CN105911074B - Adaptive threshold scaling method in wire-core belt lacings X-ray on-line checking - Google Patents
Adaptive threshold scaling method in wire-core belt lacings X-ray on-line checking Download PDFInfo
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Abstract
The present invention relates to belt lacings online test method, specially adaptive threshold scaling method in wire-core belt lacings X-ray on-line checking, splice counter is set to 0；Read in each image of video flowing one by one online；To image sampling, to obtain wire-core radical, and maximum radical, minimum radical and mean elements are obtained；Formula of variance is calculated, is such as unsatisfactory for reading in next image, such as meets and continues in next step；All sampling rows are traversed, all radicals are demarcated as connector row more than optimal threshold radical person, are otherwise demarcated as common row；Record initial position and the end position of joint area, to obtain its height, Van Gogh's degree meets assigned altitute and connector linage-counter regards as joint area more than the region of given threshold value, splice counter adds 1, joint area is stored in memory, next image for reading in video flowing, solve the problems, such as threshold value during traditional connector rower is fixed selected be rule of thumb selected and cause connector image calibration inaccurate.
Description
Technical field
The present invention relates to belt lacings online test methods, specially in wire-core belt lacings X-ray on-line checking certainly
Adapt to threshold calibration method.
Background technology
Steel cable core conveying belt have good impact resistance, tensile strength it is big, using extending small, strong, work of bearing overload capacity
Make the steadily advantages such as reliable, by widespread adoption in all trades and professions such as coal mine, building materials, logistics, metallurgy.Conveyer belt is as enterprise
" main artery " of industry transport, will dominate the economic benefit of enterprise, rationally using artificial work is then reduced, improve production efficiency,
If it cannot be guaranteed that its safe operation, is likely to result in serious consequence.Conveyer belt fracture accident is not often caused by timely
It was found that small defect and on-call maintenance, caused by small defect becomes big defect.For Shanxi Province, coal mining enterprise is numerous,
Once the accident of belt lacings fracture occurs for transporter, transportation system is caused to go wrong, then the overall operation of enterprise will
It interrupts.Powerful Steel cord belt conveyer is being operated at full capacity, once the junction portion of conveyer belt is asked
Topic, if belt break protection device is not installed, or the effect that the belt break protection device installed is not brought into normal play, it will give on the way
Ribbon conveyer rack causes damage, and roller rack is caused to be broken, and the circuit and pipeline that ground is loosened and is laid on the way are broken
It is bad, the accidents such as entire circuit paralysis or fire disaster are caused when serious；Simultaneously because transport object is generally the quality such as mineral products, metal
Larger object may generate conveyer belt on the way longitudinal tear or the excessive equivalent damage of transverse curvature, and transport object defeated
It send band due to irregularly being slided caused by high-speed cruising, the surface layer of belt is destroyed, even with the steel rope core skin of coating protection
Band is also can hardly be avoided, and in transportation system, the cost of steel rope core belt about accounts for the 50% of overall cost, fixed point repair ten
Divide necessity；If transport object is slipped to the lower section of ribbon conveyer regularly, the electromechanics for being placed in conveyer lower end can be also destroyed
System equipment, such as rolling stand, detection device and tension device etc., or even the personal safety of coal miner is threatened, seriously
Shi Fasheng death by accidents.If thinking to restore operation of going into operation again after accident, it is also necessary to which a large amount of manpower and materials carry out field maintenance, no
It only to allow coal mine to stop production, serious economic loss is brought to enterprise, also create a large amount of personnel and wait for work, generate resource wave
Take, consequence is very serious.Implement to inspect periodically the requirement that cannot meet enterprise by traditional artificial detection method, need
Technological innovation develops " real-time " on-line measuring device, to ensure equipment operational safety.
