CN108946049B - Control device and control method for preventing belt conveyor from being blocked and sand making system - Google Patents
Control device and control method for preventing belt conveyor from being blocked and sand making system Download PDFInfo
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- CN108946049B CN108946049B CN201810510098.3A CN201810510098A CN108946049B CN 108946049 B CN108946049 B CN 108946049B CN 201810510098 A CN201810510098 A CN 201810510098A CN 108946049 B CN108946049 B CN 108946049B
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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 invention provides a control device and a control method for preventing a belt conveyor from being blocked and a sand making system, and belongs to the technical field of automatic control. The control device includes: the image acquisition device is used for acquiring an image between the belt and the baffle; the actuating mechanism is used for driving the baffle to move; and the processing module is used for determining whether a material blocking phenomenon occurs according to the acquired image between the belt and the baffle, and controlling the actuating mechanism to drive the baffle to move so as to increase the gap between the belt and the baffle when the material blocking phenomenon occurs. Through the technical scheme of the invention, the fault can be solved in time when the material blocking phenomenon occurs, so that unnecessary loss is reduced, the cost is reduced, and the working efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to a control device and a control method for preventing a belt conveyor from being blocked and a sand making system.
Background
When the belt conveyor is used for conveying materials, due to the requirements of certain operation contents, a baffle needs to be installed above the belt of the belt conveyor, so that the materials on the belt can enter the next working procedure with uniform thickness to prepare for the next operation.
For example, in a machine system, a belt conveyor is widely used as a common stone conveying apparatus. The stone is lifted to the buffer bin under the action of the bucket elevator, discharged from the two discharge ports of the buffer bin and distributed to the middle positions of the feeding belts corresponding to the two discharge ports. The adjustable material distributing baffle is arranged above the feeding belt, stone on the feeding belt is automatically diffused towards two sides when passing through the material distributing baffle, and the stone can be uniformly distributed in the whole width direction of the belt by adjusting the gap between the material distributing baffle and the belt. However, in the actual working process, the stones often contain larger stones with over-specification grain sizes, when the larger stones are placed on the belt to be conveyed, the stones may be clamped between the gaps of the material distribution baffle and the belt, if the stones cannot be found in time, the belt can be torn and damaged in a short time, so that economic loss is caused, and the production efficiency is reduced.
The inventor of the application finds that whether the phenomenon of material blocking occurs between the belt and the baffle plate can be detected only by an inspection worker on an irregular production line at present, and if the phenomenon of material blocking occurs, the baffle plate is manually lifted, so that the blocked material can be smoothly conveyed to the next link. In addition, when the patrolling and examining personnel discover the card material phenomenon, often the belt has damaged, can't continue to use, and it also can increase work load, increase cost to change the belt moreover.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a control device, a control method and a sand making system for preventing belt jamming, which are used to solve one or more of the above technical problems.
In order to achieve the above object, an embodiment of the present invention provides a control device for preventing a belt from being jammed, the control device including: the image acquisition device is used for acquiring an image between the belt and the baffle; the actuating mechanism is used for driving the baffle to move; and the processing module is used for determining whether a material blocking phenomenon occurs according to the acquired image between the belt and the baffle, and controlling the actuating mechanism to drive the baffle to move so as to increase the gap between the belt and the baffle when the material blocking phenomenon occurs.
Optionally, the processing module is configured to determine whether a material jamming phenomenon occurs according to the acquired image between the belt and the baffle, and includes: comparing the images between the belts and the baffle plates acquired at two adjacent times; and determining whether the material jamming phenomenon occurs or not according to the comparison result of the images between the belts and the baffle plates acquired twice in the adjacent process.
Optionally, the processing module is configured to determine whether a material jamming phenomenon occurs according to a comparison result between a vertical height of the material displayed in the acquired image between the belt and the baffle and a preset height.
