CN211141224U - Rigid cage guide real-time monitoring system of vertical shaft hoisting system - Google Patents
Rigid cage guide real-time monitoring system of vertical shaft hoisting system Download PDFInfo
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- CN211141224U CN211141224U CN201921412158.4U CN201921412158U CN211141224U CN 211141224 U CN211141224 U CN 211141224U CN 201921412158 U CN201921412158 U CN 201921412158U CN 211141224 U CN211141224 U CN 211141224U
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Abstract
The application discloses a rigid cage guide real-time monitoring system of a vertical shaft hoisting system, which comprises a sound sensor, a vibration sensor and a monitoring host, wherein the sound sensor and the vibration sensor are arranged on the side wall of the rigid cage guide; the vibration signal is used for acquiring a vibration signal in the rigid cage guide; the monitoring host is used for receiving the sound signals and the vibration signals, carrying out spectrum analysis on the sound signals and the vibration signals and determining the state of the rigid cage guide. This application is through studying rigid cage guide, confirms the state of rigid cage guide from the angle of sound and vibration through the method that the signal compares, can realize carrying out real time monitoring to rigid cage guide, can carry out early warning to the trouble of rigid cage guide in advance to can avoid the major accident or the casualties that cause because of rigid cage guide trouble among the vertical shaft hoisting process.
Description
Technical Field
The application relates to the technical field of coal mine safety production monitoring, in particular to a rigid cage guide real-time monitoring system of a vertical shaft hoisting system.
Background
The shaft cage guide is an important component of a mine hoisting system, the cage guide plays a role in guiding a hoisting container in the hoisting process, the hoisting container is prevented from transversely swinging and rotating in a shaft, the hoisting container is ensured to run at high speed, safely and stably, and the fault state of the rigid cage guide has very important influence on the working stability and safety of the mine hoisting system. However, with the increase of the production years of coal mines, the rigid cage guide of the vertical shaft hoisting system has typical faults of joint dislocation, local bulge, integral inclination, corrosion and the like.
The existing detection method for the rigid cage guide of the vertical shaft hoisting system adopts a visual inspection method for personnel, the detection mode is very laggard, the detection efficiency is low, and safety hazards exist for the detection personnel.
SUMMERY OF THE UTILITY MODEL
The application provides a rigid cage guide real-time monitoring system of a vertical shaft hoisting system to realize the real-time monitoring of opposite well cage guide states, and improve the efficiency of fault detection.
The application provides a rigid cage guide real-time monitoring system of a vertical shaft hoisting system, which comprises a sound sensor, a vibration sensor and a monitoring host, wherein the sound sensor and the vibration sensor are arranged on the side wall of the rigid cage guide, the monitoring host is arranged on the site of the cage guide and is in communication connection with the sound sensor and the vibration sensor, wherein,
the sound sensor is used for collecting sound signals in the rigid cage guide;
the vibration signal sensor is used for collecting vibration signals in the rigid cage guide;
the monitoring host is used for receiving the sound signal and the vibration signal, performing spectrum analysis on the sound signal and the vibration signal and determining the state of the rigid cage guide.
Optionally, a signal processing unit is disposed in the monitoring host, and the signal processing unit is configured to:
respectively carrying out time domain and frequency domain transformation on the sound signal and the vibration signal to obtain sound signal frequency spectrum energy and vibration signal frequency spectrum energy;
determining an energy threshold of the sound signal and an energy threshold of the vibration signal according to the frequency spectrum characteristic of the sound signal and the frequency spectrum characteristic of the vibration signal when the rigid cage guide is in a normal state;
and if the spectrum energy of the sound signal exceeds the energy threshold of the sound signal and/or the spectrum energy of the vibration signal exceeds the energy threshold of the vibration signal, determining that the rigid cage guide is in an abnormal state.
Optionally, the system further includes a laser sensor, the laser sensor includes a base and a probe, wherein the base is disposed on a wall of the well above the well head, and the probe is disposed on a side wall of the rigid cage guide in a non-contact manner, and is used for detecting whether the side wall of the cage guide deviates or deforms.
Optionally, the monitoring host is further configured to generate an early warning signal when it is determined that the rigid cage guide is in an abnormal or fault state.
