CN111054635B - Intelligent gangue selecting method and device - Google Patents
Intelligent gangue selecting method and device Download PDFInfo
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- CN111054635B CN111054635B CN201911101727.8A CN201911101727A CN111054635B CN 111054635 B CN111054635 B CN 111054635B CN 201911101727 A CN201911101727 A CN 201911101727A CN 111054635 B CN111054635 B CN 111054635B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B15/00—Combinations of apparatus for separating solids from solids by dry methods applicable to bulk material, e.g. loose articles fit to be handled like bulk material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/28—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens
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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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- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/367—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means
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Abstract
The invention discloses an intelligent waste rock selecting method and device, belonging to the technical field of coal mine sorting, and the waste rock selecting method comprises the following steps: primarily screening raw coal, and controlling the blanking speed and the component blanking of the screened raw coal; the industrial camera acquires images of the component-blanking raw coal and sends the images to the control unit, and the control unit calculates the position of the gangue according to the image data and controls the first manipulator to remove the gangue; and (5) performing secondary image acquisition and analysis on the raw coal from which the gangue is removed. The invention also discloses an intelligent gangue selecting device, which is used for intelligently discharging gangue after pre-screening the raw coal, realizing the gangue selecting operation of the raw coal and discharging gangue with large and small granularity, effectively avoiding the wrong judgment result of gangue selection caused by dust, coal slime and the like, and improving the gangue selecting efficiency and quality.
Description
Technical Field
The invention belongs to the technical field of coal mine separation, and particularly relates to an intelligent gangue separation method and device.
Background
In recent years, along with the popularization of caving coal mining technology and the increase of mine development depth, the amount of gangue in raw coal is increased, and the gangue content of some mine raw coal is increased to 2-3 times of the original gangue content. The existing coal preparation plant in China is almost provided with a raw coal preparation workshop, most of mines without the coal preparation plant are also provided with a raw coal gangue selecting workshop, and along with the increase of the gangue content of the raw coal extracted by part of the mines, the originally designed gangue selecting and screening system can not adapt to the existing mine production and coal quality requirements, thereby seriously restricting the development of the mines and the sale of products.
Disclosure of Invention
The invention aims to provide an intelligent gangue selecting method, which is used for intelligently discharging gangue after pre-screening raw coal, realizing the gangue selecting operation of the raw coal and discharging gangue with large and small granularity, effectively avoiding the wrong judgment result of gangue selection caused by dust, coal slime and the like, and improving the gangue selecting efficiency and quality.
The technical scheme adopted by the invention for realizing the first purpose is as follows: the intelligent gangue selecting method comprises the following steps:
primarily screening raw coal, and controlling the blanking speed and the blanking component of the screened raw coal;
the industrial camera acquires images of the component-blanked raw coal and sends the images to the control unit, and the control unit calculates the position of gangue according to the image data and controls the first manipulator to remove the gangue;
secondary image acquisition and analysis of the gangue-depleted raw coal.
The invention can rapidly discharge the gross coal and the gangue with smaller granularity by carrying out primary screening treatment on the gross coal, reduces the workload of subsequent intelligent gangue discharge, reduces the gangue content of the gross coal by about 8-9 percent through primary screening work, controls the blanking speed of the gross coal to ensure that the gross coal is linearly arranged on a conveying device in a plurality of similar rules, effectively improves the gangue discharge efficiency, is convenient for an industrial camera to carry out image acquisition on the gross coal on the conveying device, can reduce the difficulty of image recognition of the gangue due to a similar linear arrangement mode, analyzes and judges the image data transmitted by the industrial camera 52 through a control unit to obtain whether the gross coal in the image has the gangue, removes the gangue by controlling a first manipulator after judging the result of the gangue, carries out secondary image acquisition and analysis work on the gross coal after the gangue discharge, the raw coal is inspected to avoid the situation that the gangue is not removed due to misjudgment during the first gangue removal or the situation that the misjudgment is caused due to the existence of coal dust or peat on the surface of the gangue, so that the gangue content in the raw coal is effectively reduced.
Optionally, the processing flow of the control unit to the received image data is as follows: image input, image preprocessing, image feature extraction, image identification and classification and result output;
in the image preprocessing step, the acquired image is converted into a gray image, an image gray histogram is drawn, and a trimming formula is adopted to trim the histogram.
According to the method, R, G, B component values of the acquired image pixels are processed to be the same to obtain the gray level image, so that the image processing speed is accelerated, the image is enhanced by trimming the drawn image gray level histogram, the subsequent characteristic extraction processing is facilitated, the influence of dust on the surface of the gangue on image recognition is avoided, the gangue and the position of the gangue are recognized by utilizing different gray levels of raw coal and the gangue after gray levels in the recognition process, a gangue gray level image sample group is specifically established, the acquired and processed gray level image is compared with the gangue gray level image in the sample group for recognition, the positions of the gangue and the gangue in the acquired image are determined, and the manipulator is controlled to accurately remove the gangue.