Optionally, the processing module is further configured to perform the following operations: carrying out gray level processing on the acquired image between the belt and the baffle to obtain a gray level image; dividing the gray-scale image so that the divided gray-scale image only comprises an image at a gap between the belt and the baffle; determining a gray value according to the gray value of each pixel point in the divided gray imageA degree matrix; two gray level matrixes H corresponding to the two adjacent acquired imagesK、HK-1The corresponding elements in the two gray matrixes H are compared, the first preset value is recorded when the corresponding elements are equal, the second preset value is recorded when the corresponding elements are not equal, and the two gray matrixes H are used for displaying the gray matrixes HK、HK-1The comparison results of the corresponding elements in the matrix are arranged according to the positions of the corresponding elements to form a new matrix B; determining the vertical height of a closed graph formed by elements with the values only being the first preset value in the matrix B; comparing the vertical height of the closed graph with a preset height; and when the vertical height of at least one closed figure is greater than the preset height, controlling the actuating mechanism to drive the baffle to move so as to increase the gap between the belt and the baffle.
Optionally, the comparing, by the processing module, the vertical height of the closed graph with a preset height includes: and comparing the maximum vertical height in the vertical heights of the closed graph with the preset height.
Optionally, the actuating mechanism is an air cylinder driving device or a motor driving device.
Correspondingly, the embodiment of the invention also provides a control method for preventing the belt from being stuck, which comprises the following steps: collecting an image between the belt and the baffle; determining whether a material blocking phenomenon occurs according to the acquired image between the belt and the baffle; and when the material blocking phenomenon occurs, controlling an actuating mechanism to drive the baffle to move so as to increase the gap between the belt and the baffle.
Optionally, determining whether a material jamming phenomenon occurs according to the distance between the collected belt and the baffle includes: comparing the images between the belts and the baffle plates acquired at two adjacent times; and determining whether the material jamming phenomenon occurs or not according to the comparison result of the images between the belts and the baffle plates acquired twice in the adjacent process.
Optionally, the method further includes: and determining whether the material jamming phenomenon occurs or not according to a comparison result of the vertical height of the material displayed in the acquired image between the belt and the baffle and the preset height.
Optionally, the methodFurther comprising: carrying out gray level processing on the acquired image between the belt and the baffle to obtain a gray level image; dividing the gray-scale image so that the divided gray-scale image only comprises an image at a gap between the belt and the baffle; determining a gray matrix according to the gray value of each pixel point in the divided gray image; two gray level matrixes H corresponding to the two adjacent acquired imagesK、HK-1The corresponding elements in the two gray matrixes H are compared, the first preset value is recorded when the corresponding elements are equal, the second preset value is recorded when the corresponding elements are not equal, and the two gray matrixes H are used for displaying the gray matrixes HK、HK-1The comparison results of the corresponding elements in the matrix are arranged according to the positions of the corresponding elements to form a new matrix B; determining the vertical height of a closed graph formed by elements with the values only being the first preset value in the matrix B; comparing the vertical height of the closed graph with a preset height; and when the vertical height of at least one closed figure is greater than the preset height, controlling the actuating mechanism to drive the baffle to move so as to increase the gap between the belt and the baffle.
Optionally, comparing the vertical height of the closed graph with a preset height includes: and comparing the maximum vertical height in the vertical heights of the closed graph with the preset height.
In another aspect, an embodiment of the present invention provides a sand making system, which includes any one of the control devices described above for preventing belt jamming.
In another aspect, the present disclosure provides a machine-readable storage medium having instructions stored thereon for causing a machine to perform any one of the control methods for preventing belt jamming of the present application.
Through above-mentioned technical scheme, when detecting that card material phenomenon appears in the clearance department between belt and the baffle, automatic control actuating mechanism drive baffle action is in order to increase the clearance between belt and the baffle, can effectively prevent the card material phenomenon that appears after installing the baffle additional in the belt top, prevents that the belt from being torn, can also reduce cost, improves work efficiency.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a control device for preventing belt jamming according to an embodiment of the present invention;
FIG. 2 is a structural diagram of a control device for preventing a belt from being jammed according to an embodiment of the present invention;
fig. 3 is a flowchart of a control method for preventing belt jamming according to an embodiment of the present invention.
