CN106483136B - Belt defect inspection method and system - Google Patents
Belt defect inspection method and system Download PDFInfo
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- CN106483136B CN106483136B CN201610893545.9A CN201610893545A CN106483136B CN 106483136 B CN106483136 B CN 106483136B CN 201610893545 A CN201610893545 A CN 201610893545A CN 106483136 B CN106483136 B CN 106483136B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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Abstract
The embodiment of the invention discloses a kind of belt defect inspection method and systems, and using the laser image of three-dimensional camera shooting belt drum, then, the connector and center line that controller judges belt according to the laser elevation information in laser image are with the presence or absence of defect.The laser image of three-dimensional camera shooting is supplied to controller.While belt drum rotates, controller analyzes the laser elevation information in laser image, and judge that the connector of belt and center line whether there is defect according to the laser elevation information, if connector or center line existing defects, then control warning device output alarm signal, then, it is adjusted by staff.If connector and center line are all without defect, directly progress next step operation.Using the belt defect inspection method, artificial detection belt is not needed with the presence or absence of defect, improves defects detection speed, and then improve the production efficiency of tire.
Description
Technical field
The present invention relates to automatic control technology fields, more particularly to a kind of belt defect inspection method and system.
Background technique
In tire production, by tyre building machine by semifinished part (e.g., carcass, tyre surface, sidewall, crown, type glue
Deng), combination forming green tyres are required according to technique.
Belt is located under the tread base of tire, along the material layer of circumferential line circumferencial direction banding carcass.Banding
Layer not only has the function of mitigating impact also have the function of banding carcass.It is needed in tire building process on belt drum
The fitting of belt is completed, the belt on stock shelf is reached with after belt drum preparation bonding position, and laser cursor is in banding
It is positioned on layer drum, belt drum is rotated by certain direction, completes the fitting of whole belt.Belt material head and material tail
It fits together, then carries out artificial observation, artificially judge whether the laminating degree of belt connector and belt integrally deposit
It is deviating.
The method of manual intervention is affected by subjective factor, is easy to produce error, moreover, the time required to artificial observation
It is long, it will increase the production cycle of single tire, reduce production efficiency.
Summary of the invention
A kind of belt defect inspection method and system are provided in the embodiment of the present invention, to solve tire in the prior art
In production process the problem of tire production low efficiency caused by artificial observation banding layer defects.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
In a first aspect, the present invention provides a kind of belt defect inspection method, the banding break applied to tyre building machine
It falls into detection system, the system comprises three-dimensional camera, laser and warning devices；The three-dimensional camera, the laser with
The installation site of belt drum forms triangle；The laser projection of laser transmitting to the belt drum surface with it is described
On the direction of the centerline parallel of belt drum；The three-dimensional camera shoots the laser figure of the belt on the belt drum
Picture；The described method includes:
When detecting that the belt drum goes to belt material head position, controls the three-dimensional camera and start described in shooting
The laser image of belt terminates when belt drum turns over one week；
According to the laser elevation information in the laser image, judges the connector of the belt and belt center line is
No existing defects；
When the connector or center line existing defects for determining the belt, the warning device output alarm signal is controlled
Number.
Optionally, according to the laser elevation information in the laser image, judge that the connector of the belt whether there is
Defect, comprising:
The laser elevation information in laser image is corresponded to according to belt material head part, determines the belt material head
Position；
The laser elevation information in laser image is corresponded to according to the banding layered material portion, determines the banding layered material tail
Position；
Bulging go to from the position of the material head of the belt is obtained to be in described in same row with the position of the material head
Expect the position of tail, the shooting item number for the laser wheel profile that the three-dimensional camera obtains；
Compare the shooting item number to rouse with the belt between the default number of branches for the corresponding laser wheel profile that turns around
Size relation；
If the shooting item number is less than the default number of branches, it is determined that there are virtual connection defects for the connector of the belt；
If the shooting item number is greater than the default number of branches, it is determined that the connector of the belt has overlap joint defect.
