CN106706238B - Steel cable core conveying belt joint overlap joint label and recognition methods - Google Patents
Steel cable core conveying belt joint overlap joint label and recognition methods Download PDFInfo
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- CN106706238B CN106706238B CN201611032137.0A CN201611032137A CN106706238B CN 106706238 B CN106706238 B CN 106706238B CN 201611032137 A CN201611032137 A CN 201611032137A CN 106706238 B CN106706238 B CN 106706238B
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
Cloud method there are aiming at the problem that, this paper presents a kind of steel cable core conveying belt joints using improved Harris Corner Detection and Hough transform detection straight line to overlap line marking algorithm, the algorithm determines principal direction using rectilinear direction histogram method, the overlap joint line identified can be made not deviate by principal direction, the case where overlap joint line that point Yun Fazhong is identified since noise jamming frequently occurs deviates considerably from is avoided, to improve the robustness of algorithm.Meanwhile the algorithm is directed to the overlap joint line for failing to identify and additionally provides benefit line algorithm, it is ensured that each width connector image can have correct complete overlap joint line mark.Point of use cloud method and algorithm proposed in this paper are tested respectively, the experiment show overlap joint line more neat appearance of the mark of the algorithm, improve the precision of belt lacings overlap joint number identification.
Description
Technical field
The present invention relates to steel cable core conveying belt joints to overlap wire tag method, and specially steel cable core conveying belt joint is taken
Connect label and recognition methods.
Background technique
Steel cable core conveying belt is to be spaced a distance arrangement by the seizing wire of many softnesses, by having with wirerope
The sizing material of good adhesive property is bonded.With intensity is high, extensibility is small, fatigue durability is good, long service life, fits to belt wheel
The features such as Ying Xingqiang, groove forming character are good, compared with other kinds of transmission belt, in the strong identical situation of band, Steel cord is defeated
It is also the smallest for sending the thickness of band.According to needs different 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 view application is differed, and few then several hundred rice, more then several kms differ, it is contemplated that actual shipment, production difficulty and market need
Situations such as asking, ordinary circumstance lower conveyer belt are formed by overlapping with 100m-300m multistage.The overlapping mode of steel cable core conveying belt joint
Have level-one, second level and three-level these types, according to the banding pattern of conveyer belt, traffic intensity, the diameter of inner wire wire rope core, radical and
The factors such as the distance between steel rope core size determine, wherein firsts and seconds overlap joint is mainly used for that traffic intensity is small, steel
The conveyer belt that the arrangement of cord core is more loose and diameter is small, three-level overlapping mode be suitable for height, intensity conveyer belt, Fig. 1, Fig. 2
It is the schematic diagram that overlapping splice mode is level-one, second level and three-level respectively with Fig. 3.
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 advantages such as stable working is reliable, by widespread adoption in all trades and professions such as coal mine, building materials, logistics, metallurgy.Conveyer belt
As " main artery " of Enterprise Transportation, the economic benefit of enterprise 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.Conveyer belt fracture accident is not often caused by having
Small defect and on-call maintenance are found in time, caused by small defect becomes big defect.For producing coal province, coal mining enterprise
It is numerous, once the accident of belt lacings fracture occurs for transporter, cause transportation system to go wrong, then the overall operation of enterprise
It will interrupt.
Powerful Steel cord belt conveyer is when operating at full capacity, once the junction portion of conveyer belt occurs
Problem will be on the way if not installing belt break protection device, or the effect that the belt break protection device installed is not brought into normal play
Belt conveyor rack cause damage, cause roller rack to be broken, ground loosens and the route and pipeline quilt that are laid on the way
It destroys, the accidents such as entire circuit paralysis or fire disaster is caused when serious；Simultaneously because transport object is generally the matter such as mineral products, metal
Larger object is measured, longitudinal tear or the excessive equivalent damage of transverse curvature may be generated to conveyer belt on the way, and transport object exists
Conveyer belt is irregularly slided as caused by high-speed cruising, destroys the surface layer of belt, 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 overall cost, fixed point maintenance
It is very necessary；If transport object is slipped to the lower section of belt conveyor regularly, the machine for being placed in conveyer lower end can be also destroyed
Electric system equipment, such as rolling stand, detection device and tension device etc., or even the personal safety of coal miner is threatened, sternly
Death by accident occurs when weight.If thinking to restore operation of going into operation again after accident, it is also necessary to a large amount of manpower and material resources carry out field maintenance,
It not only to allow coal mine to stop production, bring serious economic loss to enterprise, also create a large amount of personnel and wait for work, generate resource wave
Take, consequence is very serious.
