CN115147416B - Rope disorder detection method and device for rope rewinder and computer equipment - Google Patents
Rope disorder detection method and device for rope rewinder and computer equipment Download PDFInfo
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Abstract
The invention discloses a method and a device for detecting rope disorder of a rope rewinder and computer equipment, and belongs to the technical field of image processing; the method comprises the following steps: acquiring a gray scale image of a steel wire rope winding area; acquiring the gray gradient value and the gray gradient direction of each pixel point; obtaining a linear edge binary image; calculating to obtain a rope disorder coefficient according to the gray values of all pixel points projected towards the winding direction of the steel wire rope in the linear edge binary image and the angle of each edge line; and judging the rope disorder condition on the rope rewinder according to the rope disorder coefficient. The invention adopts a camera to collect the depression angle image of the rope rewinding machine and segment the winding part; analyzing a rope disorder coefficient of the image by using an improved LSD straight line detection method; and judging the rope disorder condition of the rope rewinder according to the obtained rope disorder coefficient of the rope rewinder.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a rope disorder detection method and device for a rope rewinder and computer equipment.
Background
Steel wire ropes play an important role in many industrial operations, so the quality and reliability of steel wire ropes are always concerned, but the phenomena of premature failure such as abrasion, deformation and structural damage of steel wire ropes often occur in the operation, and rope disorder is one of the main reasons for premature failure of steel wire ropes.
At present, when detecting whether a rope disorder phenomenon exists on a steel wire rope on a rope rewinding machine, when a line detection algorithm (LSD) is adopted to perform line detection, as the LSD line detection is a local algorithm, usually a line is extracted by combining information of image gradient and direction, a line support area is firstly generated, gradient values, namely gradient directions, of each pixel point are calculated, a gradient field is generated, and then pixels with the same gradient are connected into the line support area by manually setting a threshold value. And then selecting the minimum bounding rectangle of each straight line support area, wherein the main axis of the rectangle represents the main axis direction of the support area, and the rectangle covers the whole area, so that the minimum bounding rectangle represents the straight line information. In the traditional LSD algorithm, although the calculation amount is much smaller than that of Hough line detection, the algorithm has the defect that when two lines are intersected, the algorithm cannot well process the intersection, the detected line is likely to be split into a plurality of line segments due to intersection and the like, and the accuracy of wire rope disorder detection is reduced.
Disclosure of Invention
The invention provides a rope disorder detection method and device for a rope rewinder and computer equipment, wherein the method adopts a camera to collect a depression image of the rope rewinder and divides a winding part of the rope rewinder; analyzing a rope disorder coefficient of the image by using an improved LSD straight line detection method; and judging the rope disorder condition of the rope rewinder according to the obtained rope disorder coefficient of the rope rewinder.
The embodiment of the application provides a rope disorder detection method for a rope rewinder, which comprises the following steps:
acquiring a gray scale image of a steel wire rope winding area;
acquiring a gray gradient value and a gray gradient direction of each pixel point according to the gray value of each pixel point in the gray map and the gray value of the neighborhood pixel point;
dividing all pixel points into edge pixel points and smooth pixel points according to the gray gradient value of each pixel point;
obtaining the similarity of two edge pixel points according to the gray gradient value and the gray gradient direction of one edge pixel point and a neighborhood edge pixel point and the Euclidean distance between the two pixel points, and clustering all the edge pixel points according to the similarity of any two edge pixel points; sequentially dividing all edge pixel points into different categories;
thinning edge pixel points in each category and combining the gray gradient direction of the edge pixel points to obtain edge straight lines, sequentially obtaining a plurality of edge straight lines, and performing semantic segmentation on pixel points and all smooth pixel points on each edge straight line in a gray-scale image to obtain a straight line edge binary image;
calculating to obtain a rope disorder coefficient according to the gray value of projection of all pixel points in the linear edge binary image towards the winding direction of the steel wire rope and the angle of each edge line;
and judging the rope disorder condition on the rope rewinder according to the rope disorder coefficient.
In an embodiment, the dividing of all the pixels into edge pixels and smooth pixels according to the gray scale gradient value of each pixel is to arrange all the pixels from large to small according to the number of the gray scale gradient values, and divide all the pixels into two types, namely edge pixels and smooth pixels, by obtaining two adjacent numbers of the pixels with the largest difference.
