CN114348581B - Belt tearing detection method and system - Google Patents
Belt tearing detection method and system Download PDFInfo
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- CN114348581B CN114348581B CN202210112431.1A CN202210112431A CN114348581B CN 114348581 B CN114348581 B CN 114348581B CN 202210112431 A CN202210112431 A CN 202210112431A CN 114348581 B CN114348581 B CN 114348581B
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- 238000001514 detection method Methods 0.000 title claims abstract description 47
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- 229910052742 iron Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/32—Belts or like endless load-carriers made of rubber or plastics
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Abstract
The application provides a belt tearing detection method and a system, wherein the method is applied to a belt tearing detection system, the system comprises a laser source and an image taking device, the laser source is used for projecting laser to the surface of a belt to form a laser line, the image taking device is used for collecting an image of the surface of the belt after being projected by the laser and generating first image data, and the method comprises the following steps: preprocessing the first image data to obtain target image data, wherein the size of the target image data is smaller than that of the first image data, and the pixel area of the target image data comprises the pixel area occupied by the laser line; acquiring edge coordinates of a laser line pixel area in a pixel area of the target image data; and determining whether the belt is torn or not according to the edge coordinates of the laser line pixel area. The belt transmission can be monitored on line in real time, the multipoint measurement and continuous measurement of the transmission belt are guaranteed, the detection speed and the detection precision are improved, and the failure can be timely detected after the transmission belt is torn.
Description
Technical Field
The application relates to the technical field of conveyor belt abnormality detection, in particular to a belt tearing detection method and system.
Background
Belt conveyor is an important conveying mode adopted in industries such as ports, mines, thermal power plants, logistics, storage and the like, and belts are important components of the belt conveyor mode. However, due to the fact that the conveyed objects contain impurities (such as minerals contain ironware), packaging requirements (iron wire bundling is adopted), and the like, tearing of the conveying belt is often caused, including longitudinal tearing and transverse tearing, if the conveyed objects cannot be found in time, huge economic loss can be caused, and meanwhile production efficiency can be greatly influenced. In order to solve the technical problem, domestic and foreign specialists research various belt tearing detection technologies, such as an impact detection method (detecting impact force transmission in a belt medium), a carrier roller abnormal stress detection method (analyzing carrier roller abnormal stress condition), an ultrasonic detection method (detecting ultrasonic wave transmission in the belt medium), a piezoresistor detection method (detecting leakage below the belt), a sensor embedding detection method (embedding conductive rubber and optical fibers in the belt), and the like. The belt tearing detection method has the defects of accuracy of belt tearing detection in field application, is complex in installation and maintenance and has high cost.
In recent years, laser measurement methods are gradually and widely applied to various industries at home and abroad, and the current measurement mode mainly adopts single-point measurement, namely only one area of a belt can be measured at a time, the problem of tearing detection of the belt can not be completely solved, the speed is low, and the requirement of real-time online detection can not be met.
Disclosure of Invention
The utility model provides a belt tearing detection method and system can real-time on-line monitoring belt transmission condition, has guaranteed the multipoint measurement and the continuous measurement of transmission belt, has improved detection speed and precision greatly, ensures can in time detect out the trouble after the conveyer belt takes place to tear, prevents the expansion of conveyer belt tearing accident, has avoided the emergence of incident, has reduced the economic loss of enterprise.
In a first aspect, a belt tear detection method is provided, where the system includes a laser source and an image capturing device, the laser source is configured to project laser onto a belt surface to form a laser line, and the image capturing device is configured to collect an image of the belt surface after being projected by the laser and generate first image data, and the method includes:
preprocessing the first image data to obtain target image data, wherein the size of the target image data is smaller than that of the first image data, and a pixel area of the target image data comprises a pixel area occupied by a laser line;
acquiring edge coordinates of a laser line pixel area in a pixel area of the target image data;
and determining whether the belt is torn or not according to the edge coordinates of the laser line pixel area.
Optionally, the determining whether the belt is torn according to the edge coordinates of the laser line pixel region includes:
determining the width of the laser line of each row according to the edge coordinates of the left edge and the edge coordinates of the right edge of the laser line pixel region;
whether the belt is torn or not is determined according to the laser line width of each row.
Optionally, determining whether the belt tears according to the laser line width of each row includes:
comparing the laser line width of each row with a first threshold;
if the width of the laser line is larger than the first threshold value, determining that the belt area corresponding to the row of laser line pixel areas is torn;
otherwise, determining that the belt area corresponding to the row of laser line pixel areas is not torn.
Optionally, determining whether the belt tears according to the laser line width of each row includes:
calculating the difference value of the laser line widths of adjacent rows;
if the absolute value of the difference value is larger than a second threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn;
otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn.
Optionally, the determining whether the belt is torn according to the edge coordinates of the laser line pixel region includes:
calculating the difference value of adjacent row edge coordinates of the laser line pixel region on the same side;
if the absolute value of the difference value is larger than a third threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn;
otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn.
Optionally, the acquiring the edge coordinates of the laser line pixel region in the pixel region of the target image data includes:
and acquiring edge coordinates of sub-pixel edges of a laser line pixel area in a pixel area of the target image data.
Optionally, the preprocessing the first image data to obtain target image data includes:
smoothing the first image data to obtain second image data;
threshold segmentation is carried out on the second image data so as to obtain a laser line pixel region;
expanding the laser line pixel region, and determining the position and the size of the expanded laser line pixel region;
and cutting out target image data from the second image data, wherein the position and the size of the pixel area of the target image data are the same as those of the expanded laser line.
Optionally, the method further comprises:
and if the belt is torn, a first signal is sent out, and the first signal is used for alarming or stopping a transmission device of the belt.
In a second aspect, a belt tear detection system is provided, comprising:
a laser source for projecting laser light onto the belt surface to form a laser line;
the image capturing device is used for acquiring the belt surface image projected by the laser and generating first image data;
a first module, configured to pre-process the first image data, so as to obtain target image data, where a size of the target image data is smaller than a size of the first image data, and a pixel area of the target image data includes a pixel area occupied by a laser line;
a second module, configured to obtain edge coordinates of a laser line pixel area in a pixel area of the target image data;
and a third module, configured to determine whether the belt is torn according to the edge coordinates of the laser line pixel region.
Optionally, the determining whether the belt is torn according to the edge coordinates of the laser line pixel region includes:
determining the width of the laser line of each row according to the edge coordinates of the left edge and the edge coordinates of the right edge of the laser line pixel region;
whether the belt is torn or not is determined according to the laser line width of each row.
Optionally, determining whether the belt tears according to the laser line width of each row includes:
comparing the laser line width of each row with a first threshold;
if the width of the laser line is larger than the first threshold value, determining that the belt area corresponding to the row of laser line pixel areas is torn;
otherwise, determining that the belt area corresponding to the row of laser line pixel areas is not torn.
Optionally, determining whether the belt tears according to the laser line width of each row includes:
calculating the difference value of the laser line widths of adjacent rows;
if the absolute value of the difference value is larger than a second threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn;
otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn.
Optionally, the determining whether the belt is torn according to the edge coordinates of the laser line pixel region includes:
calculating the difference value of adjacent row edge coordinates of the laser line pixel region on the same side;
if the absolute value of the difference value is larger than a third threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn;
otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn.
Optionally, the acquiring the edge coordinates of the laser line pixel region in the pixel region of the target image data includes:
and acquiring edge coordinates of sub-pixel edges of a laser line pixel area in a pixel area of the target image data.
Optionally, the preprocessing the first image data to obtain target image data includes:
smoothing the first image data to obtain second image data;
threshold segmentation is carried out on the second image data so as to obtain a laser line pixel region;
expanding the laser line pixel region, and determining the position and the size of the expanded laser line pixel region;
and cutting out target image data from the second image data, wherein the position and the size of the pixel area of the target image data are the same as those of the expanded laser line.
Optionally, the system further comprises a fourth module:
and if the belt is torn, the fourth module sends a first signal, and the first signal is used for alarming or stopping the transmission device of the belt.
In a third aspect, a computer storage medium is provided, in which computer executable instructions for performing the belt tear detection method described in the first aspect and any of its possible embodiments are stored.
