CN106706238A - Steel wire rope core conveying belt connector lap marking and identifying method - Google Patents
Steel wire rope core conveying belt connector lap marking and identifying method Download PDFInfo
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- CN106706238A CN106706238A CN201611032137.0A CN201611032137A CN106706238A CN 106706238 A CN106706238 A CN 106706238A CN 201611032137 A CN201611032137 A CN 201611032137A CN 106706238 A CN106706238 A CN 106706238A
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0033—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by determining damage, crack or wear
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- 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
Abstract
The invention provides a steel wire rope core conveying belt connector lap line marking and identifying algorithm by using improved Harris corner detection and a Hough transform detection line for aiming at the problem of a point cloud method. According to the algorithm, the principal direction is determined by using a rectilinear direction histogram method so that the marked and identified lap line is enabled not to deviate from the principal direction, the situation of frequent and obvious deviation of the marked and identified lap line caused by noise interference in the point cloud method can be avoided and thus the robustness of the algorithm can be enhanced. Meanwhile, a line adding algorithm is also provided by the algorithm by aiming at the lap line which is not marked and identified so that each connector image is ensured to have correct and complete lap line marking and identifying. The experiment is performed by using the point cloud method and the algorithm respectively, and the experiment result proves that the marked and identified lap line of the algorithm is neater and more beautiful, and the identifying accuracy of the belt connector lap number can be enhanced.
Description
Technical field
The present invention relates to steel cable core conveying belt joint overlap joint wire tag method, specially steel cable core conveying belt joint is taken
Connect mark and recognition methods.
Background technology
Steel cable core conveying belt is to be spaced a distance arrangement by many soft seizing wires, is had by with steel wire rope
The sizing material of good adhesive property is bonded.With intensity it is high, extensibility is small, fatigue durability good, long service life, belt wheel fitted
The features such as Ying Xingqiang, groove forming character are good, compared with other kinds of transmission belt, in the case of the strong identical of band, Steel cord is defeated
The thickness for sending band is also minimum.The need for difference in practical application, it is divided into the conveying of tear-proof shaped steel wire wire rope core again
Band, high wearable steel cable core conveying belt and nonflammable steel cable core conveying belt.In the industrial production, steel cable core conveying belt
Length regards application scenario, hundreds of meters at least, at most several kms, it is contemplated that actual shipment, production difficulty and market need
Situations such as asking, ordinary circumstance lower conveyer belt is formed with 100m-300m multistages overlap joint.The overlapping mode of steel cable core conveying belt joint
Having one-level, two grades and three-level, this is several, banding pattern, traffic intensity, the diameter of inner wire wire rope core, radical according to conveyer belt and
The factors such as the distance between steel rope core size determine, wherein firsts and seconds overlap joint is mainly used in that traffic intensity is small, steel
The arrangement of cord core is more loose and the small conveyer belt of diameter, three-level overlapping mode suitable for it is high, intensity conveyer belt, Fig. 1, Fig. 2
Be respectively overlapping splice mode with Fig. 3 it is one-level, the schematic diagram of two grades and three-level.
Due to steel cable core conveying belt have good impact resistance, tensile strength it is big, using extend it is small, bear overload capacity
By force, the advantage such as stable working reliability, by widespread adoption in all trades and professions such as colliery, building materials, logistics, metallurgy.Conveyer belt
As " main artery " of Enterprise Transportation, the economic benefit of enterprise is will dominate, rationally using artificial work is then reduced, improve production
Efficiency, if it cannot be guaranteed that its safe operation, is likely to result in serious consequence.Ruptured belt accident is not often caused by having
Small defect and on-call maintenance are found in time, and small defect becomes what big defect was caused.For producing coal province, coal mining enterprise
It is numerous, once transporter occurs the accident of belt lacings fracture, cause transportation system to go wrong, then the overall operation of enterprise
Will interrupt.