In an embodiment, the two adjacent levels are the maximum gray scale gradient value of the smooth pixel and the minimum gray scale gradient value of the edge pixel, respectively, an average value of the maximum gray scale gradient value of the smooth pixel and the minimum gray scale gradient value of the edge pixel is calculated according to the maximum gray scale gradient value of the smooth pixel and the minimum gray scale gradient value of the edge pixel, and all the pixels are divided into the edge pixel and the smooth pixel by taking the average value as a boundary.
In an embodiment, in the process of clustering all edge pixels according to the similarity between any two edge pixels, when the similarity between two edge pixels is smaller than a preset threshold, the two edge pixels are similar pixels, the similar edge pixels are classified into one category, and all the edge pixels are sequentially classified into different categories.
In an embodiment, the similarity calculation formula of the two edge pixels is as follows:
in the formula (I), the compound is shown in the specification,
and
expressing the gray gradient values of any two edge pixel points in the image;
In an embodiment, the dividing of all edge pixel points into multiple categories sequentially removes the category with the number of edge pixel points less than 20.
In an embodiment, the gray value obtaining method of the projection of all pixel points in the linear edge binary image towards the winding direction of the steel wire rope is as follows: projecting the gray values of all pixel points in a row according to columns, and adding the gray values of each column of pixel points in the linear edge binary image to be used as the gray value of the projection of the column of pixel points; the angle of each straight line is the included angle between each straight line and the axial direction of the rope rewinding machine.
In one embodiment, the roping factor calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
the rope disorder coefficient of the rope rewinder is represented;
representing a total of k gray values less than
The number of pixel points;
the number of pixel points representing that the gray value after projection is not 0;
representing the corresponding gray value of the projected pixel point; e represents the number of edge lines;
representing the angle of each edge line;
the number of lines of pixel points in the binary image is represented,
and expressing the column number of the pixel points in the binary image.
In addition, in order to achieve the above object, the present invention further provides a rope disorder detection device for a rope rewinder, comprising:
the image acquisition module is used for acquiring a gray-scale image of a steel wire rope winding area;
the pixel point dividing module is used for acquiring the gray gradient value and the gray gradient direction of each pixel point according to the gray value of each pixel point in the gray map of the winding area of the steel wire rope and the gray value of the adjacent pixel point; dividing all pixel points into edge pixel points and smooth pixel points according to the gray gradient value of each pixel point;
the binary image acquisition module is used for clustering all edge pixel points according to the gray gradient values and the gray gradient directions of the edge pixel points and the Euclidean distance between any two edge pixel points, and dividing all the edge pixel points into different categories; thinning edge pixel points in each category and combining the gray gradient direction of the edge pixel points to obtain edge straight lines, sequentially obtaining a plurality of edge straight lines, and performing semantic segmentation on pixel points and all smooth pixel points on each edge straight line in a gray-scale image to obtain a straight line edge binary image;
the rope disorder coefficient calculation module is used for calculating a rope disorder coefficient according to the gray values of all pixel points in the linear edge binary image projected towards the winding direction of the steel wire rope and the angle of each edge line;
and the rope disorder judging module is used for judging the rope disorder condition on the rope rewinder through the obtained rope disorder coefficient.
Further, to achieve the above object, the present invention also provides a computer apparatus comprising:
the rope-tangling detection method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the computer program realizes the steps of the rope-tangling detection method when being executed by the processor.
The invention has the beneficial effects that:
the invention provides a rope disorder detection method, a rope disorder detection device and computer equipment of a rope rewinder, wherein a camera is adopted to collect a depression image of the rope rewinder and divide a winding part of the rope rewinder; analyzing a rope disorder coefficient of the image by using an improved LSD straight line detection method; and judging the rope disorder condition of the rope rewinder according to the obtained rope disorder coefficient of the rope rewinder.
The invention uses the rope disorder coefficient to represent the rope disorder condition of the rope rewinder, the larger the coefficient is, the larger the rope disorder condition is, when
In the process, the service life and the efficiency of the equipment are not influenced too much even if the rope is jumbled by the rope rewinder;
in the process, the rope-rewinding machine is considered to have a serious rope disorder condition, and the service life and the efficiency of the machine are greatly influenced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart showing the general steps of a rope disorder detection method of a rope rewinder according to an embodiment of the present invention;
fig. 2 is a control principle block diagram of a rope disorder detection device of the rope rewinder.
Fig. 3 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention.
