CN108981842B - Adhesive tape material pile volume calculation and unbalance loading and material blockage identification method based on laser linear light source assistance - Google Patents
Adhesive tape material pile volume calculation and unbalance loading and material blockage identification method based on laser linear light source assistance Download PDFInfo
- Publication number
- CN108981842B CN108981842B CN201810939654.9A CN201810939654A CN108981842B CN 108981842 B CN108981842 B CN 108981842B CN 201810939654 A CN201810939654 A CN 201810939654A CN 108981842 B CN108981842 B CN 108981842B
- Authority
- CN
- China
- Prior art keywords
- adhesive tape
- laser
- volume
- load
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F17/00—Methods or apparatus for determining the capacity of containers or cavities, or the volume of solid bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A method for calculating the bulk volume of a material pile of an adhesive tape and identifying unbalance loading and material blockage based on the assistance of a laser linear light source comprises the following steps: selecting two mounting points above a belt of the belt conveyor and respectively mounting a high-definition camera and a laser transmitter; the laser emitter emits a linear laser light source, the linear laser light source is vertically projected to the load surface of the adhesive tape to form a curve, the surface laser line of the adhesive tape in no load is defined as a reference curve, and the surface laser line of the adhesive tape in load is defined as a load curve; the high-definition camera and the adhesive tape form a certain angle, a relation table between pixel point difference values and heights is established, the actual material height corresponding to a pixel point on a load laser scanning curve at any time is obtained through snapshot analysis of an image, and an actual height curve graph of the pixel point of the whole load curve is drawn; establishing and analyzing a three-dimensional model to obtain a load surface graph; calculating the load volume in a certain time based on a grid division method; and judging whether the adhesive tape material is unbalanced loaded or blocked by combining a volume calculation method.
Description
Technical Field
The invention relates to the field of belt type conveying detection of bulk materials, in particular to a method for calculating the bulk volume of a rubber belt material pile and identifying unbalance loading and material blockage based on the assistance of a laser linear light source.
Background
The groove type rubber belt conveyor widely applied to industries such as power stations, coal mines, ports and the like has common faults that the rubber belt deviates in the operation process, and if blanking points are not centered or the load is unbalanced in the conveying process, the rubber belt of the conveyor deviates irregularly. When the offset exceeds each technical index, the two sides of the rubber belt of the conveyor equipment are possibly torn, so that a large amount of materials in the conveying system are scattered and leaked, and the rubber belt with high value is thoroughly damaged, thereby further causing the fault shutdown of the whole material conveying system and the shutdown of the device.
At present, the rubber belt deviation detection is mainly completed by matching large control station units, the system is complex and high in cost, and the traditional deviation switch detection system cannot judge the deviation state in real time, so that the rubber belt cannot be timely corrected to damage the rubber belt, and the economic loss is large. The heavy-load deviation detection method can meet the field use requirement, and the device which can quickly calculate the material volume and accurately judge the material point error does not exist; at present, the material blockage of the loading point chute is based on various sensors (a radio frequency admittance type sensor, a rotation resistance type sensor, a switch type sensor and the like), the failure rate is very high under the influence of the environment, and the detection accuracy is often lower than 50% under the influence of the installation position; there is no method for judging material blockage by rapidly identifying the volume of materials entering and exiting the adhesive tape in unit time of the transfer point chute.