Optionally, the system further includes:
and the alarm is electrically connected with the monitoring host and is used for giving an acoustic and/or optical alarm when receiving the early warning signal generated by the monitoring host.
Optionally, the monitoring host is further provided with a sound signal receiver and a vibration signal receiver, and the sound signal receiver is in wireless communication with the sound sensor and is used for receiving the sound signal; the vibration signal receiver is in wireless communication with the vibration sensor and is used for receiving the vibration signal.
Optionally, the system further comprises a handheld terminal, the handheld terminal is in wireless communication connection with the monitoring host, and the handheld terminal is provided with a display screen for displaying message information sent by the monitoring host.
Optionally, the sound sensors are disposed on the side wall of the rigid cage guide at equal intervals, and the vibration sensors are disposed on the side wall of the rigid cage guide at equal intervals.
Optionally, the monitoring system further comprises a monitoring extension set arranged in the winch cab, wherein the monitoring extension set is in communication connection with the monitoring host machine and is used for receiving and displaying the monitoring data output by the monitoring host machine.
Optionally, the system further comprises an upper computer, wherein the upper computer is in communication connection with the monitoring host and used for storing monitoring data generated by the monitoring host and displaying historical conditions of the rigid cage guide in a graph mode based on the monitoring data.
The sound sensor and the vibration sensor are arranged on the rigid cage guide to collect sound signals and vibration signals in the rigid cage guide, spectrum analysis is carried out on the sound signals and the vibration signals to obtain spectrum energy related to the sound signals and spectrum energy related to the vibration signals, the spectrum energy of the sound signals is compared with a preset energy threshold value of the sound signals, the spectrum energy of the vibration signals is compared with a preset energy threshold value range of the vibration signals, and if the spectrum energy of the sound signals exceeds the preset energy threshold value range or the spectrum energy of the vibration signals exceeds the preset energy threshold value, the rigid cage guide is determined to be in an abnormal state currently. This application is through studying rigid cage guide, confirm the state of rigid cage guide from the method of sound and vibration angle through signal comparison, a new thinking has been confirmed for the fault detection of rigid cage guide, compare in the past through the method of manual detection, this embodiment method can carry out real time monitoring to rigid cage guide, realize carrying out early warning to the trouble of rigid cage guide in advance to can avoid the major accident or the casualties that cause because of rigid cage guide trouble among the vertical shaft hoisting process.
Drawings
Fig. 1 is a schematic structural diagram of a rigid cage guide real-time monitoring system of a vertical shaft hoisting system in a first embodiment of the present application;
fig. 2 is a schematic structural diagram of a rigid cage guide real-time monitoring system of a vertical shaft hoisting system in the second embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a rigid cage guide real-time monitoring system of a vertical shaft hoisting system according to an embodiment of the present disclosure, where the monitoring system may monitor a condition of the rigid cage guide, and as shown in fig. 1, the monitoring system may include: a sound sensor 20, a vibration sensor 21, and a monitoring main body 1, wherein,
the sound sensor 20 and the vibration sensor 21 are arranged on the side wall of the rigid cage guide, the monitoring host 1 is arranged on the cage guide site, and the monitoring host 1 is in communication connection with the sound sensor 20 and the vibration sensor 21, wherein,
the sound sensor 20 is used for collecting sound signals in the rigid cage guide;
the vibration signal is used for acquiring a vibration signal in the rigid cage guide;
the monitoring host 1 is used for receiving the sound signals and the vibration signals, carrying out spectrum analysis on the sound signals and the vibration signals and determining the state of the rigid cage guide.
Wherein, monitoring host 1 can install the position of being convenient for the staff to observe at any time above the well head, and it can be a PC that has data processing and memory function. Specifically, the monitoring host 1 is provided with a plurality of controllable buttons, such as a mute button 2, an alarm button 3 and a broadcast button 4; the monitoring host 1 also needs to be provided with interfaces, such as a power interface 5 for connecting a power supply, a network interface 7 for communicating with the upper computer 16, and a data output interface 8 for sharing data with the extension.