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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention adopts a camera to collect the depression angle image of the rope rewinding machine and segment the winding part; analyzing a rope disorder coefficient of the image by using an improved LSD straight line detection method; and judging the rope disorder condition of the rope rewinder according to the obtained rope disorder coefficient of the rope rewinder.
Referring to fig. 1, in an embodiment of the present application, a rope disorder detection method of a rope winding machine includes the following steps:
s1, obtaining a gray-scale image of a steel wire rope winding area; firstly, acquiring an image of a steel wire rope on a rope rewinding machine, and acquiring a gray-scale image of a steel wire rope winding area after gray-scale processing of the image;
in this embodiment, a top-down view camera is used to capture an image of the winding state of the steel wire rope of the rope rewinder, the image is first converted into a gray image, the captured image is processed by semantic segmentation, and the wound part of the steel wire rope in the rewinder is segmented and processed. After the image is collected and grayed by the rope rewinding machine, the image is semantically segmented into an image only comprising a rope winding area.
The semantic segmentation network specifically comprises the following steps: 1) The network input is a gray image of a rope-rewinding machine depression image collected at a fixed distance; 2) In semantic segmentation, marking the pixel point of a rope winding area as 1, marking the pixel point of a background as 0, and separating the two areas; 3) The loss function used by semantic segmentation is a cross entropy loss function; for the divided image, the image size is set to be n × m.
S2, acquiring a gray gradient value and a gray gradient direction value of each pixel point according to the gray value of each pixel point in the gray map of the steel wire rope winding area and the gray values of the neighborhood pixel points;
the gray-scale image which is semantically segmented is scaled, so that the sawtooth effect of the image is avoided, and the detection precision is reduced. Then, the gradient value of each pixel and the gradient direction thereof are calculated, and the calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
expressing the gray gradient value of the pixel point in the horizontal direction;
Then, the whole image is subjected to the calculation to obtain the gray gradient value of each pixel point
And the direction of the gray gradient
For the image, the more the edge part is, the more the gray value changes violently, the more the smooth part is, the more the gray value changes slowly, so after the gray gradient value and the gray gradient direction value of each pixel point are obtained, the straight line edge can be determined according to the similarity between the pixel points by using the two values. The larger the gray gradient value is, the more the pixel point is at the edge position, and the gradient direction can judge whether the edge is a straight line or not.
S3, dividing all the pixel points into edge pixel points and smooth pixel points according to the gray gradient value of each pixel point;
specifically, all the pixel points are arranged from large to small according to the number of levels of the gray gradient values, and all the pixel points are divided into two types, namely edge pixel points and smooth pixel points by obtaining two adjacent levels with the largest difference value. The two adjacent levels are respectively the maximum gray gradient value of the smooth pixel point and the minimum gray gradient value of the edge pixel point, the average value of the two adjacent levels is calculated according to the maximum gray gradient value of the smooth pixel point and the minimum gray gradient value of the edge pixel point, and all the pixel points are divided into the edge pixel point and the smooth pixel point by taking the average value as a boundary.
S4, obtaining the similarity of two edge pixel points according to the gray gradient value and the gray gradient direction of one edge pixel point and a neighborhood edge pixel point and the Euclidean distance between the two pixel points, clustering all the edge pixel points according to the similarity of any two edge pixel points, and dividing all the edge pixel points into different categories;
in this embodiment, when the similarity between two edge pixels is smaller than the preset threshold, the two edge pixels are similar pixels, the similar edge pixels are classified into one category, and all the edge pixels are sequentially classified into different categories.
Specifically, the gray gradient information and the gray direction information of each edge pixel point and the position information of the gray direction information are obtained, the similarity between the pixel points is constructed through the three information, and the similar edge pixel points are divided into a cluster.
The similarity calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
and
representing the gray gradient values of any two edge pixels in the image,
and
the gray gradient directions of the two edge pixels are represented,
the Euclidean distance between two edge pixels represents the position information of the two edge pixels;
it indicates the degree of similarity of the two,
the smaller the similarity. When in use
If the preset threshold value is less than 3, the pixel points are considered to be similar, and the pixel points are classified into a cluster. The preset threshold value of 3 is obtained from manual experience.
Therefore, the edge pixel point with the maximum gray gradient is selected in sequence, the similarity between the edge pixel point and surrounding points is calculated by taking the edge pixel point as a basic point, if the similar edge pixel points exist in a circle around the edge pixel point, the similar edge pixel points are continuously searched until all the edge pixel points are traversed, and at the moment, all the edge pixel points are classified according to the position, the gradient and the direction.
