Automatic cleaning method and device for belt conveyor

Abstract

The application discloses an automatic cleaning method and device for a belt conveyor, comprising the following steps: based on the position parameters of the belt conveyor, a box is controlled to move to the lower side of the belt conveyor, and the vertical telescopic length of a supporting rod is controlled to be the preset maximum length; at least two images containing the belt conveyor to be processed are acquired by a camera, and a first moving path is determined according to all the images to be processed; and the belt conveyor is cleaned by the supporting rod and a cleaning head according to the first moving path. Through the image processing of the images containing the belt conveyor to be processed, the moving path is generated, and the corresponding cleaning processing of the supporting rod and the cleaning head can be controlled according to the moving terminal path, so that the human work operation is replaced to reduce the input cost, and the overall cleaning efficiency and safety can be effectively guaranteed.

Description

Technical Field

[0001] This application belongs to the technical field of tobacco processing equipment, and specifically relates to an automatic cleaning method and apparatus for belt conveyors. Background Technology

[0002] Belt conveyors are a common processing method in tobacco processing, generally used to transfer tobacco products. However, during tobacco processing, some steps involve adding or dehydrating water according to product production needs, causing significant changes in the moisture content of the tobacco. For example, this moisture can condense on the belt conveyor and form tobacco scale after cooling. This tobacco scale buildup can negatively impact belt performance, leading to wear, increased load, reduced transport quality, belt slippage, and even conveyor breakage, potentially disrupting the continuity of tobacco production.

[0003] Existing methods for handling soot are mostly manual, using rags and scrapers to clean belt conveyors. However, this method lacks a consistent standard for cleaning belt conveyors. Furthermore, depending on the height, width, and assembly method of the belt, manual cleaning carries risks such as falls from heights and high labor intensity, which in turn affect the cleaning effect. Summary of the Invention

[0004] This application addresses the aforementioned technical shortcomings, including the lack of a consistent standard for cleaning belt conveyors and the risks associated with manual cleaning due to variations in belt height, width, and assembly methods, which in turn affect cleaning effectiveness. Therefore, it proposes an automatic cleaning method and device for belt conveyors, the technical solution of which is as follows: In a first aspect, embodiments of this application provide an automatic cleaning method for a belt conveyor. The method is applied to a mobile cleaning platform, which includes a housing, a support rod mounted on the housing, a cleaning head mounted on the support rod, and a camera. The method includes: Based on the position parameters of the belt conveyor, the control box moves to below the belt conveyor, and the vertical extension length of the support rod is controlled to the preset maximum length. At least two images containing the belt conveyor are acquired using a camera, and a first movement path is determined based on all the images; wherein the shooting angle corresponding to the belt conveyor in each image is different. Following the first movement path, the control support rod and cleaning head clean the belt conveyor.

[0005] In one alternative embodiment of the first aspect, controlling the housing to move below the belt conveyor based on the position parameters of the belt conveyor includes: Based on the input and output position coordinates of the belt conveyor, the center position coordinates of the belt conveyor are determined. The center position coordinates of the belt conveyor are processed based on the preset coordinate generation rules to obtain the target position coordinates; Obtain the current position coordinates of the box and determine the second movement path corresponding to the current position coordinates and the target position in the preset path database; Following the second movement path, the control box moves to below the belt conveyor.

[0006] In another alternative to the first aspect, the first motion path is determined based on all images to be processed, including: Identify the conveyor distance of the belt conveyor in each image to be processed; When at least two belt conveyors are found to have inconsistent transmission distances, mark the start position, end position, and the line path between the start and end positions in the image to be processed corresponding to the maximum transmission distance. The first movement path is determined based on the connection path.

[0007] In another alternative to the first aspect, the first movement path is determined based on the connecting path, including: Deblurring is performed on the image to be processed corresponding to the connecting path; In the processed image, the first contour region corresponding to the silicone toothed cleaning tank and the second contour region corresponding to the soot in the silicone toothed cleaning tank are identified. Calculate the distance between each contour feature point in the second contour region and each contour feature line in the first contour region, and determine the corresponding number of cleaning operations based on the minimum distance; The first moving path is determined based on the connection path and the number of cleaning cycles.

[0008] In another alternative to the first aspect, the first movement path is determined based on the connection path and the number of cleaning cycles, including: Calculate the grayscale ratio between two adjacent pixels in the second contour region, and construct a grayscale co-occurrence matrix based on the number of all grayscale ratios. The gray-level co-occurrence matrix is ​​normalized, and the covariance of the processed gray-level co-occurrence matrix is ​​calculated to obtain the covariance value of the gray-level co-occurrence matrix. The humidity of the cleaning head is determined based on the covariance value of the gray-level co-occurrence matrix; The first movement path is determined based on the humidity of the cleaning head, the connection path, and the number of cleaning cycles.

