CN112197715A - Elevator brake wheel and brake shoe gap detection method based on image recognition - Google Patents
Elevator brake wheel and brake shoe gap detection method based on image recognition Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D66/00—Arrangements for monitoring working conditions, e.g. wear, temperature
- F16D66/02—Apparatus for indicating wear
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- General Engineering & Computer Science (AREA)
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Abstract
The invention relates to an elevator brake wheel and brake shoe gap detection method based on image recognition, which comprises the following steps: s1: obtaining an original image of a gap between an elevator brake wheel and a brake shoe, and preprocessing the original image; s2: carrying out contour detection on the preprocessed image to respectively obtain a brake wheel contour and a brake shoe contour; s3: respectively extracting arc profiles of a brake wheel profile and a brake shoe profile to obtain two target arc sections; s4: the actual width of the gap between the brake wheel and the brake shoe is calculated by utilizing the two target arc sections, and compared with the prior art, the method has the advantages of no contact, safety, high efficiency and the like.
Description
Technical Field
The invention relates to elevator safety monitoring, in particular to an elevator brake wheel and brake shoe gap detection method based on image recognition.
Background
The elevator brake is an important component of an elevator, and the opening and closing of the elevator brake controls the rotation and the stop of a traction sheave of the elevator, so that the control of the movement of a car is realized. Once the brake breaks down, the elevator can lose control, and the serious accident that the elevator rushes to the top or squats at the bottom is very easy to happen. The statistical results of the elevator accidents show that the elevator accidents caused by the failure of the brake occupy a very large proportion.
Generally speaking, the direct cause of elevator brake failure is the failure of the brake shoes to close effectively, or the lack of braking force provided after closing. If the brake shoe of the brake is not closed under abnormal conditions, the brake wheel and the brake shoe always have clearance no matter the elevator is in a running state or a stopping state. Insufficient brake force is often caused by excessive brake shoe wear which can result in excessive clearance of the brake shoe with the brake wheel when the brake shoe is opened. Therefore, whether the elevator brake works normally can be judged by detecting the gap between the brake wheel and the brake shoe, so that hidden dangers can be found in time.
There are various methods for implementing gap measurement, including an eddy current measurement method, a capacitance sensor measurement method, and the like, in addition to the conventional manual measurement. The brake wheel rotates all the time when the elevator runs, and the traditional manual measurement method is difficult to measure the gap between the rotating brake wheel and the brake shoe; the measuring method of the capacitive sensor is that the distance between two measuring surfaces is calculated by measuring the capacitance formed by two polar plates arranged on the measuring surfaces, but because the brake wheel is possibly in a rotating state in the measuring process, the measuring device on one side of the brake wheel cannot be ensured to be always opposite to the measuring device on one side of the brake shoe; the method needs to ensure that the probe is over against the surface of a brake wheel to be measured, the sensor needs to be installed at the position of a brake shoe relative to the surface of the brake wheel through a mechanical method, the installation process needs to influence the original structure of the brake shoe, and new potential safety hazards can be generated.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a non-contact, safe and efficient elevator brake wheel and brake shoe gap detection method based on image recognition.
The purpose of the invention can be realized by the following technical scheme:
an elevator brake wheel and brake shoe gap detection method based on image recognition comprises the following steps:
s1: obtaining an original image of a gap between an elevator brake wheel and a brake shoe, and preprocessing the original image;
s2: carrying out contour detection on the preprocessed image to respectively obtain a brake wheel contour and a brake shoe contour;
s3: respectively extracting arc profiles of a brake wheel profile and a brake shoe profile to obtain two target arc sections;
s4: and calculating the actual width of the gap between the brake wheel and the brake shoe by using the two target circular arc sections.
Furthermore, the original image is obtained by shooting through a camera, the camera is right opposite to the gap between the brake shoe and the brake wheel of the brake, and the optical axis of the lens of the camera passes through the center of the gap between the brake shoe and the brake wheel and is perpendicular to the plane of the brake wheel and the brake shoe. The camera passes through tripod fixed mounting, the process of its installation does:
firstly, a camera is preliminarily installed on a tripod, then whether a real-time image shot by the camera comprises a brake wheel, a brake shoe and a gap between the brake wheel and the brake shoe is observed, if not, the position and the direction of the camera are adjusted, finally, a lens of the camera is adjusted to be right opposite to the gap between the brake shoe and the brake wheel, and the optical axis of the camera is adjusted to pass through the center of the gap and be vertical to the surfaces of the brake shoe and the brake wheel.
Further, the preprocessing comprises graying, Gaussian blur denoising and binarization in sequence.
