CN113772364A - Deviation detection device for belt conveyor and automatic adjustment method - Google Patents
Deviation detection device for belt conveyor and automatic adjustment method Download PDFInfo
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- CN113772364A CN113772364A CN202111096710.5A CN202111096710A CN113772364A CN 113772364 A CN113772364 A CN 113772364A CN 202111096710 A CN202111096710 A CN 202111096710A CN 113772364 A CN113772364 A CN 113772364A
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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
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/60—Arrangements for supporting or guiding belts, e.g. by fluid jets
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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)
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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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Abstract
The invention discloses a method for detecting and automatically adjusting deviation of a belt conveyor. Firstly, respectively acquiring a middle belt running image, a middle front and rear running image and middle coal flow information when a belt conveyor works through a visual detection module arranged in the middle of the belt conveyor, performing image enhancement processing by using gamma and fractional orders, performing Canny edge detection on the processed image to acquire carrier roller and belt edge information, calculating a deviation angle through carrier rollers in front and rear of the middle of the belt and the belt edge straight line, and then detecting a transverse deviation amount according to the information obtained by the middle edge detection; the stress condition of the belt is calculated according to the coal flow information in the middle of the belt, which is obtained by a line laser camera of the visual detection module, and finally the deviation of the belt is corrected in real time through the carrier roller control module according to the stress condition and the offset of the belt, so that the deviation of the belt is timely and effectively detected and timely adjusted, and the purpose of safe production of coal conveying is realized.
Description
Technical Field
The invention relates to a belt conveyor deviation detection device, in particular to a belt conveyor deviation detection and automatic adjustment method, and belongs to the technical field of belt transportation monitoring control.
Background
The belt conveyor is the important equipment of coal mine transportation coal material, because the coal material piles up the influence of inhomogeneous belt atress that leads to, coal material impact belt etc. factor on the belt, the belt is after long-time operation, and the belt off tracking condition takes place often, and when the belt off tracking reaches the certain degree, the belt can trigger and be used for preventing inclined scram device, causes the operating system to shut down, influences the production process. The belt deviation also increases the axial force borne by the roller and the carrier roller, and causes the damage of the roller shaft and the carrier roller bearing. If the belt is in the off tracking state for a long time, the belt can be turned over, the stress on the single side of the belt exceeds the longitudinal tensile force of the belt, and therefore potential safety hazards such as transverse tearing of the belt are caused, and the problems of timely finding of the belt off tracking and off tracking correction of the belt off tracking need to be solved urgently.
The existing coal mine belt deviation monitoring mode mainly determines deviation amount and processes deviation through a deviation switch sensor, however, the actual coal mine production environment is complex, more deviation switch sensors need to be installed on two sides of the running belt, and in the detection mode, magnetic interference of adjacent sensors mainly exists in the running process of the belt, the output is in an unstable state, and data interpretation is influenced; the belt deviation switch and the protection device also need to be stopped regularly for calibration and testing, the underground conveying belt is long, manpower and time need to be input for detection, and the underground production efficiency of the coal mine can be affected.
Disclosure of Invention
The invention aims to provide a method for detecting and automatically adjusting deviation of a belt conveyor in order to solve the problem.
The invention realizes the purpose through the following technical scheme: a deviation detection and automatic adjustment method for a belt conveyor comprises
The visual detection module is erected right above a belt in the middle of the belt conveyor and consists of a bearing frame, a high-definition camera and a line laser camera, wherein the high-definition camera and the line laser camera are arranged on the bearing frame;
and the carrier roller adjusting modules are positioned on the inner side of the bearing frame, are respectively arranged on two sides of the bottom of the belt and are composed of bearing bearings and movable hydraulic cylinders connected to two ends of the bearing bearings.
As a still further scheme of the invention: high-definition cameras arranged at two ends of the vision acquisition module acquire images of the left side edge and the right side edge of the belt; the line laser range finder in the middle of the coal bunker is used for measuring the height h (u) from the top end of the coal bunker to the acquisition module frame; the front camera and the rear camera in the middle of the vision acquisition module are used for acquiring images of the front part and the rear part of the middle belt; the carrier roller adjusting module pushes a bearing installed at the end of the carrier roller shaft by adjusting the propelling quantity delta L of the movable hydraulic cylinder up and down, and the change of an included angle theta between the carrier roller and the conveyor belt frame can be realized by hydraulic up and down pushing.