Powerful Steel cord belt conveyer is in the case of operating at full capacity, once the junction portion of conveyer belt occurs
Problem, if belt break protection device is not installed, or the effect that the belt break protection device installed is not brought into normal play, will be on the way
Ribbon conveyer frame bring destruction, cause roller rack to be broken, ground loosens and the circuit and pipeline quilt laid on the way
Destruction, causes the accidents such as whole circuit paralysis or fire disaster when serious；Simultaneously because transport thing is generally the matter such as mineral products, metal
Amount larger object, may produce longitudinal tear or the excessive equivalent damage of transverse curvature, and transport thing to exist to conveyer belt on the way
Conveyer belt destroys the top layer of belt due to irregularly being slided caused by high-speed cruising, even with the steel rope core of coating protection
Belt is also can hardly be avoided, and in transportation system, the cost of steel rope core belt about accounts for the 50% of holistic cost, fixed point maintenance
It is very necessary；If transport thing is slipped to the lower section of ribbon conveyer regularly, the machine for being placed in conveyer lower end can be also destroyed
Electric system equipment, such as rolling stand, detection means and take-up device etc., or even the personal safety of coal miner is threatened, sternly
There is death by accident during weight.If thinking to recover operation of going into operation again after accident, in addition it is also necessary to which substantial amounts of manpower and materials carry out field maintenance,
Not only to allow colliery to stop production, serious economic loss is brought to enterprise, also create substantial amounts of personnel and treat work, produce resource wave
Take, consequence is very serious.
Implement to inspect periodically the requirement that can not meet enterprise by traditional manual detection method, it is necessary to technology is removed from office
Newly, " real-time " on-line measuring device is developed, and generates joint and defect damage report, belt is overhauled with this in time, to ensure to set
Received shipment row safety.Mark and identify that steel core belt lacings overlap joint is the basis for generating joint and defect damage report exactly,
Therefore the accurate identification of overlapping splice is extremely important.Fig. 4 is the image of the joint location for detecting, as illustrated, defeated
Belt lacing lap-joint is sent it is observed that the small white space of two rows, therefore may determine that this joint uses three-level and takes
Connect mode.According to this feature for the conveying band joint image for detecting, can be by extracting the angle point of joint view data, root
According to the tendency of angle point, the overlap joint line of conveying band joint is marked.By the steel cable core conveying belt of the realizations such as Liu Zhendong, Wang Xiaokai
On-line detecting system, under the joint picture storage that will identify that to disk specified path.Conveying band joint picture is read, is utilized
Harris operators are calculated view data, mark the angle point in joint picture, three wire of the sparklet in such as Fig. 5
Point cloud cluster cluster, then carries out linear fit using least square method, overlap joint line is marked, as shown in fig. 6, this method is referred to as
Point cloud method.
The problem that above-mentioned cloud method is present is：Noise jamming causes that the overlap joint line for identifying deviates considerably from correct position,
The robustness of algorithm is not enough.The mark of overlapping splice line is influenceed larger by the threshold value of Harris Corner Detection Algorithms.The threshold value
Set by experience, the size of threshold value directly influences the number of Harris angle points in joint image, so that directly shadow
Ring to the correctness for fitting straight line (whether the overlap joint line for identifying is correct).If it is too big that threshold value sets so that Harris angles
Point number is reduced, overlap joint line or cannot fit overlap joint line that fitting makes mistake；If it is too small that threshold value sets so that Harris
Angle point number increases so that the angle point for being not belonging to overlap in the range of line is also revealed, and causes to overlap the wrong identification of line.Such as
Shown in Fig. 7 and Fig. 8, Fig. 7 is the too small overlap joint line identification image of threshold value, and Fig. 8 is the too big overlap joint line identification image of threshold value.
The content of the invention
The present invention is to be set by experience, fit straight line so as to directly influencing to solve threshold value in a cloud method
The problem of correctness, there is provided steel cable core conveying belt joint overlap joint mark and recognition methods.