Optionally, described that laser elevation information in laser image is corresponded to according to belt material head part, determine institute
State the position of belt material head, comprising:
The laser image of belt material head part is traversed in laser projection direction, obtains belt material head part
The laser elevation information of each column；
For the laser elevation information of each column, determine that height after rising and rising occurs in the laser elevation information
The trip point remained unchanged is the position of material head；
It is described that laser elevation information in laser image is corresponded to according to the banding layered material portion, determine the belt
Expect the position of tail, comprising:
The laser image of the banding layered material portion is traversed in laser projection direction, obtains the banding layered material portion
The laser elevation information of each column；
For the laser elevation information of each column, determine that the laser elevation information trip point declined occurs for institute
State the position of material tail.
Optionally, the method also includes:
When there is overlap joint defect in the connector for determining the belt, using the default number of branches and the shooting item number it
Between difference, and, the amount of lap of the connector is calculated in the real offset between two adjacent laser contour lines；
When determine the connector of the belt there are when virtual connection defect, using the shooting item number and the default number of branches it
Between difference, and, the virtual connection amount of the connector is calculated in the real offset between two adjacent laser contour lines.
Optionally, the laser elevation information according in the laser image judges that the center line of the belt is
No existing defects, comprising:
By the laser image of the belt middle section along belt drum circumferencial direction be divided into left detection part and
Right detection part；
The left detection part and the right detection part are traversed respectively in belt drum circumferencial direction, are respectively obtained
The laser elevation information of left detection part and described every a line of right detection part；
For the laser elevation information of described left every a line of detection part, from left to right there is height rising and rises in detection
The trip point remained unchanged afterwards, and determine that the trip point is the boundary position of the left detection part；
For the laser elevation information of described right every a line of detection part, there is height rising and rises in detection from right to left
The trip point remained unchanged afterwards, and determine that the trip point is the boundary position of the right detection part；
According to the boundary position of the left detection part and the boundary position of the right detection part, the belt is determined
Position of center line；
When the position of center line of the belt is not overlapped with the position of center line of the belt drum surface, described in determination
There are partial center defects for the center line of belt；
The difference between the position of center line of the belt and the position of center line of the belt drum surface is calculated, is obtained
Disalignment amount.
Second aspect, the present invention provide a kind of belt defect detecting system, are applied on tyre building machine, the tire
Molding machine includes belt drum, comprising: three-dimensional camera, laser, controller and warning device；
The installation site of the three-dimensional camera, the laser and belt drum forms triangle；
The laser, for emitting laser, and the laser projection is to the belt drum surface and the belt
On the direction of bulging centerline parallel；
The controller, for controlling the three-dimensional when detecting that the belt drum goes to belt material head position
Camera starts to shoot the laser image of the belt on the belt drum, terminates when belt drum turns over one week；
The controller is also used to judge connecing for the belt according to the laser elevation information in the laser image
Head and belt center line whether there is defect；
The controller is also used to control the report when the connector or center line existing defects for determining the belt
Alarm device exports alarm signal.
Optionally, the controller judges connecing for the belt according to the laser elevation information in the laser image
When head whether there is defect, it is specifically used for:
The laser elevation information in laser image is corresponded to according to belt material head part, determines the belt material head
Position；
The laser elevation information in laser image is corresponded to according to the banding layered material portion, determines the banding layered material tail
Position；
Bulging go to from the position of the material head of the belt is obtained to be in described in same row with the position of the material head
Expect the position of tail, the shooting item number for the laser wheel profile that the three-dimensional camera obtains；
Compare the shooting item number to rouse with the belt between the default number of branches for the corresponding laser wheel profile that turns around
Size relation；
If the shooting item number is less than the default number of branches, it is determined that there are virtual connection defects for the connector of the belt；
If the shooting item number is greater than the default number of branches, it is determined that the connector of the belt has overlap joint defect.
Optionally, the controller corresponds to the laser elevation information in laser image according to belt material head part,
When determining the position of the belt material head, it is specifically used for:
The laser image of belt material head part is traversed in laser projection direction, obtains belt material head part
The laser elevation information of each column；
For the laser elevation information of each column, determine that height after rising and rising occurs in the laser elevation information
The trip point remained unchanged is the position of material head；
The controller corresponds to the laser elevation information in laser image according to the banding layered material portion, determine described in
When the position of banding layered material tail, it is specifically used for:
The laser image of the banding layered material portion is traversed in laser projection direction, obtains the banding layered material portion
The laser elevation information of each column；
For the laser elevation information of each column, determine that the laser elevation information trip point declined occurs for institute
State the position of material tail.
