阅读说明：本技术 基于二维激光扫描仪的罐道形变测量装置 (Cage guide deformation measuring device based on two dimensional laser scanning instrument ) 是由 胡文彬 吴丰 甘维兵 刘芳 李盛 杨燕 于 2019-08-30 设计创作，主要内容包括：本发明提供一种基于二维激光扫描仪的罐道形变测量装置,包括触发机构和罐笼,罐笼中设有二维激光扫描仪、控制器和上位机；罐笼用于受控沿待测罐道线性运动；触发机构用于识别所述的线性运动并产生触发信号传输给控制器,控制器用于在接收到所述的触发信号后启动二维激光扫描仪；二维激光扫描仪用于发出激光投射在待测罐道上,在所述线性运动时对待测罐道进行扫描；二维激光扫描仪的扫描数据传输给控制器；所述的上位机用于调用控制器中的扫描数据,计算罐道形变。本发明直接将二维激光扫描仪放置在罐笼内,随着罐笼的运动对罐道进行扫描,精度有保证,并且在进行形变测量时不需要停工,不影响煤矿的正常生产,操作简便,结构简单。(The present invention provides a kind of cage guide deformation measuring device based on two dimensional laser scanning instrument, including trigger mechanism and cage, is equipped with two dimensional laser scanning instrument, controller and host computer in cage；Cage is for controlled along cage guide linear movement to be measured；Trigger mechanism the linear movement and generates trigger signal and is transferred to controller for identification, and controller is used to start two dimensional laser scanning instrument after receiving the trigger signal；Two dimensional laser scanning instrument is scanned cage guide to be measured in the linear movement for issuing laser projection in cage guide to be measured；The scan data of two dimensional laser scanning instrument is transferred to controller；The host computer is used to call the scan data in controller, calculates cage guide deformation.Two dimensional laser scanning instrument is directly placed in cage by the present invention, and as the movement of cage is scanned cage guide, precision is guaranteed, and does not need to stop work when carrying out distortion measurement, does not influence the normal production of coal mine, easy to operate, structure is simple.)

1. a kind of cage guide deformation measuring device based on two dimensional laser scanning instrument, it is characterised in that: the present apparatus includes trigger mechanism And cage, two dimensional laser scanning instrument, controller and host computer are equipped in cage；Wherein,

Cage is for controlled along cage guide linear movement to be measured；Trigger mechanism the linear movement and generates triggering letter for identification It number is transferred to controller, controller is used to start two dimensional laser scanning instrument after receiving the trigger signal；Two-dimensional laser Scanner is scanned cage guide to be measured in the linear movement for issuing laser projection in cage guide to be measured；Two dimension swashs The scan data of photoscanner is transferred to controller；

The host computer is used to call the scan data in controller, calculates cage guide deformation.

2. the cage guide deformation measuring device according to claim 1 based on two dimensional laser scanning instrument, it is characterised in that: described Trigger mechanism include pulley and the encoder that is coaxially mounted on pulley, pulley is connect by fixed arm with cage, fixed arm Applying pretightning force to pulley enables pulley to roll on cage guide to be measured, and encoder is by identifying that the rolling of pulley generates institute The trigger signal stated.

3. the cage guide deformation measuring device according to claim 1 based on two dimensional laser scanning instrument, it is characterised in that: described Cage in be additionally provided with explosion-proof tank and power supply module, the controller and power supply module are arranged in explosion-proof tank；Power supply mould Block is used to be powered for two dimensional laser scanning instrument, controller and host computer.

4. the cage guide deformation measuring device according to claim 1 based on two dimensional laser scanning instrument, it is characterised in that: described Cage in be additionally provided with armored cassette, the host computer is arranged in armored cassette.

5. the cage guide deformation measuring device according to claim 2 based on two dimensional laser scanning instrument, it is characterised in that: with Two-dimensional scanner is moved up and down along cage guide, obtains several row scan datas, wherein the corresponding laser band of a line；

The host computer specifically calculates cage guide deformation according to following algorithm:

Data prediction includes normal value and invalid value in the scan data, rejects invalid value, and normal value is converted into Convenient for the value of processing；

Feature value-based algorithm is taken, a characteristic value is obtained from every a line normal value, draws out whole linear profile；

The dislocation algorithm in tri- directions xyz: using the width direction of cage guide as x-axis, length direction be y-axis, depth direction is z-axis； The line number of full 0 row in scan data is counted, the triggering spacing multiplied by encoder is exactly the dislocation in the direction y, i.e. seam between cage guide Gap；Analyze the initial row and termination row in gap by the dislocation in the direction y, initial row and above section are cage guide, termination row and Following part is next cage guide, takes first non-zero number of gap initial row, takes first non-zero number of gap termination row, the two Subtract each other, obtain the columns of the direction x dislocation, multiplied by each laser scatterplot spacing, obtains the dislocation of the direction x；Take part one on gap The average value for determining the characteristic value of line number, takes the average value of the characteristic value of the certain line number in part under gap, and the two subtracts each other to obtain the direction z Dislocation；The triggering spacing of encoder is the distance of pulley rolling between triggering twice；