Disclosure of Invention
The invention aims to solve the technical problem that the existing adhesive tape detection method is insufficient, and provides an adhesive tape material bulk volume calculation and unbalance loading and material blockage identification method based on laser linear light source assistance.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the method for calculating the stacking volume of the adhesive tape material based on the assistance of the laser linear light source comprises the following steps:
step S1, selecting two mounting points above the adhesive tape, wherein one mounting point C is used for mounting a high-definition camera (for night work, a light supplement lamp needs to be mounted), and the high-definition camera captures an adhesive tape running picture in real time; the other mounting point T is selected to be 1-2 m away from the mounting point of the camera and used for mounting a laser transmitter to generate a linear characteristic laser line;
step S2, the laser emitter at the point T emits linear laser to be vertically projected to the load surface of the adhesive tape, a curve is formed on the load surface of the adhesive tape, and the linear laser passes through a high-definition camera according to the unitThe time delta t is taken a snapshot, because the heights of the adhesive tape loads are different, the positions of pixel points of the sampled laser lines on the picture are different, and the surface laser Line when the adhesive tape is in no-load is defined as a reference curve LinebDefining the surface laser Line under load as the load curve Linef；
Step S3, establishing a relation Table Table between pixel point difference values and heightsmhThrough snapshot analysis of the image, the pixel difference value between the pixel point on the load laser scanning curve and the pixel point on the reference curve (the connecting line of the two points is vertical to the x axis) at any timeAll by looking up the relational Table TablemhAcquiring the actual height corresponding to the pixel point of the load curve, thereby drawing an actual height curve graph of the pixel point of the whole load curve;
step S4, establishing a three-dimensional model so as to analyze and obtain a load surface graph within delta t time;
step S5 is to finally calculate the load volume within the Δ t time based on the mesh division method.
According to the scheme, the central line CT of the laser emitter and the central line of the adhesive tape surface in the step S1 are overlapped in a vertical view angle, the laser emitter irradiates the adhesive tape surface vertically, and the high-definition camera and the adhesive tape surface form a certain angle, so that the emitted laser line is located in the center of an image picture as much as possible.
According to the scheme, the step S3 is used for establishing a relation Table Table between the pixel point difference and the heightmhThe method specifically comprises the following steps:
the method is characterized in that a high-definition camera is used as an original point, the level is used as an x axis, the direction perpendicular to the ground is used as a z axis direction (the characteristic pixel point acquisition is different from that of a coal pile on the ground because the ground is considered to be a large plane rectangle in volume calculation, but an adhesive tape is a curved concave surface in the motion process), firstly, when the adhesive tape is in no-load, characteristic pixel points of laser lines on the surface of the adhesive tape are extracted to be M respectivelyb0、Mb1……MbnThen, the feature with the height of unit d cm is sequentially added upwards on the surface of the adhesive tape, and the feature of each layer is collectedLaser line characteristic pixel point M on objectl0、Ml1……MlnWhere l represents the number of layers, there is a formula:
ΔMlb≡Δl×d
Δ l represents the pixel difference of a feature pixel point between two layers of features, Δ MlbThe height distance between the bottom of the adhesive tape and the first layer of characteristic object is shown; then the relation TablemhThe establishment is as follows:
according to the scheme, the step S4 of establishing the three-dimensional model specifically comprises the following steps:
with the movement of the adhesive tape, characteristic pixel points of load surface laser lines in N continuous unit time delta t are collected through a high-definition camera, three-dimensional modeling presentation is carried out on loads transmitted by the adhesive tape in N unit time through regularized grid surface modeling, the square of the y axis is the moving direction of the adhesive tape, and then the walking distance S of the adhesive tape in the delta t in unit time is obtained0P0Comprises the following steps:
S0P0＝ν0×Δt
wherein, v0Known as the uniform speed of tape travel.
According to the above scheme, the step S5 of finally calculating the load volume within the Δ t time based on the grid division method specifically includes:
based on the volume of the regular grid DEM or the triangular DEM, the approximate calculation of the load volume is carried out according to the accumulation principle of the volume of the triangular prism:
m's'ik、M′(i+1)k、M′i(k+1)Is a stockpiled three-dimensional surface characteristic pixel point Mik、M(i+1)k、Mi(k+1)Projection on plane, let M'ikMik、M′(i+1)kM(i+1)k、M′i(k+1)Mi(k+1)Are each h1、h2、h3Triangle MikM(i+1)kMi(k+1)The projected area on the plane is as,then by Mik、M′ik、M(i+1)k、M′(i+1)k、Mi(k+1)、M′i(k+1)The volume Δ V of the triangular prism formed is:
by Mik、M(i+1)k、Mi(k+1)I.e. x-coordinate is x respectivelyik、x(i+1)k、xi(k+1)And y is the coordinate in the y directionik、y(i+1)k、yi(k+1)And z is a coordinate in z directionik、z(i+1)k、zi(k+1)Let us know that1＝zik、h2＝z(i+1)k、h3＝zi(k+1)And calculating the projection area:
ΔS＝(x(i+1)k-xik)(yk+1-yk)/2
then there are:
the cross section volume infinitesimal of two adjacent scans is obtained from the above:
thereby calculating the volume of the materials transported by the adhesive tape in unit time as follows:
where m is the range of points taken for longitudinal points (y-axis direction), and n is the range of points taken for transverse points (x-axis direction).
