CN106934796A - High-speed belt conveyor rock slag video analytic system and method that rock tunnel(ling) machine is carried - Google Patents
High-speed belt conveyor rock slag video analytic system and method that rock tunnel(ling) machine is carried Download PDFInfo
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- CN106934796A CN106934796A CN201710081928.0A CN201710081928A CN106934796A CN 106934796 A CN106934796 A CN 106934796A CN 201710081928 A CN201710081928 A CN 201710081928A CN 106934796 A CN106934796 A CN 106934796A
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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
- G06T7/0004—Industrial image inspection
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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
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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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
- G06T2207/30164—Workpiece; Machine component
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Abstract
The high-speed belt conveyor rock slag video analytic system and method carried the invention discloses a kind of rock tunnel(ling) machine, system includes analysis module and the video camera being arranged above belt feeder, the image of rock slag on the cameras capture belt feeder, and it is transferred to analysis module, the analysis module extracts each of which frame, it is converted into gray-scale map, and gray-scale map is converted into binary map, the morphologic expanding processing of application image, get up with regional connectivity excessively broken in bianry image, determine that each independent communication region is rock slag, oriented bounding box is calculated according to independent communication region, determine rock slag shape.The shape Statistics data for providing rock slag that can be quantitative of the invention, allow rock tunnel(ling) machine driver to grasp high-speed belt conveyor rock slag situation data in real time.
Description
Technical field
The high-speed belt conveyor rock slag video analytic system and method carried the present invention relates to a kind of rock tunnel(ling) machine.
Background technology
Into after 21 century, the great base such as large quantities of Hydraulic and Hydro-Power Engineerings, Rail Highway traffic engineering, municipal subway engineering
Plinth engineering puts on construction schedule successively, has greatly facilitated the development of the underground engineerings such as tunnel, wherein in terms of municipal pipeline, I
State will build underground pipe gallery as one of 100 national large projects in " 13 " plan, our times various countries increasingly weigh
Depending on the exploitation of the underground space.For the exploitation of the underground space, being constructed because of rock tunnel(ling) machine has fast speed, Functionality, quality and appealing design, takes
The advantages of with low, construction safety, generally use in the world.However, in rock tunnel(ling) machine work progress, the situation of tool wear
Seriously, the expense of cutter changing accounts for operating expenses 1/3rd.Too early tool changing can cause money in rock tunnel(ling) machine work progress
Source wastes, and tool changing too late can cause cutter eccentric wear or come off, and cause the duration to postpone, and serious also occurs that accident.It is how real-time
Detection tool wear situation simultaneously changes cutter in time, is related to rock tunnel(ling) machine efficiency of construction, is also that rock tunnel(ling) machine was tunneled
Problem demanding prompt solution in journey.
Mainly there are oil pressure detection, peculiar smell detection, boring parameter currently used for the method for rock tunnel(ling) machine tool wear monitoring
Analyze and open a position inspection etc..Wherein, oil pressure detection method is limited by oil circuit quantity, because oil circuit is limited, can only be installed on one
Divide on cutter, it is impossible to detect the abrasion condition of all cutters, cannot also learn the specific wear extent of cutter.Peculiar smell detection can be sensitive
Ground report tool wear information, but this method is invalid to shield machine, is only applicable to TBM.Boring parameter analysis method was predicted
Journey is cumbersome, and practical application is difficult, and the degree of accuracy of prediction need to be investigated.Open a position inspection inefficiency, and danger coefficient is high,
It is likely to result in excavation face to cave in, serious meeting causes the injures and deaths of personnel.So the real-time hobboing cutter mill during tunneler construction
Detection is damaged, is a big technological difficulties of rock tunnel(ling) machine, be also that major scientific research institutions and manufacturer fall over each other one of problem of research.