And sequentially dividing all edge pixel points into different categories, removing undersized categories according to the classified sizes, and removing the categories with the number of the edge pixel points less than 20 from the divided categories to reduce the noise influence.
S5, thinning edge pixel points in each category and combining the gray gradient direction of the edge pixel points to obtain edge straight lines, sequentially obtaining a plurality of edge straight lines, and performing semantic segmentation on pixel points and all smooth pixel points on each edge straight line in the gray-scale image to obtain a straight line edge binary image;
in this embodiment, the LSD algorithm is improved based on the LSD algorithm, a straight line is determined by using a clustering idea, and since the gradient direction of each edge pixel is known, the direction of the edge pixel of each cluster can be obtained according to the known gradient direction in each cluster. And thinning the pixel points in each category, and combining the directions of the straight lines to obtain an edge straight line during thinning. The thinning is to thin the pixels on the edge straight line, for example, thinning the pixel strip with the length of 50 and the width of 5 into a straight line with the length of 50 and the width of 1;
and then, segmenting the gray level image of the steel wire rope winding area, marking the thinned pixel points in each edge straight line as 1, and marking the rest smooth pixel points as 0, namely obtaining the linear edge binary image of all the steel wire ropes, wherein the gray level value of the linear edge pixel points is 1, and the gray level value of the pixel points in the rest part is 0.
S6, calculating to obtain a rope disorder coefficient according to the gray values of all pixel points projected towards the winding direction of the steel wire rope in the linear edge binary image and the angle of each edge line; the gray value obtaining method for projection of all pixel points in the linear edge binary image towards the winding direction of the steel wire rope comprises the following steps: and projecting the gray values of all the pixel points in a row according to columns, and adding the gray values of each column of pixel points in the linear edge binary image to be used as the gray value of the projection of the column of pixel points. The angle of each edge straight line is the included angle between each edge straight line and the axial direction of the rope rewinding machine.
All the edge straight lines of the steel wire ropes are obtained through the operation, all the steel wire ropes are closely arranged in the rope rewinding machine without the disorder ropes, and the edge lines of all the steel wire ropes are approximately parallel; in the rope rewinder with rope disorder, the obtained edge straight lines may intersect with each other.
In the embodiment, the rope disorder coefficient of the image is judged by combining the gray values of all pixel points projected towards the winding direction of the steel wire rope and the angle of each edge straight line; it should be noted that, the obtained linear edge binary image;
on one hand, firstly, the binary image is projected, and the gray values of all pixel points are orientedProjecting the steel wire rope in a row along the winding direction, namely accumulating the gray values of pixel points in each row in the image to change one row into one pixel point, wherein the value of the pixel point is the sum of the gray values of the pixel points in the corresponding row, and the linear edge binary image has n rows of pixel points in total, namely the maximum gray value of the pixel point in the row is n when any row of pixel points is projected to one row; secondly, the application considers that if the gray value of the projected pixel point is less than the gray value of the projected pixel point
The messy rope phenomenon exists when the number of the columns corresponding to the pixel points is considered, and meanwhile, the more the pixel points exist, the larger the corresponding gray value of the pixel points is, and the more serious the messy rope phenomenon is. In the analysis process, the edge straight lines in the binary image are arranged in a longitudinal direction, and each column represents an edge straight line.
On the other hand, the angle of each edge straight line is calculated through the obtained straight lines by taking the numerical direction as a reference, all the edge straight lines are close to 90 degrees for the rope rewinder without rope disorder, and in the application, the smaller the angle is, the greater the rope disorder degree is. Wherein, the angle of each edge straight line is the included angle between each edge straight line and the axial direction of the rope rewinding machine.
Obtaining a rope disorder coefficient calculation formula through the two aspects as follows:
in the formula (I), the compound is shown in the specification,
representing a total of k gray values less than
The number of pixel points;
the number of pixel points representing that the gray value after projection is not 0;
representing the gray value corresponding to the projected pixel point; e represents the number of edge lines;
representing the angle of each edge line;
the number of lines of pixel points in the binary image is represented,
and (5) expressing the column number of the pixel points in the binary image.
At this moment, a linear edge image is obtained through an LSD linear detection and clustering algorithm, and a rope disorder coefficient is obtained through a linear edge binary image.
And S7, judging the rope disorder condition on the rope rewinder according to the rope disorder coefficient.