Optionally, the controller is also used to:
When there is overlap joint defect in the connector for determining the belt, using the default number of branches and the shooting item number it
Between difference, and, the amount of lap of the connector is calculated in the real offset between two adjacent laser contour lines；
When determine the connector of the belt there are when virtual connection defect, using the shooting item number and the default number of branches it
Between difference, and, the virtual connection amount of the connector is calculated in the real offset between two adjacent laser contour lines.
Optionally, the controller judges in the belt according to the laser elevation information in the laser image
When heart line whether there is defect, it is specifically used for:
By the laser image of the belt middle section along belt drum circumferencial direction be divided into left detection part and
Right detection part；
The left detection part and the right detection part are traversed respectively in belt drum circumferencial direction, are respectively obtained
The laser elevation information of left detection part and described every a line of right detection part；
For the laser elevation information of described left every a line of detection part, from left to right there is height rising and rises in detection
The trip point remained unchanged afterwards, and determine that the trip point is the boundary position of the left detection part；
For the laser elevation information of described right every a line of detection part, there is height rising and rises in detection from right to left
The trip point remained unchanged afterwards, and determine that the trip point is the boundary position of the right detection part；
According to the boundary position of the left detection part and the boundary position of the right detection part, the belt is determined
Position of center line；
When the position of center line of the belt is not overlapped with the position of center line of the belt drum surface, described in determination
There are partial center defects for the center line of belt；
The difference between the position of center line of the belt and the position of center line of the belt drum surface is calculated, is obtained
Disalignment amount.
By above technical scheme as it can be seen that belt defect inspection method provided by the invention, shoots band using three-dimensional camera
The laser image of beam layer drum, then, controller judge the connector of belt with according to the laser elevation information in laser image
Heart line whether there is defect.Specifically, the belt drum installation triangular in shape on three-dimensional camera, laser and tyre building machine.
On the laser projection to belt drum surface of laser transmitting and on the direction of the centerline parallel of belt drum.Three-dimensional camera shooting
Laser image be supplied to controller.While belt drum rotates, controller analyzes the laser elevation letter in laser image
Breath, and judge that the connector of belt and center line whether there is defect according to the laser elevation information, if connector or center line
Existing defects then control warning device output alarm signal and are then adjusted by staff.If connector and center line
All without defect, then next step operation is directly carried out.Using the belt defect inspection method, artificial detection belt is not needed
With the presence or absence of defect, defects detection speed is improved, and then improves the production efficiency of tire.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without any creative labor, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of schematic diagram of belt defect detecting system of the embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of belt defect inspection method of the embodiment of the present invention；
Fig. 3 is the schematic diagram that a kind of belt of the embodiment of the present invention starts the fitting stage；
Fig. 4 is the laser image schematic diagram that a kind of three-dimensional camera of the embodiment of the present invention shoots material head part；
Fig. 5 is the schematic diagram that a kind of belt of the embodiment of the present invention is bonded the intermediate stage；
Fig. 6 is the laser image schematic diagram that a kind of three-dimensional camera of the embodiment of the present invention shoots belt middle section；
Fig. 7 is the schematic diagram that a kind of belt drum of the embodiment of the present invention goes to material portion；
Fig. 8 is a kind of laser image schematic diagram of three-dimensional camera shooting banding layered material portion of the embodiment of the present invention.
Specific embodiment
Technical solution in embodiment in order to enable those skilled in the art to better understand the present invention, and make of the invention real
The above objects, features, and advantages for applying example can be more obvious and easy to understand, with reference to the accompanying drawing to technical side in the embodiment of the present invention
Case is described in further detail.
It is a kind of schematic diagram of belt defect detecting system provided in an embodiment of the present invention, the banding break referring to Fig. 1
Detection system is fallen into be used for when tyre building machine completes belt and is bonded this technique, the automatic connector for detecting belt and in
Heart line whether there is defect.
As shown in Figure 1, the belt defect detecting system includes three-dimensional camera 110, laser 120, controller 130 and report
Alarm device 140.
The installation site of three-dimensional camera 110, laser 120 and belt drum 200 forms triangle, that is, three pacifies respectively
At three vertex positions of triangle.The laser projection that laser 120 emits is on belt drum 200, three-dimensional camera 110
Shoot laser image.Moreover, on the laser projection to the direction of the centerline parallel with belt drum 200 that laser 120 emits.
