CN113624649B - System and method for detecting needle-shaped content of road aggregate based on machine vision - Google Patents
System and method for detecting needle-shaped content of road aggregate based on machine vision Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000002245 particle Substances 0.000 claims abstract description 134
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 239000000463 material Substances 0.000 claims abstract description 33
- 238000007599 discharging Methods 0.000 claims abstract description 5
- 238000007689 inspection Methods 0.000 claims description 11
- 238000012216 screening Methods 0.000 claims description 5
- 239000010426 asphalt Substances 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 7
- 238000005303 weighing Methods 0.000 description 5
- 239000000203 mixture Substances 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000000877 morphologic effect Effects 0.000 description 3
- 241001391944 Commicarpus scandens Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000008188 pellet Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000010998 test method Methods 0.000 description 2
- 238000004154 testing of material Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
- G01N15/075—Investigating concentration of particle suspensions by optical means
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Abstract
The invention relates to a system and a method for detecting the needle-shaped content of aggregate for roads based on machine vision, wherein the system comprises a material detecting platform, a feeding device, a discharging device and a control end; the material detection platform comprises a camera and a material detection disc, the material detection disc receives aggregate particles placed by the feeding device, and the camera acquires image information of the aggregate particles and transmits the image information to the control end; the control end screens out needle-shaped particles by utilizing image information, controls the blanking device to sort the needle-shaped particles and non-needle-shaped particles, receives the weight information of the particles transmitted by the blanking device, and outputs the content result of the needle-shaped particles. The detection process is automatically operated, aggregate to be detected is placed in the bin, the detection can be automatically operated after the system is started, and a detection result is output to the display device through the control end.
Description
Technical Field
The invention relates to the field of material detection equipment, in particular to a system and a method for detecting needle-shaped content of aggregate for roads based on machine vision.
Background
The asphalt pavement is mainly composed of aggregate and asphalt, wherein the mass ratio of the aggregate is more than 85%, the shape, the edges and the surface texture of the aggregate determine the mutual embedding and friction action among the aggregates, and the mutual embedding and friction action is closely related to the formation of a mixture space skeleton of the asphalt and the interaction between the asphalt and the aggregates, namely the morphological characteristics of the aggregates obviously influence the road performance of the asphalt mixture.
The needle-shaped particles refer to particles with a ratio of the dimension of the aggregate particles in the direction of minimum thickness (or diameter) to the dimension of the aggregate particles in the direction of maximum length (or width) of less than 0.4, and are harmful particles because the needle-shaped particles are too slender or flat and are easy to break in the construction process of asphalt pavement, so that asphalt mixture is not compact, and the pavement is easy to break early. The needle-like particle content is the ratio of needle-like particles in a certain aggregate batch, and the higher the needle-like particle content is, the greater the negative effect on the road aggregate and asphalt mixture performance is.
In the current road construction process, the needle content of the aggregate needs to be tested before the aggregate is used so as to judge whether the aggregate in a certain batch meets the design requirement or not, thereby better ensuring the road construction and the use quality. However, currently, in actual engineering, manual methods (vernier calipers, sieves or gauge gauges) are mainly adopted to detect the content of the needle-shaped particles of the aggregate, so that the working efficiency and the accuracy are low, and time and labor are wasted.
Disclosure of Invention
In order to achieve the above purpose, the invention provides a system and a method for detecting needle-shaped content of aggregate for road use based on machine vision, which utilize an image acquisition device and an optical refraction device to acquire a top view image and a side view image of single aggregate at one time to describe three-dimensional morphological characteristics of the aggregate, screen needle-shaped particles according to the morphological characteristics of the aggregate, and obtain the needle-shaped particle content in the aggregate to be tested in a weight calculation mode, thereby replacing the traditional manual screening method.
