A moving detection device and method for pipe twisting of a pipe belt machine

Abstract

The application relates to a pipe belt twisting pipe moving detection device of a pipe belt machine, which comprises an image recognition module, a position acquisition module, a data processing module and a pipe twisting alarm module; the data processing module calculates a pipe twisting angle value according to a pipe belt lapping direction of a current pipe belt machine line, a track position of a camera, a twisting angle and a pipe belt lapping overlap angle of the current pipe belt machine, filters out pipe twisting shaking of the pipe belt in an instant, combines the pipe twisting angle and a pipe twisting duration by using an integral method, obtains a pipe twisting alarm value and is used for judging whether pipe twisting alarm occurs or not; the pipe twisting alarm module outputs a detection result according to a judgment result of the data processing module, realizes an alarm function and adopts an integral method of two parameters of the pipe twisting angle and a pipe twisting occurrence time, forms a comprehensive evaluation index of the severity of pipe twisting and the evaluation is more reliable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of belt conveyors, in particular to a pipe belt conveyor belt pipe twisting movement detection device and method. BACKGROUND

[0002] At present, pipe belt conveyors are widely used in the power, metallurgy, port and other industries, and there is a trend of developing towards large capacity and long distance. The inspection of pipe belt conveyors mostly relies on manual work, and regular inspection and point guarding are carried out. However, due to the complex on-site environment and small space, the long inspection line distance causes great obstacles and interference to manual inspection, and some enterprises have carried out related research work on automatic inspection by robots. However, from the current situation, its function is limited to finding some simple problems through a single index, and for the fault of belt twisting of pipe belt conveyor, the inspection device has no actual detection method to comprehensively judge the fault degree of twisted pipe, and can only set the threshold of simple apparent characteristics to set whether the system has a twisted pipe alarm.

[0003] Patent document CN202221815572.1 discloses a round pipe belt conveyor twisting detection device and round pipe belt conveyor, which comprises a pressure measuring assembly, a first laser distance measuring assembly, a second laser distance measuring assembly, a control system and an alarm for setting on the PSK window plate; patent document CN202210789165.6 discloses a pipe belt conveyor, a pipe belt conveyor detection device and a detection method, the pipe belt conveyor detection device comprises a plurality of moving frames and a plurality of inspection robots arranged outside the pipe belt conveyor body, each inspection robot can move along the corresponding moving frame, each inspection robot is provided with an image acquisition device and a transmission device, the pipe belt conveyor body comprises a conveyor belt, and the image acquisition device can acquire images of the lap joint position of the conveyor belt; patent document CN202310380089.8 discloses a pipe belt conveyor pipe twisting detection method and device, the detection device comprises a camera for shooting pictures of the lap joint position of the pipe belt conveyor; a picture information processing unit connected with the camera and adopting the above pipe belt conveyor pipe twisting detection method to judge whether the pipe belt conveyor has a pipe twisting fault. The above patents represent the most commonly used technical solutions at present, which are to use ultrasonic waves, lasers, visual shooting pictures and other methods, adopt a single sensor index, set the threshold of the allowable pipe belt twisting, and when the pipe belt is twisted to this position, an alarm is generated. This type of scheme is prone to false alarms and it is difficult to adjust the sensitivity of the alarm.