The invention also provides a method for identifying the shape and the unbalance loading of the rubber belt material pile of the belt conveyor, which is combined with the method for calculating the shape and the size of the rubber belt material pile of the belt conveyor, and comprises the following steps of:
when materials are conveyed by a belt, laser line characteristic pixel points acquired by a high-definition camera are uniformly distributed on two sides of a z axis, a y axis is used as a center, a three-dimensional model of the materials is divided into a left part and a right part, and the volume of the three-dimensional model in the positive direction of an x axis is calculated to be Vx+Volume of the three-dimensional model for the negative x-axis direction is calculated as Vx-Setting the offset threshold constant as VcxWhen | Vx+-Vx-|>VcxAnd judging that the tape has an unbalance loading phenomenon, and outputting a signal source required for operation or control.
The invention also provides a method for identifying chute material blockage at the transfer point of the belt conveyor, which is combined with the method for calculating the stack shape volume of the belt material of the belt conveyor, and comprises the following steps:
(1) assuming that the volume of the material-feeding end adhesive tape at the material transferring point is counted from t1From time to t2End of time t2-t1The volume of the material transfer point in the chute in the time period is Vin；
(2) The time for the material to pass through the transfer point chute is delta T, and the moment when the chute outlet (the chute outlet scanner) starts to calculate the volume of the material is T1+ Δ T, end time T2+ΔT，t2-t1The volume of the material discharging chute in the time period is Vout；
(3) Setting a chute residual threshold value VcWhen V isin-Vout>VcAnd judging that the chute has the phenomenon of material accumulation and material blockage.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention is based on the principle of extracting the characteristic pixel points of the image, and the height difference between the characteristic pixel points and the bottom of the adhesive tape is measured out, so that the volume of the material transported on the adhesive tape in unit time is calculated
2. The distribution conditions of the materials on the two sides of the center line of the adhesive tape are combined, namely the distribution conditions of the load volume on the two sides of the y axis are accurately determined, and whether the adhesive tape has an unbalance loading phenomenon is judged;
3. the size of the material entering the chute in a certain time period is combined with the size difference of the material exiting the chute, and once the material entering the chute exceeds a set chute residual threshold value, the chute is judged to be blocked.
Drawings
FIG. 1 is a schematic diagram of an implementation of a method for calculating a stacking volume of a tape material based on the assistance of a laser linear light source;
FIG. 2 is a schematic diagram showing the structure of a reference curve when the belt is unloaded and a load curve when the belt is loaded according to the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a three-dimensional model of a load during belt transmission according to an embodiment of the present invention;
fig. 4 is a model diagram illustrating mesh division and volume calculation of a material pile in a triangular manner according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and examples.