Mainstream online test method industrial at present is magnetic induction detection method and X-ray detection method.But due to magnetic induction
It is complex to detect law technology, it is not directly proportional to the accuracy that it judges, and can not accomplish to detect in real time, frequency of use is not
Height, it is more to use X-ray detection method.Include based on X-ray steel cable core conveying belt detecting system chief component：X
Light source, operation steel cable core conveying belt, linear array detector, signal control cabinet, computer and system software and power supply, group
It is as shown in Figure 1 at block diagram.The course of work of system is to manually set detection image by systematic parameter configuration interface by user and protect
Path is deposited, the parameters such as the type of detector are selected, by computer control signal control cabinet, opens power-supply device, X source and line
Array detector.Using X-ray detection principle, by the collected belt gray level image of linear array detector, using system design
Connector and defects detection algorithm identify connector and defect, while passing through the operation conditions of Real time vision belt.It acquired
Cheng Zhong, warning function remind user to detect connector image, and system preserves the belt total data of acquisition, defect and connects respectively
Head data image is automatically stopped light source, linear array, power-supply device by system software after acquisition, and uses Report Forms Service function
The connector image and defect image that detect are generated into PDF reports.Because being by many soft inside steel cable core conveying belt
Seizing wire is spaced a distance made of arrangement, according to the penetrability of X-ray, when fan-shaped X-ray penetrates running transmission
When band, the attenuation degree drop of the X-ray of steel cable core segment is more than the attenuation degree of tape portion, therefore linear above conveyer belt
After the signal that detector array receives is converted to image pixel electric signal, as shown in Fig. 2, dark colored portion is inside transmission belt
Steel cable core segment, bright colored portion are the tape portion of transmission belt.Normal and connector image can be seen that connector steel in compares figure 2
Cord radical showed increased catches this feature of steel rope core conveying belt junction portion, and one can be used as to be used for distinguishing steel cable
The means of core conveying belt joint part and conveyer belt other parts.Therefore the steel of every a line how is calculated by image data
Cord radical is just particularly important.
The local binary pattern (LBP) that researcher Ojala by machine vision group of Oulu universities of Finland et al. is proposed,
Since it is with following significant advantage：(1) it calculates easy；(2) it is not necessarily to training study；(3) illumination is not linear；(4) it is easy to
Project Realization is a kind of effective texture description operator.For the feature of steel cable core conveying belt radioscopic image, Liu Zhendong etc.,
Wang Xiaokai etc. proposes linear texture coding and calculates in image per the radical of a line steel wire rope.
During on-line measurement, to mitigate calculated load, mostly using sampling computational methods.Assuming that every image is 1200
Row, can carry out the calculating of primary steel wire rope radical, so every image can obtain 40 steel wire rope radicals every 30 rows.Movably
State calculates this 40 digital average values, and traditional algorithm is if the calculated steel wire rope radical of certain a line is more than average value
More than a certain threshold value (such as 4), then this line is counted as connector row.If there are continuous connector row, and region in a certain region
Height within a certain range, then the region is judged as joint area.Traditional connector rower have a problem that surely be with
The empirical value of one artificial settings is as threshold value.The size of threshold value directly affects the judgement of connector row, if threshold value set it is too big,
So that certain should be not marked with connector row labeled as connector row, joint area is caused to reduce, or even cause certain connectors
It is missed.If be made too small, it may so that certain labels that should not be labeled as connector row are row, joint area becomes
Greatly, in some instances it may even be possible to certain ordinary straps regions be caused to be marked as joint area.As shown in figure 3, (a) is normality threshold detection point
The connector cut out；(b) and (c) detects the connector being partitioned into for threshold value is too small；(d) by the too big connector being partitioned into of threshold value.
Invention content
The present invention in order to solve traditional connector rower it is fixed in the selected of threshold value be rule of thumb selected and cause connector figure
As the inaccurate problem of calibration, adaptive threshold scaling method in wire-core belt lacings X-ray on-line checking is provided.