The length and abrasion quantity algorithm of single cage guide: the line number of continuous non-zero row in statistics scan data, multiplied by the triggering of encoder Spacing, the length of as single cage guide；The middle position for taking a cage guide respectively takes certain columns to two sides from middle position, meter The average value for calculating characteristic value in these column, then calculates the difference of the average value Yu cage guide other parts characteristic value, is worn Amount.

Technical field

The invention belongs to coal mine deformation detection of tank passage technical fields, and in particular to a kind of tank based on two dimensional laser scanning instrument Road deformation measuring device.

Background technique

Within coal mines, guide rail of the cage guide as hoisting container is the important channel for maintaining ground and underground mine roadway, can both protect It is correct to demonstrate,prove the operation of container direction, and vessel level displacement can be limited, but due to coal mining geology complicated condition, cage guide be easy by External force and generate deformation, once deformation occurs for cage guide, gently then influence the smooth operation of cage, it is heavy then influence coal mine personnel Escape causes safely grave danger to the energy security and the people's lives and property of country.

Method one of traditional detection cage guide deformation is steel wire suspension method, passes through frenulum one below steel cable Weight, the characteristics of according to gravity straight down, wirerope keeps vertical, and the deformation degree of cage guide is judged as benchmark, this Method And Principle is very simple, but operation is extremely complex, and precision is not high, and the influence vulnerable to environmental factor, additionally occurs one Kind inclinometer and the method for installing sensor detection, this method same accuracy is not high, and in mine rugged environment, dimension Shield is more difficult, is not yet widely applied at present.

Chinese patent CN104655650A proposes a kind of deformation detecting system based on laser light curtain scanning, and laser is swept It retouches instrument and is arranged in cage guide upper surface, by cursor, draw scanner rotation, make laser light curtain scanning to other side cage guide, lead to Camera shooting is crossed, then carries out image mosaic, obtains image spectrum.The motion mode of the laser scanner is rotation mode, and after Continuous processing is light curtain picture.

Chinese patent CN101377411A proposes a kind of laser detecting apparatus of cage conductor shape based on opto-electronic receiver array, The device launches laser irradiation on upper and lower opto-electronic receiver array to position using positioning laser, is surveyed using ranging laser The distance that launch point arrives the borehole wall is measured, and is fathomed data with depth scale, ranging laser acquisition is point data.

Chinese patent application CN107172807A proposes a kind of company of coal mine roadway based on fiber-optic inertial sensing technology Continue linear detection device, perceives angular speed by carrying optical fibre gyro on detection trolley, the angle speed exported in conjunction with mileage gauge Degree, the track of trolley is derived using strap-down matrix and integral operation.The device measures shape using fiber-optic inertial sensing technology Become.

Therefore there are the following problems for traditional guide detecting method: first, complicated for operation, human cost is high, and It needs to stop work when measurement, influences coal production；Second, and installation sensor is affected by environment larger on cage guide, Wu Fayou Effect guarantees precision.Current development is still in the junior stage.

Summary of the invention

The technical problem to be solved by the present invention is providing a kind of cage guide distortion measurement dress based on two dimensional laser scanning instrument It sets, it is easy to operate while guaranteeing measurement accuracy, it is not easy affected by environment.

A kind of technical solution taken by the invention to solve the above technical problem are as follows: tank based on two dimensional laser scanning instrument Road deformation measuring device, it is characterised in that: the present apparatus includes trigger mechanism and cage, be equipped in cage two dimensional laser scanning instrument, Controller and host computer；Wherein,

Cage is for controlled along cage guide linear movement to be measured；Trigger mechanism the linear movement and generates triggering letter for identification It number is transferred to controller, controller is used to start two dimensional laser scanning instrument after receiving the trigger signal；Two-dimensional laser Scanner is scanned cage guide to be measured in the linear movement for issuing laser projection in cage guide to be measured；Two dimension swashs The scan data of photoscanner is transferred to controller；

The host computer is used to call the scan data in controller, calculates cage guide deformation.

According to the above scheme, the trigger mechanism includes pulley and the encoder that is coaxially mounted on pulley, and pulley passes through Fixed arm is connect with cage, and fixed arm applies pretightning force to pulley and pulley is rolled on cage guide to be measured, and encoder is logical It crosses the rolling of identification pulley and generates the trigger signal.

According to the above scheme, explosion-proof tank and power supply module, the controller and power supply module are additionally provided in the cage It is arranged in explosion-proof tank；Power supply module is used to be powered for two dimensional laser scanning instrument, controller and host computer.