The invention relates to a method for calculating the bulk of a stack of adhesive tape materials, which comprises the following steps:
step S1, as shown in FIG. 1, surface S0S1P1P0Selecting two mounting points C, T for the surface of the adhesive tape, wherein one mounting point C is a mounting point for installing a high-definition camera (a light supplement lamp needs to be installed during night operation) above the adhesive tape, and capturing the running picture of the adhesive tape in real time; the other mounting point T is a laser emitter mounting point above the adhesive tape, the distance between the other mounting point T and the camera mounting point C is selected to be 1-2 m, the mounting height is higher than that of the high-definition camera, and the central line CT and the adhesive tape surface S0S1P1P0The central lines of the high-definition camera and the high-definition camera are basically overlapped on a vertical visual angle, the laser emitter is vertical to the adhesive tape surface, and a certain angle is formed between the high-definition camera and the adhesive tape surface, so that the laser line emitted by the laser emitter is positioned in the center of an image picture shot by the high-definition camera as much as possible;
step S2, emitting laser at the laser emitter at the point T, forming a curve on the load surface of the adhesive tape, capturing the curve according to a certain time frequency delta T through a high-definition camera, wherein due to the fact that the heights of the adhesive tape loads are different, the positions of pixel points of the sampled laser lines on the picture are different, and the surface laser Line when the adhesive tape is in no-load is defined as a reference curve LinebHandle barThe surface laser Line under load is defined as a load curve LinefAs shown in FIG. 2, the laser curve Line of the surface is obtained when two loads with different heights are appliedf_1、Linef_2，Mbi,Mfi,MgiRespectively is perpendicular to the direction of the adhesive tape and is a point on a laser scanning curve with different heights;
step S3, establishing a relation Table Table between pixel point difference values and heightsmhThrough snapshot analysis of the image, the pixel difference value between the pixel point on the load laser scanning curve and the pixel point on the reference curve (the connecting line of the two points is vertical to the x axis) at any timeAll by looking up the relational Table TablemhAcquiring the actual height corresponding to the pixel point of the load curve, thereby drawing an actual height curve graph of the pixel point of the whole load curve;
establishing a relation Table Table between the pixel point difference and the heightmhThe method specifically comprises the following steps:
the high-definition camera is used as an original point, the horizontal direction is an x axis, and the vertical ground is a z axis direction. The characteristic pixel point acquisition is different from that of a coal pile on the ground, because the ground can be considered as a large plane rectangle when the volume of the ground is calculated, but the adhesive tape is a curved concave surface in the movement process, firstly, when the adhesive tape is in no-load, characteristic pixel points of laser lines on the surface of the adhesive tape are extracted to be M respectivelyb0、Mb1……MbnThen, feature objects with the height of unit centimeter (d cm) are sequentially and upwards added on the surface of the adhesive tape, and laser line feature pixel points M on each layer of feature objects are collectedl0、Ml1……MlnWhere l represents the number of layers, there is a formula:
ΔMlb≡Δl×d
Δ l represents the pixel difference between the two layers, Δ MlbIndicating the height distance from the bottom of the adhesive tape to the first layer;
step S4, establishing a three-dimensional model so as to analyze and obtain a load surface graph within delta t time;
the three-dimensional model establishment specifically comprises the following steps:
with the movement of the adhesive tape, characteristic pixel points of the load surface laser lines in N continuous unit time delta t are collected through a high-definition camera, three-dimensional modeling presentation is carried out on the load transmitted by the adhesive tape in N unit time through regularized grid surface modeling, the positive direction of the y axis is the movement direction of the adhesive tape, and the three-dimensional modeling presentation is shown in figure 3, wherein S is the movement direction of the adhesive tape0P0For the running distance of the adhesive tape delta t in unit time, the uniform speed of the adhesive tape running is known to be v0Then, the walking distance is:
S0P0＝ν0×Δt
step S5, based on the grid division method, the load volume within the Δ t time is finally calculated, specifically:
based on regular grid DEM or based on triangular DEM volumes, approximate calculation of the load volume can be performed, usually according to the principle of prism, triangular prism volume accumulation. The basic idea is to multiply the base area by the average height of the curved surface of the grid points and then accumulate to obtain the volume based on the regular grid DEM.
