CN113706601A - Belt conveyor material volume measuring method and device, computer equipment and storage medium - Google Patents
Belt conveyor material volume measuring method and device, computer equipment and storage medium Download PDFInfo
- Publication number
- CN113706601A CN113706601A CN202110960337.7A CN202110960337A CN113706601A CN 113706601 A CN113706601 A CN 113706601A CN 202110960337 A CN202110960337 A CN 202110960337A CN 113706601 A CN113706601 A CN 113706601A
- Authority
- CN
- China
- Prior art keywords
- belt conveyor
- contour
- calculating
- line
- contour line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30132—Masonry; Concrete
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- Quality & Reliability (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a belt conveyor material volume measuring method, a belt conveyor material volume measuring device, computer equipment and a storage medium, and relates to the field of engineering equipment. Before the method is implemented, line laser measuring devices are respectively installed at the upper part and the lower part of the belt conveyor, and the method comprises the following steps: controlling linear laser measuring devices arranged at the upper part and the lower part of the belt conveyor to respectively project laser to materials on the belt conveyor to obtain a first contour point set and a second contour point set; respectively fitting the first contour point set and the second contour point set to obtain a first contour line and a second contour line; calculating the cross-sectional area of the material according to the first contour line and the second contour line; and calculating the volume of the material on the belt conveyor in the preset time period according to the cross-sectional area of the material calculated in the preset time period. The method can effectively reduce the material volume measurement error and improve the precision of the material volume measurement result.
Description
Technical Field
The invention relates to the field of engineering equipment, in particular to a belt conveyor material volume measuring method, a belt conveyor material volume measuring device, computer equipment and a storage medium.
Background
In the construction process of a shield Machine (TBM) Tunnel, the amount of slag discharged from slag soil and the volume of slag lumps need to be monitored during the construction process. Has important significance for geological change prediction and construction safety.
The implementation method of the material volume measuring method in the prior art comprises the following steps: and measuring the upper part of the section of the belt conveyor by using line laser scanning to form a section line, and calculating the volume by combining the rotating speed of the belt conveyor. The influence of belt conveyor shaking and uneven muck mass distribution is received, and the accuracy of muck volume measurement is poor. The measurement accuracy of the volume of the residue soil obtained by the method is poor. In addition, measurement of a section line of a contact part of the lower end of the material and the belt conveyor is generally ignored in the prior art, and the final measurement error of the volume of the residue soil is large.
Aiming at the problems of poor accuracy, large error and the like of the volume measurement of the muck in the prior art, a material volume measurement method based on two linear laser measurement devices is urgently needed to be researched, the material volume measurement error is reduced as far as possible, and the accuracy of the material volume measurement result is improved.
Disclosure of Invention
The embodiment of the invention provides a method and a device for measuring the material volume of a belt conveyor, computer equipment and a storage medium, and solves the problems of poor material volume measurement accuracy and large error caused by the fact that the line scanning laser is used for measuring the upper part of the section of the belt conveyor to form a section line and the measurement of the section line of the contact part of the lower end of a material and the belt conveyor is neglected in the prior art.
The embodiment of the invention provides a method for measuring material volume of a belt conveyor, which comprises the following steps: controlling linear laser measuring devices arranged at the upper part and the lower part of the belt conveyor to respectively project laser to materials on the belt conveyor to obtain a first contour point set and a second contour point set; respectively fitting the first contour point set and the second contour point set to obtain a first contour line and a second contour line; calculating the cross-sectional area of the material according to the first contour line and the second contour line; and calculating the volume of the material on the belt conveyor in the preset time period according to the cross-sectional area of the material calculated in the preset time period.
According to one aspect of embodiments herein, the upper and lower line laser measurement devices are in a line perpendicular to the belt.
According to an aspect of embodiments herein, fitting the first contour point set and the second contour point set to obtain a first contour line and a second contour line, respectively, includes: unifying the first set of contour points and the second set of contour points into a coordinate system; determining coordinates of points in the first set of contour points and the second set of contour points in the coordinate system; and respectively fitting the coordinates of each point in the first contour point set and the coordinates of each point in the second contour point set to obtain the first contour line and the second contour line.
According to one aspect of embodiments herein, calculating the material cross-sectional area according to the first and second contour lines comprises: dividing a region formed by the first contour line and the second contour line into a plurality of small regions; calculating the areas of a plurality of small regions; and adding the areas of the small areas to obtain the cross-sectional area of the material.
According to an aspect of embodiments herein, the calculating the plurality of small region areas further comprises: and calculating the area of each small region according to the side length of two parallel sides of each small region, the width of each small region and the thickness of the belt.
According to one aspect of embodiments herein, calculating the area of each small region according to the side length of two sides of each small region parallel to each other, the width of each small region, and the belt thickness includes calculating the area of each small region using the following formula:
wherein dy1Indicates the length of an edge in the small area, dy2Indicating the length of another parallel edge in the small area, d0Representing the belt thickness, dx is the width of each small zone.
