CN110057198A - Wheel of sintering trolley working state detecting method and detection device - Google Patents
Wheel of sintering trolley working state detecting method and detection device Download PDFInfo
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- CN110057198A CN110057198A CN201910411318.1A CN201910411318A CN110057198A CN 110057198 A CN110057198 A CN 110057198A CN 201910411318 A CN201910411318 A CN 201910411318A CN 110057198 A CN110057198 A CN 110057198A
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- 238000005245 sintering Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000001514 detection method Methods 0.000 title claims abstract description 17
- 239000000835 fiber Substances 0.000 claims description 17
- 230000003287 optical effect Effects 0.000 claims description 17
- 238000000605 extraction Methods 0.000 claims description 8
- 239000013307 optical fiber Substances 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000009877 rendering Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000007405 data analysis Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 210000000481 breast Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000010334 sieve classification Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B21/00—Open or uncovered sintering apparatus; Other heat-treatment apparatus of like construction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
- F27D21/02—Observation or illuminating devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
- F27D21/04—Arrangements of indicators or alarms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
- F27D21/02—Observation or illuminating devices
- F27D2021/026—Observation or illuminating devices using a video installation
Abstract
The invention discloses a kind of wheel of sintering trolley working state detecting method and detection devices, its detection method judges that trolley wheel rotary state and swing state are judged according to image by being successively identified to its boundary rectangle frame using drafting of the trolley wheel in the image of trolley wheel；Corresponding detection device includes being separately positioned on two sets image capture devices of trolley running track two sides and two range laser sensors and centrally disposed controlling indoor industrial personal computer, display and alarm；Wherein, image capture device includes a video camera and two light sources；Range laser sensor is arranged in above the marginal position of trolley wheel；The wheel of sintering trolley working state detecting method monitors sintering production process in real time, effectively the operating status of wheel of sintering trolley is detected and fed back, solve the problems, such as that trolley wheel is fallen wheel and cannot be found in time, while saving the debugging time, production cost and cost of labor are saved.
Description
Technical field
The present invention relates to metallurgical technology field, in particular to a kind of wheel of sintering trolley working state detecting method and detection
Device.
Background technique
In metallurgy industry, sintering pallet is important composition equipment of the sinter from raw material to finished product, it is mounted on sintering
On track, by the operating of sintering machine head-tail star-wheel, trolley is moved forwards.Trolley mainly by trolley wheel, breast board, blind plate, fire bars,
Heat insulating mattress, support beam group at.Raw materials for sintering is mixed when normal work to fall from head feed bin, is uniformly laid in sintering pallet
Above, it with the operation of sintering machine, lights a fire by igniter, sintering fuel burns on the car, eventually forms burning
Mine cake is tied, sinter cake passes through the broken of single roller, and the sinter less than 150mm falls on ring cold machine and cooled down, with material
Operation, enter cold mine screen and carry out sieve classification, finished product sinter cake is transported through belt conveyor to blast furnace.
For a long time, trolley wheel failure is mainly manifested in the following aspects: 1) trolley wheel does not rotate online；Bearing card
Extremely, wheel face and guide rail direct friction are caused；2) trolley wheel integrally falls off: trolley wheel bearing arrangement destroys, and bearing inner sleeve is caused to revolve
Turn, axial plane abrasion scratch, locking nut fall off, and trolley wheel is caused integrally to be deviate from；3) trolley wheel is swung: oil sealing abrasion, trolley wheel
Internal lubrication oily pollution, sintering fine ore form pureed with grease, retainer are caused to damage, and rolling element is worn.However current
It can be realized in actual production operation there is no effective detection method and whether break down to trolley wheel before failure occurs
It is prejudged, therefore, it is necessary to design a set of reliable and can be realized and efficiently examined to the working condition of wheel of sintering trolley
The method and detection device of survey.
Summary of the invention
The object of the present invention is to provide a kind of realize to carry out high efficiency, high reliability to the working condition of wheel of sintering trolley
Real-time detection wheel of sintering trolley working state detecting method.
It can be realized above-mentioned wheel of sintering trolley working state detecting method it is a further object of the present invention to provide a kind of
Detection device.
