CN106269576A - A kind of Automatic Selection System of Waste Rock from Coal Bulk and method - Google Patents
A kind of Automatic Selection System of Waste Rock from Coal Bulk and method Download PDFInfo
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- CN106269576A CN106269576A CN201610818861.XA CN201610818861A CN106269576A CN 106269576 A CN106269576 A CN 106269576A CN 201610818861 A CN201610818861 A CN 201610818861A CN 106269576 A CN106269576 A CN 106269576A
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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
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- 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
A kind of Automatic Selection System of Waste Rock from Coal Bulk and method, belong to Coal Gangues Automation Selection System and method.Separation system: oscillating feeder, line-up device, coal receiving hopper, spoil receiving hopper, belt conveyor, detection equipment: video camera, industrial computer, shade, LED light source, execution equipment: controller, high-speed electromagnetic valve, spray gun.The present invention utilizes video camera to monitor belt in real time, selected two square subregions, the belt imaging region length of side of its correspondence is less than coal and the granularity lower limit of spoil, calculate the grey level histogram average of two sub regions in real time, with the spoil determined by test and coal cinder, belt threshold ratio relatively, when the grey level histogram average of subregion is more than this threshold value, it is judged to spoil, controller controls high-speed electromagnetic valve and opens, spoil is blown into spoil receiving hopper by spray gun, and lump coal continues motion and drops into coal receiving hopper or reprint belt.Using video camera to monitor in real time, control in time, separating effect is accurate, and layout is close to on-the-spot artificial discharge refuse, it is easy to actual transformation.
Description
Technical field
The present invention relates to a kind of Coal Gangues Automation Selection System and method.Particularly a kind of Automatic Selection System of Waste Rock from Coal Bulk and side
Method.
Background technology
Spoil is the black solid rock of association therewith in coal forming process, and phosphorus content and calorific capacity are the lowest, but at coal
Charcoal recovery process can be carried secretly a large amount of spoil.In the deep processing of coal, spoil preliminary election is the important step in coal production, can
To be greatly enhanced coal quality and utilization rate, reduce the cost of transportation of coal.At present, the preliminary election of spoil mainly uses people's work point
The method of choosing, artificial separation refers to that workman is sitting in belt both sides, sees by naked eyes, select by hand, finds out cash from the coal cinder of motion
Stone.The method labor intensity of artificial separation is big, and production efficiency is low, poor working environment, has a strong impact on workman healthy.
Summary of the invention
The invention aims to provide a kind of Automatic Selection System of Waste Rock from Coal Bulk and method, substitute existing dependence naked eyes and know
Not, select the artificial separation method of spoil by hand, improve the working environment of workers, improve sorting production efficiency.
In order to solve the problems referred to above, the present invention adopts the technical scheme that:
A kind of Automatic Selection System of Waste Rock from Coal Bulk includes: separation system includes: oscillating feeder, line-up device, Belt Conveying
Machine, spoil receiving hopper, coal receiving hopper, detection equipment and the equipment of execution；Vibrating feed is had above belt conveyor feed end
Machine, has coal receiving hopper in the lower section of belt conveyor discharge end, has detection equipment above the middle part of belt conveyor, in detection
Line-up device is had above belt conveyor between equipment and oscillating feeder；Detection equipment and belt conveyor discharge end it
Between belt conveyor above have execution equipment, detection equipment and the electrical connection of the equipment of execution.
Described detection equipment includes: shade, industrial computer, video camera and LED light source；Connect in shade and have video camera
With LED light source, video camera and LED light source are connected with the controller input of executor by industrial computer control, the outfan of industrial computer
Connect.
Described execution equipment includes: controller, high-speed electromagnetic valve and spray gun；Described spray gun has two, and respectively first
Spray gun and the second spray gun；Spray gun and high-speed electromagnetic valve are serially connected on High Pressure Air Pipe Line, and high-speed electromagnetic valve is controlled by the controller.
Described LED light source is 4, is arranged in video camera surrounding and is symmetrically installed；It is furnished with clouded glass in LED light source front end
Cover.
Described shade, with metallic framework, uses light tight material to wrap up outside metallic framework, forms a work sky
Between.
Described first spray gun and the second spray gun, for arrange dorsad, are arranged on the top of belt conveyor longitudinal axis.
Described spoil receiving hopper has two, the respectively first spoil receiving hopper and the second spoil receiving hopper, two spoils
Receiving hopper be arranged in belt conveyor both sides and be positioned at spray gun to spoil effect after, the blanking position of spoil movement locus.
Gangue automatic sorting method:
(1) being fallen on belt when block coal cinder and spoil by oscillating feeder, coal cinder and spoil are arranged by queueing mechanism
When becoming two row to enter in the range of shade shades, the video camera coal cinder to passing through and spoil shoot, and will photograph
Transmission of video is to industrial computer；
(2) video camera is photographed by industrial computer coal cinder and spoil image carry out real-time Digital Image Processing, in shooting
Selected two square subregions in region, on the belt that every sub regions is corresponding, the imaging region length of side is less than coal cinder and spoil
Granularity lower limit, calculates the grey level histogram of the two subregion the most respectively, obtains the gray average of this time domain；
(3) threshold value of this gray average with the spoil being previously set, coal cinder and belt gray average is compared, be less than
The judgement of this threshold value is coal cinder or belt, is spoil more than the judgement of this threshold value；
(4) after being judged to spoil, controller controls the first high-speed electromagnetic valve or the second high-speed electromagnetic valve to be passed through at spoil
Open during spray gun, the first spray gun or the second spray gun spoil is blown off respectively into the first spoil receiving hopper be arrangeding in parallel with spray gun or
In second spoil receiving hopper, coal cinder is followed belt and is continued motion, until natural landing is entered in coal receiving hopper, it is achieved lump coal and spoil
Sorting work.
Described spoil, coal cinder and belt decision threshold are determined by test, and method is: system is gone into operation front at dirt extraction skin after installing
Randomly select coal cinder and each 30 of spoil block on band, be placed on one by one under system photographic head, obtain its grey level histogram average；Again
The empty belt of shooting 30 times, obtains belt grey level histogram average；Owing to belt is black, its grey level histogram is similar with coal cinder,
Therefore choose belt and the maximum of each 30 the grey level histogram averages of coal cinder, be designated as gcb, then the gray scale choosing 30 spoils is straight
The minima of side's figure average, is designated as gg, threshold value=(gcb+gg)/2.
Beneficial effect and advantage: owing to have employed such scheme, under homogenous diffusion light irradiates, coal cinder avoids part
The phenomenon that minute surface is reflective, gray value is relatively low, and the gray value of spoil is higher, and apparently higher than coal cinder and belt.According to this principle,
Utilize digital image processing techniques to extract sample coal cinder, sample spoil and the intensity profile histogram feature of belt, choose here
Gray average, relatively and determine that a threshold value is stored in computer.When identifying spoil, coal cinder and belt, pass through actual
The grey level histogram feature of material compares with it.Have employed the means of simulation artificial separation, the whole detection of system identifies and divides
It is real-time, non-contacting for selecting work process, thus without affecting normal material transferring.Belt is provided with 2 material sortings
Passage, shares a set of detection and identifies device, but each passage configures a set of sorting actuating mechanism, works independently from each other.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Fig. 2 is video camera and light source layout drawing in shade in the present invention.
Fig. 3 is present configuration top view.
Fig. 4 is that the present invention performs equipment schematic diagram.
In figure: 1, oscillating feeder；2, line-up device；3, belt conveyor；4, the first spray gun；5, the second spray gun；6,
One spoil receiving hopper；7, the second spoil receiving hopper；8, coal receiving hopper；9, industrial computer；10, video camera；11, controller；12, shading
Cover；13, light source；14, the first high-speed electromagnetic valve；15, the second high-speed electromagnetic valve.
Detailed description of the invention
A kind of Automatic Selection System of Waste Rock from Coal Bulk includes: oscillating feeder 1, line-up device 2, belt conveyor 3, spoil splicing
Bucket, coal receiving hopper, detection equipment and the equipment of execution；Oscillating feeder 1 is had, at belt above belt conveyor 3 feed end
There is coal receiving hopper the lower section of conveyer 3 discharge end, has detection equipment above the middle part of belt conveyor, detection equipment with shake
Line-up device is had above belt conveyor between dynamic batcher；Belt between detection equipment and belt conveyor discharge end
Execution equipment, detection equipment and the electrical connection of the equipment of execution is had above conveyer.
Described detection equipment includes: shade 12, industrial computer 9, video camera 10 and LED light source 13；Connect in shade 12
Be connected to video camera 10 and LED light source 13, video camera 10 and LED light source 13 controlled by industrial computer 9, the outfan of industrial computer 9 with hold
The controller input of row device connects.
Described execution equipment includes: controller 11, is connected to equipped with first on the High Pressure Air Pipe Line of high-speed electromagnetic valve
Spray gun 4 and the second spray gun 5, the first spray gun 4 is controlled Push And Release by the first high-speed electromagnetic valve 14, and the second spray gun 5 is by the second High-speed Electric
Magnet valve 15 controls Push And Release, and the controlled device of high-speed electromagnetic valve 11 controls.
Described execution equipment includes: controller, high-speed electromagnetic valve and spray gun；Described spray gun has two, and respectively first
Spray gun and the second spray gun；Spray gun and high-speed electromagnetic valve are serially connected on High Pressure Air Pipe Line, and high-speed electromagnetic valve is controlled by the controller.
The outfan of video camera 10 is connected with the input of industrial computer 9, the outfan of industrial computer 9 and the input of controller 11
End connects, and the first high-speed electromagnetic valve 14 and the input of the second high-speed electromagnetic valve 15 are connected with the outfan of controller 11.
Described LED light source is 4, is arranged in video camera surrounding and is symmetrically installed；It is furnished with clouded glass in LED light source front end
Cover, forms scattering, it is ensured that uniform light in shade.
Described shade, with metallic framework, uses light tight material to wrap up outside metallic framework, forms a work sky
Between.
Described first spray gun and the second spray gun, for arrange dorsad, are arranged on the top of belt conveyor longitudinal axis.
Described spoil receiving hopper has two, the respectively first spoil receiving hopper and the second spoil receiving hopper, two spoils
Receiving hopper be arranged in belt conveyor both sides and be positioned at spray gun to spoil effect after, the blanking position of spoil movement locus.
Described passage is that wall scroll belt is provided with two passages, respectively passage 1 and passage 2.
Gangue automatic sorting method:
(1) being fallen on belt conveyor 3 when block coal cinder and spoil by oscillating feeder 1, coal cinder and spoil are by queuing up
Mechanism is arranged in two row when entering in the range of shade 12 shades, and the video camera 10 coal cinder to passing through and spoil shoot,
And by the transmission of video that photographs to industrial computer 9；
(2) video camera is photographed by industrial computer 9 coal cinder and spoil image carry out real-time Digital Image Processing, in shooting
Selected two square subregions in region, on the belt that every sub regions is corresponding, the imaging region length of side is less than coal cinder and spoil
Granularity lower limit, calculates the grey level histogram of the two subregion the most respectively, obtains the gray average of this time domain；
(3) threshold value of this gray average with the spoil being previously set, coal cinder and belt gray average is compared, be less than
The judgement of this threshold value is coal cinder or belt, is spoil more than the judgement of this threshold value；
(4) after being judged to spoil, controller 11 controls the first high-speed electromagnetic valve 14 or the second high-speed electromagnetic valve 15 at cash
Stone is opened through spray gun, and spoil is blown off into the first spoil be arrangeding in parallel with spray gun by the first spray gun 4 or the second spray gun 5 respectively
In receiving hopper 6 or the second spoil receiving hopper 7, coal cinder is followed belt and is continued motion, until natural landing is entered in coal receiving hopper 8, real
Existing lump coal and the sorting work of spoil.
On the belt that said two square subregion is corresponding, the imaging region length of side is less than coal cinder and the granularity lower limit of spoil,
And ensure that all coal cinders or spoil can be completely filled with this subregion through this region.
The decision threshold of described spoil and coal cinder is determined by test, and method is: system is gone into operation front at dirt extraction belt after installing
On randomly select coal cinder and each 30 of spoil block, be placed on one by one under system photographic head, obtain its grey level histogram average；Clap again
Take the photograph sky belt 30 times, obtain belt grey level histogram average；Owing to belt is black, its grey level histogram is similar with coal cinder, because of
This chooses belt and the maximum of each 30 the grey level histogram averages of coal cinder, is designated as gcb, then chooses the intensity histogram of 30 spoils
The minima of figure average, is designated as gg, threshold value=(gcb+gg)/2.
Embodiment 1: such as Fig. 1, a kind of Automatic Selection System of Waste Rock from Coal Bulk and method, include: oscillating feeder 1, dress of queuing up
Put 2, be arranged on the belt conveyor 3 between described oscillating feeder 1 and coal receiving hopper 8, be arranged on belt conveyor 3 pars intermedia
First spray gun 4 and the second spray gun 5 of position, is arranged on the first spoil receiving hopper 6 and the second spoil of described belt conveyor 3 both sides
Receiving hopper 7, coal receiving hopper 8, industrial computer 9, shade 12, the controller 11 being connected with industrial computer 9, it is arranged in shade 12
Video camera 10, light source 13；First spray gun 4 and the second spray gun 5 are arranged dorsad in same position.First spoil receiving hopper 6 and second
Spoil receiving hopper 7 is arranged in spoil movement locus orientation after spray gun effect.Shade 12 uses light tight material, by system metal
Frame surrounding covers, and reduces the external light source interference to image acquisition.Light source 13 uses that color rendering properties is good, luminous intensity is high, spectrum model
Enclose the wide and LED chip lamp of length stabilization time, be furnished with frosted glass lamp shade, be arranged symmetrically in camera four side, formed symmetrically and evenly to light,
Allow light source uniform fold on belt.
Such as Fig. 2, the internal setting of shade includes metallic framework, video camera, the LED light source being arranged symmetrically with video camera, skin
Band, through shade, forms work space with shade for scope.
In actual coal separation work, workman differentiates coal cinder and cash according to the difference of coal cinder and spoil texture and gray feature
Stone.Coal cinder is black, and gray level is relatively low；Spoil burnt hair turns white, and gray level relatively coal cinder wants height.The present invention passes through grey level histogram
Draw the grey level distribution situation of spoil, coal cinder and belt, using the gray average of spoil, coal cinder and belt as the spy sorted
Levy.
By test, the present invention determines that the gray average of sorting threshold value, coal cinder and belt is respectively less than this threshold value, the ash of spoil
Degree average is all higher than this threshold value.
When block stock is fallen on belt conveyor 3 by oscillating feeder 1, raw material by queueing mechanism be arranged in two arrange into
Enter shade 12, video camera 10 by the transmission of video that photographs to industrial computer 9.The coal cinder that video camera is photographed by industrial computer 9 and
Spoil image carries out real-time Digital Image Processing, selected two square subregions, every sub regions pair in camera watch region
On the belt answered, the imaging region length of side is less than coal and the granularity lower limit of spoil, calculates the gray scale of the two subregion the most respectively
Rectangular histogram, obtains the gray average of this time domain.By this gray average and the spoil being previously set, coal cinder and belt gray average
Threshold value compare, be coal cinder or belt less than the judgement of this threshold value, be spoil more than the judgement of this threshold value.When being judged to
After spoil, controller 11 controls the first high-speed electromagnetic valve 14 or the second high-speed electromagnetic valve 15 and opens through the moment at spoil, and first
Spoil is blown off into the first spoil receiving hopper 6 or the second spoil receiving hopper 7 be arrangeding in parallel with spray gun by spray gun 4 or the second spray gun 5
In, coal cinder is followed belt and is continued motion, until naturally dropping in coal receiving hopper 8, it is achieved lump coal and the sorting work of spoil.