As shown in FIG. 4, embodiments of the present invention mesh partition and volume calculation with triangles, M'ik、M′(i+1)k、M′i(k+1)Is a stockpiled three-dimensional surface characteristic pixel point Mik、M(i+1)k、Mi(k+1)Projection on plane, let M'ikMik、M′(i+1) kM(i+1)k、M′i(k+1)Mi(k+1)Are each h1、h2、h3Triangle MikM(i+1)kMi(k+1)The projected area on the xoy plane is Δ S, thenik、M′ik、M(i+1)k、M′(i+1)k、Mi(k+1)、M′i(k+1)The volume Δ V of the triangular prism formed is:
by Mik、M(i+1)k、Mi(k+1)Three-dimensional coordinate information (spatial coordinate values of each point in x, y, z directions), that is, x-direction coordinates are x-direction coordinates, respectivelyik、x(i+1)k、xi(k+1)And y is the coordinate in the y directionk、yk、yk+1And z is a coordinate in z directionik、z(i+1)k、zi(k+1)Let us know that1＝zik、h2＝z(i+1)k、h3＝zi(k+1)And calculating the projection area:
ΔS＝(x(i+1)k-xik)(yk+1-yk)/2
then there are:
the cross section volume infinitesimal of two adjacent scans is obtained from the above:
wherein z is(i+1)(k+1)For two adjacent scans relative to z(i+1)k、zi(k+1)And by analogy, calculating the volume of the belt-conveyed material in unit time (N deltat) as follows:
where m is the longitudinal point fetch range and n is the transverse point fetch range.
Identifying the shape unbalance of the adhesive tape material pile: by combining the method for calculating the stacking volume of the adhesive tape material based on the assistance of the laser linear light source, when the material is conveyed by a belt, laser line characteristic pixel points acquired by a high-definition camera are uniformly distributed on two sides of a z axis, a three-dimensional model of the material is divided into a left part and a right part by taking a y axis as a center, and the volume of the three-dimensional model in the positive direction of the x axis is calculated as Vx+Volume of the three-dimensional model for the negative x-axis direction is calculated as Vx-Setting the offset threshold constant as VcxWhen | Vx+-Vx-|>VcxAnd judging that the tape has an unbalance loading phenomenon, and outputting a signal source required for operation or control.
Identifying material blockage of the rubber belt chute: in combination with the method for calculating the stack volume of the adhesive tape material based on the assistance of the laser linear light source, whether the quantity of the material entering and exiting the chute is consistent or not is judged because the adhesive tape continuously and continuously conveys the material, the entering and exiting material is determined to be the same object firstly, and the volume of the material transshipment point entering the chute is supposed to be counted from t1From time to t2End of time t2-t1The volume of the material transfer point in the chute in the time period is Vin(ii) a The time for the material to pass through the transfer point chute is delta t, and the time when the slot outlet scanner starts to calculate the volume of the material is t1+ Δ t, end time t2+Δt，t2-t1The volume of the material discharging chute in the time period is Vout(ii) a Setting a chute residual threshold value VcWhen V isin-Vout>VcAnd judging that the chute has the phenomenon of material accumulation and material blockage.
It should be understood that the above examples are only for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Obvious variations or modifications to the present invention, which would be apparent to a person of ordinary skill in the art, would nevertheless fall within the scope of the present invention.
Claims (6)
1. The method for calculating the stacking volume of the adhesive tape material based on the assistance of the laser linear light source is characterized by comprising the following steps of:
step S1, selecting two mounting points above the adhesive tape, wherein one mounting point C is used for mounting a high-definition camera, and the high-definition camera captures the running picture of the adhesive tape in real time; the other mounting point T is selected to be 1-2 m away from the mounting point of the camera and used for mounting a laser transmitter to generate a linear characteristic laser line;
step S2, the laser emitter at the point T emits linear laser to be vertically projected to the load surface of the adhesive tape, a curve is formed on the load surface of the adhesive tape, and the linear laser is processed according to unit time delta T through a high-definition cameraSnapshotting, wherein due to the fact that the height of the loaded adhesive tape is inconsistent, the positions of pixel points of the sampled laser lines on the picture are different, and the surface laser Line when the adhesive tape is in no-load is defined as a reference curve LinebDefining the surface laser Line under load as the load curve Linef；
