Carrier roller wear detection method, system and device for mining belt conveyor

Abstract

The invention relates to the technical field of image analysis, in particular to a carrier roller abrasion detection method, system and device for a mining belt conveyor. According to the carrier roller set image, the edge of each carrier roller in the carrier roller set is obtained; comparing the diameter change of the carrier roller before and after use to obtain the damage degree and the maximum damage position of the carrier roller; according to the damage degree and the maximum damage position of the carrier rollers on the left side and the right side in the carrier roller set, the belt deviation degree of the carrier roller set is obtained; according to the belt deviation degree of the carrier roller set, an abnormal deviation section is obtained; and according to the belt deviation degree of the carrier roller set in the abnormal deviation section, the wear degree of the carrier rollers is obtained by combining the damage degree of the carrier rollers. According to the method, the deviation condition of the belt during operation of the mining belt conveyor is analyzed, and the state of the carrier roller is accurately evaluated by combining the diameter change of the carrier roller before and after use, so as to serve as a basis for replacing the carrier roller, and the overall operation stability of the mining belt conveyor is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of image analysis, and in particular to a method, system and device for detecting roller wear of a mining belt conveyor. Background Art

[0002] A mining belt conveyor is a belt conveyor used in the process of mineral mining, production, transportation, and processing. Among them, the roller is an important component of the mining belt conveyor, providing support for the conveying belt. However, as the mining belt conveyor runs, the roller will gradually wear. As the roller wears, the roller may roll unsteadily, resulting in a decrease in the overall operating stability of the mining belt conveyor. Therefore, it is necessary to detect the degree of wear of the roller and replace the roller in time to improve the overall operating stability of the mining belt conveyor. However, the traditional analysis of the degree of wear of the roller only compares the diameter change of the roller before and after use, and does not take into account the possibility that the belt may deviate during the operation of the mining belt conveyor. The deviation of the belt will seriously affect the overall operating stability of the mining belt conveyor. Therefore, the traditional analysis method cannot accurately reflect the state of the roller. Summary of the invention

[0003] The present invention provides a method, system and device for detecting wear of rollers of a mining belt conveyor, so as to solve the existing problem that the wear of rollers is detected only by comparing the diameter changes of rollers before and after use, without taking into account the possibility that the belt may deviate when the mining belt conveyor is running, and the state of the rollers cannot be accurately reflected.

[0004] The present invention provides a method, system and device for detecting wear of rollers of a mining belt conveyor using the following technical solutions:

[0005] The present invention proposes a method for detecting wear of a roller of a mining belt conveyor, the method comprising the following steps:

[0006] Acquire the image of the roller group; and acquire the edge of each roller in the roller group according to the image of the roller group;

[0007] Obtain the initial diameter of the roller; obtain the damage degree and the maximum damage position of the roller according to the initial diameter of the roller and the edge of each roller;

[0008] According to the damage degree and the maximum damage position of the left and right rollers in the roller group, the offset degree of the damage of the left and right rollers in the roller group is obtained; according to the offset degree of the damage of the left and right rollers in the roller group, combined with the difference in the damage degree of the left and right rollers in the roller group, the belt offset degree of the roller group is obtained;

[0009] According to the belt deviation degree of the roller group, the abnormal deviation section is obtained; according to the belt deviation degree of the roller group in the abnormal deviation section and the damage degree of the roller, the wear degree of the roller is obtained.

[0010] Preferably, the method of obtaining the edge of each roller in the roller group includes:

[0011] The edge of each roller group image is obtained by using an edge detection algorithm; the edge of each roller in each roller group is obtained by using semantic segmentation.

[0012] Preferably, the method of obtaining the initial diameter of the roller includes:

[0013] For the edge of any roller, the edge of the roller is smoothed to obtain a smooth edge of the roller; all endpoints in the smooth edge of the roller are obtained, and the smooth edge of the roller is divided into a plurality of smooth edge segments according to the endpoints, and the corresponding portion of each smooth edge segment in the edge of the roller is obtained, and recorded as the roller edge segment corresponding to each smooth edge segment, and the two longest roller edge segments are respectively recorded as the first long edge and the second long edge of the roller;

[0014] The edge of each roller just after being replaced is obtained as a comparison template of each roller, and the first long edge and the second long edge of the comparison template are obtained. The shortest distance from each pixel point in the first long edge of the comparison template to the second long edge of the comparison template, and the shortest distance from each pixel point in the second long edge of the comparison template to the first long edge of the comparison template are both recorded as long edge pixel point distances, and the average of all long edge pixel point distances is used as the initial diameter of each roller; and the average length of the smooth edge segment corresponding to the first long edge and the second long edge is used as the length of each roller.

[0015] Preferably, the method of obtaining the damage degree and the maximum damage position of the roller includes:

[0016] For any roller, the shortest distance between the first long edge and the second long edge of the roller is recorded as the damaged diameter of the roller, and the position where the damaged diameter of the roller is located on the roller is recorded as the maximum damaged position of the roller; according to the damaged diameter and the initial diameter of the roller, the damage degree of the roller is obtained, and the specific calculation formula is:

[0017]

[0018] In the formula, f represents the damage degree of the roller; D represents the initial diameter of the roller; and D′ represents the damaged diameter of the roller.

[0019] Preferably, the specific method of obtaining the degree of deviation of the damage of the left and right rollers in the roller group includes:

[0020] For the right roller in any roller group, the offset degree of damage of the right roller is obtained according to the distance between the maximum damage position of the right roller and the center position of the right roller. The specific calculation formula is:

[0021]

[0022] Wherein, R represents the offset degree of damage of the right idler, g represents the distance between the maximum damage position of the right idler and the center position of the right idler; G represents the length of the right idler;

[0023] The degree of damage to the left idler in the idler group is obtained.

[0024] Preferably, the specific calculation formula for obtaining the belt deviation degree of the roller group is as follows:

[0025] δ=norm[(RL)×|f r -f l |]

[0026] Wherein, δ represents the belt deviation degree of the roller group; R represents the deviation degree of the damaged roller on the right side of the roller group; L represents the deviation degree of the damaged roller on the left side of the roller group; f r Indicates the degree of damage to the right roller in the roller group; f l represents the damage degree of the left roller in the roller group; || represents the absolute value function; norm[] represents the linear normalization function.

[0027] Preferably, the specific method of obtaining the abnormal offset segment includes:

[0028] A belt abnormal deviation threshold β is preset; if the belt deviation degree of the roller group is greater than or equal to β, the roller group is recorded as an abnormal deviation roller group; all abnormal deviation roller groups in the mining belt conveyor are obtained, and the continuous adjacent abnormal deviation roller groups in the mining belt conveyor are classified into the same abnormal deviation section.

[0029] Preferably, the method of obtaining the degree of wear of the roller includes:

[0030] For the vth roller in the jth abnormal offset roller group in the ith abnormal offset section, according to the belt offset degree of all roller groups in the ith abnormal offset section and the damage degree of the vth roller, the wear degree of the vth roller in the jth abnormal offset roller group in the ith abnormal offset section is obtained. The specific calculation formula is:

[0031]

[0032] In the formula, Qi,j,v Indicates the wear degree of the vth roller in the jth abnormal deviation roller group in the ith abnormal deviation section; δ i,j Indicates the belt deviation degree of the jth abnormal deviation roller group in the i-th abnormal deviation section; max(δ i ) represents the belt deviation degree of the idler group with the largest belt deviation degree in the i-th abnormal deviation section; f i,j,v It indicates the damage degree of the vth roller in the jth abnormal deviation roller group in the ith abnormal deviation section.

[0033] The present invention also proposes a roller wear detection system for a mining belt conveyor, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of any one of the above-mentioned methods for detecting roller wear of a mining belt conveyor are implemented.

[0034] The present invention also proposes a roller wear detection device for a mining belt conveyor, comprising a roller wear detection device body for a mining belt conveyor, and also comprising a roller edge collection device, a damage analysis device, a deviation analysis device, and a roller evaluation device;

[0035] The roller edge acquisition device is used to obtain the roller group image; according to the roller group image, the edge of each roller in the roller group is obtained;

[0036] The damage analysis device is used to obtain the initial diameter of the roller; and obtain the damage degree and the maximum damage position of the roller according to the initial diameter of the roller and the edge of each roller;

[0037] The offset analysis device is used to obtain the offset degree of damage of the left and right rollers in the roller group according to the damage degree and the maximum damage position of the left and right rollers in the roller group; according to the offset degree of damage of the left and right rollers in the roller group, combined with the difference in damage degree of the left and right rollers in the roller group, obtain the belt offset degree of the roller group;

[0038] The roller evaluation device is used to obtain an abnormal offset section according to the belt offset degree of the roller group; and obtain the wear degree of the roller according to the belt offset degree of the roller group in the abnormal offset section and the damage degree of the roller.

[0039] The beneficial effects of the technical solution of the present invention are as follows: the present application obtains the degree of damage and the maximum damage position of the roller by comparing the diameter change before and after the operation of the roller; the greater the diameter change, the more serious the damage to the roller; since the minerals on the belt are not always evenly distributed on the belt during the actual operation of the mining belt conveyor, the rollers on the heavier side of the belt will be squeezed by heavier minerals, causing the belt to shift in a local range, causing the maximum wear position of the rollers on the left and right sides of the roller group to deviate from the center of the roller, and the rollers on the heavier side carry more minerals, so the left side of the roller group There will also be differences in the degree of damage of the rollers on the right side, that is, the more the maximum damage position of the rollers on the left and right sides of the roller group deviates from the center of the roller, the greater the difference in the degree of damage of the rollers on the left and right sides, and the more likely the belt is to deviate; and for the roller group that is more likely to deviate, the rollers should be replaced in time. Further combined with the degree of damage of the rollers, the degree of wear of the rollers can be obtained. The degree of wear of the rollers is an assessment of the actual state of the rollers. The larger the value, the more the rollers should be replaced, because by replacing the rollers, the burden on the belts and other related components can be reduced, and the overall operating stability of the mining conveyor can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A flowchart of the steps of a method for detecting wear of a roller of a mining belt conveyor according to the present invention;

[0042] Figure 2 This is an example of a working site for a mining belt conveyor;

[0043] Figure 3 This is a schematic diagram of the installation position of the image sensor;

[0044] Figure 4 This is a real shot of the roller;

[0045] Figure 5 An example of the edge of a roller. DETAILED DESCRIPTION

[0046] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the wear detection method, system and device for the roller of a mining belt conveyor proposed by the present invention, its specific implementation, structure, features and effects in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0047] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0048] The specific scheme of the method, system and device for detecting wear of rollers of a mining belt conveyor provided by the present invention is described in detail below with reference to the accompanying drawings.

[0049] See also Figure 1 , which shows a flowchart of a method for detecting wear of a roller of a mining belt conveyor provided by an embodiment of the present invention, the method comprising the following steps:

[0050] Step S001: Acquire an image of a roller group; and acquire the edge of each roller in the roller group according to the image of the roller group.

[0051] It should be noted that the mining belt conveyor is a belt conveyor used in the process of mineral mining, production, transportation and processing. It has the characteristics of large transportation volume, complex working environment, strong carrying capacity and long transportation distance. Figure 2 As shown, Figure 2 This is an example of a working site of a mining belt conveyor. Minerals are transported by mining belt conveyors, in which rollers are an important component of mining belt conveyors, providing support for the conveying belts. During the operation of the belt conveyor, the belts will cause continuous wear on the rollers. As the rollers wear, the rollers may roll unsteadily, thereby reducing the overall operating stability of the mining belt conveyor. At the same time, the wear of the rollers will increase the burden on the belts and other related components, thereby shortening the service life of the belt conveyor. Therefore, it is necessary to detect the wear of the rollers. To this end, it is necessary to first collect roller images.

[0052] Specifically, an image sensor is installed in front of each roller group of the mining belt conveyor, such as Figure 3 As shown, Figure 3 The image sensor is used to collect images of each roller group. Figure 4 As shown, Figure 4 This is a real shot of the roller;

[0053] Furthermore, the Canny edge detection algorithm is used to obtain the edge of each roller group image, such as Figure 5 As shown, Figure 5 The figure is an example of the edge of the roller. Since the Canny edge detection algorithm is a well-known prior art, it will not be described in detail in this embodiment. Then, semantic segmentation is used to obtain the edge of each roller in each roller group. The network structure of the semantic segmentation in this embodiment is Encoder-Decoder, and the data set of the semantic segmentation is a roller image. The roller edge pixels in the edge of the roller image are marked as 1, and the non-roller edge pixels in the edge of the roller image are marked as 0. The function used to train the semantic segmentation is the cross entropy loss function. The specific training process of semantic segmentation is a well-known prior art, so it will not be described in detail in this embodiment.

[0054] At this point, the edge of each roller in each roller group is obtained.

[0055] Step S002: Obtain the initial diameter of the roller; and obtain the damage degree and the maximum damage position of the roller according to the initial diameter of the roller and the edge of each roller.

[0056] It should be noted that during the operation of the mining belt conveyor, the belt will cause continuous wear on the rollers, that is, as the mining belt conveyor continues to run, the rollers in the mining belt conveyor will gradually become smaller due to wear. The degree of damage to the rollers in the mining belt conveyor can be obtained by comparing the diameter of the rollers when they are just replaced with the diameter of the rollers after the mining belt conveyor has been running for a certain period of time; since the analysis process and logic for the rollers in each roller group are the same, one roller group is taken as an example for description in this embodiment.

[0057] Preferably, in a specific embodiment of the present invention, for the edge of any roller, the Douglas Peucker algorithm is used to smooth the edge of the roller to obtain the smooth edge of the roller; since the Douglas Peucker algorithm is a well-known prior art, it will not be described in detail in this embodiment, all endpoints in the smooth edge of the roller are obtained, and the smooth edge of the roller is divided into a number of smooth edge segments according to the endpoints, and the corresponding part of each smooth edge segment in the edge of the roller is obtained, and recorded as the roller edge segment corresponding to each smooth edge segment, and the two longest roller edge segments are respectively recorded as the first long edge and the second long edge of the roller.

[0058] The edge of each roller just after being replaced is obtained as a comparison template of each roller, and the first long edge and the second long edge of the comparison template are obtained. The shortest distance from each pixel point in the first long edge of the comparison template to the second long edge of the comparison template, and the shortest distance from each pixel point in the second long edge of the comparison template to the first long edge of the comparison template are both recorded as long edge pixel point distances, and the average of all long edge pixel point distances is used as the initial diameter of each roller; and the average length of the smooth edge segment corresponding to the first long edge and the second long edge is used as the length of each roller.

[0059] For any roller, the shortest distance between the first long edge and the second long edge of the roller is recorded as the damaged diameter of the roller, and the position of the damaged diameter of the roller located on the roller is recorded as the maximum damaged position of the roller, that is, the position of the line segment corresponding to the shortest distance in the roller; according to the damaged diameter and the initial diameter of the roller, the damage degree of the roller is obtained, and the specific calculation formula is:

[0060]

[0061] In the formula, f represents the damage degree of the roller; D represents the initial diameter of the roller; and D′ represents the damaged diameter of the roller.

[0062] It should be noted that the initial diameter of the roller is the diameter before the roller is worn, and the worn diameter of the roller is the diameter after the roller is worn; when the diameter of the roller before being worn is larger than the diameter after being worn, the damage to the roller is greater, so The larger the value is, the more serious the damage to the roller is. The denominator is used to normalize the diameter difference of the roller before and after wear.

[0063] So far, the damage degree of the roller is obtained.

[0064] Step S003: According to the damage degree and the maximum damage position of the left and right rollers in the roller group, the offset degree of damage of the left and right rollers in the roller group is obtained; according to the offset degree of damage of the left and right rollers in the roller group, combined with the difference in damage degree of the left and right rollers in the roller group, the belt offset degree of the roller group is obtained.

[0065] It should be noted that, during the actual operation of the mining belt conveyor, the minerals on the belt are not always evenly distributed on the belt, so that the rollers on the heavier side of the belt will be squeezed by heavier minerals, causing the belt to shift in a local range, and then the maximum wear position of the rollers on the left and right sides of the roller group in the local range deviates from the center of the roller; and when the maximum wear position of the rollers on the left and right sides of the roller group deviates from the center of the roller, the deviation of the belt will be aggravated, and the deviation of the belt will seriously affect the safe operation of the mining belt conveyor. Therefore, in order to improve the overall operating stability and safety of the mining belt conveyor, it is necessary to evaluate the degree of belt deviation of the roller group based on the rollers on the left and right sides of the roller group.

[0066] Preferably, in a specific embodiment of the present invention, for the right roller in any roller group, the offset degree of damage of the right roller is obtained according to the distance between the maximum damage position of the right roller and the center position of the right roller, and the specific calculation formula is:

[0067]

[0068] Wherein, R represents the offset degree of damage of the right roller, g represents the distance between the maximum damage position of the right roller and the center position of the right roller; G represents the length of the right roller.

[0069] Similarly, the degree of damage and deviation of the left idler in the idler group is obtained.

[0070] It should be noted that when the minerals on the belt are evenly distributed on the belt, the belt will not deviate. At this time, the maximum damage position of the rollers on the left and right sides of the roller group should be located in the middle of the rollers on the left and right sides; therefore, the more the maximum damage position of the rollers on the left and right sides deviates from the center of the rollers, the more likely the belt is to deviate.

[0071] It should be further explained that since the deviation of the belt is caused by the uneven distribution of minerals on the belt, and the rollers under the heavier side of the belt carry more minerals, the degree of damage to the rollers on the left and right sides of the roller group will also be different. The greater the difference, the more likely the belt is to deviate, so the degree of belt deviation of the roller group can be evaluated.

[0072] Furthermore, according to the offset degree of the damage of the left and right rollers, combined with the difference in the damage degree between the left and right rollers, the belt offset degree of the roller group is obtained, and the specific calculation formula is:

[0073] δ=norm[(R×L)×|f r -f l |]

[0074] Wherein, δ represents the belt deviation degree of the roller group; R represents the deviation degree of the damaged roller on the right side of the roller group; L represents the deviation degree of the damaged roller on the left side of the roller group; f r Indicates the degree of damage to the right roller in the roller group; f l represents the damage degree of the left roller in the roller group; || represents the absolute value function; norm[] represents the linear normalization function, and its normalization range is [(RL)×|f r -f l |].

[0075] It should be noted that (R×L) represents the degree to which the maximum damage position of the rollers on the left and right sides of the roller group deviates from the center of the roller; |f r -f l | indicates the difference in damage degree of the rollers on the left and right sides of the roller group; and when the maximum damage position of the rollers on the left and right sides of the roller group deviates further from the center of the roller, the difference in damage degree of the rollers on the left and right sides is greater, and the belt is more likely to deviate here, that is, the belt deviation degree of the roller group is greater.

[0076] At this point, the belt deviation degree of the roller group is obtained.

[0077] Step S004: according to the belt deviation degree of the roller group, an abnormal deviation section is obtained; according to the belt deviation degree of the roller group in the abnormal deviation section and the damage degree of the roller, the wear degree of the roller is obtained.

[0078] It should be noted that due to the long transportation distance of the mining belt conveyor, when the belt is offset at one position, it will not affect the belts at all subsequent positions, that is, there are several local positions where the belt is offset during the operation of the mining belt conveyor. In order to better evaluate the status of the rollers, it is necessary to segment the roller groups in the mining belt conveyor according to the degree of belt offset of the roller groups; and the greater the belt offset of the roller group in any segment, the greater the degree of damage to the rollers in the roller group, the worse the operating state of the roller, and the more necessary it is to replace the roller to improve the overall operating stability of the mining belt conveyor.

[0079] Preferably, in a specific embodiment of the present invention, a belt abnormal deviation threshold β is preset, and the specific value of β can be set according to actual conditions. This embodiment does not make a rigid requirement, and β=0.3 is used as an example for description in this embodiment; if the belt deviation degree of the roller group is greater than or equal to β, the belt of the roller group is abnormally deviated, and the roller group is recorded as an abnormally deviated roller group; if the belt deviation degree of the roller group is less than β, the belt of the roller group is not abnormally deviated.

[0080] Furthermore, all abnormally deviated roller groups in the mining belt conveyor are obtained; and consecutively adjacent abnormally deviated roller groups in the mining belt conveyor are classified into the same abnormally deviated section;

[0081] For the vth roller in the jth abnormal offset roller group in the ith abnormal offset section, according to the belt offset degree of all roller groups in the ith abnormal offset section and the damage degree of the vth roller, the wear degree of the vth roller in the jth abnormal offset roller group in the ith abnormal offset section is obtained. The specific calculation formula is:

[0082]

[0083] In the formula, Q i,j,v Indicates the wear degree of the vth roller in the jth abnormal deviation roller group in the ith abnormal deviation section; δ i,j Indicates the belt deviation degree of the jth abnormal deviation roller group in the i-th abnormal deviation section; max(δ i ) represents the belt deviation degree of the idler group with the largest belt deviation degree in the i-th abnormal deviation section; f i,j,v It indicates the damage degree of the vth roller in the jth abnormal deviation roller group in the ith abnormal deviation section.

[0084] It should be noted that the greater the belt deviation of the roller group, the greater the damage to the roller in the roller group, the worse the running state of the roller, and the more necessary it is to replace the roller; therefore, Q i,j,v The larger the value is, the more likely it is that the roller should be replaced to improve the overall operating stability of the mining belt conveyor.

[0085] Specifically, a wear degree threshold γ is preset, and the specific value of γ can be set according to actual conditions. This embodiment does not make a rigid requirement, and γ=0.8 is used for description in this embodiment; for any roller, if the wear degree of the roller is greater than or equal to the wear degree threshold, the roller is an abnormal roller, and if the wear degree of the roller is less than the wear degree threshold, the roller is a normal roller;

[0086] Furthermore, all abnormal rollers in the mining belt conveyor are replaced to reduce the burden on the belt and other related components and improve the overall operating stability of the mining conveyor.

[0087] Another embodiment of the present invention provides a roller wear detection system for a mining belt conveyor, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a roller wear detection method for a mining belt conveyor in steps S001 to S004 when executing the computer program.

[0088] Another embodiment of the present invention provides a roller wear detection device for a mining belt conveyor, comprising a roller wear detection body for a mining belt conveyor, and also comprising a roller edge collection device, a damage analysis device, a deviation analysis device, and a roller evaluation device;

[0089] The roller edge acquisition device is used to obtain the roller group image; according to the roller group image, the edge of each roller in the roller group is obtained;

[0090] The damage analysis device is used to obtain the initial diameter of the roller; and obtain the damage degree and the maximum damage position of the roller according to the initial diameter of the roller and the edge of each roller;

[0091] The offset analysis device is used to obtain the offset degree of damage of the left and right rollers in the roller group according to the damage degree and the maximum damage position of the left and right rollers in the roller group; according to the offset degree of damage of the left and right rollers in the roller group, combined with the difference in damage degree of the left and right rollers in the roller group, obtain the belt offset degree of the roller group;

[0092] The roller evaluation device is used to obtain an abnormal offset section according to the belt offset degree of the roller group; and obtain the wear degree of the roller according to the belt offset degree of the roller group in the abnormal offset section and the damage degree of the roller.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for detecting wear of rollers of a mining belt conveyor, characterized in that: The method comprises the following steps: Acquire the image of the roller group; and acquire the edge of each roller in the roller group according to the image of the roller group; Obtain the initial diameter of the roller; obtain the damage degree and the maximum damage position of the roller according to the initial diameter of the roller and the edge of each roller; According to the damage degree and the maximum damage position of the left and right rollers in the roller group, the offset degree of the damage of the left and right rollers in the roller group is obtained; according to the offset degree of the damage of the left and right rollers in the roller group, combined with the difference in the damage degree of the left and right rollers in the roller group, the belt offset degree of the roller group is obtained; According to the belt deviation degree of the roller group, the abnormal deviation section is obtained; according to the belt deviation degree of the roller group in the abnormal deviation section and the damage degree of the roller, the wear degree of the roller is obtained.

2. The method for detecting roller wear of a mining belt conveyor according to claim 1, characterized in that: The specific method of obtaining the edge of each roller in the roller group includes: The edge of each roller group image is obtained by using an edge detection algorithm; the edge of each roller in each roller group is obtained by using semantic segmentation.

3. The method for detecting roller wear of a mining belt conveyor according to claim 1, characterized in that: The specific method of obtaining the initial diameter of the roller includes: For the edge of any roller, the edge of the roller is smoothed to obtain a smooth edge of the roller; all endpoints in the smooth edge of the roller are obtained, and the smooth edge of the roller is divided into a plurality of smooth edge segments according to the endpoints, and the corresponding portion of each smooth edge segment in the edge of the roller is obtained, and recorded as the roller edge segment corresponding to each smooth edge segment, and the two longest roller edge segments are respectively recorded as the first long edge and the second long edge of the roller; The edge of each roller just after being replaced is obtained as a comparison template of each roller, and the first long edge and the second long edge of the comparison template are obtained. The shortest distance from each pixel point in the first long edge of the comparison template to the second long edge of the comparison template, and the shortest distance from each pixel point in the second long edge of the comparison template to the first long edge of the comparison template are both recorded as long edge pixel point distances, and the average of all long edge pixel point distances is used as the initial diameter of each roller; and the average length of the smooth edge segment corresponding to the first long edge and the second long edge is used as the length of each roller.

4. The method for detecting roller wear of a mining belt conveyor according to claim 3, characterized in that: The specific method for obtaining the damage degree and the maximum damage position of the roller includes: For any roller, the shortest distance between the first long edge and the second long edge of the roller is recorded as the damaged diameter of the roller, and the position where the damaged diameter of the roller is located on the roller is recorded as the maximum damaged position of the roller; according to the damaged diameter and the initial diameter of the roller, the damage degree of the roller is obtained, and the specific calculation formula is: In the formula, f represents the damage degree of the roller; D represents the initial diameter of the roller; and D′ represents the damaged diameter of the roller.

5. The method for detecting roller wear of a mining belt conveyor according to claim 3, characterized in that: The specific method of obtaining the degree of deviation of the damage of the left and right rollers in the roller group includes: For the right roller in any roller group, the offset degree of damage of the right roller is obtained according to the distance between the maximum damage position of the right roller and the center position of the right roller. The specific calculation formula is: Wherein, R represents the offset degree of damage of the right idler, g represents the distance between the maximum damage position of the right idler and the center position of the right idler; G represents the length of the right idler; The degree of damage to the left idler in the idler group is obtained.

6. A method for detecting wear of rollers of a mining belt conveyor according to claim 5, characterized in that: The specific calculation formula for obtaining the belt deviation degree of the roller group is as follows: δ=norm[(RL)×|f r -f l |] Wherein, δ represents the belt deviation degree of the roller group; R represents the deviation degree of the damaged roller on the right side of the roller group; L represents the deviation degree of the damaged roller on the left side of the roller group; f r Indicates the degree of damage to the right roller in the roller group; f l represents the damage degree of the left roller in the roller group; || represents the absolute value function; norm[] represents the linear normalization function.

7. A method for detecting wear of rollers of a mining belt conveyor according to claim 1, characterized in that: The specific method of obtaining the abnormal offset segment includes: A belt abnormal deviation threshold β is preset; if the belt deviation degree of the roller group is greater than or equal to β, the roller group is recorded as an abnormal deviation roller group; all abnormal deviation roller groups in the mining belt conveyor are obtained, and the continuous adjacent abnormal deviation roller groups in the mining belt conveyor are classified into the same abnormal deviation section.

8. The method for detecting wear of rollers of a mining belt conveyor according to claim 1, characterized in that: The specific method of obtaining the wear degree of the roller includes: For the vth roller in the jth abnormal offset roller group in the ith abnormal offset section, according to the belt offset degree of all roller groups in the ith abnormal offset section and the damage degree of the vth roller, the wear degree of the vth roller in the jth abnormal offset roller group in the ith abnormal offset section is obtained. The specific calculation formula is: In the formula, Q i,j,v Indicates the wear degree of the vth roller in the jth abnormal deviation roller group in the ith abnormal deviation section; δ i,j Indicates the belt deviation degree of the jth abnormal deviation roller group in the i-th abnormal deviation section; max(δ i ) represents the belt deviation degree of the idler group with the largest belt deviation degree in the i-th abnormal deviation section; f i,j,v It indicates the damage degree of the vth roller in the jth abnormal deviation roller group in the ith abnormal deviation section.

9. A roller wear detection system for a mining belt conveyor, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is executed by the processor, the steps of the method for detecting roller wear of a mining belt conveyor as described in any one of claims 1 to 8 are implemented.

10. A roller wear detection device for a mining belt conveyor, comprising a roller wear detection device body for a mining belt conveyor, characterized in that: It also includes a roller edge collection device, a damage analysis device, a deviation analysis device, and a roller evaluation device; The roller edge acquisition device is used to obtain the roller group image; according to the roller group image, the edge of each roller in the roller group is obtained; The damage analysis device is used to obtain the initial diameter of the roller; and obtain the damage degree and the maximum damage position of the roller according to the initial diameter of the roller and the edge of each roller; The offset analysis device is used to obtain the offset degree of damage of the left and right rollers in the roller group according to the damage degree and the maximum damage position of the left and right rollers in the roller group; according to the offset degree of damage of the left and right rollers in the roller group, combined with the difference in damage degree of the left and right rollers in the roller group, obtain the belt offset degree of the roller group; The roller evaluation device is used to obtain the abnormal deviation section according to the belt deviation degree of the roller group; The degree of wear of the rollers is obtained based on the degree of belt deviation of the roller group in the abnormal deviation section and the degree of damage to the rollers.

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