Claims (9)
1. an Automatic Selection System of Waste Rock from Coal Bulk, is characterized in that: separation system includes: oscillating feeder, line-up device, belt are defeated
Send machine, spoil receiving hopper, coal receiving hopper, detection equipment and execution equipment；
Above belt conveyor feed end, there is oscillating feeder, have coal receiving hopper in the lower section of belt conveyor discharge end,
Above the middle part of belt conveyor, there is detection equipment, have above the belt conveyor between detection equipment and oscillating feeder
Line-up device；There is execution equipment above belt conveyor between detection equipment and belt conveyor discharge end, detect equipment
With the electrical connection of the equipment of execution.
Automatic Selection System of Waste Rock from Coal Bulk the most according to claim 1, is characterized in that: described detection equipment includes: shade,
Industrial computer, video camera and LED light source；Connect in shade and have video camera and LED light source, video camera and LED light source by industry control
Machine controls, and the outfan of industrial computer is connected with the controller input of executor.
Automatic Selection System of Waste Rock from Coal Bulk the most according to claim 1, is characterized in that: described execution equipment includes: controller,
High-speed electromagnetic valve and spray gun；Described spray gun has two, the respectively first spray gun and the second spray gun；Spray gun and high-speed electromagnetic valve string
Being connected on High Pressure Air Pipe Line, high-speed electromagnetic valve is controlled by the controller.
Automatic Selection System of Waste Rock from Coal Bulk the most according to claim 2, is characterized in that: described LED light source is 4, is arranged in
Video camera surrounding is also symmetrically installed；It is furnished with frosted glass lamp shade in LED light source front end.
Automatic Selection System of Waste Rock from Coal Bulk the most according to claim 2, is characterized in that: described shade with metallic framework,
Use light tight material to wrap up outside metallic framework, form a work space.
Automatic Selection System of Waste Rock from Coal Bulk the most according to claim 3, is characterized in that: described first spray gun and the second spray gun are
Arrange dorsad, be arranged on the top of belt conveyor longitudinal axis.
Automatic Selection System of Waste Rock from Coal Bulk the most according to claim 1, is characterized in that: described spoil receiving hopper has two,
Being respectively the first spoil receiving hopper and the second spoil receiving hopper, two spoil receiving hoppers are arranged in belt conveyor both sides and location
After spray gun is to spoil effect, the blanking position of spoil movement locus.
8. the method for separating of the Automatic Selection System of Waste Rock from Coal Bulk described in claim 1, is characterized in that: gangue automatic sorting side
Method:
(1) being fallen on belt when block stock by oscillating feeder, raw material is arranged in two row by queueing mechanism and enters shade
Time in the range of shade, video camera by the transmission of video that photographs to industrial computer；
(2) video camera is photographed by industrial computer coal cinder and spoil image carry out real-time Digital Image Processing, at camera watch region
In selected two square subregions, on the belt that every sub regions is corresponding under the imaging region length of side granularity less than coal and spoil
Limit, calculates the grey level histogram of the two subregion the most respectively, obtains the gray average of this time domain；
(3) threshold value of this gray average with the spoil being previously set, coal cinder and belt gray average is compared, less than this threshold
The judgement of value is coal cinder or belt, is spoil more than the judgement of this threshold value；
(4) after being judged to spoil, controller controls the first high-speed electromagnetic valve or the second high-speed electromagnetic valve at spoil through spray gun
Spoil is blown off into the first spoil receiving hopper be arrangeding in parallel with spray gun or the second spoil by Shi Kaiqi, the first spray gun or the second spray gun
In receiving hopper, coal cinder is followed belt and is continued motion, until natural landing is entered in coal receiving hopper, it is achieved lump coal and the grder man of spoil
Make.
9. the method for separating of the Automatic Selection System of Waste Rock from Coal Bulk described in claim 8, is characterized in that: described spoil, coal cinder and skin
Band decision threshold is determined by test, and method is: system randomly selects coal cinder and spoil block before going into operation after installing on dirt extraction belt
Each 30, it is placed on one by one under system photographic head, obtains its grey level histogram average；The empty belt of shooting 30 times, obtains belt again
Grey level histogram average；Owing to belt is black, its grey level histogram is similar with coal cinder, therefore chooses belt and each 30 of coal cinder
The maximum of grey level histogram average, is designated as gcb, then chooses the minima of the grey level histogram average of 30 spoils, is designated as gg,
Threshold value=(gcb+gg)/2.
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