion below the obtained well-bucket based on infrared video camera, and comprehensive analysis, which goes out below well-bucket, is
It is no that there is barrier；Well-bucket lower space is divided into three regions by the investigative range of three ultrasonic sensors, when a certain region
Ultrasonic sensor detect lower section barrier or infrared video camera when detecting some region of barrier profile, depending on
For lower section, there are barrier risk, system automatic trigger exception handles；
(4) troubleshooting
According to the analysis of step (3) as a result, passing through combined aural and visual alarm 7 immediately if there is barrier in well-bucket operation lower section
It sounds an alarm, while warning message is sent to land protection subsystem and long-range monitoring subsystem by being wirelessly transferred subsystem
System, and well-bucket operation braking is carried out by PLC controller 11.
The above, only presently preferred embodiments of the present invention, are not intended to limit the invention, all skills according to the present invention
Art any trickle amendment, equivalent replacement and improvement substantially to the above embodiments, should be included in technical solution of the present invention
Protection scope within.
Claims (6)
1. a kind of detection method of the barrier based on well-bucket operational safety integrated protection system, which is characterized in that the obstacle
The detection method of object includes the following steps:
(1) detection of obstacles based on ultrasound
Three ultrasonic sensors (4) are respectively in t1 n、t2 n、t3 nMoment launches outward ultrasonic wave, and respectively in t1 n+1、t2 n+1、
t3 n+1Moment obtains back wave, thus obtains real-time range D of three ultrasonic sensors away from barrier1 Utrl、D2 Utrl、D3 Utrl；
It is specific as follows:
CUtrl=C0+0.607T
In formula, CUtrlFor the speed of ultrasonic wave, C0The speed of ultrasonic wave when being 0 DEG C, value 331.45m/s, T are taking the photograph for scene
Family name's temperature；
(2) based on the detection of obstacles of infrared video camera
The original image P below well-bucket at a time is obtained according to infrared video camera (6)Orig, to original image POrigIt is filtered
Wave noise reduction process obtains image PFilt, image P is solved laterFiltIn each pixel gradient value, then non-maximum is pressed down
System, and then local maximum is found out, finally local maximum is screened using the high-low threshold value of setting, and to barrier side
Edge is attached, to obtain the appearance profile of barrier below well-bucket；It is specific as follows:
Firstly, to original image POrig(x, y) is filtered noise reduction process, obtains image P after noise reductionFilt(x, y), if it is filtered
Device transmission function is W (x, y), then:
PFilt=WPOrig
δ is standard deviation in formula, is adjusted according to field condition, and value range is 35~60；Then, image P is calculatedFiltIn it is every
The gradient value G (x, y) and gradient direction θ of a pixel (x, y)g:
θg=arctan (Gy/Gx)
Finally, carrying out non-maxima suppression to the gradient value in G, local maximum is found out, is played a game using the high-low threshold value of setting
Portion's maximum is screened, and is attached to barrier edge, to obtain the appearance profile of barrier below well-bucket；
(3) data fusion is analyzed
Obstacle distance D below the well-bucket based on ultrasound that step (1) is obtained1 Utrl、D2 Utrl、D3 UtrlIt is obtained with step (2)
Well-bucket based on infrared video camera below barrier appearance profile carry out data fusion, comprehensive analysis goes out below well-bucket whether have
There is barrier；Well-bucket lower space is divided into three regions by the investigative range of three ultrasonic sensors, when some region of super
Sonic sensor detects lower section barrier or infrared video camera when detecting some region of barrier profile, under being considered as
There are barrier risk, well-bucket operational safety integrated protection system automatic trigger exception handles for side；
(4) troubleshooting
According to the analysis of step (3) as a result, being sent out immediately by combined aural and visual alarm (7) if there is barrier in well-bucket operation lower section
Alarm out, while warning message is sent to land protection subsystem and long-range watchdog subsystem by being wirelessly transferred subsystem,
And well-bucket operation braking is carried out by PLC controller (11).
2. a kind of detection method of barrier based on well-bucket operational safety integrated protection system according to claim 1,
It is characterized in that, the well-bucket operational safety integrated protection system, including well-bucket, airborne detection subsystem, wireless transmission subsystem
System, land protection subsystem and long-range watchdog subsystem pass through between the airborne detection subsystem and wireless transmission subsystem
Wireless network connection simultaneously transmits data, is connected between the wireless transmission subsystem and land protection subsystem by fiber optic cables
And data are transmitted, data are connected and transmitted by Internet between the land protection subsystem and long-range watchdog subsystem,
The airborne detection subsystem is installed on well-bucket；Well-bucket operational safety integrated protection system automatic trigger exception handles energy
Enough so that ground handling operator and the real-time speed in the comprehensive understanding well-bucket operational process of flexecutive, posture, position
It sets, to detect whether well-bucket occurs slack rope failure, moreover it is possible to barrier situation below active probe well-bucket, and can be sent out in accident
Raw initial stage issues alarm and takes safeguard measure automatically, thus the safe operation of comprehensive guarantee well-bucket.