[0009] In another alternative to the first aspect, before cleaning the belt conveyor according to the first movement path, the method further includes: Based on the pressure sensor installed on the cleaning head, pressure signals are acquired at preset time intervals; Following the first movement path, the control support rod and cleaning head clean the belt conveyor, including: When the average pressure value corresponding to the pressure signal within any time interval exceeds the preset pressure threshold, the support rod and the cleaning head are controlled to clean the belt conveyor according to the first moving path.

[0010] In another alternative to the first aspect, after the belt conveyor is cleaned by the control support rod and the cleaning head according to the first movement path, the method further includes: The total number of cleaning times for the cleaning head is counted, and the cleaning head is replaced when the total number of cleaning times exceeds a preset threshold.

[0011] Secondly, embodiments of this application provide an automatic cleaning device for a belt conveyor. The device is applied to a mobile cleaning platform, which includes a housing, a support rod mounted on the housing, a cleaning head mounted on the support rod, and a camera. The device includes: The first control module is used to control the box to move below the belt conveyor based on the position parameters of the belt conveyor, and to control the vertical extension and retraction length of the support rod to the preset maximum length. The second control module is used to acquire at least two images containing the belt conveyor from the camera and determine a first movement path based on all the images to be processed; wherein the shooting angle corresponding to the belt conveyor in each image to be processed is different; The third control module is used to control the support rod and the cleaning head to clean the belt conveyor according to the first movement path.

[0012] Thirdly, embodiments of this application also provide an automatic cleaning device for a belt conveyor, including a processor and a memory; The processor is connected to the memory; Memory, used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the automatic cleaning method for belt conveyors provided by the first aspect or any implementation of the first aspect of the embodiments of this application.

[0013] Fourthly, embodiments of this application provide a computer storage medium storing a computer program, which includes program instructions. When executed by a processor, the program instructions can implement the automatic cleaning method for a belt conveyor provided by the first aspect or any implementation thereof of the embodiments of this application.

[0014] In this embodiment, during the automatic cleaning of the belt conveyor, based on the belt conveyor's position parameters, the housing is controlled to move below the belt conveyor, and the vertical extension length of the support rod is controlled to a preset maximum length. At least two images containing the belt conveyor are acquired using a camera, and a first movement path is determined based on all the images. Following this first movement path, the support rod and cleaning head are controlled to clean the belt conveyor. By processing the images containing the belt conveyor to generate the movement path, and controlling the support rod and cleaning head according to this path, not only can manual labor be replaced to reduce costs, but overall cleaning efficiency and safety can also be effectively guaranteed. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 An overall flowchart of an automatic cleaning method for a belt conveyor provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a mobile cleaning platform provided in an embodiment of this application; Figure 3 This application provides a schematic diagram illustrating the effect of a mobile cleaning platform cleaning a belt conveyor in an embodiment of the present application. Figure 4 A schematic diagram illustrating the effect of a mobile cleaning platform cleaning a belt conveyor, as provided in an embodiment of this application. Figure 5 A schematic diagram of an automatic cleaning device for a belt conveyor provided in an embodiment of this application; Figure 6 This is a schematic diagram of another automatic cleaning device for a belt conveyor provided in an embodiment of this application. Detailed Implementation

[0017] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0018] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The following description provides multiple embodiments of this application, which can be substituted or combined with each other. Therefore, this application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then this application should also be considered to include embodiments containing one or more other possible combinations of A, B, C, and D, even if such embodiments are not explicitly described in the following text.

[0019] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this application. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0020] Please see Figure 1 , Figure 1 An overall flowchart of an automatic cleaning method for a belt conveyor provided in an embodiment of this application is shown.

[0021] like Figure 1 As shown, the automatic cleaning method for belt conveyors may include at least the following steps: Step 102: Based on the position parameters of the belt conveyor, control the box to move below the belt conveyor, and control the vertical extension length of the support rod to the preset maximum length.

[0022] In the embodiments of this application, the automatic cleaning method for belt conveyors can be applied to, but is not limited to, a mobile cleaning platform. This mobile cleaning platform can at least include a housing, a processor (which can be, but is not limited to, housed within the housing), a support rod mounted on the housing, a cleaning head mounted on the support rod, and a camera. One or more embodiments mentioned below can be applied to this processor, which controls the housing, support rod, cleaning head, and camera to achieve automatic cleaning of the belt conveyor. The bottom of the housing may be equipped with casters to move the mobile cleaning platform under the belt conveyor to be cleaned according to instructions from the processor, or it can be moved under the belt conveyor to be cleaned according to manual remote control instructions; this is not a limitation. Understandably, to effectively ensure the cleaning efficiency of the mobile cleaning platform, the housing can also, but is not limited to, be equipped with a water pump, a clean water tank, a wastewater tank, and a compressor. After the cleaning head cleans the belt conveyor, the water pump extracts water from the clean water tank to clean the cleaning head. Then, the wastewater retained in the silicone toothed cleaning groove of the belt conveyor is flushed into the wastewater tank. Finally, compressed air from the compressor dries the mop and silicone toothed cleaning groove on the cleaned cleaning head. The clean water tank and wastewater tank within the housing can also be periodically cleaned and disinfected to further ensure cleaning efficiency.