For this purpose, technical solution of the present invention is as follows:
A kind of wheel of sintering trolley working state detecting method, steps are as follows:
S1, it continuously acquires and is being set to wheel of sintering trolley that the video camera of sintering pallet track neighbour side acquires in real time just
View image；Wherein, the interval time that image obtains is set as in two images of every continuous acquisition including same platform
Two trolley wheels of vehicle；
S2, successively the trolley wheel in every image of video camera acquisition each of is identified, and will identify that it is complete
Trolley wheel be identified by the way of drawing its boundary rectangle frame；And using the upper left apex angle of every image as origin, upside
Horizontal edge is X1Axis, left side vertical edge are Y1Axis constructs the first plane right-angle coordinate, long as unit of the side length of each pixel of image
Degree, provides the left upper apex of each boundary rectangle frame and the coordinate of bottom right vertex；
S3, the image with coordinate information obtained according to step S2, by including two of identical trolley to every two
Whether the relative position of same characteristic point in same trolley wheel progress feature point extraction and front and back image in the image of trolley wheel
Changed comparison, judge trolley wheel whether normal rotation；And when analyzing rotary state exception, starting alarm is issued
Alarm；
S4, while carrying out step S3, chosen thereon in the image with coordinate information obtained by step S2
Trolley wheel is located in the middle part of image or the close trolley wheel image being located in the middle part of image and be identified with boundary rectangle frame, and passes through calculating
Whether the distance of each point is completely the same on the center of circle of trolley wheel to its profile traces, judges whether trolley wheel swings；When
When analyzing wheel and swing situation occur, starting alarm is sounded an alarm.
Further, specific implementation step trolley wheel rotation situation analyzed are as follows:
S301, central point for identifying the boundary rectangle frame of trolley wheel is obtained, and with the center point-rendering boundary rectangle
The inscribed circle of frame obtains the central coordinate of circle and radius of wheel of trolley wheel；
S302, for every two comprising identical trolley two trolley wheels image, utilize Harris feature extraction algorithm
Characteristic point A and characteristic point B in the trolley wheel in first acquisition image in two trolley wheel circumscribed circle regions is extracted respectively, and is remembered
Record provides the coordinate of characteristic point A and characteristic point B；Then finding again in second acquisition image can match with characteristic point A
Characteristic point A ' and the characteristic point B ' that matches with characteristic point B, and provide the coordinate of characteristic point A ' and B '；
S303, using the upper left apex angle of the boundary rectangle frame of each trolley wheel as coordinate origin, the upper cross of boundary rectangle frame
While being X2Axis, left side vertical edge are Y2Axis constructs the second plane right-angle coordinate；Using the side length of each pixel of image as unit length,
Converse characteristic point A, characteristic point B, characteristic point A ' and characteristic point B ' are constructed on the basis of corresponding to boundary rectangle frame by it second
Relative coordinate in plane right-angle coordinate, and make following judgement:
If in the second plane right-angle coordinate that characteristic point A and characteristic point A ' is constructed on the basis of by respective boundary rectangle frame
Coordinate it is inconsistent, and the second flat square for constructing on the basis of by respective boundary rectangle frame of characteristic point B and characteristic point B ' is sat
Coordinate in mark system is inconsistent, that is, judges that trolley wheel is in normal rotation state；
If in the second plane right-angle coordinate that characteristic point A and characteristic point A is constructed on the basis of by respective boundary rectangle frame
The second flat square that coordinate is consistent and/or characteristic point B and characteristic point B ' is constructed on the basis of by respective boundary rectangle frame sit
Coordinate in mark system is consistent, that is, judges that trolley wheel is in improper motion state.
Further, whether trolley wheel is occurred to swing the specific implementation step analyzed are as follows:
S401, according to step S301 handle image in trolley wheel central coordinate of circle, select a trolley marked thereon
Wheel is located at the image that image hits exactly or hits exactly close to image；
S402, to by step S401 choose image in be located at image hit exactly or close to image hit exactly trolley wheel figure
As successively carrying out Threshold segmentation, contours extract and curve fitting algorithm processing, the curve point of the smooth contoured of the trolley wheel is obtained
Collection；
S403, the center of circle for calculating the trolley wheel are concentrated the distance of each point to contour curve point, and are made the following judgment:
If the distance of each point is equal on the center of circle of trolley wheel to trolley wheel profile traces, and the platform obtained with step S301
Radius of wheel is consistent, then judges that trolley wheel is not swung；
If the distance of each point is not completely equivalent on the center of circle of trolley wheel to trolley wheel profile traces, trolley wheel is judged
It swings.
