CN112193763A - Belt deviation detection system of belt conveyor - Google Patents
Belt deviation detection system of belt conveyor Download PDFInfo
- Publication number
- CN112193763A CN112193763A CN202011179058.9A CN202011179058A CN112193763A CN 112193763 A CN112193763 A CN 112193763A CN 202011179058 A CN202011179058 A CN 202011179058A CN 112193763 A CN112193763 A CN 112193763A
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- belt
- belt conveyor
- laser
- carrier roller
- industrial cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a belt deviation detection system of a belt conveyor, which comprises the following steps: step 1: respectively installing two industrial cameras on two sides above a belt of a belt conveyor; step 2: installing a laser stripe emitter right above the belt; step 3: a strip-shaped laser probe is used for emitting laser to the belt conveyor, and laser stripes are parallel to the cross section of the belt conveyor and fall on carrier rollers at two ends of the belt conveyor; step 4: the method comprises the steps that images acquired by two industrial cameras are used for respectively recording the initial shapes of laser stripes so as to determine the width of a belt and the width of a carrier roller within the range of the two industrial cameras covering the visual field when the belt is not off tracking, and the width of the belt and the width of the carrier roller within the range of the two industrial cameras covering the visual field are analyzed in real time during detection, so that whether the belt is off tracking or not and the off tracking size is determined; the invention solves the problems of low image brightness and contrast, poor detection effect and the like, and can greatly improve the detection efficiency and effect.
Description
Technical Field
The invention relates to the technical field of belt conveyors, in particular to a belt deviation detection system of a belt conveyor.
Background
A belt conveyor deviation detection method based on mechanical and electrical devices belongs to a contact detection method, and generally has the problems that a belt is possibly damaged, and the belt is easily damaged or fails due to the influence of dust, coal slime and the like.
A detection method based on technologies such as image processing, artificial intelligence and the like belongs to a non-contact detection method and is the mainstream research direction of belt deviation at present. The detection method based on the image processing technology directly uses the belt edge images on the left side and the right side for detection, and has the problems of great influence by the environment, possible false detection or inaccurate detection.
A conveyor belt deviation detection method based on a deep convolutional neural network captures a working video stream of a conveyor belt site in real time, trains the deep convolutional neural network by using a conveyor belt image in the video stream, and performs deviation detection based on the trained network, and the problems that the image is greatly influenced by the environment and is possibly subjected to false detection or inaccurate detection exist.
The belt conveyor deviation detection method based on the laser radar obtains a good detection effect, but has the problems of high cost, harsh requirements on applicable environments, difficulty in popularization and the like.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide a belt deviation detection system of a belt conveyor, which improves a classic vision-based detection method, adds laser stripes, only needs a single camera to collect laser stripe images above two sides of the belt, calculates the position and the deviation of the belt by an algorithm, solves the problems of low image brightness and contrast, poor detection effect and the like, and can greatly improve the detection efficiency and effect.
In order to achieve the purpose, the invention is implemented according to the following technical scheme:
a belt deviation detection system of a belt conveyor comprises the following steps:
step 1: respectively installing two industrial cameras on two sides above a belt of a belt conveyor, wherein each industrial camera respectively covers two side parts of the belt conveyor and a carrier roller;
step 2: the laser stripe emitter is arranged right above the belt, so that the laser stripe can cover the cross section of the belt and the carrier rollers at two sides of the belt conveyor at the same time;
step 3: the laser stripe emitter is used for emitting laser to the belt conveyor, and the laser stripe is parallel to the cross section of the belt conveyor and falls on the carrier rollers at the two ends of the belt conveyor;
step 4: the method comprises the steps that images acquired by two industrial cameras are used for respectively recording the initial shape of laser stripes and analyzing the change positions of the shapes of the laser stripes at the junction of a belt and a carrier roller through an image processing technology, so that the width of the belt and the width of the carrier roller within the range of the coverage fields of the two industrial cameras when the belt is not off tracking are determined, and the width of the belt and the width of the carrier roller within the range of the coverage fields of the two industrial cameras are analyzed in real time during detection, so that whether the belt is off tracking or not and the off tracking size are determined;