One or more embodiments provide the following technical solutions:
the road aggregate needle slice content detection system based on machine vision comprises a material detection platform, a feeding device, a discharging device and a control end;
the material detection platform comprises a camera and a material detection disc, the material detection disc receives aggregate particles placed by the feeding device, and the camera acquires image information of the aggregate particles and transmits the image information to the control end;
the control end screens out needle-shaped particles by utilizing image information, controls the blanking device to sort the needle-shaped particles and non-needle-shaped particles, receives the weight information of the particles transmitted by the blanking device, and outputs the content result of the needle-shaped particles.
The material detection platform comprises a base, a camera is fixedly connected to the base, and a prism is arranged below a view finding surface of the camera; and one side of the prism is provided with a detection tray, the center of the detection tray is connected with the backlight plate, the detection tray rotates relative to the base, and meanwhile, aggregate particles to be detected are placed at the set position of the detection tray.
The feeding device comprises a bin and a feeding mechanical arm, wherein the feeding mechanical arm grabs a piece of aggregate particles from the bin and places the aggregate particles at a set material detection position of the material detection disc.
The aggregate to be detected is placed in the bin, the telescopic rod is installed at the bottom of the bin and connected with the control end, and the control end controls the telescopic rod to stretch and retract according to a set time interval, so that the aggregate particles are lifted and then fed into the mechanical arm.
The side wall of the storage bin is provided with a vibrating motor, and the vibrating motor is used for enabling aggregate in the storage bin to be uniformly distributed.
The blanking device comprises a blanking mechanical arm and a collecting device, and the blanking mechanical arm transfers the aggregate particles which are inspected on the inspection tray to the collecting device.
The collecting device comprises a needle-shaped particle tray and a non-needle-shaped particle tray, each tray is provided with a bearing sensor, and meanwhile, weight information of two screened particles is transmitted to the control end.
The control end receives the overlook image and the side view image of the aggregate particles obtained by the camera, the maximum length L, the maximum width W and the maximum thickness t of each aggregate particle are obtained after the images are processed, the ratio of the maximum length L to the maximum thickness t is used as a judging basis to screen the needle-shaped particles, the blanking mechanical arm is controlled to place the screened aggregate particles in the corresponding collecting device, the weight information sent by the collecting device is received, and the calculation of the needle-shaped particle content is completed.
The working method of the system comprises the following steps:
step 1: acquiring image information; the method comprises the following steps: the camera acquires overlook image information and side view image information of aggregate particles, binarizes an original image, and then reduces noise of the aggregate image;
step 2: depicting three-dimensional characteristics of the aggregate; the method comprises the following steps: after the image is processed, the maximum length L, the maximum width w and the maximum thickness t of the maximum length surface of the aggregate particles are obtained, and the relation of the three parameters is that t is less than w and less than L.
Step 3: the ratio of the maximum length L to the maximum thickness t is used as a criterion for screening the needle-shaped particles.
Step 4: calculating the content of needle-shaped particles; the method comprises the following steps: the needle-like content w at this time was calculated using w= [ w 1/(w1+w2) ]×100%, where w1 is the weight of the needle-like particles in the collecting device and w2 is the weight of the non-needle-like particles in the collecting device.
The one or more of the above technical solutions have the following beneficial effects:
1. the detection process is automatically operated, aggregate to be detected is placed in the bin, the detection can be automatically operated after the system is started, and a detection result is output to the display device through the control end.