Under the present art, the detection of rock tunnel(ling) machine hob abrasion is remained in following problem：(1) because hobboing cutter is direct
With rock face, cause directly observe hobboing cutter, need to carry out cutterhead or hobboing cutter more existing detection mode
The transformation mechanically and structurally gone up, Project Realization difficulty is big, and relatively costly；(2) cutter can only be qualitatively detected more than prior art
Abrasion condition, provides whether cutter has worn out, but is difficult to learn the specific wear extent of hobboing cutter；(3) in order to reach quantitative determination
Purpose, some new technologies use more complicated method, and wireless transport module the need for having causes the complexity of whole detecting system
Degree is high, difficult in maintenance.For above problem, the high-speed belt conveyor rock slag video that a kind of rock tunnel(ling) machine is carried is studied and proposed
Analysis system, for the Real_time quantitative detection for realizing hob abrasion degree in rock tunnel(ling) machine work progress provides a feasible way
Footpath.
The content of the invention
The present invention is in order to solve the above problems, it is proposed that the high-speed belt conveyor rock slag video point that a kind of rock tunnel(ling) machine is carried
Analysis system and method, the present invention realize the Real_time quantitative detection to hob abrasion degree in rock tunnel(ling) machine work progress.
To achieve these goals, the present invention is adopted the following technical scheme that：
The high-speed belt conveyor rock slag video analytic system that a kind of rock tunnel(ling) machine is carried, including analysis module and it is arranged at skin
With the video camera above machine, the image of rock slag on the cameras capture belt feeder, and analysis module is transferred to, the analysis mould
Block extracts each of which frame, is converted into gray-scale map, and gray-scale map is converted into binary map, and application image is morphologic swollen
Swollen processing method, gets up with regional connectivity excessively broken in bianry image, determines each independent communication region for rock slag, root
Oriented bounding box is calculated according to independent communication region, rock slag shape is determined.
Preferably, it is provided with protection mechanism outside the video camera.High-speed camera sensitive electron and optics are carried out
Water proof and dust proof is protected, and often has Tunnel wall to drip to solve rock tunnel(ling) machine construction environment, dust of constructing, and drop rock slag.It is described
Protection mechanism is preferably protective housing, and hull outside is provided with waterproof coating.
The protection mechanism front end is provided with the dust-proof guard of circle protrusion, to block the drop from hole wall and belt feeder
The interference to camera lens such as water, dust.The video camera is utilized and is bolted in the metallic walls above high-speed belt conveyor,
Meanwhile, protection device also entirely covers camera body, to protect the precise electronic component damage in video camera.
Certainly, the protection mechanism also can be replaced other forms, such as adds erosion shield, is provided with dust cover,
These simple replacements belong to those skilled in the art on concept of the invention it is conceivable that simple replacement, should belong to
Protection scope of the present invention.
Preferably, also including lighting device.To overcome tunnel to completely enclose, without natural lighting, the dark bar of illumination condition
Part.LED light device is placed in single protection device, with water proof and dust proof.
Method of work based on said system, comprises the following steps：
(1) for the rock slag video for collecting, each of which frame is extracted, coloured image is converted into gray-scale map, will
To gray-scale map be converted to binary map；
(2) to the bianry image for obtaining, the morphologic expanding processing of application image, with bianry image crush
Regional connectivity gets up, and makes the corresponding image-region of same rock slag be connection, and the image-region corresponding to different rock slags is not connect
Logical；
(3) image connectivity Region detection algorithms are used, all of independent communication region in bianry image is determined, each connection
Region is rock slag, and is ranked up by the pixel count that each region is included；
(4) to each connected region for obtaining, oriented bounding box is calculated, to reflect the shape information of rock slag, and records system
Meter.
In the step (1), coloured image, the specific method for being converted to gray-scale map is：
Gray=R × 0.299+G × 0.587+B × 0.114, (1)
In formula, R, G, B are respectively three kinds of color values of red, green, blue of certain pixel of coloured image, and Gray is the ash being converted into
Angle value.
In the step (1), gray-scale map is 1 more than the binary map respective pixel value of threshold value, is otherwise 0.
In the step (3), how much the pixel count that each independent communication region is included represents rock slag and shoots size.
In the step (4), oriented bounding box is a two-dimensional rectangle, the most narrow place of its width correspondence object, its length
The ratio at the widest part of correspondence object, the widest part and most narrow place, to reflect the shape information of rock slag.Common, ratio is more than
1.5, then rock slag is elongated strip；Close to 1, then rock slag is nahlock shape to ratio.