Further, it when detecting that dancing occurs in trolley wheel by step S4, then is verified by step S5；
The specific implementation step of step S5 are as follows:
S501, laser ranging sensing is continuously acquired by the way that the laser range sensor above sintering pallet track is arranged in
The distance change data of device induction end end to trolley wheel edge, and it is the time that the data obtained, which is depicted as abscissa, indulges and sits
It is designated as the distance change curve of distance；
S502, changed by calculating the difference in distance change curve between adjacent two o'clock, the every of curve is drawn out in judgement
A arc end, which whether there is, there is the variation of cliff of displacement formula:
The range images made of the distance change data that laser range sensor continuously acquires are drawn are one complete, flat
The sliding curve in camber line, then judge trolley wheel normal operation；
The range images made of the distance change data that laser range sensor continuously acquires are drawn are one irregular
And in the curve of cliff of displacement formula variation, then judge that trolley wheel is abnormal swing really, starting alarm sounds an alarm.
A kind of detection device of wheel of sintering trolley working state detecting method, including it is separately positioned on sintering pallet fortune
The image capture device of row track two sides and the indoor industrial personal computer of centrally disposed control, display and alarm；Wherein,
Every set image capture device includes a video camera and two light sources；Video camera setting is in sintering pallet track one
Side makes it carry out Image Acquisition to the trolley wheel in driving process in such a way that front is put down and taken the photograph；Two source symmetrics are mounted on and take the photograph
Camera two sides, and light filling is carried out to trolley wheel with symmetrical angle；The first fiber optical transceiver of video camera and setting at the scene is logical
Data line connection is crossed, industrial personal computer and centrally disposed indoor second fiber optical transceiver of control are connected by data line
It connects, is connected between the first fiber optical transceiver and the second fiber optical transceiver by optical fiber, the image transmitting for acquiring video camera to work
In control machine；Display is connect with industrial personal computer by data line, to show the processing result image of industrial personal computer；Alarm and work
Control machine is connected by data line, to start when industrial personal computer processing result and sound an alarm.
Further, which further includes two two sides wheel tracks being separately positioned in sintering pallet running track
The range laser sensor of top；Every range laser sensor is vertically arranged in above ipsilateral wheel track, is made away from laser
The laser beam that sensor issues emits vertically downward at the marginal position for being concurrently incident upon and operating in the trolley wheel in wheel track；Two
Range laser sensor passes through data line respectively and connect with the first fiber optical transceiver a.
Compared with prior art, the wheel of sintering trolley working state detecting method and its matched detection device can be real
Now sintering production process is monitored in real time, effectively the operating status of wheel of sintering trolley is detected and fed back, with to
On-site personnel carries out timely early warning, solves the problems, such as that trolley wheel is fallen wheel and cannot be found in time, when saving debugging
Between while, save production cost and cost of labor, there is good industry promotion prospect.
Detailed description of the invention
Fig. 1 is the flow chart of wheel of sintering trolley working state detecting method of the invention；
Fig. 2 (a) is the figure of the trolley wheel position mark step of wheel of sintering trolley working state detecting method of the invention
As the schematic diagram of processing；
Fig. 2 (b) is that the trolley wheel of wheel of sintering trolley working state detecting method of the invention rotates status analysis step
In the process to the schematic diagram of the further image procossing of Fig. 2 (a)；
Fig. 3 is the structural schematic diagram of the wheel of sintering trolley working state detection device of the embodiment of the present invention 3；
Fig. 4 is laser range sensor peace in the wheel of sintering trolley working state detection device of the embodiment of the present invention 4
The structural schematic diagram of holding position；
Fig. 5 is the trolley that laser range sensor detects in wheel of sintering trolley working state detecting method of the invention
Take turns the ranging data schematic diagram under state working properly；
Fig. 6 is the trolley that laser range sensor detects in wheel of sintering trolley working state detecting method of the invention
Take turns the ranging data schematic diagram under operation irregularity state.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is described further, but following embodiments are absolutely not to this hair
It is bright to have any restrictions.