According to one aspect of the embodiment of the invention, the material conveying capacity of the belt conveyor in the preset time period is calculated according to the material cross-sectional area calculated in the preset time periodThe volume comprises the volume of materials conveyed by the belt conveyor in the preset time period calculated by the following formula:
wherein V is the volume of the material, t1-t0In a preset time period, S is the cross section area of the material, and v is the movement speed of a belt on the belt conveyor.
This paper embodiment still provides a belt feeder material volume measuring device, includes: the control unit is used for controlling the linear laser measuring device to respectively project laser to the materials on the belt conveyor to obtain a first contour point set and a second contour point set;
the fitting unit is used for respectively fitting the first contour point set and the second contour point set to obtain a first contour line and a second contour line;
the first calculating unit is used for calculating the cross-sectional area of the material according to the first contour line and the second contour line;
and the second calculating unit is used for calculating the volume of the material on the belt conveyor in the preset time period according to the cross-sectional area of the material calculated in the preset time period.
Embodiments herein also provide a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned method when executing the computer program.
Embodiments herein also provide a computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the above-described method.
By utilizing the embodiment, the material volume measurement error can be reduced, and the precision of the material volume measurement result is improved.
Drawings
In order to more clearly illustrate the embodiments or 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 it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a belt material volume measuring system according to an embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating a method for measuring a material volume of a belt conveyor according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a material volume measuring device of a belt conveyor according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a material volume measuring device of a belt conveyor according to an embodiment of the present disclosure;
FIG. 5 is a flow chart illustrating a process for determining a first contour line and a second contour line according to an embodiment of the present disclosure;
FIG. 6 is a flowchart illustrating the calculation of the cross-sectional area of the material according to the embodiment;
FIG. 7 is a schematic view illustrating an installation of a line laser measuring device according to the present embodiment;
FIG. 8 is a schematic diagram illustrating the calculation of the cross-sectional area of the material according to the embodiment;
fig. 9 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
Description of the symbols of the drawings:
101. an industrial personal computer;
102. a line laser measuring device;
1021. an upper line laser measuring device;
1022. a lower line laser measuring device;
103. a belt conveyor;
301. a control unit;
3011. a position setting module;
302. a fitting unit;
3021. a coordinate system establishing module;
3022. a coordinate determination module;
3023. an analysis module;
303. a first calculation unit;
3031. a dividing module;
3032. a summing module;
304. a second calculation unit;
3041. a time setting module;
701. a support;
702. cross section of the material;
703. cross section of the belt;
902. a computer device;
904. a processor;
906. a memory;
908. a drive mechanism;
910. an input/output module;
912. an input device;
914. an output device;
916. a presentation device;
918. a graphical user interface;
920. a network interface;
922. a communication link;
924. a communication bus.
Detailed Description
In order to make the technical solutions in the present specification better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments herein without making any creative effort, shall fall within the scope of protection.
It should be noted that the terms "first," "second," and the like in the description and claims herein and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments herein described are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
The present specification provides method steps as described in the examples or flowcharts, but may include more or fewer steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual system or apparatus product executes, it can execute sequentially or in parallel according to the method shown in the embodiment or the figures.
It should be noted that the method and the device for measuring the material volume of the belt conveyor can be used in the field of engineering equipment and can also be used in any fields except the field of engineering equipment, and the application field of the method and the device for measuring the material volume of the belt conveyor is not limited.
Fig. 1 is a schematic structural diagram of a belt conveyor material volume measurement system according to an embodiment of the present disclosure, in which a belt conveyor material volume measurement system is described, which is formed by combining an industrial personal computer 101, a line laser measurement device 102, and a belt conveyor 103.
In some embodiments of the present description, the industrial personal computer 101 may be a device that performs detection and/or control of a production process, process equipment. The industrial personal computer 101 can control the frequency of laser projected by the laser measuring device 102 to the materials on the belt conveyor; the industrial personal computer 101 can control the belt conveyor to work or stop; the industrial personal computer 101 can set the rotation speed of the belt conveyor and obtain the instantaneous speed of the belt conveyor at the current time through the measurement of a coding sensor in the system; the industrial personal computer 101 can acquire a profile point set of the material according to the laser projected by the laser measuring device and store the profile point set; the industrial personal computer 101 can fit the contour point set into a contour line, and further calculate the cross-sectional area and the volume of the material on the belt conveyor according to the contour line. In some embodiments of the present description, the material includes, but is not limited to, one or any combination of muck, coal, brick, waste, agricultural material, metallic material, construction material, and the like. In addition, other elastic conveying devices are also applicable to the belt conveyor material volume measuring method, and the application is not limited herein.
