CN111717617A - Laser-assisted conveyor belt tearing detection device and method - Google Patents
Laser-assisted conveyor belt tearing detection device and method Download PDFInfo
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- CN111717617A CN111717617A CN202010798471.7A CN202010798471A CN111717617A CN 111717617 A CN111717617 A CN 111717617A CN 202010798471 A CN202010798471 A CN 202010798471A CN 111717617 A CN111717617 A CN 111717617A
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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
- B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0275—Damage on the load carrier
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Length Measuring Devices By Optical Means (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention provides a laser-assisted conveyor belt tearing detection device which comprises a laser projection device, a video detection device and a microcomputer, wherein the laser projection device and the video detection device are respectively in communication connection with the microcomputer; the video detection device is aligned with the strip laser on the conveyor belt and used for tracking and acquiring the position and the shape of the strip laser in real time and sending the position and the shape to the microcomputer; and the microcomputer judges whether the conveyor belt is torn or deviated according to the position and the shape of the real-time strip laser. The invention further provides a laser-assisted conveyor belt tearing detection method. The invention realizes the sensitive and accurate detection of whether the conveyor belt is torn or not by collecting the laser image projected on the conveyor belt and combining the detection algorithm, thereby avoiding the false alarm of the traces with different colors on the conveyor belt.
Description
Technical Field
The invention belongs to the field of industrial detection, and particularly relates to a laser-assisted conveyor belt tearing detection device and method.
Background
In steel works, mines and harbour lines, as well as in airports, subways and parts of factories, equipment currently used for the transport of goods is mostly transported by conveyor belts. The algorithm of artificial intelligence deep learning can detect the tearing of the conveyor belt very sensitively, but sometimes the conveyor belt has traces with different colors, the traces are not torn but look similar to the tearing, and the algorithm of artificial intelligence can generate false alarm at the moment, so that the false alarm rate is high, the outage rate is high, and the normal operation is seriously influenced.
At present, a conveyor belt has huge market capacity, the global belt maintenance market value is about 18000 million yuan/year, and the Chinese belt maintenance market value is about 6000 million yuan/year, so that the research in the field has good market prospect and economic benefit.
Disclosure of Invention
The invention aims to provide a laser-assisted conveyor belt tearing detection device and method, which can realize the sensitive and accurate detection of whether a conveyor belt is torn or not by collecting laser images projected on the conveyor belt and combining a detection algorithm, and avoid false alarms on traces with different colors on the conveyor belt.
The technical solution for realizing the purpose of the invention is as follows:
a laser-assisted conveyor belt tearing detection device comprises a laser projection device, a video detection device and a microcomputer, wherein the laser projection device and the video detection device are respectively in communication connection with the microcomputer; the video detection device is aligned with the strip laser on the conveyor belt and used for tracking and acquiring the position and the shape of the strip laser in real time and sending the position and the shape to the microcomputer; and the microcomputer judges whether the conveyor belt is torn or deviated according to the position and the shape of the real-time strip laser.
Furthermore, the laser-assisted conveyor belt tearing detection device is characterized in that a convolution neural network accelerator or an image signal processor is arranged in the microcomputer.
Further, the laser-assisted conveyor belt tearing detection device is characterized in that a detection algorithm module is arranged in the microcomputer, and the detection algorithm module is used for comparing the shape of the real-time bar-shaped laser with the shape of the pre-stored bar-shaped laser, judging whether the conveyor belt is torn or not by judging the similarity of the real-time bar-shaped laser, determining the tearing position, the tearing width and the tearing length of the conveyor belt when the conveyor belt is judged to be torn, and meanwhile, obtaining the width edge position information of the conveyor belt according to the transverse stripe position of the real-time bar-shaped laser, so as to judge whether the conveyor belt deviates from the central position in the movement.
Further, according to the laser-assisted conveyor belt tear detection device provided by the invention, the shape of the preset strip laser comprises a transverse stripe, a longitudinal stripe and an oblique stripe forming an angle of 45 degrees with the transverse stripe.
