基于全卷积神经网络的输送带撕裂检测方法

游磊; 朱兴林; 陈雨; 罗明华

doi:10.13272/j.issn.1671-251x.2022040087

基于全卷积神经网络的输送带撕裂检测方法

doi: 10.13272/j.issn.1671-251x.2022040087

中煤科工集团重庆研究院有限公司, 重庆　400039

基金项目: 中煤科工集团重庆研究院自立重点研发科研项目（2021ZDXM02，2022ZDXM02）。

详细信息

作者简介:
游磊（1983—），男，重庆人，工程师，硕士，主要从事计算机视觉研究工作，E-mail：leiyou2015@126.com

中图分类号: TD634
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- 被引次数: 0
出版历程
- 收稿日期: 2022-04-29
- 修回日期: 2022-09-05
- 网络出版日期: 2022-06-23

Tear detection method of conveyor belt based on fully convolutional neural network

CCTEG Chongqing Research Institute, Chongqing 400039, China

摘要

摘要: 针对现有输送带撕裂检测方法存在井下可见光成像质量差、缺少撕裂物理尺寸测量手段、泛化能力差等问题，提出了一种基于全卷积神经网络的输送带撕裂检测方法。该方法基于线结构光成像原理采集图像，可有效解决煤矿井下光照条件差的问题；采用改进最大值法进行线激光条纹检测，可有效排除条纹断点，精确提取条纹，并拟合出缺失点；选用全卷积神经网络中的U−net网络对线激光条纹进行撕裂分割，将撕裂检测问题转换成语义分割问题，并通过降维对U−net网络进行优化，从而减少参数量和计算量；将分割结果反投影回原始图像，利用线结构光标定数据完成撕裂物理尺寸测量。实验结果表明：改进最大值法可有效处理线激光条纹断点区域，无误检和漏检，性能优于Steger法和灰度重心法；U−net网络收敛速度快于SegNet和FCNs网络，迭代的稳定性较强，评价指标最优，U−net4网络性能优于U−net3和U−net5。在验证集上的检测结果表明，撕裂检测的召回率为96.09%，精确率为96.85%。在实验平台的测量结果表明，撕裂物理尺寸测量的最大相对误差为−13.04%。
- 带式输送机 /
- 输送带撕裂检测 /
- 撕裂物理尺寸 /
- 线结构光 /
- 全卷积神经网络 /
- U−net网络 /
- 语义分割
Abstract: The existing conveyor belt tear detection methods have problems, such as poor underground visible light imaging quality, lack of tear physical size measurement means, and poor generalization capability. In order to solve these problems, a conveyor belt tear detection method based on fully convolutional neural network is proposed. The method collects images based on a line-structured light imaging principle, and can effectively solve the problem of poor lighting conditions in a coal mine. The improved maximum method is used to detect line laser stripes, which can effectively eliminate the breakpoints of stripes, accurately extract stripes, and fit the missing points. The U-net network in the fully convolutional neural network is selected to segment the line laser stripe. The tear detection problem is converted into a semantic segmentation problem. The U-net network is optimized through dimension reduction, so as to reduce the number of parameters and calculations. The segmentation result is back-projected to the original image. The physical size of the tear is measured using the line-structured light calibration data. The experimental results show that the improved maximum method can effectively deal with the breakpoint area of line laser stripes without false detection and missed detection. The performance is superior to the Steger method and gray-weighted centroid method. The convergence speed of the U-net network is faster than that of the SegNet and FCNs network. The iteration stability is strong, and the evaluation index is optimal. The performance of the U-net4 network is better than that of U-net3 and U-net5. The test results on the verification set show that the recall rate of tear detection is 96.09%, and the precision is 96.85%. The measurement results on the experimental platform show that the maximum relative error of tear physical dimension measurement is −13.04%.
- belt conveyor /
- tear detection of conveyor belt /
- tear physical size /
- line structured light /
- fully convolutional neural network /
- U-net network /
- semantic segmentation

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图 1 输送带撕裂检测方法原理

Figure 1. Tear detection system of conveyor belt

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图 2 输送带撕裂检测流程

Figure 2. Tear detection process of conveyor belt

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图 3 线结构光成像

Figure 3. Linear structured light imaging

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图 4 线结构光光路模型

Figure 4. Optical path model of line structured light

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图 5 改进最大值法

Figure 5. Improved max method

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图 6 断点判断

Figure 6. Breakpoint judgment

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图 7 数据标注

Figure 7. Data annotation

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图 8 优化U−net网络结构

Figure 8. Structure of U-net network

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图 9 条纹出现断点时的检测效果对比

Figure 9. Comparison of detection effects when the stripes have breakpoints

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图 10 条纹灰度较低时的检测效果对比

Figure 10. Comparison of detection effects when the grayscale of the stripes is low

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图 11 局部断点

Figure 11. Local breakpoints

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图 12 局部低灰度条纹

Figure 12. Local low-gray stripes

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图 13 样本采集和处理

Figure 13. Sample collection and processing

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图 14 不同网络训练过程

Figure 14. Training process of different networks

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图 15 不同U−net网络训练过程

Figure 15. Training process of different U-net networks

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图 16 撕裂检测效果

Figure 16. Tear detection results

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表 1 不同网络训练结果对比

Table 1. Comparison of training results of different networks

网络模型	dice系数		mIoU
网络模型	验证集	训练集	验证集	训练集
U−net	0.9471	0.9816	0.9470	0.9831
SegNet	0.9388	0.9680	0.9389	0.9665
FCNs	0.9327	0.9573	0.9328	0.9576

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表 2 不同U−net网络训练结果对比

Table 2. Comparison of training results of different U-net networks

网络模型	dice系数		mIoU
网络模型	验证集	训练集	验证集	训练集
U−net3	0.9408	0.9663	0.9412	0.9677
U−net4	0.9456	0.9819	0.9467	0.9828
U−net5	0.9471	0.9816	0.9470	0.9831

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表 3 撕裂检测混淆矩阵

Table 3. Confusion matrix of tearing detection

真值	预测值
真值	撕裂	正常
撕裂	123	5
正常	4	N/A

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表 4 撕裂物理尺寸测量结果

Table 4. Measurement results of tear physical dimensions

序号	测量结果/mm	标准值/mm	相对误差/%
1	11.30	10.18	10.96
2	15.08	16.14	−6.58
3	12.21	13.90	−12.16
4	6.80	7.72	−11.95
5	13.45	12.18	10.45
6	18.23	16.90	7.86
7	10.04	9.08	10.61
8	16.65	15.84	5.10
9	11.59	13.06	−11.24
10	14.13	13.02	8.52
11	20.75	19.36	7.16
12	17.52	18.10	−3.19
13	17.96	16.48	9.00
14	11.41	10.72	6.40
15	18.61	17.06	9.11
16	4.87	5.60	−13.04

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