In some embodiments of the present disclosure, the line laser measuring device 102 is an electronic device for emitting laser light and/or capturing images, and includes a laser emitting device and/or a camera, and particularly, the line laser measuring device 102 includes, but is not limited to, one of a laser radar, a speedometer, a monocular camera, a binocular camera, and the like, or any combination thereof. In the application, a laser radar and a binocular line structure scanning device are taken as examples to explain the scheme. The laser radar is used for emitting laser beams to materials on the belt conveyor, wherein when the belt conveyor 103 moves, the line laser measuring device 102 can emit the laser beams to the materials moving on the belt conveyor at a certain measuring frequency. The binocular line structure scanning device is used for shooting an image of an object irradiated by laser and an environment image so as to determine the depth information of the object to be measured. The line laser measuring device 102 may be divided into an upper line laser measuring device 1021 and a lower line laser measuring device 1022 according to the installation location, and the upper line laser measuring device and the lower line laser measuring device may project laser and photograph images to the material on the belt simultaneously, or may project laser and photograph images to the material on the belt at different time intervals.
In some embodiments herein, the belt conveyor 103 includes rollers and a belt mounted on the rollers. The belt conveyor 103 can carry materials at a constant speed according to a preset speed, and the running speed of the belt conveyor can also be changed according to different volumes of the carried materials. In some embodiments of the present description, the belt conveyor 103 may move in synchronization with the line laser measuring device.
Fig. 2 is a flowchart of a method for measuring a material volume of a belt conveyor according to an embodiment of the present disclosure, in which a method for measuring a material volume on a belt conveyor using a line laser measuring device is described, where the method specifically includes the following steps:
and 204, calculating the volume of the material on the belt conveyor in a preset time period according to the cross-sectional area of the material calculated in the preset time period.
In some embodiments of the present description, the line laser measuring device may include one of a line lidar scanning device, a binocular line structured light scanning device, or any combination thereof. The binocular line structured light scanning device can be a binocular camera, the binocular line structured light scanning device utilizes two binocular cameras installed at different positions to shoot and obtain two parallax images of the same scene of the material on the belt conveyor, and the position of a certain point on the material in the two images is determined according to a certain technical method; the line laser radar scanning device can obtain a material section contour point set according to a laser point on a shot object on the basis of a vision technology by emitting laser to the shot object; further determining coordinate information of the point on the material. In some embodiments of the present description, a cross-section refers to a cross-section of material on a belt conveyor. The linear laser measuring device is divided into an upper linear laser measuring device and a lower linear laser measuring device according to the installation position of the linear laser measuring device, and the upper linear laser measuring device and the lower linear laser measuring device are used for projecting laser to materials on the belt conveyor from the upper portion and the lower portion of the belt conveyor respectively.
In some embodiments of the present description, the binocular line structured light scanning apparatus in the line laser measuring apparatus may include at least two binocular cameras. In other embodiments of the present disclosure, the obtained contour point set may be a three-dimensional coordinate point set, a four-dimensional coordinate point set, or the like. The description is not intended to be limiting.
In some embodiments of the present description, the line laser measuring device projects laser light at an angle toward the material, the laser light strikes a plurality of outer edges of the material, forming a plurality of contour points, i.e., contour points, on the outer edges, the plurality of contour points forming a set of contour points. The line laser measuring device has a certain working frequency, and ensures that laser can fully irradiate the surface of the moving material. In some embodiments of the present application, the operating frequency of the line laser measuring device is in the range of 100Hz-1000Hz, and the operating frequency may be 100Hz, 300Hz, 600Hz, 800Hz, 900Hz, 950Hz, 1000Hz, etc. Specifically, the line laser measuring device can emit laser according to a certain emission frequency, and the binocular camera shoots material images according to a certain shooting frequency. The plurality of contour point sets can represent a section contour point set obtained by projecting laser to the material on the belt conveyor by the upper line laser measuring device through the first contour point set; the second contour point set represents a cross-section contour point set obtained by projecting laser to the material on the belt conveyor by the lower line laser measuring device. In some embodiments of the present description, the first set of contour points may also be obtained by the lower line laser measuring device projecting laser light, and the second set of contour points may also be obtained by the upper line laser measuring device projecting laser light.
As one embodiment herein, the upper and lower line laser measuring devices are in a line perpendicular to the belt.
In the step, the upper line laser measuring device and the lower line laser measuring device are respectively arranged on the upper part and the lower part of the belt conveyor in alignment. Specifically, as shown in fig. 7, the upper line laser measuring device 1021 and the lower line laser measuring device 1022 may be respectively installed on a camera support, and the camera support is installed on the measuring supports 701 at the upper end and the lower end of the belt machine in the line material measuring system. Taking an engineering scene of the shield machine as an example, the diameter of a roller of a belt conveyor belt of the shield machine is relatively large, and the distance between an upper belt and a lower belt of the belt conveyor is usually more than or equal to 0.5 m. The upper line laser measuring device and the lower line laser measuring device can be arranged at the positions 0.5-1 m above and 0.5-1 m below the roller of the belt conveyor. The connecting line of the upper line laser measuring device and the lower line laser measuring device is perpendicular to the belt conveyor, and the installation position can enable section profile points obtained by scanning materials by the upper line laser device and the lower line laser device to be processed mathematically in the same coordinate system, so that the material volume can be calculated better. As shown in fig. 7, the belt carries the material, and the upper line laser measuring device and the lower line laser measuring device can measure the area formed by the belt cross section 703 (i.e. the first contour line) and the material cross section 702 (i.e. the second contour line) to further determine the material volume. When the belt conveyor does not bear materials, the belt on the belt conveyor is in a horizontal state, and the vertical to the belt conveyor refers to a plane where the belt on the belt conveyor is located when the materials are not placed.