An automatic adjusting method of a deviation detecting device of a belt conveyor comprises the following steps
Step S1: acquiring image data, wherein four high-definition cameras on a visual acquisition module acquire a video image I when a belt works; the middle line laser distance measuring instrument measures the distance from the coal material to the top beam of the bearing frame;
step S2: preprocessing image data, extracting key frames of a video image I acquired from a high-definition camera, and enhancing the frame image by using gamma and fractional order images to obtain an image G; carrying out data denoising processing on the height information obtained by the middle line laser range finder;
step S3: image data analysis, Canny edge detection of the image G, and identification of coordinate points B [ B ] on the belt and conveyor belt frame lines1,b2,b3......bn]And D [ D ]1,d2,d3......dn]；
Step S4: calculating the deviation of the belt, and calculating the horizontal offset delta L of the belt aiming at the coordinate points acquired by the left high-definition camera and the right high-definition camera of the acquisition module; the angle offset delta theta of the belt can be calculated according to the middle high-definition camera of the acquisition module; calculating the coal flow loaded on the belt, and calculating the load Q of the belt according to the height information acquired by the laser range finder in the middle of the acquisition module and the belt speed v;
step S5: adjusting the deviation of the belt, and calculating the adjustment quantity delta of the belt carrier roller bracket according to the deviation quantity delta L, delta theta and the load Q of the beltLθ。
As a still further scheme of the invention: in the step S2, the image enhancement utilizes gamma transformation and fractional order image enhancement, the gamma transformation is used for enhancing the illumination of the image, and the transformation parameter γ is 0.5; the fractional order image enhancement fractional order coefficient is 2/3; and the height information obtained by the laser range finder adopts a wavelet transformation denoising mode.
As a still further scheme of the invention: in step S3, after the image is subjected to edge detection, 50 coordinate points on the belt and carriage edge lines in the areas of I to VI are extracted.
As a still further scheme of the invention: in the step S3, the step of calculating the belt deviation amount includes the steps of calculating regression lines of 50 corresponding points of each zone,
regression coefficient
The regression line equation is
Respectively calculating the distance [ d ] between the regression lines of the 6 regions1,d2,d3,d4,d5,d6]。
As a still further scheme of the invention: if the condition is satisfied
The belt has no angle deviation, then
If the deviation does not meet the requirement, the belt has the angle deviation,
(biregression coefficient of edge line of endothelial zone in I-VI region), horizontal deviation is DeltaL ═ d3-d4|。
As a still further scheme of the invention: in the step S4, the method for calculating the coal flow rate comprises
Wherein rho is the density of the coal material; v is the belt speed of the belt; m1、M2The coal flow rates of the left side and the right side of the belt are respectively; l is a coal material starting coordinate point on the left side of the belt, m is a coordinate point in the middle of the conveying frame, and n is a coal material ending coordinate point on the right side of the belt; h (u), G (u) are respectively the height coordinate functions of the coal material and the roller frame.
As a still further scheme of the invention: the method specifically comprises the step of calculating the floating of the carrier roller according to the deviation quantity delta L and delta thetaAngle of adjustment
Then according to the coal flow M of the left side and the right side of the conveying belt1、M2Judging the adjusting position of the carrier roller if M1≥M2The rising delta of the left carrier roller needs to be adjustedLθOr right idler drop deltaLθ(ii) a If M is1≤M2The left idler roller descending delta needs to be adjustedLθOr right idler rising deltaLθ。
As a still further scheme of the invention: the device utilizes the telescopic hydraulic cylinder to adjust the carrier roller up and down so as to realize the adjustment of the angle between the carrier roller and the conveyor belt frame.