As shown in Figure 1, the specific implementation step of the wheel of sintering trolley working state detecting method is as follows:
Step S1, the image for the wheel of sintering trolley that video camera acquires in real time is obtained；
Specifically, video camera setting is in sintering pallet track neighbour side, and make its by front is flat take the photograph in a manner of to running over
Wheel of sintering trolley in journey carries out Image Acquisition, obtains the front view picture of wheel, and the interval that adjacent two images obtain
Time should be configured in two images for guaranteeing every continuous acquisition include same trolley two trolley wheels；
In step S1, since the speed of service of sintering machine is not constant, the picture-taken frequency of video camera
The speed of service of the sintering machine fed back by the production management level two of operation field is adjusted in real time, to guarantee energy
Two trolley wheels of the same trolley are taken in two continuous frames image.
Step S2, collected trolley wheel carries out identifying line position tagging of going forward side by side in every image:
Specifically, operation step is as follows:
S201, successively the trolley wheel in every image of video camera acquisition each of is identified, and will identify that it is complete
Whole trolley wheel is identified by the way of drawing its boundary rectangle frame；
Shown in S202, such as Fig. 2 (a), using the upper left apex angle of every image as origin O1(0,0), the upside horizontal edge of image are X1
Axis, the left side vertical edge of image are Y1Axis constructs the first plane right-angle coordinate；It is long as unit of the side length of each pixel of image
Degree, provides the left upper apex of each boundary rectangle frame and the coordinate of bottom right vertex, i.e. M1、M2、N1And N2；
In above-mentioned steps S2, when the number of the trolley wheel identified by step S201 is less than two, then it is judged as
Trolley wheel missing, issues alarm signal, and operating personnel is reminded to reset the interval time of Image Acquisition；
Step S3, it while carrying out step S2, analyzes whether trolley wheel is in normal rotation state:
Specifically, the implementation steps of step S3 are as follows:
S301, central point for identifying the boundary rectangle frame of trolley wheel is obtained, and with the center point-rendering boundary rectangle
The inscribed circle of frame, since the central point of the boundary rectangle frame of trolley wheel is the circumscribed circle center of circle of trolley wheel, and trolley wheel is external
Rectangle frame be using central point as the center of circle inscribed circle trolley wheel circumscribed circle, therefore the letter of the inscribed circle according to boundary rectangle frame
Breath can accordingly obtain the central coordinate of circle M and radius of wheel R of trolley wheel；
Shown in S302, such as Fig. 2 (b), for the image of every two two trolley wheels comprising identical trolley, Harris is utilized
Feature extraction algorithm extract in the trolley wheel in first acquisition image in two trolley wheel circumscribed circle regions respectively characteristic point A and
B, and provide coordinate of the characteristic point A and B under the first plane right-angle coordinate；Then finding in second acquisition image can be with
The characteristic point A ' that characteristic point A the matches and characteristic point B ' to match with characteristic point B, and provide characteristic point A ' and characteristic point B ' exists
The coordinate of first plane right-angle coordinate；
S303, using the upper left apex angle of the boundary rectangle frame of each trolley wheel as coordinate origin O2(0,0), boundary rectangle frame
Upside horizontal edge is X2Axis, boundary rectangle frame left side vertical edge be Y2Axis constructs the second plane right-angle coordinate；With each picture of image
The side length of element is unit length, and the absolute coordinate of characteristic point A, characteristic point B, characteristic point A ' and characteristic point B ' in the picture is converted
For the relative coordinate in the second plane right-angle coordinate for constructing on the basis of each boundary rectangle frame, and make following judgement:
If in the second plane right-angle coordinate that characteristic point A and characteristic point A ' is constructed on the basis of by respective boundary rectangle frame
Coordinate it is inconsistent, and the second flat square for constructing on the basis of by respective boundary rectangle frame of characteristic point B and characteristic point B ' is sat
Coordinate in mark system is inconsistent, then illustrates that characteristic point A ' and characteristic point A are relatively moved relative to background image, characteristic point B '
It is relatively moved with characteristic point B relative to background image, that is, judges that trolley wheel is in normal rotation state；
If in the second plane right-angle coordinate that characteristic point A and characteristic point A ' is constructed on the basis of by respective boundary rectangle frame
The second flat square that coordinate is consistent and/or characteristic point B and characteristic point B ' is constructed on the basis of by respective boundary rectangle frame sit
Coordinate in mark system is consistent, then illustrates that characteristic point A ' and characteristic point A do not have to relatively move relative to background image, characteristic point
B ' and characteristic point B do not have to relatively move relative to background image, that is, judge that trolley wheel is in improper motion state；
Wherein, characteristic point A and characteristic point B is characteristic point in the trolley wheel extracted using Harris feature extraction algorithm, tool
Body is the screw angle in such as trolley wheel, the point with rotational invariance such as edge angle point of spot or rusty stain in trolley wheel.