As an embodiment herein, fitting the first contour point set and the second contour point set to obtain a first contour line and a second contour line respectively includes:
unifying the first set of contour points and the second set of contour points into a coordinate system;
determining coordinates of points in the first set of contour points and the second set of contour points in the coordinate system;
and respectively fitting according to the coordinates of each point in the first contour point set and the coordinates of each point in the second contour point set to obtain the first contour line and the second contour line.
In this step, the first and second contour point sets measured by the upper line laser measuring device and the lower line laser measuring device can be unified into the same coordinate system by the line laser measuring devices aligned in the vertical direction. And respectively connecting the first contour point sets according to coordinates, sequentially connecting the second contour point sets according to coordinates, and fitting the point sets into a first contour line and a second contour line. The first contour line represents the upper end convex part of the material on the belt conveyor and is an irregular curve, the second contour line represents the belt drooping part of the belt conveyor caused by bearing the material, and the second contour line is a circular arc line segment.
In some embodiments of the present application, the coordinate system may be established by the belt feeder material volume measurement system in combination with the industrial personal computer using some functions in Matlab.
As an embodiment herein, calculating the material cross-sectional area according to the first contour line and the second contour line comprises:
dividing a region formed by the first contour line and the second contour line into a plurality of small regions;
calculating the areas of a plurality of small regions;
and adding the areas of the small areas to obtain the cross-sectional area of the material.
In this step, the area formed by the first contour line and the second contour line can be regarded as an area formed by the belt conveyor and the material on the belt conveyor. Specifically, the second contour line may be regarded as an arc line segment, and the second contour line may be divided into a plurality of small arc line segments according to a fixed interval, each of the small arc line segments corresponding to one small region in a region formed by the first contour line and the second contour line. Therefore, the region composed of the first contour line and the second contour line can be divided into a plurality of small regions according to a fixed interval. The area of the whole area, namely the material section area, can be obtained by dividing the area into a plurality of small areas, respectively calculating the areas of the small areas, and finally summing the areas of the small areas.
As an embodiment herein, said calculating a plurality of said small region areas further comprises:
and calculating the area of each small region according to the side length of two parallel sides of each small region, the width of each small region and the thickness of the belt.
In this step, the width of the small area is preset by the system, and may also be determined according to the amount of material actually carried on the belt conveyor. The belt cross section has a certain thickness, so that the belt thickness needs to be removed in a calculation formula when the area of each small region is calculated, and the area of each small region is further determined. For a detailed description of two parallel sides of each small region, the width of each small region, and the like in this step, reference may be made to fig. 6.
As one embodiment herein, calculating the area of each small region based on the side length of two sides of each small region parallel to each other, the width of each small region, and the belt thickness includes calculating the area of each small region using the following formula:
wherein dy1Indicates the length of an edge in the small area, dy2Indicating the length of another parallel edge in the small area, d0Representing the belt thickness, dx is the width of each small zone.
In this step, each small region can be regarded as an approximate trapezoid, and the area of each small region is calculated by using the formula, so that certain calculation accuracy can be ensured.
As an embodiment herein, calculating the volume of the material transported by the belt conveyor in the predetermined time period according to the cross-sectional area of the material calculated in the predetermined time period includes calculating the volume of the material transported by the belt conveyor in the predetermined time period by using the following formula:
wherein V is the volume of the material, t0-t1In a preset time period, S is the cross section area of the material, and v is the movement speed of a belt on the belt conveyor.
In this step, the time intervals of the predetermined time period may be set in advance by the system, or may be determined according to the actual working conditions of the belt conveyor and the line laser measuring device. For example, the time interval of the predetermined period is usually set to 0.001 second, 0.05 second, 0.01 second, or the like. In some embodiments of the present description, the two time points before and after the predetermined period of time are closely spaced, e.g., t01 st second, t11.001 second; t is t0At 5 th second, t1Is at 5.05 second, t0At 8 th second, t18.01 seconds, etc.
In the step, the speed of the belt conveyor in normal operation is 3-4 m/s, the moving speed of the belt conveyor and the preset time period are combined, and the integral is accumulated for the preset time period, so that the horizontal distance of the material moving in the moving direction of the belt conveyor can be determined. Furthermore, the product of the cross section area of the material and the horizontal distance of the material moving in the moving direction of the belt conveyor can determine the volume of the material passing through the belt conveyor in a preset time period.
Fig. 3 is a schematic structural diagram of a device for a method and a device for measuring a material volume of a belt conveyor according to an embodiment of the present disclosure, where a basic structure of the device for measuring a material volume of a belt conveyor is described in the present diagram, where functional units and modules may be implemented in a software manner, or may also be implemented in a general chip or a specific chip, and a part or all of the functional units and modules may be implemented on a system for measuring a material volume of a belt conveyor, or a part of the functional units and modules may also be implemented on an industrial personal computer, and the device specifically includes:
the control unit 301 is configured to control the line laser measurement device to project laser to the material on the belt conveyor, so as to obtain a first contour point set and a second contour point set.
