WO2022139066A1 - Apparatus and method for detecting tension problem or meandering problem of conveyor belt on basis of vision sensor - Google Patents

Abstract

A method for detecting the condition of a conveyor belt on the basis of a vision sensor, according to an embodiment of the present invention, comprises the steps of: (a) recognizing, by the vision sensor arranged a certain distance from the conveyor belt, at least one sensing mark marked on the outer surface of the rotating conveyor belt; (b) comparing, by the vision sensor, a pre-stored sensing mark image in a normal state with a recognized sensing mark image, to determine whether at least one of a tension problem and a meandering problem acting on the conveyor belt has occurred, on the basis of a difference in pixel values between the images; and (c) when at least one problem is detected, transmitting, by the vision sensor, a warning message to a manager terminal, wherein the tension problem refers to a phenomenon in which the conveyor belt operates at a preset tension or less and sags, and the meandering problem refers to a phenomenon in which the direction of the conveyor belt deviates in a direction different from the direction in a normal state.

Description

Apparatus and method for detecting tension problem or meandering problem of conveyor belt based on vision sensor

The present invention relates to an apparatus and method for detecting belt deformation that may occur due to tension or meandering in a conveyor belt based on a vision sensor.

Conveyor belt refers to a continuous conveying device that circulates the belt by a pulley to move the goods on the belt. Conventional conveyor belts are used to transport materials or goods in factories, shops, department stores, etc., or to transport objects such as soil, aggregate, and concrete at construction sites.

At this time, the belt constituting the conveyor belt is constantly circulated by the pulley and an article for moving must be placed thereon. Accordingly, in the prior art, the material of the belt is PVC or PU. However, the material is also subjected to force in each direction according to the continuous operation of the conveyor belt.

In particular, the tension generated a lot in the conveyor belt is generated by the pulling force and causes a problem in that the belt is stretched. In addition, the meandering causes problems such as distortion of a specific area of the conveyor belt.

Although these two problems are occurring at the same time, conventionally, there is no inspection apparatus capable of detecting the two problems at the same time.

In addition, the conventional apparatus for inspecting a conveyor belt has problems in that it is large in size and difficult to install.

In order to solve the above problems, an object of the present invention is to detect a problem due to tension or meandering occurring in the belt portion in operating a conveyor belt through a vision sensor.

In particular, since there is no conventional device for detecting problems caused by tension and meandering on a conveyor belt at once, it is intended to implement a device capable of detecting both problems at once.

In addition, in the prior art, the conveyor belt inspection equipment is large, and it is to solve the problem that it is difficult to install.

In a method for detecting a state of a conveyor belt based on a vision sensor according to an embodiment of the present invention for achieving the above technical problem, (a) at least one marked on the outer surface of the rotating conveyor belt Recognizing the sensing mark by a vision sensor disposed at a predetermined distance from the conveyor belt; (b) The vision sensor compares the pre-stored image of the sensing mark in the normal state with the image of the recognized sensing mark, and based on the pixel value difference between the images, at least one of a tension problem and a meandering problem acting on the conveyor belt occurs determining whether or not the and (c) when at least one problem is detected, the vision sensor transmits a warning message to the manager terminal. The problem may mean a phenomenon in which the direction of the conveyor belt is deviated from the normal state.

In addition, the sensing mark may be disposed on the same first axis as the rotation direction of the conveyor belt, and may be located in an area of the edge of the conveyor belt that is not covered by objects loaded on the conveyor belt.

In addition, in step (b), based on the pixel value difference, the first axis and the second axis perpendicular to the first axis calculate how much change is generated in the image of the sensing mark compared to the previously stored image And, when the change value exceeds a preset value, it can be determined that a tension problem has occurred in the conveyor belt.

In addition, when it is determined that a length deformation with respect to the height and width of the image of the recognized sensing mark has occurred, it is determined that a tension problem occurs, and when it is determined that deformation occurs in the arrangement direction of the image of the recognized sensing mark, a skew problem can be considered as the occurrence.