Arrow indicates the rotation direction of belt drum 200 in figure.
For three-dimensional camera 110 according to the laser image on predeterminated frequency shooting belt drum 200, three-dimensional camera 100 can be straight
Output laser wheel profile is connect, moreover, the altitude information of laser wheel profile can be exported in real time, the altitude information of laser wheel profile is
The elevation information of the upper belt of belt drum.Three-dimensional camera shooting laser image can directly export laser wheel profile, therefore, control
Device processed does not need to pre-process the laser image of shooting, saves the pretreatment time of image, does not need belt drum and subtracts
Speed, and then improve the production efficiency of tire.
The laser elevation information that three-dimensional camera 110 exports is supplied to controller 130, and controller 130 is according to the laser elevation
Infomation detection belt whether there is defect.
Fig. 2 is referred to, a kind of flow chart of belt defect inspection method of the embodiment of the present invention, this method application are shown
In controller 130.Belt defect inspection method is illustrated combined with Figure 1 and Figure 2, as shown in Fig. 2, this method can be with
The following steps are included:
S110 controls the three-dimensional camera and starts to clap when detecting that the belt drum goes to belt material head position
The laser image for taking the photograph the belt terminates when belt drum turns over one week.
In some embodiments of the invention, when the material head of belt goes to the intersection point of three-dimensional camera 110 and laser 120
When in range, controller 130 triggers three-dimensional camera 110 and starts to shoot laser image, after belt drum 200 turns over a circle,
It controls three-dimensional camera 110 and stops shooting.
In 200 rotation process of belt drum, three-dimensional camera 110 is shot according to setpoint frequency.It is three-dimensional in the present embodiment
The filming frequency of camera 110 can be in conjunction with the rotational angular velocity setting of belt drum, for example, when the every rotation preset angle of belt drum
Three-dimensional camera shooting is primary after degree.
S120 judges in the connector and belt of the belt according to the laser elevation information in the laser image
Heart line whether there is defect；If connector or center line existing defects, execute S130；If connector and center are all not present scarce
It falls into, then executes S140.
The connector existing defects of belt mainly include overlap joint defect and virtual connection defect；It is lacked existing for the center line of belt
Fall into mainly partial center defect.
The overlap joint defect of belt connector refers to that material head and material tail have lap, in this way, leading to belt junction portion
Thickness be greater than the thickness of other parts, will lead to that tire belt connector is excessive, finally will lead to the safety of entire tire
It can be poor.
Virtual connection defect refers to material head and expects that the gap between tail is greater than size required by industry, in this way, will lead to banding
The thickness of layer junction portion is less than the thickness of other parts, and it is poor finally to also result in entire tire safe capability.
Controller 130 determines the position of material head according to the laser image of belt material head part；Similarly, according to banding layered material
The laser image of portion determines the position of material tail, then, according to the position of material head and expects that the position of tail determines connecing for belt
Head is with the presence or absence of overlap joint defect or virtual connection defect；
Partial center defect refers to that on the circumferencial direction of belt drum, the center line of belt deviates in belt drum drum surface
Center line, in this way, will affect tire dynamic and balance and security performance.
The laser image captured during belt material head goes to material tail according to three-dimensional camera 110 of controller 130,
The left and right boundary position of belt is obtained, to judge that the center line of belt whether there is the defect of partial center.
S130, control warning device export alarm signal.
If the connector or center line existing defects of belt, controls warning device 140 and export alarm signal, remind work
Make personnel, the belt of the tire is defective, needs to manually adjust.
S140, belt qualification enters to be operated in next step.
If defect is not present in belt, it is directly entered and operates in next step.
Belt defect inspection method provided in this embodiment, utilizes three-dimensional camera, laser, controller and warning device
Realize the automatic detection of banding layer defects.The laser image of belt is shot by three-dimensional camera, and is supplied to controller, is controlled
The connector or center line that device judges belt according to the laser elevation information in laser image are with the presence or absence of defect；If detected
The connector or center line existing defects of belt, then control warning device and alarm, then, by staff to belt into
Row adjustment.If the connector or center line that detect belt directly carry out next step operation there is no when defect.No longer need
It is manually detected, improves the detection efficiency of banding layer defects, and then improve the production efficiency of tire.