further, Step4 specifically includes the following steps:
step4.1 under the unbiased condition of the belt conveyor belt, two industrial cameras respectively collect the laser stripe images falling on two edges and the carrier roller of the belt conveyor belt, and record the images as follows: i is1(i,j)、I2(i,j)；
Step4.2: respectively carrying out binarization processing on the images obtained by Step4.1 to obtain B1(i,j)、B2(i,j)；
Step4.3: calculating the length of the laser stripe falling on the belt conveyor according to the stripe waveform change of the binary image at the edge of the belt conveyor and the carrier roller, and respectively recording as follows: l is1、L2As a reference base length;
step4.4: at any running time t of the belt conveyor, the two industrial cameras respectively acquire laser stripe images falling on two edges of a belt of the belt conveyor and a carrier roller, and the laser stripe images are recorded as: i is1t(i,j)、I2t(i,j)；
Step4.5: respectively carrying out binarization processing on the images obtained by Step4.3 to obtain B1t(i,j)、B2t(i,j)；
Step4.6: according to the laser stripe waveform changes of the binary image at two edges and a carrier roller of a belt conveyor, calculating the laser stripe length of the time t falling on the belt conveyor, and respectively recording as: l is1t、L2t；
Step4.7: if L1t-L1|<T and | L2t-L2|<T, it indicates that the belt of the belt conveyor is not off tracking, and if L1t-L1| is not less than T or | L2t-L2If the absolute value is more than or equal to T, indicating that the belt of the belt conveyor deviates, outputting an alarm, and repeating Step 4.4-4.7 after the treatment is finished, wherein T is a preset maximum value of allowable belt deviation;
further, in Step1, the optical axes of the two industrial cameras form an included angle of 30-60 degrees with the running direction of the belt plane.
Compared with the prior art, the belt deviation detection system of the belt conveyor has the following beneficial effects:
when the belt of the belt conveyor is in a normal position, the invention respectively records the initial shape of the laser stripe and analyzes the change position of the shape of the laser stripe at the junction of the belt and the carrier roller by using the images acquired by the two industrial cameras, thereby determining the width of the belt and the width of the carrier roller in the range of the coverage of the two industrial cameras when the belt is not off tracking; when the detection system is used for detection, the width of the belt and the width of the carrier roller in the range of the coverage field of the two industrial cameras are analyzed in real time, so that whether the belt deviates or not and the deviation size are determined. The width of the belt and the width of the carrier roller in the visual field range calculated by the two industrial cameras are mutually contrasted and verified, so that the reliability of deviation calculation is ensured.
Compared with a detection method based purely on vision or image processing technology, the method changes an imaging system, adds laser stripes and adjusts a corresponding detection algorithm, solves the problems of low image brightness and contrast, poor detection effect and the like, and can greatly improve the detection efficiency and effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic flow chart of the present invention;
reference numerals: 1. an industrial camera; 2. a laser stripe emitter; 3. a carrier roller; 4. a belt; 5. laser striping.
Detailed Description
The invention will be further described with reference to the drawings and specific embodiments, which are illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1-2, the belt deviation detecting system of the belt conveyor comprises the following steps:
step 1: respectively installing two industrial cameras 1 at two sides above a belt conveyor belt 4, wherein each industrial camera 1 respectively covers two side parts of the belt conveyor belt 4 and a carrier roller 3;
step 2: the laser stripe emitter 2 is arranged right above the belt 4, so that the laser stripes 5 can simultaneously cover the cross section of the belt 4 of the belt conveyor and the carrier rollers 3 at two sides;
step 3: a laser stripe emitter 2 is used for emitting laser to the belt conveyor, and laser stripes 5 are parallel to the cross section of the belt conveyor and fall on carrier rollers 3 at two ends of the belt conveyor;
step 4: the method comprises the steps that images acquired by two industrial cameras 1 are used for respectively recording the initial shape of a laser stripe 4 and analyzing the shape change position of the laser stripe 5 at the junction of a belt 4 and a carrier roller 3 through an image processing technology, so that the width of the belt 4 and the width of the carrier roller 3 in the range of the two industrial cameras 1 covering the visual field when the belt 4 is not deviated are determined, and the width of the belt 4 and the width of the carrier roller 3 in the range of the two industrial cameras 1 covering the visual field are analyzed in real time during detection, so that whether the belt 4 is deviated or not and the deviation size is determined;