The present invention adopts the following technical scheme that realization：It is adaptive in wire-core belt lacings X-ray on-line checking
Threshold calibration method, includes the following steps：
The first step：Splice counter is set to 0；
Second step：The each image for reading in video flowing one by one online, gives if splice counter is more than or equal in database
Fixed piece-ups are then transferred to the 8th step；
Third walks：Otherwise to reading in the every 30 line sampling a line of image, the linear texture coding of sampling row is calculated, to obtain
Sampling row wire-core radical reads in image and obtains wire-core maximum radical, minimum radical, mean elements and variance；
4th step：Sentenced
Disconnected, the image that reads in for meeting the formula is otherwise to be transferred to second step containing the image for assuming joint area and continue to read in video
Lower piece image in stream；
5th step：Line number histogram of the statistics containing all sampling rows in the image for assuming joint area, on this basis
Optimal threshold radical is calculated in conjunction with Otsu algorithmIn formula,It indicates to calculate using Otsu algorithm optimal
Soft-threshold, thardIndicate the hard -threshold rule of thumb manually set；
6th step：Traversal is more than optimal threshold radical containing all sampling rows, all radicals in the image for assuming joint area
t*Sampling rower be set to connector row, be otherwise demarcated as common row, and butt joint row is counted, and be stored in connector row counting
Device, the region between connector row are to assume joint area；
7th step：Record assumes initial position and the end position of joint area, and to obtain its height, Van Gogh's degree meets
The hypothesis joint area that assigned altitute and connector linage-counter are more than given threshold value is identified as joint area, splice counter
Add 1, joint area is stored in memory, and the image containing joint area is connector image, is otherwise transferred to second step and reads in video flowing
Lower piece image；
8th step：Each connector image in memory is stored in hard disk specified folder, stops on-line measurement, closes X-ray
Equipment and belt feeder.
Due to it is most of in the video flowing that is generated in on-line checking be normal belt image, when being judged as normal picture,
The present invention directly reads next frame image without subsequent tool joint monitor algorithm, thus considerably reduces the meter of CPU
Calculate load；Some screens normal and connector image with variance method in existing method, but this method is not stringent enough, has missing inspection to connect
The possibility of head；Also without judgement and frame by frame detection tabs method, although this method will not missing inspection connector, to increase
Calculated load is cost, and has the possibility that normal picture zone errors are demarcated as to joint area.The present invention uses formula 1
It screens normal and connector image, solves the problems, such as missing inspection connector, and greatly reduce calculated load；The present invention also uses public affairs
Formula 7 demarcates connector row method, and this method is adaptively adjusted according to the statistical distribution of the radical of Steel cord in each image and connect
Head rower determines threshold value, and the joint area being thus partitioned into essentially eliminates " half of connector " phenomenon and drain terminals than more complete
With misjudgement connector phenomenon.
Description of the drawings
Fig. 1 is the composition frame chart based on X-ray steel cable core conveying belt detecting system.
Fig. 2 is steel cable core conveying belt radioscopic image.
Fig. 3 is by detecting the connector image being partitioned into when threshold value difference.
Fig. 4 is the probability distribution of normal belt radical.
Fig. 5 is the probability distribution of the radical containing endless belt.
Fig. 6 is the first width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Fig. 7 is the second width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Fig. 8 is the third width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Fig. 9 is the 4th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 10 is the 5th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 11 is the 6th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 12 is the 7th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 13 is the 8th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 14 is the 9th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 15 is the tenth width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 16 is the 11st width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 17 is the 12nd width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 18 is the 13rd width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 19 is the 14th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 20 is the 15th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 21 is the 16th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 22 is the 17th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 23 is the 18th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 24 is the 19th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 25 is the 20th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 26 is the 21st width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 27 is the 22nd width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 28 is the 23rd width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 29 is the 24th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 30 is the 25th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 31 is the 26th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 32 is the 27th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 33 is the 28th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 34 is the 29th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 35 is the 30th width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Figure 36 is the 31st width connector image contrast figure obtained using " hard threshold method " and " Soft thresholding ".