Step S4, it while carrying out step S3, is chosen thereon in the image with coordinate information that step S2 is obtained
Trolley wheel is located in the middle part of image or close to the image for being located in the middle part of image and being identified with boundary rectangle frame, passes through and calculate trolley wheel
Whether the distance of each point is completely the same on the center of circle to its profile traces, judges whether trolley wheel swings；
Specifically, whether trolley wheel is occurred to swing the specific implementation step analyzed are as follows:
S401, according to step S301 handle image in trolley wheel central coordinate of circle, select a trolley marked thereon
Wheel is located at the image that image hits exactly or hits exactly close to image；
S402, to by step S401 choose image in be located at image hit exactly or close to image hit exactly trolley wheel figure
As successively carrying out Threshold segmentation, contours extract and curve fitting algorithm processing, the curve point of the smooth contoured of the trolley wheel is obtained
Collection；
S403, the center of circle for calculating the trolley wheel are concentrated the distance of each point to contour curve point, and are made the following judgment:
If the distance of each point is equal on the center of circle of trolley wheel to trolley wheel profile traces, and the platform obtained with step S301
Radius of wheel is consistent, then judges that trolley wheel is not swung；
If the distance of each point is not completely equivalent on the center of circle of trolley wheel to trolley wheel profile traces, trolley wheel is judged
It swings.
In step S4, since the size of trolley wheel in the picture is constant, the normal picture of trolley wheel should be circle,
In case of swing, then image should be ellipse, therefore be by the distance of each point around the comparison trolley wheel center of circle to trolley wheel
It is no equal to judge whether trolley wheel swings.However, since different location will cause analysis to trolley wheel in the picture
Error, accurate in order to ensure measuring, when choosing to trolley wheel image, optimal selection is located just at the trolley of image center
Wheel image is analyzed, or the very close image being located at when image is hit exactly of selection is analyzed.
Embodiment 2
The wheel of sintering trolley working state detecting method of the present embodiment is substantially the same manner as Example 1, the difference is that
In order to further ensure whether trolley wheel the accuracy of the detection of dancing occurs, in the present embodiment, when step S4 is detected
Trolley wheel then carries out step S5 there are when vibration problems out.
Specifically, the specific implementation process of step S5 are as follows:
S501, while working condition of the image obtained using video camera to trolley wheel is judged, pass through setting
Laser range sensor above sintering pallet track continuously acquires laser range sensor induction end end to trolley wheel
The distance change data of edge, and it is the time that the data obtained, which is depicted as abscissa, ordinate is that the distance change of distance is bent
Line；
S502, changed by calculating the difference in distance change curve between adjacent two o'clock, the every of curve is drawn out in judgement
A arc end, which whether there is, there is the variation of cliff of displacement formula:
The range images made of the distance change data that laser range sensor continuously acquires are drawn are to be illustrated in figure 5
One complete, smooth curve in camber line, then judge trolley wheel normal operation；
The range images made of the distance change data that laser range sensor continuously acquires are drawn are one irregular
And in the curve of cliff of displacement formula variation, then judge that trolley wheel is operating abnormally, computer issues alarm；Trolley wheel is illustrated in figure 6 to go out
The image that the ranging data measured when now swinging is drawn out.
In addition, further include having step S6: information summarizes after completing the step S5 of step 4 and embodiment 2 of embodiment 1
And storage.Specifically, step S6 are as follows: the rotation obtained in above-mentioned steps S3, step S4 and step S5, swing and missing are alarmed
The information of information and other systems, such as trolley number, time, whether need to refuel and be integrated, it is unified according to time and trolley
Number for index storage into database, be convenient for subsequent calls.