A fitting unit 302, configured to respectively fit the first contour point set and the second contour point set to obtain a first contour line and a second contour line.
And the first calculating unit 303 is configured to calculate the cross-sectional area of the material according to the first contour line and the second contour line.
The second calculating unit 304 is configured to calculate, according to the cross-sectional area of the material calculated in the predetermined time period, a volume of the material transported by the belt conveyor in the predetermined time period.
The line laser measuring devices are respectively arranged on the upper part and the lower part of the belt conveyor to measure the upper section lines and the lower section lines of the materials on the belt conveyor, so that the section area of the materials can be more accurately obtained, the volume of the materials passing through the belt conveyor in a preset time can be determined by combining the moving speed of the belt conveyor, the material volume measuring error is reduced as much as possible, and the precision of the material volume measuring result is improved.
As an embodiment herein, referring to a specific structural schematic diagram of the device of the method for measuring the material volume of a belt conveyor in this embodiment as shown in fig. 4, the control unit 301 is further configured to set a position of a line laser measuring device.
As an embodiment herein, the control unit 301 further comprises:
and the position setting module 3011 is configured to set the line laser measurement device at the upper portion and the line laser measurement device at the lower portion of the belt conveyor respectively.
As an embodiment herein, the fitting unit 302 further includes:
a coordinate system establishing module 3021, configured to establish a uniform coordinate system according to the first contour point set and the second contour point set respectively obtained by the line laser measurement device;
a coordinate determination module 3022, configured to determine coordinates of each point in the first set of contour points and the second set of contour points in the coordinate system.
An analyzing module 3023, configured to perform regression analysis on coordinates of each point in the second contour point set of the first contour point set, and further obtain a contour line corresponding to the contour point set.
As an embodiment herein, the first calculating unit 303 further includes:
a dividing module 3031, configured to divide a region formed by the first contour line and the second contour line into a plurality of small regions according to a fixed interval;
and a summation module 3032, configured to sum the area of each small region to obtain a material cross-sectional area.
As an embodiment herein, the second computing unit 304 further comprises:
the time setting module 3041 is configured to determine a predetermined time period for calculating the volume of the material, so as to obtain the volume of the material passing through the belt conveyor within the predetermined time period.
FIG. 5 is a flowchart illustrating a method for determining a first contour line and a second contour line according to an embodiment of the present disclosure.
In the step, the upper line laser measuring device and the lower line laser measuring device are arranged at the upper end and the lower end of the belt conveyor in an aligned mode, or the line laser measuring devices are arranged so that the straight line where the upper line laser measuring device and the lower line laser measuring device are located is perpendicular to the belt conveyor. The first contour point set obtained by the laser projected by the upper line laser measuring device and the second contour point set obtained by the laser projected by the lower line laser measuring device can be mapped into the same coordinate system without coordinate transformation. The laser measurement results of the upper line laser measurement device on the materials can be unified into the lower line laser measurement device, and the laser measurement results of the lower line laser measurement device on the materials can also be unified into the upper line laser measurement device. For example, a two-dimensional plane coordinate system is established with the belt cross section as the X-axis direction and the opposite direction of the belt sagging direction as the Y-axis. For example, the belt cross section is taken as the X-axis direction, and the belt sagging direction is taken as the Y-axis. The present application is not limited to the determination of the coordinate system.
In some embodiments of the present application, the coordinate system may be established by the belt feeder material volume measurement system in combination with an industrial personal computer using some functions in Matlab.
In other embodiments of the present description, the coordinate system is not limited to a two-dimensional coordinate system, and the coordinate system includes, but is not limited to, a planar polar coordinate system, a cylindrical coordinate system, and a spherical coordinate system. Further, the coordinate system may be a three-dimensional coordinate system, a four-dimensional coordinate system, or the like. When the coordinate system is a three-dimensional coordinate system, the first contour point set and the second contour point set are three-dimensional point sets; and when the coordinate system is a four-dimensional coordinate system, the first contour point set and the second contour point set are four-dimensional point sets. The form of the coordinate system is not limited by the present application.
In this step, the contour point set is a point set of at least one contour point formed by the line laser measuring device projecting onto the outer surface of the material section, and the contour point set obtained by the line laser measuring device projecting laser is unified into the coordinate system established in step 501, that is, the coordinates of the contour point set can be determined. Specifically, a first contour point set formed by projecting the upper line laser measuring device on the material section can determine each point coordinate corresponding to the first contour point set in a coordinate system; the second contour point set formed by projecting the lower line laser measuring device to the material section can determine the coordinates of each point corresponding to the second contour point set in the coordinate system.
In some embodiments of the specification, the first contour line is a contour line formed by the material deposited on the belt from the laser processing projected by the upper line laser measuring device; the second contour line is formed by the fact that a belt obtained by the laser processing of the lower laser measuring device drops due to the accumulation of a large amount of materials. The first and second contour lines may be indicated by dashed lines, see fig. 8 in more detail.
