Volume 48 Issue 12
Dec.  2022
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XUE Xusheng, YANG Xingyun, QI Guanghao, et al. Design of foreign object recognition and positioning system for sorting robot of coal mine belt conveyor[J]. Journal of Mine Automation，2022，48(12)：33-41. DOI: 10.13272/j.issn.1671-251x.2022100024
Citation: XUE Xusheng, YANG Xingyun, QI Guanghao, et al. Design of foreign object recognition and positioning system for sorting robot of coal mine belt conveyor[J]. Journal of Mine Automation，2022，48(12)：33-41. DOI: 10.13272/j.issn.1671-251x.2022100024
shu

Design of foreign object recognition and positioning system for sorting robot of coal mine belt conveyor

  • 1.

    College of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China

  • 2.

    Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Detection and Control, Xi'an 710054, China

  • 3.

    Beijing Key Laboratory of Information Service Engineering, Beijing Union University, Beijing 100101, China

  • 4.

    Xi'an Heavy Industry Hancheng Coal Mining Machinery Co., Ltd., Hancheng 715400, China

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  • Received Date: October 11, 2022
  • Revised Date: December 04, 2022
  • Available Online: December 04, 2022
    Graphical Abstract
    • Abstract
  • Machine vision has a certain theoretical basis in target detection and recognition for sorting robot of coal mine belt conveyor. But current target recognition of sorting robot of coal mine belt conveyor is mainly aimed at coal-gangue recognition. There are few kinds of research on the recognition of foreign object targets causing conveyor belt penetration and tearing, and also few kinds of research on the precise positioning of target foreign object. In order to solve the above problems, a foreign object recognition and positioning system based on machine vision for sorting robots of coal mine belt conveyor is designed. The system can recognize and position different types and shapes of foreign objects on the conveyor belt. The image information of the foreign objects on the conveyor belt in real-time is obtained by adopting binocular vision, and the image is preprocessed. Image information is enhanced based on the Canny operator. The gray stretching method is used to improve image edge information to highlight the edge features of foreign objects on coal mine belt conveyor. The morphological method is used to extract foreign object shape features, and establish foreign object image feature sample library. The image feature matching method is used to solve the existing area of foreign objects to realize the detection, classification and recognition of foreign objects. On the basis of the successful recognition of foreign object type, the region of interest (ROI) of the target foreign object is established based on the edge feature value of the target foreign object. The coordinate conversion relationship is built between the camera, conveyor belt and target foreign object. The fast multi-target centroid calculation method is used to obtain the centroid coordinate of the target foreign object, so as to realize the positioning of the target foreign object. The experimental result of the system prototype shows that the foreign object recognition rate of foreign object recognition and positioning system for sorting robot of coal mine belt conveyor is not affected by the size, material, color and other factors, the system can realize the image acquisition, process, feature extraction, recognition and positioning of the target foreign object of coal mine conveyor belt. The recognition rate is above 92.5%, and the average error of the target foreign object positioning is about 3%.
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