基于多道线性激光的带式输送机纵向撕裂检测

Longitudinal tear detection of belt conveyor based on multi linear lasers

  • 摘要: 煤矿井下环境昏暗、潮湿、粉尘大,采集的监控视频图像模糊,导致输送带纵向撕裂识别难度大,且现有研究成果仅关注有无纵向撕裂,未涉及撕裂损伤定位及趋势跟踪。提出一种基于多道线性激光的带式输送机纵向撕裂检测方法:采用矿用本安型结构光发射器向输送带表面投射多道线性激光、矿用本安型工业相机拍摄线性激光条纹图像,通过提取激光条纹中心线并分析其特征,判断单帧图像是否存在纵向撕裂损伤,存在损伤时搜索损伤边界点并计算损伤宽度、深度特征值;融合多帧图像检测结果及速度传感器数据,计算完整纵向撕裂损伤长度、平均宽度、平均深度;通过检测输送带上的标志物位置定位撕裂损伤纵向位置,求取损伤起点在输送带上的位宽占比定位横向位置,并基于纵向位置实现损伤趋势跟踪。设置输送带纵向撕裂损伤长度分别为0.73,0.95 m,平均宽度为0.01 m,平均深度为0.008 m,采样速率为25帧/s,对该方法进行测试,结果表明该方法能够准确检测带式输送机有无纵向撕裂,损伤长度计算误差平均值为0.06 m,损伤平均宽度、平均深度计算误差平均值为0.001 m,纵向定位误差不超过0.1 m,并可准确判断纵向撕裂发展趋势。

     

    Abstract: The underground coal mine environment is dim, humid and dusty, and the collected video images are blurred, which makes it difficult to identify the longitudinal tear of the conveyor belt. The existing research results only focus on whether there is longitudinal tear, without involving the location of tear damage and trend tracking. This paper proposes a method for longitudinal tearing detection of belt conveyors based on multi-channel linear laser. This method uses a mine intrinsically safe structured light emitter to project multiple linear lasers onto the surface of the conveyor belt, and uses a mine intrinsically safe industrial camera to take linear laser stripe images. By extracting the center line of the laser stripe and analyzing its characteristics, this method determines whether there is longitudinal tear damage in a single frame image. When there is damage, this method can search for damage boundary points and calculate damage width and depth characteristic values. The method fuses multi-frame image detection results and speed sensor values to calculate the complete longitudinal tear damage length, average width and average depth. By detecting the position of the marker on the conveyor belt, the method can locate the longitudinal position of the tear damage and locate the lateral position by finding the bit width ratio of the starting point of the damage on the conveyor belt. And the damage trend tracking is realized based on the longitudinal position. The method is tested by setting the conveyor belt longitudinal tear damage length to 0.73, 0.95 m, the average width to 0.01 m, the average depth to 0.008 m, and the sampling rate to 25 frames/s. The results show that the method can accurately detect whether the belt conveyor has longitudinal tears, the average error of damage length calculation is 0.06 m, the average error of damage average width and average depth calculation is 0.001 m, and the error of longitudinal positioning is less than 0.1 m. It can determine the development trend of longitudinal tears accurately.

     

/

返回文章
返回