2. The optical refraction device is added, so that the camera can obtain a top view image and a side view image of aggregate particles at the same time by one-time sampling, thereby describing the three-dimensional characteristics of aggregate, and a multi-angle camera is not needed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 (a) is a schematic top view of a material testing platform according to one or more embodiments of the present invention;
FIG. 1 (b) is a schematic side view of a material testing platform according to one or more embodiments of the present invention;
FIG. 2 (a) is a schematic side view of a silo provided in accordance with one or more embodiments of the invention;
FIG. 2 (b) is a schematic diagram of the overall structure provided by one or more embodiments of the present invention;
FIG. 3 (a) is a schematic top view of a blanking device according to one or more embodiments of the present invention;
FIG. 3 (b) is a schematic diagram of a sorting tray according to one or more embodiments of the present invention;
in the figure: 1. a camera; 2. a prism; 3. a material detecting disc; 4. a backlight plate; 5. a weighing sensor; 6. a pellet tray in the form of a needle; 7. a non-needle pellet tray; 8. a blanking mechanical arm; 9. a material detecting position; 10. a feeding mechanical arm; 11. a storage bin; 12. a vibration motor; 13. a telescopic rod; 14. aggregate to be detected; 15. a material detection platform; 16. and (5) a base.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
As described in the background art, the content of the needle-shaped particles of the aggregate in the current practical engineering mainly adopts a manual method, namely, the three-dimensional size (maximum length, maximum width and maximum thickness of the maximum length surface) of each aggregate is measured manually by using a vernier caliper, a sieve or a gauge, then calculation is carried out to screen out the needle-shaped particles, and then the percentage of the needle-shaped particles in the total amount of the detected aggregate particles is calculated. Therefore, the following embodiments provide a hardware structure of a road aggregate needle flake content detection system based on machine vision and a corresponding detection method, wherein the size (maximum length, maximum width and maximum thickness) of each aggregate particle is obtained by using a camera, needle flake particles and non-needle flake particles are identified according to the size, then the needle flake particles and non-needle flake particles are sorted by using a blanking device, such as a corresponding weighing tray, and then the content of the needle flake particles in a batch of aggregate samples is finally obtained by completing weight calculation by an upper computer.
Embodiment one:
as shown in fig. 1-3, the road aggregate needle sheet content detection system based on machine vision comprises a material detection platform, a feeding device, a discharging device and a control end;
the material detection platform 15 comprises a camera 1 and a material detection disc 3, wherein the material detection disc 3 receives aggregate particles placed by the feeding device, and the camera 1 acquires image information of the aggregate particles and transmits the image information to the control end;
the control end utilizes the image information to identify needle-shaped particles, controls the blanking device to screen the needle-shaped particles and non-needle-shaped particles, receives the weight information of the particles transmitted by the blanking device, and outputs the content result of the needle-shaped particles.
The material detection platform 15 comprises a base 16, the base is fixedly connected with the camera 1, and a prism 2 is arranged below the view finding surface of the camera 1; the material checking disc 3 is arranged on one side of the prism 2, the center of the material checking disc 3 is connected with the backlight plate 4, the material checking disc 3 rotates relative to the base 16, and meanwhile aggregate particles to be checked are placed at the set position of the material checking disc 3.
In this embodiment, the inspection tray 3 rotates by 60 ° at set intervals, and the inspection tray 3 rotates by a total of 6 times with one rotation (360 °).
In this embodiment, the backlight plate 4 is a cylindrical part with a regular hexagon cross section, each plane corresponds to the rotated position of the inspection tray 3, the hexagon corresponds to six rotations of the inspection tray 3, and the inspection position 9 is located at the edge of the inspection tray 3 and covered by one of the faces of the backlight plate 4.
The prism 2 is an optical refraction prism, and the side image of the aggregate particles is refracted into the camera 1 through the optical refraction prism, so that the camera 1 can acquire the side image and the overlook image of the aggregate particles at the same time, the overlook image displays the length and the width of the aggregate particles, and the side image displays the length and the thickness of the aggregate particles, so that the three-dimensional characteristics (length, width and thickness) of the aggregate are depicted.
The backlight plate 4 ensures that the image background in the optical prism 2 is solid, so that the binarization analysis in the image processing is facilitated, in this embodiment, the backlight plate 4 takes the shape of a regular hexagon in cross section so as to match with the rotation speed of the inspection tray 3 rotating for 60 ° at one time, and the rotation speed of the inspection tray 3 depends on the calculation speed of the control end and the action speeds of the feeding device and the discharging device.
The feeding device comprises a bin 11 and a feeding mechanical arm 10, wherein in one action cycle of the feeding mechanical arm 10, one aggregate particle is grabbed from the bin 11 and placed on a set material detection position 9 of the material detection disc 3.
Aggregate 14 to be detected is placed in the storage bin 11, a telescopic rod 13 is arranged at the bottom of the storage bin 11, and a vibrating motor 12 is arranged at the side part of the storage bin.