In addition, when the sensing mark is formed to include a polygonal or curved figure and a border line surrounding the polygonal or curved figure, step (b) includes one edge of the sensing mark and a point on the border line adjacent to the one edge. If the distance between the distances is calculated, but a plurality of distances are calculated for a plurality of edges and a plurality of points, and a difference value between the plurality of distances is greater than or equal to a preset value, it may be determined that a tension problem has occurred.

In addition, when the sensing mark is formed to include a polygonal or curved figure and a border line surrounding the polygonal or curved figure, step (b) includes a first belt point and a second spaced apart from each other of the side edges of the conveyor belt. 2 Calculate the distance differences between the belt point and the edge line for each of the image of the sensing mark in the normal state and the image of the recognized sensing mark, compare the distance differences calculated from each image, and if the difference value is greater than a preset value It is assumed that the meandering problem has occurred, but the distance may be the length between the first and second belt points and the point where the edge line meets the edge line when extending in a direction perpendicular to the side edge of the conveyor belt.

In addition, in step (b), when the edge line of the sensing mark is formed in a grid shape, the image of the recognized sensing mark and the image of the pre-stored normal state sensing mark are divided into a plurality of virtual grid areas, and a plurality of within each virtual grid area is divided into a plurality of virtual grid areas. By analyzing and comparing the pixel values of , it can be determined that either a tension problem or a meandering problem has occurred in the conveyor belt.

In addition, in step (c), any one of a tension problem or a meandering problem may be generated to generate position information on the area of the conveyor belt in which the sensing mark is located, and may be further transmitted to the manager terminal.

In addition, step (b) calculates each recognition time until the next sensing mark is recognized after recognizing a specific sensing mark, and when values with different time intervals are recognized among a plurality of recognition times, an abnormality occurs in the motor of the conveyor belt can be considered to have occurred.

Also, conveyor belts; at least one sensing mark marked on the outer surface of the rotating conveyor belt; and a tension problem and a meandering problem acting on the conveyor belt based on the pixel value difference between the images by comparing the previously stored normal-state sensing mark image and the recognized sensing mark image, arranged at a predetermined distance from the conveyor belt. It is determined whether at least one problem has occurred, and when at least one problem is detected, a vision sensor that transmits a warning message to the manager terminal is configured, and the tension problem is a phenomenon in which the conveyor belt is driven below a preset tension and sags Meaning, the meandering problem can mean a phenomenon in which the direction of the conveyor belt deviates from the normal state.

In addition, the sensing mark may be directly engraved on the surface of the conveyor belt based on a marking machine, or implemented as an attachment and directly attached to the surface of the conveyor belt may be applied.

In addition, it further includes a support for mounting the vision sensor, the support is disposed on the side spaced apart from the conveyor belt by a predetermined distance, and is formed to extend in the direction of the conveyor belt so as to overlap one area of the upper or lower surface of the conveyor belt, the vision sensor includes As it is mounted on a portion of the extended support, it may be disposed to overlap one area of the upper or lower surface of the conveyor belt.

In addition, if the vision sensor is provided independently of the conveyor belt and the vision sensor does not recognize the sensing mark for more than a preset time during operation, a movement request message for the position of the vision sensor may be transmitted to the manager terminal.

In addition, when a speaker is provided in the vision sensor and any one of a tension problem and a meandering problem is detected in the conveyor belt, a preset warning sound may be output.

According to an embodiment of the present invention, a problem due to tension or meandering occurring in the belt portion in operating the conveyor belt may be detected through a vision sensor.

In addition, unlike the conventional inspection equipment of the conveyor belt, it is characterized in that the tension and the meander can be detected together.

In addition, it is possible to solve the size problem and the difficulty of installation of the conventional conveyor belt inspection equipment.

1 is a diagram illustrating the configuration of a system for detecting a state of a conveyor belt based on a vision sensor according to an embodiment of the present invention.

