JP2013052315A - Large lump to be conveyed detecting system - Google Patents
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Abstract
Description
本発明は、ベルトコンベアで搬送される搬送物（ずり等）に含まれる大塊搬送物を検知する大塊検知システムに関する。 The present invention relates to a large block detection system for detecting a large block transported material included in a transported material (slip or the like) transported by a belt conveyor.
例えば建設工事では、岩石、土砂、コンクリートガラ、骨材等の搬送物をベルトコンベアで搬送する場合がある。かかるベルトコンベアにおいて、所定以上の大きさの大塊搬送物が搬送される場合には、大塊搬送物によってベルトが損傷するおそれがある。かかる事態が発生すると、ベルトの切断や荷こぼれを引き起こし、その修復のためにベルトコンベアの稼働率が低下することになる。かかる事態を回避するため、特許文献１，２には、搬送物に対して斜め上から光を照射した状態で当該搬送物を撮影し、撮影画像における搬送物の陰影に基づいて大塊搬送物を検知する技術が開示されている。 For example, in construction work, there are cases where transported objects such as rocks, earth and sand, concrete glass, and aggregates are transported by a belt conveyor. In such a belt conveyor, when a large-sized conveyed product having a size larger than a predetermined size is conveyed, the belt may be damaged by the large-sized conveyed product. When such a situation occurs, the belt is cut or spilled, and the operation rate of the belt conveyor is reduced for the repair. In order to avoid such a situation, in Patent Documents 1 and 2, the transported object is photographed in a state where light is obliquely applied to the transported object, and the large transport object is based on the shadow of the transported object in the photographed image. A technique for detecting the above is disclosed.
しかし、特許文献１，２に記載された技術では、１つの照明で光を照射しており、搬送物の陰影が一方向にしかできないため、搬送物の形状によっては大塊搬送物を検知することができないおそれがある。 However, in the techniques described in Patent Documents 1 and 2, light is emitted with one illumination, and the shade of the conveyed product can only be in one direction, so depending on the shape of the conveyed item, a large block conveyed item is detected. There is a risk that it will not be possible.
本発明は、前記した事情に鑑みて創案されたものであり、大塊搬送物を好適に検知することが可能な大塊搬送物検知システムを提供することを課題とする。 The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a large lump transported object detection system capable of suitably detecting a large lump transported object.
前記課題を解決するため、本発明の大塊搬送物検知システムは、搬送物に含まれる所定以上の大きさの大塊搬送物を検知する大塊搬送物検知システムであって、前記搬送物を搬送するベルトを有するベルトコンベアと、前記ベルト上の前記搬送物に光を照射する照明部と、前記光が照射された前記搬送物を時間を空けて複数回撮影する撮影部と、前記搬送物に一方から光が照射された時刻ｔ１に撮影された第一の画像と前記ベルトの走行によって前記搬送物に他方から光が照射された時刻ｔ２（＞ｔ１）に撮影された第二の画像とに基づいて、前記大塊搬送物を検知する大塊搬送物検知部と、を備え、前記大塊搬送物検知部は、前記ベルトの速度をｖとしたとき、ｖ・（ｔ２−ｔ１）に基づいて前記第一の画像及び前記第二の画像の位置合わせを行って前記第一の画像及び前記第二の画像の論理積画像を生成し、前記論理積画像から前記大塊搬送物を検知することを特徴とする。 In order to solve the above-mentioned problem, the large mass transported object detection system of the present invention is a large mass transported object detection system for detecting a large mass transported material having a size larger than a predetermined size included in the transported material. A belt conveyor having a belt to convey; an illuminating unit that irradiates light onto the conveyed object on the belt; an imaging unit that photographs the conveyed object irradiated with the light a plurality of times; and the conveyed object The first image taken at time t 1 when light was applied from one side to the second and the second image taken at time t 2 (> t 1 ) when light was applied to the conveyed product from the other side by traveling of the belt. And a large block conveyance object detection unit that detects the large block conveyance object based on the image of the large block conveyance object, where the large block conveyance object detection unit has v · (t 2 position of the first image and the second image based on -t 1) Combined performed to generate a logical product image of the first image and the second image, and detecting the large mass conveyed from the logical product image.
かかる構成によると、ベルトの走行と照明部の位置関係とを用いて陰影の異なる二枚の画像を撮影し、二枚の画像の論理積画像を生成することよって、陰による輪郭を有する搬送物の画像から大塊搬送物を検知するので、簡易な構造で大塊搬送物を好適に検知することができる。 According to such a configuration, two images with different shadows are photographed using the running of the belt and the positional relationship of the illumination unit, and a logical product image of the two images is generated, so that the conveyance object having the contour due to the shadow. Since the large chunk transported object is detected from the image, the large chunk transported object can be suitably detected with a simple structure.