In some embodiments of the invention, controller 130 may include PLC (Programmable Logic
Controller, programmable logic controller (PLC)) and host computer.The Serve Motor Control banding of belt drum 200 is controlled by PLC
Layer drum 200 rotates, and carries out closed-loop control to the turned position of belt drum 200.The rotational angle of belt drum 200 passes through coding
Device passes to PLC, in this way, PLC can accurately know the turned position of belt drum 200.When PLC detects belt drum rotation
When to predeterminated position, control signal is sent to host computer, so that PC control three-dimensional camera shoots laser image.
Fig. 3 is the schematic diagram that a kind of belt of the embodiment of the present invention starts the fitting stage；Fig. 4 is one kind of the embodiment of the present invention
The schematic diagram of the material head fraction of laser light image of three-dimensional camera shooting.
Below in conjunction with Fig. 3 and Fig. 4, the process of detection belt material head position is illustrated:
As shown in figure 3, the A point on belt drum 200 is the initial position of belt fitting, A point is on belt drum 200
Position immobilize.
When PLC knows that the initial position of belt drum 200 goes to three-dimensional camera 110 and laser 120 by encoder
When intersection position, PLC sends control signal to host computer (being not shown in Fig. 3), so that host computer triggering three-dimensional camera 110 acquires
The laser image of belt material head part, and it is supplied to host computer.Host computer is sentenced according to the laser elevation information in laser image
The position of fracture head.
As shown in figure 4, X-axis is the laser projection direction of belt in laser image, also referred to as horizontal direction；Y-axis is band
The circumferencial direction of beam layer；Z axis (being not shown in Fig. 4) is the thickness direction of belt.
Three-dimensional camera 110 shoots laser image according to predeterminated frequency, when the material head part of belt drum 120 turns over three-dimensional phase
After the intersection point of machine 110 and laser 120.As shown in figure 4, the material head of belt is triangular in shape, therefore host computer is in X-direction
The laser elevation information for traversing whole laser images of belt material head part obtains each column (Y direction in Fig. 4 in material head part
Dotted line) laser elevation information.
The laser elevation information of the host computer analysis each column in material head part.After being bonded belt on belt drum, drum surface
Height can rise, detection drum surface height there is the trip point for rising and remaining unchanged after rising, in the X-axis direction whole Y
Axis trip point, which connects, constitutes material head in the boundary position of Y direction.
Fig. 5 is a kind of schematic diagram in belt fitting intermediate stage of the embodiment of the present invention, and Fig. 6 is one kind of the embodiment of the present invention
The laser image schematic diagram of three-dimensional camera shooting belt middle section.
Below in conjunction with Fig. 5 and Fig. 6, to determining belt middle section (part outside material removal head and material portion)
The process of left and right boundary position is illustrated:
As shown in figure 5, the initial position A point of belt turns over the intersection position of three-dimensional camera 110 and laser 120, this
It is not related to cogging problem in the process, it is only necessary to judge the left and right boundary position of belt.
It should be noted that three-dimensional camera 110 can shoot a large amount of laser image for the middle section of tyre surface, it is specific real
Shi Shi, it is only necessary to which sampling selection represents the laser image in different fitting stages and carries out analyzing determining tyre surface from a large amount of laser images
Left and right boundary position.
As shown in fig. 6, two parts are controlled firstly, the laser image of belt middle section is divided into along the y axis,
Respectively left detection part and right detection part.
The laser elevation information in left detection part and right detection part laser image is traversed respectively in Y direction, is obtained
The laser elevation information of left detection part and every a line of right detection part (dotted line of the X-axis in Fig. 6).
The laser elevation information of a line every for left detection part, host computer from left to right detect height occur rising and on
The trip point that remains unchanged after rising, whole X-axis trip points connects the left margin position for constituting left detection part in Y direction
It sets.
The laser elevation information of a line every for right detection part, host computer detect from right to left height occur rising and on
The trip point that remains unchanged after rising, whole X-axis trip points connects the right margin position for constituting right detection part in Y direction
It sets.
According to the boundary position of the left detection part and right detection part, the position of center line of belt is determined, and compare
Compared with the offset between the position of center line on the position of center line and belt drum surface of belt, center offset is obtained.