Optionally, the step of trimming the histogram by using the trimming formula is as follows:
1) calculating the gray level occurrence probability:
where K is the gray level, N is the total number of pixels of the original image, rkRepresenting the Kth gray level, nkRepresenting grey levels r in an imagekThe number of pixels present;
2) calculating the gray scale accumulation distribution function of the original image:
where K is the gray level, N is the total number of pixels of the original image, rjFor the Kth gray level cumulative distribution value, njRepresenting the difference between the kth gray level and the gray level of the neighboring point. In the finishing step, on the basis of enhancing the local contrast without influencing the overall contrast, the gray level occurrence probability in the gangue gray level range is calculated through a calculation formula, and then the distribution of the gray levels of the occurrence probability is calculated so as to obtain the mapping of each gray level of the original image to a new gray level, so that the gangue gray level in the image can be more easily identified.
Optionally, in the secondary image obtaining and calculating process, a trimming formula is used to trim the histogram, and the following formula is used to calculate the gray level occurrence probability:
where K is the gray level, W is the distortion correction parameter (1.2 < W < 1.3), N is the total number of pixels in the original image, rkRepresenting the Kth gray level, njRepresenting the difference between the Kth grey level and the grey level of the neighboring point, nkRepresenting grey levels r in an imagekThe number of pixels present;
the difference between the secondary image acquisition and calculation process and the primary image analysis process is that the used gray level occurrence probability calculation formula is different, the difference value of the K-th gray level and the adjacent point gray level is introduced into the probability calculation formula, the distortion correction parameter is added to expand the calculation threshold, the value range of the distortion correction parameter is determined according to the actual coal selection type, the threshold is expanded to eliminate the identification error of the gray level of the gangue caused by the dust state on the surface of the gangue, so that the comparison error of the subsequent gray level of the gangue and the gray level of the gangue in a sample group is reduced, the misjudgment result of gangue selection caused by dust, coal slime and the like is effectively avoided, and the sorting efficiency and the sorting quality of the gangue are improved.
The second purpose of the invention is to provide an intelligent gangue selecting device, which can realize simultaneous screening of gangue with large and small particles, reduce repeated screening of raw coal and increase of secondary coal slime, and effectively reduce the gangue content in the raw coal obtained by sorting.
An intelligent gangue selecting device, comprising:
the first conveying assembly is used for conveying the raw coal;
the first sieve plate is obliquely arranged, the oblique high end of the first sieve plate is arranged below the discharge end of the first conveying assembly, and the oblique bottom end of the first sieve plate is connected with a blanking assembly for controlling the blanking speed of the raw coal;
the second conveying component is used for receiving the blanking of the blanking component, the material receiving end is provided with a counter for counting the blanking, an industrial camera for acquiring a blanking image and a first manipulator for removing gangue, the discharge end of the second conveying component is provided with a second industrial camera and a second manipulator,
the industrial camera, the counter, the first mechanical arm, the second industrial camera and the second mechanical arm are respectively connected with the control unit, the control unit is further connected with a blowing unit, and the blowing direction of the blowing unit is opposite to the blanking direction of the first sieve plate.
The invention utilizes the first sieve plate which is arranged obliquely to screen and process the raw coal, the raw coal falls on the first sieve plate under the action of gravity and the shaking effect of the first sieve plate separates small particles from large particles in the raw coal, the particles such as soil on the surface of the objects are convenient to fall off when the objects pass through the first sieve plate under the action of the shaking effect, so that the difficulty and the misjudgment rate of the subsequent intelligent identification of gangue are reduced, the air blowing unit is arranged towards the blanking direction of the first sieve plate, the air blowing speed of the air blowing unit is controlled to control the speed of the downward blanking of the raw coal on the first sieve plate and to blow off the fine particles on the surface of the raw coal and the gangue on the first sieve plate, so as to accelerate the small particles to enter the first material collecting box, and the arrangement of the air blowing unit can also make the fine particles float to the upper part of the first sieve plate in the surface screening process, and the air flow of the air blowing unit is utilized to press the floating particles down into the first material collecting box, the blanking speed is counted and fed back to the control unit by arranging a counter in the blanking direction of the blanking assembly, the blanking speed of the raw coal is controlled by the control unit according to the blanking speed and the blowing unit so as to enable the raw coal to be conveyed on the second conveying assembly in a manner of arranging a plurality of similar straight lines, the raw coal arranged in the similar straight lines is shot by the industrial camera, the obtained image data is transmitted to the control unit, the control unit identifies the position of gangue in the image, the control unit removes the gangue by controlling the first mechanical arm, performing secondary image acquisition and analysis work on the raw coal after the gangue is removed to inspect and process the raw coal, the condition that the gangue is not removed or the condition that the coal dust or peat exists on the surface of the gangue causes the misjudgment is avoided, and the gangue content in the raw coal is effectively reduced.