Description of the reference numerals
1 image acquisition device 2 processing module
3 4 belts of actuating mechanism
5 baffle plate
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a control device for preventing belt jamming according to an embodiment of the present invention. As shown in fig. 1, the control device includes: the device comprises an image acquisition device 1, a processing module 2 and an execution mechanism 3. The image acquisition device 1 is used for acquiring images between the belt and the baffle, the execution mechanism 3 is used for driving the baffle to move, the processing module 2 is used for determining whether the material blocking phenomenon occurs or not according to the images between the belt and the baffle acquired by the image acquisition device 1, and when the material blocking phenomenon occurs, the execution mechanism 3 is controlled to drive the baffle to move so as to increase the gap between the belt and the baffle, so that blocked materials can smoothly enter the next working link through the baffle, and when the material blocking phenomenon does not occur, the execution mechanism 3 does not act.
The image capturing device 1 is a device capable of capturing images, such as a camera. Preferably, the image acquisition device 1 can be an industrial camera with strong anti-interference capability and high graphic stability; the processing module 2 can be a general processor, a conventional processor, a central processing unit, a microprocessor, a programmable logic controller or other devices capable of realizing the above functions; the actuating mechanism 3 can be a cylinder driving device or a motor driving device and can drive the baffle to move so as to adjust the distance between the belt and the baffle.
Preferably, the actuator 3 is capable of driving the flap in a direction perpendicular to the belt.
The image acquisition device 1 can continuously acquire images between the belt and the baffle plate, and can also acquire images between the belt and the baffle plate once every preset time. The preset time can be set by the staff according to the actual working requirement, such as 3s, 5s or 10 s.
The processing module 2 receives the images between the continuously acquired belt and the baffle, compares the images adjacent to each other in time in the images between the continuously acquired belt and the baffle, or compares the images separated by a preset time period in the images between the continuously acquired belt and the baffle, and determines whether the material jamming phenomenon occurs according to the comparison result of the images adjacent to each other in time or the comparison result of the images separated by the preset time period.
Or, the image received by the processing module 2 is an image between the belt and the baffle plate, which is acquired by the image acquisition device 1 every other preset time, and the image between the belt and the baffle plate acquired in two adjacent times can be compared, and whether the material jamming phenomenon occurs or not is determined according to the comparison result of the images acquired in two adjacent times.
Specifically, the processing module 2 performs gray processing on the received image between the belt and the baffle to obtain a gray image, and determines the gray value of each pixel point in the gray image. The gray value range of each pixel point is 0-255, and the larger the gray value is, the brighter the original image corresponding to the pixel point is. The working personnel can set a preset gray value, when the gray value of a certain pixel point is smaller than the preset gray value, the original image corresponding to the pixel point is indicated to be darker, and the existence of the material is determined. The processing module 2 determines that the pixel points with the gray value larger than the preset gray value in the gray image are darker pixel points, then determines the number of continuous darker pixel points in the direction perpendicular to the belt, and determines that the material jamming phenomenon occurs when the number of the continuous darker pixel points is larger than the preset number.
In addition, due to the influence of factors such as the image acquisition device 1 itself and the installation position thereof, the acquired image may include an image except for the gap between the belt and the baffle, and whether the processing module 2 indicates that the dark pixel points contain the material is influenced, so that the processing module 2 also processes the image of the received image between the belt and the baffle, so as to improve the accuracy of judging whether the material is jammed by the control device for preventing the material jamming provided by the embodiment of the invention.
Specifically, the processing module 2 performs gray scale processing on the acquired image between the belt and the baffle to obtain a gray scale image, and then divides the gray scale image so that the divided gray scale image only includes the image at the gap between the belt and the baffle. The size of each divided gray image is equal, and the number and the positions of the pixels are also consistent.