Belt drum is provided with specific size in the X-axis direction, meanwhile, sizing calibration of the belt drum in X-axis is arrived
In laser image captured by three-dimensional camera, to obtain the position of belt center line in laser image.
Fig. 7 is the schematic diagram that a kind of belt drum of the embodiment of the present invention goes to material portion；Fig. 8 is the embodiment of the present invention one
The laser image schematic diagram of kind three-dimensional camera shooting banding layered material portion.
Referring to Fig. 7, after belt drum turns around, i.e., behind the initial position for detecting belt again, show belt drum
Have been rotated through a circle.At this point, the laser image of host computer analysis material portion judges the position of tyre surface material tail.
Identical as the detection principle of material head segment boundary, referring to Fig. 8, host computer traverses material portion whole in X-direction
The laser elevation information of laser image obtains the laser elevation information of each column (Y direction dotted line in Fig. 8) of material portion.On
There is the trip point declined in the laser elevation information of the position machine analysis material each column of portion, detection drum surface height.It is complete in X-direction
The Y-axis trip point in portion, which connects, constitutes material tail in the boundary position of Y direction.
After determining the material head of belt and the position of material tail, the position for obtaining the material head of same row goes to the position of material tail
When, the shooting item number for the laser wheel profile that three-dimensional camera 110 obtains.
It should be noted that the laser rays that laser 120 projects in 200 horizontal direction of belt drum only has one, that is,
It only include a laser wheel profile in each laser image that three-dimensional camera 110 is shot.Therefore, the shooting item number refers to,
In same row, the quantity of laser image captured by three-dimensional camera 110 during from material head position to material tail position.And in three-dimensional
Under the premise of the filming frequency and belt ancient battle drums and horns speed of camera 110 all immobilize, three-dimensional phase is enclosed in the rotation of belt drum 200 one
Laser profile number of lines captured by machine 110 is certain, is properly termed as default number of branches.
Host computer compare belt drum 200 from material head go to material tail during three-dimensional camera 110 actual photographed obtain
The shooting item number of laser wheel profile, the laser wheel profile that should be shot with one circle three-dimensional camera 110 of the rotation of belt drum 200
Default number of branches；If shooting item number is greater than default number of branches, it is overlapping to show that material head has with material tail, that is, overlap joint phenomenon occur；If
It shoots item number and is less than default number of branches, show that there is also gaps between practical material tail and material head, that is, virtual connection phenomenon occur.
It should be noted that being required according to certain tire techniques, the amount of lap or virtual connection amount of banding layered material connector are allowing
In range, belt fitting at this time also belongs to qualified products.
Either overlapping splice or connector virtual connection are adjacent according to the difference and two that shoot between item number and default number of branches
The amount of lap or virtual connection amount of belt is calculated in real offset between laser wheel profile.
Real offset between two adjacent laser contour lines can filming frequency by three-dimensional camera 110, banding
The angular speed of layer drum 200 and the radius of belt drum 200 are calculated, and and will not be described here in detail.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Ordinary skill
Personnel can understand and implement without creative efforts.
The present invention can describe in the general context of computer-executable instructions executed by a computer, such as program
Module.Generally, program module includes routines performing specific tasks or implementing specific abstract data types, programs, objects, group
Part, data structure etc..The present invention can also be practiced in a distributed computing environment, in these distributed computing environments, by
Task is executed by the connected remote processing devices of communication network.In a distributed computing environment, program module can be with
In the local and remote computer storage media including storage equipment.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above is only a specific embodiment of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of belt defect inspection method, which is characterized in that the belt defect detecting system applied to tyre building machine
In, the system comprises three-dimensional camera, laser and warning devices；What the three-dimensional camera, the laser and belt roused
Installation site forms triangle；The laser projection of laser transmitting to belt drum in belt drum
On the parallel direction of heart line；The three-dimensional camera shoots the laser image of the belt on the belt drum；The method packet
It includes:
When detecting that the belt drum goes to belt material head position, controls the three-dimensional camera and start to shoot the banding
The laser image of layer terminates when belt drum turns over one week；
The laser elevation information in laser image is corresponded to according to belt material head part, determines the position of the belt material head
It sets；
The laser elevation information in laser image is corresponded to according to the banding layered material portion, determines the position of the banding layered material tail
It sets；
It obtains the belt drum and goes to the material tail for being in same row with the position of the material head from the position of the material head
Position, the shooting item number for the laser wheel profile that the three-dimensional camera obtains；
Compare the size between the shooting item number and the default number of branches of the bulging corresponding laser wheel profile that turns around of the belt
Relationship；
If the shooting item number is less than the default number of branches, it is determined that there are virtual connection defects for the connector of the belt；
If the shooting item number is greater than the default number of branches, it is determined that the connector of the belt has overlap joint defect；
When the connector or center line existing defects for determining the belt, the warning device output alarm signal is controlled.