3. a kind of detection method of barrier based on well-bucket operational safety integrated protection system according to claim 2,
It is characterized by: the airborne detection subsystem include: on-board controller (1), on-board batteries (2), six-axis accelerometer (3),
Three ultrasonic sensors (4), laser range finder (5), infrared video camera (6), combined aural and visual alarm (7), wireless transceiver (8),
And it is provided with dust-proof, waterproof, explosion-resistant enclosure；
Wherein, on-board batteries (2) and on-board controller (1), six-axis accelerometer (3), ultrasonic sensor (4), laser ranging
Instrument (5), infrared video camera (6), combined aural and visual alarm (7), wireless transceiver (8) are connected by flame retardant cable and provide electric energy；Machine
Set controller (1) is connect by flame retardant cable with six-axis accelerometer (3) and transmits data；On-board controller (1) is super with three
Sonic sensor (4) is connected by flame retardant cable and transmits data；On-board controller (1) passes through fire-retardant with laser range finder (5)
Cable connection simultaneously transmits data；On-board controller (1) connect by fire-retardant cable and transmits data, machine with infrared video camera (6)
Set controller (1) is connect by flame retardant cable with combined aural and visual alarm (7) and transmits data；On-board controller (1) and wireless receiving and dispatching
Device (8) is connected by flame retardant cable and transmits data；
Airborne detection subsystem is installed on well-bucket, which is divided into upper, middle and lower segment: the top of upper section is unenclosed construction,
The covering of circular open have no occluder, for carrying material or personnel, outer wall is equipped with wireless transceiver (8)；Middle section be with
The enclosed construction of cover board, have dust-proof, waterproof effect, inside on-board controller (1), on-board batteries (2), six axis are installed
Accelerometer (3)；The lower part of lower section is unenclosed construction, and circular open have no occluder covers, and upper part is lifted with ultrasonic wave biography
Sensor (4), laser range finder (5), infrared video camera (6), combined aural and visual alarm (7), three ultrasonic sensors (4) are set to
Diameter of a circle and center location where pars infrasegmentalis under the well-bucket.
4. a kind of detection method of barrier based on well-bucket operational safety integrated protection system according to claim 2,
It is characterized by: the wireless transmission subsystem includes several spacing 50m being arranged on the borehole wall along pit shaft vertical direction
Wireless transmission base station (9), the wireless transmission base station (9) are provided with dust-proof, waterproof, explosion-resistant enclosure；
Wherein, wireless transceiver (8) are connected by wireless signal between wireless transmission base station (9) and transmits data, and wireless receipts
Device (8) are sent out with away from its nearest strongest wireless transmission base station of signal (9) wireless telecommunications, realize airborne detection subsystem and wireless biography
Data transmission between defeated subsystem；Each wireless transmission base station (9) obtains electric energy by the service cable on the borehole wall.
5. a kind of detection method of barrier based on well-bucket operational safety integrated protection system according to claim 1,
It is characterized by: the land protection subsystem includes: optical fiber switch (10), PLC controller (11), industrial personal computer (12), clothes
It is engaged in device (13)；
Wherein, optical fiber switch (10) is connect with the wireless transmission base station (9) at well head by fiber optic cables, realizes wireless transmission
Data transmission between subsystem and land protection subsystem；Optical fiber switch (10) and PLC controller (11), industrial personal computer
(12), twisted pair line connection is passed sequentially through between server (13) and transmit data；Land protection subsystem is installed on ground maneuvers
It is indoor.
6. a kind of detection method of barrier based on well-bucket operational safety integrated protection system according to claim 1,
It is characterized by: the long-range watchdog subsystem includes: wireless router (14), industrial personal computer (15), mobile phone (16), notebook
(17)；
Wherein, wireless router (14) is connected by Internet with server (13) and transmits data, realizes land protection
The data of system and long-range watchdog subsystem are transmitted；Wireless router (14) and industrial personal computer (15), mobile phone (16), notebook (17)
Between be connected and transmit data by wireless signal；Long-range watchdog subsystem is mountable to that Internet network can be connected
Long-range any position.
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| US4203010A (en) * | 1977-07-15 | 1980-05-13 | Coal Industry (Patents) Limited | Communication system |
| CN104158704A (en) * | 2014-08-25 | 2014-11-19 | 天地上海采掘装备科技有限公司 | Monitoring system for coal storage of skip of coal mine shaft hoist and monitoring method thereof |
| CN104973479A (en) * | 2015-06-26 | 2015-10-14 | 中国矿业大学 | System and method for monitoring motion state of construction vertical shaft sinking bucket |
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