Further, still be provided with signal processing unit in the monitoring host 1, signal processing unit is used for:
respectively carrying out time domain and frequency domain transformation on the sound signal and the vibration signal to obtain sound signal frequency spectrum energy and vibration signal frequency spectrum energy;
determining an energy threshold of the sound signal and an energy threshold of the vibration signal according to the frequency spectrum characteristic of the sound signal and the frequency spectrum characteristic of the vibration signal when the rigid cage guide is in a normal state;
and if the spectrum energy of the sound signal exceeds the energy threshold of the sound signal and/or the spectrum energy of the vibration signal exceeds the energy threshold of the vibration signal, determining that the rigid cage guide is in an abnormal state.
Optionally, in this embodiment, fourier transform is adopted to implement time-domain frequency-domain transform, so as to obtain spectral energy related to the sound signal and spectral energy related to the vibration signal.
The energy threshold is an energy threshold used for distinguishing abnormal signals from normal audio signals, and is determined according to the spectral characteristics of the rigid cage guide in normal operation. Alternatively, the energy of the sound signal and the vibration signal may be determined by an energy statistic method, and the energy statistic may be determined by a periodic RMS (root mean square) statistic method. In determining the energy threshold, a certain amount of redundancy may be given, i.e. the determined energy threshold is a range of energies.
In this embodiment, if the spectral energy of the sound signal is greater than the energy threshold of the sound signal, it is determined that an abnormal sound signal exists in the sound signal, that is, an abnormal sound exists in the rigid cage guide; similarly, when the frequency spectrum energy of the vibration signal is larger than the energy threshold value of the vibration signal, the abnormal vibration signal is determined to exist in the vibration signal, namely the abnormal ringing exists in the rigid cage guide. Correspondingly, when the spectrum energy of the sound signal exceeds the energy threshold of the sound signal, or the spectrum energy of the vibration signal exceeds the energy threshold of the vibration signal, the current stage of the rigid cage guide is determined to have an abnormality.
In order to process the acquired weak signal, optionally, the monitoring host 1 in this embodiment is further provided with a signal amplification unit, configured to amplify the sound signal and the vibration signal with weak amplitude, which are picked up by the sensor, first, then perform fourier transform on the signals through the signal processing unit, and output the frequency spectrum energy of the sound signal and the frequency spectrum energy of the vibration signal.
Optionally, the sound sensor 20 and the vibration sensor 21 in this embodiment both communicate with the monitoring host 1 in a wireless manner, that is, the wireless sound sensor 20 and the wireless vibration sensor 21 are used to collect sound signals and vibration signals in the rigid cage guide, and correspondingly, a wireless signal receiving unit is further disposed in the monitoring host 1, wherein the sound sensor 20 converts the collected sound signals into electrical signals and sends the electrical signals to the wireless receiving unit 9 on the monitoring host 1 in a wireless manner, and similarly, the vibration sensor 21 converts the collected vibration signals into electrical signals and sends the electrical signals to the wireless receiving unit 9 on the monitoring host 1. In order to further facilitate the use and reduce the wiring workload, the wireless sound sensor 20 and the wireless vibration sensor 21 can be fixed on the back of the rigid cage guide in a manner of strong electromagnets and can supply power through a large-capacity battery, the residual capacity of the battery can be transmitted to the monitoring host 1 in a wireless manner, the battery capacity of each sensor is displayed by the monitoring host 1 in real time, and monitoring personnel can conveniently acquire low-power batteries in time and replace the batteries in time. The wireless sound sensor 20 and the wireless vibration sensor 21 are convenient to install and trouble-saving, and the arrangement position and the arrangement distance of the sensors can be flexibly adjusted according to the use condition of the rigid cage guide and the detection requirement, so that the wireless sound sensor is convenient to install and convenient to maintain in the use process.
In consideration of the fact that the sound signal and the vibration signal have certain attenuation characteristics, and therefore, in order to avoid that the signals are not collected due to attenuation, in the embodiment, the number of the sound sensors 20 and the vibration sensors 21 is set to be multiple, the installation distance between each sound sensor 20 and each vibration sensor 21 can be selected according to the service life of the rigid pipeline and the requirement of detection requirements, for example, when the service life of the rigid cage guide is longer, the arrangement distance between the sound sensors 20 and the vibration sensors 21 can be reduced, for example, in a normal situation, the arrangement distance between the sound sensors 20 or the vibration sensors 21 can be set to be 40 meters, when the service life of the rigid cage guide is longer, the arrangement distance between the sound sensors 20 and the vibration sensors 21 can be set to be 20 meters, and the capacity of the sensors for acquiring weak signals can be improved by reducing the arrangement distance between the sensors.
