CN109848073A - A kind of apparatus and method for sorting coal and gangue - Google Patents
A kind of apparatus and method for sorting coal and gangue Download PDFInfo
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Abstract
The present invention proposes a kind of apparatus and method for for sorting coal and gangue, including pipeline, queueing mechanism, camera shutter trigger, test desk, sorting executing agency；The queueing mechanism, camera shutter trigger, test desk, sorting executing agency set gradually on the conveyor line.The present invention passes through above equipment, coal and gangue volume are obtained in conjunction with intelligent vision and image processing algorithm using the different feature of both coal and gangues density, quality is obtained further according to the dynamic weighing sensor installed on rolling wiring, is separated the two using the different feature of density.The present invention realizes the automatically screening of coal and gangue, reduces cost, improves screening precision, avoids environmental pollution.
Description
Technical field
The invention belongs to coal automation equipment fields, especially relate to a kind of equipment and side for sorting coal and gangue
Method.
Background technique
Gangue is the solid waste discharged in coal process of manufacture, is the rock that a kind of phosphorus content is lower, harder than coal
Stone.In order to improve the quality of coal, gangue sorting is a link indispensable in coal production.
Gangue sorting at present mainly has wet cleaning method, dry separation method and manual sorting's method.Wet cleaning method includes jigging method, dense medium
Method, its main feature is that it is different from gangue density using coal, raw coal is placed in solution, realizes the separation of coal and gangue.It is such
Equipment needed for method is huge, and serious environmental pollution is caused in complex process and sorting efficiency underground.Dry separation method including the use of coal with
Both gangues intensity is different and uses the broken choosing of roller, or is known to light transmission difference using dual energy gamma ray projection using the two
It does not sort, the former destroys coal cinder shape, and sorting rate is poor, and equipment is huge, and the latter's facility is expensive, and there is radiation.In addition, people
Choosing is easily falsely dropped and leaked to work screening operation bad environments, large labor intensity.
Summary of the invention
The present invention provides a kind of apparatus and method for for sorting coal and gangue, realize that the automation of coal and gangue is sieved
Choosing reduces cost, improves screening precision, avoids environmental pollution.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
It is a kind of sort coal and gangue equipment, including pipeline, queueing mechanism, camera shutter trigger, test desk, point
Pick executing agency, central processing unit；The queueing mechanism, camera shutter trigger, test desk, sorting executing agency set gradually
On a conveyor, and with central processing unit signal it connect.
Further, the pipeline is several, and every strip transmission line includes that the feeding pipeline, the differential that set gradually are defeated
Line sending shunts pipeline, confluence pipeline；The queueing mechanism is arranged in above feeding pipeline arranged side by side；The differential is defeated
Line sending is used to expand the spacing between material；The test desk, which is set to, to be shunted on pipeline；The camera shutter trigger (is taken the photograph
As trigger is a pair of of correlation photoelectric sensor) it is set to the position at test desk inlet edge；The sorting executing agency
It is set on test desk.
Further, the queueing mechanism is made of portal frame, video camera and plectrum device and material baffle；Gantry
It is placed on above pipeline；Video camera is placed in portal frame crossbeam middle, and plectrum device is located at portal frame below the crossbeam；Video camera
By connection central processing unit, central processing unit carries out vision algorithm processing to the material picture that video camera obtains, for
The color characteristic of gangue is handled image binaryzation using adaptive two-tone images algorithm, then statistical picture pixel nonzero value
Quantitative proportion, to measure material concentration, and control adjustment plectrum device the speed of service, will be intensive on pipeline
Coal cinder separates.
Further, the plectrum device is made of servo motor, guide rail, lead screw and plectrum, and the guide rail is set to
Portal frame crossbeam lower end surface, the plectrum are set on guide rail, and the servo motor is set to portal frame, are dialled by lead screw control
Piece is mobile.
Further, the test desk includes vision camera unit, dynamic weighing sensor；The vision camera unit master
It to be made of the depth camera for being located at the alignment multiple angles in imaging area；The depth camera is connect with central processing unit；It is dynamic
State weighing sensor is placed in below the pipeline in imaging area, and acquisition weight data is sent to central processing unit.
Further, the depth camera is uniformly distributed around the determinand in 360 degree of regions.
Further, the sorting executing agency being arranged on test desk includes scraping wings and hopper, wherein scraping wings
It is arranged on test desk, is connect with central processing unit；The test desk side in scraping wings pusher direction is arranged in the hopper.
Another aspect of the present invention additionally provides a kind of method for sorting coal and gangue, comprising:
S1, formation arrangement: the unordered mixed and disorderly coal stone of pipeline is sorted by queueing mechanism first, block material is successively arranged
It arranges and there are gaps；Secondly differential pipeline is utilized, the spacing between coal stone is expanded；
S2, obtain object deep image information: coal and gangue to be arranged enters imaging area, camera unit by
Trigger signal driving is taken pictures, and by taking pictures in the different angle of target material to material, obtains target material at each angle
Deep image information on degree；
S3, cubing: by handling deep image information, according to point cloud data, fit object material is one
Slicing profile under a dimension, and then its volume is asked to the slice area integral of a dimension of target material；
S4, density calculate: the weight of target material are obtained by weighing sensor, according to formula density p=quality m/ body
Product V calculates object density；
S5, sorting execute: according to the target material density being calculated, reduced density threshold value determines that material is coal or coal
Spoil；If it is determined that being gangue, sorting executing agency is shifted gangue in hopper by scraping wings；If it is determined that being coal, sorting
Executing agency's attonity, coal enter in confluence pipeline along pipeline.