Further preferably, the size of the kernel used for the gaussian blur denoising is 3 × 3, so that the influence on the edge contour information can be avoided as much as possible while filtering out high-frequency noise points, and the positions of the gap brake wheel and the brake shoe in the image can be obtained more accurately.
Further, the contour detection specifically includes the following steps:
s21: detecting to obtain all edge contour information and hierarchy information thereof in the image, and specifically adopting a contour detection algorithm proposed by Satoshi S;
s22: respectively taking the two outermost left and right contours in the image as a brake wheel contour and a brake shoe contour;
s23: profile information for the brake wheel profile and brake shoe profile is extracted separately.
Further, the arc-shaped profile is extracted by adopting a curvature matching method, and the method specifically comprises the following steps:
s31: calculating the approximate curvature of each point in the brake wheel profile and the brake shoe profile, wherein the approximate curvature is calculated by an eleven-point method of an approximate curvature calculation method;
s32: removing contour points of which the absolute value of the approximate curvature exceeds a set threshold value, contour points around the points and contour points of which the approximate curvature is 0 in the original brake wheel contour and brake shoe contour, wherein the contour points respectively correspond to a straight line part and a part near an angular point in the contour;
s33: determining a circle segment area by using the remaining contour points;
s34: searching the contour points in the circular arc section area in the contour points removed in the step S32, and recovering the contour points to finally obtain two complete circular arc sections, wherein the step can obtain more complete circular arc sections because points with a certain curvature of 0 also exist in the circular arc;
s35: and extracting the outer contours of the two complete arc sections to respectively obtain target arc sections of the brake wheel and the brake shoe.
Further, the step S4 specifically includes:
s41: acquiring the pixel difference of coordinate points on the two target arc segments in the horizontal direction to obtain the pixel width of a gap on each horizontal line in the image;
s42: and calculating the actual width of the gap between the brake wheel and the brake shoe according to the relationship between the pixel width and the actual gap width.
Further, the relationship between the pixel width and the actual gap width is specifically as follows:
wherein x is the pixel width, f is the focal length of the camera lens, s is the actual gap width, and l is the distance between the center point of the optical axis of the camera lens and the plane of the brake wheel and the brake shoe.
Compared with the prior art, the invention has the following advantages:
1) according to the invention, through an image processing method, the arc gap width between the brake wheel and the brake shoe of the elevator brake can be measured in a non-contact manner, so that the opening and closing conditions of the brake wheel and the brake shoe at the current moment are obtained, the real-time monitoring on the working condition of the brake shoe of the elevator brake is realized, and the equipment to be installed only has a camera, is simple to install and cannot influence the original structures of the brake wheel and the brake shoe;
2) the method can accurately and quickly calculate the clearance between the brake and the brake shoe by sequentially carrying out image preprocessing, contour detection and arc contour extraction and then carrying out clearance calculation through an image processing method, and can find out the abnormal opening and closing of the elevator brake in time and avoid more serious elevator accidents when being applied to the daily monitoring process of the elevator.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic view of a brake wheel and a brake shoe;
FIG. 3 is an original image;
FIG. 4 is a denoised image;
FIG. 5 is a binarized image;
FIG. 6 is a schematic diagram of a contour obtained by contour detection;
FIG. 7 is a schematic diagram of arc profile extraction;
fig. 8 is a schematic view of a camera mounting.
The system comprises a brake wheel 1, a brake wheel 2, a brake arm 3, a brake shoe 4, a camera 5, a camera view field range 6 and a camera optical axis.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
As shown in FIG. 1, the invention provides a method for detecting the gap between a brake wheel and a brake shoe of an elevator based on image recognition, which is mainly divided into five processes of image acquisition, image preprocessing, contour detection, arc contour extraction and gap calculation.
A schematic view of the brake wheel and shoe of an elevator brake is shown in fig. 2. The brake shoes 3 are arranged on the brake arms 2 at two sides of the brake wheel 1, and the clearance between two arc edges of the friction plates of the brake wheel 1 and the brake shoes 3 is a parameter to be detected. Shooting the gap by using an industrial camera, processing the shot image, and obtaining the positions of the two arc-shaped edge outlines of the friction plates of the brake wheel 1 and the brake shoe 3 in the image to obtain the pixel width information of the gap in the image; and then according to the information such as the installation position, or through calibration, the relation between the pixel width and the actual gap width can be obtained, and further the actual gap width is obtained, and the measurement is completed.