According to the above scheme, armored cassette is additionally provided in the cage, the host computer is arranged in armored cassette.

According to the above scheme, it is moved up and down with two-dimensional scanner along cage guide, obtains several row scan datas, wherein a line pair Answer a laser band；The host computer specifically calculates cage guide deformation according to following algorithm:

Data prediction includes normal value and invalid value in the scan data, rejects invalid value, and normal value is converted into Convenient for the value of processing；

Feature value-based algorithm is taken, a characteristic value is obtained from every a line normal value, draws out whole linear profile；

The dislocation algorithm in tri- directions xyz: using the width direction of cage guide as x-axis, length direction be y-axis, depth direction is z-axis； The line number of full 0 row in scan data is counted, the triggering spacing multiplied by encoder is exactly the dislocation in the direction y, i.e. seam between cage guide Gap；Analyze the initial row and termination row in gap by the dislocation in the direction y, initial row and above section are cage guide, termination row and Following part is next cage guide, takes first non-zero number of gap initial row, takes first non-zero number of gap termination row, the two Subtract each other, obtain the columns of the direction x dislocation, multiplied by each laser scatterplot spacing, obtains the dislocation of the direction x；Take part one on gap The average value for determining the characteristic value of line number, takes the average value of the characteristic value of the certain line number in part under gap, and the two subtracts each other to obtain the direction z Dislocation；The triggering spacing of encoder is the distance of pulley rolling between triggering twice；

The length and abrasion quantity algorithm of single cage guide: the line number of continuous non-zero row in statistics scan data, multiplied by the triggering of encoder Spacing, the length of as single cage guide；The middle position for taking a cage guide respectively takes certain columns to two sides from middle position, meter The average value for calculating characteristic value in these column, then calculates the difference of the average value Yu cage guide other parts characteristic value, is worn Amount.

The invention has the benefit that directly two dimensional laser scanning instrument is placed in cage, with the movement pair of cage Cage guide is scanned, and precision is guaranteed, and does not need to stop work when carrying out distortion measurement, does not influence the normal production of coal mine, Easy to operate, structure is simple, has very high reliability.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of one embodiment of the invention.

Fig. 2 is the laser cross-section figure that one embodiment of the invention upper computer software measures.

Fig. 3 is the integral linear profile diagram that one embodiment of the invention upper computer software measures.

In figure: 1- cage guide to be measured, 2- encoder, 3- pulley, 4- power supply module, 5- controller, 6- explosion-proof tank, 7- are explosion-proof Box, 8- two dimensional laser scanning instrument, 9- cable, 10- fixed arm, 11- cage, 12- host computer.

Specific embodiment

Below with reference to specific example and attached drawing, the present invention will be further described.

The present invention provides a kind of cage guide deformation measuring device based on two dimensional laser scanning instrument, as shown in Figure 1, present apparatus packet Trigger mechanism and cage 11 are included, is equipped with two dimensional laser scanning instrument 8, controller 5 and host computer 12 in cage 11；Wherein, cage 11 For controlled along 1 linear movement of cage guide to be measured；Trigger mechanism the linear movement and generates trigger signal transmission for identification To controller 5, controller 5 is used to start two dimensional laser scanning instrument 8 after receiving the trigger signal；Two dimensional laser scanning Instrument 8 is scanned cage guide 1 to be measured in the linear movement for issuing laser projection in cage guide 1 to be measured；Two-dimensional laser The scan data of scanner 8 is transferred to controller 5；The host computer 12 is used to call the scan data in controller 5, calculates Cage guide deformation.

Preferably, the trigger mechanism includes pulley 3 and the encoder 2 that is coaxially mounted on pulley 3, and pulley 3 passes through Fixed arm 10 is connect with cage 11, and fixed arm 10 applies pretightning force to pulley 3 and pulley 3 is rolled on cage guide 1 to be measured, Encoder 2 is by identifying that the rolling of pulley 3 generates the trigger signal.Fixed arm 10 is by spring to cunning in the present embodiment Wheel 3 applies pretightning force, so that pulley 3 is close to cage guide 1 to be measured.The encoder 2 is coaxial with pulley 3 and is tightly connected using washer It is connected together, so that pulley 3 turns over how many angle, encoder 2 can also rotate same angle.The encoder 2 uses The E6B2-CWZ6C type encoder of Omron production, every rotation can trigger 500 times for one week, the Zhou Changwei 300mm of pulley 3, Therefore every triggering is once, 300/500=0.6mm of pulley rotation, i.e. the triggering spacing of encoder are 0.6mm.