In order to improve the accuracy of determining whether the jamming phenomenon occurs, the processing module 2 is further configured to:
determining a gray matrix according to the gray value of each pixel point in the divided gray image, wherein HKExpressing a gray matrix corresponding to a Kth gray image, wherein K is a positive integer;
two gray level matrixes H corresponding to two adjacent acquired imagesK、HK-1The corresponding elements in the two gray matrixes H are compared, the first preset value is recorded when the corresponding elements are equal, the second preset value is recorded when the corresponding elements are not equal, and the two gray matrixes H are used for displaying the gray matrixes HK、HK-1The comparison results of the corresponding elements in the matrix are arranged according to the positions of the corresponding elements to form a new matrix B;
determining the vertical height of a closed graph formed by elements with the values only being the first preset value in the matrix B;
comparing the vertical height of the closed graph with a preset height; and
when the vertical height of at least one closed figure is larger than the preset height, the actuating mechanism 3 is controlled to drive the baffle to move so as to increase the gap between the belt and the baffle. For example, after the processing module 2 controls the actuating mechanism 3 to drive the baffle to move a distance above the belt, the material continues to move after passing through the position of the baffle under the action of the belt, and the actuating mechanism 3 drives the baffle to move downwards for a distance, so that the baffle is restored to the original state.
Optionally, in order to simplify the step of comparing the vertical height of the closed graph with the preset height, the maximum vertical height of the plurality of closed graphs may be determined, and then the determined maximum vertical height is compared with the preset height, and when the maximum vertical height is greater than the preset height, it is determined that the material jamming phenomenon occurs.
Preferably, the closed figure in the matrix B can be determined by: and connecting elements of the matrix B with a value of a first preset value by using a curve, wherein the elements of the first preset value are adjacent to the elements of a second preset value, or are boundary values of the matrix B, for example, the elements of the first preset value are elements of a first row, a first column, a last row or a last column in the matrix B. Wherein the value of the element within the closed figure is not a second preset value.
The technical solutions provided by the present invention will now be described in detail by way of examples.
First, the gray matrix H determined by the above methodKAs follows:
wherein a isijRepresenting a gray matrix HKGray values of the ith row and the jth column of pixel points;
grayscale matrix HK-1As follows:
wherein b isijRepresenting a gray matrix HK-1And gray values of the ith row and the jth column of pixel points.
Then, the gray matrix HK、HK-1The corresponding elements in (1) are compared, and when the corresponding elements are equal, the first preset value is recorded, and when the corresponding elements are not equal, the second preset value is recorded. For the convenience of understanding, the first preset value is 1, and the second preset value is 0, i.e. aij＝bijTime mark 1, aij≠bijThe time stamp is 0. Then the comparison result is according to aijAt HKIn (b) orijAt HK-1Are arranged such that a matrix B is formed.
The matrix B may be, for example, as follows:
and then, the elements 1 adjacent to the element 0 in the matrix B are connected together by the curve to form a plurality of closed graphs. The value of an element in the closed figure cannot be 0. The closed figure is as follows:
determining the maximum vertical height of each closed graph according to the number of each column of elements in the closed graph, which can be respectively recorded as h1、h2、h3、……hnAnd determining the maximum height h in all closed figuresmax＝max(h1、h2、…hn)。
At maximum vertical height hmaxAnd when the height is larger than the preset height h, determining that the material blocking phenomenon occurs.
Optionally, the technical solution provided in the embodiment of the present invention further includes:
determining the area S of each closed figure1、S2、……SnAnd determining the maximum area S of all the closed figuresmax＝max(S1、S2、…Sn)；
Respectively increase the maximum vertical height hmaxAnd maximum area SmaxCompared with the preset height h and the preset area S at SmaxIs > S and hmaxAnd when the time is more than h, determining that the material blocking phenomenon occurs.
Optionally, the technical solution provided in the embodiment of the present invention further includes: after the matrix B is determined and before the closed graph is not determined, the value of the element in each row of elements in the matrix B can be directly determined to be the first preset value and the continuous maximum number of the elements, and when the value of the element in a certain row is the first preset value and the continuous maximum number of the elements is greater than the preset number of the elements, the material jamming phenomenon is determined to occur.