Optionally, first sieve slope bottom is equipped with the first workbin that gathers materials of horizontal extension board and fixed connection, and horizontal extension board fixed connection is in the tank wall of first workbin that gathers materials, and first sieve slope top is equipped with the horizontal extension board, and should extend the board top and be equipped with and be used for the spacing limiting plate of first sieve slope top extension board direction of height displacement distance. Design into similar "Z" font that expandes with first sieve, utilize the slope part of first sieve to carry out screening process to the material, and the lower end of level position carries out fixed connection with first case that gathers materials and handles, the higher end of level does not carry out fixed processing, can realize like this that first sieve shakes the effect about the exogenic action produces, and the extension board below of the higher end of first sieve level is the last wall surface of first case that gathers materials, and the top is the limiting plate, the shake scope to first sieve has been injectd, inject the shake power of first sieve promptly, the too big material of prevention shake power pops out the shake scope.
Optionally, a sieve plate is arranged in the first material collecting box, liquid is placed in the first material collecting box, and a liquid discharge pipe for discharging liquid is arranged on one side of the bottom of the first material collecting box. The purpose of collecting the screened fine particles through a container filled with liquid is to collect and treat the extremely fine particles, compared with the conventional screening work in the prior art, the invention designs the container filled with liquid to effectively reduce the dust content of air in an operation space, the adhered particles on the surface of the particles can be quickly separated after the particles fall into the liquid or realize the rapid separation of larger particles and tiny particles by particle argillization, and the sieve plate can further separate the particles in water, the mesh opening diameter of the sieve plate is set according to the requirement, so that the separation operation of fine gangue, small-particle raw coal and extremely fine particles is facilitated, and the subsequent centralized treatment of the small-particle gangue and the coarse coal slime is facilitated.
Optionally, be equipped with the shake subassembly below the first sieve board, the shake subassembly includes:
the first motor is fixedly arranged on one side wall of the first material collecting box, an output shaft of the first motor 31 is coaxially connected with a rubber column, the rubber column is provided with an assembly hole coaxially connected with the output shaft of the motor, the side surface of the rubber column is also provided with a through hole in a surrounding way,
the shaking plate is arranged on the side surface of the rubber column in a surrounding way, is in an arc plate shape, and is coaxially connected with the rubber column;
the lower surface of the first sieve plate is fixedly provided with a shaking block matched with the shaking plate, and the shaking block is provided with a groove arranged corresponding to the shaking plate.
The shaking component is arranged below the first sieve plate, the shaking plate is driven to be in contact with the shaking block on the bottom surface of the first sieve plate to drive the height position of the shaking plate to be upward by the rotation of the rubber column driven by the first motor, the first sieve plate falls when the shaking block is not in contact with the shaking plate due to the fact that the shaking plate is arc-shaped, the up-and-down shaking operation of the first sieve plate is achieved in a reciprocating mode, the radian range of the shaking plate is specifically controlled to control the contact time of the shaking plate and the shaking block, the upward displacement time and the falling time ratio of the first sieve plate are controlled, the fixed shaking frequency of the first sieve plate in the shaking process is facilitated, the shaking effect generated by the shaking plate in the contact process of the shaking block can influence the shaking of the first sieve plate to enable the first sieve plate to generate resonance, the falling of particles in sieve holes of the first sieve plate is facilitated, the problem of blockage of the sieve holes is effectively avoided, and the shaking of the first sieve plate is beneficial to the center screening of the coarse coal, and the particles with the granularity below 50m are screened out, so that the falling of the particles on the surfaces of the screened raw coal and gangue is accelerated, and the accuracy of subsequent image recognition is improved.
Optionally, the blanking subassembly includes:
a first bottom plate, the first bottom plate is fixedly connected with the box wall of the first material collecting box, side baffles are arranged at two sides of the first bottom plate,
the fixed supporting plates are arranged on the first base plate in pairs and connected through the first connecting rods, a plurality of material distributing plates vertical to the axes of the first connecting rods are arranged on the first connecting rods, sliding blocks are fixedly connected to the bottoms of the material distributing plates and connected through second connecting rods, and push rod motors are arranged at the end portions of the second connecting rods.
The diameter of the aperture of the connection between the material distributing plate and the first connecting rod is larger than the diameter of the first connecting rod;
effectively avoid the material department transfer path that drops through the mode that sets up the side shield in first bottom plate both sides, separate the material through interval distribution's branch flitch when the material passes through the in-process of blanking subassembly and avoid the material to drop to the second transfer module with accumulational mode on, cause the waste rock to be difficult to exist through image recognition's hidden danger, in addition through the propelling of push rod motor control second connecting rod or the action of packing up come the relative change branch flitch the position make the direction of delivery of material change and prolong blanking time, when necessary, still can control the push rod motor and slide the big distance of sliding block and reduce or seal the steerable material of blanking path and stop the blanking in blanking subassembly department.
Optionally, one end of a rope body is connected to the first sieve plate, and the other end of the rope body is connected with a rotating wheel driven to rotate by a motor. The invention provides two control modes for driving the first sieve plate to shake, wherein the two control modes can select different driving and shaking modes according to different characteristics of raw coal screening to realize quick switching and shaking, and can be combined for use to improve the shaking amount of materials on the first sieve plate, the rotation of the rotating wheel can drive the rope body to pull the first sieve plate upwards, and the first sieve plate is placed down along with the rotation of the rotating wheel to realize shaking operation.
Compared with the prior art, the invention has the beneficial effects that:
1) according to the invention, the coarse coal and the gangue with small strength can be rapidly discharged through primary screening treatment on the coarse coal, the workload in subsequent intelligent gangue discharge is reduced, and the gangue content of the coarse coal is reduced by about 8-9% through primary screening;
2) the method has the advantages that the intelligent waste rock selecting method is adopted to quickly identify the waste rocks in the raw coal, the problem of identification misjudgment when dust exists on the surfaces of the waste rocks is effectively solved, and secondary identification is set to effectively improve the identification accuracy;
3) the method realizes the simultaneous screening of the waste rocks with large and small particles, reduces the repeated screening of the raw coal and the increase of the secondary coal slime, and effectively reduces the waste rock content in the separated raw coal.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of an intelligent gangue selecting method of the invention;
FIG. 2 is a schematic diagram of the intelligent gangue selecting device;
FIG. 3 is a schematic structural view of a blanking assembly;
FIG. 4 is a schematic diagram of a dithering assembly;
FIG. 5 is a schematic half-section view of a dithering assembly;
fig. 6 is a schematic view of the connection of the control unit to its control components.
Description of reference numerals: 10-a first transfer assembly; 20-a first screen deck; 21-a limiting plate; 22-a rope body; 23-a wheel; 24-a dither block; 30-a dithering component; 31-a first motor; 32-a through hole; 33-rubber column; 34-shaking plate; 35-assembly holes; 40-a first material collecting box; 41-mesh plate; 42-a drain pipe; 50-a control unit; 51-a blowing unit; 52-an industrial camera; 53-a first manipulator; 54-a counter; 55-a second industrial camera; 56-a second robot; 60-a blanking assembly; 61-a first base plate; 62-side baffle; 63-material distributing plate; 64-a first connecting rod; 65-fixing the support plate; 66-a push rod motor; 67-a second connecting rod; 68-a sliding block; 70-a second transfer assembly; 71-a second collection box; 72-third collection box.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to fig. 1, the intelligent gangue selecting method comprises the following steps:
primarily screening raw coal, and controlling the blanking speed and the blanking component of the screened raw coal;
the industrial camera 52 performs image acquisition on the raw coal which is divided and blanked, and sends the image acquisition to the control unit 50, the control unit 50 calculates the gangue position according to the image data and controls the first manipulator 53 to remove the gangue, and the control unit 50 processes the received image data by the following flow: image input, image preprocessing, image feature extraction, image identification and classification and result output;
performing secondary image acquisition and analysis on the gangue-removed raw coal, checking whether gangue exists in the raw coal, and controlling the second manipulator 56 to perform a discharge operation on the gangue that is not discharged when it is determined that the gangue that is not discharged exists.
In the image preprocessing step, the acquired image is converted into a gray image, an image gray histogram is drawn, and a trimming formula is adopted to trim the histogram.
The method for trimming the histogram by using the trimming formula during the first image recognition comprises the following steps:
1) calculating the gray level occurrence probability:
where K is the gray level, N is the total number of pixels of the original image, rkRepresenting the Kth gray level, nkRepresenting grey levels r in an imagekThe number of pixels present;
2) calculating the gray scale accumulation distribution function of the original image:
where K is the gray level, N is the total number of pixels of the original image, rjFor the Kth gray level cumulative distribution value, njRepresenting the difference between the kth gray level and the gray level of the neighboring point.
And the step of trimming the histogram by using a trimming formula in the second image recognition is as follows:
1) calculating the gray level occurrence probability:
where K is the gray level, N is the total number of pixels of the original image, rkRepresenting the Kth gray level, nkRepresenting grey levels r in an imagekThe number of pixels present;
where K is the gray level, W is the distortion correction parameter (1.2 < W < 1.3), N is the total number of pixels in the original image, rkRepresenting the Kth gray level, njRepresenting the difference between the Kth grey level and the grey level of the neighboring point, nkRepresenting grey levels r in an imagekThe number of pixels present;
according to the method, R, G, B component values of the acquired image pixels are processed to be the same to obtain the gray level image, so that the image processing speed is accelerated, the image is enhanced by trimming the drawn image gray level histogram, the subsequent characteristic extraction processing is facilitated, the influence of dust on the surface of the gangue on image recognition is avoided, the gangue and the position of the gangue are recognized by utilizing different gray levels of raw coal and the gangue after gray levels in the recognition process, a gangue gray level image sample group is specifically established, the acquired and processed gray level image is compared with the gangue gray level image in the sample group for recognition, the positions of the gangue and the gangue in the acquired image are determined, and the manipulator is controlled to accurately remove the gangue.