Implement to inspect periodically the requirement for being no longer satisfied enterprise by traditional artificial detection method, technology is needed to remove from office
Newly, " real-time " on-line measuring device is developed, and generates connector and defect damage report, belt is overhauled in time with this, to guarantee to set
Standby operational safety.Accurately mark and identify that steel core belt lacings overlap joint is the basis for generating connector and defect damage report,
Therefore the accurate identification of overlapping splice is extremely important.Fig. 4 is the image of the joint location detected, as shown, defeated
It send belt lacing lap-joint to be observed that the small white space of two rows, therefore may determine that this connector is taken using three-level
Connect mode.According to this feature of the conveying band joint image detected, the angle point of extraction connector image data, root can be passed through
According to the tendency of angle point, the overlap joint line of conveying band joint is marked.Pass through the steel cable core conveying belt of the realizations such as Liu Zhendong, Wang Xiaokai
On-line detecting system, under the connector picture storage to disk specified path that will identify that.Conveying band joint picture is read, is utilized
Harris operator calculates image data, marks the angle point in connector picture, such as three threadiness of the sparklet in 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.
Above-mentioned cloud method the problem is that: noise jamming makes the overlap joint line identified deviate considerably from correct position,
The robustness of algorithm is insufficient.The mark of overlapping splice line is affected by the threshold value of Harris Corner Detection Algorithm.The threshold value
It is to be set by experience, the size of threshold value directly influences the number of Harris angle point in connector image, thus direct shadow
It rings to the correctness for fitting straight line (whether the overlap joint line identified is correct).If threshold value is set too big, so that the angle Harris
Point number is reduced, and is fitted the overlap joint line to make mistake or can not be fitted overlap joint line；If threshold value is set too small, so that Harris
Angle point number increases, so that the angle point for being not belonging to take in wire bound is also revealed, causes the wrong identification of overlap joint line.Such as
Shown in Fig. 7 and Fig. 8, Fig. 7 is that the too small overlap joint line of threshold value identifies image, and Fig. 8 is that the too big overlap joint line of threshold value identifies image.
Summary of the invention
The present invention is to be set by experience, fit straight line to directly influencing to solve threshold value in a cloud method
The problem of correctness, provides steel cable core conveying belt joint overlap joint label and recognition methods.
The present invention adopts the following technical scheme that realization: steel cable core conveying belt joint overlap joint label and identification side
Method, comprising the following steps:
(1) steel cable core conveying belt joint image is read in from specified path；
(2) Gaussian Blur, sharpening, filtering operation, removal are carried out to the steel cable core conveying belt joint image data of reading
Picture noise；
(3) image data is calculated using improved Harris Corner Detection Algorithm, is marked in connector image
Angle point；The step of improved Harris Corner Detection Algorithm are as follows:
(a) each pixel in image calculate and acquire horizontal difference operator IxWith vertical difference operator Iy, in turn
Acquire the value of four elements in matrix m:Wherein Ix 2=Ix*Ix, Iy 2=Iy*Iy；
(b) Gaussian smoothing filter is carried out to four elements in matrix m, obtains new matrix m；
(c) the angle point amount cim corresponding to each pixel is calculated according to new matrix m,
Obtain angle point moment matrix；
(d) in angle point moment matrix, while meeting " cim is the local maximum in certain neighborhood " and " cim is greater 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 the library opencv；
(5) slope for counting all straight lines, is then set to main slope for the most slope of frequency of occurrence, saves based on slope
The straight line of slope；
(6) straight line in connector image at coboundary is counted: located above in two straight lines at standard picture coboundary
Straight line be connector and conveyer belt boundary line, the straight line being located below be overlap joint line.If there is two, then writes down and need to identify
Overlap joint line out；If, using the completion of line algorithm is mended, then writing down the overlap joint line for needing to identify again less than two；
(7) it counts the straight line in connector image at lower boundary: being located below in two straight lines at standard picture lower boundary
Straight line be connector and conveyer belt boundary line, straight line located above be overlap joint line.If there is two, then writes down and need to identify
Overlap joint line out；If, using the completion of line algorithm is mended, then writing down the overlap joint line for needing to identify again less than two；
(8) count the overlap joint line of connector image middle section: the overlap joint line of standard picture middle section is that connector image is white
The top and two lines bottom in color gap.If there is two, then the overlap joint line for needing to identify is write down；If only one
Item overlaps line, needs then to write down two overlap joint lines for identifying by another overlap joint line of line algorithm completion is mended；
(9) the overlapping splice line identified is shown.If not arriving a last connector 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 label and recognition methods is as follows: calculating existing straight line
The maximum value maxY and minimum value minY of ordinate, statistics (minY-30, minY) and the angle point in (maxY, maxY+30) range
Number n and point arrive the vertical distance of straight line, calculate average distance d, according to the slope of positive and negative, the existing straight line of average distance d and
The another straight line of intercept completion.