In this embodiment, the upper computer as the control end controls the automatic expansion of the expansion link according to the set time interval, so that the feeding mechanical arm 10 grabs the aggregate particles after being lifted, and the feeding mechanical arm 10 can accurately grab each aggregate particle.
The vibration motor 12 of the side wall ensures that the aggregate particles in the bin are in a uniformly distributed state through self vibration.
The blanking device comprises a blanking mechanical arm 8 and a collecting device, and the blanking mechanical arm 8 transfers the aggregate particles which are inspected on the inspection tray 3 to the collecting device.
The collecting device comprises a needle-shaped particle tray 6 and a non-needle-shaped particle tray 7, each of which is provided with a load-bearing sensor 5 for collecting the identified needle-shaped particles and transmitting the weight information of the two screened particles to the control end.
The control end in this embodiment is an upper computer, the upper computer receives the top view image and the side view image of the aggregate particles acquired by the camera 1, processes the images to obtain the maximum length L, the maximum width W and the maximum thickness t of each aggregate particle, identifies whether the aggregate particle is a needle-shaped particle or a non-needle-shaped particle by using the sizes, sends an instruction to the blanking mechanical arm 8, controls the blanking mechanical arm to place the identified aggregate particle in a corresponding collecting device, receives weight information sent by the collecting device, completes calculation of the needle-shaped particle content, and finally outputs a result.
Embodiment two:
a method of operating the system described in accordance with the first embodiment comprises the steps of:
step 1: acquiring image information; the method comprises the following steps: the camera acquires overlook image information and side view image information of aggregate particles, binarizes an original image, and then reduces noise of the aggregate image;
step 2: depicting three-dimensional characteristics of the aggregate; the method comprises the following steps: after the image is processed, the maximum length L, the maximum width w and the maximum thickness t of the maximum length surface of the aggregate particles are obtained, and the relation of the three parameters is that t is less than w and less than L.
Step 3: the ratio of the maximum length L to the maximum thickness t is used as a criterion for screening the needle-shaped particles.
Step 4: calculating the content of needle-shaped particles; the method comprises the following steps: the needle-like content w at this time was calculated using w= [ w 1/(w1+w2) ]×100%, where w1 is the weight of the needle-like particles in the collecting device and w2 is the weight of the non-needle-like particles in the collecting device.
The specific process is as follows:
the first step: the upper computer controls the feeding device to place the aggregate 14 on the detection tray 3, in the process, the vibration motor 12 keeps the aggregate in the storage bin 11 evenly distributed by continuously vibrating, the telescopic rod 13 lifts the aggregate, then the feeding mechanical arm 10 grabs the aggregate, and then the telescopic rod 13 returns to the original position, and meanwhile, the feeding mechanical arm 10 places the aggregate 14 in the detection position 9 of the detection tray 3.
And a second step of: the checking tray rotates 360 degrees, when 60 degrees are rotated, namely the checking tray 3 is static for 2 seconds when the aggregate on the checking tray 3 is at the axial position, at the moment, the camera 1 acquires the top view of the aggregate from the checking tray 3, and simultaneously acquires the side view of the aggregate from the optical prism 2.
And a third step of: the image obtained in the second step is processed and calculated by an upper computer, and whether the aggregate is needle-shaped particles or not is judged, wherein the principle is as follows:
based on the coarse aggregate needle-shaped particle content test method (vernier caliper method) in highway engineering aggregate test procedure (JTG E42-2005), the upper computer obtains the maximum length L, the maximum width W and the maximum thickness t of the aggregate particles 14 through an image processing algorithm, ensures that the maximum length (L) of the aggregate particles is more than the maximum width (W) of the aggregate particles is more than the maximum thickness (t), and uses the ratio of the maximum length L to the maximum thickness t as a judgment basis, wherein the calculation formula is as follows:
wherein when i=1, the particle is denoted as a needle-like particle; i=0, the particles are denoted as non-needle-like particles.