In the finishing step, on the basis of enhancing the local contrast without influencing the overall contrast, the gray level occurrence probability in the gangue gray level range is calculated through a calculation formula, and then the distribution of the gray levels of the occurrence probability is calculated so as to obtain the mapping of each gray level of the original image to a new gray level, so that the gangue gray level in the image can be more easily identified. The difference between the secondary image acquisition and calculation process and the primary image analysis process is that the used gray level occurrence probability calculation formula is different, the difference value of the K-th gray level and the adjacent point gray level is introduced into the probability calculation formula, the distortion correction parameter is added to expand the calculation threshold, the value range of the distortion correction parameter is determined according to the actual coal selection type, the threshold is expanded to eliminate the identification error of the gray level of the gangue caused by the dust state on the surface of the gangue, so that the comparison error of the subsequent gray level of the gangue and the gray level of the gangue in a sample group is reduced, the misjudgment result of gangue selection caused by dust, coal slime and the like is effectively avoided, and the sorting efficiency and the sorting quality of the gangue are improved.
Example 2:
referring to fig. 2-6, an intelligent gangue dumping device comprises:
a first conveying assembly 10 for conveying raw coal;
the first sieve plate 20 is obliquely arranged, the oblique high end of the first sieve plate 20 is arranged below the discharge end of the first conveying assembly 10, and the oblique bottom end of the first sieve plate is connected with a blanking assembly 60 for controlling the blanking speed of the raw coal;
a second conveying assembly 70 for receiving the blanking of the blanking assembly 60, wherein the material receiving end is provided with a counter 54 for counting the blanking, an industrial camera 52 for acquiring images of the blanking and a first manipulator 53 for removing gangue, the discharge end of the second conveying assembly 70 is provided with a second industrial camera 55 and a second manipulator 56,
the industrial camera 52, the counter 54, the first manipulator 53, the second industrial camera 55 and the second manipulator 56 are respectively connected with the control unit 50, the control unit 50 is further connected with the air blowing unit 51, and the air blowing direction of the air blowing unit 51 is opposite to the blanking direction of the first screen plate 20.
The invention utilizes the first sieve plate 20 which is obliquely arranged to screen the raw coal, the raw coal falls on the first sieve plate 20 under the action of gravity and the shaking effect of the first sieve plate 20 separates small particles from large particles in the raw coal, the particles such as soil on the surface of the objects which are shaken during the process of passing through the first sieve plate 20 are convenient to fall off so as to reduce the difficulty and the misjudgment rate of the subsequent intelligent identification of the gangue, the air blowing unit 51 is arranged towards the blanking direction of the first sieve plate 20, the air blowing speed of the air blowing unit 51 is controlled to control the downward blanking speed of the raw coal on the first sieve plate 20 and blow off the fine particles on the surfaces of the raw coal and the gangue on the first sieve plate 20 so as to accelerate the small particles to enter the first material collecting box 40, and the air blowing unit 51 can float the fine particles above the first sieve plate 20 during the surface screening process, and the air flow is utilized to blow the air flow to press the floating particles down into the first material collecting box 40, the blanking speed is counted and fed back to the control unit 50 by arranging the counter 54 in the blanking direction of the blanking assembly 60, the control unit 50 controls the blanking speed of the raw coal by controlling the blanking assembly 60 and the blowing unit 51 according to the blanking speed to enable the raw coal to be conveyed on the second conveying assembly 70 in a manner of arranging a plurality of similar straight lines, the industrial camera 52 performs image shooting on the raw coal arranged in the similar straight lines, the obtained image data is transmitted to the control unit 50, the control unit 50 identifies the position of the gangue in the image, the control unit 50 removes the gangue by controlling the first manipulator 53, the raw coal is subjected to secondary image acquisition and analysis work after the gangue is removed to check the raw coal, so as to avoid the situation that the gangue is not removed due to the misjudgment during the first gangue removal or the situation that the gangue is misjudged due to the existence of pulverized coal or the peat on the surface, effectively reducing the gangue content in the raw coal.
A screen plate 41 is arranged in the first material collecting box 40, liquid is placed in the first material collecting box 40, and a liquid discharge pipe 42 for discharging liquid is arranged on one side of the bottom of the first material collecting box 40. The purpose of collecting the screened fine particles through a container filled with liquid is to collect and treat the extremely fine particles, in the primary screening step, a certain amount of floating particulate matters are generated by screening the fine particulate matters, and the particulate matters are collected by using liquid, compared with the conventional screening work in the prior art, the invention designs the container filled with the liquid to effectively reduce the air dust content in an operation space, the adhered particulate matters on the surface of the particulate matters after falling into the liquid can be quickly separated or the particulate matters are quickly separated into larger particulate matters and fine particulate matters by argillization, the design of the sieve plate 41 can further separate the particulate matters in water, the mesh aperture of the sieve plate 41 is set according to the requirement, which is beneficial to the separation operation of fine gangue, small-particle raw coal and extremely fine particles, and is convenient for the subsequent centralized treatment of the small-particle gangue and the coal slime.