In order to realize that the monitoring system can automatically alarm according to the monitoring result, the monitoring system in this embodiment further includes:
and the alarm is electrically connected with the monitoring host 1 and used for giving an alarm by sound and/or light when receiving the early warning signal generated by the monitoring host 1.
Specifically, a signal output port of the monitoring host 1 is connected with a signal input port of the alarm, when the monitoring host 1 generates an early warning signal, the early warning signal is sent to the alarm, and at the moment, the alarm performs sound and/or light alarm under the triggering of the early warning signal.
In order to facilitate the operation of the winch driver according to the condition of the rigid cage guide and timely broadcast the monitoring result, in this embodiment, a monitoring extension 10 may be disposed in the winch driver cab, the monitoring extension 10 communicates with the monitoring host 1 in a cable manner to obtain the monitoring signal of the monitoring host 1 in real time, and the winch driver may adjust the operation of the shaft elevator in a targeted manner after obtaining the abnormal or fault signal according to the monitoring extension 10, for example, stop the current operation, notify the corresponding field worker to pause the current operation in a broadcast manner, and the like. As an alternative implementation, the monitoring extension 10 has at least the following settings: an extension mute button 13, an extension alarm button 12 and an extension broadcast button 11; and an extension power interface 15 for connecting a power supply, and a data input interface 14 for communicating with the monitoring host 1.
In addition, in consideration of the particularity of the underground working environment, a handheld terminal which is communicated with the monitoring host 1 can be further arranged, the handheld terminal can be communicated with the monitoring host 1 in real time in a wireless communication mode, when the monitoring host 1 monitors that abnormal sound or abnormal vibration exists in the cage guide, a fault prompt signal can be sent to the handheld terminal in a message sending mode to inform maintenance personnel of timely fault maintenance and inform field workers of avoiding, and therefore safety accidents are avoided.
Meanwhile, in consideration of large field monitoring data volume, an upper computer 16 can be arranged for the monitoring host 1, and the upper computer 16 and the monitoring host 1 can be connected in the following way: the monitoring host end is connected with a field ring network switch 17 through an industrial ring network 19, the field ring network switch 17 is connected with an upper computer ring network switch 18 through the industrial ring network 19, so that signals of the monitoring host are decrypted by the upper computer ring network switch 18 and then sent to an upper computer 16, and data of the monitoring host 1 are stored and further processed through the upper computer 16. For example, an industrial computer may be configured to communicate with the monitoring host 1, and the monitoring host 1 may transmit the fault data to the management and control center through the industrial ethernet interface for data storage and display. The industrial computer processes and analyzes the monitoring data in more modes by configuring a stronger processor and more comprehensive data analysis software, for example, historical monitoring data can be counted, the historical conditions of the rigid cage guide are displayed in a graph mode, so that the current conditions of the rigid cage guide can be reflected intuitively and the trend of the rigid cage guide can be predicted through the historical data information of the rigid cage guide, and through the information, a worker can obtain the reliability basis for actively overhauling according to the running time and the running strength of the rigid cage guide.
According to the technical scheme, the sound sensor and the vibration sensor are arranged to collect sound signals and vibration signals in the rigid cage guide, the sound signals and the vibration signals are analyzed and processed through the configuration monitoring host, current condition information about the rigid cage guide is obtained, the operation condition of the rigid cage guide is determined from the aspects of sound and vibration, and a new thought is determined for fault detection of the rigid cage guide. When the abnormal sound signal and/or the abnormal vibration signal are monitored, namely the rigid cage guide is in an abnormal condition currently, the maintenance and fault treatment are required. Compared with the conventional method of manual detection, the monitoring system can monitor the rigid cage guide in real time, can early warn the fault of the rigid cage guide in advance, is high in detection efficiency and more accurate, and avoids the occurrence of manual misjudgment, so that major accidents or casualties caused by the fault of the rigid cage guide in the vertical shaft lifting process can be avoided.