The two dimensional laser scanning instrument 8 is fixed together by the connecting shaft of fixed device and 11 top plate of cage, and solid Positioning, which is set, to avoid pulley 3 from blocking laser formation lower than pulley 3.Effective measurement width of two dimensional laser scanning instrument 8 is 0- 24cm, effectively measurement distance are 300 ± 145mm.

It advanced optimizes, explosion-proof tank 6 and power supply module 4, the controller 5 and confession is additionally provided in the cage 11 Electric module 4 is arranged in explosion-proof tank 6；Power supply module 4 is used to carry out for two dimensional laser scanning instrument 8, controller 5 and host computer 12 Power supply, mutual electrical connection are completed by cable 9.

Further, armored cassette 7 is additionally provided in the cage 11, the host computer 12 is arranged in armored cassette 7.

As two-dimensional scanner is moved up and down along cage guide, several row scan datas are obtained, wherein the corresponding laser of a line Band.

The host computer 12 specifically calculates cage guide deformation according to following algorithm:

Data prediction includes normal value and invalid value in the scan data, rejects invalid value, and normal value is converted into Convenient for the value of processing；

Feature value-based algorithm is taken, a characteristic value is obtained from every a line normal value, draws out whole linear profile；

The dislocation algorithm in tri- directions xyz.The dislocation algorithm in the direction y: data count the row of full 0 row after data prediction Number, the triggering spacing 0.6mm multiplied by encoder is exactly the dislocation in the direction y, i.e. gap between cage guide；The dislocation algorithm in the direction x: Data can analyze out the starting line number in gap by the dislocation algorithm in the direction y and terminate line number, initial row after pretreatment Number and above section be cage guide, terminating line number and following part is next cage guide, take first non-zero number of gap initial row, First non-zero number of gap termination row is taken, the two is subtracted each other, and the columns of the direction x dislocation can be obtained, multiplied by each laser scatterplot spacing 0.3mm can obtain the dislocation of the direction x；The dislocation algorithm in the direction z: data take the characteristic value of 10 row of part on gap after pretreatment Average value, take the average value of the characteristic value of 10 row of part under gap, the two subtracts each other the dislocation that can obtain the direction z.

The length and abrasion quantity algorithm of single cage guide.The Length algorithm of single cage guide: the line number of continuous non-zero row is counted, is multiplied To trigger spacing, the length of as single cage guide.Wear quantity algorithm: in view of abration position is normally at cage guide centre, therefore The middle position for taking cage guide part respectively takes 10 column to two sides from middle position, calculates average value, then calculate the value and non-abrasion Partial difference, can be obtained abrasion loss.

The specific operation method is as follows:

A, cage 11 is promoted to the top or the bottom of cage guide 1 to be measured by elevator.

B, start measuring device and upper computer software, and make to promote the movement of machine travel cage 11, with the fortune of cage 11 It is dynamic, it is tightly attached to the pulley 3 on 1 surface of cage guide to be measured also setting in motion, and encoder 2 is driven to rotate, is mentioned for two dimensional laser scanning instrument 8 For trigger signal.

C, two dimensional laser scanning instrument 8 is scanned cage guide 1 to be measured, and diffusion, quilt are generated after laser scanning to cage guide 1 to be measured The object lens of sensing head receive, and high-precision contour images are generated on CMOS, while generating measurement data.Host computer 12 will be from control Data are read in device 5 processed, in conjunction with built-in Measurement Algorithm, draw out the linear image of laser cross-section and entirety, and will knot Fruit shows in the form of statements, and abnormal region is marked, is sounded an alarm when necessary.

D, the image of laser cross-section can reflect out the degree of wear of cage guide, and whole linear profile can reflect out tank The gap in road, dislocation.As shown in Figures 2 and 3, in Fig. 2, abscissa indicates that laser has 800 points, and ordinate indicates fixed value Two-dimensional laser is subtracted at a distance from determinand, the recess in figure illustrates the recess of determinand at a distance from two-dimensional laser more Far, abscissa indicates that window width is 200 in Fig. 3, and with the movement of scanner, the linear profile of drafting can move in figure therewith Dynamic, ordinate can indicate the dislocation in the direction z.

The present invention using two dimensional laser scanning instrument as the movement of cage is scanned cage guide, by two dimensional laser scanning instrument Distance data transmission with cage guide to controller, powered by power supply module by the controller, and power supply module and controller encapsulate In explosion-proof tank, at the same time, the computer being encapsulated in armored cassette extracts data from controller, uses upper computer software pair Cage guide data are analyzed, in conjunction with the gap width of the triggering frequency analysis cage guide joining place of encoder, in conjunction with known each The fixed range of row laser scanning data point, analyzes dislocation, the degree of wear of cage guide, makes early warning safely for coal mine cage guide.This Device has both practicability and convenience, by its application and coal mine cage guide shape changing detection field, can obtain good economic benefit.

Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.