In order to improve the accuracy of the detection result of the technical scheme, the material jamming phenomenon can be determined when the values of the elements in a certain column in the matrix B are a first preset value and the continuous maximum number of the elements is greater than the number of the preset elements. The median of the matrix B is a first preset value, the positions of a plurality of columns where the elements with the continuous maximum element quantity larger than the quantity of the preset elements are located can be adjacent or not adjacent, and the specific quantity of the plurality of columns can be set by a worker according to the actual situation.
The embodiment of the invention provides a technical scheme for preventing belt jamming based on image recognition. According to the technical scheme, the image of the gap between the belt and the baffle is detected, whether the material blocking phenomenon occurs is determined according to the detected image, and when the material blocking phenomenon occurs, the actuating mechanism can be controlled to drive the baffle to act so as to increase the gap between the belt and the baffle. By the technical scheme provided by the embodiment of the invention, whether the material blocking phenomenon occurs or not can be accurately identified, and the baffle is rapidly driven to act under the condition of judging that the material blocking phenomenon occurs, so that the belt is effectively prevented from being damaged due to the material blocking fault, the cost is lower, and the automation degree and the working efficiency are improved.
Correspondingly, the embodiment of the invention also provides a sand making system adopting the control device for preventing belt jamming, which is provided by the embodiment of the invention, and the structural schematic diagram of the sand making system is shown in fig. 2. The arrow direction in fig. 2 is the conveying direction of the belt 4 (conveying the material from the front to the back of the baffle), and the baffle 5 is located above the belt 4. The material in the sand making system is stone, and in the process of conveying the stone by the belt 4, the stone can be uniformly distributed on the belt 4 under the action of the baffle 5, but if the stone is large or a plurality of stones are overlapped, the stone can be clamped between the belt and the baffle. Image acquisition device 1 installs the rear at the baffle, through selecting the angle of appropriate mounted position and suitable collection image for image acquisition device 1 can gather the image in clearance department between baffle and the belt, processing module 2 is according to the image of gathering, confirm whether card material phenomenon appears, and after card material phenomenon appears, control actuating mechanism drive baffle motion is in order to increase the distance between belt and the baffle, make the building stones that are blocked can be sat the position and get into next work flow smoothly through the baffle.
The sand making system provided by the embodiment of the invention can effectively reduce the maintenance cost of the belt conveyor and improve the working efficiency.
Fig. 3 is a flowchart of a control method for preventing belt jamming according to an embodiment of the present invention. As shown in fig. 3, the method includes: collecting an image between the belt and the baffle; determining whether a material blocking phenomenon occurs according to the acquired image between the belt and the baffle; and when the material jamming phenomenon occurs, controlling the actuating mechanism to drive the baffle to move so as to increase the gap between the belt and the baffle.
Wherein, according to the distance between the belt of gathering and the baffle, whether the card material phenomenon appears includes: comparing the images between the belts and the baffle plates acquired at two adjacent times; and determining whether the material jamming phenomenon occurs or not according to the comparison result of the images between the belts and the baffle plates acquired twice in the adjacent process.
The images between the belt and the baffle can be collected continuously or once every preset time. The preset time can be set by a worker according to the actual working requirement.
According to the technical scheme provided by the embodiment of the invention, images adjacent in time in the images between the continuously acquired belt and the baffle plate can be compared, or images separated by a preset time period in the images between the continuously acquired belt and the baffle plate are compared, and whether the material jamming phenomenon occurs or not is determined according to the comparison result of the images adjacent in time or the comparison result of the images separated by the preset time period. Or acquiring images between the belt and the baffle plate once every preset time, comparing the images between the belt and the baffle plate acquired twice, and determining whether the material jamming phenomenon occurs according to the comparison result of the images acquired twice.
Specifically, gray processing is carried out on the collected image between the belt and the baffle plate to obtain a gray image, and the gray value of each pixel point in the gray image is determined. The gray value range of each pixel point is 0-255, and the larger the gray value is, the brighter the original image corresponding to the pixel point is. The working personnel can set a preset gray value, when the gray value of a certain pixel point is smaller than the preset gray value, the original image corresponding to the pixel point is indicated to be darker, and the existence of the material is determined. The processing module 2 determines that the pixel points with the gray value larger than the preset gray value in the gray image are darker pixel points, then determines the number of continuous darker pixel points in the direction perpendicular to the belt, and determines that the material jamming phenomenon occurs when the number of the continuous darker pixel points is larger than the preset number.