The rope disorder coefficient is used for representing the rope disorder condition of the rope rewinder, the larger the coefficient is, the larger the rope disorder condition is, when
In time, the application considers that the service life and the efficiency of the equipment are not influenced too much even if the rope is disordered;
in time, this application just thinks that this rope rewinder has serious disorder rope condition, can great influence the life and the efficiency of machine.
At this moment, the rope disorder condition of the machine is obtained by judging the rope disorder coefficient.
Referring to fig. 2, in an embodiment of the present application, the present application further provides a rope disorder detection device for a rope rewinding machine, including:
the image acquisition module is used for acquiring a gray scale image of a steel wire rope winding area;
the pixel point dividing module is used for acquiring the gray gradient value and the gray gradient direction of each pixel point according to the gray value of each pixel point in the gray map of the winding area of the steel wire rope and the gray value of the adjacent pixel point; dividing all pixel points into edge pixel points and smooth pixel points according to the gray gradient value of each pixel point;
the binary image acquisition module is used for clustering all edge pixel points according to the gray gradient values and the gray gradient directions of the edge pixel points and the Euclidean distance between any two edge pixel points and dividing all the edge pixel points into different categories; thinning edge pixel points in each category and combining the gray gradient direction of the edge pixel points to obtain edge straight lines, sequentially obtaining a plurality of edge straight lines, and performing semantic segmentation on pixel points and all smooth pixel points on each edge straight line in a gray-scale image to obtain a straight line edge binary image;
the rope disorder coefficient calculation module is used for calculating a rope disorder coefficient according to the gray values of all pixel points in the linear edge binary image projected towards the winding direction of the steel wire rope and the angle of each edge line;
and the rope disorder judging module is used for judging the rope disorder condition on the rope rewinder through the obtained rope disorder coefficient.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a hardware operating environment according to an embodiment of the present invention.
It should be noted that fig. 3 is a schematic structural diagram of a hardware operating environment of a computer device.
Referring to fig. 3, the computer apparatus may include: a processor 101, e.g., a CPU, a memory 105, a user interface 103, a network interface 104, a communication bus 102; wherein the communication bus 102 is used for enabling connection communication between these components. The user interface 103 may comprise a display screen, an input unit such as a keyboard, and the optional user interface 103 may also comprise a standard wired interface, a wireless interface. The network interface 104 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 105 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 105 may alternatively be a storage device separate from the processor 101 described above.
Those skilled in the art will appreciate that the computer device configuration illustrated in FIG. 3 is not intended to be limiting of computer devices and may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components.
Referring to fig. 3, the memory 105, which is a kind of storage medium, may include therein an operating system, a network communication module, a user interface module, and a computer program. Among other things, operating systems are programs that manage and control the hardware and software resources of a computer device, the execution of computer programs, and other software or programs.
In the computer device shown in fig. 3, the user interface 103 is mainly used for connecting a terminal and performing data communication with the terminal; the network interface 104 is mainly used for a background server and performs data communication with the background server; the processor 101 may be used to invoke computer programs stored in the memory 105.
In this embodiment, the computer device includes: a memory 105, a processor 101, and a computer program stored on the memory 105 and executable on the processor, wherein:
when the processor 101 calls the computer program stored in the memory 105, the following operations are performed:
acquiring a gray scale image of a steel wire rope winding area;
acquiring the gray gradient value and the gray gradient direction of each pixel point according to the gray value of each pixel point in the gray map and the gray value of the neighborhood pixel point;
dividing all pixel points into edge pixel points and smooth pixel points according to the gray gradient value of each pixel point;
clustering all edge pixel points according to the gray gradient value and the gray gradient direction of the edge pixel points and the Euclidean distance between any two edge pixel points, and dividing all the edge pixel points into different categories;
thinning edge pixel points in each category and combining the gray gradient direction of the edge pixel points to obtain edge straight lines, sequentially obtaining a plurality of edge straight lines, and performing semantic segmentation on pixel points and all smooth pixel points on each edge straight line in a gray-scale image to obtain a straight line edge binary image;
calculating to obtain a rope disorder coefficient according to the gray values of all pixel points projected towards the winding direction of the steel wire rope in the linear edge binary image and the angle of each edge line;
and judging the rope disorder condition on the rope rewinder according to the rope disorder coefficient.