It is whether working properly to judge hobboing cutter by rock slag shape in the step (4).If rock slag is generally elongated strip,
Then hobboing cutter is working properly, weares and teares smaller, if rock slag is more into nahlock shape, hobboing cutter does not have normal work, there is abrasion condition.
In the step (4), the diameter and rock slag diameter histogram of the maximum rock slag of statistics, from 0 to maximum rock slag diameter
Length range be divided into multiple intervals, statistic diameters falls in each interval rock slag number, is set more than certain to shooting area
The rock slag of threshold value is divided into two classes, elongated strip and nahlock shape, and draws histogram.
Compared with prior art, beneficial effects of the present invention are：
High-speed belt conveyor rock slag video analysis method under the environment suitable for rock tunnel(ling) machine proposed by the present invention, realizes
The automated analysis of rock slag video, and can quantitative shape Statistics data for providing rock slag, make the rock tunnel(ling) machine driver can
To grasp high-speed belt conveyor rock slag situation data in real time.
The high-speed belt conveyor rock slag video analytic system that rock tunnel(ling) machine proposed by the present invention is carried, effectively solves existing
There is hob abrasion detection means to design and realize deficiency that is complicated and being difficult to quantitative determination hob abrasion situation.By to high-speed belt
The analytic statistics of machine rock slag shape, provides the degree of wear estimation of hobboing cutter, overcomes the difficult point of prior art, and simple and convenient.
Brief description of the drawings
The Figure of description for constituting the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrated for explaining the application, does not constitute the improper restriction to the application.
Fig. 1 is schematic diagram side view of the invention.
Fig. 2 is schematic diagram top view of the invention.
Fig. 3 design flow diagrams of the present invention.
Wherein：1st, 8 high-speed camera is represented, 2 represent LED light device, and 3 represent high-speed belt conveyor, and 4,6 represent high speed skin
Band, 5,7 represent rock slag.
Specific embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
It is noted that described further below is all exemplary, it is intended to provide further instruction to the application.Unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
Be also intended to include plural form, additionally, it should be understood that, when in this manual use term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As shown in figure 1, in rock tunnel(ling) machine work progress, high-speed belt conveyor 3 is operated and drives the superhigh speed of belt 4 one to transport
It is dynamic, rock slag 5 is transported to outside tunnel from cutterhead.High-speed camera 1 and its water proof and dust proof protection device are fixed using bolt
In metallic walls above belt, the camera lens of video camera is towards belt centre.Further, due in tunnel illumination it is dark,
In order to be able to the picture rich in detail for photographing rock slag on belt feeder be photographed on high-speed belt, it is necessary to be illuminated using LED light device 2
Region.
As shown in Fig. 2 with the construction of rock tunnel(ling) machine, cutterhead constantly cuts lower rock slag 7 from face, and rock slag is with skin
Tunnel is transported out with 6 operating.At the same time, high-speed camera 8 and LED light device are started, to the rock slag on belt feeder
High-speed capture is carried out, the clear video of rock slag is obtained.
Further, the video that high-speed camera is photographed transfers back to the meter in rock tunnel(ling) machine driver's cabin by data wire
On calculation machine.
Further, the computer vision analysis software that the present invention is developed is run, gets what is passed back by data wire
Rock slag video data, and extract single-frame images therein and processed.Because the degree of wear of hobboing cutter in tunneling process will not
Undergo mutation in a short time, so video analysis treatment need not all be carried out to each two field picture of high-speed camera.Only every
Individually extracting the first two field picture carries out the computer vision analysis of next step in the video that second obtains.
Further, in the computer vision analysis software that the present invention is developed, for the single frames rock slag figure for extracting
Picture, operation cromogram turns gray scale nomography, is converted to gray level image.
Further, for the gray-scale map obtained in previous step, operation gray-scale map turns two-value nomography, is converted to two-value
Image.
Further, for the bianry image obtained in previous step, adjusted at operation computer picture morphological dilations
Method, same rock slag in bianry image due to illumination, color reason and the broken region that is divided into, it is a complete rock slag to connect
Region.
Further, to the bianry image after Morphological scale-space, operation image connected region detection algorithm detects image
In each connected region be to be considered as a rock slag.