前記大塊搬送物検知部は、前記論理積画像に二値化処理を施した二値化画像を生成し、生成された前記二値化画像から前記大塊搬送物を検知する構成であってもよい。 The mass transport object detection unit is configured to generate a binarized image obtained by performing binarization processing on the logical product image, and detect the mass transport object from the generated binarized image. Also good.
さらに、前記大塊搬送物検知部は、前記二値化画像に輪郭縮小処理を施した輪郭縮小画像を生成し、生成された前記輪郭縮小画像から前記大塊搬送物を検知する構成であってもよい。 Furthermore, the large block conveyance object detection unit is configured to generate a contour reduced image obtained by performing a contour reduction process on the binarized image and detect the large block conveyance object from the generated outline reduced image. Also good.
本発明によれば、大塊搬送物を好適に検知することができる。 According to the present invention, it is possible to suitably detect a large transport object.
以下、本発明の実施形態について、本発明の大塊搬送物検知システムを山岳トンネル工事において大塊ずりを検知する大塊ずり検知システムに適用した場合を例にとり、適宜図面を参照しながら説明する。 Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate, taking as an example a case where the large mass transported object detection system of the present invention is applied to a large mass shear detection system that detects large mass shear in mountain tunnel construction. .
＜第一の実施形態＞
図１に示すように、本発明の第一の実施形態に係る大塊搬送物検知システム１は、ベルトコンベア１０と、速度検出部２０と、照明部３０と、撮影部４０と、コンピュータ５０と、を備える。
<First embodiment>
As shown in FIG. 1, the massive transport object detection system 1 according to the first embodiment of the present invention includes a belt conveyor 10, a speed detection unit 20, an illumination unit 30, a photographing unit 40, and a computer 50. .
＜ベルトコンベア１０＞
ベルトコンベア１０は、自走式クラッシャーの一部としての引出しベルコンである。かかる引出しベルコンは、トンネル掘進が行われる切羽（上流側）で発生した搬送物であるずり２を坑口に設けられたずり出し場（下流側）へ搬送する際に用いられる。
発破による掘削で発生したずり２は、図示しない自走式クラッシャーの破砕部によって破砕され、引出しベルコンであるベルトコンベア１０を介して、ずり出し場まで延びる連続ベルコンに搬送される。
ベルトコンベア１０は、例えば長さが１０［ｍ］、ベルトの速度が１２０［ｍ／ｍｉｎ］でずり２を５秒で自走式クラッシャーから連続ベルコンへと搬送可能なベルコンであって、プーリ１１，１１と、プーリ１１，１１に巻回されたベルト（本実施形態では、無端ベルト）１２と、ずり出し場側のプーリ１１を回転させるモータ１３と、を備える。かかるベルト１２において、上側のベルト１２は、切羽側からずり出し場側へ向けて走行するキャリア側ベルトであり、下側のベルト１２は、ずり出し場側から切羽側へ向けて走行するリターン側ベルトである。
<Belt conveyor 10>
The belt conveyor 10 is a drawer bellcon as a part of a self-propelled crusher. Such a drawer bellcon is used when the shear 2 which is the transported material generated on the face (upstream side) where tunnel excavation is performed is transported to the dragging site (downstream side) provided in the wellhead.
The shear 2 generated by excavation by blasting is crushed by a crushing part of a self-propelled crusher (not shown), and is conveyed to a continuous velcon extending to a squeeze-out place via a belt conveyor 10 which is a drawer velcon.
The belt conveyor 10 is, for example, a bellcon that can convey a shear 2 from a self-propelled crusher to a continuous bellcon in 5 seconds with a length of 10 [m] and a belt speed of 120 [m / min]. , 11, a belt (endless belt in the present embodiment) 12 wound around the pulleys 11, 11, and a motor 13 that rotates the pulley 11 on the slide-out side. In the belt 12, the upper belt 12 is a carrier side belt that travels from the face side toward the protruding side, and the lower belt 12 is a return side that runs from the side to the face side. It is a belt.
＜速度検出部２０＞
速度検出部２０は、ベルト１２の走行速度に相関するプーリ１１の回転速度を検出し、検出結果をコンピュータ５０へ出力する。
<Speed detector 20>
The speed detection unit 20 detects the rotational speed of the pulley 11 that correlates with the traveling speed of the belt 12 and outputs the detection result to the computer 50.