Embodiment 3
It is illustrated in figure 2 a kind of checking device of wheel of sintering trolley working state detecting method for realizing above-described embodiment 1,
Specifically include two sets of image capture devices, the indoor industrial personal computer 6 of centrally disposed control, display 7 and the report of setting at the scene
Alert device 9；Wherein,
Two sets of image capture devices are separately positioned on the two sides of sintering pallet running track, every set image capture device tool
Body includes a video camera 1 and two light sources 2；Video camera 1 is arranged in sintering pallet track side, takes the photograph it with front is flat
Mode carries out Image Acquisition to the trolley wheel in driving process；Two light sources 2 are symmetrically mounted on 1 two sides of video camera, and with symmetrical
45° angle degree to trolley wheel carry out light filling；
It is additionally provided with field box 3 in sintering pallet running track neighbour side, is arranged inside and is supplied for image capture device
The electric system of electricity and a first fiber optical transceiver 4a；Accordingly, second optical fiber is additionally provided in central control room
Transceiver 4b；First fiber optical transceiver 4a is connect with video camera 1 by data line, second one end fiber optical transceiver 4b and the first light
Fine transceiver 4a is connected by optical fiber, the other end is connect by data line with the industrial personal computer 6 being located in central control room 5；
Industrial personal computer 6 receives the image acquired by video camera 1 by fiber optical transceiver and analyzes it processing to judge
The working condition of trolley wheel, display 7 are connect with industrial personal computer 6, the processing result of real-time display industrial personal computer 6；Specifically, industrial personal computer
6 include data receiving module, data analysis module, data memory module and abnormal data alarm module；Wherein, data reception
Block is used to receive the image of the acquisition of video camera 1；Data analysis module is used to analyze the image that video camera acquires to realize
Feature point extraction and front and back are carried out by the same trolley wheel in the image to every two two trolley wheels comprising identical trolley
The whether changed comparison in the relative position of same characteristic point in image, judge trolley wheel whether normal rotation, Yi Jitong
Whether the distance for crossing each point on the center of circle to its profile traces for calculating trolley wheel is completely the same, judges whether trolley wheel puts
It is dynamic；Data memory module is for saving the data of image and image processing process；Abnormal data alarm module is for working as
Data analysis module analyzes in single image that trolley wheel not rotational problems occurs less than two, trolley wheel or trolley wheel occurs
When vibration problems, starts the alarm 9 connecting with industrial personal computer 6 and issue alarm signal.
Embodiment 4
Be illustrated in figure 4 a kind of wheel of sintering trolley working state detecting method for realizing above-described embodiment 2 with detection
Device specifically includes the two sets of image capture devices and two range laser sensors 10 of setting at the scene, and is arranged in
The heart controls indoor industrial personal computer 6, display 7 and alarm 9；Wherein,
Two sets of image capture devices are separately positioned on the two sides of sintering pallet running track, every set image capture device tool
Body includes a video camera 1 and two light sources 2；Video camera 1 is arranged in sintering pallet track side, takes the photograph it with front is flat
Mode carries out Image Acquisition to the trolley wheel in driving process；Two light sources 2 are symmetrically mounted on 1 two sides of video camera, and with symmetrical
45° angle degree to trolley wheel carry out light filling；
Two range laser sensors 10 are separately positioned on the two sides of sintering pallet running track, and every range laser
Sensor 10 is vertically arranged above adjacent side stage wheel wheel track, that is, is located at the upper of the trolley wheel run on sintering pallet track
Side, and does not conflict with trolley operational process, guarantees laser beam that the range laser sensor 10 is launched vertically downward, concurrently
It is incident upon at the marginal position of trolley wheel；
It is additionally provided with field box 3 in sintering pallet running track neighbour side, is arranged inside and is supplied for image capture device
The electric system of electricity and a first fiber optical transceiver 4a；Accordingly, second optical fiber is additionally provided in central control room
Transceiver 4b；Two video cameras 1 and two range laser sensors 10 are connected by data line and the first fiber optical transceiver 4a respectively
Connect, second one end fiber optical transceiver 4b connect with the first fiber optical transceiver 4a by optical fiber, the other end by data line with
Industrial personal computer 6 in central control room 5 connects；
Industrial personal computer 6 receives the image acquired by video camera 1 by fiber optical transceiver and analyzes it processing to judge
The working condition of trolley wheel, display 7 are connect with industrial personal computer 6, the processing result of real-time display industrial personal computer 6；Specifically, industrial personal computer
6 include data receiving module, data analysis module, data memory module and abnormal data alarm module；Wherein, data reception
Block is used to receive the image of the acquisition of video camera 1；Data analysis module is used to analyze the image that video camera acquires to realize
Feature point extraction and front and back are carried out by the same trolley wheel in the image to every two two trolley wheels comprising identical trolley
The whether changed comparison in the relative position of same characteristic point in image, judge trolley wheel whether normal rotation, Yi Jitong
Whether the distance for crossing each point on the center of circle to its profile traces for calculating trolley wheel is completely the same, judges whether trolley wheel puts
It is dynamic；Data memory module is for saving the data of image and image processing process；Abnormal data alarm module is for working as
Data analysis module analyzes in single image that trolley wheel not rotational problems occurs less than two, trolley wheel or trolley wheel occurs
When vibration problems, starts the alarm 9 connecting with industrial personal computer 6 and issue alarm signal.