[0004] Patent document CN201510824063.3 discloses a method and device for detecting the torsion of a tubular conveyor, real-time acquisition of torsion displacement data of the tubular conveyor, conversion of the torsion displacement data into torsion degree data, issuance of different instruction signals according to the torsion degree data, and issuance of a warning or alarm upon receipt of the instruction signals; patent document CN202310380333.0 discloses a method and device for identifying the torsion angle of a conveyor belt of a tubular belt conveyor, collection of picture information of the overlapping position of the conveyor belt, construction of a data scale according to the outer diameter of the conveyor belt and specification of the scale and range of the data scale, extraction of characteristic pixel points of the overlapping position of the conveyor belt in the picture, retention of the characteristic pixel points located in the middle position as determination pixel points, taking the average of the minimum and maximum rows of all determination pixel points as the horizontal coordinate of the overlapping position of the conveyor belt, and projecting the horizontal coordinate of the overlapping position of the conveyor belt onto the data scale to determine the torsion angle of the conveyor belt according to the intersection of the projection and the scale on the data scale. The above-mentioned patents use sensors to obtain the torsion angle of the belt, and then issue an alarm for torsion tube failure according to a set threshold. Such a solution can adjust the sensitivity, but it only deals with how to obtain the torsion information and does not deal with the relationship between the time and the spatial degree of the torsion tube, lacks rigorous logic, and is prone to problems of excessive sensitivity or excessive sluggishness of the system, making it difficult to meet the needs of engineering practice.

[0005] It can be seen that the existing torsion tube detection methods have the following problems:

[0006] Firstly, most detection solutions are based on fixed-point detection, such as fixing ultrasonic waves, lasers, cameras, etc. at a certain position of the tubular belt conveyor, using the change in the shape and size of the belt surface in the normal state and the torsion tube state to reflect the distance from the sensor, thereby achieving alarm or identifying the absolute position of the pixel points of the belt overlap edge in the picture.

[0007] Secondly, the belt of the tubular belt conveyor has a left-right overlap difference during installation, so when observing the belt of the tubular belt conveyor from different directions, the detection results should be treated differently to obtain more accurate judgments.

[0008] Thirdly, since the belt of the tubular belt conveyor can appear clockwise or counterclockwise torsion, in order to detect in both directions, detection devices need to be arranged on both sides of the truss, which is difficult to implement for platforms that need to be monitored. SUMMARY

[0009] In view of the deficiencies of the prior art, the present application provides a mobile detection device and method for the torsion tube of a tubular belt conveyor to solve the above technical problems:

[0010] The present application provides the following technical solutions:

[0011] A device for detecting the movement of a twisted conveyor belt in a conveyor belt machine includes an image recognition module, a position acquisition module, a data processing module, and a twisted conveyor belt alarm module.

[0012] The image recognition module includes a camera and a walking mechanism. The walking mechanism enables the camera to move around both sides of the conveyor belt truss. The image recognition module obtains the direction of the tape overlap of the current conveyor belt line and the overlap angle of the tape overlap of the current conveyor belt through the image captured by the camera, and identifies the position of the overlap edge of the tubular tape relative to the four idlers, thereby calculating the torsion angle.

[0013] The location acquisition module has electronic tags installed on both sides of the conveyor truss. The electronic tags use radio frequency identification technology. The location acquisition module can determine the current track position of the camera based on the electronic tags.

[0014] The data processing module calculates the twist angle value based on the tape overlap direction of the current conveyor line, the track position of the camera, the twist angle, and the overlap angle of the tape of the current conveyor. It first filters out the instantaneous twisting vibration of the tape, and then uses an integral method to combine the twist angle and the twist duration to obtain the twist alarm value, which is used to determine whether a twist alarm has occurred.

[0015] The torsion tube alarm module outputs the detection result based on the judgment result of the data processing module, thereby realizing the alarm function.

[0016] A method for detecting the movement of a twisted conveyor belt in a conveyor belt machine, comprising the following steps using the aforementioned device for detecting the movement of a twisted conveyor belt in a conveyor belt machine:

[0017] Step S1: The image recognition module obtains the tape overlap orientation 'a' of the current conveyor belt line. Looking from the tail to the head of the conveyor belt, when the tape installation is left overlap right, a = -1; when right overlap left, a = 1. The position acquisition module obtains the track position 'b' of the camera. The position acquisition module determines the track position of the camera based on the information read from the electronic tag. When the camera is on the left track of the conveyor belt, b = 1; when the camera is on the right track of the conveyor belt, b = -1. The image recognition module obtains the tape overlap overlap angle 'y' of the current conveyor belt. The overlap overlap angle is the angle between the overlap edge and the center line of the tubular tape.

[0018] Step S2: Obtain the torsion angle x of the tape from the image recognition module in real time; if the torsion angle x value can be obtained, proceed to step S3; if the torsion angle x value cannot be obtained, proceed to step S5.

[0019] Step S3: The data processing module obtains the tape lapping direction a, the track position b, the twist angle x and the tape lapping overlap angle y of the current pipe belt machine line, and calculates the pipe twisting angle value k; when a*b=1, the pipe twisting angle value k=x-y; when a*b=-1, the pipe twisting angle value k=x+y.

[0020] Step S4: Compare the pipe twisting angle value k with the reference value k 基准 When k>k 基准 , record the k value and the duration t; if t is less than or equal to t 基准 , do not calculate; if t is greater than t 基准 , calculate according to the following formula:

[0021]

[0022] M is the pipe twisting alarm value; compare M with M 基准 ; if M>M 基准 , the pipe twisting alarm module outputs the detection result "pipe twisting" alarm information.

[0023] Step S5: If the x value cannot be obtained, it means that the mobile camera cannot observe the lapping edge of the tubular tape, and there is a visual angle blind area. From the moment the lapping edge disappears, if the x value cannot be obtained within 10s, obtain the average value k 平均 of the last 10 k values before the lapping edge disappears; if k 平均 =0-90 degrees, the pipe twisting alarm module outputs the detection result "no pipe twisting, visual angle blind area" and does not alarm; if k 平均 is greater than 90, the pipe twisting alarm module outputs the detection result "pipe twisting, visual angle blind area" alarm information.

[0024] Further, the image recognition module obtains the twist angle x of the tape, including the following steps:

[0025] Step S21: Obtain the image of the pipe belt machine truss through the camera, and use target recognition detection technology to identify the position of the roller in the picture. Four rollers can be identified in the picture, and the center point coordinates (x1, y1), (x2, y2), (x3, y3) and (x4, y4) of the four rollers are obtained.

[0026] Step S22: Identify the lapping line of the tubular tape, and obtain the left upper end point coordinates (x5, y5) and the right lower end point coordinates (x6, y6) of the lapping line in the picture.

[0027] Step S23: connecting two points (x1, y1) and (x2, y2) is a straight line line1, the distance of two points (x1, y1) and (x2, y2) in the vertical direction is calculated, and the distance is equally divided and mapped as an angle of 0-45 degrees; connecting two points (x2, y2) and (x3, y3) is a straight line line2, the distance of two points (x2, y2) and (x3, y3) in the vertical direction is calculated, and the distance is equally divided and mapped as an angle of 45-135 degrees; connecting two points (x3, y3) and (x4, y4) is a straight line line3, the distance of two points (x3, y3) and (x4, y4) in the vertical direction is calculated, and the distance is equally divided and mapped as an angle of 135-180 degrees;

[0028] Step S24: connecting two points (x5, y5) and (x6, y6) is a straight line line4; line4 is extended and intersects with any one of lines line1-line3 to obtain the coordinate value (x7, y7) of the intersection point, and the mapping relationship between the vertical distance and the angle is combined to obtain the output value of the belt conveyor belt twisting angle x.

[0029] Further, the range of the pipe twisting angle value k is 0-180°, the current belt conveyor belt overlapping angle y is in the range of 20-30 degrees; k 基准 The range allowed to be set by the user is 20-90 degrees, t 基准 The range allowed to be set by the user is 5-60s, M 基准 The range allowed to be set by the user is 200-10000.

[0030] Further, the upper limit of the t value is 60s, and the continuous pipe twisting exceeding 60s is recorded and calculated according to 60s data.