By adopting the method, the laser source emits the laser beam in real time, when the laser beam meets the conveyor belt, the laser beam is emitted at a certain angle, and the image capturing device captures the reflected light of the laser beam in real time. The front-end processing device acquires image information and then preprocesses first image data, the size of acquired target image data is smaller than that of the first image data, and a pixel area of the target image data comprises a pixel area occupied by a laser line. Therefore, redundant data can be reduced, laser line areas can be further positioned, and the detection and analysis speed of laser line images can be improved. And then judging the tearing condition of the surface of the conveying belt in real time according to the edge coordinate information of the laser line area. In addition, all laser line areas on the image can be analyzed in real time, the no-blocking detection requirement of the belt running speed of 4m/s can be met, the multipoint measurement and the continuous measurement of the conveying belt are guaranteed, the detection speed and the detection precision are greatly improved, the timely detection of faults after the tearing of the conveying belt is ensured, the expansion of the tearing accident of the conveying belt is prevented, the occurrence of safety accidents is avoided, and the economic loss of enterprises is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a belt tear detection method provided in accordance with some embodiments;
FIG. 2 is a schematic diagram of a belt tear detection system provided in accordance with some embodiments;
fig. 3 is an exemplary diagram of a laser line area provided herein.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of illustrating the present application and are not to be construed as limiting the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
Fig. 1 is a schematic flow chart of a belt tearing detection method according to some embodiments, and fig. 2 is a schematic flow chart of a belt tearing detection system according to some embodiments, and the method is described below with reference to fig. 1 and 2.
As shown in fig. 2, the belt tearing detection system comprises a laser source and an image capturing device, wherein the laser source is used for projecting laser to the surface of the belt to form a laser line, and the image capturing device is used for acquiring an image of the surface of the belt after being projected by the laser and generating first image data.
The image capturing device comprises an industrial camera and a corresponding industrial lens, and sends first image data to front-end processing equipment, and the front-end processing equipment analyzes the first image data by using a belt tearing detection method so as to judge whether a belt is torn or not.
The laser sources may be two (laser source 1 and laser source 2) as shown in fig. 2, and the positions of the two laser sources are distributed on both sides above the belt as shown in fig. 2, so that the laser sources can cover all areas of each row of the belt, or one laser source can be placed directly above the belt, which is not limited in this application. Similarly, when there are two laser sources, two image capturing devices (image capturing device 1 and image capturing device 2) are required to correspond to each other, and when there is one laser source, one image capturing device is required.
On the basis of the system, the method comprises the following steps:
step S1, preprocessing the first image data to obtain target image data, wherein the size of the target image data is smaller than that of the first image data, and a pixel area of the target image data comprises a pixel area occupied by laser lines.
The first image data is preprocessed to extract the pixel area of the target image data comprising the laser line pixel area, and the size of the target image data is smaller than that of the first image data, so that redundant data can be reduced, and the detection speed is improved.
In one example, the first image data may be pre-processed by the following method:
s1a, performing smoothing processing on the first image data to obtain second image data. Because the harbour work environment is abominable, the dust is more, light is unstable, and the original picture of belt that industry camera gathered can have a lot of noise, influences the reliability that the system detected, consequently can carry out smooth processing and come the noise removal.
Optionally, the first image data is smoothed by means of mean filtering. For example, the image is subjected to neighborhood operation by means of the template to remove noise, the template is moved from left to right and from top to bottom in the digital image to be processed, and image smoothing processing is performed. The principle of the mean value filtering is to sequentially add the gray value of a certain pixel in the image with the gray values of M-1 pixels around the certain pixel, then calculate the average value of the M pixel values, as the gray value of the pixel of the new image, and finally calculate the pixel values of all points of the target image. For example, if the template size is 3*3, then M is 8. In the experiments of the present application, a filter kernel with a size of 11 x 11 is used.
And S1b, performing threshold segmentation on the second image data to obtain a laser line pixel region.
Because the characteristic difference between the laser line and the background area is larger, the threshold segmentation can segment the laser line pixel area and the background pixel area to be more beneficial to subsequent processing. For example, fig. 3 is an exemplary diagram of a laser line pixel area provided in the present application, and as shown in fig. 3, in the image after threshold segmentation, pixels of the laser line pixel area adopt white pixels, and pixels of the background pixel area adopt black pixels. In the present experiment, the threshold in the threshold segmentation was set to 100.
S1c, expanding the laser line pixel area, and determining the position and the size of the expanded laser line pixel area.
The laser line pixel area is thickened to obtain a larger laser line pixel area which can be used for detection, so that subsequent operation is facilitated, and detection difficulty is reduced. It should be noted that, the relevant parameters of the expansion algorithm may be set according to actual needs, which is not limited in this application. For example, the selected core size for expansion is 11 x 11.
S1d, cutting out target image data from the second image data.
The position and the size of the pixel area of the target image data are the same as those of the pixel area of the laser line after expansion.