Claims (6)
1. a kind of wheel of sintering trolley working state detecting method, which is characterized in that steps are as follows:
S1, the front view for being set to the wheel of sintering trolley that the video camera of sintering pallet track neighbour side acquires in real time is continuously acquired
Image；Wherein, the interval time that image obtains is set as in two images of every continuous acquisition including same trolley
Two trolley wheels；
S2, complete platform each of is successively identified, and will identify that the trolley wheel in every image of video camera acquisition
Wheel is identified by the way of drawing its boundary rectangle frame；And using the upper left apex angle of every image as origin, upside horizontal edge
For X1Axis, left side vertical edge are Y1Axis, the first plane right-angle coordinate of building are given using the side length of each pixel of image as unit length
The coordinate of the left upper apex of each boundary rectangle frame and bottom right vertex out；
S3, the image with coordinate information obtained according to step S2, by two trolleys for every two including identical trolley
Whether the relative position that the same trolley wheel in the image of wheel carries out same characteristic point in feature point extraction and front and back image occurs
The comparison of variation, judge trolley wheel whether normal rotation；And when analyzing rotary state exception, starting alarm issues police
Report；
S4, while carrying out step S3, choose trolley thereon in the image with coordinate information obtained by step S2
Wheel is located in the middle part of image or close to the trolley wheel image for being located in the middle part of image and being identified with boundary rectangle frame, and by calculating trolley
Whether the distance of each point is completely the same on the center of circle of wheel to its profile traces, judges whether trolley wheel swings；Work as analysis
When swing situation occurs in wheel out, starting alarm is sounded an alarm.
2. wheel of sintering trolley working state detecting method according to claim 1, which is characterized in that rotated to trolley wheel
The specific implementation step that situation is analyzed are as follows:
S301, central point for identifying the boundary rectangle frame of trolley wheel is obtained, and with the center point-rendering boundary rectangle frame
Inscribed circle obtains the central coordinate of circle and radius of wheel of trolley wheel；
S302, for every two comprising identical trolley two trolley wheels image, utilize Harris feature extraction algorithm difference
Characteristic point A and characteristic point B in the trolley wheel in first acquisition image in two trolley wheel circumscribed circle regions is extracted, and provides spy
Levy the coordinate of point A and characteristic point B；Then the characteristic point found and can matched with characteristic point A again in image is acquired at second
A ' and the characteristic point B ' to match with characteristic point B, and provide the coordinate of characteristic point A ' and B '；
It S303, by the upside horizontal edge of coordinate origin, boundary rectangle frame of the upper left apex angle of the boundary rectangle frame of each trolley wheel is X2
Axis, left side vertical edge are Y2Axis constructs the second plane right-angle coordinate；Using the side length of each pixel of image as unit length, conversion
The second plane that characteristic point A, characteristic point B, characteristic point A ' and characteristic point B ' are constructed on the basis of corresponding to boundary rectangle frame by it out
Relative coordinate in rectangular coordinate system, and make following judgement:
If the seat in the second plane right-angle coordinate that characteristic point A and characteristic point A ' is constructed on the basis of by respective boundary rectangle frame
Mark inconsistent, and the second plane right-angle coordinate that characteristic point B and characteristic point B ' is constructed on the basis of by respective boundary rectangle frame
In coordinate it is inconsistent, that is, judge that trolley wheel is in normal rotation state；
If the seat in the second plane right-angle coordinate that characteristic point A and characteristic point A is constructed on the basis of by respective boundary rectangle frame
Mark the second plane right-angle coordinate that consistent and/or characteristic point B and characteristic point B ' is constructed on the basis of by respective boundary rectangle frame
In coordinate it is consistent, that is, judge that trolley wheel is in improper motion state.