[0023] The support rod may include, but is not limited to, a horizontal rod that can extend and retract in the horizontal direction and a vertical rod that can extend and retract in the vertical direction, with an angle of 90 degrees between the horizontal rod and the vertical rod, and the horizontal rod and the vertical rod may be driven by cylinders disposed in the housing, wherein the cylinders may be controlled by the aforementioned processor.

[0024] The cleaning head can be, but is not limited to, controlled by a motor located inside the housing. Specifically, the cleaning head may include multiple shafts and a mop on each shaft, and the mop on each shaft can be replaced and cleaned to ensure cleaning effectiveness.

[0025] The camera can acquire images of the belt conveyor from different angles, but is not limited to that of the camera. It can also feed all the images to be processed back to the processor, which will then identify and process them to determine the movement path for cleaning the belt conveyor. The processor can then control the support rod and the cleaning head to perform cleaning according to the determined movement path.

[0026] See here. Figure 2 The diagram shown is a structural schematic of a mobile cleaning platform provided in an embodiment of this application. Figure 2 As shown, the mobile cleaning platform may include a housing and a processor housed within the housing. Figure 2 (Not shown in the image), support rods mounted on the housing (specifically divided into horizontal and vertical rods with an included angle of 90 degrees), cleaning head mounted on the horizontal rod, and camera ( Figure 2 (Not shown in the image), the processor can control the housing, horizontal bar, vertical bar, and cleaning head separately to achieve cleaning of the belt conveyor.

[0027] It should be noted that, in this embodiment, the mobile cleaning platform may also be equipped with a display screen, but is not limited to this, so that the user can input the position or size parameters corresponding to the belt conveyor to be cleaned on the display screen, so that the processor can more quickly and accurately determine the moving path for cleaning the belt conveyor. Of course, the user can also set the component control time on the display screen, such as, but not limited to, setting the compressor blowing time, the motor drive speed, or the water pump operating speed, etc., and is not limited thereto.

[0028] Specifically, during the automatic cleaning of the belt conveyor, the movement path of the housing can be determined based on, but is not limited to, the position parameters of the belt conveyor input by the user or the preset position parameters of the belt conveyor. The housing is then controlled to move along the movement path to the bottom of the belt conveyor. Here, "the bottom of the belt conveyor" can be understood as a position at a certain distance from the position directly below the belt conveyor, so that the support rod of the moving cleaning platform can be positioned above the belt conveyor after vertical extension and retraction.

[0029] Furthermore, after the box is moved below the belt conveyor, the support rod can be extended vertically upwards through a preset automatic control program, so that the distance the support rod moves vertically is the preset maximum length. This ensures that the cleaning head is above the belt conveyor and makes the belt conveyor clearer in the image captured by the camera.

[0030] As an optional embodiment of this application, controlling the housing to move below the belt conveyor based on the position parameters of the belt conveyor includes: Based on the input and output position coordinates of the belt conveyor, the center position coordinates of the belt conveyor are determined. The center position coordinates of the belt conveyor are processed based on the preset coordinate generation rules to obtain the target position coordinates; Obtain the current position coordinates of the box and determine the second movement path corresponding to the current position coordinates and the target position in the preset path database; Following the second movement path, the control box moves to below the belt conveyor.

[0031] Specifically, during the process of the control box moving below the belt conveyor, the center position coordinates of the belt conveyor can be calculated by averaging the input and output position coordinates. The input and output position coordinates of the belt conveyor can be, but are not limited to, establishing a spatial rectangular coordinate system (or a planar rectangular coordinate system) based on the plane of the workshop where the belt conveyor is located. The coordinates corresponding to the input and output ends of the belt conveyor are used as the input and output position coordinates, respectively. Each belt conveyor in the workshop can have corresponding input and output position coordinates. The user can input the input and output position coordinates of the target belt conveyor into the mobile cleaning platform, or the mobile cleaning platform can pre-store the input and output position coordinates of each belt conveyor to determine the target belt conveyor's input and output position coordinates according to preset belt conveyor selection rules.

[0032] Next, after obtaining the center position coordinates of the belt conveyor, the center position coordinates can be processed by a preset coordinate generation rule. Here, taking the coordinate values ​​corresponding to the center position coordinates as including the horizontal coordinate, vertical coordinate and height coordinate as an example, the preset coordinate generation rule can be, but is not limited to, adding A to the horizontal coordinate, adding B to the vertical coordinate and adding C to the height coordinate to determine the wood position coordinates, that is, the target position of the box.

