工矿自动化2026，Vol.52Issue(8)：37-46,84,11.DOI:10.13272/j.issn.1671-251x.2026060066
基于点云分割的输送带散料堆积角与粒径分布测量方法
Measurement method for angle of repose and particle size distribution of bulk materials on belt conveyor based on point cloud segmentation
摘要
Abstract
The angle of repose(the dynamic angle of repose under actual conveying conditions)and particle size distribution of bulk materials on the conveyor belt are important parameters for characterizing the state of materials transported by belt conveyors.To address difficulties in three-dimensional point cloud segmentation caused by complex troughing and sagging deformation of the conveyor belt,as well as measurement inaccuracies caused by particle occlusion and adhesion,a method for measuring the angle of repose and particle size distribution of bulk materials on the conveyor belt based on point cloud segmentation with adaptive surface fitting was proposed.To achieve high-fidelity segmentation of bulk materials,a bicubic polynomial surface model was constructed,and weighted least squares were used to adaptively fit the actual deformed belt surface and accurately extract clean bulk material point clouds.For angle of repose measurement,equally spaced point cloud slicing was combined with the Hough transform to extract linear contour features,effectively eliminating interference from local protrusions of large particles and enabling accurate measurement of local angles of repose.For particle size distribution measurement,a three-dimensional depth field representing the bulk material pile morphology was constructed and combined with a three-dimensional watershed algorithm to accurately segment individual particles,determine the median particle size,and obtain particle size distribution statistics.Experimental results showed that the proposed adaptive surface fitting algorithm achieved an intersection over union of 95.84％for point cloud segmentation.The absolute errors in local angle of repose measurements were within 1.35°,with a mean absolute error of only 0.66°.Particle size distribution measurement effectively reduced statistical bias caused by occlusion in stacked bulk materials,and the corrected median particle size fell within the reference interval obtained by standard mechanical sieving.These results demonstrate that the proposed method can significantly improve the accuracy and robustness of bulk material state parameter measurements under complex operating conditions.关键词
带式输送机/散料状态监测/点云分割/散料堆积角/散料粒径分布Key words
belt conveyor/bulk material state monitoring/point cloud segmentation/bulk material angle of repose/bulk material particle size distribution分类
矿业与冶金引用本文复制引用
侯成成,乔铁柱,乔葳..基于点云分割的输送带散料堆积角与粒径分布测量方法[J].工矿自动化,2026,52(8):37-46,84,11.基金项目
国家自然科学基金资助项目(U1810121) （U1810121）
内蒙古自治区科技重大专项(2021ZD0004) （2021ZD0004）
山西省来晋工作优秀博士(后)科研资助项目(2026LJ001) （后）
太原工业学院引进人才科研资助项目(2025KJ029). （2025KJ029）