The invention has the beneficial effects that: respectively acquiring a middle belt running image, a middle front and rear running image and middle coal flow information when the belt conveyor works through a visual detection module arranged in the middle of the belt conveyor, performing image enhancement processing by using gamma and fractional orders, performing Canny edge detection on the processed image to acquire carrier roller and belt edge information, calculating a deviation angle through carrier rollers and belt edge straight lines in front and at the rear of the middle of the belt, and then detecting a transverse deviation amount according to the information obtained by the middle edge detection; the stress condition of the belt is calculated according to the coal flow information in the middle of the belt, which is obtained by a line laser camera of the visual detection module, and finally the deviation of the belt is corrected in real time through the carrier roller control module according to the stress condition and the offset of the belt, so that the deviation of the belt can be timely and effectively detected and timely adjusted, and the purpose of safe production of coal conveying is realized.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
FIG. 2 is a schematic view of the structure of the apparatus of the present invention.
Fig. 3 is a schematic top view of the idler cradle and belt assembly of the apparatus of the present invention.
Fig. 4 is a schematic view of the adjustment of the idler angle according to the present invention.
In the figure: 1. high definition digtal camera, 2, line laser camera, 3, coal charge, 4, belt, 5, bearing roller adjustment module, 6, bear frame, 7, removal pneumatic cylinder, 8, bearing and 9, bearing roller axle head.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 2 to 4, a method for detecting and automatically adjusting the deviation of a belt conveyor includes
The visual detection module is erected right above a belt 4 in the middle of the belt conveyor and consists of a bearing frame 6, and a high-definition camera 1 and a line laser camera 2 which are arranged on the bearing frame 6;
and the carrier roller adjusting modules 5 are positioned on the inner side of the bearing frame 6, are respectively arranged on two sides of the bottom of the belt 4, and are composed of bearing bearings 8 and moving hydraulic cylinders 7 connected to two ends of the bearing bearings 8.
In the embodiment of the invention, high-definition cameras 1 arranged at two ends of the vision acquisition module acquire images of the left side edge and the right side edge of a belt 4; the line laser range finder 2 in the middle of the coal bunker is used for measuring the height h (u) from the top end of the coal bunker 3 to the acquisition module frame; the front camera and the rear camera in the middle of the vision acquisition module are used for acquiring front and rear images of the middle belt 4; the carrier roller adjusting module 5 further pushes a bearing 8 installed at a carrier roller shaft end 9 by adjusting the pushing amount delta L of the movable hydraulic cylinder 7 up and down, and the change of an included angle theta between the carrier roller and the conveyor belt frame can be realized by hydraulic up and down pushing.
Example two
Referring to fig. 1 to 4, an automatic adjustment method of a deviation detecting device of a belt conveyor includes the following steps
Step S1: acquiring image data, wherein four high-definition cameras 1 on a vision acquisition module acquire a video image I when a belt works; the middle line laser distance measuring instrument 2 measures the distance from the coal material 3 to the top beam of the bearing frame 6;
step S2: preprocessing image data, extracting key frames of a video image I acquired from the high-definition camera 1, and enhancing the frame image by using gamma and fractional order images to obtain an image G; carrying out data denoising processing on the height information obtained by the middle line laser range finder 2;
step S3: image data analysis, Canny edge detection of the image G, and identification of coordinate points B [ B ] on the belt and conveyor belt frame lines1,b2,b3......bn]And D [ D ]1,d2,d3......dn]；
Step S4: calculating the deviation of the belt, and calculating the horizontal offset delta L of the belt aiming at the coordinate points acquired by the left high-definition camera and the right high-definition camera of the acquisition module; the angle offset delta theta of the belt can be calculated according to the middle high-definition camera of the acquisition module; calculating the coal flow loaded on the belt, and calculating the load Q of the belt according to the height information acquired by the laser range finder in the middle of the acquisition module and the belt speed v;
step S5: adjusting the deviation of the belt, and calculating the adjustment quantity delta of the belt carrier roller bracket according to the deviation quantity delta L, delta theta and the load Q of the beltLθ。
In the embodiment of the present invention, in step S2, the image enhancement utilizes a gamma transformation and a fractional order image enhancement, the gamma transformation is used for enhancing the illumination of the image, and the transformation parameter γ is 0.5; the fractional order image enhancement fractional order coefficient is 2/3; and the height information obtained by the laser range finder adopts a wavelet transformation denoising mode.