2. according to the method described in claim 1, it is characterized by:
It is described that laser elevation information in laser image is corresponded to according to belt material head part, determine the belt material head
Position, comprising:
The laser image of belt material head part is traversed in laser projection direction, it is each to obtain belt material head part
The laser elevation information of column；
For the laser elevation information of each column, determine that the laser elevation information occurs rising and highly keep after rising
Constant trip point is the position of material head；
It is described that laser elevation information in laser image is corresponded to according to the banding layered material portion, determine the banding layered material tail
Position, comprising:
The laser image of the banding layered material portion is traversed in laser projection direction, it is each to obtain the banding layered material portion
The laser elevation information of column；
For the laser elevation information of each column, determining that the trip point declined occurs in the laser elevation information is the material
The position of tail.
3. the method according to claim 1, wherein the method also includes:
When the connector for determining the belt has overlap joint defect, using between the default number of branches and the shooting item number
Difference, and, the amount of lap of the connector is calculated in the real offset between two adjacent laser contour lines；
When determining the connector of the belt there are when virtual connection defect, using between the shooting item number and the default number of branches
Difference, and, the virtual connection amount of the connector is calculated in the real offset between two adjacent laser contour lines.
4. the method according to claim 1, wherein the laser elevation according in the laser image is believed
Breath judges the center line of the belt with the presence or absence of defect, comprising:
Circumferencial direction by the laser image of the belt middle section along belt drum is divided into left detection part and right inspection
Survey part；
The left detection part and the right detection part are traversed respectively in belt drum circumferencial direction, respectively obtain left inspection
Survey the laser elevation information of part and described right every a line of detection part；
For the laser elevation information of described left every a line of detection part, from left to right there is height rising and protects after rising in detection
Constant trip point is held, and determines that the trip point is the boundary position of the left detection part；
For the laser elevation information of described right every a line of detection part, there is height rising and protects after rising in detection from right to left
Constant trip point is held, and determines that the trip point is the boundary position of the right detection part；
According to the boundary position of the left detection part and the boundary position of the right detection part, determine in the belt
Heart line position；
When the position of center line of the belt is not overlapped with the position of center line of the belt drum surface, the banding is determined
There are partial center defects for the center line of layer；
The difference between the position of center line of the belt and the position of center line of the belt drum surface is calculated, center is obtained
Line deviation.
5. a kind of belt defect detecting system is applied on tyre building machine, the tyre building machine includes belt drum,
It is characterized in that, comprising: three-dimensional camera, laser, controller and warning device；
The installation site of the three-dimensional camera, the laser and belt drum forms triangle；
The laser, for emitting laser, and the laser projection is to the belt drum surface and belt drum
On the direction of centerline parallel；
The controller, for controlling the three-dimensional camera when detecting that the belt drum goes to belt material head position
The laser image for starting to shoot the belt on the belt drum, terminates when belt drum turns over one week；
The controller is also used to correspond to the laser elevation information in laser image according to belt material head part, determines
The position of the belt material head；The laser elevation information in laser image is corresponded to according to the banding layered material portion, is determined
The position of the banding layered material tail；Bulging go to from the position of the material head of the belt is obtained to be in the position of the material head
The position of the material tail of same row, the shooting item number for the laser wheel profile that the three-dimensional camera obtains；Compare the shooting item
Size relation between the default number of branches of several corresponding laser wheel profiles that turn around with belt drum；If the shooting item
Number is less than the default number of branches, it is determined that there are virtual connection defects for the connector of the belt；If the shooting item number is greater than institute
State default number of branches, it is determined that the connector of the belt has overlap joint defect；
The controller is also used to when the connector or center line existing defects for determining the belt, controls the alarm dress
Set output alarm signal.