The connector caption effect of going out is cut so that certain coal mine is practical, there are 31 connectors in fact in the coal mine leather belt, it will be of the invention
The overlap joint knot fruit that the overlap joint knot fruit that method identifies identifies with point cloud method contrasts, as shown in Fig. 9-Figure 39.
The overlapping splice line identified using the method for the present invention is more nearly theoretical overlap joint line, and more beautiful；Make
It is not that very accurately, cannot visually depict overlapping splice with the overlap joint line that point Yun Fasuo is identified, concrete analysis comparison is as follows:
(1) due to overlapping among connector, gap is smaller, and Harris angle point compares concentration, the straight line that point of use cloud method detects
Since error may be there is a situation where intersecting, as shown in Figure 11, Figure 14, Figure 28, Figure 33, Figure 34；And use the method for the present invention
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 connector 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 fitted 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 real inside cord as overlap joint line is identified to correct position；
(3) point of use cloud method mark overlapping splice line when, if connector existing defects, will detect that largely with overlap joint line
Unrelated Harris angle point is fitted the overlap joint line to make mistake, as shown in figure 27；And when using the method for the present invention mark overlap joint line,
Other lines except main slope can all be filtered out, so being remained to identify correctly overlap joint line by defective effect very little；
(4) when point of use cloud method mark overlapping splice line, as described in front, choosing a suitable threshold value can not be complete
Meet all connectors, can only be suitble to most connector, the overlap joint line of remaining connector just will appear mistake overlap joint line or lack
Line is overlapped less, and as shown in figure 15, since threshold value is larger, the Harris angle point number detected is less, fits a small amount of incomplete
Correctly overlap joint line, can not correctly identify overlapping splice, if reducing threshold value can make to detect in other connector pictures again
Harris angle point number increases, and fitting, which makes mistake, overlaps line；And use the method for the present invention mark overlap joint line when threshold value is less than normal will not
The mark of overlap joint line is influenced, it can remove other straight lines except main slope, the overlap joint line of retention criteria.
Detailed description of the invention
Fig. 1 is the schematic diagram that connector is level-one overlapping mode.
Fig. 2 is the schematic diagram that connector is second level overlapping mode.
Fig. 3 is the schematic diagram that connector is three-level overlapping mode.
Fig. 4 is the detection image of conveying band joint.
Fig. 5 is connector angle point schematic diagram.
Fig. 6 is the connector schematic diagram after label overlap joint line.
Fig. 7 is that the too small overlap joint line of threshold value identifies image.
Fig. 8 is that the too big overlap joint line of threshold value identifies image.
Fig. 9 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the first width of wire tag result comparative diagram.
Figure 10 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the second width of wire tag result comparative diagram.
Figure 11 is that the method for the present invention overlaps wire tag result and point cloud method overlaps wire tag result third width comparative diagram.
Figure 12 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 4th width comparative diagram of wire tag result.
Figure 13 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 5th width comparative diagram of wire tag result.
Figure 14 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 6th width comparative diagram of wire tag result.
Figure 15 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 7th width comparative diagram of wire tag result.
Figure 16 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 8th width comparative diagram of wire tag result.
Figure 17 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 9th width comparative diagram of wire tag result.
Figure 18 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the tenth width comparative diagram of wire tag result.
Figure 19 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 11st width comparative diagram of wire tag result.
Figure 20 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 12nd width comparative diagram of wire tag result.
Figure 21 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 13rd width comparative diagram of wire tag result.
Figure 22 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 14th width comparative diagram of wire tag result.
Figure 23 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 15th width comparative diagram of wire tag result.
Figure 24 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 16th width comparative diagram of wire tag result.
Figure 25 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 17th width comparative diagram of wire tag result.
Figure 26 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 18th width comparative diagram of wire tag result.
Figure 27 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 19th width comparative diagram of wire tag result.
Figure 28 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 20th width comparative diagram of wire tag result.
Figure 29 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 21st width comparative diagram of wire tag result.
Figure 30 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 22nd width comparative diagram of wire tag result.
Figure 31 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 23rd width comparative diagram of wire tag result.
Figure 32 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 24th width comparative diagram of wire tag result.
Figure 33 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 25th width comparative diagram of wire tag result.
Figure 34 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 26th width comparative diagram of wire tag result.
Figure 35 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 27th width comparative diagram of wire tag result.
Figure 36 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 28th width comparative diagram of wire tag result.
Figure 37 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 29th width comparative diagram of wire tag result.
Figure 38 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 30th width comparative diagram of wire tag result.