The present invention adopts the following technical scheme that realization：Steel cable core conveying belt joint overlap joint mark and identification side
Method, comprises the following steps：
(1) steel cable core conveying belt joint image is read in from specified path；
(2) Gaussian Blur, sharpening, filtering operation are carried out to the steel cable core conveying belt joint view data read in, is removed
Picture noise；
(3) view data is calculated using the Harris Corner Detection Algorithms after improvement, in marking joint image
Angle point；The step of Harris Corner Detection Algorithms after improvement is：
A () carries out calculating and tries to achieve horizontal difference operator I to each pixel in imagexWith vertical difference operator Iy, and then
Try to achieve four values of element in matrix m：Wherein Ix 2=Ix*Ix, Iy 2=Iy*Iy；
B () carries out Gaussian smoothing filter to four elements in matrix m, obtain new matrix m；
C () calculates the angle point amount cim corresponding to each pixel according to new matrix m,
Obtain angle point moment matrix；
D () is in angle point moment matrix, while meeting " cim is the local maximum in certain neighborhood " and " cim is more than threshold value "
Pixel corresponding to the angle point amount cim of the two conditions is considered as angle point；
(4) angle point in image is linked to be straight line using the Hough transformation function in opencv storehouses；
(5) slope of all straight lines is counted, the most slope of number of times is then will appear from and is set to main slope, preserved based on slope
The straight line of slope；
(6) straight line in statistics joint image at coboundary：It is located above in two straight lines at standard picture coboundary
Straight line be the boundary line of joint and conveyer belt, the straight line being located below is overlap joint line.If two, then writing down needs mark
The overlap joint line for going out；If less than two, using line algorithm completion is mended, the overlap joint line for needing to identify then is write down again；
(7) straight line in statistics joint image at lower boundary：It is located below in two straight lines at standard picture lower boundary
Straight line be the boundary line of joint and conveyer belt, straight line located above is overlap joint line.If two, then writing down needs mark
The overlap joint line for going out；If less than two, using line algorithm completion is mended, the overlap joint line for needing to identify then is write down again；
(8) the overlap joint line of statistics joint image center section：The overlap joint line of standard picture center section is that joint image is white
Two lines in color gap topmost and bottom.If two, then the overlap joint line for needing to identify is write down；If only one
Bar overlaps line, it is necessary to by another overlap joint line of line algorithm completion is mended, then writing down two overlap joint lines is used to identify；
(9) the overlapping splice line for having identified is shown.If not arriving last joint image, step is continued back at
(1)；If being last picture, terminate.
Benefit line algorithm in above-mentioned steel cable core conveying belt joint overlap joint mark and recognition methods is as follows：Calculate existing straight line
The maximum maxY and minimum value minY of ordinate, the angle point in the range of statistics (minY-30, minY) and (maxY, maxY+30)
Number n and the vertical distance of point to straight line, calculate average distance d, the slope of positive and negative, the existing straight line according to average distance d and
The another straight line of intercept completion.
The joint caption effect of going out is cut so that certain colliery is actual, there are 31 joints in the coal mine leather belt in fact, by the present invention
The overlap joint knot fruit that the overlap joint knot fruit and point cloud method that method is identified identify contrasts, as shown in Fig. 9-Figure 39.
The overlapping splice line identified using the inventive method is more nearly theoretical overlap joint line, and more attractive in appearance；Make
The overlap joint line identified with point Yun Fasuo is not very accurate, it is impossible to visually depict overlapping splice, and concrete analysis contrast is as follows：
(1) due to being overlapped in the middle of joint, gap is smaller, and Harris angle points compare concentration, the straight line that point of use cloud method is detected
Due to error it may happen that intersecting situation, as shown in Figure 11, Figure 14, Figure 28, Figure 33, Figure 34；And use the inventive method
What is identified is two up-and-down boundary lines of intermediate space, and other lines are omitted, and can visually depict the white of lap-joint
Gap；
(2) when overlapping line at point of use cloud method mark joint up-and-down boundary, due to boundary have much with overlap joint line not phase
The angle point of pass, can make the overlap joint line for fitting deviate correct position, as shown in Figure 11, Figure 13, Figure 33；And use present invention side
Method can identify two straight lines in boundary, and the inside cord really as overlap joint line is identified to correct position；
(3) point of use cloud method mark overlapping splice line when, if joint existing defects, will detect that largely with overlap joint line
Unrelated Harris angle points, the overlap joint line that fitting makes mistake, as shown in figure 27；And when using the inventive method to identify overlap joint line,
Other lines outside main slope can all be filtered out, so receiving defective effect very little, remain to identify correct overlap joint line；
(4) during point of use cloud method mark overlapping splice line, as described in front, choosing a suitable threshold value can not be complete
Meet all joints, can only be adapted to most joint, the overlap joint line of remaining joint just occurs mistake overlap joint line or lacks
Line is overlapped less, as shown in figure 15, because threshold value is larger, the Harris angle point numbers for detecting are less, fit a small amount of incomplete
Correct overlap joint line, it is impossible to correctly identify overlapping splice, if reduce threshold value can make to be detected in other joint pictures again
Harris angle point numbers increase, and are fitted the overlap joint line that makes mistake；And use the inventive method identify overlap joint line when threshold value is less than normal will not
The mark of influence overlap joint line, it can remove other straight lines outside main slope, the overlap joint line of retention criteria.
