CN106964567B - Coal gangue sorting device and system - Google Patents
Coal gangue sorting device and system Download PDFInfo
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- CN106964567B CN106964567B CN201710396640.2A CN201710396640A CN106964567B CN 106964567 B CN106964567 B CN 106964567B CN 201710396640 A CN201710396640 A CN 201710396640A CN 106964567 B CN106964567 B CN 106964567B
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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
- B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
- B07C5/3427—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain by changing or intensifying the optical properties prior to scanning, e.g. by inducing fluorescence under UV or x-radiation, subjecting the material to a chemical reaction
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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
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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
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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Abstract
The invention provides a coal and gangue sorting device and a system, which relate to the technical field of coal and gangue sorting and comprise the following components: the device comprises an auxiliary device, a recognition processing device, a control device and an actuating mechanism; the auxiliary device is used for heating the object to be detected in a thermal convection mode so as to excite the thermal radiation characteristics of the surface of the object to be detected; the recognition processing device is connected with the auxiliary device and used for processing the heat radiation characteristics to obtain a first temperature domain image and sending the first temperature domain image to the control device; the control device is connected with the identification processing device and used for processing the first temperature domain image to obtain a pickup coordinate of the object to be detected and sending a pulse signal to the execution mechanism according to the pickup coordinate; the actuating mechanism is connected with the control device and used for executing corresponding operation according to the pulse signals so as to separate the object to be detected, and an infrared thermal imaging sorting mode is adopted, so that on the basis of no radiation effect, the error is small, and the sorting rate is high.
Description
Technical Field
The invention relates to the technical field of coal gangue separation, in particular to a coal gangue separation device and a coal gangue separation system.
Background
Gamma rays have extremely strong penetrating power, when a human body is irradiated by the gamma rays, the gamma rays enter the inside of the human body and have ionization effect with cells in the human body, ions generated by ionization can erode complex organic molecules such as proteins, nucleic acids, enzymes and the like, and meanwhile, the organic molecules are main components forming living cell tissues, once the organic molecules are destroyed, normal chemical processes in the human body can be interfered, and more serious cell death can occur, so that the gamma rays have serious harm to the human body.
The existing automatic coal and gangue separation mode mostly adopts gamma rays for identification, and adopts a high-frequency air valve to knock down the identified coal or gangue for separation, while the mode of adopting the high-frequency air valve to knock down the identified coal or gangue has large error rate and relatively low separation rate.
Disclosure of Invention
In view of the above, the invention aims to provide a gangue sorting device and a gangue sorting system, which adopt an infrared thermal imaging sorting mode, and have small error and high sorting rate on the basis of no radiation effect.
In a first aspect, an embodiment of the present invention provides a coal gangue sorting apparatus, including: the device comprises an auxiliary device, a recognition processing device, a control device and an actuating mechanism;
the auxiliary device is used for heating the object to be detected in a thermal convection mode so as to excite the thermal radiation characteristics of the surface of the object to be detected;
the identification processing device is connected with the auxiliary device and used for processing the heat radiation characteristics to obtain a first temperature domain image and sending the first temperature domain image to the control device;
the control device is connected with the identification processing device and is used for processing the first temperature domain image to obtain a pickup coordinate of the object to be detected and sending a pulse signal to the execution mechanism according to the pickup coordinate;
and the executing mechanism is connected with the control device and used for executing corresponding operation according to the pulse signal so as to separate the object to be detected.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the apparatus further includes an alignment device, connected to the auxiliary device, and configured to align the objects to be tested.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the alignment device includes an alignment mechanism and a separation mechanism, and the alignment mechanism is disposed in front of the alignment mechanism.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the identification processing apparatus includes a thermal imaging camera, a photoelectric conversion module, and a microprocessor;
the thermal imaging camera is used for identifying the heat radiation characteristics in the area and sending the heat radiation characteristics to the photoelectric conversion module;
the photoelectric conversion module is connected with the thermal imaging camera and used for converting the thermal radiation characteristics into electric signals;
and the microprocessor is connected with the photoelectric conversion module and used for connecting equivalent electric signals to form a first temperature domain image, calculating a first initial coordinate according to the first temperature domain image, and sending the first temperature domain image and the first initial coordinate to the control device.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the control device includes an industrial personal computer, a controller, and a driver;
the industrial personal computer is connected with the controller and used for storing the first temperature domain image and the first initial coordinate sent by the microprocessor, calling a second temperature domain image matched with a preset temperature domain image from the first temperature domain image, calculating a second initial coordinate through the second temperature domain image and sending the second initial coordinate to the controller;
the controller is connected with the industrial personal computer and used for calculating the second initial coordinate and the belt transmission speed to obtain the pickup coordinate of the object to be detected and sending a pulse signal to the driver according to the pickup coordinate;
and the driver is connected with the controller and used for controlling the actuating mechanism to carry out corresponding operation according to the pulse signal.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the industrial personal computer is further configured to preprocess the first temperature domain image to obtain a preprocessing result, and send the preprocessing result to the controller, so that the controller sends a pulse signal to the driver according to the preprocessing result, where the preprocessing result includes one or more of a shape, a temperature domain image, a direction, an initial coordinate, and a current displacement amount.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the execution mechanism includes a servo motor, a three-axis movement mechanism, a solenoid valve, an air cylinder, and a manipulator.
With reference to the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the driver includes a circuit driver and a servo driver, and the pulse signal includes a first pulse signal and a second pulse signal;
the servo driver is used for controlling the servo motor to act according to the first pulse signal so that the servo motor controls the three-axis movement mechanism to move to a corresponding position;
and the circuit driver is used for controlling the electromagnetic valve to act according to the second pulse signal so that the electromagnetic valve drives the cylinder to control the manipulator to perform corresponding action.
In a second aspect, an embodiment of the present invention further provides a coal and gangue sorting system, including the coal and gangue sorting system as described above, and further including a belt, where the belt includes a first transportation belt, a second transportation belt and a third transportation belt, the second transportation belt and the third transportation belt are sequentially disposed below the first transportation belt, an alignment device, an auxiliary device, an identification processing device and an execution mechanism are sequentially disposed above the first transportation belt, and a control device is disposed above the identification processing device and the execution mechanism.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the apparatus further includes an encoder, connected to the control device, and configured to measure a transmission speed of the first conveyor belt in real time and send the transmission speed to the control device.
The embodiment of the invention provides a coal gangue sorting device and a coal gangue sorting system, which comprise: the device comprises an auxiliary device, a recognition processing device, a control device and an actuating mechanism; the auxiliary device is used for heating the object to be detected in a thermal convection mode so as to excite the thermal radiation characteristics of the surface of the object to be detected; the recognition processing device is connected with the auxiliary device and used for processing the heat radiation characteristics to obtain a first temperature domain image and sending the first temperature domain image to the control device; the control device is connected with the identification processing device and used for processing the first temperature domain image to obtain a pickup coordinate of the object to be detected and sending a pulse signal to the execution mechanism according to the pickup coordinate; the actuating mechanism is connected with the control device and used for executing corresponding operation according to the pulse signals so as to separate the object to be detected, and an infrared thermal imaging sorting mode is adopted, so that on the basis of no radiation effect, the error is small, and the sorting rate is high.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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 embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a gangue sorting device provided in the first embodiment of the invention;
fig. 2 is a schematic structural view of an alignment device in the gangue sorting device according to the first embodiment of the invention;
FIG. 3 is a second schematic view of an arrangement device of the gangue sorting device according to the first embodiment of the present invention;
fig. 4 is a schematic structural diagram of a gangue sorting system according to a second embodiment of the present invention.
Icon: 1-a feeding bin; 2-alignment device; 3-an auxiliary device; 4-identification processing means; 5-a control device; 6-an actuator; 7-a first conveyor belt; 8-a second conveyor belt; 9-a third conveyor belt; 10-a waste rock storage bin; 11-a coal storage bin; 12-a column separation mechanism; 13-alignment mechanism.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The existing automatic coal and gangue separation mode mostly adopts gamma rays for identification, and adopts a high-frequency air valve to knock down the identified coal or gangue for separation, while the mode of adopting the high-frequency air valve to knock down the identified coal or gangue has large error rate and relatively low separation rate.
Based on the above, the device and the system for separating the coal and gangue provided by the embodiment of the invention adopt an infrared identification separation mode, and have the advantages of small error and high separation rate on the basis of no radiation effect.
For the convenience of understanding the embodiment, the gangue sorting device disclosed by the embodiment of the invention is firstly described in detail,
the first embodiment is as follows:
fig. 1 is a schematic structural diagram of a gangue sorting device provided in an embodiment of the present invention.
Referring to fig. 1, the coal and gangue sorting device comprises an auxiliary device 3, a recognition processing device 4, a control device 5 and an actuating mechanism 6;
the auxiliary device 3 is used for heating the object to be detected in a thermal convection mode so as to excite the thermal radiation characteristics of the surface of the object to be detected;
the recognition processing device 4 is connected with the auxiliary device 3 and used for processing the heat radiation characteristics to obtain a first temperature domain image and sending the first temperature domain image to the control device 5;
the control device 5 is connected with the identification processing device 4 and is used for processing the first temperature domain image to obtain a pickup coordinate of the object to be detected and sending a pulse signal to the execution mechanism 6 according to the pickup coordinate;
and the executing mechanism 6 is connected with the control device 5 and is used for executing corresponding operation according to the pulse signal so as to separate the object to be detected.
Specifically, the infrared thermal imaging separation technology of the coal gangue separation device provided by the embodiment of the invention can normally work by adding the infrared thermal imaging separation technology on the original production line, is simple and convenient to install, simple in modular treatment and maintenance, low in modification cost, and has the recognition rate of more than 95%;
the auxiliary device 3 provides effective identification conditions for the identification processing device 4 by utilizing a hot air flow mode fast heat exchange molecule principle, and heats the object to be detected in a heat convection mode to enable the temperature of the object to be detected to reach a preset value so as to excite the heat radiation characteristics of the surface of the object to be detected;
here, the auxiliary device 3 heats the object to be measured, so that the number of the heat radiation characteristics on the surface of the object to be measured is increased, and the object to be measured is easier to be identified by the identification processing device 4;
specifically, the heat radiation characteristics include information such as thermal molecules, temperature, and the like;
further, the device also comprises an alignment device which is connected with the auxiliary device 3 and used for aligning the objects to be measured.
Specifically, the arraying device arranges the coal and the gangue with different sizes, irregularity and disordered arrangement into an array with certain gaps, so as to provide favorable conditions for the following operations of the auxiliary device 3, the identification processing device 4 and the executing mechanism 6;
further, referring to fig. 2 and 3, the alignment device includes a separation mechanism 12 and an alignment mechanism 13, and the separation mechanism 12 is disposed in front of the alignment mechanism 13.
Specifically, the front splitting mechanism 12 includes a fixing frame and a plow-shaped component, the plow-shaped component is fixed by the fixing frame, the coal and the gangue are split into multiple rows, the multi-splitting mechanism 12 can be used for combination application, so that the coal and the gangue can be split into multiple rows more easily, wherein the multi-splitting mechanism 12 can include a plurality of plow-shaped components, and fig. 2 and 3 are only one example;
here, the rear arrangement mechanism 13 includes a fixed frame and steel plate components, each steel plate component plate is fixed by two fixed frames, multiple sets of arrangement mechanisms 13 can be adopted to cooperate, and the coal and gangue divided into queues are pulled away by the left and right swinging of the steel plate components, so that the auxiliary device 3 can be better heated and the manipulator can smoothly grab and pick up the coal and gangue, wherein the swinging directions of the steel plate components in the front and rear two sets of arrangement mechanisms 13 are opposite, one set of arrangement mechanism 13 can include a plurality of steel plate components, and fig. 2 and 3 are only one example;
in summary, coal and gangue firstly pass through the row dividing mechanism 12, the plowshare-shaped component divides the coal and gangue into a plurality of rows of orderly rows, and then pass through the arrangement mechanism 13, and the steel plate component pulls the coal and gangue which are divided into the rows apart;
further, the identification processing device 4 comprises a thermal imaging camera, a photoelectric conversion module and a microprocessor;
the thermal imaging camera is used for identifying heat radiation characteristics in the area and sending the heat radiation characteristics to the photoelectric conversion module;
the photoelectric conversion module is connected with the thermal imaging camera and used for converting the thermal radiation characteristics into electric signals;
and the microprocessor is connected with the photoelectric conversion module and used for connecting equivalent electric signals to form a first temperature domain image, calculating a first initial coordinate according to the first temperature domain image, and sending the first temperature domain image and the first initial coordinate to the control device 5.
It should be noted that when the first temperature domain image is small, the thermal radiation characteristic is strong, for example, the thermal radiation characteristic of the gangue with the small first temperature domain image is similar to that of the coal with the large first temperature domain image, that is, the objects to be detected with different first temperature domain images cannot be compared, so that the objects to be detected need to be identified by combining the first temperature domain image and the thermal radiation characteristic;
specifically, the thermal imaging camera can receive and identify thermal radiation characteristics emitted by an object to be detected in an area, the thermal radiation characteristics with the same size and the same electrical signal value are classified into one class, the class is connected to form a first temperature domain image, and a first initial coordinate is calculated according to the first temperature domain image;
the first initial coordinate is the origin of the gravity center of the object to be measured;
here, the first temperature domain image includes images in which a plurality of electrical signals of equal value are connected, for example, the first temperature domain image includes an image in which electrical signals of 0.5V are connected, an image in which electrical signals of 1V are connected, and an image in which electrical signals of 0.7V are connected;
further, the control device 5 comprises an industrial personal computer, a controller and a driver;
the industrial personal computer is connected with the controller and used for storing the first temperature domain image and the first initial coordinate sent by the microprocessor, calling a second temperature domain image matched with the preset temperature domain image from the first temperature domain image, calculating a second initial coordinate through the second temperature domain image and sending the second initial coordinate to the controller;
the controller is connected with the industrial personal computer and used for calculating the second initial coordinate and the belt transmission speed to obtain a pickup coordinate of the object to be detected and sending a pulse signal to the driver according to the pickup coordinate;
and the driver is connected with the controller and is used for controlling the actuating mechanism 6 to carry out corresponding operation according to the pulse signal.
Here, the first temperature domain images of the objects of different materials with the same thermal radiation characteristics are different, a preset temperature domain image of the object to be measured of one material can be preset, and the two materials can be distinguished through matching of the first temperature domain image and the preset temperature domain image;
specifically, a plurality of images in the first temperature domain image are matched with a preset temperature domain image, if the matching is successful, the image is a second temperature domain image, and a second initial coordinate calculated through the second temperature domain image is called;
the second initial coordinate is the origin of the gravity center of the object to be selected;
further, the industrial personal computer is further used for preprocessing the first temperature domain image to obtain a preprocessing result, and sending the preprocessing result to the controller so that the controller sends a pulse signal to the driver according to the preprocessing result, wherein the preprocessing result comprises one or more of the shape, the temperature domain image, the direction, the initial coordinate and the current displacement.
Wherein, corresponding pulse signals are sent out according to the picking coordinates and the preprocessing result, so that the driver picks up the object tracked by the actuating mechanism 6.
Here, the microprocessor acquires the shape, direction and the like of the coal or the gangue, and is more favorable for the later-stage execution mechanism 6 to grab the object to be detected.
Further, the actuating mechanism 6 comprises a servo motor, a three-axis movement mechanism, an electromagnetic valve, an air cylinder and a manipulator.
Here, the manipulator includes a hand grip and a hand plectrum;
further, the driver comprises a circuit driver and a servo driver, and the pulse signal comprises a first pulse signal and a second pulse signal;
the servo driver is used for controlling the servo motor to act according to the first pulse signal so that the servo motor controls the three-axis movement mechanism to move to a corresponding position;
and the circuit driver is used for controlling the electromagnetic valve to act according to the second pulse signal so that the electromagnetic valve drives the cylinder to control the manipulator to perform corresponding action.
Wherein, different pulse signals have different meanings, and the pulse signal list of the controller can be checked to obtain the meanings of the different pulse signals.
Specifically, after receiving the data parameter and the initial coordinate provided by the recognition processing device 4 and the transmission speed of the first conveyor belt 7 detected by the encoder, the control device 5 calculates the position of the object to be grabbed, namely the pickup coordinate, by combining the initial coordinate and the transmission speed provided by the recognition processing device 4, sends a corresponding pulse signal to a corresponding driver according to the pickup coordinate and the result of the preprocessed data parameter, and after receiving the pulse signal, the driver controls the execution mechanism 6 to perform a corresponding action.
The three-axis movement mechanism comprises three axes of X, Y and Z, wherein the X axis is responsible for the front-back direction movement, the Y axis is responsible for the left-right direction movement, and the Z axis is responsible for the up-down direction movement.
The actuator control actuator 6 has the following operation flow: the servo driver controls the three-axis movement mechanism to move to a corresponding position according to a corresponding pulse signal; when the relative position of the manipulator and the object to be picked up is suitable for grabbing (pulling), the control device 5 sends a grabbing pulse instruction to the circuit driver, and the circuit driver controls the electromagnetic valve to drive the air cylinder to perform folding and grabbing actions. After grabbing, the three-axis movement mechanism moves to the position of the corresponding bin gate of the object to be released, the control device 5 sends a release pulse instruction to the circuit driver, and the circuit driver controls the electromagnetic valve to drive the air cylinder to release. When the releasing action is finished, the control device 5 sends a pulse signal to make the three-axis movement mechanism ready to grab the next object.
Specifically, the circuit driver is also provided with an alarm lamp with an isolation function, and when a circuit load fails, the alarm lamp gives an alarm without affecting other functions of the device;
wherein, the identification processing device 4 and the control device 5 are respectively provided with a communication interface to realize the data exchange;
example two:
fig. 4 is a schematic structural diagram of a gangue sorting system according to a second embodiment of the present invention.
Referring to fig. 4, an embodiment of the present invention further provides a coal and gangue sorting system, including the coal and gangue sorting system as described above, and further including a belt, where the belt includes a first transportation belt 7, a second transportation belt 8, and a third transportation belt 9, the second transportation belt 8 and the third transportation belt 9 are sequentially disposed below the first transportation belt 7, the alignment device, the auxiliary device 3, the identification processing device 4, and the execution mechanism 6 are sequentially disposed above the first transportation belt 7, and the control device 5 is disposed above the identification processing device 4 and the execution mechanism 6.
The first conveying belt 7 is an original coal and gangue conveying belt, the second conveying belt 8 is a coal conveying belt which leads sorted coal to the coal storage bin 11, and the third conveying belt 9 is a gangue conveying belt which leads sorted gangue to the gangue storage bin 10;
further, the device also comprises an encoder which is connected with the control device 5 and is used for measuring the transmission speed of the first conveying belt 7 in real time and sending the transmission speed to the control device 5.
The device also comprises a feeding bin 1, a gangue storage bin 10 and a coal storage bin 11;
specifically, coal and gangue are fed from a feeding bin 1, and the coal and gangue with different sizes, irregularity and disorderly arranged are arranged into a regular and orderly queue with certain gaps through an arranging device 2. The aligned coal and gangue queue is heated through the auxiliary device 3, the identification processing device 4 identifies the coal and gangue queue, the first temperature domain image and the first initial coordinate of the object to be detected are transmitted to the control device 5, the control device 5 calls a second temperature domain image matched with the preset temperature domain image in the first temperature domain image, the second initial coordinate obtained through calculation of the second temperature domain image is used for calculating the pickup coordinate through the second initial coordinate, and a pulse signal is sent according to the pickup coordinate and the preprocessing result to control the execution mechanism 6 to execute the related operation.
It should be noted that an object that does not match the image of the predetermined temperature range will automatically flow from the first conveyor belt 7 to its dedicated belt without grabbing or other manipulation.
The embodiment of the invention provides a coal gangue sorting device and a system, comprising: the device comprises an auxiliary device, a recognition processing device, a control device and an actuating mechanism; the auxiliary device is used for heating the object to be detected in a thermal convection mode so as to excite the thermal radiation characteristics of the surface of the object to be detected; the recognition processing device is connected with the auxiliary device and used for processing the heat radiation characteristics to obtain a first temperature domain image and sending the first temperature domain image to the control device; the control device is connected with the identification processing device and used for processing the first temperature domain image to obtain a pickup coordinate of the object to be detected and sending a pulse signal to the execution mechanism according to the pickup coordinate; the actuating mechanism is connected with the control device and used for executing corresponding operation according to the pulse signals so as to separate the object to be detected, and an infrared thermal imaging sorting mode is adopted, so that on the basis of no radiation effect, the error is small, and the sorting rate is high.
The gangue sorting system provided by the embodiment of the invention has the same technical characteristics as the gangue sorting device provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a coal gangue sorting unit which characterized in that includes: the device comprises an auxiliary device, a recognition processing device, a control device and an actuating mechanism;
the auxiliary device is used for heating the object to be detected in a thermal convection mode so as to excite the thermal radiation characteristics of the surface of the object to be detected;
the identification processing device is connected with the auxiliary device and used for processing the heat radiation characteristics to obtain a first temperature domain image and sending the first temperature domain image to the control device;
the control device is connected with the identification processing device and used for processing the first temperature domain image to obtain a pickup coordinate of the object to be detected and sending a pulse signal to the executing mechanism according to the pickup coordinate;
the actuating mechanism is connected with the control device and used for executing corresponding operation according to the pulse signal so as to separate the object to be detected;
the arraying device is connected with the auxiliary device and used for arraying the objects to be detected in order; the arraying device comprises an array separating mechanism and an arraying mechanism, wherein the array separating mechanism is arranged in front of the arraying mechanism;
the arrangement mechanism comprises fixing frames and steel plate parts, and each steel plate part is fixed by the two fixing frames; a plurality of groups of the arranging mechanisms can be matched, and the objects to be detected which are divided into the queue are pulled apart by the left-right swinging and diagonal pulling of the steel plate parts; the swing directions of the steel plate components in the arrangement mechanisms of the front and rear groups are opposite, and one group of arrangement mechanisms comprises a plurality of steel plate components.
2. The gangue sorting device according to claim 1, wherein the identification processing device comprises a thermal imaging camera, a photoelectric conversion module and a microprocessor;
the thermal imaging camera is used for identifying the heat radiation characteristics in the area and sending the heat radiation characteristics to the photoelectric conversion module;
the photoelectric conversion module is connected with the thermal imaging camera and is used for converting the thermal radiation characteristics into electric signals;
the microprocessor is connected with the photoelectric conversion module and used for connecting equivalent electric signals to form a first temperature domain image, calculating a first initial coordinate according to the first temperature domain image, and sending the first temperature domain image and the first initial coordinate to the control device.
3. The gangue sorting device according to claim 2, wherein the control device comprises an industrial personal computer, a controller and a driver;
the industrial personal computer is connected with the controller and used for storing the first temperature domain image and the first initial coordinate sent by the microprocessor, calling a second temperature domain image matched with a preset temperature domain image from the first temperature domain image, calculating through the second temperature domain image to obtain a second initial coordinate, and sending the second initial coordinate to the controller;
the controller is connected with the industrial personal computer and used for calculating the second initial coordinate and the belt transmission speed to obtain the pickup coordinate of the object to be detected and sending a pulse signal to the driver according to the pickup coordinate;
and the driver is connected with the controller and used for controlling the actuating mechanism to carry out corresponding operation according to the pulse signal.
4. The gangue sorting device according to claim 3, wherein the industrial personal computer is further configured to preprocess the first temperature domain image to obtain a preprocessing result, and send the preprocessing result to the controller, so that the controller sends a pulse signal to the driver according to the preprocessing result, wherein the preprocessing result includes one or more of a shape, a temperature domain image, a direction, an initial coordinate, and a current displacement.
5. The gangue sorting device according to claim 3, wherein the actuating mechanism comprises a servo motor, a three-axis movement mechanism, an electromagnetic valve, an air cylinder and a mechanical arm.
6. The gangue sorting device according to claim 5, wherein the driver comprises a circuit driver and a servo driver, and the pulse signals comprise a first pulse signal and a second pulse signal;
the servo driver is used for controlling the servo motor to act according to the first pulse signal so that the servo motor controls the three-axis movement mechanism to move to a corresponding position;
and the circuit driver is used for controlling the electromagnetic valve to act according to the second pulse signal so that the electromagnetic valve drives the cylinder to control the manipulator to perform corresponding action.
7. The coal and gangue sorting system is characterized by comprising the coal and gangue sorting device as claimed in any one of claims 1-6, and further comprising a belt, wherein the belt comprises a first conveying belt, a second conveying belt and a third conveying belt, the second conveying belt and the third conveying belt are sequentially arranged below the first conveying belt, an alignment device, an auxiliary device, an identification processing device and an execution mechanism are sequentially arranged above the first conveying belt, and a control device is arranged above the identification processing device and the execution mechanism.
8. The gangue sorting system according to claim 7, further comprising an encoder connected to the control device for measuring the conveying speed of the first conveyor belt in real time and sending the conveying speed to the control device.
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| CN108380524A (en) * | 2018-03-06 | 2018-08-10 | 深圳市时维智能装备有限公司 | Bastard coal screening installation and system |
| CN108380525A (en) * | 2018-03-06 | 2018-08-10 | 深圳市时维智能装备有限公司 | Bastard coal device for visual identification and method |
| CN111054635B (en) * | 2019-11-12 | 2022-04-22 | 河北玖河精密机械制造有限公司 | Intelligent gangue selecting method and device |
| CN111906050B (en) * | 2020-08-14 | 2024-02-02 | 大连智仁智矿科技有限公司 | System and method for separating gangue based on video analysis |
| CN113305024A (en) * | 2021-01-22 | 2021-08-27 | 河北工业大学 | Coal gangue screening system based on thermal imaging |
| CN113210286A (en) * | 2021-04-23 | 2021-08-06 | 太原理工大学 | Gangue letter sorting production line |
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