In the step, the belt conveyor material volume measurement system or the industrial personal computer fits the coordinates of each point in the first contour point set and the second contour point set through software. The fitting method includes, but is not limited to, fitting a plurality of points in the contour point set to a contour line by using a least square method based on a function for realizing a regression analysis function in Matlab based on regression, Polyfit, Lsqcurvefit and the like.
Fig. 6 is a flow chart illustrating a method for calculating a cross-sectional area of a material according to an embodiment of the present disclosure.
In the step, the area formed by the first contour line and the second contour line represents the cross section area of the material on the belt conveyor. Because the belt may have the condition that the belt feeder shakes and causes the material to drop etc. in the belt removal process, divide into a plurality of width unanimous little regions according to fixed interval the region. Specifically, when the belt conveyor is static, the upper line laser measuring device and the lower line laser measuring device simultaneously measureThe section of the belt conveyor is obtained as the edge point b of the section of the belt conveyor1、b2，b1And b2The two points and the second contour line form an arc line segment. The width dx of the small region is set in the X-axis direction in the coordinate system. The width dx of the small area can be preset by a system and can also be adjusted according to the actual length of a section line of the belt and the accumulation condition of materials on the belt conveyor, and the width dx of the small area is usually a tiny value. In the beginning of1And b2On an arc segment formed by the two points and the second contour line, the arc segment is divided into a plurality of small arc segments according to a fixed interval, and each small arc segment can correspond to one transverse edge of one small area. Taking the width dx of a small area as an example, the left and right end points of the width respectively extend vertically along the Y-axis direction and intersect with the first contour line and the second contour line respectively. Wherein the left point of the fixed interval dx extends upwards along the Y-axis and intersects the second contour line at a point p2Intersects the first contour line at a point p1，p2And p4The formed curve is a small arc segment. The right point of the fixed interval dx extends upward along the Y-axis to intersect the second contour line at a point p4Intersects the first contour line at a point p3。p1，p2，p3，p4The quadrilateral area formed is approximately trapezoidal.
The area of the small region may be calculated as the area of a trapezoid. Specifically, the area of each small region is calculated from the side length of two parallel sides of each small region and the width of each small region. Furthermore, the transmission belt of the belt conveyor has a certain thickness, when the area of the small region is calculated, the belt thickness is removed from the side lengths of the two parallel sides of the small region, and then the area of the small region is calculated. Wherein, the area of the small region can be determined by the small region area calculation formula (1):
in the formula (1), dy1To representLength of one side in a small area, dy2Indicating the length of another parallel edge in the small area, d0Representing the belt thickness, dx represents the width of each small zone; according to the small region area calculation formula, the area of the small region can be determined.
In this step, along b1And b2And the arc line section of the belt section formed by the two points and the second contour line is further divided into a plurality of small arc line sections according to a preset fixed interval, a small area corresponding to each small arc line section is calculated by using a formula (1), and the area of the section of the material is determined by adding and accumulating by using an integral principle.
As shown in fig. 9, for a computer device provided for embodiments herein, the computer device 902 may include one or more processors 904, such as one or more Central Processing Units (CPUs), each of which may implement one or more hardware threads. The computer device 902 may also include any memory 906 for storing any kind of information, such as code, settings, data, etc. For example, and without limitation, memory 906 may include any one or more of the following in combination: any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, etc. More generally, any memory may use any technology to store information. Further, any memory may provide volatile or non-volatile retention of information. Further, any memory may represent fixed or removable components of computer device 902. In one case, when the processor 904 executes the associated instructions, which are stored in any memory or combination of memories, the computer device 902 can perform any of the operations of the associated instructions. The computer device 902 also includes one or more drive mechanisms 908, such as a hard disk drive mechanism, an optical disk drive mechanism, etc., for interacting with any memory.
Corresponding to the methods in fig. 2, 5 to 6, the embodiments herein also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the above-mentioned method.
Embodiments herein also provide computer readable instructions, wherein when the instructions are executed by a processor, the program causes the processor to perform the method as shown in fig. 2, 5-6.
It should be understood that, in various embodiments herein, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments herein.
It should also be understood that, in the embodiments herein, the term "and/or" is only one kind of association relation describing an associated object, meaning that three kinds of relations may exist. For example, a and/or B, may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided herein, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments herein.
In addition, functional units in the embodiments herein may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present invention may be implemented in a form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The principles and embodiments of this document are explained herein using specific examples, which are presented only to aid in understanding the methods and their core concepts; meanwhile, for the general technical personnel in the field, according to the idea of this document, there may be changes in the concrete implementation and the application scope, in summary, this description should not be understood as the limitation of this document.
Claims (10)
1. A method for measuring material volume of a belt conveyor is characterized by comprising the following steps:
controlling linear laser measuring devices arranged at the upper part and the lower part of the belt conveyor to respectively project laser to materials on the belt conveyor to obtain a first contour point set and a second contour point set;
respectively fitting the first contour point set and the second contour point set to obtain a first contour line and a second contour line;
calculating the cross-sectional area of the material according to the first contour line and the second contour line;
and calculating the volume of the material on the belt conveyor in the preset time period according to the cross-sectional area of the material calculated in the preset time period.