According to the principle of pinhole imaging, the distance between the center point of the optical axis of the camera lens and a plane to be measured is set to be l, the focal length of the camera lens is set to be f, and the distance of any distance s on the plane to be measured after projection on the camera imaging plane is set to be f s/l under the condition that the optical axis of the camera lens is perpendicular to the plane to be measured. According to the arrangement condition of the photosensitive elements of the camera on the imaging plane, the linear relation between the pixel distance and the actual distance in the picture shot by the camera can be deduced.
The method comprises the steps of firstly, acquiring an image shot by a camera, filtering out noise of the image through image preprocessing, particularly noise points near the edges of a brake wheel and a brake shoe in the image, and binarizing the image; then, detecting the edge of the binary image, and extracting the arc-shaped outlines of a brake wheel and a brake shoe, wherein the gap between the two arc-shaped outlines is the gap which is interested by the invention; finally, the pixel width of the gap is calculated, and then the pixel width is multiplied by a corresponding coefficient, so that the actual gap width can be obtained. Next, the implementation of the above flow will be described with reference to an actually photographed image.
(1) Image acquisition and pre-processing
As shown in fig. 8, the camera 4 is supported by a tripod (not shown in the figure), the lens of the camera 4 is opposite to the gap between the brake shoe 3 and the brake wheel 1, and the optical axis 6 of the camera passes through the center of the gap and is vertical to the surfaces of the brake shoe 3 and the brake wheel 1; when the brake wheel is installed, firstly, the brake wheel is initially installed, then a real-time image picture shot by the camera 4 is observed, the position and the direction of the camera are finely adjusted, so that the field range 5 of the camera is approximately as shown in fig. 8, the brake wheel 1, the brake shoe 3 and the gap between the brake wheel and the brake shoe can be clearly seen in the shot image, and an original image as shown in fig. 3 can be obtained through shooting by the camera.
Preprocessing is performed to convert an original image into a gray-scale image, and then eliminate high-frequency noise points in the image through gaussian blur to obtain a denoised image, as shown in fig. 4. The size of the kernel used in the gaussian blurring process is 3 × 3 because the positions of the gap brake wheel and the brake shoe in the image need to be obtained more accurately, so that the influence on the edge profile information can be avoided as much as possible while filtering out high-frequency noise points.
Observing fig. 4, it can be seen that the image at the gap appears very obviously black, so that the image is binarized, and all the other features except the gap in the image are filtered out, so as to obtain the binary image shown in fig. 5, and finish the image preprocessing.
(2) Contour detection
For the preprocessed image, adopting a contour detection algorithm proposed by Satoshi S in "Topological structural analysis of partitioned images by recorder following", and detecting all edge contour information and hierarchy information in the image; then, according to the field of view, the two outermost left and right contours in the image are taken as a brake wheel contour and a brake shoe contour, and contour information of the two contours is extracted for subsequent processing. The outline extraction is schematically shown in fig. 6, and the positions of two contour lines are the positions of the two detected outlines in the image.
(3) Arc contour extraction
Of the two outer contours extracted in the contour detection, the contours of the two opposite circular arc surfaces in the outer surface of the brake wheel and the inner surface of the brake shoe friction plate need to be concerned, and therefore the extraction of the circular arc segment needs to be realized.
The invention adopts a curvature matching method, firstly, an approximate curvature of each point in the contour is solved by utilizing eleven-point method of an approximate curvature solving method mentioned in 'segmentation and identification technology of plane contour' by royal English;
according to the obtained approximate curvature, removing contour points with the curvature of 0, contour points with the absolute value of the curvature exceeding a set threshold value and a part of contour points around the contour points in the original contour, wherein the contour points respectively correspond to a straight line part and a part near an angular point in the contour;
because the arc also has a certain point with the curvature of 0, after the straight line segment and the angular point are removed, the remaining contour points are needed to be used firstly to determine the arc segment area, and then the contour points which are removed before in the area in the original contour are searched to obtain a more complete arc segment;
and finally, respectively extracting the outer contours of the two arc sections to obtain interesting contour sections in the brake wheel and the brake shoe, and taking the interesting contour sections as target arc sections to finish the extraction of the arc contour.
The positions of the two identified arc segments in the original image are shown in fig. 7, where the left line is the arc edge of the brake shoe and the right line is the arc edge of the brake wheel.
(4) Gap finding
After coordinate points of the edges of the brake wheel and the brake shoe are obtained, the pixel width of a gap on each horizontal line in the image can be obtained through the pixel difference of the coordinate points on the two target arc sections in the horizontal direction; and then the actual gap width can be obtained according to the installation position of the formula camera and the internal parameters of the camera.