And cutting out the target image data pixel region with the same position and size according to the position and size of the expanded laser line pixel region from the second image data, so that the data volume to be analyzed can be reduced, the detection speed is improved, and the subsequent determination of the sub-pixel edge of the laser line pixel region is facilitated.
Because the resolution of the industrial camera is higher, the resolution of the acquired image is very high, and the redundant area of the image is eliminated by preprocessing the original image, so that the size of the image to be operated is reduced, and the image processing speed is improved. In the experiments of the present application, the image pixel size can be changed from 2592×2048 to 480×2048.
Step S2, obtaining edge coordinates of a laser line pixel region in a pixel region of the target image data.
The edge coordinates refer to the coordinates of the leftmost pixel of each row and/or the coordinates of the rightmost pixel of that row in the laser line pixel area. The coordinate system corresponding to the coordinates of the pixels is set according to actual needs. The present application does not limit whether the edge coordinates are in units of pixels or in units of length.
The distance between the rows may be one pixel, may be a plurality of pixels, or may not be a pixel, which is not limited in this application.
In one possible implementation, the edge coordinates are laser line pixel region sub-pixel edge coordinates in a pixel region of the target image data.
By searching the edges of the sub-pixels of each row of laser lines, the edges with higher precision can be obtained, and the precision of subsequent operation is improved.
As shown in fig. 3, the laser line pixel region is a white pixel region, and the edge coordinates of the left edge of each line are the coordinates of the first white pixel from the left side of the image, and the edge coordinates of the right edge of each line are the coordinates of the first white pixel from the right side of the image.
And S3, determining whether the belt is torn or not according to the edge coordinates of the laser line pixel area.
In one possible embodiment, the laser line width of each row of laser line pixel regions is determined based on the edge coordinates of the left edge and the edge coordinates of the right edge of the row, and then whether the belt is torn is determined based on the laser line width of each row.
In the experiment, if the belt has the tearing condition, the laser line can change, and the belt fracture is bigger than the laser line can fracture, and the belt fracture is less, and the laser line can shift and widen, so can judge whether the belt tears according to the width of laser line.
In one example, the method of determining whether the belt is torn based on the laser line width of each row may be:
comparing the width of the laser line of each row with a first threshold value, and if the width of the laser line is larger than the first threshold value, determining that the belt area corresponding to the pixel area of the laser line of the row is torn; otherwise, determining that the belt area corresponding to the row of laser line pixel areas is not torn.
The first threshold may be set according to actual requirements, or according to experimental statistics, which is not limited in this application. For example, as shown in fig. 3, the first threshold is set to 20 pixels, the edge coordinates (x, y) of the left edge of the a-line are (125 ) (the unit is a pixel), the edge coordinates (x, y) of the right edge are (140,125), and the line laser line width is 140-125=15, 15 is smaller than 20, so that the belt area corresponding to the line laser line pixel area is not torn.
In one example, the method of determining whether the belt is torn based on the laser line width of each row may be:
calculating the difference value of the laser line widths of adjacent rows; if the absolute value of the difference value is larger than a second threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn; otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn.
Alternatively, the laser line pixel regions of the adjacent rows refer to laser line pixel regions of any one of the adjacent rows, or,
the laser line pixel area of all of the adjacent rows, or,
the laser line pixel regions of all of the adjacent rows and the laser line pixel regions sandwiched therebetween, which corresponds to a spacing between the adjacent rows of greater than or equal to 1 pixel, or,
the laser line pixel region of any one of the adjacent rows and the laser line pixel region sandwiched between the adjacent rows correspond to a spacing between the adjacent rows of greater than or equal to 1 pixel.
The second threshold may be set according to actual requirements, or according to experimental statistics, which is not limited in this application. For example, as shown in fig. 3, the second threshold is set to 5 pixels, the parameters of line a are as shown in the above example, the edge coordinates (x, y) of the left edge of line b are (142,110) (the unit is pixel), the edge coordinates (x, y) of the right edge are (165,110), the line laser line width is 165-142=23, the width difference between the laser line pixel regions of line a and line b is 23-15=8, and 8 is greater than 5, and thus, the belt region corresponding to the middle portion of the line a laser line pixel region, the line b laser line pixel region, and both regions is torn.
In one possible embodiment, determining whether the belt is torn based on the edge coordinates of the laser line pixel area includes:
calculating the difference value of adjacent row edge coordinates of the laser line pixel region on the same side; if the absolute value of the difference value is larger than a third threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn; otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn.
The description of the laser line pixel regions of adjacent rows is referred to the above example, and will not be repeated here.