In the embodiment of the present invention, in step S3, after the image is subjected to edge detection, 50 coordinate points on the edge lines of the belt and the conveyor in the areas where I to VI are located are extracted.
In the embodiment of the present invention, in the step S3, the step of calculating the belt deviation includes calculating regression lines of 50 corresponding points in each zone,
regression coefficient
The regression line equation is
Respectively calculating the distance [ d ] between the regression lines of the 6 regions1,d2,d3,d4,d5,d6]。
In the embodiment of the present invention, if the condition is satisfied
The belt has no angle deviation, then
If the deviation does not meet the requirement, the belt has the angle deviation,
(biregression coefficient of edge line of endothelial zone in I-VI region), horizontal deviation is DeltaL ═ d3-d4|。
In the embodiment of the present invention, in the step S4, the method for calculating the coal flow rate is that
Wherein rho is the density of the coal material; v is the belt speed of the belt; m1、M2The coal flow rates of the left side and the right side of the belt are respectively; l is a coal material starting coordinate point on the left side of the belt, m is a coordinate point in the middle of the conveying frame, and n is a coal material ending coordinate point on the right side of the belt; h (u), G (u) are respectively the height coordinate functions of the coal material and the roller frame.
In the embodiment of the invention, the device specifically comprises the step of calculating the floating adjustment angle of the carrier roller according to the deviation quantity delta L and delta theta
Then according to the coal flow M of the left side and the right side of the conveying belt1、M2Judging the adjusting position of the carrier roller if M1≥M2The rising delta of the left carrier roller needs to be adjustedLθOr right idler drop deltaLθ(ii) a If M is1≤M2The left idler roller descending delta needs to be adjustedLθOr right idler rising deltaLθ。
In the embodiment of the invention, the device utilizes the telescopic hydraulic cylinder to adjust the carrier roller up and down so as to realize the adjustment of the angle between the carrier roller and the conveyor belt frame.
Firstly, respectively acquiring a middle belt running image, a middle front and rear running image and middle coal flow information when a belt conveyor works through a visual detection module arranged in the middle of the belt conveyor, performing image enhancement processing by using gamma and fractional orders, performing Canny edge detection on the processed image to acquire carrier roller and belt edge information, calculating a deviation angle through carrier rollers in front and rear of the middle of the belt and the belt edge straight line, and then detecting a transverse deviation amount according to the information obtained by the middle edge detection; and finally, correcting the belt deviation in real time through the carrier roller control module according to the belt stress condition and the offset.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a belt conveyor off tracking detection device which characterized in that: comprises that
The visual detection module is erected right above a middle belt (4) of the belt conveyor and consists of a bearing frame (6), a high-definition camera (1) and a line laser camera (2) which are arranged on the bearing frame (6);
and the carrier roller adjusting modules (5) are positioned on the inner side of the bearing frame (6), are respectively arranged on two sides of the bottom of the belt (4), and are composed of bearing bearings (8) and moving hydraulic cylinders (7) connected to two ends of the bearing bearings (8).
2. The belt conveyor deviation detecting device of claim 1, wherein: high-definition cameras (1) arranged at two ends of the vision acquisition module acquire images of the left side edge and the right side edge of the belt (4); the line laser range finder (2) in the middle of the coal material collecting device is used for measuring the height h (u) from the top end of the coal material (3) to the collecting module frame; the front camera and the rear camera in the middle of the vision acquisition module are used for acquiring front and rear images of the middle belt (4); the carrier roller adjusting module (5) further pushes a bearing (8) installed at a carrier roller shaft end (9) by adjusting the propelling quantity delta L of the movable hydraulic cylinder (7) up and down, and the change of an included angle theta between the carrier roller and the conveyor belt frame can be realized by hydraulic up and down pushing.