Below the first screening deck 20 is provided a shaking assembly 30, the shaking assembly 30 comprising:
the first motor 31 is fixedly arranged on one side wall of the first material collecting box 40, the output shaft of the first motor 31 is coaxially connected with a rubber column 33, the rubber column 33 is provided with an assembling hole 35 which is coaxially connected with the output shaft of the motor, the side surface of the rubber column 33 is also provided with a through hole 32 in a surrounding way,
the shaking plate 34 is arranged on the side surface of the rubber column 33 in a surrounding way, the shaking plate 34 is in an arc plate shape, and the shaking plate 34 is coaxially connected with the rubber column 33;
the lower surface of the first screen plate 20 is fixedly provided with a shaking block 24 matched with the shaking plate 34, and the shaking block 24 is provided with a groove arranged corresponding to the shaking plate 34.
The shaking assembly 30 is arranged below the first screen plate 20, the shaking plate 34 is driven to contact with the shaking block 24 on the bottom surface of the first screen plate 20 by the rotation of the rubber column 33 driven by the first motor 31 to drive the height position of the shaking plate 34 to be upward, the first screen plate 20 falls when the shaking block 24 is not in contact with the shaking plate 34 due to the fact that the shaking plate 34 is in an arc plate shape, the up-and-down shaking operation of the first screen plate 20 is realized in a reciprocating mode, the radian range of the shaking plate 34 is specifically controlled to control the contact time of the shaking plate 34 and the shaking block 24, the upward displacement time and the falling time ratio of the first screen plate 20 are controlled, the fixed shaking frequency of the first screen plate 20 in the shaking process is favorably obtained, and the shaking plate 34 further generates a friction effect in the contact process of the shaking block 24 to influence the shaking of the first screen plate 20 to drive the shaking of the first screen plate 20 to generate resonance, and particles in screen holes of the first screen plate 20 are easy to fall, effectively avoid the problem of sieve mesh jam to realize through above-mentioned mode that the shake of first sieve 20 does benefit to the screening of mao coal center, screen out the particle size at the particulate matter below 50m for dropping of screening mao coal and waste rock surface particulate matter does benefit to follow-up image recognition's precision and promotes.
The blanking assembly 60 includes:
a first bottom plate 61, the first bottom plate 61 is fixedly connected with the wall of the first material collecting box 40, side baffles 62 are arranged at two sides of the first bottom plate 61,
fixed extension board 65, fixed extension board 65 set up in pairs on first bottom plate 61, connect through head rod 64 between the fixed extension board 65, be equipped with on the head rod 64 with head rod 64 axis vertically a plurality of branch flitchs 63, divide flitch 63 bottom fixedly connected with sliding block 68, connect through second connecting rod 67 between the sliding block 68, second connecting rod 67 tip is equipped with push rod motor 66.
The aperture of the connection between the material distributing plate 63 and the first connecting rod 64 is larger than the diameter of the first connecting rod 64;
the mode of setting up side shield 62 through first bottom plate 61 both sides effectively avoids the material department transfer path that drops, when the material passes through blanking subassembly 60 in-process separate the material through interval distribution's branch flitch 63 and avoid the material to drop to second transfer module 70 with the mode of piling up on, cause the waste rock to be difficult to pass through image recognition's hidden danger to exist, in addition through the propelling or the motion of packing up of push rod motor 66 control second connecting rod 67 change the position of branch flitch 63 relatively and make the direction of delivery of material change and prolong the blanking time, if necessary, still can control push rod motor 66 with the greater distance that slides sliding block 68 and reduce or close blanking path steerable material and stop the blanking in blanking subassembly 60 department.
One end of a rope body 22 is connected on the first screen plate 20, and the other end of the rope body 22 is connected with a rotating wheel 23 which is driven by a motor to rotate. The invention provides two control modes for driving the first sieve plate 20 to shake, wherein the two control modes can select different driving and shaking modes according to different characteristics of raw coal screening to realize quick switching and shaking, and can be combined for use to improve the shaking amount of materials on the first sieve plate 20, the rotation of the runner 23 can drive the rope body 22 to pull the first sieve plate 20 upwards, and the first sieve plate 20 is put down along with the rotation of the runner 23 to realize shaking operation.
Example 3:
the invention actually carries out gangue selecting operation:
and S10, selecting a shaking mode of the first screen plate 20 according to the gangue raw coal type rotation, specifically selecting shaking of the shaking assembly 30 or shaking of the runner 23, and selecting the conveying speeds of the first conveying assembly 10 and the second conveying assembly 70 according to gangue selection requirements.