Example two
Fig. 2 is a schematic structural diagram of a rigid cage guide real-time monitoring system of a vertical shaft hoisting system according to a second embodiment of the present disclosure, where the monitoring system can monitor a condition of a rigid cage guide, and in this embodiment, the rigid pipe real-time monitoring system is optimized based on the second embodiment, as shown in fig. 2, the monitoring system is provided with: besides the sound sensor 20, the vibration sensor 21 and the monitoring host 1, the monitoring host 1 further comprises a laser sensor 22, and correspondingly, the monitoring host 1 is further provided with a laser sensor interface 6 for receiving a laser sensor signal, wherein,
the laser sensor 22 comprises a base arranged on the wall of the wellbore above the wellhead and a probe arranged non-contactingly on the side wall of the rigid cage guide for detecting whether the side wall of the cage guide is displaced or deformed.
Wherein the laser sensor 22 can perform distance calculations based on the time of receipt of the reflected beam. In the present embodiment, the laser sensor 22 provided on the side wall of the cage guide determines whether there is a positional deviation of the side wall of the cage guide by the time difference between the laser beam emitted from the laser sensor 22 and the reflected light received. Specifically, the laser sensor 22 is disposed on the side wall of the rigid cage guide in a non-contact manner for monitoring the displacement of the side wall of the rigid cage guide, and when the side wall of the cage guide is not displaced, the laser beam emitted by the laser sensor 22 is returned at the bottom of the cage guide, so that the time interval of the reflected light received by the laser sensor 22 each time should be the same or similar, and a corresponding time threshold value is set according to the time interval; when any position of the side wall of the rigid cage guide is displaced, the emitted laser beam is blocked by the displaced side wall, so that the laser beam is reflected when not reaching the bottom of the cage guide, the time interval of the received reflected light is greatly lower than the set time threshold, and the specific position of the displaced side wall of the cage guide can be determined according to the time interval.
Optionally, the time threshold in this embodiment may be set according to the operating property of the vertical shaft hoisting system, for example, statistics is performed on the vibration deviation generated by the side wall of the cage guide in the operating state according to the vertical shaft hoisting system, so that when the laser sensor 22 is set, a certain margin is given to the shaking that may be generated in the vertical shaft hoisting process, that is, the normal shaking that the vertical shaft hoisting system has in the operating state is eliminated by setting a redundancy amount.
Optionally, under the condition that monitoring host 1 is configured with the alarm, monitoring host 1 still can generate corresponding early warning signal to laser sensor 22's output signal, when laser sensor 22's output time exceeded the time threshold, monitoring host 1 just can generate early warning signal, this early warning signal is sent to the alarm, when the alarm received early warning signal, just can be triggered and carry out sound and/or light warning, stop current work with the suggestion relevant staff, and remind the maintainer in time to carry out troubleshooting and investigation.
Optionally, in this embodiment, in order to comprehensively monitor the rigid cage guide, the number of the laser sensors 22 may be set to three, specifically, one of four side walls of the rigid cage guide is fixed on the lifting shaft wall, the other three side walls are not fixed on the lifting shaft wall, one laser sensor 22 is respectively arranged on the three side walls of the rigid cage guide, when any one of the cage guide walls blocks a laser beam due to the fact that the cage guide deviates from a normal position due to loosening of screws or other reasons, the monitoring host 1 generates an early warning signal according to an output signal of the laser sensor 22, and displays a specific cage guide deviation position and deviation amount on the displays of the host and the extension, thereby facilitating timely maintenance of a worker.
Before use, the laser sensor 22 in this embodiment determines the corresponding relationship between the reflection time and the depth of the rigid cage guide according to the depth of the rigid cage guide, so as to establish the corresponding relationship between the reflection time and the depth of the cage guide, and thus determine the specific fault position by the time of the received reflected light beam.