Figure 39 is that the method for the present invention overlaps wire tag result and point cloud method overlaps the 31st width comparative diagram of wire tag result.
Specific embodiment
Steel cable core conveying belt joint overlap joint label and recognition methods, comprising the following steps:
(1) steel cable core conveying belt joint image is read in from specified path；
(2) Gaussian Blur, sharpening, filtering operation, removal are carried out to the steel cable core conveying belt joint image data of reading
Picture noise；
(3) image data is calculated using improved Harris Corner Detection Algorithm, is marked in connector image
Angle point, the step of improved Harris Corner Detection Algorithm are as follows:
(a) each pixel in image calculate and acquire horizontal difference operator IxWith vertical difference operator Iy, in turn
Acquire the value of four elements in matrix m:Wherein Ix 2=Ix*Ix, Iy 2=Iy*Iy；
(b) Gaussian smoothing filter is carried out to four elements in matrix m, obtains new matrix m；
(c) the angle point amount cim corresponding to each pixel is calculated according to new matrix m,
Obtain angle point moment matrix；
(d) in angle point moment matrix, while meeting " cim is the local maximum in certain neighborhood " and " cim is greater 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 the library opencv；
(5) slope for counting all straight lines, is then set to main slope for the most slope of frequency of occurrence, saves based on slope
The straight line of slope；
(6) straight line at the coboundary in statistical picture.If there is two, then the overlap joint line for needing to identify is write down, if
Less than two, using the completion of line algorithm 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 there is two, then the overlap joint line for needing to identify is write down, if
Less than two, using the completion of line algorithm is mended, the overlap joint line for needing to identify then is write down again；
(8) the overlap joint line of middle section is counted.If there is two, then the overlap joint line for needing to identify is write down；If only
One overlap joint line needs then to write down two overlap joint lines for identifying by another overlap joint line of line algorithm completion is mended；
(9) the overlapping splice line identified is shown；If not arriving a last connector 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 label and recognition methods is as follows: calculating existing straight line
The maximum value maxY and minimum value minY of y=kx+b ordinate, statistics (minY-30, minY) and (maxY, maxY+30) range
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 calculates 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 completion.
Claims (1)
1. steel cable core conveying belt joint overlap joint label and recognition methods, it is characterised in that the following steps are included:
(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 image data of reading, removes image
Noise；
(3) image data is calculated using improved Harris Corner Detection Algorithm, marks the angle in connector image
The step of point, improved Harris Corner Detection Algorithm are as follows:
(a) each pixel of image calculate and acquire horizontal difference operator IxWith vertical difference operator Iy, and then acquire matrix m
In four elements value:Wherein Ix 2=Ix*Ix, Iy 2=Iy*Iy；
(b) Gaussian smoothing filter is carried out to four elements of matrix m, obtains filtering matrix m；
(c) the angle point amount cim (R) for corresponding to each pixel in filtering matrix m is calculated,It obtains
Angle point moment matrix cim；
(d) in angle point moment matrix cim, while meeting " being the maximum in local neighborhood " and " being greater than threshold value " the two conditions
Angle point amount cim (R) corresponding to pixel be considered as angle point；
(4) angle point in image is linked to be straight line using the Hough transformation function in the library opencv；
(5) slope of all straight lines is counted, the most slope of frequency of occurrence is then set to main slope, preservation slope is main slope
Straight line；
(6) straight line at the coboundary in statistical picture then writes down the overlap joint line for needing to identify, if insufficient if there is two
Two, using the completion of line algorithm is mended, the overlap joint line for needing to identify then is write down again；The step of mending line algorithm are as follows: calculate existing
The maximum value maxY and minimum value minY of straight line ordinate are counted in (minY-30, minY) and (maxY, maxY+30) range
Angle point number n and point arrive the vertical distance of straight line, calculate average distance d, according to the oblique of positive and negative, the existing straight line of average distance d
Rate and the another straight line of intercept completion；
(7) straight line at the lower boundary in statistical picture then writes down the overlap joint line for needing to identify, if insufficient if there is two
Two, using the completion of line algorithm is mended, the overlap joint line for needing to identify then is write down again；
(8) the overlap joint line for counting middle section selects the top and two lines bottom in white space from a plurality of straight line
As overlap line；If there was only an overlap joint line in white space, need by benefit another overlap joint line of line algorithm completion；Then
Two overlap joint lines are write down for identifying；
(9) the overlapping splice line identified is shown；If not arriving a last connector image, step (1) is continued back at；
If being last picture, terminate.
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| 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 |
| CN111476804B (en) * | 2020-05-15 | 2024-02-20 | 天地（常州）自动化股份有限公司 | Efficient carrier roller image segmentation method, device, equipment and storage medium |
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