The third threshold may be set according to actual requirements, or according to experimental statistics, which is not limited in this application. For example, the third threshold 10 is set, the edge coordinate on the left side of line a is 125, the edge coordinate on the left side of line b is 142, the difference is 142-125=17, 17 is greater than 10, and thus tearing occurs in the belt region corresponding to the laser line pixel region of the adjacent line.
In one possible embodiment, the method further comprises:
and S4, if the belt is torn, a first signal is sent out, and the first signal is used for alarming or stopping a transmission device of the belt.
Specifically, if the belt is torn, the front end processing equipment sends a first signal to the belt transmission device, if the first signal is used for alarming, a worker is led to pay attention to the condition of the belt, and if the first signal is used for stopping the belt transmission device, the transmission of the belt can be stopped in time, and the inspection and maintenance of the worker are facilitated.
In one possible implementation, the longitudinal field of view of the imaging device may be adjusted to 1/10 of the original field of view, depending on the use case, so that the highest frame rate becomes 10 times the original frame rate. In the mode, the area which does not contain the laser line in the original image area is cut off by using the camera setting, so that the processing area is reduced, the data volume of the target area is increased, and the subsequent image processing speed can be improved. For example, the frame rate of the industrial lens used in the experiments of the present application is 60 frames/s at the time of the original field of view, and the frame rate becomes 600 frames/s after the field of view is adjusted.
By adopting the method, the laser source emits the laser beam in real time, when the laser beam encounters the conveyor belt, the laser beam is emitted at a certain angle, the image capturing device captures the reflected light of the laser beam in real time, and the front-end processing equipment judges the tearing condition of the surface of the conveyor belt in real time according to the edge coordinate information of the laser line area after acquiring the image information. In addition, all laser line areas on the image can be analyzed in real time, the no-blocking detection requirement of the belt running speed of 4m/s can be met, the multipoint measurement and the continuous measurement of the conveying belt are guaranteed, the detection speed and the detection precision are greatly improved, the timely detection of faults after the tearing of the conveying belt is ensured, the expansion of the tearing accident of the conveying belt is prevented, the occurrence of safety accidents is avoided, and the economic loss of enterprises is reduced. Further, according to the width of each line of laser line area or the edge coordinates of the same side of the adjacent line of laser line area, the tearing condition of the surface of the conveying belt is more accurately judged; and the original image is preprocessed, the laser line area is screened, the redundant data quantity is reduced, and the operation speed can be improved; in addition, the edge detection precision can be improved by utilizing a sub-pixel edge search algorithm.
The multipoint measurement refers to measuring each row of the laser line pixel area, and detecting multiple points at the same time, that is, detecting multiple points on the transmission belt at the same time.
Taking fig. 3 as an example, on the basis of the above belt tearing detection method, the present application further provides a belt tearing detection system, which includes:
the laser source is used for projecting laser to the surface of the belt to form a laser line;
the image capturing device is used for acquiring the belt surface image projected by the laser and generating first image data;
the first module is used for preprocessing the first image data so as to acquire target image data, wherein the size of the target image data is smaller than that of the first image data, and a pixel area of the target image data comprises a pixel area occupied by a laser line;
a second module for acquiring edge coordinates of a laser line pixel region in a pixel region of the target image data;
and a third module for determining whether the belt is torn according to the edge coordinates of the laser line pixel area.
Alternatively, the first module, the second module, and the third module may be integrated into a front-end processing device as shown in fig. 3.
Other implementations refer to the descriptions in the above belt tear detection method, and are not described herein.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (5)
1. A method for detecting belt tearing, characterized in that the method is applied to a belt tearing detection system, the system comprises a laser source and an image capturing device, the laser source is used for projecting laser to a belt surface to form a laser line, the image capturing device is used for acquiring an image of the belt surface after being projected by the laser and generating first image data, and the method comprises the following steps:
preprocessing the first image data to obtain target image data, wherein the size of the target image data is smaller than that of the first image data, and a pixel area of the target image data comprises a pixel area occupied by a laser line;
acquiring edge coordinates of a laser line pixel area in a pixel area of the target image data;
determining the width of the laser line of each row according to the edge coordinates of the left edge and the edge coordinates of the right edge of the laser line pixel region;
comparing the laser line width of each row with a first threshold;
if the width of the laser line is larger than the first threshold value, determining that the belt area corresponding to the row of laser line pixel areas is torn;
otherwise, determining that the belt area corresponding to the row of laser line pixel areas is not torn;
calculating laser line width difference values of adjacent rows of the laser line pixel areas; if the absolute value of the difference value is larger than a second threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn; the laser line pixel regions of the adjacent rows refer to the laser line pixel regions of any one of the adjacent rows, or the laser line pixel regions of all the adjacent rows and the laser line pixel regions sandwiched therebetween, corresponding to the interval between the adjacent rows being greater than or equal to 1 pixel, or the laser line pixel regions of any one of the adjacent rows and the laser line pixel regions sandwiched therebetween, corresponding to the interval between the adjacent rows being greater than or equal to 1 pixel;
otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn:
calculating the difference value of adjacent row edge coordinates of the laser line pixel region on the same side;
if the absolute value of the difference value is larger than a third threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn;
otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn.