As shown in figure 3, comprising the following steps that：
For the rock slag video for collecting, each of which frame is extracted, single-frame images is processed for next step.By
The degree of wear of hobboing cutter will not in a short time occur big change in tunneling process, it is not necessary to using too high image sampling frequently
Rate, the frame rock slag image of extraction per second is analyzed.
Previous step is obtained coloured image using equation below, is converted to gray-scale map：
Gray=R × 0.299+G × 0.587+B × 0.114, (1)
In formula, R, G, B are respectively three kinds of color values of red, green, blue of certain pixel of coloured image, and Gray is the ash being converted into
Angle value.Each pixel to coloured image applies the formula, you can obtain corresponding gray-scale map.
Further, using equation below, the gray-scale map that previous step is obtained is converted to binary map：
In formula, Gray is the value of certain pixel of gray-scale map, and Binary is the value of respective pixel in the binary map being converted into.By
In illumination and color change, same rock slag may be divided into multiple disconnected regions, it is necessary to next step makes in binary map
Processed with morphological method.
For the bianry image for obtaining, the morphologic expanding processing of application image, with excessively broken in bianry image
Broken regional connectivity gets up, and makes the corresponding image-region of same rock slag be connection, and the image-region corresponding to different rock slags is
It is disconnected.
Further, using image connectivity Region detection algorithms, all of independent communication region in bianry image is found out, often
Individual connected region is rock slag, and the pixel count included by each region how much i.e. rock slag shoots size and is ranked up.
To each connected region obtained in previous step, oriented bounding box (Oriented bounding Box) is calculated.
Oriented bounding box is a two-dimensional rectangle, the most narrow place of its width correspondence object, the widest part of its correspondence object long.The widest part
The ratio at most narrow place, can reflect the shape information of rock slag：Ratio is more than 1.5, then rock slag is elongated strip；Ratio close to
1, then rock slag is nahlock shape.
Count the shape information of rock slag.From construction experience, if rock slag is generally elongated strip, hobboing cutter is working properly,
Abrasion is smaller, if rock slag is more into nahlock shape, hobboing cutter does not have normal work, there is abrasion condition.Accordingly, we count several letters
Breath：1. the diameter of maximum rock slag；2. rock slag diameter histogram.Count two analogous column diagram data：1st, from 0 to maximum rock slag diameter
Length range be divided into 10 intervals, statistic diameters falls in each interval rock slag number；2nd, set more than certain to shooting area
The rock slag for determining threshold value is divided into two classes, elongated strip and nahlock shape, and draws histogram.
Further, the shape information of all rock slags in single-frame images is counted.If a widest part for rock slag and most narrow place
Ratio close to 1, then the rock slag is nahlock shape, if ratio is more than 1.5, the rock slag is elongated strip.
Further, two kinds of rock slag Information Statistics histograms are given.The first be rock slag diameter in 0 to the two field picture most
Distribution histogram on big rock slag diameter interval, is for second the contrast histogram of nahlock shape and elongated strip rock slag number.It is logical
The broken situation that first histogram provides rock slag is crossed, second histogrammic two kinds of rock slags number contrast can provide hobboing cutter
The degree of wear estimate.Elongated strip rock slag is more, then hobboing cutter is working properly, weares and teares smaller；Circle massive rock slag is more, then hobboing cutter
The degree of wear is larger, it is necessary to change hobboing cutter.
The preferred embodiment of the application is the foregoing is only, the application is not limited to, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent, improvement etc., should be included within the protection domain of the application.
Although above-mentioned be described with reference to accompanying drawing to specific embodiment of the invention, not to present invention protection model
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.
Claims (10)
1. the high-speed belt conveyor rock slag video analytic system that a kind of rock tunnel(ling) machine is carried, it is characterized in that：Including analysis module and
The video camera above belt feeder is arranged at, the image of rock slag on the cameras capture belt feeder, and analysis module is transferred to, institute
State analysis module and extract each of which frame, be converted into gray-scale map, and gray-scale map is converted into binary map, application image shape
The expanding processing of state, gets up with regional connectivity excessively broken in bianry image, determines each independent communication region
It is rock slag, oriented bounding box is calculated according to independent communication region, determines rock slag shape.
2. the high-speed belt conveyor rock slag video analytic system that a kind of rock tunnel(ling) machine as claimed in claim 1 is carried, its feature
It is：Protection mechanism is provided with outside the video camera.
3. the high-speed belt conveyor rock slag video analytic system that a kind of rock tunnel(ling) machine as claimed in claim 1 is carried, its feature
It is：The protection mechanism front end is provided with the dust-proof guard of circle protrusion.
4. the high-speed belt conveyor rock slag video analytic system that a kind of rock tunnel(ling) machine as claimed in claim 1 is carried, its feature
It is：Also include lighting device.
5. the method for work of the system being based on as any one of claim 1-4, it is characterized in that：Comprise the following steps：
(1) for the rock slag video for collecting, each of which frame is extracted, coloured image is converted into gray-scale map, by what is obtained
Gray-scale map is converted to binary map；
(2) to the bianry image for obtaining, the morphologic expanding processing of application image, with the region crushed in bianry image
Connection is got up, and makes the corresponding image-region of same rock slag be connection, and the image-region corresponding to different rock slags is disconnected；
(3) image connectivity Region detection algorithms are used, all of independent communication region, each connected region in bianry image is determined
As rock slag, and be ranked up by the pixel count that each region is included；
(4) to each connected region for obtaining, oriented bounding box is calculated, to reflect the shape information of rock slag, and records statistics.
6. method of work as claimed in claim 5, it is characterized in that：In the step (1), coloured image is converted to gray-scale map
Specific method be：
Gray=R × 0.299+G × 0.587+B × 0.114, (1)
In formula, R, G, B are respectively three kinds of color values of red, green, blue of certain pixel of coloured image, and Gray is the gray scale being converted into
Value.
7. method of work as claimed in claim 5, it is characterized in that：In the step (1), binary map of the gray-scale map more than threshold value
Respective pixel value is 1, is otherwise 0.
8. method of work as claimed in claim 5, it is characterized in that：In the step (3), each independent communication region is included
Pixel count how much represent rock slag shoot size.
9. method of work as claimed in claim 5, it is characterized in that：In the step (4), oriented bounding box is a Two-Dimensional Moment
The ratio at shape, the most narrow place of its width correspondence object, the widest part of its correspondence object long, the widest part and most narrow place, to reflect
The shape information of rock slag.
10. method of work as claimed in claim 5, it is characterized in that：In the step (4), by rock slag shape with judge rolling
Whether knife is working properly；Or the diameter and rock slag diameter histogram of the maximum rock slag of statistics, from 0 to maximum rock slag diameter length
Scope is divided into multiple intervals, and statistic diameters falls in each interval rock slag number, to shooting area more than certain given threshold
Rock slag is divided into two classes, elongated strip and nahlock shape, and draws histogram.
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| CN109977944A (en) * | 2019-02-21 | 2019-07-05 | 杭州朗阳科技有限公司 | A kind of recognition methods of digital water meter reading |
| CN110568448A (en) * | 2019-07-29 | 2019-12-13 | 浙江大学 | Device and method for identifying accumulated slag at bottom of tunnel of hard rock tunnel boring machine |
| CN110954452A (en) * | 2019-12-10 | 2020-04-03 | 山东交通学院 | TBM (tunnel boring machine) carrying type test device and method for automatically obtaining particle size and strength characteristics of rock slag |
| CN112033986A (en) * | 2019-08-09 | 2020-12-04 | 山东大学 | TBM slag sheet ray back scattering real-time scanning imaging device and method |
| CN112127896A (en) * | 2020-09-18 | 2020-12-25 | 武汉大学 | Automatic acquisition and analysis system and method for TBM excavation rock slag information |
| CN117147552A (en) * | 2023-10-30 | 2023-12-01 | 北京交通大学 | Rock slag grading analysis method for TBM tunnel |
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| CN117147552A (en) * | 2023-10-30 | 2023-12-01 | 北京交通大学 | Rock slag grading analysis method for TBM tunnel |
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| CN106934796B (en) | 2018-11-30 |
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