Further, according to the laser-assisted conveyor belt tearing detection device, an artificial intelligence deep learning algorithm module is arranged in the microcomputer, the artificial intelligence deep learning algorithm module comprises a neural network model, and the neural network model is a convolution neural network model.
A detection method based on any one of the laser-assisted conveyor belt tearing detection devices is characterized in that a laser projection device projects bar-shaped laser to the surface of a moving conveyor belt, the bar-shaped laser transversely penetrates through the surface of the conveyor belt, a video detection device tracks the bar-shaped laser in real time to obtain the bar-shaped laser and the shape of the bar-shaped laser and sends the bar-shaped laser to a microcomputer, a detection algorithm module of the microcomputer compares the shape of the real-time bar-shaped laser with the shape of a prestored bar-shaped laser, if the bar-shaped laser is consistent with the shape of the prestored bar-shaped laser.
Further, the shape of the pre-stored strip laser comprises a transverse stripe, a longitudinal stripe and an oblique stripe forming an angle of 45 degrees with the transverse stripe, so that the tear in each direction of the conveyor belt is approximately perpendicularly intersected with at least one laser, and the included angle between the tear and the laser approximately perpendicularly intersected is 67.5-122.5 degrees.
Further, according to the laser-assisted conveyor belt tearing detection method, the detection algorithm module is used for shooting the deviation between the strip-shaped laser pattern on the conveyor belt and the pre-stored strip-shaped laser pattern in real time through the analysis camera, calculating the similarity of the strip-shaped laser pattern and the pre-stored strip-shaped laser pattern, if the similarity is smaller than a preset threshold value, judging that the conveyor belt is torn, sending an alarm signal, judging the specific torn position and the length, width and other information of the conveyor belt, and otherwise, judging that the conveyor belt is not torn, wherein the threshold value is 50%, 80% or 95%.
Further, according to the laser-assisted conveyor belt tearing detection method, the detection algorithm module analyzes the deviation between the transverse stripe position of the real-time bar laser and the transverse stripe position of the pre-stored bar laser, calculates the width edge position deviation of the conveyor belt, judges that the conveyor belt deviates and sends out an alarm signal if the deviation is greater than a preset safety threshold, and otherwise judges that the conveyor belt does not deviate, wherein the safety threshold is 5%, 30% or 50%.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the laser-assisted conveyor belt tearing detection device disclosed by the invention combines laser projection and video detection, so that the anti-interference performance is strong, the false alarm rate is greatly reduced, and the times of shutdown inspection are also reduced.
2. The laser-assisted conveyor belt tearing detection device is high in detection precision and can effectively distinguish tearing traces from other traces.
3. The laser-assisted conveyor belt tearing detection method accurately identifies the tearing condition of the conveyor belt by detecting the laser shape through an algorithm, and has high identification precision.
Drawings
FIG. 1 is a schematic structural diagram of a laser-assisted conveyor belt tear detection device of the present invention.
FIG. 2 is a flow chart of a laser assisted conveyor belt tear detection method of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A laser-assisted conveyor belt tearing detection device comprises a laser projection device, a video detection device and a microcomputer, wherein the laser projection device and the video detection device are respectively in communication connection with the microcomputer; the video detection device is aligned with the strip laser on the conveyor belt and used for tracking and acquiring the position and the shape of the strip laser in real time and sending the position and the shape to the microcomputer; and the microcomputer judges whether the conveyor belt is torn or deviated according to the position and the shape of the real-time strip laser.
Example 1
A laser-assisted conveyor belt tearing detection device is shown in fig. 1 and comprises a laser projection device 1, a video detection device 2 and a microcomputer 3, wherein the laser projection device 1 and the video detection device 2 are respectively in communication connection with the microcomputer 3.
The laser projection device 1 is arranged above the conveyor belt 4 and used for projecting strip-shaped laser to the surface of the conveyor belt 4, and the strip-shaped laser transversely penetrates through the surface of the conveyor belt 4. The video detection device 2 is aligned with the strip laser on the conveyor belt 4, and is used for tracking and acquiring the position and the shape of the strip laser in real time and sending the position and the shape to the microcomputer 3. The laser projection device and the video detection device share the same microcomputer, or use different microcomputers, respectively.