2. The method for measuring material volume of the belt conveyor according to claim 1, wherein the upper and lower line laser measuring devices are arranged in a straight line perpendicular to the belt conveyor.
3. The belt conveyor material volume measuring method of claim 1, wherein fitting the first set of contour points and the second set of contour points to obtain a first contour line and a second contour line respectively comprises:
unifying the first set of contour points and the second set of contour points into a coordinate system;
determining coordinates of points in the first set of contour points and the second set of contour points in the coordinate system;
and respectively fitting the coordinates of each point in the first contour point set and the coordinates of each point in the second contour point set to obtain the first contour line and the second contour line.
4. The belt conveyor material volume measuring method of claim 1, wherein calculating the material cross-sectional area according to the first contour line and the second contour line comprises:
dividing a region formed by the first contour line and the second contour line into a plurality of small regions;
calculating the areas of a plurality of small regions;
and adding the areas of the small areas to obtain the cross-sectional area of the material.
5. The belt conveyor material volume measuring method of claim 4, wherein the calculating the plurality of small zone areas further comprises:
and calculating the area of each small region according to the side length of two parallel sides of each small region, the width of each small region and the thickness of the belt.
6. The belt conveyor material volume measuring method of claim 5, wherein calculating the area of each small region according to the side length of two mutually parallel sides of each small region, the width of each small region and the belt thickness comprises calculating the area of each small region by using the following formula:
wherein dy1Indicates the length of an edge in the small area, dy2Indicating the length of another parallel edge in the small area, d0Representing the belt thickness, dx is the width of each small zone.
7. The method for measuring material volume of the belt conveyor according to claim 1, wherein calculating the material volume transported by the belt conveyor in the predetermined time period according to the material cross-sectional area calculated in the predetermined time period comprises calculating the material volume transported by the belt conveyor in the predetermined time period by using the following formula:
wherein V is the volume of the material, t1-t0In a preset time period, S is the cross section area of the material, and v is the movement speed of a belt on the belt conveyor.
8. A belt conveyor material volume measuring device, characterized in that the device includes:
the control unit is used for controlling the linear laser measuring devices arranged at the upper part and the lower part of the belt conveyor to respectively project laser to the materials on the belt conveyor to obtain a first contour point set and a second contour point set;
the fitting unit is used for respectively fitting the first contour point set and the second contour point set to obtain a first contour line and a second contour line;
the first calculating unit is used for calculating the cross-sectional area of the material according to the first contour line and the second contour line;
and the second calculating unit is used for calculating the cross section area of the material according to the preset time period and calculating the volume of the material on the belt conveyor in the preset time period.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the method of material volume measurement of a belt conveyor of any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the belt conveyor material volume measurement method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110960337.7A CN113706601A (en) | 2021-08-20 | 2021-08-20 | Belt conveyor material volume measuring method and device, computer equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110960337.7A CN113706601A (en) | 2021-08-20 | 2021-08-20 | Belt conveyor material volume measuring method and device, computer equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113706601A true CN113706601A (en) | 2021-11-26 |
Family
ID=78653918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110960337.7A Pending CN113706601A (en) | 2021-08-20 | 2021-08-20 | Belt conveyor material volume measuring method and device, computer equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113706601A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114370728A (en) * | 2021-12-14 | 2022-04-19 | 合肥通用机械研究院有限公司 | Real-time monitoring method and device for snow making density of snow making machine and readable storage medium |
| CN117053727A (en) * | 2023-07-03 | 2023-11-14 | 淮北矿业股份有限公司临涣选煤厂 | Scanning detection device for accumulating volume of outer surface of material by ranging method |
| EP4361577A1 (en) * | 2022-10-27 | 2024-05-01 | EBAWE Anlagentechnik GmbH | Method for determining the discharge of a distribution container |
| CN118010124A (en) * | 2024-04-08 | 2024-05-10 | 山东稷丰粮油仓储设备有限公司 | Automatic monitoring system for grain injection of granary |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109709062A (en) * | 2018-12-29 | 2019-05-03 | 广东工业大学 | A kind of substance identification, device and computer readable storage medium |
| CN110980197A (en) * | 2020-02-27 | 2020-04-10 | 天津美腾科技股份有限公司 | Material detection method and device and electronic equipment |