Specific implementation mode
Adaptive threshold scaling method in wire-core belt lacings X-ray on-line checking, includes the following steps：
The first step：Splice counter is set to 0；
Second step：The each image for reading in video flowing one by one online, gives if splice counter is more than or equal in database
Fixed piece-ups are then transferred to the 8th step；
Third walks：Otherwise to reading in the every 30 line sampling a line of image, the linear texture coding of sampling row is calculated, to obtain
Sampling row wire-core radical reads in image and obtains wire-core maximum radical, minimum radical, mean elements and variance；
4th step：Sentenced
Disconnected, the image that reads in for meeting the formula is otherwise to be transferred to second step containing the image for assuming joint area and read in video flowing
Lower piece image；
5th step：Line number histogram of the statistics containing all sampling rows in the image for assuming joint area, on this basis
Optimal threshold radical is calculated in conjunction with Otsu algorithmIn formula,It indicates to calculate using Otsu algorithm optimal
Soft-threshold, thardIndicate the hard -threshold rule of thumb manually set；
6th step：Traversal is more than optimal threshold radical containing all sampling rows, all radicals in the image for assuming joint area
t*Sampling rower be set to connector row, be otherwise demarcated as common row, and butt joint row is counted, the region between connector row is
It is assumed that joint area；
7th step：Record assumes initial position and the end position of joint area, and to obtain its height, Van Gogh's degree meets
The hypothesis joint area that assigned altitute and connector linage-counter are more than given threshold value regards as joint area, and splice counter adds 1,
Joint area is stored in memory, and the image containing joint area is connector image, is otherwise transferred to next in second step reading video flowing
Width image；
8th step：Each connector image in memory is stored in hard disk specified folder, stops on-line measurement, closes X-ray
Equipment and belt feeder.
When it is implemented, the probability distribution of the wire-core radical in normal wire-core belt image is Unimodal Distribution, such as Fig. 4
It is shown, and the probability distribution of the wire-core radical in the belt image containing joint area is bimodal distribution, as shown in Figure 5.It is first
First, it is normal belt image or the belt figure containing joint area that piece image can be screened out from the difference of Fig. 4 and Fig. 5
Picture, the size of general consideration variance are distinguished, but actual effect is unsatisfactory.Reason is the variance when joint area is smaller
And less, it can be judged to normal picture when variance is less than given threshold value and miss connector without tool joint monitor.Preferably
Method is that use estimates maximum radical-minimum radical and variance is combined to screen image, i.e.,Normal and connector image is screened using formula 1, missing inspection is solved and connects
The problem of head.
After screening out connector image, secondly the problem of be how be judged to being partitioned into the image containing joint area it is big
Small suitable connector.(a) is exactly the connector for the desirable amount being partitioned into Fig. 3, and remaining is all undesirable.On-line measurement
Cheng Zhong is needed to sampling line flag into normal row or connector row, and traditional algorithm is " hard threshold method ", i.e., if certain a line meter
The steel wire rope radical of calculating is more than on a certain given value of radical average value, then this line is marked as connector row, is otherwise just marked
It is denoted as normal row.
Hard -threshold is defined as：thard=mean elements+given value (2)
The present invention is to carry out optimal binaryzation cluster for the bimodal distribution of Fig. 5, the seventies in last century Japanese scholars
" Otsu algorithm " that N.Otsu (opening up it in big Tianjin) is proposed can be calculated the separated optimal threshold of two classes.The basic thought of this algorithm
Being exhaustive search can make variance within clusters minimum or the maximum threshold value of inter-class variance.Demonstrating for big Tianjin exhibition minimizes side in class
Difference and maximization inter-class variance are identical.
Variance within clusters are the weighted sum of the variance of two classes： In formula, weight
ωiBe by the probability of threshold value t two classes separated, andIt is the variance of the two classes.