Brief description of the drawings
Fig. 1 is that joint is the schematic diagram of one-level overlapping mode.
Fig. 2 is two grades of schematic diagrames of overlapping mode for joint.
Fig. 3 is that joint is the schematic diagram of three-level overlapping mode.
Fig. 4 is the detection image of conveying band joint.
Fig. 5 is joint angle point schematic diagram.
Fig. 6 is the joint schematic diagram after mark overlap joint line.
Fig. 7 is the too small overlap joint line identification image of threshold value.
Fig. 8 is the too big overlap joint line identification image of threshold value.
Fig. 9 is the inventive method overlap joint wire tag result and point cloud method overlap joint wire tag result the first width compares figure.
Figure 10 is the inventive method overlap joint wire tag result and point cloud method overlap joint wire tag result the second width compares figure.
Figure 11 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 3rd.
Figure 12 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 4th.
Figure 13 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 5th.
Figure 14 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 6th.
Figure 15 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 7th.
Figure 16 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 8th.
Figure 17 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 9th.
Figure 18 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the tenth.
Figure 19 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 11st.
Figure 20 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 12nd.
Figure 21 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 13rd.
Figure 22 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 14th.
Figure 23 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 15th.
Figure 24 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 16th.
Figure 25 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 17th.
Figure 26 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 18th.
Figure 27 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 19th.
Figure 28 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 20th.
Figure 29 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 21st.
Figure 30 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 22nd.
Figure 31 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 23rd.
Figure 32 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 24th.
Figure 33 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 25th.
Figure 34 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 26th.
Figure 35 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 27th.
Figure 36 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 28th.
Figure 37 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 29th.
Figure 38 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 30th.
Figure 39 is the inventive method overlap joint wire tag result and the width compares figure of point cloud method overlap joint wire tag result the 31st.
Specific embodiment
Steel cable core conveying belt joint overlap joint mark and recognition methods, comprise the following steps：
(1) steel cable core conveying belt joint image is read in from specified path；
(2) Gaussian Blur, sharpening, filtering operation are carried out to the steel cable core conveying belt joint view data read in, is removed
Picture noise；
(3) view data is calculated using the Harris Corner Detection Algorithms after improvement, in marking joint image
Angle point, be the step of Harris Corner Detection Algorithms after improvement：
A () carries out calculating and tries to achieve horizontal difference operator I to each pixel in imagexWith vertical difference operator Iy, and then
Try to achieve four values of element in matrix m：Wherein Ix 2=Ix*Ix, Iy 2=Iy*Iy；
B () carries out Gaussian smoothing filter to four elements in matrix m, obtain new matrix m；
C () calculates the angle point amount cim corresponding to each pixel according to new matrix m,
Obtain angle point moment matrix；
D () is in angle point moment matrix, while meeting " cim is the local maximum in certain neighborhood " and " cim is more than threshold value "
Pixel corresponding to the angle point amount cim of the two conditions is considered as angle point；
(4) angle point in image is linked to be straight line using the Hough transformation function in opencv storehouses；
(5) slope of all straight lines is counted, the most slope of number of times is then will appear from and is set to main slope, preserved based on slope
The straight line of slope；
(6) straight line at the coboundary in statistical picture.If two, then the overlap joint line for needing to identify is write down, if
Less than two, using line algorithm completion is mended, the overlap joint line for needing to identify then is write down again；
(7) straight line at the lower boundary in statistical picture.If two, then the overlap joint line for needing to identify is write down, if
Less than two, using line algorithm completion is mended, the overlap joint line for needing to identify then is write down again；
(8) the overlap joint line of center section is counted.If two, then the overlap joint line for needing to identify is write down；If only
One overlap joint line is, it is necessary to by another overlap joint line of line algorithm completion is mended, then writing down two overlap joint lines is used to identify；
(9) the overlapping splice line for having identified is shown；If not arriving last joint image, step is continued back at
(1)；If being last picture, terminate.