When the processor 101 calls the calculation mechanism program stored in the memory 105, the following operations are also performed:
all the pixel points are arranged from large to small according to the level number of the gray gradient value, and all the pixel points are divided into edge pixel points and smooth pixel points by obtaining two adjacent level numbers with the largest difference value.
When the processor 101 calls the calculation mechanism program stored in the memory 105, the following operations are also performed:
the two adjacent levels are respectively the maximum gray gradient value of the smooth pixel point and the minimum gray gradient value of the edge pixel point, the average value of the two adjacent levels is calculated according to the maximum gray gradient value of the smooth pixel point and the minimum gray gradient value of the edge pixel point, and all the pixel points are divided into the edge pixel point and the smooth pixel point by taking the average value as a boundary.
When the processor 101 invokes the computer mechanism program stored in the memory 105, it further performs the following operations:
and obtaining the similarity of two edge pixel points according to the gray gradient value and the gray gradient direction of one edge pixel point and the adjacent edge pixel point and the Euclidean distance between the two pixel points, and clustering all the edge pixel points according to the similarity of any two edge pixel points.
When the processor 101 calls the calculation mechanism program stored in the memory 105, the following operations are also performed:
when the similarity of the two edge pixel points is smaller than a preset threshold value, the two edge pixel points are similar pixel points, the similar edge pixel points are classified into one category, and all the edge pixel points are sequentially classified into different categories.
When the processor 101 calls the calculation mechanism program stored in the memory 105, the following operations are also performed:
removing the category with the number of the edge pixels less than 20
When the processor 101 invokes the computer mechanism program stored in the memory 105, it further performs the following operations:
the gray value obtaining method for all pixel points in the linear edge binary image projected towards the winding direction of the steel wire rope comprises the following steps: and projecting the gray values of all the pixel points in a row according to columns, and adding the gray values of each column of pixel points in the linear edge binary image to obtain the gray value projected by the column of pixel points.
When the processor 101 calls the calculation mechanism program stored in the memory 105, the following operations are also performed:
the angle of each straight line is the included angle between each straight line and the axial direction of the rope rewinding machine.
In summary, the invention provides a rope disorder detection method, a rope disorder detection device and computer equipment for a rope rewinder, wherein a camera is adopted to acquire a depression angle image of the rope rewinder and divide a winding part of the rope rewinder; analyzing a rope disorder coefficient of the image by using an improved LSD straight line detection method; and judging the rope disorder condition of the rope rewinder according to the obtained rope disorder coefficient of the rope rewinder.
The invention uses the rope disorder coefficient to represent the rope disorder condition of the rope rewinder, the larger the coefficient is, the larger the rope disorder condition is, when
In time, the service life and the efficiency of the equipment are not influenced too much even if the rope is disordered by the rope rewinding machine;
in the process, the rope-reversing machine has serious rope disorder condition, and the service life and the efficiency of the machine can be greatly influenced.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A rope disorder detection method of a rope rewinder is characterized by comprising the following steps:
acquiring a gray scale image of a steel wire rope winding area;
acquiring the gray gradient value and the gray gradient direction of each pixel point according to the gray value of each pixel point in the gray map and the gray value of the neighborhood pixel point;
dividing all the pixel points into edge pixel points and smooth pixel points according to the gray gradient value of each pixel point;
obtaining the similarity of two edge pixel points according to the gray gradient value and the gray gradient direction of one edge pixel point and a neighborhood edge pixel point and the Euclidean distance between the two pixel points, and clustering all the edge pixel points according to the similarity of any two edge pixel points; sequentially dividing all edge pixel points into different categories;
thinning edge pixel points in each category and combining the gray gradient direction of the edge pixel points to obtain edge straight lines, sequentially obtaining a plurality of edge straight lines, and performing semantic segmentation on pixel points and all smooth pixel points on each edge straight line in a gray-scale image to obtain a straight line edge binary image;
calculating to obtain a rope disorder coefficient according to the gray values of all pixel points projected towards the winding direction of the steel wire rope in the linear edge binary image and the angle of each edge line;
the rope disorder coefficient calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
the rope disorder coefficient of the rope rewinder is represented;
representing a total of k gray values less than
The number of pixel points;
the number of pixel points representing that the gray value after projection is not 0;
representing the corresponding gray value of the projected pixel point; e represents the number of edge lines;
representing the angle of each edge line;
the number of lines representing the pixel points in the binary image,
the column number of pixel points in the binary image is expressed;
and judging the rope disorder condition on the rope rewinder according to the rope disorder coefficient.