＜照明部３０＞
照明部３０は、キャリア側において、ベルト１２のベルト面に対して真上から光を照射するライトである。
<Lighting unit 30>
The illumination unit 30 is a light that emits light from directly above the belt surface of the belt 12 on the carrier side.
＜撮影部４０＞
撮影部４０は、キャリア側において、照明部３０によって光が照射されたずり２を真上から所定時間間隔で撮影し、撮影画像をコンピュータ５０へ出力するカメラである。図２に示すように、撮影部４０による撮影領域Ｓは、照明部３０の真下Ｘを中央としてベルト１２の上流側から下流側にわたっており、時刻ｔ１において撮影領域Ｓの上流側に相当する第一の領域Ｓ１部分に存在するずり２は、時刻ｔ２（＞ｔ１）において撮影領域Ｓの下流側に相当する第二の領域Ｓ２部分へと移動する。
<Photographing unit 40>
The photographing unit 40 is a camera that photographs the shear 2 irradiated with light by the illumination unit 30 at a predetermined time interval from right above on the carrier side, and outputs the photographed images to the computer 50. As shown in FIG. 2, the imaging region S by the imaging unit 40 extends from the upstream side to the downstream side of the belt 12 with X just below the illumination unit 30 as the center, and corresponds to the upstream side of the imaging region S at time t 1 . The shear 2 existing in the first area S1 moves to the second area S2 corresponding to the downstream side of the imaging area S at time t 2 (> t 1 ).
＜コンピュータ５０＞
コンピュータ５０は、キーボード、マウス等からなる操作部５１と、ディスプレイ、スピーカ等からなる通知部５２と、ＣＰＵ、ＲＯＭ、ＲＡＭ等からなる制御部５３と、を備えている。
<Computer 50>
The computer 50 includes an operation unit 51 including a keyboard and a mouse, a notification unit 52 including a display and a speaker, and a control unit 53 including a CPU, ROM, RAM, and the like.
制御部５３は、機能部として、ベルトコンベア制御部５３ａと、大塊ずり検知部５３ｂと、を備える。 The control unit 53 includes a belt conveyor control unit 53a and a large block shear detection unit 53b as functional units.
≪ベルトコンベア制御部５３ａ≫
ベルトコンベア制御部５３ａは、利用者による操作部７１の操作内容に基づいて、運転信号をモータ１３の制御部へ出力することによって、モータ１３を回転させ、ベルト１２を走行させる。また、ベルトコンベア制御部５３ａは、停止信号をモータ１３の制御部へ出力することによって、モータ１３を停止させ、ベルト１２を停止させる。
≪Belt conveyor control unit 53a≫
The belt conveyor control unit 53a outputs the operation signal to the control unit of the motor 13 based on the operation content of the operation unit 71 by the user, thereby rotating the motor 13 and causing the belt 12 to travel. Moreover, the belt conveyor control part 53a stops the motor 13 and stops the belt 12 by outputting a stop signal to the control part of the motor 13.
≪大塊ずり検知部５３≫
大塊ずり検知部５３は、撮影部４０によって撮影された時間差のある２枚の撮影画像に基づいて、ずり２に含まれる大塊搬送物である大塊ずりを検知する。
図３（ａ）に示す第一の画像Ｐ１（図２の第一の領域Ｓ１を撮影した画像）が撮影された時間をｔ１、図３（ｂ）に示す第二の画像Ｐ２（図２の第二の領域Ｓ２を撮影した画像）が撮影された時間をｔ２、時刻ｔ１〜ｔ２におけるベルト１２の速度をｖとしたとき、第二の画像Ｐ２に含まれるずり２は、第一の画像Ｐ１に含まれるずり２に対して、ｖ・（ｔ２−ｔ１）だけベルト１２の移動方向に進んでいることになる。
そして、時間ｔ１において撮影された第一の画像Ｐ１（図３（ａ））では、ずり２ａは照明部３０よりも上流側に位置しており、ずり２ａに対して右側から光が照射されているので、ずり２ａの左側に陰が生じており、時間ｔ２において撮影された第二の画像Ｐ２（図３（ｂ））では、ずり２ａは照明部３０よりも下流側に位置しており、ずり２ａに対して左側から光が照射されているので、ずり２ａの右側に陰が生じている。
≪Large shear detection unit 53≫
The large lump detection unit 53 detects a large lump that is a large lump transported object included in the shear 2 based on two photographed images taken by the photographing unit 40 with a time difference.