Benefit line algorithm in above-mentioned steel cable core conveying belt joint overlap joint mark and recognition methods is as follows：Calculate existing straight line
The maximum maxY and minimum value minY of y=kx+b ordinates, statistics (minY-30, minY) and (maxY, maxY+30) scope
The vertical distance (i.e. the difference of ordinate) of interior Harris angle point number n and angle point to straight line, if angle point (x0,y0) and straight line y
The vertical distance of=kx+b is calculated as follows：di=(kx0+b)-y0, calculating average distance d isAccording to average distance d
Positive and negative, existing straight line another overlap joint line of slope k and intercept b completions.
Claims (2)
1. steel cable core conveying belt joint overlap joint mark and recognition methods, it is characterised in that comprise the following steps：
(1) steel cable core conveying belt joint image is read in from specified path；
(2) Gaussian Blur, sharpening, filtering operation are carried out to the steel cable core conveying belt joint view data read in, removes image
Noise；
(3) view data is calculated using the Harris Corner Detection Algorithms after improvement, marks the angle in joint image
The step of point, Harris Corner Detection Algorithms after improvement is：
A () carries out calculating and tries to achieve horizontal difference operator I to each pixel in imagexWith vertical difference operator Iy, and then try to achieve
Four values of element in matrix m：Wherein Ix 2=Ix*Ix, Iy 2=Iy*Iy；
B () carries out Gaussian smoothing filter to four elements in matrix m, obtain new matrix m；
C () calculates the angle point amount cim corresponding to each pixel according to new matrix m,Obtain angle
Point moment matrix；
(d) in angle point moment matrix, while meet " cim is the local maximum in certain neighborhood " and " cim more than threshold value " this two
Pixel corresponding to the angle point amount cim of individual condition is considered as angle point；
(4) angle point in image is linked to be straight line using the Hough transformation function in opencv storehouses；
(5) slope of all straight lines is counted, the most slope of number of times is then will appear from and is set to main slope, preservation slope is main slope
Straight line；
(6) straight line at the coboundary in statistical picture, if two, then writes down the overlap joint line for needing to identify；If not enough
Two, using line algorithm completion is mended, the overlap joint line for needing to identify then is write down again；
(7) straight line at the lower boundary in statistical picture, if two, then writes down the overlap joint line for needing to identify；If not enough
Two, using line algorithm completion is mended, the overlap joint line for needing to identify then is write down again；
(8) the overlap joint line of center section is counted, if two, then the overlap joint line for needing to identify is write down；If only one
Overlap joint line is, it is necessary to by another overlap joint line of line algorithm completion is mended, then writing down two overlap joint lines is used to identify；
(9) the overlapping splice line for having identified is shown；If not arriving last joint image, step (1) is continued back at；
If being last picture, terminate.
2. steel cable core conveying belt joint overlap joint mark according to claim 1 and recognition methods, it is characterised in that mend line
The step of algorithm is：Calculate the maximum maxY and minimum value minY of existing straight line ordinate, statistics (minY-30, minY) and
Angle point number n and the vertical distance of point to straight line in the range of (maxY, maxY+30), calculate average distance d, according to average departure
From the slope and the another straight line of intercept completion of positive and negative, the existing straight line of d.
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| CN108470333A (en) * | 2018-03-07 | 2018-08-31 | 天津工业大学 | A kind of method of X-ray steel cable core conveying belt joint optical sieving and splicing |
| CN111476804A (en) * | 2020-05-15 | 2020-07-31 | 天地（常州）自动化股份有限公司 | Method, device and equipment for efficiently segmenting carrier roller image and storage medium |
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| CN108470333A (en) * | 2018-03-07 | 2018-08-31 | 天津工业大学 | A kind of method of X-ray steel cable core conveying belt joint optical sieving and splicing |
| CN108470333B (en) * | 2018-03-07 | 2021-10-08 | 天津工业大学 | Method for screening and splicing X-ray steel wire rope core conveyor belt joint images |
| CN108408326A (en) * | 2018-03-30 | 2018-08-17 | 江苏凯嘉橡胶科技股份有限公司 | A kind of flexible energy-saving super abrasive steel cable core conveying belt joint |
| CN111476804A (en) * | 2020-05-15 | 2020-07-31 | 天地（常州）自动化股份有限公司 | Method, device and equipment for efficiently segmenting carrier roller image and storage medium |
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