Step S3, establishing a relation Table Table between pixel point difference values and heightsmhThrough snapshot analysis of the image, the pixel difference value between the pixel point on the load laser scanning curve and the pixel point on the reference curve at any timeAll by looking up the relational Table TablemhAcquiring the actual height corresponding to the pixel point of the load curve, thereby drawing an actual height curve graph of the pixel point of the whole load curve;
step S4, establishing a three-dimensional model so as to analyze and obtain a load surface graph within delta t time;
step S5, based on the grid division method, the load volume within the Δ t time is finally calculated, specifically:
based on the volume of the regular grid DEM or the triangular DEM, the approximate calculation of the load volume is carried out according to the accumulation principle of the volume of the triangular prism:
m's'ik、M′(i+1)k、M′i(k+1)Is a stockpiled three-dimensional surface characteristic pixel point Mik、M(i+1)k、Mi(k+1)Projection on plane, let M'ikMik、M′(i+1)kM(i+1)k、M′i(k+1)Mi(k+1)Are each h1、h2、h3Triangle MikM(i+1)kMi(k+1)The projected area on the plane is DeltaS, then from Mik、M′ik、M(i+1)k、M′(i+1)k、Mi(k+1)、M′i(k+1)The volume Δ V of the triangular prism formed is:
by Mik、M(i+1)k、Mi(k+1)I.e. x-coordinate is x respectivelyik、x(i+1)k、xi(k+1)And y is the coordinate in the y directionk、yk、yk+1And z is a coordinate in z directionik、z(i+1)k、zi(k+1)Let us know that1＝zik、h2＝z(i+1)k、h3＝zi(k+1)And calculating the projection area:
ΔS＝(x(i+1)k-xik)(yk+1-yk)/2
then there are:
the cross section volume infinitesimal of two adjacent scans is obtained from the above:
thereby calculating the volume of the materials transported by the adhesive tape in unit time as follows:
where m is the longitudinal point fetch range and n is the transverse point fetch range.
2. The method for calculating the stacked volume of the adhesive tape material based on the assistance of the laser linear light source according to claim 1, wherein in the step S1, the central line CT of the laser emitter coincides with the central line of the adhesive tape surface at a vertical viewing angle, the laser emitter irradiates the adhesive tape surface vertically, and the high-definition camera forms a certain angle with the adhesive tape surface, so that the emitted laser line is as central as possible in the image picture.
3. The laser-based line light of claim 1The method for calculating the stacking volume of the source-assisted adhesive tape material is characterized in that the step S3 establishes a relation Table between the pixel point difference and the heightmhThe method specifically comprises the following steps:
taking a high-definition camera as an original point, taking the horizontal direction as an x axis and the vertical ground direction as a z axis, firstly, when the adhesive tape is in no-load, extracting characteristic pixel points of laser lines on the surface of the adhesive tape, wherein the characteristic pixel points are respectively Mb0、Mb1……MbnThen, the feature objects with the height of unit d cm are sequentially and upwards added on the surface of the adhesive tape, and laser line feature pixel points M on each layer of feature objects are collectedl0、Ml1……MlnWhere l represents the number of layers, there is a formula:
ΔMlb≡Δl×d
Δ l represents the pixel difference of a feature pixel point between two layers of features, Δ MlbThe height distance between the bottom of the adhesive tape and the first layer of characteristic object is shown; then the relation TablemhThe establishment is as follows:
。
4. the method for calculating the stacked volume of the adhesive tape material based on the assistance of the laser linear light source according to claim 3, wherein the step S4 of establishing the three-dimensional model specifically comprises the following steps:
with the movement of the adhesive tape, characteristic pixel points of load surface laser lines in N continuous unit time delta t are collected through a high-definition camera, three-dimensional modeling presentation is carried out on loads transmitted by the adhesive tape in N unit time through regularized grid surface modeling, the square of the y axis is the moving direction of the adhesive tape, and then the walking distance S of the adhesive tape in the delta t in unit time is obtained0P0Comprises the following steps:
S0P0＝ν0×Δt
wherein, v0Known as the uniform speed of tape travel.