The time when the first image P1 shown in FIG. 3A (the image obtained by imaging the first region S1 in FIG. 2) is taken is t 1 , and the second image P2 shown in FIG. 3B (FIG. 2). the second region S2 photographed image) t 2 time taken is, when the speed of the belt 12 at time t 1 ~t 2 was v, shear 2 included in the second image P2 is first This means that the belt 12 is moving in the moving direction of the belt 12 by v · (t 2 −t 1 ) with respect to the shear 2 included in one image P1.
Then, the first image P1 taken at time t 1 (FIG. 3 (a)), shear 2a is located upstream of the illumination unit 30, light is irradiated from the right side with respect to shear 2a since it is, and negative to the left is generated shear 2a, the second image P2 captured at time t 2 (Fig. 3 (b)), shear 2a is located downstream of the illumination unit 30 In addition, since light is applied to the shear 2a from the left side, a shadow is generated on the right side of the shear 2a.
大塊ずり検知部５３は、第一の画像Ｐ１及び第二の画像Ｐ２を時刻ｔ１〜ｔ２におけるベルト１２の移動量ｖ・（ｔ２−ｔ１）に基づいて位置合わせした上で、第一の画像Ｐ１及び第二の画像Ｐ２の論理積画像を生成する。詳細には、ベルト１２の移動方向における撮影範囲Ｓ１，Ｓ２のベルト１２の移動方向の実際の寸法Ａ１に対する画像Ｐ１，Ｐ２のピクセルＡ２の比（Ａ２／Ａ１）をＡとしたとき、大塊ずり検知部５３は、第二の画像Ｐ２をＡ・ｖ・（ｔ２−ｔ１）ピクセルだけ左側にずらして第一の画像Ｐ１に対する位置合わせを行った上で、第一の画像Ｐ１及び第二の画像Ｐ２の論理積画像Ｐ３（図３（ｃ））を生成する。論理積画像Ｐ３では、ずり２ａに対して左右両方向から光が照射されている状態となるので、ずり２ａの左右両側に陰が生じている。すなわち、論理積画像Ｐ３におけるずり２ａは、輪郭部分が陰で黒く映り、中央部分が光で白く映っている。なお、前記したＡは、撮影部４０の倍率に相当し、大塊ずり検知部５３は、画像とともに撮影部４０から出力された当該画像の倍率を取得し、前記したＡの値として用いることができる。 Daikatamari shear detection unit 53, after aligning based on the amount of movement of the belt 12 a first image P1 and the second image P2 at time t 1 ~t 2 v · (t 2 -t 1), A logical product image of the first image P1 and the second image P2 is generated. Specifically, when the ratio (A2 / A1) of the pixels A2 of the images P1 and P2 to the actual dimension A1 in the moving direction of the belt 12 in the shooting ranges S1 and S2 in the moving direction of the belt 12 is A, large block shear The detection unit 53 shifts the second image P2 to the left by A · v · (t 2 −t 1 ) pixels and aligns the first image P1 with the first image P1 and the second image P1. A logical product image P3 (FIG. 3C) of the image P2 is generated. In the logical product image P3, since the light is irradiated from both the left and right directions with respect to the shear 2a, shadows are generated on both the left and right sides of the shear 2a. In other words, the shear 2a in the logical product image P3 has the contour portion shaded black and the center portion light white. Note that the above-described A corresponds to the magnification of the photographing unit 40, and the massive lump detection unit 53 acquires the magnification of the image output from the photographing unit 40 together with the image and uses it as the value of A described above. it can.
さらに、大塊ずり検知部５３は、予め設定された輝度閾値を用いて、論理積画像Ｐ３の輝度を二値化する二値化処理を施すことによって二値化画像（図示せず）を生成する。また、大塊ずり検知部５３は、二値化画像に輪郭縮小処理を施すことによって輪郭縮小画像Ｐ４（図３（ｄ））を生成し、輪郭縮小画像Ｐ４から大塊ずりを検知する。
より詳細には、大塊ずり検知部５３は、輪郭縮小画像に含まれる最も大きい白色部分を探索し、探索された白色部分の面積（ピクセル数）を算出し、算出された面積が所定値以上である場合には、大塊ずり検知と判定し、算出された面積が所定値未満である場合には、大塊ずり未検知と判定する。
大塊ずりを検知した場合、大塊ずり検知部５３が大塊ずりを検知した旨を示す信号を通知部５２へ出力し、通知部５２が大塊ずりの検知を利用者へ通知したり、大塊ずり検知部５３が大塊ずりを検知した旨を示す信号をベルトコンベア制御部５３ａへ出力し、ベルトコンベア制御部５３ａがベルトコンベア１０（本実施形態では、自走式クラッシャー全体）を駆動停止したりする。
Furthermore, the large block shear detection unit 53 generates a binarized image (not shown) by performing binarization processing for binarizing the luminance of the logical product image P3 using a preset luminance threshold. To do. Further, the large chunk shear detection unit 53 generates a contour reduced image P4 (FIG. 3D) by performing a contour reduction process on the binarized image, and detects a large chunk shear from the contour reduced image P4.