If the particles are needle-shaped particles, the particles are grabbed by a blanking mechanical arm 8 and then placed in a needle-shaped particle tray 6, and meanwhile, weight data are acquired by a weighing sensor 5 fixed at the bottom of the needle-shaped particle weighing tray 6 and transmitted to an upper computer, and the weight data are recorded as w1; if the particles are non-needle-shaped particles, the particles are grabbed by a blanking mechanical arm 8 and then placed in a non-needle-shaped particle tray 7, and meanwhile, weight data are acquired by a weighing sensor 5 fixed at the bottom of the needle-shaped particle tray 7 and transmitted to an upper computer, and the weight data are recorded as w2. The upper computer is used for calculating the following formula: the needle-like content w at this time was calculated by w= [ w 1/(w1+w2) ]×100%.
And continuing to repeat the process to detect the next aggregate. The detection time for completing one aggregate is less than or equal to 5 seconds.
The detection process is automatically operated, aggregate to be detected is placed in the bin, the detection can be automatically operated after the system is started, and a detection result is output to the display device through the control end.
The optical refraction prism is added, so that the camera can obtain a top view image and a side view image of aggregate particles at the same time by one-time sampling, thereby describing the three-dimensional characteristics of aggregate, and a multi-angle camera is not needed.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (6)
1. Road aggregate needle slice content detecting system based on machine vision, its characterized in that: comprises a material detecting platform, a feeding device, a discharging device and a control end;
the material detection platform comprises a camera and a material detection disc, the material detection disc receives aggregate particles placed by the feeding device, and the camera acquires image information of the aggregate particles and transmits the image information to the control end;
the control end screens out needle-shaped particles by utilizing image information, controls the blanking device to sort the needle-shaped particles and non-needle-shaped particles, receives the weight information of the particles transmitted by the blanking device, and outputs the content result of the needle-shaped particles;
the material detecting platform comprises a base, a camera is fixedly connected to the base, and a prism is arranged in a space below a view finding surface of the camera;
a detection tray is arranged on one side of the prism, the center of the detection tray is connected with a backlight plate, the detection tray rotates relative to the base, and aggregate particles to be detected are placed at a set position of the detection tray;
the backlight plate is a cylindrical part with a regular hexagon cross section;
the blanking device comprises a blanking mechanical arm and a collecting device, and the blanking mechanical arm transfers the aggregate particles which are inspected on the inspection tray to the collecting device;
the collecting device comprises a needle-shaped particle tray and a non-needle-shaped particle tray, each tray is provided with a bearing sensor, and weight information of the two screened particles is transmitted to the control end.
2. The machine vision-based road aggregate needle content detection system as claimed in claim 1, wherein: the feeding device comprises a bin and a feeding mechanical arm, wherein the feeding mechanical arm grabs a particle of aggregate particles from the bin and places the particle aggregate particles on a set material detection position of the material detection disc.
3. The machine vision-based road aggregate needle content detection system as claimed in claim 2, wherein: aggregate to be detected is placed in the storage bin, a telescopic rod is installed at the bottom of the storage bin and connected with a control end, and the control end controls the telescopic rod to push aggregate particles to rise and the feeding mechanical arm to grasp according to a set time interval.
4. A method of operating the system of claim 1, wherein: the method comprises the following steps:
step 1: acquiring image information;
step 2: depicting three-dimensional characteristics of aggregate, and screening needle-shaped particles;
step 3: the needle-like particle content was calculated.
5. The method of claim 4, wherein: the step 2 specifically comprises the following steps: after the image is processed, the maximum length L, the maximum width w and the maximum thickness t of the maximum length face of the aggregate particles are obtained, and the ratio of the maximum length L to the maximum thickness t is used as a judgment basis for screening the needle-shaped particles.
6. The method of claim 4, wherein: the step 3 specifically comprises the following steps: the needle-like particle content w was calculated using w= [ w 1/(w1+w2) ]×100%, where w1 is the weight of the needle-like particles in the collecting device and w2 is the weight of the non-needle-like particles in the collecting device.
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