This embodiment sets up laser sensor through the lateral wall at rigid cage guide, carries out the displacement monitoring to the lateral wall of rigid cage guide, when confirming the cage guide lateral wall and have the skew, directly generates early warning signal through monitoring host computer to instruct the alarm to carry out sound and/or light warning, in order to indicate the staff in time to maintain and overhaul the fault point. In this embodiment, judge the displacement volume of cage guide lateral wall through setting up laser sensor, explain the cage guide lateral wall has taken place serious problem when having the displacement, the direct fault signal of monitoring host computer reports to the police this moment, through before sound sensor and vibration sensor carry out signal analysis, judge whether the cage guide lateral wall produces the displacement through laser sensor earlier, guaranteed that rigid cage guide can be detected by the very first time when having a fault, avoided the emergence of the condition of cage guide operation with illness, further guaranteed to execute safety.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (8)
1. A real-time monitoring system for a rigid cage guide of a vertical shaft hoisting system is characterized by comprising a sound sensor, a vibration sensor and a monitoring host, wherein the sound sensor and the vibration sensor are arranged on the side wall of the rigid cage guide, the monitoring host is arranged on a cage guide site and is in communication connection with the sound sensor and the vibration sensor, wherein,
the sound sensor is used for collecting sound signals in the rigid cage guide;
the vibration sensor is used for collecting vibration signals in the rigid cage guide;
the monitoring host is used for receiving the sound signal and the vibration signal, performing spectrum analysis on the sound signal and the vibration signal and determining the state of the rigid cage guide.
2. The system of claim 1, further comprising a laser sensor comprising a base and a probe, wherein the base is disposed on a wall of the wellbore above a wellhead and the probe is non-contact disposed on a sidewall of the rigid cage guide for detecting whether the cage guide sidewall is deflected or deformed.
3. The system of claim 1 or 2, wherein the monitoring host is further configured to generate a warning signal upon determining that the rigid cage guide is in an abnormal or faulty state.
4. The system of claim 3, further comprising:
and the alarm is electrically connected with the monitoring host and is used for giving an acoustic and/or optical alarm when receiving the early warning signal generated by the monitoring host.
5. The system of claim 1, wherein a sound signal receiver and a vibration signal receiver are further disposed in the monitoring host, the sound signal receiver is in wireless communication with the sound sensor for receiving the sound signal; the vibration signal receiver is in wireless communication with the vibration sensor and is used for receiving the vibration signal.
6. The system according to claim 1, further comprising a handheld terminal, wherein the handheld terminal is in wireless communication connection with the monitoring host, and the handheld terminal is provided with a display screen for displaying message information sent by the monitoring host.
7. The system of claim 1, wherein the sound sensors are equally spaced on the side walls of the rigid cage guide and the vibration sensors are equally spaced on the side walls of the rigid cage guide.
8. The system of claim 1, further comprising a monitoring extension set disposed in the winch cab, wherein the monitoring extension set is in communication with the monitoring host for receiving and displaying the monitoring data output by the monitoring host.
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| CN201921412158.4U CN211141224U (en) | 2019-08-28 | 2019-08-28 | Rigid cage guide real-time monitoring system of vertical shaft hoisting system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110407063A (en) * | 2019-08-28 | 2019-11-05 | 开滦（集团）有限责任公司电信分公司 | Mine shaft hoist system rigid cage guide method for real-time monitoring and system |
| CN113587959A (en) * | 2021-07-28 | 2021-11-02 | 河北地质大学 | Underground pipeline damage detection method and device and terminal |
| CN115231417A (en) * | 2022-05-26 | 2022-10-25 | 中国矿业大学 | Cage guide detection device and detection method for vertical shaft lifting system |
-
2019
- 2019-08-28 CN CN201921412158.4U patent/CN211141224U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110407063A (en) * | 2019-08-28 | 2019-11-05 | 开滦（集团）有限责任公司电信分公司 | Mine shaft hoist system rigid cage guide method for real-time monitoring and system |
| CN113587959A (en) * | 2021-07-28 | 2021-11-02 | 河北地质大学 | Underground pipeline damage detection method and device and terminal |
| CN115231417A (en) * | 2022-05-26 | 2022-10-25 | 中国矿业大学 | Cage guide detection device and detection method for vertical shaft lifting system |
| CN115231417B (en) * | 2022-05-26 | 2023-10-13 | 中国矿业大学 | Cage guide detection device and detection method for vertical shaft lifting system |
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