[0033] Next, the current position coordinates of the mobile cleaning platform can be obtained, and the current position coordinates and the target position coordinates can be input into a preset path database. The preset path database will then filter out a movement path with the starting point as the current position coordinates and the ending point as the target position coordinates. The platform will then be controlled to move along the movement path to the bottom of the belt conveyor.

[0034] Step 104: Acquire at least two images containing the belt conveyor from the camera, and determine the first movement path based on all the images to be processed.

[0035] Specifically, after the control box moves to below the belt conveyor, the camera can be controlled to capture images of the belt conveyor from different shooting angles to obtain at least two images containing the belt conveyor for processing. During the process of controlling the camera to capture the images, the angle between the camera and the belt conveyor can be adjusted to capture images of the belt conveyor from different angles. The captured images must include both a top-down view of the belt conveyor and a side view of the belt conveyor to effectively determine whether an angle exists between the belt conveyor and the plane.

[0036] Furthermore, after obtaining all the images to be processed, image processing can be performed on all the images to determine a first moving path based on the identified transmission distance of the belt conveyor. The first moving path can include at least the moving distance of the support rod in the vertical and horizontal directions, and the working time of the cleaning head.

[0037] As another optional embodiment of this application, determining the first movement path based on all images to be processed includes: Identify the conveyor distance of the belt conveyor in each image to be processed; When at least two belt conveyors are found to have inconsistent transmission distances, mark the start position, end position, and the line path between the start and end positions in the image to be processed corresponding to the maximum transmission distance. The first movement path is determined based on the connection path.

[0038] Specifically, in determining the first moving path, the corresponding length (i.e., transmission distance) can be determined in each image to be processed based on the shooting angle of the belt conveyor, but is not limited to this. It can be understood that the transmission distance can correspond to the length of the long side of the belt conveyor (the long side can be understood as the longest side of the graphic corresponding to the belt conveyor in the image to be processed).

[0039] Next, when multiple images to be processed are detected to have inconsistent transmission distances, it indicates that there is a certain angle between the belt conveyor and the plane. Therefore, the starting position (equivalent to the input end of the belt conveyor), the ending position (equivalent to the output end of the belt conveyor), and the connecting path between these positions can be marked on the image to be processed corresponding to the maximum transmission distance. Here, this connecting path can be understood as the path that the support rod needs to move along the horizontal direction (or both the horizontal and vertical directions, the movement distance in each direction can be determined by the transmission distance and the aforementioned angle). During the movement of the support rod, the cleaning head can clean the soot in the silicone toothed cleaning tank of the belt conveyor.

[0040] It is also understandable that, after determining the connection path, it is possible, but not limited to, to determine the initial moving position corresponding to the path that the support rod needs to move along the horizontal direction based on the starting position. That is, it is necessary to first control the support rod to move along the vertical and horizontal directions to the initial moving position, and then control the support rod to move along the horizontal direction from the initial moving position according to the connection path.

[0041] See also: Figure 3 The illustration shown is a schematic diagram of the effect of a mobile cleaning platform cleaning a belt conveyor according to an embodiment of this application. Figure 3As shown, the left side illustrates the mobile cleaning platform moving beneath the belt conveyor, while the right side shows the mobile cleaning platform's control support rod moving from left to right along the belt conveyor's transmission path, allowing the cleaning head to clean the soot and grime within the silicone toothed cleaning tank of the belt conveyor. It can be seen that... Figure 3 The belt conveyor shown has a certain angle with the plane, and after the cleaning head pushes the sewage containing soot to the output end (right end) of the belt conveyor, the mobile cleaning platform can also control the tank to move below the output end of the belt conveyor so that the sewage tank can receive the sewage flowing out from the output end of the belt conveyor. This is not limited to this embodiment.

[0042] See also: Figure 4 The illustration shown is a schematic diagram of the effect of a mobile cleaning platform cleaning a belt conveyor according to another embodiment of this application. Figure 4 As shown, the left side illustrates the mobile cleaning platform moving beneath the belt conveyor, while the right side shows the mobile cleaning platform's control support rod moving from left to right along the belt conveyor's transmission path, allowing the cleaning head to clean the soot and grime within the silicone toothed cleaning tank of the belt conveyor. It can be seen that... Figure 4 The belt conveyor shown is parallel to the plane, and after the cleaning head pushes the wastewater containing soot to the output end (right end) of the belt conveyor, the mobile cleaning platform can also control the tank to move below the output end of the belt conveyor so that the wastewater tank can receive the wastewater flowing out from the output end of the belt conveyor. This is not limited to this embodiment.