In addition, in order to improve the accuracy of judging whether the material jamming occurs or not by the technical scheme, the obtained gray-scale image can be segmented, so that the segmented gray-scale image only comprises an image at the gap between the belt and the baffle. The size of each divided gray image is equal, and the number and the positions of the pixels are also consistent.
Optionally, in order to improve the reliability of the technical scheme, the method further includes:
determining a gray matrix according to the gray value of each pixel point in the divided gray image, wherein HKRepresenting a Kth grayscale image correspondenceK is a positive integer;
two gray level matrixes H corresponding to two adjacent acquired imagesK、HK-1The corresponding elements in the two gray matrixes H are compared, the first preset value is recorded when the corresponding elements are equal, the second preset value is recorded when the corresponding elements are not equal, and the two gray matrixes H are used for displaying the gray matrixes HK、HK-1The comparison results of the corresponding elements in the matrix are arranged according to the positions of the corresponding elements to form a new matrix B;
determining the vertical height of a closed graph formed by elements with the values only being the first preset value in the matrix B;
comparing the vertical height of the closed graph with a preset height; and
when the vertical height of at least one closed figure is larger than the preset height, the actuating mechanism 3 is controlled to drive the baffle to move so as to increase the gap between the belt and the baffle. For example, after the processing module 2 controls the actuator 3 to drive the baffle to move a distance above the belt, the material continues to move after the position of the baffle is the same as the position of the baffle under the action of the belt, and the actuator 3 drives the baffle to move a distance downwards, so that the baffle is restored to the original state.
Optionally, in order to simplify the step of comparing the vertical height of the closed graph with the preset height, the maximum vertical height of the plurality of closed graphs may be determined, and then the determined maximum vertical height is compared with the preset height, and when the maximum vertical height is greater than the preset height, it is determined that the material jamming phenomenon occurs.
Preferably, the closed figure in the matrix B can be determined by: and connecting elements of the matrix B with a value of a first preset value by using a curve, wherein the elements of the first preset value are adjacent to the elements of a second preset value, or are boundary values of the matrix B, for example, the elements of the first preset value are elements of a first row, a first column, a last row or a last column in the matrix B. Wherein the value of the element within the closed figure is not a second preset value.
Optionally, the technical solution provided in the embodiment of the present invention further includes: determining the area S of each closed figure1、S2、……SnAnd determining the maximum area S of all the closed figuresmax＝max(S1、S2、…Sn) (ii) a Respectively increase the maximum vertical height hmaxAnd maximum area SmaxCompared with the preset height h and the preset area S at SmaxIs > S and hmaxAnd when the time is more than h, determining that the material blocking phenomenon occurs.
Optionally, the technical solution provided in the embodiment of the present invention further includes: after the matrix B is determined and before the closed graph is not determined, the value of the element in each row of elements in the matrix B can be directly determined to be the first preset value and the continuous maximum number of the elements, and when the value of the element in a certain row is the first preset value and the continuous maximum number of the elements is greater than the preset number of the elements, the material jamming phenomenon is determined to occur.
For the details and advantages of the control method provided by the present invention, reference may be made to the above description of the control device provided by the present invention, and further description is omitted here.