3. An automatic adjustment method of the belt conveyor deviation detection device based on claim 1 is characterized in that: the automatic adjustment method comprises the following steps
Step S1: acquiring image data, wherein four high-definition cameras (1) on a vision acquisition module acquire a video image I when a belt works; the middle line laser distance meter (2) measures the distance from the coal material (3) to the top beam of the bearing frame (6);
step S2: preprocessing image data, namely extracting key frames of a video image I acquired from a high-definition camera (1), and enhancing the frame image by using gamma and a fractional order image to obtain an image G; carrying out data denoising processing on the height information obtained by the middle line laser range finder (2);
step S3: image data analysis, Canny edge detection of the image G, and identification of coordinate points B [ B ] on the belt and conveyor belt frame lines1,b2,b3......bn]And D [ D ]1,d2,d3......dn]；
Step S4: calculating the deviation of the belt, and calculating the horizontal offset delta L of the belt aiming at the coordinate points acquired by the left high-definition camera and the right high-definition camera of the acquisition module; the angle offset delta theta of the belt can be calculated according to the middle high-definition camera of the acquisition module; calculating the coal flow loaded on the belt, and calculating the load Q of the belt according to the height information acquired by the laser range finder in the middle of the acquisition module and the belt speed v;
step S5: adjusting the deviation of the belt, and calculating the adjustment quantity delta of the belt carrier roller bracket according to the deviation quantity delta L, delta theta and the load Q of the beltLθ。
4. The automatic adjusting method for deviation detection of the belt conveyor according to claim 3, characterized in that: in the step S2, the image enhancement utilizes gamma transformation and fractional order image enhancement, the gamma transformation is used for enhancing the illumination of the image, and the transformation parameter γ is 0.5; the fractional order image enhancement fractional order coefficient is 2/3; and the height information obtained by the laser range finder adopts a wavelet transformation denoising mode.
5. The automatic adjusting method for deviation detection of the belt conveyor according to claim 3, characterized in that: in step S3, after the image is subjected to edge detection, 50 coordinate points on the belt and carriage edge lines in the areas of I to VI are extracted.
6. The automatic adjusting method for deviation detection of the belt conveyor according to claim 1, characterized in that: in the step S3, the step of calculating the belt deviation amount includes the steps of calculating regression lines of 50 corresponding points of each zone,
regression coefficient
The regression line equation is
Respectively calculating the distance [ d ] between the regression lines of the 6 regions1,d2,d3,d4,d5,d6]。
7. The automatic adjusting method for deviation detection of the belt conveyor according to claim 6, characterized in that: if the condition is satisfied
The belt has no angle deviation, then
If the deviation does not meet the requirement, the belt has the angle deviation,
(biregression coefficient of edge line of endothelial zone in I-VI region), horizontal deviation is DeltaL ═ d3-d4|。
8. The automatic adjusting method of the belt conveyor deviation detecting device according to claim 3, characterized in that: in the step S4, the method for calculating the coal flow rate comprises
Wherein rho is the density of the coal material; v is the belt speed of the belt; m1、M2The coal flow rates of the left side and the right side of the belt are respectively; l is a coal material starting coordinate point on the left side of the belt, m is a coordinate point in the middle of the conveying frame, and n is a coal material ending coordinate point on the right side of the belt; h (u), G (u) are respectively the height coordinate functions of the coal material and the roller frame.
9. The automatic adjusting method for deviation detection of the belt conveyor according to claim 3, characterized in that: the device comprises a specific step of calculating the floating adjustment angle of the carrier roller according to the deviation quantity delta L and delta theta
Then according to the coal flow M of the left side and the right side of the conveying belt1、M2Judging the adjusting position of the carrier roller if M1≥M2The rising delta of the left carrier roller needs to be adjustedLθOr right idler drop deltaLθ(ii) a If M is1≤M2The left idler roller descending delta needs to be adjustedLθOr right idler rising deltaLθ。
10. The belt conveyor deviation detecting and automatic adjusting method according to claim 9, characterized in that: the device utilizes the telescopic hydraulic cylinder to adjust the carrier roller up and down so as to realize the adjustment of the angle between the carrier roller and the conveyor belt frame.
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Cited By (1)
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| CN115848935A (en) * | 2022-12-19 | 2023-03-28 | 中交机电工程局有限公司 | Telescopic leather-hanging type automatic discharging system |
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