Shape And Position Detection And Application For Coal Mine Vertical Hoisting Equipment

Due to the influence of uneven settlement of industrial square and other factors,it may lead to the main shaft torsion,Derrick tilt,wire rope biting rope and other dangerous conditions of the main and auxiliary shaft hoist in coal mine.It is the basic work of maintenance and calibration of mine hoisting system to accurately detect the geometry,spatial position and relationship of mine hoisting system.Based on the combined measurement mechanism and the combination of theodolite measurement system and high precision total station,this paper studies the comprehensive detection of lifting equipment such as spindle attitude,sky wheel attitude and Derrick tilt of mine shaft hoist.In this paper,the method of constraint three-stage is used to verify the addition constant of total station and different prism,and the accuracy of distance constant verification and prism free measurement of total station instrument are discussed and analyzed.Based on the principle of least square,the transformation from independent coordinate system of winch to control coordinate system of mining area is realized.Through the experiment of setting up closed 4 stations,the coordinate transformation parameters and transformation error of two adjacent stations are obtained by using this algorithm.In order to solve the problem of gross error in the fitting point of winch spindle,the fitting principle and algorithm are expounded by using the fitting algorithm based on RANSAC space circle.Through comparative experiments,it is proved that the algorithm based on RANSAC can be used.In order to eliminate the rough error and improve the accuracy of fitting.A combined measurement mechanism based on global control of high precision total station and terminal measurement of theodolite measurement system is designed.The means of spatial coordinate system transformation,equipment feature point fitting and spatial straight line fitting are used.The precision detection of spindle attitude and wire rope deflection angle of hoist in winch room area is realized.Taking the shape and position detection project of hoisting equipment in a coal mine in Shandong Province as an example,the comprehensive detection items,such as the attitude detection of the main shaft of the hoist in the mining area,the calculation of the maximum deflection angle of the wire rope,the attitude detection of the sky wheel and the tilt monitoring of the Derrick,are carried out The feasibility of the combined measurement method of total station/theodolite measurement system is verified.