Accordingly, an embodiment of the present invention further provides a machine-readable storage medium, which stores instructions for causing a machine to execute the control method for preventing belt jamming.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (11)
1. A control device for preventing belt jamming, characterized in that the control device comprises:
the image acquisition device is used for acquiring an image between the belt and the baffle;
the actuating mechanism is used for driving the baffle to move; and
the processing module is used for executing the following operations to determine whether a material blocking phenomenon occurs according to the acquired image between the belt and the baffle, and controlling the actuating mechanism to drive the baffle to move so as to increase the gap between the belt and the baffle when the material blocking phenomenon occurs:
carrying out gray level processing on the acquired image between the belt and the baffle to obtain a gray level image;
dividing the gray-scale image so that the divided gray-scale image only comprises an image at a gap between the belt and the baffle;
determining a gray matrix according to the gray value of each pixel point in the divided gray image;
two gray level matrixes corresponding to two adjacent acquired imagesH K 、H K-1 The corresponding elements in the two gray matrixes are compared, the first preset value is recorded when the corresponding elements are equal, the second preset value is recorded when the corresponding elements are not equal, and the two gray matrixes are usedH K 、H K-1 The comparison results of the corresponding elements in (1) are arranged according to the positions of the corresponding elements to form a new matrixB；
Determining a matrixBThe vertical height of the closed figure consisting of elements whose values are only the first preset value;
comparing the vertical height of the closed graph with a preset height; and
when the vertical height of at least one closed figure is larger than the preset height, the actuating mechanism is controlled to drive the baffle to move so as to increase the gap between the belt and the baffle.
2. The control device of claim 1, wherein the processing module is configured to determine whether a material jamming phenomenon occurs according to the acquired image between the belt and the baffle plate comprises:
comparing the images between the belts and the baffle plates acquired at two adjacent times; and
and determining whether the material jamming phenomenon occurs or not according to the comparison result of the images between the belts and the baffle plates acquired twice in the adjacent process.
3. The control device according to claim 1 or 2, wherein the processing module is configured to determine whether a material jamming phenomenon occurs according to a comparison result between a vertical height of the material displayed in the acquired image between the belt and the baffle and a preset height.
4. The control device of claim 1, wherein the processing module compares the vertical height of the closed figure with a preset height comprises:
and comparing the maximum vertical height in the vertical heights of the closed graph with the preset height.
5. The control device of claim 1, wherein the actuator is a cylinder drive or a motor drive.
6. A control method for preventing belt jamming, the method comprising:
collecting an image between the belt and the baffle;
determining whether a material blocking phenomenon occurs according to the acquired image between the belt and the baffle; and
when the material jamming phenomenon occurs, the actuating mechanism is controlled to drive the baffle plate to move so as to increase the gap between the belt and the baffle plate,
wherein the method further comprises:
carrying out gray level processing on the acquired image between the belt and the baffle to obtain a gray level image;
dividing the gray-scale image so that the divided gray-scale image only comprises an image at a gap between the belt and the baffle;
determining a gray matrix according to the gray value of each pixel point in the divided gray image;
two gray level matrixes corresponding to two adjacent acquired imagesH K 、H K-1 The corresponding elements in the two gray matrixes are compared, the first preset value is recorded when the corresponding elements are equal, the second preset value is recorded when the corresponding elements are not equal, and the two gray matrixes are usedH K 、H K-1 The comparison results of the corresponding elements in (1) are arranged according to the positions of the corresponding elements to form a new matrixB；
Determining a matrixBThe vertical height of the closed figure consisting of elements whose values are only the first preset value;
comparing the vertical height of the closed graph with a preset height; and
when the vertical height of at least one closed figure is larger than the preset height, the actuating mechanism is controlled to drive the baffle to move so as to increase the gap between the belt and the baffle.
7. The control method according to claim 6, wherein the determining whether the jamming phenomenon occurs according to the collected distance between the belt and the baffle comprises:
comparing the images between the belts and the baffle plates acquired at two adjacent times; and
and determining whether the material jamming phenomenon occurs or not according to the comparison result of the images between the belts and the baffle plates acquired twice in the adjacent process.
8. The control method according to claim 6 or 7, characterized in that the method further comprises:
and determining whether the material jamming phenomenon occurs or not according to a comparison result of the vertical height of the material displayed in the acquired image between the belt and the baffle and the preset height.
9. The control method of claim 6, wherein comparing the vertical height of the closed figure with a preset height comprises:
and comparing the maximum vertical height in the vertical heights of the closed graph with the preset height.
10. A sand making system, characterized in that it comprises a control device for preventing belt jamming according to any one of claims 1-5.
11. A machine-readable storage medium having stored thereon instructions for causing a machine to execute the control method for preventing belt jamming of any one of claims 6 to 9.
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