The microcomputer 3 judges whether the conveyor belt 4 is torn or deviated according to the position and shape of the real-time bar laser. The microcomputer 3 is internally provided with a convolutional neural network accelerator or an image signal processor. The microcomputer 3 is also internally provided with a detection algorithm module which is used for comparing the shape of the real-time bar laser with the shape of the pre-stored bar laser, judging whether the conveyor belt 4 is torn or not by judging the similarity of the real-time bar laser and determining the tearing position, the tearing width and the tearing length of the conveyor belt 4 when the tearing is judged to be torn, and meanwhile, obtaining the width edge position information of the conveyor belt 4 according to the transverse stripe position of the real-time bar laser so as to judge whether the conveyor belt 4 deviates from the central position in the movement process. The preset strip-shaped laser comprises a transverse stripe, a longitudinal stripe and an oblique stripe which forms an angle of 45 degrees with the transverse stripe. The microcomputer 3 is also internally provided with an artificial intelligence deep learning algorithm module, the artificial intelligence deep learning algorithm module comprises a neural network model, and the neural network model is a convolution neural network model.
The microcomputer is internally provided with a central processing unit, a random access memory, a mechanical or solid state disk and a wired or wireless network card, and the random access memory, the mechanical or solid state disk and the wired or wireless network card are all connected with the central processing unit. The microcomputer is preinstalled with an embedded operating system, a driving program, a camera control module, a laser control module, a lighting control module and a remote management module, wherein the camera control module is connected with the video detection device and is used for controlling the video detection device to shoot; the laser control module is connected with the laser projection device and is used for laser projection of the laser projection device; the lighting control module is connected with the lighting module and used for providing lighting; the camera control module adjusts parameters such as focusing, shutter speed, frame rate, brightness, contrast and the like of a camera of the video detection device according to different running speeds of the conveyor belt and by combining the laser control module and the illumination control module; the remote management module is used for being connected with mobile equipment such as a mobile phone and a tablet computer in a networking manner, so that real-time monitoring on the mobile equipment is facilitated;
example 2
A detection method based on the laser-assisted conveyor belt tearing detection device specifically comprises the following steps:
the laser projection device projects strip-shaped laser to the surface of the moving conveyor belt, and the strip-shaped laser transversely penetrates through the surface of the conveyor belt.
The video detection device tracks and obtains the bar laser and the shape thereof in real time and sends the bar laser and the shape thereof to the microcomputer.
And comparing the shape of the real-time bar laser with the shape of the pre-stored bar laser by a detection algorithm module of the microcomputer, wherein if the real-time bar laser is consistent with the shape of the pre-stored bar laser, the conveyor belt is not torn, and if the real-time bar laser is inconsistent with the pre-stored bar laser, the conveyor belt is torn. The shape of the pre-stored strip-shaped laser comprises a transverse stripe, a longitudinal stripe and an oblique stripe forming an angle of 45 degrees with the transverse stripe, so that tearing in each direction of the conveyor belt can be approximately and vertically intersected with at least one laser, and the included angle between the tearing and the approximately and vertically intersected laser is 67.5-122.5 degrees.
The detection algorithm module is used for shooting the deviation between the bar-shaped laser patterns on the conveyor belt and the pre-stored bar-shaped laser patterns in real time through the analysis camera, calculating the similarity between the bar-shaped laser patterns and the pre-stored bar-shaped laser patterns, judging that the conveyor belt is torn and sending an alarm signal if the similarity is less than 50%, judging the specific torn position and the information such as the length and the width of the conveyor belt, and otherwise judging that the conveyor belt is not torn.
And the detection algorithm module analyzes the deviation between the transverse stripe position of the real-time bar laser and the transverse stripe position of the pre-stored bar laser, calculates the width edge position deviation of the conveyor belt, judges that the conveyor belt deviates and sends out an alarm signal if the deviation is more than 50%, and otherwise judges that the conveyor belt does not deviate.