[0031] The present application has the following beneficial technical effects:

[0032] A pipe twisting angle detection scheme suitable for use on a mobile platform is disclosed in view of the structural characteristics of the belt conveyor, which overcomes the defect that the traditional scheme is only applicable to fixed-point monitoring, and the present application adopts a relative judgment mode based on the position of the carrier roller, is applicable to the detection of a mobile camera platform, combines the characteristics that the belt conveyor has different left and right overlapping directions, and the blind area view angle at different directions; a corresponding detection device and method are developed, and the pipe twisting angle acquisition mode is more reliable.

[0033] The present application develops an algorithm logic of pipe twisting alarm, and distinguishes the detection of pipe twisting phenomenon and the alarm of pipe twisting fault, and the phenomenon of pipe twisting does not mean that the pipe twisting alarm needs to be immediately performed; and instead of relying on a single threshold value, the thinking mode of the inspection worker is introduced, the time and space degree judgment of the pipe twisting fault is added, the two parameters of the pipe twisting angle and the pipe twisting occurrence time are integrated, a comprehensive evaluation index of the severity of the pipe twisting is formed, and the evaluation is more reliable. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a structural schematic diagram of a pipe belt machine adhesive tape pipe twisting movement detection device of the present application;

[0035] Figure 2 is a flowchart for performing pipe twisting detection of the present application;

[0036] Figure 3 is a schematic diagram of the movement of a camera at different positions on a truss when the pipe-shaped adhesive tape is right lap left direction of the present application;

[0037] Figure 4 is a schematic diagram of the movement of a camera at different positions on a truss when the pipe-shaped adhesive tape is left lap right direction of the present application;

[0038] Figure 5 is a schematic diagram of the overlap angle y of the adhesive tape of the present application;

[0039] Figure 6 is a schematic diagram when the adhesive tape overlap edge is in the camera blind area when a*b = 1 of the present application;

[0040] Figure 7 is a schematic diagram when the adhesive tape overlap edge is in the camera blind area when a*b = -1 of the present application;

[0041] Figure 8 is a schematic diagram of steps 21-23 in the angle acquisition module of the present application;

[0042] Figure 9 is a schematic diagram of step S24 in the angle acquisition module of the present application.

[0043] The reference signs in the drawings are:

[0044] Mobile camera system 100, camera 110, walking structure 120, electronic tag 200. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0046] EMBODIMENT

[0047] As shown in Figure 1 A pipe belt machine adhesive tape pipe twisting movement detection device, composed of an image recognition module, a position acquisition module, a data processing module, and a pipe twisting alarm module.

[0048] The image recognition module includes a mobile camera 100 and an electronic tag 200. The mobile camera 100 has a camera 110 and a walking structure 120, enabling it to move around both sides of the conveyor belt truss. The center height of the camera 110 is the same as the center height of the tubular conveyor belt, and the camera's field of view can capture images of the four idlers on one side of the truss. The mobile camera 100 can be mounted on rails, driven by wheels, tracked vehicles, or other methods to achieve its goal of moving along the conveyor belt truss. The image recognition module obtains the direction of the conveyor belt overlap and the overlap angle of the conveyor belt on the current conveyor belt line from the images captured by the camera, and identifies the position of the overlap edge of the tubular conveyor belt relative to the four idlers, thereby calculating the torsion angle.

[0049] An electronic tag 200 is installed on one side of the conveyor truss. When the mobile camera 100 moves around the truss, the position acquisition module can determine whether the mobile camera platform is currently on the left or right side of the truss based on the electronic tag. The electronic tag 200 records the position information. The electronic tag uses radio frequency identification technology and is installed in the area through which the mobile camera moves. The electronic tag has a data bit b. The b in the electronic tag on the left side of the truss is equal to -1, and the b in the electronic tag on the right side of the truss is equal to 1.

[0050] The data processing module calculates the twist angle value based on the tape overlap direction of the current conveyor belt line, the track position of the camera, the twist angle, and the overlap angle of the tape of the current conveyor belt. It first filters out the instantaneous twisting vibration of the tape, and then uses an integral method to combine the twist angle and the twist duration to obtain the twist alarm value, which is used to determine whether a twist alarm has occurred.

[0051] The torsion tube alarm module outputs the detection result based on the judgment result of the data processing module, thereby realizing the alarm function.

[0052] like Figure 2 The following is the operating procedure for pipe twist detection on a pipe conveyor:

[0053] Because the tape has an overlap width and tubular tape has different overlap directions, different data processing is required under different circumstances, depending on the tape overlap direction (a) of the current tubular tape conveyor line, the track position of the moving camera (b) and the overlap angle (y) of the tubular tape conveyor.

[0054] Provide three global variables a, b, and y. Based on the construction status of the conveyor belt, set the direction of the tape overlap of the current conveyor belt line, represented by the letter a: it is agreed that when looking from the tail to the head of the conveyor belt, the tape installation form is left overlap with right, a=-1, and right overlap with left, a=1.

[0055] like Figure 5As shown, the overlap angle of the current taping machine is set, represented by the letter y, which is usually in the range of 20-30 degrees. The position of the overlap edge must be added or subtracted after the overlap angle, and then the theoretical center position of the tape is obtained.

[0056] As shown, the module can also read the information of the electronic tag and determine the track position of the mobile camera. When the camera is on the left track of the taping machine, b = 1; when the camera is on the right track of the taping machine, b = -1. Figures 3-4

[0057] The twist angle x of the tape is obtained in real time from the image recognition module. If the value of x can be obtained, when a*b = 1, the twist tube angle value k (0-180°) = x-y; when a*b = -1, the twist tube angle value k (0-180°) = x+y.

[0058] The data processing module obtains the twist tube angle value k, and compares it with the reference value k 基准 When k is greater than k 基准 , the value of k and the duration t are recorded; if the value of t is less than or equal to t 基准 , no calculation is performed; if the value of t is greater than t 基准 , the following formula is used to calculate (the upper limit of the value of t is 60s, and the continuous twist tube beyond 60s is calculated according to the data recorded for 60s):

[0059]

[0060] M is the twist tube alarm value; compare the value of M with M 基准 , if greater than M 基准 , output the detection result "twist tube" alarm information.

[0061] According to the sensitivity of the owner to the alarm and the stability of the tape in different projects, etc., k 基准 , t 基准 , M 基准 can be set. The user-set range of k 基准 is 20-90 degrees, the user-set range of t 基准 is 5-60s, and the user-set range of M 基准 is 200-10000.

[0062] If the value of x cannot be obtained, it means that the mobile camera cannot observe the overlap edge of the tubular tape (visual angle blind area), so within 10s from the moment the overlap edge disappears, x cannot be obtained. Get the average value k 平均 of the last 10 k values before the disappearance, if k 平均 = 0-90 degrees, the detection result is "visual angle blind area", and no alarm is performed; if k 平均 ​If the value is greater than 90, the detection result is the alarm information of "twisted pipe, visual angle blind area", which can be referred to Figures 6-7 .

[0063] In the embodiment, the working process of the image recognition module acquiring the twist angle x of the adhesive tape is as follows: the image of the pipe belt machine truss is acquired through the camera, the position of the roller in the picture is recognized by using target recognition detection technology, 4 groups of rollers in the picture can be recognized, and the point coordinates (x1, y1), (x2, y2), (x3, y3), and (x4, y4) of the rollers in the picture are obtained. The lap joint line of the tubular adhesive tape is recognized, and the upper left end point coordinate (x5, y5) and the lower right end point coordinate (x6, y6) of the lap joint line in the picture are obtained, as shown in Figure 8 .

[0064] The line connecting the two points (x1, y1) and (x2, y2) is a straight line line1, the distance of the two points (x1, y1) and (x2, y2) in the vertical direction is calculated, and the distance is equally divided and mapped as an angle of 0-45 degrees; the line connecting the two points (x2, y2) and (x3, y3) is a straight line line2, the distance of the two points (x2, y2) and (x3, y3) in the vertical direction is calculated, and the distance is equally divided and mapped as an angle of 45-135 degrees; the line connecting the two points (x3, y3) and (x4, y4) is a straight line line3, the distance of the two points (x3, y3) and (x4, y4) in the vertical direction is calculated, and the distance is equally divided and mapped as an angle of 135-180 degrees; the line connecting the two points (x5, y5) and (x6, y6) is a straight line line4.

[0065] The line4 is extended and intersects with any one of the lines line1-line3, the coordinate value (x7, y7) of the intersection point is obtained, the mapping relationship between the vertical distance and the angle is combined, and the output value x of the pipe belt machine adhesive tape twist angle is obtained, as shown in Figure 9 .

[0066] The embodiment adopts multiple thresholds (k 基准 , t 基准 , M 基准 ) to screen and control the detection of the twisted pipe phenomenon, and false positives are less likely to occur. Moreover, the embodiment adopts the integral mode of the two parameters of the twisted pipe angle and the twisted pipe occurrence time to form a comprehensive evaluation index of the severity of the twisted pipe, and the evaluation is more reliable.

[0067] The above-described embodiments only express the specific implementation of the present application, and the description is more specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the protection scope of the present application.

Claims

1. A pipe belt twisting movement detection device of a pipe belt machine, characterized by, The image recognition module, the position acquisition module, the data processing module and the torsion pipe alarm module are included. The image recognition module includes a camera and a walking mechanism, and the walking mechanism can make the camera walk on both sides of the pipe belt machine truss. The image recognition module obtains the tape overlap direction of the current pipe belt machine line, the tape overlap overlap angle of the current pipe belt machine, and the position of the overlap edge of the tubular tape relative to the four rollers through the picture taken by the camera, and then calculates the torsion angle. The position acquisition module is installed with an electronic tag on both sides of the pipe belt machine truss, and the position acquisition module can know the track position of the current camera according to the electronic tag. The data processing module calculates the torsion pipe angle value according to the tape overlap direction of the current pipe belt machine line, the track position of the camera, the torsion angle and the tape overlap overlap angle of the current pipe belt machine, filters out the torsion pipe jitter of the tape in an instant, and then combines the torsion pipe angle and the torsion pipe duration by using the integral method to obtain the torsion pipe alarm value for judging whether the torsion pipe alarm occurs. The torsion pipe alarm module outputs the detection result according to the judgment result of the data processing module to realize the alarm function.

2. The pipe belt machine tape torsion pipe movement detection device according to claim 1, wherein the electronic tag adopts radio frequency identification technology.

3. A method of detecting movement of a pipe belt twisting machine of a pipe belt machine, characterized by, The pipe belt machine tape torsion pipe movement detection device according to claim 1 or 2 performs the following steps: Step S1: The image recognition module obtains the tape overlap direction a of the current pipe belt machine line. From the tail to the head of the pipe belt machine, when the tape installation form is left overlap right, a = -1, and when the tape installation form is right overlap left, a = 1. The position acquisition module obtains the track position b of the camera. The position acquisition module determines the track position of the camera according to the information of the read electronic tag. When the camera is on the left track of the pipe belt machine, b = 1, and when the camera is on the right track of the pipe belt machine, b = -1. The image recognition module obtains the tape overlap overlap angle y of the current pipe belt machine. The overlap overlap angle is the angle between the overlap edge and the center line of the tubular tape. Step S2: Real-time obtains the torsion angle x of the tape from the image recognition module. If the torsion angle x value can be obtained, step S3 is performed. If the torsion angle x value cannot be obtained, step S5 is performed. Step S3: The data processing module obtains the tape overlap direction a of the current pipe belt machine line, the track position b, the torsion angle x and the tape overlap overlap angle y of the current pipe belt machine, and calculates the torsion pipe angle value k. Step S4: Compare the k value with the reference value k 基准 If k is greater than k 基准 , record the k value and the time t, if t is less than or equal to t 基准 , do not calculate, if t is greater than t 基准 , calculate according to the following formula: M is the torsion tube alarm value; compare the M value with M 基准 基准 If M is greater than M 基准 , the detection result "torsion tube" is outputted by the torsion tube alarm module.

4. The method of claim 3, wherein the step of detecting the twisting of the belt of the pipe belt conveyor is performed by a sensor. The calculation of the torsion pipe angle value k is as follows: when a*b = 1, the torsion pipe angle value k = x-y; when a*b = -1, the torsion pipe angle value k = x+y.

5. The method of claim 3, wherein the step of detecting the twisting of the belt of the pipe belt conveyor is characterized by, Step S5: If the x value cannot be obtained, it means that the mobile camera cannot observe the overlap edge of the tubular tape, and there is a visual angle blind area. From the moment the overlap edge disappears, if the x value cannot be obtained within 10 s, the last 10 k values before the overlap edge disappears are obtained, and the average value k of the 10 k values is calculated 平均 , if k 平均 = 0-90 degrees, the detection result output by the twisted pipe warning module is "no twisted pipe, visual angle blind area", and no warning is performed; if k 平均 is greater than 90, the detection result output is the warning information "twisted pipe, visual angle blind area".

6. The method of claim 3, wherein the step of detecting the twisting of the belt of the pipe belt conveyor is characterized by, The image recognition module obtains the torsion angle x of the tape, including the following steps: Step S21: Obtain the image of the pipe belt machine truss through the camera, and identify the position of the roller in the picture by using target recognition detection technology. Four rollers can be identified in the picture, and the center point coordinates (x1, y1), (x2, y2), (x3, y3) and (x4, y4) of the four rollers are obtained. Step S22: identify the overlap line of the tubular adhesive tape, obtain the upper left endpoint coordinate (x5, y5) and the lower right endpoint coordinate (x6, y6) of the overlap line in the picture; Step S23: connect the two points (x1, y1) and (x2, y2) as a straight line line1, calculate the distance of the two points (x1, y1) and (x2, y2) in the vertical direction, and divide the distance by half and map it as an angle of 0-45 degrees; connect the two points (x2, y2) and (x3, y3) as a straight line line2, calculate the distance of the two points (x2, y2) and (x3, y3) in the vertical direction, and divide the distance by half and map it as an angle of 45-135 degrees; connect the two points (x3, y3) and (x4, y4) as a straight line line3, calculate the distance of the two points (x3, y3) and (x4, y4) in the vertical direction, and divide the distance by half and map it as an angle of 135-180 degrees; Step S24: connect the two points (x5, y5) and (x6, y6) as a straight line line4; extend line4 and intersect with any one of lines line1-line3 to obtain the coordinate value (x7, y7) of the intersection point, and obtain the output value of the pipe belt machine adhesive tape twist angle x in combination with the mapping relationship of the vertical distance and the angle.

7. The method of claim 3, wherein the step of detecting the twisting of the belt of the pipe belt conveyor is performed by a sensor. The twist pipe angle value k ranges from 0 to 180 degrees.

8. The method of claim 3, wherein the step of detecting the twisting of the belt of the pipe belt conveyor is characterized by, The adhesive tape overlap angle y of the current pipe belt machine is within the range of 20-30 degrees.

9. The method of claim 3, wherein the step of detecting the twisting of the belt of the pipe belt conveyor is characterized by, The upper limit of the t value is 60s, and the continuous pipe twisting exceeding 60s is recorded according to the data calculation of 60s.

10. The method of claim 3, wherein the step of detecting the twisting of the belt of the pipe belt conveyor is characterized by, k 基准 The range allowed for user setting is 20-90 degrees, t 基准 The range allowed for user setting is 5-60 s, M 基准 The range allowed for user setting is 200-10000.

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