[0043] As another optional embodiment of this application, determining the first movement path based on the connection path includes: Deblurring is performed on the image to be processed corresponding to the connecting path; In the processed image, the first contour region corresponding to the silicone toothed cleaning tank and the second contour region corresponding to the soot in the silicone toothed cleaning tank are identified. Calculate the distance between each contour feature point in the second contour region and each contour feature line in the first contour region, and determine the corresponding number of cleaning operations based on the minimum distance; The first moving path is determined based on the connection path and the number of cleaning cycles.

[0044] Specifically, during the determination of the first moving path, the number of cleaning cycles for the cleaning head can be determined by the area where soot forms. For example, but not limited to, after deblurring the image to be processed corresponding to the connecting path, the first contour area corresponding to the silicone toothed cleaning tank and the second contour area corresponding to the soot in the silicone toothed cleaning tank can be identified from the image to be processed. By calculating the minimum distance between the second contour area and the first contour area, it can be determined whether the soot is close to the edge of the silicone toothed cleaning tank. It can be understood that when the minimum distance is within a preset distance range, the number of cleaning cycles can be determined as 1, that is, the support rod can be controlled to move from the output end of the belt conveyor to the output end. When the minimum distance is not within the preset distance range, the number of cleaning cycles can be determined as 2 or more, that is, the support rod can be controlled to move from the input end of the belt conveyor to the output end, and then the support rod can be controlled to move from the output end of the belt conveyor to the input end, until the required number of cleaning cycles is reached.

[0045] As another optional embodiment of this application, the first movement path is determined based on the connection path and the number of cleaning cycles, including: Calculate the grayscale ratio between two adjacent pixels in the second contour region, and construct a grayscale co-occurrence matrix based on the number of all grayscale ratios. The gray-level co-occurrence matrix is ​​normalized, and the covariance of the processed gray-level co-occurrence matrix is ​​calculated to obtain the covariance value of the gray-level co-occurrence matrix. The humidity of the cleaning head is determined based on the covariance value of the gray-level co-occurrence matrix; The first movement path is determined based on the humidity of the cleaning head, the connection path, and the number of cleaning cycles.

[0046] In determining the first moving path, the texture features of the soot can be determined by the grayscale value of the pixels, thereby obtaining the humidity of the cleaning head to effectively ensure the cleaning effect.

[0047] Specifically, the grayscale ratio between any two adjacent pixels can be calculated in the second contour region corresponding to the soot in the silicone toothed cleaning tank. A grayscale co-occurrence matrix is ​​constructed based on the number of all grayscale ratios. Before calculating the grayscale ratio between any two adjacent pixels, the calculation direction can be determined, for example, but not limited to calculating along all pixels in each row in a left-to-right order. Based on the count of each grayscale ratio, a grayscale co-occurrence matrix is ​​constructed. This grayscale co-occurrence matrix can describe the changes in pixel grayscale values ​​in different directions and distances in the image, and each element represents the frequency of occurrence of a specific grayscale value pair between two pixels.

[0048] Next, after constructing the gray-level co-occurrence matrix, all elements in the matrix can be normalized to ensure data consistency. Then, covariance is calculated on the normalized gray-level co-occurrence matrix to determine the overall viscosity of the soot based on the pixel correlation represented by the covariance value. It is understood that, but not limited to, when the covariance value is detected in a preset first interval, it indicates that the overall viscosity of the soot is low, thus determining that the cleaning head's humidity is 0 or below 5%; when the covariance value is detected in a preset second interval, it indicates that the overall viscosity of the soot is moderate, thus determining that the cleaning head's humidity is 5%-20%; when the covariance value is detected in a preset third interval, it indicates that the overall viscosity of the soot is relatively high, thus determining that the cleaning head's humidity is 20%-40%.

[0049] Next, after determining the humidity of the cleaning head, the processor can control the water pump to spray water onto the mop surface of the cleaning head. The amount of water sprayed can be determined based on the determined humidity of the cleaning head. After the water spraying operation is performed, the support rod and the cleaning head can be controlled to clean the belt conveyor.

[0050] Step 106: Following the first movement path, control the support rod and the cleaning head to clean the belt conveyor.

[0051] As another optional embodiment of this application, before the belt conveyor is cleaned by the control support rod and the cleaning head according to the first moving path, the following is also included: Based on the pressure sensor installed on the cleaning head, pressure signals are acquired at preset time intervals; Following the first movement path, the control support rod and cleaning head clean the belt conveyor, including: When the average pressure value corresponding to the pressure signal within any time interval exceeds the preset pressure threshold, the support rod and the cleaning head are controlled to clean the belt conveyor according to the first moving path.

[0052] Specifically, before the control support rod and cleaning head clean the belt conveyor, a pressure sensor installed on the cleaning head can acquire pressure signals at preset time intervals to determine in real time whether the cleaning head is inside the silicone toothed cleaning tank of the belt conveyor. It can be understood that when the average pressure value corresponding to the pressure signal within any time interval exceeds a preset pressure threshold, it indicates that the cleaning head is now inside the silicone toothed cleaning tank of the belt conveyor and in contact with the inner wall of the tank, thus allowing subsequent cleaning operations to be performed.

[0053] As another optional embodiment of this application, after the belt conveyor is cleaned by controlling the support rod and the cleaning head according to the first moving path, the method further includes: The total number of cleaning times for the cleaning head is counted, and when the total number of cleaning times exceeds a preset threshold, the cleaning head is replaced.

[0054] To ensure the continuous cleaning efficiency of the mobile cleaning platform, the mop of the cleaning head can be replaced after a certain number of total cleaning cycles. The mop of the cleaning head is detachably installed on the cleaning head to improve replacement efficiency.

[0055] Please see Figure 5 , Figure 5 A schematic diagram of an automatic cleaning device for a belt conveyor provided in an embodiment of this application is shown.

[0056] like Figure 5 As shown, the automatic cleaning device for belt conveyors is applied to a mobile cleaning platform. The mobile cleaning platform includes a housing, a support rod mounted on the housing, a cleaning head mounted on the support rod, and a camera. The automatic cleaning device for belt conveyors may include at least a first control module 501, a second control module 502, and a third control module 503, wherein: The first control module 501 is used to control the box to move below the belt conveyor based on the position parameters of the belt conveyor, and to control the vertical extension length of the support rod to the preset maximum length. The second control module 502 is used to acquire at least two images containing the belt conveyor based on the camera, and determine a first movement path based on all the images to be processed; wherein the shooting angle corresponding to the belt conveyor in each image to be processed is different; The third control module 503 is used to control the support rod and the cleaning head to clean the belt conveyor according to the first moving path.

[0057] In some possible embodiments, controlling the housing to move below the belt conveyor based on the belt conveyor's position parameters includes: Based on the input and output position coordinates of the belt conveyor, the center position coordinates of the belt conveyor are determined. The center position coordinates of the belt conveyor are processed based on the preset coordinate generation rules to obtain the target position coordinates; Obtain the current position coordinates of the box and determine the second movement path corresponding to the current position coordinates and the target position in the preset path database; Following the second movement path, the control box moves to below the belt conveyor.

[0058] In some possible embodiments, a first motion path is determined based on all images to be processed, including: Identify the conveyor distance of the belt conveyor in each image to be processed; When at least two belt conveyors are found to have inconsistent transmission distances, mark the start position, end position, and the line path between the start and end positions in the image to be processed corresponding to the maximum transmission distance. The first movement path is determined based on the connection path.

[0059] In some possible embodiments, determining the first movement path based on the connection path includes: Deblurring is performed on the image to be processed corresponding to the connecting path; In the processed image, the first contour region corresponding to the silicone toothed cleaning tank and the second contour region corresponding to the soot in the silicone toothed cleaning tank are identified. Calculate the distance between each contour feature point in the second contour region and each contour feature line in the first contour region, and determine the corresponding number of cleaning operations based on the minimum distance; The first moving path is determined based on the connection path and the number of cleaning cycles.

[0060] In some possible embodiments, the first movement path is determined based on the connection path and the number of cleaning cycles, including: Calculate the grayscale ratio between two adjacent pixels in the second contour region, and construct a grayscale co-occurrence matrix based on the number of all grayscale ratios. The gray-level co-occurrence matrix is ​​normalized, and the covariance of the processed gray-level co-occurrence matrix is ​​calculated to obtain the covariance value of the gray-level co-occurrence matrix. The humidity of the cleaning head is determined based on the covariance value of the gray-level co-occurrence matrix; The first movement path is determined based on the humidity of the cleaning head, the connection path, and the number of cleaning cycles.

[0061] In some possible embodiments, before cleaning the belt conveyor by controlling the support rod and the cleaning head according to the first movement path, the following steps are also included: Based on the pressure sensor installed on the cleaning head, pressure signals are acquired at preset time intervals; Following the first movement path, the control support rod and cleaning head clean the belt conveyor, including: When the average pressure value corresponding to the pressure signal within any time interval exceeds the preset pressure threshold, the support rod and the cleaning head are controlled to clean the belt conveyor according to the first moving path.

[0062] In some possible embodiments, after the belt conveyor is cleaned by the control support rod and the cleaning head according to the first movement path, the process further includes: The total number of cleaning times for the cleaning head is counted, and the cleaning head is replaced when the total number of cleaning times exceeds a preset threshold.

[0063] Those skilled in the art will clearly understand that the technical solutions of the embodiments of this application can be implemented by means of software and / or hardware. In this specification, "unit" and "module" refer to software and / or hardware that can independently complete or cooperate with other components to complete a specific function, wherein the hardware may be, for example, a field-programmable gate array (FPGA), an integrated circuit (IC), etc.

[0064] Please see Figure 6 , Figure 6 This illustration shows a structural schematic diagram of another automatic cleaning device for a belt conveyor provided in an embodiment of this application.

[0065] like Figure 6 As shown, the automatic cleaning device 600 for belt conveyors may include at least one processor 601, at least one network interface 604, a user interface 603, a memory 605, and at least one communication bus 602.

[0066] The communication bus 602 can be used to realize the connection and communication of the above components.

[0067] The user interface 603 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0068] The network interface 604 may include, but is not limited to, Bluetooth modules, NFC modules, Wi-Fi modules, etc.

[0069] The processor 601 may include one or more processing cores. The processor 601 connects to various parts within the automatic cleaning device 600 for the belt conveyor using various interfaces and lines. It executes various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 605, and by calling data stored in the memory 605. Optionally, the processor 601 may be implemented using at least one hardware form of DSP, FPGA, or PLA. The processor 601 may integrate one or more of the following: CPU, GPU, and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the processor 601.

[0070] The memory 605 may include RAM or ROM. Optionally, the memory 605 may include a non-transitory computer-readable medium. The memory 605 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 605 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 605 may also be at least one storage device located remotely from the aforementioned processor 601. Figure 6 As shown, the memory 605, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an automatic cleaning application for the belt conveyor.

[0071] Specifically, the processor 601 can be used to call the automatic cleaning application for the belt conveyor stored in the memory 605, and specifically perform the following operations: Based on the position parameters of the belt conveyor, the control box moves to below the belt conveyor, and the vertical extension length of the support rod is controlled to the preset maximum length. At least two images containing the belt conveyor are acquired using a camera, and a first movement path is determined based on all the images; wherein the shooting angle corresponding to the belt conveyor in each image is different. Following the first movement path, the control support rod and cleaning head clean the belt conveyor.

[0072] In some possible embodiments, controlling the housing to move below the belt conveyor based on the belt conveyor's position parameters includes: Based on the input and output position coordinates of the belt conveyor, the center position coordinates of the belt conveyor are determined. The center position coordinates of the belt conveyor are processed based on the preset coordinate generation rules to obtain the target position coordinates; Obtain the current position coordinates of the box and determine the second movement path corresponding to the current position coordinates and the target position in the preset path database; Following the second movement path, the control box moves to below the belt conveyor.

[0073] In some possible embodiments, a first motion path is determined based on all images to be processed, including: Identify the conveyor distance of the belt conveyor in each image to be processed; When at least two belt conveyors are found to have inconsistent transmission distances, mark the start position, end position, and the line path between the start and end positions in the image to be processed corresponding to the maximum transmission distance. The first movement path is determined based on the connection path.

[0074] In some possible embodiments, determining the first movement path based on the connection path includes: Deblurring is performed on the image to be processed corresponding to the connecting path; In the processed image, the first contour region corresponding to the silicone toothed cleaning tank and the second contour region corresponding to the soot in the silicone toothed cleaning tank are identified. Calculate the distance between each contour feature point in the second contour region and each contour feature line in the first contour region, and determine the corresponding number of cleaning operations based on the minimum distance; The first moving path is determined based on the connection path and the number of cleaning cycles.

[0075] In some possible embodiments, the first movement path is determined based on the connection path and the number of cleaning cycles, including: Calculate the grayscale ratio between two adjacent pixels in the second contour region, and construct a grayscale co-occurrence matrix based on the number of all grayscale ratios. The gray-level co-occurrence matrix is ​​normalized, and the covariance of the processed gray-level co-occurrence matrix is ​​calculated to obtain the covariance value of the gray-level co-occurrence matrix. The humidity of the cleaning head is determined based on the covariance value of the gray-level co-occurrence matrix; The first movement path is determined based on the humidity of the cleaning head, the connection path, and the number of cleaning cycles.

[0076] In some possible embodiments, before cleaning the belt conveyor by controlling the support rod and the cleaning head according to the first movement path, the following steps are also included: Based on the pressure sensor installed on the cleaning head, pressure signals are acquired at preset time intervals; Following the first movement path, the control support rod and cleaning head clean the belt conveyor, including: When the average pressure value corresponding to the pressure signal within any time interval exceeds the preset pressure threshold, the support rod and the cleaning head are controlled to clean the belt conveyor according to the first moving path.

[0077] In some possible embodiments, after the belt conveyor is cleaned by the control support rod and the cleaning head according to the first movement path, the process further includes: The total number of cleaning times for the cleaning head is counted, and the cleaning head is replaced when the total number of cleaning times exceeds a preset threshold.

[0078] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, as well as magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0079] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0080] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0081] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0082] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0083] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0084] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

Claims

1. An automatic cleaning method for belt conveyors, characterized in that, The method is applied to a mobile cleaning platform, which includes a housing, a support rod mounted on the housing, a cleaning head mounted on the support rod, and a camera. The method includes: Based on the position parameters of the belt conveyor, the box is controlled to move below the belt conveyor, and the vertical extension length of the support rod is controlled to be the preset maximum length. At least two images containing the belt conveyor are acquired based on the camera, and a first movement path is determined based on all the images to be processed; wherein the shooting angle corresponding to the belt conveyor in each image to be processed is different; According to the first moving path, the support rod and the cleaning head are controlled to clean the belt conveyor. The step of determining the first motion path based on all the images to be processed includes: The transmission distance of the belt conveyor is identified from each of the images to be processed; When it is detected that the transmission distances of at least two belt conveyors are inconsistent, the start position, the end position, and the line path connecting the start position and the end position are marked in the image to be processed corresponding to the maximum transmission distance. The first movement path is determined based on the connection path.

2. The method according to claim 1, characterized in that, The method of controlling the housing to move below the belt conveyor based on the position parameters of the belt conveyor includes: Based on the input and output position coordinates of the belt conveyor, the center position coordinates of the belt conveyor are determined. The center position coordinates of the belt conveyor are processed based on a preset coordinate generation rule to obtain the target position coordinates; Obtain the current position coordinates of the box and determine the second movement path corresponding to the current position coordinates and the target position in the preset path database; Following the second movement path, the box is controlled to move to below the belt conveyor.

3. The method according to claim 1, characterized in that, Determining the first movement path based on the connection path includes: The image to be processed corresponding to the connecting path is deblurred; In the processed image to be processed, the first contour region corresponding to the silicone toothed cleaning tank and the second contour region corresponding to the soot in the silicone toothed cleaning tank are identified. Calculate the distance between each contour feature point in the second contour region and each contour feature line in the first contour region, and determine the corresponding number of cleaning operations based on the minimum distance; The first movement path is determined based on the connection path and the number of cleaning cycles.

4. The method according to claim 3, characterized in that, Determining the first movement path based on the connection path and the number of cleaning cycles includes: Calculate the grayscale ratio between two adjacent pixels in the second contour region, and construct a grayscale co-occurrence matrix based on the number of all the grayscale ratios. The gray-level co-occurrence matrix is ​​normalized, and the covariance of the processed gray-level co-occurrence matrix is ​​calculated to obtain the covariance value of the gray-level co-occurrence matrix. The humidity of the cleaning head is determined based on the covariance value of the gray-level co-occurrence matrix; The first movement path is determined based on the humidity of the cleaning head, the connection path, and the number of cleaning cycles.

5. The method according to claim 1, characterized in that, Before the step of controlling the support rod and the cleaning head to clean the belt conveyor according to the first movement path, the method further includes: Based on the pressure sensor installed on the cleaning head, pressure signals are acquired at preset time intervals; The step of controlling the support rod and the cleaning head to clean the belt conveyor according to the first moving path includes: When the average pressure value corresponding to the pressure signal within any of the aforementioned time intervals is detected to exceed a preset pressure threshold, the support rod and the cleaning head are controlled to clean the belt conveyor according to the first movement path.

6. The method according to claim 1, characterized in that, After the belt conveyor is cleaned by controlling the support rod and the cleaning head according to the first moving path, the process further includes: The total number of cleaning times for the cleaning head is counted, and when the total number of cleaning times exceeds a preset threshold, the cleaning head is replaced.

7. An automatic cleaning device for a belt conveyor, characterized in that, The device is applied to a mobile cleaning platform, which includes a housing, a support rod mounted on the housing, a cleaning head mounted on the support rod, and a camera. The device includes: The first control module is used to control the box to move below the belt conveyor based on the position parameters of the belt conveyor, and to control the vertical extension length of the support rod to a preset maximum length. The second control module is used to acquire at least two images containing the belt conveyor based on the camera, and to determine a first movement path based on all the images to be processed; wherein the shooting angle corresponding to the belt conveyor in each image to be processed is different; The third control module is used to control the support rod and the cleaning head to clean the belt conveyor according to the first movement path; The step of determining the first motion path based on all the images to be processed includes: The transmission distance of the belt conveyor is identified from each of the images to be processed; When it is detected that the transmission distances of at least two belt conveyors are inconsistent, the start position, the end position, and the line path connecting the start position and the end position are marked in the image to be processed corresponding to the maximum transmission distance. The first movement path is determined based on the connection path.

8. An automatic cleaning device for a belt conveyor, characterized in that, Including the processor and memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code stored in the memory to perform the steps of the method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer or processor, cause the computer or processor to perform the steps of the method as described in any one of claims 1-6.

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