5. A method for identifying the stacking unbalance loading of belt conveyor belt materials is combined with the method for calculating the stacking volume of the belt materials based on the assistance of the laser linear light source according to any one of claims 1 to 4, and is characterized by comprising the following steps:
(1) when materials are conveyed by a belt, laser line characteristic pixel points acquired by a high-definition camera are uniformly distributed on two sides of a z axis, a y axis is used as a center, a three-dimensional model of the materials is divided into a left part and a right part, and the volume of the three-dimensional model in the positive direction of an x axis is calculated to be Vx+Volume of the three-dimensional model for the negative x-axis direction is calculated as Vx-；
(2) Setting the offset threshold constant to VcxWhen | Vx+-Vx-|>VcxAnd judging that the tape has an unbalance loading phenomenon, and outputting a signal source required for operation or control.
6. The method for identifying the material blockage of the transfer point chute of the belt conveyor is combined with the method for calculating the stacking volume of the material on the rubber belt based on the assistance of the laser linear light source according to any one of claims 1 to 4, and is characterized by comprising the following steps of:
(1) assuming that the volume of the material-feeding end adhesive tape at the material transferring point is counted from t1From time to t2End of time t2-t1The volume of the material transfer point in the chute in the time period is Vin；
(2) The time for the material to pass through the transfer point chute is delta T, and the moment when the chute outlet starts to calculate the volume of the material is T1+ Δ T, end time T2+ΔT，t2-t1The volume of the material discharging chute in the time period is Vout；
(3) Setting a chute residual threshold value VcWhen V isin-Vout>VcAnd judging that the chute has the phenomenon of material accumulation and material blockage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810939654.9A CN108981842B (en) | 2018-08-17 | 2018-08-17 | Adhesive tape material pile volume calculation and unbalance loading and material blockage identification method based on laser linear light source assistance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810939654.9A CN108981842B (en) | 2018-08-17 | 2018-08-17 | Adhesive tape material pile volume calculation and unbalance loading and material blockage identification method based on laser linear light source assistance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108981842A CN108981842A (en) | 2018-12-11 |
| CN108981842B true CN108981842B (en) | 2019-12-24 |
Family
ID=64553972
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810939654.9A Active CN108981842B (en) | 2018-08-17 | 2018-08-17 | Adhesive tape material pile volume calculation and unbalance loading and material blockage identification method based on laser linear light source assistance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108981842B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109781196A (en) * | 2019-02-14 | 2019-05-21 | 苏州万闻信息工程有限公司 | A kind of contactless method for measuring mass flow on belt conveyor |
| CN109941783B (en) * | 2019-03-06 | 2020-10-30 | 湖北凯瑞知行智能装备有限公司 | Intelligent transfer system of adhesive tape machine |
| CN109941700B (en) * | 2019-03-06 | 2020-10-30 | 湖北凯瑞知行智能装备有限公司 | Intelligent unmanned inspection system of coal conveying system |
| CN111747062B (en) * | 2019-09-03 | 2021-06-15 | 南京北路智控科技股份有限公司 | Coal flow detection method based on surface laser radar |
| CN110514553B (en) * | 2019-09-24 | 2021-10-22 | 中国烟草总公司郑州烟草研究院 | On-line detection method for bulk density of tobacco shred materials on conveying belt |
| CN110980197B (en) * | 2020-02-27 | 2020-06-16 | 天津美腾科技股份有限公司 | Material detection method and device and electronic equipment |
| CN113295232B (en) * | 2020-08-05 | 2022-06-14 | 中冶长天国际工程有限责任公司 | Material pile stock system and method for stock yard |
| CN112489108B (en) * | 2020-12-24 | 2023-08-01 | 中国科学院南海海洋研究所 | Method and device for reconstructing underwater surface area inversion of open sea coral reef |
| CN113135402A (en) * | 2021-04-07 | 2021-07-20 | 国电汉川发电有限公司 | Belt blockage detection method and system based on laser scanning |
| CN114212445B (en) * | 2021-12-07 | 2023-06-27 | 合肥欣畅源光电科技有限公司 | Material processing feeding servo system based on structured light volume measurement |
| CN114772220B (en) * | 2022-06-23 | 2022-10-14 | 力博重工科技股份有限公司 | Real-time detection method for material load of belt conveyor |