6. system according to claim 5, it is characterised in that:
The controller corresponds to the laser elevation information in laser image according to belt material head part, determines the banding
When the position of layered material head, it is specifically used for:
The laser image of belt material head part is traversed in laser projection direction, it is each to obtain belt material head part
The laser elevation information of column；
For the laser elevation information of each column, determine that the laser elevation information occurs rising and highly keep after rising
Constant trip point is the position of material head；
The controller corresponds to the laser elevation information in laser image according to the banding layered material portion, determines the banding
When the position of layered material tail, it is specifically used for:
The laser image of the banding layered material portion is traversed in laser projection direction, it is each to obtain the banding layered material portion
The laser elevation information of column；
For the laser elevation information of each column, determining that the trip point declined occurs in the laser elevation information is the material
The position of tail.
7. system according to claim 5, which is characterized in that the controller is also used to:
When the connector for determining the belt has overlap joint defect, using between the default number of branches and the shooting item number
Difference, and, the amount of lap of the connector is calculated in the real offset between two adjacent laser contour lines；
When determining the connector of the belt there are when virtual connection defect, using between the shooting item number and the default number of branches
Difference, and, the virtual connection amount of the connector is calculated in the real offset between two adjacent laser contour lines.
8. system according to claim 5, which is characterized in that the controller is high according to the laser in the laser image
Information is spent, when judging the center line of the belt with the presence or absence of defect, is specifically used for:
Circumferencial direction by the laser image of the belt middle section along belt drum is divided into left detection part and right inspection
Survey part；
The left detection part and the right detection part are traversed respectively in belt drum circumferencial direction, respectively obtain left inspection
Survey the laser elevation information of part and described right every a line of detection part；
For the laser elevation information of described left every a line of detection part, from left to right there is height rising and protects after rising in detection
Constant trip point is held, and determines that the trip point is the boundary position of the left detection part；
For the laser elevation information of described right every a line of detection part, there is height rising and protects after rising in detection from right to left
Constant trip point is held, and determines that the trip point is the boundary position of the right detection part；
According to the boundary position of the left detection part and the boundary position of the right detection part, determine in the belt
Heart line position；
When the position of center line of the belt is not overlapped with the position of center line of the belt drum surface, the banding is determined
There are partial center defects for the center line of layer；
The difference between the position of center line of the belt and the position of center line of the belt drum surface is calculated, center is obtained
Line deviation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610893545.9A CN106483136B (en) | 2016-10-13 | 2016-10-13 | Belt defect inspection method and system |
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| CN201610893545.9A CN106483136B (en) | 2016-10-13 | 2016-10-13 | Belt defect inspection method and system |
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| CN107063057A (en) * | 2017-03-24 | 2017-08-18 | 苏州光图智能科技有限公司 | A kind of tyre detection device with calibrating block |
| CN106841218A (en) * | 2017-03-24 | 2017-06-13 | 苏州光图智能科技有限公司 | A kind of joint detector of tire building |
| CN107345921B (en) * | 2017-08-03 | 2019-11-01 | 集美大学 | A kind of tire belt fitting quality determining method and system |
| DE102018123966A1 (en) * | 2018-09-27 | 2020-04-02 | Cst Gmbh | Device and method for determining an overlap length of two material ends of a circularly movable object |
| JP7186063B2 (en) * | 2018-10-30 | 2022-12-08 | Ｔｏｙｏ Ｔｉｒｅ株式会社 | Inspection method and inspection device for butt part of belt |
| CN112415015B (en) * | 2020-11-10 | 2023-12-05 | 霍尔果斯奇妙软件科技有限公司 | Tire belt joint defect detection method, device, equipment and medium |
| CN113343469B (en) * | 2021-06-18 | 2022-08-26 | 青岛森麒麟轮胎股份有限公司 | Narrow crown band strip multilayer winding lap joint amount calculation method and application |
| CN113804682A (en) * | 2021-09-14 | 2021-12-17 | 无锡骄成智能科技有限公司 | Tire auxiliary detection unit based on PLC and control method thereof |
| US20240140059A1 (en) * | 2022-10-31 | 2024-05-02 | The Goodyear Tire & Rubber Company | Tire building machine |
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