2. The method of claim 1, wherein the acquiring edge coordinates of a laser line pixel region in a pixel region of the target image data comprises:
and acquiring sub-pixel edge coordinates of a laser line pixel area in a pixel area of the target image data.
3. The method of claim 1, wherein preprocessing the first image data to obtain target image data comprises:
smoothing the first image data to obtain second image data;
threshold segmentation is carried out on the second image data so as to obtain a laser line pixel region;
expanding the laser line pixel region, and determining the position and the size of the expanded laser line pixel region;
and cutting out target image data from the second image data, wherein the position and the size of the pixel area of the target image data are the same as those of the expanded laser line.
4. The method according to claim 1, wherein the method further comprises:
and if the belt is torn, a first signal is sent out, and the first signal is used for alarming or stopping a transmission device of the belt.
5. A belt tear detection system, comprising:
a laser source for projecting laser light onto the belt surface to form a laser line;
the image capturing device is used for acquiring the belt surface image projected by the laser and generating first image data;
a first module, configured to pre-process the first image data, so as to obtain target image data, where a size of the target image data is smaller than a size of the first image data, and a pixel area of the target image data includes a pixel area occupied by a laser line;
a second module, configured to obtain edge coordinates of a laser line pixel area in a pixel area of the target image data;
a third module for determining the laser line width of each row according to the edge coordinates of the left edge and the edge coordinates of the right edge of each row of the laser line pixel region; comparing the laser line width of each row with a first threshold; if the width of the laser line is larger than the first threshold value, determining that the belt area corresponding to the row of laser line pixel areas is torn; otherwise, determining that the belt area corresponding to the row of laser line pixel areas is not torn;
calculating laser line width difference values of adjacent rows of the laser line pixel areas; if the absolute value of the difference value is larger than a second threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn; the laser line pixel regions of the adjacent rows refer to the laser line pixel regions of any one of the adjacent rows, or the laser line pixel regions of all the adjacent rows and the laser line pixel regions sandwiched therebetween, corresponding to the interval between the adjacent rows being greater than or equal to 1 pixel, or the laser line pixel regions of any one of the adjacent rows and the laser line pixel regions sandwiched therebetween, corresponding to the interval between the adjacent rows being greater than or equal to 1 pixel;
otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn;
calculating the difference value of adjacent row edge coordinates of the laser line pixel region on the same side;
if the absolute value of the difference value is larger than a third threshold value, determining that the belt area corresponding to the laser line pixel area of the adjacent row is torn;
otherwise, determining that the belt area corresponding to the laser line pixel area of the adjacent row is not torn.
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| CN114803385A (en) * | 2022-06-02 | 2022-07-29 | 山西海慧科技有限公司 | Conveyor belt full-belt-surface tearing detection device and method based on linear laser image |
| CN115947066B (en) * | 2023-03-14 | 2023-06-20 | 合肥金星智控科技股份有限公司 | Belt tearing detection method, device and system |
| CN116228760B (en) * | 2023-05-08 | 2023-11-17 | 江苏金恒信息科技股份有限公司 | Sampling method, device and system for steel plate |
| CN117054337B (en) * | 2023-08-15 | 2024-06-07 | 博雅工道（北京）机器人科技有限公司 | Laser measurement system and laser measurement method |
| CN117197131B (en) * | 2023-11-03 | 2024-03-26 | 深圳鲲云信息科技有限公司 | Method and apparatus for conveyor belt tear identification and computing device |
| CN117495857B (en) * | 2023-12-29 | 2024-04-02 | 合肥金星智控科技股份有限公司 | Belt tearing edge detection method, system, equipment and medium |
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