The specific calculation formula is as follows:
wherein x is the pixel width, f is the focal length of the camera lens, s is the actual gap width, and l is the distance between the center point of the optical axis of the camera lens and the plane of the brake wheel and the brake shoe.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An elevator brake wheel and brake shoe gap detection method based on image recognition is characterized by comprising the following steps:
s1: obtaining an original image of a gap between an elevator brake wheel and a brake shoe, and preprocessing the original image;
s2: carrying out contour detection on the preprocessed image to respectively obtain a brake wheel contour and a brake shoe contour;
s3: respectively extracting arc profiles of a brake wheel profile and a brake shoe profile to obtain two target arc sections;
s4: and calculating the actual width of the gap between the brake wheel and the brake shoe by using the two target circular arc sections.
2. The method for detecting the clearance between the brake wheel and the brake shoe of the elevator based on the image recognition as claimed in claim 1, wherein the original image is obtained by shooting through a camera, the camera is opposite to the clearance between the brake shoe and the brake wheel of the brake, and the optical axis of the lens of the camera passes through the center of the clearance between the brake shoe and the brake wheel and is perpendicular to the planes of the brake wheel and the brake shoe.
3. The method for detecting the gap between the brake wheel and the brake shoe of the elevator based on the image recognition as claimed in claim 1, wherein the preprocessing comprises graying, Gaussian blur denoising and binarization in sequence.
4. The method as claimed in claim 3, wherein the size of kernel used in Gaussian blur denoising is 3 x 3.
5. The method for detecting the clearance between the brake wheel and the brake shoe of the elevator based on the image recognition as claimed in claim 1, wherein the profile detection specifically comprises the following steps:
s21: detecting to obtain all edge contour information and hierarchy information thereof in the image;
s22: respectively taking the two outermost left and right contours in the image as a brake wheel contour and a brake shoe contour;
s23: profile information for the brake wheel profile and brake shoe profile is extracted separately.
6. The method for detecting the clearance between the brake wheel and the brake shoe of the elevator based on the image recognition as claimed in claim 1, wherein the arc-shaped profile is extracted by a curvature matching method, and the method specifically comprises the following steps:
s31: calculating the approximate curvature of each point in the brake wheel profile and the brake shoe profile;
s32: removing contour points of which the absolute value of the approximate curvature exceeds a set threshold value, contour points around the points and contour points of which the approximate curvature is 0 in the original brake wheel contour and brake shoe contour;
s33: determining a circle segment area by using the remaining contour points;
s34: searching the contour points removed in the step S32, namely the contour points in the circular arc section area, and recovering the contour points to finally obtain two complete circular arc sections;
s35: and extracting the outer contours of the two complete arc sections to respectively obtain target arc sections of the brake wheel and the brake shoe.
7. The method for detecting the gap between the brake wheel and the brake shoe of the elevator based on the image recognition as claimed in claim 2, wherein the step S4 specifically comprises:
s41: acquiring the pixel difference of coordinate points on the two target arc segments in the horizontal direction to obtain the pixel width of a gap on each horizontal line in the image;
s42: and calculating the actual width of the gap between the brake wheel and the brake shoe according to the relationship between the pixel width and the actual gap width.
8. The method for detecting the gap between the brake wheel and the brake shoe of the elevator based on the image recognition as claimed in claim 7, wherein the relationship between the pixel width and the actual gap width is specifically as follows:
wherein x is the pixel width, f is the focal length of the camera lens, s is the actual gap width, and l is the distance between the center point of the optical axis of the camera lens and the plane of the brake wheel and the brake shoe.
9. The method for detecting the gap between the brake wheel and the brake shoe of the elevator based on the image recognition as claimed in claim 2, wherein the camera is fixedly installed through a tripod, and the installation process comprises the following steps:
firstly, a camera is preliminarily installed on a tripod, then whether a real-time image shot by the camera comprises a brake wheel, a brake shoe and a gap between the brake wheel and the brake shoe is observed, if not, the position and the direction of the camera are adjusted, finally, a lens of the camera is adjusted to be right opposite to the gap between the brake shoe and the brake wheel, and the optical axis of the camera is adjusted to pass through the center of the gap and be vertical to the surfaces of the brake shoe and the brake wheel.
10. The method as claimed in claim 6, wherein the approximate curvature is obtained by eleven-point method of approximate curvature calculation method.
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| CN115760856A (en) * | 2023-01-10 | 2023-03-07 | 惟众信(湖北)科技有限公司 | Part spacing measuring method and system based on image recognition and storage medium |
| CN117308801A (en) * | 2023-11-29 | 2023-12-29 | 克恩-里伯斯(太仓)有限公司 | Method for detecting minimum clearance of scroll spring |
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