More specifically, the large lump detection unit 53 searches for the largest white portion included in the reduced outline image, calculates the area (number of pixels) of the searched white portion, and the calculated area is equal to or greater than a predetermined value. If the calculated area is less than a predetermined value, it is determined that no large block shear has been detected.
When detecting a large block shear, the large block shear detection unit 53 outputs a signal indicating that the large block shear is detected to the notification unit 52, and the notification unit 52 notifies the user of the detection of the large block shear, A signal indicating that the large block shear detection unit 53 has detected the large block shear is output to the belt conveyor control unit 53a, and the belt conveyor control unit 53a drives the belt conveyor 10 (in this embodiment, the entire self-propelled crusher). Or stop.
なお、撮影部４０による撮影の時間間隔は、撮影部４０の画角、ベルト１２の速度、検知対象の大塊ずりの寸法等に応じて変更可能である。例えば、検知対象の大塊ずりの寸法を０．２［ｍ］とした場合には、ベルト１２の走行方向の前後での陰影を得ることができるよう照明部３０の上流側及び下流側で撮影する必要があり、撮影部４０の画角Ａは、ベルト１２の走行方向に対して０．２［ｍ］×２＋０．１（マージン）で０．５［ｍ］以上必要となる。このときにベルト１２の速度が２［ｍ／ｓｅｃ］とすれば、撮影の時間間隔はずり２が０．２［ｍ］移動するまでとなり、０・２／２で０．１［ｓｅｃ］以内となる。したがって、大塊ずり検知部５３ｂによる処理時間は０．１［ｓｅｃ］以内としなければならないが、これは、現状のコンピュータで十分可能な時間である。 Note that the time interval for photographing by the photographing unit 40 can be changed according to the angle of view of the photographing unit 40, the speed of the belt 12, the size of the large block shear to be detected, and the like. For example, when the size of the large lump to be detected is set to 0.2 [m], photographing is performed on the upstream side and the downstream side of the illumination unit 30 so that shadows before and after the traveling direction of the belt 12 can be obtained. The angle of view A of the photographing unit 40 is required to be 0.5 [m] or more at 0.2 [m] × 2 + 0.1 (margin) with respect to the traveling direction of the belt 12. At this time, if the speed of the belt 12 is 2 [m / sec], the shooting time interval shift 2 is moved by 0.2 [m], and within 0.2 [0.2] within 0.1 [sec] It becomes. Therefore, the processing time by the large block shear detection unit 53b must be within 0.1 [sec], which is a time that is sufficiently possible with a current computer.
本発明の実施形態に係る大塊ずり検知システム１は、ベルト１２の走行と照明部４０の位置関係とを用いて陰影のある二枚の画像を撮影し、二枚の画像の論理積画像から大塊ずりを検知するので、簡易な構造で大塊ずりを検知することができる。
また、本発明の実施形態に係る大塊ずり検知システム１は、特殊な機器を使用せず、カメラ、照明、コンピュータで構成可能であるため、安価であり小型軽量化を図ることができる。
また、本発明の実施形態に係る大塊ずり検知システム１は、位置合わせ、論理積、二値化、輪郭縮小、面積探査といったベーシックな処理によって大塊ずりを検知するので、プログラム作成が容易であり処理時間が早い。
また、本発明の実施形態に係る大塊ずり検知システム１は、画像を用いて大塊ずりを検知するので、撮影部４０のズームレンズによって異なる幅のベルトコンベア１０に適用可能である。
The massive lump detection system 1 according to the embodiment of the present invention captures two shaded images using the travel of the belt 12 and the positional relationship of the illumination unit 40, and uses the logical product image of the two images. Since the large block shear is detected, the large block shear can be detected with a simple structure.