3. wheel of sintering trolley working state detecting method according to claim 2, which is characterized in that trolley wheel whether
Occur to swing the specific implementation step analyzed are as follows:
S401, according to step S301 handle image in trolley wheel central coordinate of circle, select a trolley wheel position marked thereon
In the image that image hits exactly or hits exactly close to image；
S402, to by step S401 choose image in be located at image hit exactly or close to image hit exactly trolley wheel image according to
Secondary progress Threshold segmentation, contours extract and curve fitting algorithm processing, obtain the curve point set of the smooth contoured of the trolley wheel；
S403, the center of circle for calculating the trolley wheel are concentrated the distance of each point to contour curve point, and are made the following judgment:
If the distance of each point is equal on the center of circle of trolley wheel to trolley wheel profile traces, and the trolley wheel obtained with step S301
Radius is consistent, then judges that trolley wheel is not swung；
If the distance of each point is not completely equivalent on the center of circle of trolley wheel to trolley wheel profile traces, judge that trolley wheel is put
It is dynamic.
4. wheel of sintering trolley working state detecting method according to claim 3, which is characterized in that when by step S4
When detecting that dancing occurs in trolley wheel, step S5 is carried out；The specific implementation step of step S5 are as follows:
S501, laser range sensor sense is continuously acquired by the way that the laser range sensor above sintering pallet track is arranged in
Should end to trolley wheel edge distance change data, and it is the time that the data obtained, which is depicted as abscissa, and ordinate is
The distance change curve of distance；
S502, changed by calculating the difference in distance change curve between adjacent two o'clock, each arc of curve is drawn out in judgement
Shape end, which whether there is, there is the variation of cliff of displacement formula:
The range images made of the distance change data that laser range sensor continuously acquires are drawn are one complete, smooth
In the curve of camber line, then trolley wheel normal operation is judged；
The range images made of the distance change data that laser range sensor continuously acquires are drawn are one irregularly and are in
The curve of cliff of displacement formula variation then judges that trolley wheel is abnormal swing really, and starting alarm sounds an alarm.
5. a kind of detection device for realizing wheel of sintering trolley working state detecting method as described in claim 1, feature
It is, image capture device and centrally disposed control room including being separately positioned on sintering pallet running track two sides
Interior industrial personal computer (6), display (7) and alarm (9)；Wherein,
Every set image capture device includes video camera (1) He Liangtai light source (2)；Video camera (1) is arranged in sintering pallet
Track side makes it carry out Image Acquisition to the trolley wheel in driving process in such a way that front is put down and taken the photograph；Two light sources (2) are symmetrical
Video camera (1) two sides are mounted on, and light filling is carried out to trolley wheel with symmetrical angle；Video camera (1) and setting at the scene the
One fiber optical transceiver (4a) is connected by data line, and industrial personal computer (6) and centrally disposed indoor second optical fiber of control are received
It sends out device (4b) to connect by data line, passes through optical fiber between the first fiber optical transceiver (4a) and the second fiber optical transceiver (4b)
It connects, in the image transmitting to industrial personal computer for acquiring video camera (1)；Display (7) and industrial personal computer (6) are connected by data line
It connects, to show the processing result image of industrial personal computer；Alarm (9) is connect with industrial personal computer (6) by data line, to work as industry control
Start and sound an alarm when machine processing result.
6. detection device according to claim 5, which is characterized in that further include two and be separately positioned on sintering pallet fortune
Range laser sensor (10) above two sides wheel track on row track；Every range laser sensor (10) is vertically arranged in place
Above ipsilateral wheel track, the laser beam issued away from laser sensor (10) is made to emit concurrently to be incident upon vertically downward and operate in wheel
At the marginal position of trolley wheel in rail；Two range laser sensors (10) are received by data line and the first optical fiber respectively
Send out device (4a) connection.
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| CN113469974A (en) * | 2021-07-05 | 2021-10-01 | 天津市三特电子有限公司 | Method and system for monitoring grate plate state of pellet chain grate |
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