2 is a diagram illustrating the configuration of a system for detecting a state of a conveyor belt based on a vision sensor according to an embodiment of the present invention.

3 is an operation flowchart illustrating a method of detecting a state of a conveyor belt based on a vision sensor, according to an embodiment of the present invention.

4A is a diagram for an example of a sensing mark, according to an embodiment of the present invention.

4B is a diagram for an example of a sensing mark, according to an embodiment of the present invention.

5A is a diagram for an example of a sensing mark according to an embodiment of the present invention.

5B is a diagram for an example of a sensing mark, according to an embodiment of the present invention.

6A is a diagram for an example of a sensing mark, according to an embodiment of the present invention.

6B is a diagram for an example of a sensing mark, according to an embodiment of the present invention.

7A is a diagram for an example of a sensing mark, according to an embodiment of the present invention.

7B is a diagram for an example of a sensing mark, according to an embodiment of the present invention.

7C is a diagram for an example of a sensing mark, according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is "connected" with another part, this includes not only the case of being "directly connected" but also the case of being "electrically connected" with another element interposed therebetween. . In addition, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated, and one or more other features However, it is to be understood that the existence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded in advance.

The following examples are detailed descriptions to help the understanding of the present invention, and do not limit the scope of the present invention. Accordingly, an invention of the same scope performing the same function as the present invention will also fall within the scope of the present invention.

1 and 2 are diagrams illustrating the configuration of a system for detecting a state of a conveyor belt based on a vision sensor, according to an embodiment of the present invention.

Referring to FIG. 1 , the system includes a conveyor belt 100 , a sensing mark 200 , and a vision sensor 300 .

The present invention includes a sensing mark 200 on the outer surface of a rotating conveyor belt 100 and recognizes that the sensing mark 200 is changed due to a tension problem or a meandering problem by the vision sensor 300, the conveyor A problem occurring in the belt 100 is detected.

In this case, the tension problem refers to a phenomenon in which the conveyor belt 100 is driven more than a preset tension and the belt portion is stretched. Specifically, the belt portion of the conveyor belt 100 is made of a plastic material such as PVC (poly vinyl chloricde) or PU (poly urethane). At this time, the belt unit is constantly rotated during operation by a pair of drive shafts, and is subjected to a load by an object placed on the upper portion of the conveyor belt 100 . Accordingly, the belt portion of the conveyor belt 100 is constantly subjected to force, causing a problem in that the belt portion is stretched by tension. In addition, the meandering problem refers to a phenomenon in which the conveyor belt 100 is driven by more than a preset tension and sags. The meandering problem is also caused by a cause similar to the tension problem. In addition, when a problem occurs in the motor of the drive shaft rotating the belt part, the tension problem or the meandering problem may occur.

According to an embodiment of the present invention, the conveyor belt 100 is a type of movable belt for carrying goods as described above. Although not specifically illustrated in the drawings because it is a prior art, it may be composed of a driving shaft including a belt unit for carrying goods and a motor for rotating the belt unit.

According to an embodiment of the present invention, at least one sensing mark 200 is marked on the outer surface of the rotating conveyor belt 100 , and it is determined whether the conveyor belt 100 is malfunctioning through the vision sensor 300 . It is characterized in that it is used as a measure for

At this time, the sensing mark 200 is directly engraved on the surface of the conveyor belt 100 based on a marking machine such as inkjet or laser, or is implemented as an attachment such as a sticker and is directly attached to the surface of the conveyor belt 100. One may apply.

According to an embodiment of the present invention, the vision sensor 300 recognizes the sensing mark 200 to determine whether the conveyor belt 100 is faulty. In addition, when a problem is detected, the vision sensor 300 transmits a warning message to the manager terminal.

Accordingly, the vision sensor 300 is provided with an image recognition-based sensor for recognizing the sensing mark 200 . In addition, a control unit for determining whether the conveyor belt 100 has failed based on the recognized image or a communication unit for notifying the manager terminal of whether the conveyor belt 100 has failed may be further included.

In addition, as shown in FIG. 2 , in an optional embodiment, the system may further include a support for mounting the vision sensor.

At this time, the support is arranged on the side of the conveyor belt 100 and a predetermined distance spaced apart. In addition, the support is formed to extend in the direction of the conveyor belt 100 so as to overlap one area of the upper surface or the lower surface of the conveyor belt 100, and the vision sensor 300 is mounted on the extended support portion, so that the conveyor belt 100 ) to overlap with one area of the upper or lower surface.

In a further embodiment, the vision sensor 300 and the support may correspond to components included in the conveyor belt 100 . That is, a separate support is not provided and the conveyor belt 100 includes a failure detection function of the belt part.

3 is an operation flowchart illustrating a method of detecting a state of a conveyor belt based on a vision sensor, according to an embodiment of the present invention.

Referring to FIG. 3 , the vision sensor 300 recognizes the sensing mark 200 provided on the conveyor belt 100 ( S110 ).

Specifically, at least one sensing mark 200 marked on the outer surface of the rotating conveyor belt 100 is recognized by the vision sensor 300 disposed at a predetermined distance from the conveyor belt 100 .

In this case, the sensing mark 200 is disposed on the same first axis as the rotation direction of the conveyor belt 100 . In addition, the object loaded on the conveyor belt 100 is positioned in one area of the edge of the conveyor belt 100 so as not to cover the sensing mark 200 . That is, the sensing mark 200 may be provided at a position where the vision sensor 300 does not interfere with the real-time inspection even while the conveyor belt 100 carries the object.

In a further embodiment, an additional marker may be provided on the outer surface of the conveyor belt 100 to guide the position of the object when loading the object for carrying. Through this, when the operator loads the object on the conveyor belt 100 according to the additional marker, the vision sensor 300 does not interfere with the recognition of the sensing mark 200 .

Next, it is determined whether a tension problem or a meandering problem that the vision sensor 300 acts on the conveyor belt 100 occurs ( S120 ).

Specifically, the vision sensor 300 compares the previously stored image of the sensing mark 200 in a normal state with the image of the sensing mark 200 recognized by the conveyor belt 100 . Thereafter, the vision sensor 300 determines whether at least one of a tension problem and a meandering problem acting on the conveyor belt 100 has occurred, based on the pixel value difference between the images.

That is, based on the pixel value difference, the vision sensor 300 includes a first axis (this means the same direction as the rotation direction of the conveyor belt 100 defined above) and a second axis perpendicular to the first axis. It is calculated how much change value has occurred in the image of the sensing mark 200 recognized as the direction compared to the pre-stored image. Thereafter, when the change value exceeds a preset value, the vision sensor 300 determines that a tension problem has occurred in the conveyor belt 100 as a basic principle.

In this case, the shape of the sensing mark 200 may vary according to a method of performing the inspection. However, since the shape or size may vary depending on the specifications of the conveyor belt 100 or the vision sensor 300 , the scope of the present invention is not limited.

However, in order to explain the inspection method for the following failures, referring to the examples of the sensing mark 200 shown in FIGS. 4A, 4B, 5A, 5B, 6A, 6B, and 7A to 7C, the vision A method for the sensor 300 to determine a tension problem or a meandering problem will be described.

As an embodiment, referring to FIGS. 4A and 4B , the sensing mark 200 is provided in a constant shape in vertical and horizontal directions, and is illustrated in the shape of a regular cross on the drawing.

At this time, when it is determined that deformation with respect to the length and width of the image of the recognized sensing mark 200 has occurred in step S120 , the vision sensor 300 determines that a tension problem has occurred.

For example, in FIG. 4A , when the sensing mark 200 in a general state or tension is applied, an area is pulled and changed as shown in FIG. 4B . The vision sensor 300 detects this change in pixel units by recognizing it. That is, in FIG. 4A , a1a2 = b1b2 = c1c2 = d1d2 has the same length, but in FIG. 4B , a1a2 = c1c2 and b1b2 = d1d2 have the same length, but a1a2 ≠ b1b2, a1a2 ≠ d1d2 ≠ b1b2 and c1c2 ≠ b1b2 lengths do not match each other.

Meanwhile, the vision sensor 300 may determine that a meandering problem occurs when it is determined that deformation occurs in the arrangement direction of the image of the recognized sensing mark 200 .

As another embodiment, referring to FIGS. 5A and 5B , the sensing mark 200 may be formed to include a polygonal or curved figure and a border line surrounding the polygonal or curved figure.

In this case, in step S120 , the vision sensor 300 calculates a distance between one edge of the sensing mark 200 and one point of the edge line adjacent to the one edge. Thereafter, a plurality of distances are calculated for a plurality of edges and a plurality of points, and if the difference between the plurality of distances is greater than or equal to a preset value, it is determined that a tension problem has occurred in the conveyor belt 100 .

For example, in FIG. 5A , the sensing mark 200 in a normal state, or when a tension problem occurs, the position of the sensing mark 200 is changed as shown in FIG. 5B . The vision sensor 300 detects this by recognizing a change in the position of the sensing mark 200 . That is, in FIG. 5A , each distance of the sensing mark 200 from the square edge (which may be an edge included in the sensing mark 200 or a virtual edge) is constant, such as a1a2 = b1b2 = c1c2 = d1d2. do. However, when a meandering problem occurs, the position of the sensing mark 200 itself moves, as shown in FIG. 5b, and each distance is a1a2 ≠ c1c2, b1b2 ≠ d1d2, a1a2 ≠ b1b2, a1a2 ≠ d1d2, c1cd2 d2 ≠ b1 b1 All of them do not match, and the vision sensor 300 recognizes this.

As another embodiment, referring to FIGS. 6A and 6B , the sensing mark 200 may be formed to include a polygonal or curved figure and a border line surrounding the polygonal or curved figure.

At this time, the vision sensor 300 detects the distance differences between the first and second belt points and the edge line spaced apart from each other on the side edge of the conveyor belt 100 with the image of the sensing mark 200 in a normal state and the recognized sensing An image of the mark 200 is calculated for each.

In this case, the above-mentioned distance means the length between the first and second belt points and the point where the edge line meets the edge when extending in a direction perpendicular to the side edge of the conveyor belt 100 .

Thereafter, the vision sensor 300 compares the distance differences calculated from the images, and when the difference value is greater than or equal to a preset value, the meandering problem occurs.

For example, in FIG. 6A , when the sensing mark 200 is in a normal state, it is located at the frame of the conveyor belt 100 or at the end of the equipment facing the belt. Accordingly, the distance between the first and second belt points is set to 1. Thereafter, when a meander occurs, a change occurs in the distance between the first and second belt points in the meander as shown in FIG. 6B. As shown in the drawing, the respective distances do not match, such as a ≠ a1, a1 ≠ 1, b ≠ b1, and b1 ≠ 1, and the vision sensor 300 recognizes this.

As another embodiment, referring to FIGS. 7A to 7C , when the edge line of the sensing mark 200 is formed in a grid shape, the vision sensor 300 displays the recognized image of the sensing mark 200 and a pre-stored normal state. The image of the sensing mark 200 is divided into a plurality of virtual grid regions. Thereafter, the vision sensor 300 analyzes and compares a plurality of pixel values in each virtual grid region, thereby determining that a tension problem or a meandering problem has occurred in the conveyor belt 100 .

For example, the sensing mark 200 in a normal state shown in FIG. 7A is divided into 16 grids and stored, and then the sensing mark 200 as shown in FIG. 7B recognized from the conveyor belt 100 is also 16 of the same size. is divided into grids. Thereafter, as shown in FIG. 7C , the vision sensor 300 compares the shape of one area of the sensing mark 200 shown in each grid stored in advance, and recognizes that a problem has occurred when the number of grids that do not match is greater than or equal to a preset number will do

Meanwhile, in an optional embodiment, the vision sensor 300 calculates a recognition time from recognizing a specific sensing mark 200 until recognizing the next sensing mark 200 , respectively. Thereafter, when values having different time intervals are recognized among a plurality of recognition times, it is determined that an abnormality has occurred in the motor of the conveyor belt 100 . This means that when the conveyor belt 100 rotates constantly, the recognition interval between the sensing marks 200 arranged at regular intervals must be constant, but otherwise, there is a change in the speed of the motor. And, in general, when the speed of the motor is irregularly changed, it means that there is an abnormality in the motor in the conveyor belt 100 .

Finally, when a tension problem or a meandering problem occurs, the vision sensor 300 transmits a warning message to the manager terminal (S130).

Specifically, when at least one problem (generally, a tension problem and a meandering problem may be included, but a motor or other problem may also be included according to the above optional embodiment) is detected, the vision sensor 300 issues a warning message It is transmitted to the administrator terminal.

At this time, in an optional embodiment, the vision sensor 300 generates position information about the area of the conveyor belt 100 in which the sensing mark 200 in which either a tension problem or a meandering problem is detected, and further transmits the information to the manager terminal. can transmit Through this, the manager can quickly identify which part of the conveyor belt 100 has a problem and deal with it.

On the other hand, as another optional embodiment, if the vision sensor 300 is provided independently of the conveyor belt 100 and the vision sensor 300 does not recognize the sensing mark 200 for more than a preset time during operation, the vision sensor ( 300) may transmit a movement request message for the location to the manager terminal. That is, it is to inform that the sensing mark 200 cannot be recognized because the vision sensor 300 is placed in the wrong position even though it is in operation, and that the position needs to be corrected. Accordingly, in an additional embodiment, even when a lens included in the sensor of the vision sensor 300 is dirty or an abnormality occurs and proper recognition is not possible, a warning message may be delivered to the manager terminal.

In another optional embodiment, a speaker is provided in the vision sensor 300 , and when any one of a tension problem and a meandering problem is detected in the conveyor belt 100 , a preset warning sound may be output. Through this, it is possible to directly notify the problem occurring in the conveyor belt 100 to the worker working in the field without going through the manager terminal.

The description of the present invention described above is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

Claims (14)

A method for detecting a condition of a conveyor belt based on a vision sensor, the method comprising: (a) recognizing, by a vision sensor disposed at a predetermined distance from the conveyor belt, at least one sensing mark marked on the outer surface of the rotating conveyor belt; (b) at least one of a tension problem and a meandering problem acting on the conveyor belt based on the pixel value difference between the images by comparing the image of the recognized sensing mark with the normal-state sensing mark image stored in advance by the vision sensor determining whether a problem has occurred; and (c) transmitting, by the vision sensor, a warning message to a manager terminal when the at least one problem is detected; including, The tension problem refers to a phenomenon in which the conveyor belt is driven below a preset tension and sags, and the meander problem refers to a phenomenon in which the direction of the conveyor belt deviates in a direction different from the normal state, based on a vision sensor How to detect the condition of the conveyor belt with The method of claim 1, The sensing mark is disposed on the same first axis as the rotation direction of the conveyor belt, and is located in an area of the edge of the conveyor belt that is not covered by the object loaded on the conveyor belt, based on a vision sensor of the conveyor belt How to detect status. 3. The method of claim 2, Step (b) is Based on the pixel value difference, the first axis and a second axis perpendicular to the first axis calculate how much change value has occurred in the image of the recognized sensing mark compared to the pre-stored image, When the change value exceeds a preset value, it is determined that the tension problem has occurred in the conveyor belt. A method of detecting a state of a conveyor belt based on a vision sensor. The method of claim 1, When it is determined that the length deformation with respect to the height and width of the image of the recognized sensing mark has occurred, it is determined that the tension problem has occurred, and when it is determined that the deformation in the arrangement direction of the image of the recognized sensing mark occurs, the A method of detecting the condition of a conveyor belt based on a vision sensor, which is determined as a meandering problem. The method of claim 1, When the sensing mark is formed to include a polygonal or curved figure and a border line surrounding the polygonal or curved figure, Step (b) is Calculating a distance between one edge of the sensing mark and one point of the edge line adjacent to the one edge, calculating a plurality of distances with respect to a plurality of edges and a plurality of points, If the difference between the plurality of distances is greater than or equal to a preset value, it is determined that the tension problem has occurred. 3. The method of claim 2, When the sensing mark is formed to include a polygonal or curved figure and a border line surrounding the polygonal or curved figure, Step (b) is Calculating the distance differences between the first belt point and the second belt point and the edge line spaced apart from each other on the side edge of the conveyor belt, the image of the sensing mark in a normal state and the image of the recognized sensing mark are calculated for each, By comparing the distance differences calculated from the respective images, if the difference value is greater than or equal to a preset value, it is assumed that the meandering problem has occurred, The distance is the length between the first and second belt points and the point where the edge line meets the edge line when extending in a direction perpendicular to the side edge of the conveyor belt. Method for detecting the state of the conveyor belt based on a vision sensor . The method of claim 1, Step (b) is When the edge line of the sensing mark is formed in a grid shape, By dividing the recognized image of the sensing mark and the previously stored normal-state sensing mark image into a plurality of virtual grid areas, analyzing and comparing a plurality of pixel values in each virtual grid area, A method of detecting the state of the conveyor belt based on a vision sensor, which is to determine that any one of the tension problem or the meandering problem has occurred in the conveyor belt. The method of claim 1, Step (c) is The state of the conveyor belt based on a vision sensor that generates position information on the area of the conveyor belt where the sensing mark is located in which either the tension problem or the meander problem is detected, and further transmits it to the manager terminal How to detect. The method of claim 1, Step (b) is After recognizing a specific sensing mark, the recognition time until recognizing the next sensing mark is calculated, respectively, When values having different time intervals are recognized among the plurality of recognition times, it is determined that an abnormality has occurred in the motor of the conveyor belt. conveyor belt; at least one sensing mark marked on an outer surface of the rotating conveyor belt; and Tension problem and meandering acting on the conveyor belt based on the pixel value difference between the images by comparing the previously stored normal-state sensing mark image and the recognized sensing mark image arranged at a predetermined distance from the conveyor belt a vision sensor that determines whether at least one problem has occurred, and transmits a warning message to the manager terminal when the at least one problem is detected; and The tension problem refers to a phenomenon in which the conveyor belt is driven below a preset tension and sags, and the meander problem refers to a phenomenon in which the direction of the conveyor belt deviates in a direction different from the normal state, based on a vision sensor A system that detects the condition of the conveyor belt with 11. The method of claim 10, The sensing mark is either directly engraved on the surface of the conveyor belt based on a marking machine, or implemented as an attachment and directly attached to the surface of the conveyor belt is applied, the state of the conveyor belt based on the vision sensor system to detect. 11. The method of claim 10, Further comprising a support for mounting the vision sensor, The support is disposed on the side spaced apart from the conveyor belt by a predetermined distance, and is formed to extend in the direction of the conveyor belt so as to overlap an area of an upper surface or a lower surface of the conveyor belt, As the vision sensor is mounted on a portion of the extended support, it is disposed to overlap an area of an upper surface or a lower surface of the conveyor belt, A system that detects the condition of a conveyor belt. The method of claim 1, the vision sensor is provided independently of the conveyor belt; When the vision sensor does not recognize the sensing mark for more than a preset time during operation, a movement request message for the location of the vision sensor is transmitted to the manager terminal. Detecting the state of the conveyor belt based on the vision sensor system. 11. The method of claim 10, A system for detecting the state of the conveyor belt based on the vision sensor, wherein a speaker is provided in the vision sensor, and a preset warning sound is output when any one of the tension problem or the meandering problem is detected in the conveyor belt.

Images