| CN111336917A (en) * | 2020-02-24 | 2020-06-26 | 成俊 | Volume measurement method, device, system and computer readable storage medium |
| CN111780671A (en) * | 2020-09-04 | 2020-10-16 | 中铁工程服务有限公司 | Shield muck volume scanning measurement system and method |
| CN111829434A (en) * | 2019-05-28 | 2020-10-27 | 北京伟景智能科技有限公司 | Material flow metering detection method and system |
| CN112598784A (en) * | 2020-12-23 | 2021-04-02 | 深兰人工智能芯片研究院（江苏）有限公司 | Method and device for adjusting contour scanning result, electronic equipment and storage medium |
| CN113008317A (en) * | 2021-02-26 | 2021-06-22 | 中冶南方工程技术有限公司 | Method for measuring real-time material piling and taking volume flow of cantilever type bucket-wheel stacker-reclaimer |
| CN113063368A (en) * | 2021-04-07 | 2021-07-02 | 杭州江奥光电科技有限公司 | Linear laser rotary scanning three-dimensional profile measuring method and device |
-
2021
- 2021-08-20 CN CN202110960337.7A patent/CN113706601A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109709062A (en) * | 2018-12-29 | 2019-05-03 | 广东工业大学 | A kind of substance identification, device and computer readable storage medium |
| CN111829434A (en) * | 2019-05-28 | 2020-10-27 | 北京伟景智能科技有限公司 | Material flow metering detection method and system |
| CN111336917A (en) * | 2020-02-24 | 2020-06-26 | 成俊 | Volume measurement method, device, system and computer readable storage medium |
| CN110980197A (en) * | 2020-02-27 | 2020-04-10 | 天津美腾科技股份有限公司 | Material detection method and device and electronic equipment |
| CN111780671A (en) * | 2020-09-04 | 2020-10-16 | 中铁工程服务有限公司 | Shield muck volume scanning measurement system and method |
| CN112598784A (en) * | 2020-12-23 | 2021-04-02 | 深兰人工智能芯片研究院（江苏）有限公司 | Method and device for adjusting contour scanning result, electronic equipment and storage medium |
| CN113008317A (en) * | 2021-02-26 | 2021-06-22 | 中冶南方工程技术有限公司 | Method for measuring real-time material piling and taking volume flow of cantilever type bucket-wheel stacker-reclaimer |
| CN113063368A (en) * | 2021-04-07 | 2021-07-02 | 杭州江奥光电科技有限公司 | Linear laser rotary scanning three-dimensional profile measuring method and device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114370728A (en) * | 2021-12-14 | 2022-04-19 | 合肥通用机械研究院有限公司 | Real-time monitoring method and device for snow making density of snow making machine and readable storage medium |
| CN114370728B (en) * | 2021-12-14 | 2024-02-02 | 合肥通用机械研究院有限公司 | Real-time monitoring method and device for snow making density of snow making machine and readable storage medium |
| EP4361577A1 (en) * | 2022-10-27 | 2024-05-01 | EBAWE Anlagentechnik GmbH | Method for determining the discharge of a distribution container |
| CN117053727A (en) * | 2023-07-03 | 2023-11-14 | 淮北矿业股份有限公司临涣选煤厂 | Scanning detection device for accumulating volume of outer surface of material by ranging method |
| CN118010124A (en) * | 2024-04-08 | 2024-05-10 | 山东稷丰粮油仓储设备有限公司 | Automatic monitoring system for grain injection of granary |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113706601A (en) | Belt conveyor material volume measuring method and device, computer equipment and storage medium | |
| EP2858008B1 (en) | Target detecting method and system | |
| CN102959355B (en) | Point group data treating apparatus, point group data disposal system, point group data disposal route and point group data handling procedure | |
| US10512941B2 (en) | Projection instruction device, parcel sorting system, and projection instruction method | |
| EP2553383B1 (en) | Method and apparatus for generating texture in a three-dimensional scene | |
| WO2015132271A1 (en) | Intrusion detection with directional sensing | |
| TW201523181A (en) | System and method for compensating manufacturing program | |
| CN111630342B (en) | Gap detection method and system for visual welding system | |
| JP2015224875A (en) | Operation state detection system of work machine, and work machine | |
| CN111006612B (en) | Three-dimensional imaging method, three-dimensional imaging device, computer equipment and readable storage medium | |
| EP3434622A1 (en) | Instruction projecting device, package sorting system and instruction projecting method | |
| CN103493095A (en) | Analysis of the digital image of the surface of a tyre and processing of non-measurement points | |
| JP2015225083A (en) | Method for determining closed trajectory by means of laser and laser light sensor, and apparatus for determining closed trajectory | |
| JP7064664B2 (en) | Target recognition device, method and program, and target removal system | |
| CN104515479A (en) | Medium plate surface plate shape measuring system and method | |
| TW201902805A (en) | Rubber sheet monitoring device and rubber sheet monitoring method | |
| CN107408204A (en) | The method and system of depth map is provided using patterning light | |
| JP2016133478A (en) | Cubic volume measurement system | |
| CN113838097A (en) | Camera lens angle deviation detection method and device and storage medium | |
| CN105451009B (en) | A kind of information processing method and electronic equipment | |
| CN105376523A (en) | Stereoscopic vision detection method and system | |
| CN108399641A (en) | Again the determination method and device on ground are detected | |
| US10589319B2 (en) | Projection instruction device, parcel sorting system, and projection instruction method | |
| JP6476414B2 (en) | Still image extraction method and image processing apparatus for realizing the method | |
| JP6419062B2 (en) | Corrugated molding inspection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |