CN108380525A - Bastard coal device for visual identification and method - Google Patents
Bastard coal device for visual identification and method Download PDFInfo
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- CN108380525A CN108380525A CN201810184963.XA CN201810184963A CN108380525A CN 108380525 A CN108380525 A CN 108380525A CN 201810184963 A CN201810184963 A CN 201810184963A CN 108380525 A CN108380525 A CN 108380525A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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Abstract
A kind of bastard coal device for visual identification of offer of the embodiment of the present invention and method.Described device includes fixing piece, light source, image acquisition device and processing equipment.Fixing piece is used for fixed light source and image acquisition device.Light source acquires bastard coal image for providing illumination, convenient for image acquisition device.Processing equipment is electrically connected with image acquisition device, and the bastard coal image for being acquired to image acquisition device carries out image procossing, to realize coal rock detection.Wherein, image acquisition device is cmos camera.Thus, it is possible to reduce cost, and quickly bastard coal is identified.
Description
Technical field
The present invention relates to ore sorting technology fields, in particular to a kind of bastard coal device for visual identification and method.
Background technology
The main energy sources in China are that coal has a large amount of spoil and be produced out together with coal in progress of coal mining
Come.It is organic compound and inorganic compound in coalification course with coal co-deposition with the spoil being extracted together with coal
The rock mixed belongs to inferior fuel, and calorific value is low, hardness is big.If the coal of exploitation includes a large amount of spoil,
It can influence the yield and quality of coal.Therefore, it is typically necessary and spoil is identified and screened.
Currently, screened generally by manual identified, but this mode, which exists, influences staff's health, identification screening
The deficiencies of speed is slow, of high cost.Further, it is also possible to obtain raw coal image by using CCD camera, and then pass through Three-dimensional Gravity
It builds, calculate the processes such as pixel volume and identify that spoil, this mode then have the deficiencies of of high cost, processing speed is slow.Therefore, such as
It is a urgent problem to be solved that, which quickly recognizes bastard coal,.
Invention content
In order to overcome above-mentioned deficiency in the prior art, the embodiment of the present invention to be designed to provide a kind of bastard coal vision knowledge
Other device and method can be quickly obtained bastard coal image by cmos camera, the object in bastard coal image is identified,
Thus on the basis of reducing device cost, coal and spoil are quickly recognized, and reduce human cost.
The embodiment of the present invention provides a kind of bastard coal device for visual identification, and described device includes fixing piece, light source, Image Acquisition
Device and processing equipment,
The fixing piece is for fixing the light source and image acquisition device；
The light source acquires bastard coal image for providing illumination, convenient for described image collector；
The processing equipment is electrically connected with described image collector, the bastard coal image for being acquired to described image
Image procossing is carried out, to realize coal rock detection, wherein described image collector is cmos camera.
In embodiments of the present invention, the fixing piece is semi-enclosed cavity, and the fixing piece includes being used for of being oppositely arranged
The first through hole passed through for bastard coal and the second through-hole.
In embodiments of the present invention, the fixing piece include the first side wall, second sidewall, third side wall, the 4th side wall and
Roof, the first side wall, second sidewall, third side wall, the 4th side wall are connect respectively with the roof to form semiclosed chamber
Body, wherein be provided with the first through hole on the first side wall, second through-hole is provided in the second sidewall.
In embodiments of the present invention, the first through hole is arranged in the one end of the first side wall far from the roof, institute
The second through-hole is stated to be arranged in the one end of the second sidewall far from the roof.
In embodiments of the present invention, described image collector is arranged in the fixing piece, and the light source is with positive polishing
Or polishing mode in side is mounted in the fixing piece.
The embodiment of the present invention also provides a kind of bastard coal visual identity method, is applied to bastard coal vision described in any one of the above embodiments
Identification device, the method includes：
The light source provides illumination to bastard coal, so that described image collector obtains bastard coal image；
The processing equipment receives the bastard coal image that described image collector is sent, and to the institute of described image acquisition
It states bastard coal image and carries out image procossing, to realize coal rock detection.
In embodiments of the present invention, the bastard coal image to described image acquisition carries out image procossing, to realize
Coal rock detection, including：
The object in the bastard coal image is divided according to pre-stored object classification model and the bastard coal image
Class, to identify coal and spoil.
In embodiments of the present invention, the processing equipment is communicated to connect with executing agency, and the method further includes：
The processing equipment obtains the coordinates of motion of coal and the coordinates of motion of spoil；
The coordinates of motion of the coordinates of motion of the coal and/or spoil are sent to the corresponding execution by the processing equipment
Mechanism, so that the executing agency is by coal-gangue separation.
In embodiments of the present invention, the processing equipment obtains the coordinates of motion of coal and the coordinates of motion of spoil, including：
According to the profile of bastard coal objects in images described in pre-stored object detection Model Identification, to obtain described in every frame
The static coordinate of object in bastard coal image；
The movement that the continuous bastard coal objects in images is obtained according to the static coordinate of object by object tracking algorithm is sat
Mark；
The coordinates of motion of coal and the coordinates of motion of spoil are obtained according to the coordinates of motion of classification results and object.
In embodiments of the present invention, illumination is provided to bastard coal in the light source, so that described image collector obtains bastard coal
Before image, the method further includes：
The processing equipment has marked bastard coal image after deep learning simulated training previously according to multiframe and has obtained and protect
Deposit the object classification model and the object detection model, wherein marked bastard coal image include mark contour of object and
Type.
In terms of existing technologies, the invention has the advantages that：
A kind of bastard coal device for visual identification of offer of the embodiment of the present invention and method.Described device includes fixing piece, light source, figure
As collector and processing equipment.The fixing piece is for fixing the light source and image acquisition device.The light source is for providing light
According to convenient for described image collector acquisition bastard coal image.The processing equipment and described image collector are electrically connected, for pair
The bastard coal image of described image acquisition carries out image procossing, to realize coal rock detection.Wherein, described image collector is
Cmos camera.Described device is quickly obtained bastard coal image by cmos camera, and the object in bastard coal image is identified,
Thus on the basis of reducing device cost, coal and spoil are quickly recognized, and reduce human cost.
To enable the above objects, features, and advantages of invention to be clearer and more comprehensible, present pre-ferred embodiments cited below particularly, and
The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is one of the structural schematic diagram of bastard coal device for visual identification provided in an embodiment of the present invention.
Fig. 2 is the second structural representation of bastard coal device for visual identification provided in an embodiment of the present invention.
Fig. 3 is the block diagram of bastard coal device for visual identification provided in an embodiment of the present invention.
Fig. 4 is one of the flow diagram of bastard coal visual identity method provided in an embodiment of the present invention.
Fig. 5 is the two of the flow diagram of bastard coal visual identity method provided in an embodiment of the present invention.
Fig. 6 is the flow diagram for the sub-step that step S130 includes in Fig. 5.
Fig. 7 is the three of the flow diagram of bastard coal visual identity method provided in an embodiment of the present invention.
Icon：10- bastard coal device for visual identification；110- fixing pieces；111- the first side walls；1111- first through hole；1121-
Second through-hole；113- third side walls；The 4th side walls of 114-；115- roofs；120- light sources；130- image acquisition devices；140- processing
Equipment.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiment of the present invention, people in the art
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is instruction or implies that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is instruction or implies relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" refers to only that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, Fig. 1 is that the structure of bastard coal device for visual identification 10 provided in an embodiment of the present invention is shown
One of be intended to, Fig. 2 is the second structural representation of bastard coal device for visual identification 10 provided in an embodiment of the present invention, and Fig. 3 is this hair
The block diagram for the bastard coal device for visual identification 10 that bright embodiment provides.The bastard coal device for visual identification 10 includes fixing piece
110, light source 120, image acquisition device 130 and processing equipment 140.
In the present embodiment, described image collector 130 is electrically connected with the processing equipment 140.The light source 120 and
Image acquisition device 130 is fixed in the fixing piece 110.The light source 120 when obtaining bastard coal image for providing illumination, institute
Image acquisition device 130 is stated for obtaining bastard coal image in the case where the light source 120 provides illumination, and by the coal of acquisition
Cash image is sent to the processing equipment 140.The processing equipment 140 is after receiving the bastard coal image, according to prestoring
Object classification model classify to the object in the bastard coal image.Coal and spoil are identified as a result, and
Three-dimensional reconstruction etc. need not be carried out in identification process, improve recognition speed.Simultaneously because recognition speed gets a promotion, therefore can
Identification is completed in the case of with travelling belt fast turn-around at the scene, does not interfere with the travelling speed of bastard coal.
In the present embodiment, described image collector 130 is CMOS (Complementary Metal Oxide
Semiconductor, complementary metal oxide semiconductor) video camera.Cmos camera includes cmos image sensor, and CCD
(Charge Coupled Device, charge coupling device) video camera includes ccd image sensor.Ccd image sensor responds
Speed is than slow ten times of cmos image sensor response speed or more, and ccd image sensor complex process, and manufacturing cost is more
Height, it is big that pixel promotes difficulty.Therefore, the realtime graphic that bastard coal is obtained using cmos camera, can not only reduce the bastard coal
The cost of device for visual identification 10, and since fast response time can further increase recognition speed, improving recognition speed
While have the characteristics that high resolution due to cmos image sensor, it is ensured that identification quality.Meanwhile with CMOS technology
Continuous development, the speed and quality of coal rock detection can further get a promotion.
Wherein, the processing equipment 140 may be, but not limited to, desktop computer, controller etc..
In the present embodiment, the fixing piece 110 is semi-enclosed cavity, and the fixing piece 110 includes the use being oppositely arranged
In the first through hole 1111 passed through for bastard coal and the second through-hole 1121.By above-mentioned setting, travelling belt may pass through the fixation
Part 110, the image acquisition device 130 in the fixing piece 110 can get the image of the bastard coal on travelling belt.
In the present embodiment, the fixing piece 110 may include the first side wall 111, second sidewall, third side wall 113,
Four side walls 114 and roof 115.The first side wall 111, second sidewall, third side wall 113 and the 4th side wall 114 respectively with institute
State the connection of roof 115.Wherein, the first side wall 111 is oppositely arranged with second sidewall, 113 and the 4th side of the third side wall
Wall 114 is oppositely arranged, and forms a semi-enclosed cavity as a result,.
Optionally, the first through hole 1111 is arranged on the first side wall 111, and the setting of the second through-hole 1121 exists
In the second sidewall.
Optionally, the first through hole 1111 is arranged in the one end of the first side wall 111 far from the roof 115, institute
The second through-hole 1121 is stated to be arranged in the one end of the second sidewall far from the roof 115.The light source 120 and image acquisition device
130 are arranged in the fixing piece 110.Wherein, described image collector 130 can be mounted on the fixation according to actual conditions
The position etc. of medium position, close roof 115 in part 110.It optionally, can be by institute when installing described image collector 130
Image acquisition device 130 is stated to be arranged in the position not close to the first through hole 1111 and the second through-hole 1121, to avoid ambient light
Described image collector 130 is had an impact.By above-mentioned setting, external ambient light can be isolated, prevent external ambient light from influencing
Bastard coal image is obtained, and then identification is interfered, influences the consistency of identification.In addition, the fixing piece 110 can be also used for
Fix other devices.
In the present embodiment, the light source 120 can be LED light source, can also be other light sources.The light source 120 exists
Enough brightness, uniform light are provided when identification, to improve the consistency of identification.Optionally, the mounting means of the light source 120 can
It is configured in a manner of polishing according to actual needs, for example, being installed in a manner of positive polishing, being installed in a manner of the polishing of side
Deng.
Fig. 4 is please referred to, Fig. 4 is one of the flow diagram of bastard coal visual identity method provided in an embodiment of the present invention.Institute
It states method and is applied to the bastard coal device for visual identification 10.Bastard coal visual identity method is illustrated below.
Step S110, the light source 120 provide illumination to bastard coal, so that described image collector 130 obtains bastard coal image.
Step S120, the processing equipment 140 receive the bastard coal image that described image collector 130 is sent, and right
The bastard coal image that described image collector 130 acquires carries out image procossing, to realize coal rock detection.
In the present embodiment, when needing to carry out coal rock detection, the light source 120 can be opened in advance, so as in the light
In the case that source 120 provides illumination, described image collector 130 obtains the bastard coal on travelling belt below the fixing piece 110
Image.Simultaneously as the fixing piece 110 is semi-enclosed cavity, therefore low, discrimination consistency is interfered with external environmental light
The features such as good.
In the present embodiment, the processing equipment 140 carries out the bastard coal image that described image collector 130 acquires
Image procossing, to realize coal rock detection the step of include：
The object in the bastard coal image is divided according to pre-stored object classification model and the bastard coal image
Class, to identify coal and spoil.
It is alternatively possible to the surface characteristics of object is obtained from the bastard coal image, and then according to obtained surface characteristics
It is compared with the surface characteristics in the object classification model, to complete the identification classification to object.Wherein, the surface
Feature includes, but are not limited to surface gloss, surface roughness etc..
Fig. 5 is please referred to, Fig. 5 is the two of the flow diagram of bastard coal visual identity method provided in an embodiment of the present invention.Institute
It states processing equipment 140 to communicate to connect with executing agency, wherein can realize communication by wired or wireless mode.The side
Method can also include step S130 and step S140.
Step S130, the processing equipment 140 obtain the coordinates of motion of coal and the coordinates of motion of spoil.
Fig. 6 is please referred to, Fig. 6 is the flow diagram for the sub-step that step S130 includes in Fig. 5.Step S130 may include
Sub-step S131, sub-step S132 and sub-step S133.
Sub-step S131, according to the profile of bastard coal objects in images described in pre-stored object detection Model Identification, with
Obtain the static coordinate of the object in bastard coal image described in every frame.
Sub-step S132 obtains object in the continuous bastard coal image by object tracking algorithm according to the static coordinate of object
The coordinates of motion of body.
Sub-step S133 obtains the coordinates of motion of coal according to the coordinates of motion of classification results and object and the movement of spoil is sat
Mark.
Optionally, the bastard coal picture recording that described image collector 130 is sent in real time can be by the processing equipment 140
Video, wherein video includes multiframe bastard coal image.The processing equipment 140 can carry out coal rock detection frame by frame, can also basis
Preset rules selection certain frames therein carry out coal rock detection, can also randomly choose certain frames and be identified.The processing
Equipment 140 goes out the profile of bastard coal objects in images described in every frame according to the object detection Model Identification, and then obtains and profile
The static coordinate of corresponding object.Static coordinate and object tracking algorithm based on the object in every frame bastard coal image are calculated
The coordinates of motion of object in continuous multiple frames bastard coal image.It can be obtained the fortune of coal in conjunction with the classification results obtained when being classified
The coordinates of motion of moving axes and spoil.
The coordinates of motion of the coordinates of motion of the coal and/or spoil are sent to pair by step S140, the processing equipment 140
The executing agency answered, so that the executing agency is by coal-gangue separation.
It is alternatively possible to which the coordinates of motion of coal or spoil are sent to corresponding executing agency as needed, movement is received
The executing agency of coordinate is then sorted according to the coordinates of motion.For example, needing when retaining coal on travelling belt, then it can be with
The coordinates of motion of spoil are sent to an executing agency, which then picks the spoil in the coordinates of motion.Wherein, institute
Stating executing agency can have multiple, and the executing agency can be mechanical hand or other devices.It can be incited somebody to action after completing to identify as a result,
Coal-gangue separation, the injury caused by human body, also saves manpower, improves sorting speed when avoiding manual sorting's spoil.
Fig. 7 is please referred to, Fig. 7 is the three of the flow diagram of bastard coal visual identity method provided in an embodiment of the present invention.
Before being identified, i.e. before step S110, the method can also include step S101.
Step S101, the processing equipment 140 have marked bastard coal image by deep learning simulation instruction previously according to multiframe
The object classification model and the object detection model are obtained and preserved after white silk.
In the present embodiment, the processing equipment 140 can receive described image collector 130 in the light source 120
The lower bastard coal image obtained of cooperation, and it is recorded as bastard coal video, then multiframe bastard coal image is selected according to preset rules.Its
In, image selection mode herein is corresponding with the image selection mode in identification process.Manually to the multiframe bastard coal image of selection
It is labeled, wherein the contour of object and type of objects in images can be marked, type includes coal and spoil.And then to mark
Multiframe bastard coal image afterwards is pre-processed, and is finally based on the pretreated bastard coal image that marked and is passed through object detection depth god
Study through network and object classification deep neural network, you can obtain the object detection model and object classification model.
In conclusion a kind of bastard coal device for visual identification of offer of the embodiment of the present invention and method.Described device includes fixing
Part, light source, image acquisition device and processing equipment.The fixing piece is for fixing the light source and image acquisition device.The light source
For providing illumination, bastard coal image is acquired convenient for described image collector.The processing equipment and described image collector are electrical
Connection, the bastard coal image for being acquired to described image carries out image procossing, to realize coal rock detection.Wherein, the figure
As collector is cmos camera.Described device is quickly obtained bastard coal image by cmos camera, to the object in bastard coal image
Body is identified, and thus on the basis of reducing device cost, quickly recognizes coal and spoil, and reduce human cost.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of bastard coal device for visual identification, which is characterized in that described device includes fixing piece, light source, image acquisition device and place
Equipment is managed,
The fixing piece is for fixing the light source and image acquisition device；
The light source acquires bastard coal image for providing illumination, convenient for described image collector；
The processing equipment is electrically connected with described image collector, and the bastard coal image for being acquired to described image carries out
Image procossing, to realize coal rock detection, wherein described image collector is cmos camera.
2. the apparatus according to claim 1, which is characterized in that the fixing piece is semi-enclosed cavity, the fixing piece packet
Include the first through hole and the second through-hole for being passed through for bastard coal being oppositely arranged.
3. the apparatus of claim 2, which is characterized in that the fixing piece includes the first side wall, second sidewall, third
Side wall, the 4th side wall and roof, the first side wall, second sidewall, third side wall, the 4th side wall are connect with the roof respectively
To form semi-enclosed cavity, wherein be provided with the first through hole on the first side wall, be arranged in the second sidewall
State the second through-hole.
4. device according to claim 3, which is characterized in that the first through hole is arranged in the first side wall far from institute
One end of roof is stated, second through-hole is arranged in the one end of the second sidewall far from the roof.
5. device according to claim 4, which is characterized in that described image collector is arranged in the fixing piece, institute
Light source is stated to be mounted in the fixing piece in a manner of positive polishing or side polishing.
6. a kind of bastard coal visual identity method, which is characterized in that be applied to the bastard coal vision described in any one of claim 1-5
Identification device, the method includes：
The light source provides illumination to bastard coal, so that described image collector obtains bastard coal image；
The processing equipment receives the bastard coal image that described image collector is sent, and to the coal of described image acquisition
Cash image carries out image procossing, to realize coal rock detection.
7. according to the method described in claim 6, it is characterized in that, the bastard coal image to described image acquisition carries out
Image procossing, to realize coal rock detection, including：
The object in the bastard coal image is classified according to pre-stored object classification model and the bastard coal image, with
Identify coal and spoil.
8. the method according to the description of claim 7 is characterized in that the processing equipment and executing agency's communication connection, described
Method further includes：
The processing equipment obtains the coordinates of motion of coal and the coordinates of motion of spoil；
The coordinates of motion of the coordinates of motion of the coal and/or spoil are sent to the corresponding execution machine by the processing equipment
Structure, so that the executing agency is by coal-gangue separation.
9. according to the method described in claim 8, it is characterized in that, the processing equipment obtains the coordinates of motion and spoil of coal
The coordinates of motion, including：
According to the profile of bastard coal objects in images described in pre-stored object detection Model Identification, to obtain bastard coal described in every frame
The static coordinate of object in image；
The coordinates of motion of the continuous bastard coal objects in images are obtained according to the static coordinate of object by object tracking algorithm；
The coordinates of motion of coal and the coordinates of motion of spoil are obtained according to the coordinates of motion of classification results and object.
10. according to the method described in claim 9, it is characterized in that, illumination is provided to bastard coal in the light source, so as to the figure
Before obtaining bastard coal image as collector, the method further includes：
The processing equipment has marked bastard coal image previously according to multiframe and has been obtained after deep learning simulated training and preserve institute
State object classification model and the object detection model, wherein marked the contour of object and type that bastard coal image includes mark.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810184963.XA CN108380525A (en) | 2018-03-06 | 2018-03-06 | Bastard coal device for visual identification and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810184963.XA CN108380525A (en) | 2018-03-06 | 2018-03-06 | Bastard coal device for visual identification and method |
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| CN109655466A (en) * | 2019-01-08 | 2019-04-19 | 中国矿业大学 | A kind of spoil coal carrying rate online test method and device based on machine vision |
| CN112536240A (en) * | 2020-11-03 | 2021-03-23 | 安徽理工大学 | Underground raw coal gangue discharge system |
| CN115015205A (en) * | 2022-06-29 | 2022-09-06 | 中国矿业大学(北京) | Fluorescence labeling coal gangue identification device and method |
| CN115326800A (en) * | 2022-08-10 | 2022-11-11 | 中国矿业大学(北京) | Continuous dynamic coal gangue identification experimental device |
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