as shown in fig. 2, in this embodiment, Step4 specifically includes the following steps:
step4.1 under the condition that the belt conveyor belt 4 is not deviated, two industrial cameras 1 respectively collect images of laser stripes 4 falling on the edge of the belt conveyor belt 4 and the carrier roller 3, and the images are recorded as: i is1(i,j)、I2(i,j)；
Step4.2: respectively carrying out binarization processing on the images obtained by Step4.1 to obtain B1(i,j)、B2(i,j)；
Step4.3: according to the stripe waveform changes of the binary image at the edge of the belt conveyor belt 4 and the position of the carrier roller 3, calculating the length of the laser stripe 5 falling on the belt conveyor, and respectively recording as: l is1、L2As a reference base length;
step4.4: at any running time t of the belt conveyor, the two industrial cameras 1 respectively acquire images of laser stripes 5 falling on the edge of a belt 4 of the belt conveyor and the carrier roller 3, and the images are respectively recorded as: i is1t(i,j)、I2t(i,j)；
Step4.5: respectively carrying out binarization processing on the images obtained by Step4.3 to obtain B1t(i,j)、B2t(i,j)；
Step4.6: according to the laser stripe waveform changes of the binary image at the edge of the belt conveyor belt 4 and the position of the carrier roller 3, calculating the length of the laser stripe 5 falling on the belt conveyor at the time t, and respectively recording as: l is1t、L2t；
Step4.7: if L1t-L1|<T and | L2t-L2|<T, it indicates that the belt of the belt conveyor is not off tracking, and if L1t-L1| is not less than T or | L2t-L2If the absolute value is more than or equal to T, the belt conveyor belt 4 deviates, an alarm is output, after the treatment is finished, Step 4.4-4.7 is repeated, and T is a preset maximum value of the deviation of the belt conveyor belt 4;
as shown in fig. 1, in Step1, the optical axes of the two industrial cameras 1 form an angle of 45 ° with the running direction of the plane of the belt 4 in the present embodiment.
The principle of the invention is as follows:
when the belt of the belt conveyor is in a normal position, the invention respectively records the initial shape of the laser stripe and analyzes the change position of the shape of the laser stripe at the junction of the belt and the carrier roller by using the images acquired by the two industrial cameras, thereby determining the width of the belt and the width of the carrier roller in the range of the coverage of the two industrial cameras when the belt is not off tracking; when the detection system is used for detection, the width of the belt and the width of the carrier roller in the range of the coverage field of the two industrial cameras are analyzed in real time, so that whether the belt deviates or not and the deviation size are determined. The width of the belt and the width of the carrier roller in the visual field range calculated by the two industrial cameras are mutually contrasted and verified, so that the reliability of deviation calculation is ensured.
Compared with a detection method based purely on vision or image processing technology, the method changes an imaging system, adds laser stripes and adjusts a corresponding detection algorithm, solves the problems of low image brightness and contrast, poor detection effect and the like, and can greatly improve the detection efficiency and effect.
The technical solution of the present invention is not limited to the limitations of the above specific embodiments, and all technical modifications made according to the technical solution of the present invention fall within the protection scope of the present invention.
Claims (3)
1. The utility model provides a belt conveyor belt off tracking detecting system which characterized in that includes following step:
step 1: respectively installing two industrial cameras on two sides above a belt of a belt conveyor, wherein each industrial camera respectively covers two side parts of the belt conveyor and a carrier roller;
step 2: the laser stripe emitter is arranged right above the belt, so that the laser stripe can cover the cross section of the belt and the carrier rollers at two sides of the belt conveyor at the same time;
step 3: a strip-shaped laser probe is used for emitting laser to the belt conveyor, and laser stripes are parallel to the cross section of the belt conveyor and fall on carrier rollers at two ends of the belt conveyor;
step 4: the method comprises the steps of respectively recording the initial shape of laser stripes by using images acquired by two industrial cameras and analyzing the shape change positions of the laser stripes at the junction of a belt and a carrier roller by using an image processing technology, so that the width of the belt and the width of the carrier roller within the range of the coverage field of the two industrial cameras when the belt is not off tracking are determined, and the width of the belt and the width of the carrier roller within the range of the coverage field of the two industrial cameras are analyzed in real time during detection, so that whether the belt is off tracking or not and the off tracking size exist is determined.