Example 3
A detection method based on the laser-assisted conveyor belt tearing detection device specifically comprises the following steps:
the laser projection device projects strip-shaped laser to the surface of the moving conveyor belt, and the strip-shaped laser transversely penetrates through the surface of the conveyor belt.
The video detection device tracks and obtains the bar laser and the shape thereof in real time and sends the bar laser and the shape thereof to the microcomputer.
And comparing the shape of the real-time bar laser with the shape of the pre-stored bar laser by a detection algorithm module of the microcomputer, wherein if the real-time bar laser is consistent with the shape of the pre-stored bar laser, the conveyor belt is not torn, and if the real-time bar laser is inconsistent with the pre-stored bar laser, the conveyor belt is torn. The shape of the pre-stored strip-shaped laser comprises a transverse stripe, a longitudinal stripe and an oblique stripe forming an angle of 45 degrees with the transverse stripe, so that tearing in each direction of the conveyor belt can be approximately and vertically intersected with at least one laser, and the included angle between the tearing and the approximately and vertically intersected laser is 67.5-122.5 degrees.
The detection algorithm module is used for shooting the deviation between the bar-shaped laser patterns on the conveyor belt and the pre-stored bar-shaped laser patterns in real time through the analysis camera, calculating the similarity between the bar-shaped laser patterns and the pre-stored bar-shaped laser patterns, judging that the conveyor belt is torn and sending an alarm signal if the similarity is less than 80%, judging the specific torn position and the information such as the length and the width of the conveyor belt, and otherwise judging that the conveyor belt is not torn.
And the detection algorithm module analyzes the deviation between the transverse stripe position of the real-time bar laser and the transverse stripe position of the pre-stored bar laser, calculates the width edge position deviation of the conveyor belt, judges that the conveyor belt deviates and sends out an alarm signal if the deviation is greater than 30%, and otherwise judges that the conveyor belt does not deviate.
Example 4
A detection method based on the laser-assisted conveyor belt tearing detection device specifically comprises the following steps:
the laser projection device projects strip-shaped laser to the surface of the moving conveyor belt, and the strip-shaped laser transversely penetrates through the surface of the conveyor belt.
The video detection device tracks and obtains the bar laser and the shape thereof in real time and sends the bar laser and the shape thereof to the microcomputer.
And comparing the shape of the real-time bar laser with the shape of the pre-stored bar laser by a detection algorithm module of the microcomputer, wherein if the real-time bar laser is consistent with the shape of the pre-stored bar laser, the conveyor belt is not torn, and if the real-time bar laser is inconsistent with the pre-stored bar laser, the conveyor belt is torn. The shape of the pre-stored strip-shaped laser comprises a transverse stripe, a longitudinal stripe and an oblique stripe forming an angle of 45 degrees with the transverse stripe, so that tearing in each direction of the conveyor belt can be approximately and vertically intersected with at least one laser, and the included angle between the tearing and the approximately and vertically intersected laser is 67.5-122.5 degrees.
The detection algorithm module is used for shooting the deviation between the bar-shaped laser patterns on the conveyor belt and the pre-stored bar-shaped laser patterns in real time through the analysis camera, calculating the similarity between the bar-shaped laser patterns and the pre-stored bar-shaped laser patterns, judging that the conveyor belt is torn and sending an alarm signal if the similarity is less than 95%, judging the specific torn position and the information such as the length and the width of the conveyor belt, and otherwise judging that the conveyor belt is not torn.
And the detection algorithm module analyzes the deviation between the transverse stripe position of the real-time bar laser and the transverse stripe position of the pre-stored bar laser, calculates the width edge position deviation of the conveyor belt, judges that the conveyor belt deviates and sends out an alarm signal if the deviation is more than 5%, and otherwise judges that the conveyor belt does not deviate.
The scheme of the invention has the obvious advantages that the anti-interference performance is very strong, various traces are generated on the conveyor belt in an actual scene, and the visual appearance of the traces is very similar to that of the tear of the conveyor belt, so that false alarm can be generated when the marks are simply identified by using an artificial intelligent deep learning algorithm, the laser in the laser auxiliary detection adopted by the invention can break at the tear position, and then the tear of the conveyor belt can be accurately identified by detecting the break of the laser through the algorithm.