S20, placing raw coal on the first conveying assembly 10, enabling the raw coal to fall on the first sieve plate 20, enabling the first sieve plate 20 to sieve materials, removing particles with the particle size smaller than 50mm, enabling the control unit 50 to control the blowing speed of the blowing unit 50 to prolong the retention time of the materials on the first sieve plate 20, and enabling screened small particles to fall into the first material collecting box 40 for further sorting;
s30, the screened materials fall to the blanking assembly 60 under the action of gravity, and the control unit 50 controls the position of the material distributing plate 63 of the blanking assembly 60 to control the blanking speed and to make the materials arranged on the second conveying assembly 70 in a plurality of similar straight lines;
s40, after the materials fall on the second conveying assembly 70, the materials are subjected to image shooting through the industrial camera 52, data are transmitted to the control unit 50, the control unit 50 identifies the gangue in the materials, the control unit 50 removes the gangue through controlling the first manipulator 53, and secondary image acquisition and analysis operation are performed on the raw coal with the gangue removed through the second industrial camera 55 and the second manipulator 56, so that the phenomenon that gangue selection misjudgment results occur due to dust, coal slime and the like is avoided, and the gangue content of the raw coal is effectively reduced.
S50, when the materials fall on the second conveying assembly 70, the counter 54 feeds the count value back to the control unit 50, and the control unit 50 controls the blanking speed according to the count control blanking assembly 60 and the blowing unit 51, so that the situation that the waste rocks in the coal pile cannot be identified due to the fact that the materials are blanked in a pile is avoided.
And (3) gangue selecting test:
the method is characterized in that raw coal with the granularity range of 25-350 mm is used as a gangue selecting raw material to perform gangue selecting tests, and the gangue content in the gangue in the size fraction of more than 50mm in the raw coal is 11.4%.
The gangue selecting operation is respectively carried out by adopting the gangue selecting device, the manual gangue selecting device and the movable sieve jigger, wherein the gangue selecting device is marked as an experimental group 1, the manual gangue selecting device is marked as an experimental group 2, the movable sieve jigger is marked as an experimental group 3, and a device which only adopts one-time image acquisition and analysis gangue selecting operation in the secondary image acquisition and analysis gangue selecting step in the experimental group 1 is marked as an experimental group 4. The statistical results of the gangue carrying rates of the coals screened by the experimental groups are shown in the following table 1,
TABLE 1 band gangue ratio (%) of coal screened by each experimental group
It can be known through the waste rock selection experimental back that the waste rock selection treatment effeciency of experiment group 1 is higher than all the other experiment groups, and take the waste rock rate to be less than all the other experiment groups in the raw coal after the processing of experiment group 1, according to the statistics of the separation product of actual waste rock selection, three group's experiment groups only have realized that big waste rock and small waste rock are elected respectively by experiment group 1, and the waste rock that experiment group 2 was selected all is the great waste rock of size, small-size waste rock can't be discerned, the waste rock that experiment group 3 elected is also the great waste rock of size, and raw coal and waste rock surface coal slime volume are great, experiment group 4 has realized that big waste rock and small waste rock is elected respectively just with experiment group 1, but experiment group 4 appears misjudging the number of times that the waste rock is the gross coal in the waste rock selection in-process more leads to take the waste rock rate to be lower than experiment group 1 in the raw coal of experiment group 4.
The robot used in the present invention is a prior art, such as the fine-tuning robot solution disclosed in CN103538052B or the carrying robot solution of CN105751201B, but not limited to the above two robot solutions, and the blowing unit 51 used in the present invention is a blowing pump.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (5)
1. The intelligent gangue selecting method comprises the following steps:
primarily screening raw coal, and controlling the blanking speed and the blanking component of the screened raw coal;
-the industrial camera (52) performs image acquisition of the fractionally blanked raw coal and sends a control unit (50), the control unit (50) calculates the gangue position from the image data and controls the first manipulator (53) to remove the gangue;
-performing secondary image acquisition and analysis on the gangue removed raw coal;
the device adopting the intelligent gangue selecting method comprises the following steps:
a first conveyor assembly (10) for conveying raw coal;
the first sieve plate (20) is obliquely arranged, the oblique high end of the first sieve plate (20) is arranged below the discharge end of the first conveying assembly (10), and the oblique bottom end of the first sieve plate is connected with a blanking assembly (60) for controlling the blanking speed of the raw coal;
the second conveying assembly (70) is used for receiving the blanking of the blanking assembly (60), the material receiving end is provided with a counter (54) used for counting the blanking, an industrial camera (52) used for acquiring images of the blanking and a first manipulator (53) used for removing gangue, the discharging end of the second conveying assembly (70) is provided with a second industrial camera (55) and a second manipulator (56),