| CN115856923B (en) * | 2023-02-27 | 2023-06-16 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Method, device, equipment and storage medium for measuring ore card unloading time |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5184733A (en) * | 1991-02-19 | 1993-02-09 | Marel H.F. | Apparatus and method for determining the volume, form and weight of objects |
| US5325178A (en) * | 1991-04-18 | 1994-06-28 | Isover Saint-Gobain | Method of measuring the dimensions of moving objects |
| US6847859B2 (en) * | 2002-06-14 | 2005-01-25 | Sick Ag | Method for locating articles on a support plane |
| WO2011145799A1 (en) * | 2010-05-20 | 2011-11-24 | Lim Yong Geun | Measurement device for three-dimensional scanner |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104132699B (en) * | 2014-07-24 | 2017-08-25 | 武汉中原电子集团有限公司 | A kind of laser scan type bulk material flow detection and distribution error removing method |
| CN105181082B (en) * | 2015-04-30 | 2018-09-11 | 湖南大学 | A kind of liquid-level detecting method and device based on visible laser and image procossing |
-
2018
- 2018-08-17 CN CN201810939654.9A patent/CN108981842B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5184733A (en) * | 1991-02-19 | 1993-02-09 | Marel H.F. | Apparatus and method for determining the volume, form and weight of objects |
| US5325178A (en) * | 1991-04-18 | 1994-06-28 | Isover Saint-Gobain | Method of measuring the dimensions of moving objects |
| US6847859B2 (en) * | 2002-06-14 | 2005-01-25 | Sick Ag | Method for locating articles on a support plane |
| WO2011145799A1 (en) * | 2010-05-20 | 2011-11-24 | Lim Yong Geun | Measurement device for three-dimensional scanner |
Non-Patent Citations (1)
| Title |
|---|
| 露天储煤场无人机自动盘煤系统研究;程健;《煤炭科学技术》;20160530;第160-165页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108981842A (en) | 2018-12-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108981842B (en) | Adhesive tape material pile volume calculation and unbalance loading and material blockage identification method based on laser linear light source assistance | |
| US10058896B2 (en) | Installation for separating and singulating non-uniform postal articles with a vision system having laser sources | |
| CN205771617U (en) | Automatic Conveying circuit board testing station | |
| CN109178960A (en) | A kind of intelligent stacking system and method suitable for different size carton package | |
| CN106573381A (en) | Truck unloader visualization | |
| CN109775376B (en) | Robot unstacking method for irregular random materials | |
| CN107416528A (en) | A kind of sheet glass sorts conveying device | |
| CN208898125U (en) | A kind of intelligent stacking system suitable for different size carton package | |
| CN104511436A (en) | Express sorting method and system based on robot visual servo technology | |
| CN104655017A (en) | Measuring system and method for stacking alignment of containers | |
| AU2017201277A1 (en) | Train Wagon 3D Profiler | |
| JP2019020131A (en) | Raw material mountain measurement method and raw material mountain measurement system | |
| CN105396801A (en) | System for automatically detecting, cutting, sorting and packaging metal strain gages | |
| CN108147147A (en) | A kind of material stacking and fetching system of automatic intelligent | |
| CN108182715A (en) | A kind of material stacking and fetching system with statistics rickyard material information | |
| CN109384150A (en) | The container tapered end framing of automated handling slings method with anti- | |
| JP6408317B2 (en) | Measuring method and measuring device for raw material mountain shape in raw material yard | |
| CN114463411B (en) | Target volume, mass and density measuring method based on three-dimensional camera | |
| CN108593062B (en) | Testing method of belt conveyor online weighing equipment based on stripe projection | |
| JP2012137304A (en) | Automatic measurement device for goods distribution system | |
| CN107367245A (en) | Null Spot detection and elimination method in optical three-dimensional contour measurement | |
| CN106904442A (en) | Fully automatic feeding machine people's system of view-based access control model | |
| CN111274951A (en) | Method and device for monitoring state of material box and automatic feeding system | |
| US20190070728A1 (en) | Robotic systems and methods for operating a robot | |
| CN107128661A (en) | Contactless Belt Conveying weight calculation and departure warning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |