CN108946049A - Control device, control method and sand system processed for preventing belt feeder from getting stuck - Google Patents
Control device, control method and sand system processed for preventing belt feeder from getting stuck Download PDFInfo
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- CN108946049A CN108946049A CN201810510098.3A CN201810510098A CN108946049A CN 108946049 A CN108946049 A CN 108946049A CN 201810510098 A CN201810510098 A CN 201810510098A CN 108946049 A CN108946049 A CN 108946049A
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- baffle
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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
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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Abstract
The embodiment of the present invention provides a kind of control device for preventing belt feeder from getting stuck, control method and sand system processed, belongs to automatic control technology field.The control device includes: image collecting device, for acquiring the image between belt and baffle；Executing agency, for driving the baffle to move；And processing module, for the image between the belt and baffle according to acquisition, it is determined whether the phenomenon that gets stuck occur, and when there is getting stuck phenomenon, control the executing agency and drive the baffle movement to increase the gap between the belt and the baffle.According to the technical solution of the present invention, the failure can be solved in time when there is getting stuck phenomenon to reduce the cost to reduce unnecessary loss, moreover it is possible to improve working efficiency.
Description
Technical field
The present invention relates to automatic control technology fields, fill more particularly to a kind of control for preventing belt feeder from getting stuck
It sets, control method and sand system processed.
Background technique
When using belt feeder transmission material, due to the requirement of certain job contents, need to pacify above the belt of belt feeder
Baffle is filled, enabling the material on belt to enter subsequent processing with uniform thickness is that next operation is prepared.
For example, belt feeder is widely used as a kind of common building stones conveying equipment in mechanism system.Wherein,
After building stones are promoted to surge bunker under the action of bucket elevator, from two discharge hole for discharge of surge bunker, it is assigned to described two
The middle position of a corresponding pan feeding belt of discharge port.Adjustable sub-material gear is provided with above the pan feeding belt
Plate, it is automatic to be spread toward both sides when the building stones on pan feeding belt pass through sub-material baffle, by adjusting between sub-material baffle and belt
Gap can make building stones be uniformly distributed in the entire width direction of belt.It is past in building stones but in practical work process
It, may when this larger building stones are placed on and are transmitted on belt toward larger building stones of the meeting containing ultra-specification particle size
It can be stuck between sub-material baffle and the gap of belt, if can not find in time, belt if can be torn in a short time, damage
It is bad, lead to economic loss, reduces production efficiency.
Present inventor's discovery, can only irregularly go producing line to check between belt and baffle by patrol officer at present is
It is no the phenomenon that gets stuck occur, if there is the phenomenon that gets stuck, hand hoisting baffle, so that the material being stuck can be by smooth delivery of power
To next link.In addition, often belt is damaged, can not continue to use, Er Qiegeng when patrol officer's discovery gets stuck phenomenon
Workload can also be increased by changing belt, increase cost.
Summary of the invention
The purpose of the embodiment of the present invention is that providing a kind of control device for preventing belt from getting stuck, control method and sand processed
System, for solving one or more of above-mentioned technical problem.
To achieve the goals above, the embodiment of the present invention provides a kind of control device for preventing belt from getting stuck, control
Device includes: image collecting device, for acquiring the image between belt and baffle；Executing agency, for driving the baffle
Movement；And processing module, for the image between the belt and baffle according to acquisition, it is determined whether there is the phenomenon that gets stuck, with
And when there is getting stuck phenomenon, control the executing agency drive the baffle movement with increase the belt and the baffle it
Between gap.
Optionally, the processing module is used for according to the image between the belt and baffle of acquisition, it is determined whether is blocked
Expect that phenomenon includes: to be compared the image between the adjacent belt acquired twice and baffle；And according to it is described it is adjacent twice
The comparison result of image between the belt and baffle of acquisition, it is determined whether the phenomenon that gets stuck occur.
Optionally, the processing module is used for hanging down according to the material shown in the image between the belt and baffle of acquisition
The comparison result of straight height and preset height, it is determined whether the phenomenon that gets stuck occur.
Optionally, the processing module is also used to execute following operation: by the image between the belt and baffle of acquisition into
Row gray proces are to obtain gray level image；The gray level image is split, so that the gray level image after segmentation only includes skin
The image of gap location between band and baffle；According to the gray value of each pixel in the gray level image after segmentation, one is determined
A gray matrix；By two gray matrix H corresponding to the adjacent image acquired twiceK、HK-1In corresponding element compared
Compared with being denoted as the first preset value when corresponding element is equal, the second preset value be denoted as when unequal, by described two gray matrixs
HK、HK-1In the comparison result of corresponding element arranged according to the position of the corresponding element, form a new matrix B；
Determine the vertical height for the closed figure being made of in matrix B the element that value is only first preset value；By the Closed Graph
The vertical height of shape is compared with preset height；And it is greater than the default height in the vertical height of at least one closed figure
When spending, controls the executing agency and drive the baffle movement to increase the gap between the belt and the baffle.
Optionally, the processing module include: compared with preset height by the vertical height of the closed figure will be described
Maximum vertical height in the vertical height of closed figure is compared with the preset height.
Optionally, the executing agency is cylinder driver or motor driver.
Correspondingly, the embodiment of the invention also provides a kind of control methods for preventing belt from getting stuck, this method comprises:
Acquire the image between belt and baffle；According to the image between the belt and baffle of acquisition, it is determined whether the phenomenon that gets stuck occur；
And when occurring getting stuck phenomenon, between the driving baffle movement of control executing agency is to increase between the belt and the baffle
Gap.
Optionally, the distance between the belt according to acquisition and baffle, it is determined whether the phenomenon that occurs getting stuck include: by
Image between the adjacent belt acquired twice and baffle is compared；And according to the adjacent belt and gear acquired twice
The comparison result of image between plate, it is determined whether the phenomenon that gets stuck occur.
Optionally, this method further include: according to the vertical of the material shown in the image between the belt of acquisition and baffle
The comparison result of height and preset height, it is determined whether the phenomenon that gets stuck occur.
Optionally, this method further include: the image between the belt and baffle of acquisition is subjected to gray proces to obtain ash
Spend image；The gray level image is split, so that the gray level image after segmentation only includes the gap between belt and baffle
The image at place；According to the gray value of each pixel in the gray level image after segmentation, a gray matrix is determined；By adjacent two
Two gray matrix H corresponding to the image of secondary acquisitionK、HK-1In corresponding element be compared, remember when corresponding element is equal
For the first preset value, the second preset value is denoted as when unequal, by described two gray matrix HK、HK-1In corresponding element ratio
It is arranged compared with result according to the position of the corresponding element, forms a new matrix B；It determines in matrix B by value only institute
State the vertical height of the closed figure of the element composition of the first preset value；By the vertical height and preset height of the closed figure
Compare；And when the vertical height of at least one closed figure is greater than the preset height, control the executing agency
Drive the baffle movement to increase the gap between the belt and the baffle.
It optionally, include: hanging down the closed figure compared with preset height by the vertical height of the closed figure
Maximum vertical height in straight height is compared with the preset height.
On the other hand, the embodiment of the invention provides a kind of sand system processed, which includes any one of above-mentioned institute
The control device for preventing belt from getting stuck stated.
On the other hand, the present invention provides a kind of machine readable storage medium, and finger is stored on the machine readable storage medium
It enables, which is used for so that machine executes control method of the application any of the above-described for preventing belt from getting stuck.
Through the above technical solutions, detect the gap location between belt and baffle occur getting stuck phenomenon when, it is automatic to control
Executing agency's driving baffle movement processed can be effectively prevented to increase the gap between belt and baffle and install gear additional above belt
The phenomenon that gets stuck occurred after plate, prevents belt to be torn, additionally it is possible to reduce cost, improve working efficiency.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the structural schematic diagram of the control device provided in an embodiment of the present invention for preventing belt from getting stuck；
It includes the structure chart for controlling device for preventing belt from getting stuck that Fig. 2, which is provided in an embodiment of the present invention,；
Fig. 3 is the flow chart of the control method provided in an embodiment of the present invention for preventing belt from getting stuck.
Description of symbols
1 image collecting device, 2 processing module
3 executing agency, 4 belt
5 baffles
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Fig. 1 is the control device provided in an embodiment of the present invention for preventing belt from getting stuck.As shown in Figure 1, the control fills
Set includes: image collecting device 1, processing module 2 and executing agency 3.Wherein, described image acquisition device 1 is for acquiring belt
Image between baffle, executing agency 3 are used to that baffle to be driven to move, what processing module 2 then was used to be acquired according to image device 1
Image between belt and baffle, it is determined whether the phenomenon that gets stuck occur, and when there is getting stuck phenomenon, control executing agency 3 drives
Dynamic baffle movement to increase the gap between belt and baffle, enable the material being stuck pass through baffle enter it is next
Working link, when there is not getting stuck phenomenon, executing agency 3 is failure to actuate.
Described image acquisition device 1 is the device that can acquire image, such as video camera etc..Preferably, described image is adopted
Acquisition means 1 can be high for strong antijamming capability, figure stability industrial camera；The processing module 2 can be general procedure
Device, conventional processors, central processing unit, microprocessor or programmable logic controller (PLC) etc. can be realized the device of above-mentioned function；
The executing agency 3 can be cylinder driver or motor driver, baffle can be driven to move to adjust belt and gear
The distance between plate.
Preferably, executing agency 3 can drive baffle to move upwards in the side perpendicular to belt.
Wherein, image collecting device 1 can be with the image between continuous acquisition belt and baffle, can also be when one is default
Between acquire an image between belt and baffle.The preset time can be needed voluntarily by staff according to real work
Setting, such as 3s, 5s or 10s etc..
Processing module 2 receives the image between the belt and baffle of continuous acquisition, by the belt of continuous acquisition and baffle it
Between image in temporally adjacent image be compared, or one will be separated by the image between the belt and baffle of continuous acquisition
The image of preset time period is compared, and according to the comparison result of the temporally adjacent image, or is separated by a preset time
The comparison result of the image of section, it is determined whether the phenomenon that gets stuck occur.
Alternatively, processing module 2 received image be that primary skin is acquired every a preset time by image collecting device 1
Image between the adjacent belt acquired twice and baffle can be compared by the image between band and baffle, and according to
The comparison result of the adjacent image acquired twice, it is determined whether the phenomenon that gets stuck occur.
Specifically, processing module 2 by image between received belt and baffle carry out gray proces, obtain grayscale image
Picture, and determine the gray value of each pixel in the gray level image.Wherein, the intensity value ranges of each pixel are 0-255,
Gray value is bigger, indicates that the corresponding original image of the pixel is brighter.Staff can set a default gray value, a certain
When the gray value of pixel is less than the default gray value, indicate that the corresponding original image of the pixel is darker, determination has material.Place
Managing the pixel that module 2 determines that gray value is greater than the default gray value in gray level image is darker pixel, then determines and hanging down
Directly in the quantity of the continuous darker pixel on the direction of belt, it is greater than preset quantity in the quantity of the continuous darker pixel
When, determine the phenomenon that gets stuck.
In addition, influenced by factors such as image collecting device 1 itself and its installation sites, it may packet in acquired image
The image in addition to the gap between belt and baffle is included, processing module 2 is will affect and material has been indicated whether to darker pixel,
Therefore, processing module 2 should also to image between received belt and baffle carry out image procossing, implemented with improving the present invention
What example provided is used to prevent the control device to get stuck from judging whether the accuracy for occurring getting stuck.
Specifically, image of the processing module 2 between the belt and baffle that will be acquired carries out gray proces, grayscale image is obtained
As after, the gray level image can be also split so that segmentation after gray level image only include between belt and baffle between
Image at gap.Wherein, the gray level image after each segmentation is equal in magnitude, and the quantity of pixel and position are also consistent.
In order to improve the accuracy for the phenomenon that determines whether to get stuck, processing module 2 is also used to execute following operation:
According to the gray value of each pixel in the gray level image after segmentation, a gray matrix is determined, wherein HKTable
Show that the corresponding gray matrix of k-th gray level image, the K are positive integer；
By the corresponding two gray matrix H of the adjacent image acquired twiceK、HK-1In corresponding element be compared, right
It is denoted as the first preset value when answering element equal, the second preset value is denoted as when unequal, by described two gray matrix HK、HK-1In
The comparison result of corresponding element arranged according to the position of the corresponding element, form a new matrix B；
Determine the vertical height for the closed figure being made of in matrix B the element that value is only first preset value；
By the vertical height of closed figure compared with preset height；And
When the vertical height of at least one closed figure is greater than the preset height, control executing agency 3 is driven
Baffle is moved to increase the gap between belt and baffle.Drive baffle to belt for example, processing module 2 controls executing agency 3
The mobile a distance in top after, material behind baffle position by continuing to move under the action of belt, and executing agency 3 is again
Driving baffle moves down a distance, so that baffle restores to original state.
Optionally, in order to simplify the vertical height of the closed figure compared with preset height the step for, Ke Yixian
Maximum vertical height in multiple closed figures is determined, then by identified maximum vertical height compared with preset height, most
When big vertical height is greater than the preset height, the phenomenon that gets stuck is determined.
Preferably, the closed figure in matrix B can be determined by the following method: being the first preset value by matrix B intermediate value
Element is connected with curve, and the element of first preset value is adjacent with the element position of the second preset value, or is the side of matrix B
Dividing value, such as the element of first preset value are the first row, first row, last line or last member arranged in matrix B
Element.Wherein the value of the closed figure interior element is not the second preset value.
The now citing technical solution that the present invention will be described in detail provides.
Firstly, the gray matrix H determined using the above methodKIt is as follows:
Wherein, wherein aijIndicate gray matrix HKIn the i-th row, jth column pixel gray value；
Gray matrix HK-1It is as follows:
Wherein, wherein bijIndicate gray matrix HK-1In the i-th row, jth column pixel gray value.
Then, by gray matrix HK、HK-1In corresponding element be compared, it is pre- that first is denoted as when corresponding element is equal
If value, is denoted as the second preset value when unequal.In order to make it easy to understand, the first preset value is denoted as 1, the second preset value is denoted as 0, i.e.,
aij=bijWhen be labeled as 1, aij≠bijWhen be labeled as 0.Again by comparison result according to aijIn HKIn position or bijIn HK-1In
Position is arranged, and matrix B is thusly-formed.
Wherein, the matrix B for example can be as follows:
Element 1 adjacent with 0 position of element in matrix B is picked up with curve again to form multiple closed figures.It is described
The value of element cannot be 0 in closed figure.The closed figure is as follows:
According to the quantity of column element every in closed figure, the maximum vertical height of each closed figure is determined, can distinguish
It is denoted as h1、h2、h3、……hn, and determine the maximum height h in all closed figuresmax=max (h1、h2、…hn)。
In maximum vertical height hmaxWhen greater than preset height h, the phenomenon that gets stuck is determined.
Optionally, technical solution provided in an embodiment of the present invention further include:
Determine the area S of each closed figure1、S2、……Sn, and the largest face in the area of determining all closed figures
Product Smax=max (S1、S2、…Sn)；
Respectively by maximum vertical height hmaxWith maximum area SmaxCompared with preset height h and preset area S, in Smax
> S and hmaxWhen > h, the phenomenon that gets stuck is determined.
Optionally, technical solution provided in an embodiment of the present invention further include: after determining matrix B, do not determine closed figure
Before, the value that can directly determine element in every column element in matrix B is the first preset value and continuously most number of elements,
The value of element determines hair for the first preset value and when continuous most number of elements is greater than predicted elemental quantity in a certain column
The raw phenomenon that gets stuck.
In order to improve the accuracy of the technical solution testing result, can also a few column in matrix B element value
For the first preset value and when continuous most number of elements is all larger than the quantity of predicted elemental, the phenomenon that gets stuck is determined.Institute
Where the element for stating the quantity that matrix B intermediate value is the first preset value and continuously most number of elements is all larger than predicted elemental
The position of multiple column can be adjacent, can also be non-conterminous, and the particular number of multiple column can be by staff according to practical feelings
Condition sets itself.
The embodiment of the invention provides a kind of to prevent the technical solution of leather belt buckle material based on image recognition.The technical solution
By the image of the gap location between detection belt and baffle, the phenomenon that gets stuck is determined whether according to image detected, and
And when occurring getting stuck phenomenon, executing agency's driving baffle movement can control to increase the gap between belt and baffle.It is logical
Technical solution provided in an embodiment of the present invention is crossed, can accurately identify the phenomenon that gets stuck whether occur, and is existing determining to occur getting stuck
As in the case where, fast driving baffle movement, effectively prevent belt to be damaged because failure is got stuck, can lower cost, mention
High the degree of automation and working efficiency.
Correspondingly, being used to prevent belt using what the above embodiment of the present invention provided the embodiment of the invention also provides a kind of
The sand system processed of the control device to get stuck, structural schematic diagram are as shown in Figure 2.Wherein, in Fig. 2 arrow direction be belt 4 biography
Direction (material is sent to rear in front of baffle) is sent, baffle 5 is located at the top of belt 4.Material in the sand system processed
Building stones can be made to be evenly distributed on belt 4 under the action of baffle 5 during belt 4 transmits building stones for building stones,
But it if building stones are larger or the overlapping of multiple building stones, can be stuck between belt and baffle.Image collecting device 1 is mounted on baffle
Rear by selecting the angle of appropriate installation site and suitable acquisition image image collecting device 1 is acquired
The image of gap location between baffle and belt, processing module 2 is according to acquired image, it is determined whether there is the phenomenon that gets stuck,
And after the phenomenon that occurs getting stuck, the driving baffle movement of control executing agency to increase the distance between belt and baffle so that by
The building stones blocked can pass through baffle and be sitting in position and enter next workflow.
The maintenance cost of belt feeder can be effectively reduced in the sand system processed that this embodiment of the invention provides, and improves work effect
Rate.
Fig. 3 is the flow chart of the control method provided in an embodiment of the present invention for preventing belt from getting stuck.As shown in figure 3,
This method comprises: the image between acquisition belt and baffle；According to the image between the belt and baffle of acquisition, it is determined whether go out
Now get stuck phenomenon；And when occurring getting stuck phenomenon, the driving baffle movement of control executing agency is to increase between belt and baffle
Gap.
Wherein, according to the distance between the belt of acquisition and baffle, it is determined whether the phenomenon that occurs getting stuck includes: by adjacent two
Image between the belt of secondary acquisition and baffle is compared；And according between the adjacent belt and baffle acquired twice
Image comparison result, it is determined whether there is the phenomenon that gets stuck.
Wherein, the image between belt and baffle can also can be acquired primary with continuous acquisition every a preset time.Institute
Sets itself can be needed according to real work by staff by stating preset time.
The technical solution that this embodiment of the invention provides, when can be by the image between the belt and baffle of continuous acquisition
Between adjacent image be compared, or a preset time period will be separated by the image between the belt and baffle of continuous acquisition
Image is compared, and according to the comparison result of the temporally adjacent image, or is separated by the ratio of the image of a preset time period
Compared with as a result, determining whether the phenomenon that gets stuck.Or an image between belt and baffle is acquired every a preset time, it will
Image between the adjacent belt acquired twice and baffle is compared, and according to the comparison knot of the adjacent image acquired twice
Fruit, it is determined whether the phenomenon that gets stuck occur.
Specifically, the image between belt collected and baffle is carried out gray proces, gray level image is obtained, and determine
The gray value of each pixel in the gray level image.Wherein, the intensity value ranges of each pixel are 0-255, and gray value is got over
Greatly, indicate that the corresponding original image of the pixel is brighter.Staff can set a default gray value, in a certain pixel
When gray value is less than the default gray value, indicate that the corresponding original image of the pixel is darker, determination has material.Processing module 2
The pixel for determining that gray value is greater than the default gray value in gray level image is darker pixel, then is determined perpendicular to belt
Direction on the quantity of continuous darker pixel determined when the quantity of the continuous darker pixel is greater than preset quantity
Get stuck phenomenon.
In addition, judge whether the accuracy for occurring getting stuck to improve the technical solution, it can also be by obtained gray scale
Image is split, so that the gray level image after segmentation only includes the image of the gap location between belt and baffle.Wherein, each
Gray level image after segmentation it is equal in magnitude, the quantity of pixel and position are also consistent.
Optionally, in order to improve the reliability of the technical solution, further includes:
According to the gray value of each pixel in the gray level image after segmentation, a gray matrix is determined, wherein HKTable
Show that the corresponding gray matrix of k-th gray level image, the K are positive integer；
By the corresponding two gray matrix H of the adjacent image acquired twiceK、HK-1In corresponding element be compared, right
It is denoted as the first preset value when answering element equal, the second preset value is denoted as when unequal, by described two gray matrix HK、HK-1In
The comparison result of corresponding element arranged according to the position of the corresponding element, form a new matrix B；
Determine the vertical height for the closed figure being made of in matrix B the element that value is only first preset value；
By the vertical height of closed figure compared with preset height；And
When the vertical height of at least one closed figure is greater than the preset height, control executing agency 3 is driven
Baffle is moved to increase the gap between belt and baffle.Drive baffle to belt for example, processing module 2 controls executing agency 3
The mobile a distance in top after, material with continuing to move to behind baffle position under the action of belt, drive again by executing agency 3
Dynamic baffle moves down a distance, so that baffle restores to original state.
Optionally, in order to simplify the vertical height of the closed figure compared with preset height the step for, Ke Yixian
Maximum vertical height in multiple closed figures is determined, then by identified maximum vertical height compared with preset height, most
When big vertical height is greater than the preset height, the phenomenon that gets stuck is determined.
Preferably, the closed figure in matrix B can be determined by the following method: being the first preset value by matrix B intermediate value
Element is connected with curve, and the element of first preset value is adjacent with the element position of the second preset value, or is the side of matrix B
Dividing value, such as the element of first preset value are the first row, first row, last line or last member arranged in matrix B
Element.Wherein the value of the closed figure interior element is not the second preset value.
Optionally, technical solution provided in an embodiment of the present invention further include: determine the area S of each closed figure1、
S2、……Sn, and the maximum area S in the area of determining all closed figuresmax=max (S1、S2、…Sn)；Maximum is hung down respectively
Straight height hmaxWith maximum area SmaxCompared with preset height h and preset area S, in Smax> S and hmaxWhen > h, hair is determined
The raw phenomenon that gets stuck.
Optionally, technical solution provided in an embodiment of the present invention further include: after determining matrix B, do not determine closed figure
Before, the value that can directly determine element in every column element in matrix B is the first preset value and continuously most number of elements,
The value of element determines hair for the first preset value and when continuous most number of elements is greater than predicted elemental quantity in a certain column
The raw phenomenon that gets stuck.
Detail and benefit in relation to above-mentioned control method provided by the invention are seen above-mentioned for present invention offer
Above-mentioned control device description, repeated no more in this.
Correspondingly, one embodiment of the invention also provides a kind of machine readable storage medium, on the machine readable storage medium
It is stored with instruction, which is used for so that machine executes the above-mentioned control method for preventing belt from getting stuck.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (13)
1. a kind of control device for preventing belt from getting stuck, which is characterized in that the control device includes:
Image collecting device, for acquiring the image between belt and baffle；
Executing agency, for driving the baffle to move；And
Processing module, for the image between the belt and baffle according to acquisition, it is determined whether the phenomenon that gets stuck occur, and going out
When the phenomenon that now gets stuck, control the executing agency drive baffle movement to increase between the belt and the baffle between
Gap.
2. control device according to claim 1, which is characterized in that the processing module be used for according to the belt of acquisition with
Image between baffle, it is determined whether the phenomenon that occurs getting stuck includes:
Image between the adjacent belt acquired twice and baffle is compared；And
According to the comparison result of the image between the adjacent belt and baffle acquired twice, it is determined whether occur getting stuck existing
As.
3. control device according to claim 1 or 2, which is characterized in that the processing module is used for the skin according to acquisition
The vertical height of the material shown in image between band and baffle and the comparison result of preset height, it is determined whether get stuck
Phenomenon.
4. control device according to claim 1, which is characterized in that the processing module is also used to execute following operation:
Image between the belt and baffle of acquisition is subjected to gray proces to obtain gray level image；
The gray level image is split, so that the gray level image after segmentation only includes the gap location between belt and baffle
Image；
According to the gray value of each pixel in the gray level image after segmentation, a gray matrix is determined；
By two gray matrix H corresponding to the adjacent image acquired twiceK、HK-1In corresponding element be compared, in correspondence
It is denoted as the first preset value when element is equal, the second preset value is denoted as when unequal, by described two gray matrix HK、HK-1In
The comparison result of corresponding element is arranged according to the position of the corresponding element, forms a new matrix B；
Determine the vertical height for the closed figure being made of in matrix B the element that value is only first preset value；
By the vertical height of the closed figure compared with preset height；And
When the vertical height of at least one closed figure is greater than the preset height, executing agency's driving institute is controlled
Baffle movement is stated to increase the gap between the belt and the baffle.
5. control device according to claim 4, which is characterized in that the processing module is vertical by the closed figure
Highly include: compared with preset height
By the maximum vertical height in the vertical height of the closed figure compared with the preset height.
6. control device according to claim 1, which is characterized in that the executing agency is cylinder driver or motor
Driving device.
7. a kind of control method for preventing belt from getting stuck, which is characterized in that this method comprises:
Acquire the image between belt and baffle；
According to the image between the belt and baffle of acquisition, it is determined whether the phenomenon that gets stuck occur；And
When there is getting stuck phenomenon, control executing agency drives the baffle movement to increase between the belt and the baffle
Gap.
8. control method according to claim 7, which is characterized in that between the belt and baffle according to acquisition away from
Include: from, it is determined whether the phenomenon that occurs getting stuck
Image between the adjacent belt acquired twice and baffle is compared；And
According to the comparison result of the image between the adjacent belt and baffle acquired twice, it is determined whether occur getting stuck existing
As.
9. control method according to claim 7 or 8, which is characterized in that this method further include:
According to the comparison result of the vertical height of the material shown in the image between the belt and baffle of acquisition and preset height,
Determine whether the phenomenon that gets stuck.
10. control method according to claim 7, which is characterized in that this method further include:
Image between the belt and baffle of acquisition is subjected to gray proces to obtain gray level image；
The gray level image is split, so that the gray level image after segmentation only includes the gap location between belt and baffle
Image；
According to the gray value of each pixel in the gray level image after segmentation, a gray matrix is determined；
By two gray matrix H corresponding to the adjacent image acquired twiceK、HK-1In corresponding element be compared, in correspondence
It is denoted as the first preset value when element is equal, the second preset value is denoted as when unequal, by described two gray matrix HK、HK-1In
The comparison result of corresponding element is arranged according to the position of the corresponding element, forms a new matrix B；
Determine the vertical height for the closed figure being made of in matrix B the element that value is only first preset value；
By the vertical height of the closed figure compared with preset height；And
When the vertical height of at least one closed figure is greater than the preset height, executing agency's driving institute is controlled
Baffle movement is stated to increase the gap between the belt and the baffle.
11. control method according to claim 10, which is characterized in that by the vertical height of the closed figure and preset
Height, which compares, includes:
By the maximum vertical height in the vertical height of the closed figure compared with the preset height.
12. a kind of sand system processed, which is characterized in that the sand system processed includes of any of claims 1-6 for preventing
The only control device that belt gets stuck.
13. a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, which is used for so that machine
Execute the control method for preventing belt from getting stuck described in any one of the claim of this application 7-11.
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| CN201810510098.3A CN108946049B (en) | 2018-05-24 | 2018-05-24 | Control device and control method for preventing belt conveyor from being blocked and sand making system |
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| CN108946049B (en) | 2020-05-29 |
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