2. The rope disorder detection method of the rope winding machine according to claim 1, wherein the step of dividing all the pixel points into edge pixel points and smooth pixel points according to the gray scale gradient value of each pixel point is that all the pixel points are arranged from large to small according to the number of the gray scale gradient values, and all the pixel points are divided into two types, namely edge pixel points and smooth pixel points by obtaining two adjacent numbers of the difference values.
3. The method for detecting the rope disorder of the rope winding machine according to claim 2, wherein the two adjacent levels are the maximum gray gradient value of the smooth pixel and the minimum gray gradient value of the edge pixel, respectively, the average value of the two adjacent levels is calculated according to the maximum gray gradient value of the smooth pixel and the minimum gray gradient value of the edge pixel, and all the pixels are divided into the edge pixel and the smooth pixel by taking the average value as a boundary.
4. The method for detecting the rope disorder of the rope winding machine according to claim 1, wherein in the process of clustering all edge pixels according to the similarity of any two edge pixels, when the similarity of the two edge pixels is smaller than a preset threshold, the two edge pixels are similar pixels, the similar edge pixels are classified into one category, and all the edge pixels are sequentially classified into different categories.
5. The method for detecting the rope disorder of the rope rewinder as claimed in claim 1, wherein the similarity calculation formula of the two edge pixel points is as follows:
in the formula (I), the compound is shown in the specification,
and
expressing the gray gradient values of any two edge pixel points in the image;
6. The rope disorder detection method of the rope rewinder according to claim 1, wherein all the edge pixel points are sequentially classified into a plurality of categories, and the categories with the number of the edge pixel points less than 20 are removed.
7. The rope disorder detection method of the rope rewinder as claimed in claim 1, wherein the gray value obtaining method of the projection of all pixel points in the linear edge binary image towards the winding direction of the steel wire rope is as follows: projecting the gray values of all the pixel points in a row according to columns, and adding the gray values of each column of pixel points in the linear edge binary image to be used as the gray values of the projection of the column of pixel points; the angle of each edge straight line is the included angle between each edge straight line and the axial direction of the rope rewinding machine.
8. The utility model provides a rope machine rope disorder detection device which characterized in that includes:
the image acquisition module is used for acquiring a gray scale image of a steel wire rope winding area;
the pixel point dividing module is used for acquiring the gray gradient value and the gray gradient direction of each pixel point according to the gray value of each pixel point in the gray map of the winding area of the steel wire rope and the gray value of the adjacent pixel point; dividing all pixel points into edge pixel points and smooth pixel points according to the gray gradient value of each pixel point;
the binary image acquisition module is used for clustering all edge pixel points according to the gray gradient values and the gray gradient directions of the edge pixel points and the Euclidean distance between any two edge pixel points and dividing all the edge pixel points into different categories; thinning edge pixel points in each category and combining the gray gradient direction of the edge pixel points to obtain edge straight lines, sequentially obtaining a plurality of edge straight lines, and performing semantic segmentation on pixel points and all smooth pixel points on each edge straight line in a gray-scale image to obtain a straight line edge binary image;
the rope disorder coefficient calculation module is used for calculating a rope disorder coefficient according to the gray value of projection of all pixel points in the linear edge binary image towards the winding direction of the steel wire rope and the angle of each edge straight line;
the rope disorder coefficient calculation formula is as follows:
in the formula (I), the compound is shown in the specification,
the rope disorder coefficient of the rope rewinder is represented;
representing a total of k gray values less than
The number of pixel points;
the number of pixel points representing that the gray value after projection is not 0;
representing the gray value corresponding to the projected pixel point; e represents the number of edge lines;
representing the angle of each edge line;
the number of lines of pixel points in the binary image is represented,
expressing the column number of pixel points in the binary image;
and the rope disorder judging module is used for judging the rope disorder condition on the rope rewinder through the obtained rope disorder coefficient.
9. A computer device, comprising:
memory, processor and computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the ropewinder roping detection method according to any of claims 1 to 7.
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Denomination of invention: A method, device, and computer equipment for detecting rope disorder in a rope rewinding machine Effective date of registration: 20230321 Granted publication date: 20221115 Pledgee: Bank of China Limited Sishui sub branch Pledgor: SHANDONG DASHAN STAINLESS STEEL PRODUCTS Co.,Ltd. Registration number: Y2023980035351 |