2. The belt deviation detecting system of claim 1, wherein Step4 specifically comprises the following steps:
step4.1 under the unbiased condition of the belt conveyor, two industrial cameras respectively collect laser stripe images falling on two edges and a carrier roller of the belt conveyor, and the images are recorded as: i is1(i,j)、I2(i,j)；
Step4.2: respectively carrying out binarization processing on the images obtained by Step4.1 to obtain B1(i,j)、B2(i,j)；
Step4.3: calculating the length of the laser stripe falling on the belt conveyor according to the stripe waveform change of the binary image at the edge of the belt conveyor and the carrier roller, and respectively recording as follows: l is1、L2As a reference base length;
step4.4: at any running time t of the belt conveyor, the two industrial cameras respectively acquire laser stripe images falling on two edges and a carrier roller of the belt conveyor, and the laser stripe images are recorded as: i is1t(i,j)、I2t(i,j)；
Step4.5: respectively carrying out binarization processing on the images obtained by Step4.3 to obtain B1t(i,j)、B2t(i,j)；
Step4.6: according to the stripe waveform changes of the binary image at the edge of the belt conveyor and the position of a carrier roller, calculating the length of the laser stripe falling on the belt conveyor at the moment t, and respectively recording as: l is1t、L2t；
Step4.7: if L1t-L1|<T and | L2t-L2|<T, it indicates that the belt of the belt conveyor is not off tracking, and if L1t-L1| is not less than T or | L2t-L2If the value is more than or equal to T, indicating that the belt of the belt conveyor deviates, outputting an alarm, and repeating Step 4.4-4.7 after the treatment is finished, wherein T is a preset maximum value of allowable belt deviation.
3. The belt deviation detecting system of claim 1, wherein in Step1, the optical axes of the two industrial cameras form an angle of 30-60 degrees with the running direction of the belt plane.
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| CN202011179058.9A CN112193763A (en) | 2020-10-29 | 2020-10-29 | Belt deviation detection system of belt conveyor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113191394A (en) * | 2021-04-07 | 2021-07-30 | 国电汉川发电有限公司 | Machine vision-based conveyor belt deviation diagnosis method and system |
| CN113343834A (en) * | 2021-06-02 | 2021-09-03 | 华电邹县发电有限公司 | Belt deviation diagnosis method based on machine vision and laser line |
| CN113928824A (en) * | 2021-10-25 | 2022-01-14 | 三一汽车制造有限公司 | Belt deviation detection method and device and mixing station |
| CN114084613A (en) * | 2021-11-18 | 2022-02-25 | 北京华能新锐控制技术有限公司 | Coal conveying belt deviation detecting system |
| CN114684565A (en) * | 2022-03-28 | 2022-07-01 | 张家港宏昌钢板有限公司 | Conveying belt is with preventing off tracking detection device |
| CN116135744A (en) * | 2023-03-20 | 2023-05-19 | 北京众驰自动化设备有限公司 | Method and device for detecting abrasion of conveying belt of belt conveyor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113191394A (en) * | 2021-04-07 | 2021-07-30 | 国电汉川发电有限公司 | Machine vision-based conveyor belt deviation diagnosis method and system |
| CN113343834A (en) * | 2021-06-02 | 2021-09-03 | 华电邹县发电有限公司 | Belt deviation diagnosis method based on machine vision and laser line |
| CN113928824A (en) * | 2021-10-25 | 2022-01-14 | 三一汽车制造有限公司 | Belt deviation detection method and device and mixing station |
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| CN114684565A (en) * | 2022-03-28 | 2022-07-01 | 张家港宏昌钢板有限公司 | Conveying belt is with preventing off tracking detection device |
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| CN116135744A (en) * | 2023-03-20 | 2023-05-19 | 北京众驰自动化设备有限公司 | Method and device for detecting abrasion of conveying belt of belt conveyor |
| CN116135744B (en) * | 2023-03-20 | 2023-12-15 | 北京众驰自动化设备有限公司 | Method and device for detecting abrasion of conveying belt of belt conveyor |
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