Moreover, since the large block shear detection system 1 which concerns on embodiment of this invention can be comprised with a camera, illumination, and a computer, without using a special apparatus, it is cheap and can aim at size reduction and weight reduction.
Further, the large block shear detection system 1 according to the embodiment of the present invention detects a large block shear by basic processing such as alignment, logical product, binarization, contour reduction, and area exploration, so that it is easy to create a program. Yes Processing time is fast.
Moreover, since the large block shear detection system 1 which concerns on embodiment of this invention detects a large block shear using an image, it is applicable to the belt conveyor 10 of a different width | variety with the zoom lens of the imaging | photography part 40. FIG.
以上、本発明の実施形態について実施形態を参照して説明したが、本発明は前記実施形態に限定されず、本発明の要旨を逸脱しない範囲で適宜設計変更可能である。例えば、本発明の大塊搬送物検知システムは、自走式クラッシャーの引出しベルコン以外のベルトコンベアにも適用可能である。また、本発明の大塊搬送物検知システムは、ずり以外の搬送物に含まれる大塊搬送物を検知することも可能である。また、本発明の大塊搬送物検知システムは、輪郭縮小画像ではなく、二値化画像又は論理積画像から大塊搬送物を検知する構成であってもよい。 As mentioned above, although embodiment of this invention was described with reference to embodiment, this invention is not limited to the said embodiment, A design change is possible suitably in the range which does not deviate from the summary of this invention. For example, the mass transported object detection system of the present invention can also be applied to a belt conveyor other than a drawer bellcon of a self-propelled crusher. Moreover, the large block conveyed product detection system of this invention can also detect the large block conveyed product contained in conveyed items other than a shear. Moreover, the structure which detects a massive transport object from the binarized image or the logical product image instead of the outline reduced image may be sufficient as the massive transport object detection system of this invention.
１ 大塊ずり検知システム（大塊搬送物検知システム）
１０ ベルトコンベア
１２ ベルト
３０ 照明部
４０ 撮影部
５３ｂ 大塊ずり検知部（大塊搬送物検知部）
1 Large lump detection system (Large lump detection system)
DESCRIPTION OF SYMBOLS 10 Belt conveyor 12 Belt 30 Illumination part 40 Image | photographing part 53b Large block shear detection part (Large conveyance object detection part)
Claims (3)
前記搬送物を搬送するベルトを有するベルトコンベアと、
前記ベルト上の前記搬送物に光を照射する照明部と、
前記光が照射された前記搬送物を時間を空けて複数回撮影する撮影部と、
前記搬送物に一方から光が照射された時刻ｔ１に撮影された第一の画像と前記ベルトの走行によって前記搬送物に他方から光が照射された時刻ｔ２（＞ｔ１）に撮影された第二の画像とに基づいて、前記大塊搬送物を検知する大塊搬送物検知部と、
を備え、
前記大塊搬送物検知部は、前記ベルトの速度をｖとしたとき、ｖ・（ｔ２−ｔ１）に基づいて前記第一の画像及び前記第二の画像の位置合わせを行って前記第一の画像及び前記第二の画像の論理積画像を生成し、前記論理積画像から前記大塊搬送物を検知する
ことを特徴とする大塊搬送物検知システム。 A massive transport object detection system for detecting a massive transport object having a size larger than a predetermined size included in the transport object,
A belt conveyor having a belt for conveying the conveyed product;
An illumination unit for irradiating the transported object on the belt with light;
A photographing unit that photographs the transported object irradiated with the light a plurality of times at intervals;
The first image taken at time t 1 when the conveyed object is irradiated with light from one side and the time t 2 (> t 1 ) when the conveyed object is irradiated with light from the other side by traveling of the belt. Based on the second image, a large block detection unit for detecting the large block conveyance,
With
The mass transported object detection unit aligns the first image and the second image based on v · (t 2 −t 1 ), where v is the belt speed, and A mass transported object detection system, wherein a logical product image of one image and the second image is generated, and the large mass transported object is detected from the logical product image.
ことを特徴とする請求項１に記載の大塊搬送物検知システム。 The large block conveyance object detection unit generates a binary image obtained by performing binarization processing on the logical product image, and detects the large block conveyance object from the generated binary image. The mass transported object detection system according to claim 1.
ことを特徴とする請求項２に記載の大塊搬送物検知システム。 The large chunk transported object detection unit generates a contour reduced image obtained by performing a contour reduction process on the binarized image, and detects the large chunk transported object from the generated reduced contour image. Item 3. The mass transported object detection system according to Item 2.
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