Inter-class variance is defined asWherein μiIt is equal for class
Value, class probability ω1(t) histogram calculation for being t with threshold value： And class mean value is：Wherein i is the radical of Steel cord.The right side more than t can also equally be calculated
The ω of histogram2(t) and μ2.It is exhaustive and execute above step between minimum radical and maximum radical, it finally can be obtained optimal soft
Threshold value
Two kinds of threshold values are each has something to recommend him in practical calibration, and hard -threshold is higher, therefore the connector being partitioned into relatively compacts, but sometimes
There is half of connector phenomenon；And soft-threshold is relatively low, therefore the joint area being partitioned into is bigger than normal, clear area is more, therefore practical best
Threshold value takes it average：
The connector caption effect of going out is cut so that certain coal mine is practical, there are 31 connectors in fact in the coal mine leather belt, we are with " hard
Threshold method " and " Soft thresholding " contrast, and as shown in Fig. 6-Figure 36, left-side images are to be obtained using " hard threshold method " in Fig. 6-Figure 36
The connector image arrived, right side are using the connector figure being partitioned into after the optimal threshold for combining " Soft thresholding " to obtain in the present invention
Picture.Need to explain has：
1. or so be not parallel corresponding, but misplace it is corresponding, if Figure 30 left-side images correspond to Figure 24 image rights,
And so on.It is joint area that the reason of causing dislocation, which is " hard threshold method " by a normal belt region misjudgement, in Figure 11
Left-side images.
2. the another drawback of " hard threshold method " is that have " half of connector " phenomenon, such as Figure 24 and Figure 36 left-side images, this
Subsequent off-line analysis is influenced whether as a result, such as overlapping the calculating of number.
3. " Soft thresholding " also has imperfect place, if Figure 13 image rights are bigger than normal, but do not interfere with it is subsequent from
Line analysis is as a result, such as overlap the calculating of number, only unsightly, this is also to need further improved direction from now on.
Claims (1)
1. adaptive threshold scaling method in wire-core belt lacings X-ray on-line checking, it is characterised in that include the following steps：
The first step：Splice counter is set to 0；
Second step：Online one by one read in video flowing each image, if splice counter be more than or equal to database in give
Piece-ups are then transferred to the 8th step；
Third walks：Otherwise to reading in the every 30 line sampling a line of image, the linear texture coding of sampling row is calculated, to be sampled
Row wire-core radical reads in image and obtains wire-core maximum radical, minimum radical, mean elements and variance；
4th step：All pass through formula to reading in imageJudged, meeting should
The image that reads in of formula is otherwise to be transferred to second step containing the image for assuming joint area and continue to read in next width in video flowing
Image；
5th step：Line number histogram of the statistics containing all sampling rows in the image for assuming joint area, combines on this basis
Otsu algorithm calculates optimal threshold radicalIn formula,Indicate optimal soft-threshold, thardIndicate hard -threshold；
6th step：Traversal is more than optimal threshold radical t containing all sampling rows, all radicals in the image for assuming joint area*Pumping
Sample rower is set to connector row, is otherwise demarcated as common row, and butt joint row is counted, and be stored in connector linage-counter, connector
Region between row is to assume joint area；
7th step：Record assumes initial position and the end position of joint area, and to obtain its height, Van Gogh's degree meets given
The hypothesis joint area that height and the counting of connector linage-counter are more than given threshold value regards as joint area, and splice counter adds
1, joint area is stored in memory, and the image containing joint area is connector image, under being otherwise transferred in second step reading video flowing
Piece image；
8th step：Each connector image in memory is stored in hard disk specified folder, stops on-line measurement, closes X-ray equipment
And belt feeder.
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| CN106347967B (en) * | 2016-11-04 | 2018-08-17 | 辽宁工程技术大学 | A kind of conveyer belt tensile strength on-line detecting system and method |
| CN113553926B (en) * | 2021-07-08 | 2023-08-11 | 天津工业大学 | Automatic detection method for drawing of steel wire rope core conveyer belt joint based on image matching |
| CN117830416B (en) * | 2024-03-05 | 2024-05-17 | 山西戴德测控技术股份有限公司 | Method, device, equipment and medium for positioning abnormal position of conveying belt |
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