the industrial camera (52), the counter (54), the first manipulator (53), the second industrial camera (55) and the second manipulator (56) are respectively connected with the control unit (50), the control unit (50) is further connected with the air blowing unit (51), and the air blowing direction of the air blowing unit (51) is opposite to the blanking direction of the first sieve plate (20);
the horizontal extension plate at the inclined bottom end of the first sieve plate (20) is fixedly connected with a first material collecting box (40), the horizontal extension plate is fixedly connected with the box wall of the first material collecting box (40), and a limiting plate (21) used for limiting the displacement distance in the height direction of the extension plate at the inclined top end of the first sieve plate (20) is arranged above the horizontal extension plate at the inclined top end of the first sieve plate (20);
a sieve plate (41) is arranged in the first material collecting box (40), liquid is placed in the first material collecting box (40), and a liquid discharge pipe (42) for discharging liquid is arranged on one side of the bottom of the first material collecting box (40);
a shaking assembly (30) is arranged below the first sieve plate (20), and the shaking assembly (30) comprises:
the first motor (31) is fixedly arranged on one side wall of the first material collecting box (40), an output shaft of the first motor (31) is coaxially connected with a rubber column (33), the rubber column (33) is provided with an assembly hole (35) coaxially connected with the output shaft of the motor, the side surface of the rubber column (33) is also provided with a through hole (32) in a surrounding manner,
the rubber column structure comprises a shaking plate (34), wherein the shaking plate (34) is arranged on the side surface of the rubber column (33) in a surrounding mode, the shaking plate (34) is in an arc plate shape, and the shaking plate (34) is coaxially connected with the rubber column (33);
a shaking block (24) matched with the shaking plate (34) is fixedly arranged on the lower surface of the first sieve plate (20), and the shaking block (24) is provided with a groove arranged corresponding to the shaking plate (34);
the blanking assembly (60) comprises:
the first bottom plate (61), the first bottom plate (61) is fixedly connected with the wall of the first material collecting box (40), side baffles (62) are arranged on two sides of the first bottom plate (61),
the fixing support plates (65) are arranged on the first base plate (61) in pairs, the fixing support plates (65) are connected through first connecting rods (64), a plurality of material distributing plates (63) perpendicular to the axis of the first connecting rods (64) are arranged on the first connecting rods (64), sliding blocks (68) are fixedly connected to the bottoms of the material distributing plates (63), the sliding blocks (68) are connected through second connecting rods (67), and push rod motors (66) are arranged at the end parts of the second connecting rods (67);
the aperture of the connection between the material distributing plate (63) and the first connecting rod (64) is larger than the diameter of the first connecting rod (64).
2. The intelligent gangue selecting method according to claim 1, characterized in that: the control unit (50) processes the received image data by the following steps: image input, image preprocessing, image feature extraction, image identification and classification and result output;
in the image preprocessing step, the acquired image is converted into a gray image, an image gray histogram is drawn, and a trimming formula is adopted to trim the histogram.
3. The intelligent gangue selecting method according to claim 2, characterized in that: the step of trimming the histogram by using the trimming formula is as follows:
1) calculating the gray level occurrence probability:
wherein K is the gray level, N is the total number of pixels of the original image,
which represents the K-th gray level, is,
representing grey levels in an image
The number of pixels present;
2) calculating the gray scale accumulation distribution function of the original image:
wherein K is the gray level, n is the total number of pixels of the original image,
for the K-th gray level cumulative distribution value,
representing the difference between the kth gray level and the gray level of the neighboring point.
4. The intelligent gangue selecting method according to claim 2, characterized in that: in the secondary image obtaining and calculating process, a trimming formula is adopted to trim the histogram, and the gray level occurrence probability is calculated by adopting the following formula:
wherein K is the gray level, W is the distortion correction parameter (1.2 < W < 1.3), N is the total number of pixels of the original image,
which represents the K-th gray level, is,
representing the difference between the kth gray level and the gray level of the neighboring point,
representing grey levels in an image
The number of pixels present.
5. The intelligent gangue selecting method according to claim 1, characterized in that: the first sieve plate (20) is connected with one end of a rope body (22), and the other end of the rope body (22) is connected with a rotating wheel (23) driven by a motor to rotate.
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| CN112076885A (en) * | 2020-08-17 | 2020-12-15 | 天地（唐山）矿业科技有限公司 | Enrichment process of coal-series kaolin in coal gangue |
| CN111811981A (en) * | 2020-09-03 | 2020-10-23 | 天津美腾科技股份有限公司 | Coal content detection method, device and system |
| CN112354900A (en) * | 2020-11-05 | 2021-02-12 | 辽宁工程技术大学 | Visual identification and separation system for underground coal mine belt conveyor |
| CN112919051A (en) * | 2021-02-05 | 2021-06-08 | 山西焦煤集团岚县正利煤业有限公司 | Visual identification and separation device for underground coal mine belt conveyor |
| CN114405819B (en) * | 2022-01-14 | 2024-02-02 | 重庆安都陶瓷有限公司 | Ceramic mud anti-blocking feeding system for ceramic production |
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