The foregoing is directed to embodiments of the present invention and, more particularly, to a method and apparatus for controlling a power converter in a power converter, including a power converter, a power.
Claims (9)
1. The laser-assisted conveyor belt tearing detection device is characterized by comprising a laser projection device, a video detection device and a microcomputer, wherein the laser projection device and the video detection device are respectively in communication connection with the microcomputer; the video detection device is aligned with the strip laser on the conveyor belt and used for tracking and acquiring the position and the shape of the strip laser in real time and sending the position and the shape to the microcomputer; and the microcomputer judges whether the conveyor belt is torn or deviated according to the position and the shape of the real-time strip laser.
2. The laser-assisted conveyor belt tear detection apparatus of claim 1, wherein the microcomputer incorporates a convolutional neural network accelerator or an image signal processor.
3. The laser-assisted conveyor belt tearing detection device according to claim 1, wherein a detection algorithm module is built in the microcomputer, and the detection algorithm module is used for comparing the shape of the real-time bar laser with the shape of the pre-stored bar laser, judging whether the conveyor belt is torn or not by judging the similarity of the shapes, determining the tearing position, the tearing width and the tearing length of the conveyor belt when the tearing is judged, and meanwhile, obtaining the width edge position information of the conveyor belt according to the transverse stripe position of the real-time bar laser so as to judge whether the conveyor belt deviates from the center position in the movement process.
4. The laser-assisted conveyor belt tear detection apparatus of claim 3 wherein the predetermined stripe laser shape comprises a transverse stripe, a longitudinal stripe, and a diagonal stripe at 45 degrees to the transverse stripe.
5. The laser-assisted conveyor belt tear detection device according to claim 1 or 3, wherein the microcomputer is internally provided with an artificial intelligence deep learning algorithm module, and the artificial intelligence deep learning algorithm module comprises a neural network model, and the neural network model is a convolutional neural network model.
6. The detection method of the laser-assisted conveyor belt tearing detection device according to any one of claims 1 to 5, characterized in that a laser projection device projects strip-shaped laser to the surface of a moving conveyor belt, the strip-shaped laser transversely penetrates through the surface of the conveyor belt, a video detection device tracks and acquires the strip-shaped laser and the shape thereof in real time and sends the strip-shaped laser and the shape thereof to a microcomputer, a detection algorithm module of the microcomputer compares the shape of the real-time strip-shaped laser with the shape of a prestored strip-shaped laser, if the shapes of the real-time strip-shaped laser and the shape of the prestored strip-shaped laser are consistent, the conveyor belt is.
7. The laser-assisted conveyor belt tear detection method of claim 6, wherein the pre-stored laser stripe shapes include transverse stripes, longitudinal stripes, and oblique stripes forming 45 degrees with the transverse stripes, so that the tear in each direction of the conveyor belt is approximately perpendicularly intersected by at least one laser, and the included angle between the tear and the approximately perpendicularly intersected laser is 67.5-122.5 °.
8. The laser-assisted conveyor belt tearing detection method according to claim 6, wherein the detection algorithm module is used for shooting the deviation between the strip-shaped laser pattern on the conveyor belt and a pre-stored strip-shaped laser pattern in real time through an analysis camera, calculating the similarity between the strip-shaped laser pattern and the pre-stored strip-shaped laser pattern, if the similarity is smaller than a preset threshold, judging that the conveyor belt is torn, sending an alarm signal, judging the specific torn position and the length, width and other information of the torn position, and otherwise, judging that the conveyor belt is not torn, wherein the threshold is 50%, 80% or 95%.
9. The laser-assisted conveyor belt tearing detection method according to claim 6, wherein the detection algorithm module analyzes the deviation between the position of the transverse stripe of the real-time strip laser and the position of the transverse stripe of the pre-stored strip laser, calculates the deviation of the position of the width edge of the conveyor belt, judges that the conveyor belt deviates and sends out an alarm signal if the deviation is greater than a preset safety threshold, and otherwise judges that the conveyor belt does not deviate, wherein the safety threshold is 5%, 30% or 50%.
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