Further, the specific steps of cubing described in step S3 are as follows:
The calibration of S3.1, single depth camera: the RGB camera and infrared camera internal reference for being included including depth camera
Calibration and two cameras between outer ginseng calibration；
The calibration of S3.2, multiple depth cameras: the Intrinsic Matrix of single camera is obtained by the scaling method of step 3.1
With outer parameter matrix, the outer parameter matrix characterization of camera is pose of the camera relative to some scaling board；Multiple cameras
Calibration is then according to this principle, by obtaining outer parameter matrix of multiple cameras relative to same scaling board, to obtain each
Coordinate system transformation matrix between depth camera；
S3.3, object depth information obtain: the depth camera of different angle needs the starting shooting of setting time interval to adopt figure, root
According to the calibration result between each depth camera, the depth information that each camera acquires is transformed under the same coordinate system, in turn
Obtain the panorama depth information of object；
S3.4, depth information pretreatment: background data is proposed by dimension filter；Later according to minute between cloud
Cloth and relative geometrical relation carry out Gaussian smoothing filter and propose noise data；I.e. building describes point cloud spatial relation
Octree, so as to the quick-searching to cloud；According to the distribution and relative geometrical relation between K point of arest neighbors, Gauss is calculated
The mean value and variance of mixed model carry out Gaussian smoothing filter and propose noise data；
S3.5, testee cubing: using for reference the thought of multiple integral, and irregularly shaped object is carried out according to a dimension
Slice converts irregular geometric figures area for irregular size calculating and calculates.
Further, step S3.5 method particularly includes:
The continuous profile of object particular slice is obtained first with local polynomial fitting method: suppose there is N number of discrete wheel
Wide point Pi(xi,yi), i=1,2 ..., N, the polynomial function fitted by these profile points are as follows:
Y (x)=a0+a1x+a2x2+a3x3；
Wherein a is multinomial coefficient；
The objective function of construction fitting is sum of the distance of N number of discrete profile point to above-mentioned polynomial curve, and formula is as follows:
Wherein yiFor the ordinate of discrete profile point；
It is inverse by descriptor matrix, it can directly find out the optimal solution of the polynomial function y (x) of fitting；
Then the area of object particular slice, that is, the polynomial function y (x) being fitted and x-axis are calculated using the method for integral
In [xmin, xmax] area that surrounds of segment, integral formula of quadraturing is as follows:
Finally using the method for integral, the volume of determinand is calculated.The volume of determinand is object slice area in z-axis
Integral, calculation formula is as follows:
Compared with prior art, the present invention have it is following the utility model has the advantages that
(1) present invention realizes the automatically screening of coal and gangue, reduces cost, improves screening precision, avoids environment dirty
Dye；
(2) present invention can merge the depth at multiple visual angles by more depth camera calibration techniques and point cloud matching technology
Data reconstruct the three-dimensional space information of irregularly shaped object, improve the stability, robustness and measurement essence of measuring unit
Degree；
(3) three-dimensional space of irregularly shaped object is cut into the irregular figure of n piece using microtomy, by integration method
The volume for seeking irregularly shaped object greatly improves volume computational accuracy, and the adaptability to degree of irregularity；
(4) depth camera photographic subjects object is used, object volume is obtained, eliminates the influence of natural lighting, image is adopted
It is not required to add secondary light source during collection；
(5) object being measured does not need 360 degree rotation, improves the adaptability of more measurement environment and equipment, adopts to image
Collection cell arrangement structure becomes simpler；
(6) measurement only needs 3 frame depth camera datas, improves the real-time of measurement, meets assembly line on-line measurement
It is required that.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the queueing mechanism of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram one of the test desk of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram two of the test desk of the embodiment of the present invention；
Fig. 5 is the cubing steps flow chart schematic diagram of the embodiment of the present invention.
Wherein:
1, feeding pipeline；2, queueing mechanism；3, differential pipeline；
4, pipeline is shunted；5, test desk；6, converge pipeline；
7, plectrum；8, material baffle；9, portal frame；
10, guide rail；11, video camera；12, lead screw；
13, correlation photoelectric sensor；14, depth camera；
15, scraping wings；16, hopper.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
Design principle of the invention is the feature for utilizing both coal and gangue density different, in conjunction with intelligent vision and image
Processing Algorithm obtains coal and gangue volume, obtains quality further according to the dynamic weighing sensor installed on rolling wiring, utilization is close
Different features is spent to separate the two.
As shown in Figure 1 and Figure 2, the present invention is by conveying device, queueing mechanism 2, camera shutter trigger, test desk 5, sorting
Executing agency, central processing unit composition；
Wherein conveying device includes feeding pipeline 1, differential pipeline 3, shunts pipeline 4, coal confluence pipeline 6；
Queueing mechanism 2 is made of portal frame 9, video camera 11 and plectrum device and material baffle 8；
Portal frame 9 is placed in above conveying device；Video camera 11 is placed in 9 crossbeam middle of portal frame, connects with central processing unit
It connects, central processing unit carries out vision algorithm processing to the material picture that video camera 11 obtains, for the color characteristic of gangue, benefit
Image binaryzation is handled with adaptive two-tone images algorithm, then the quantitative proportion of statistical picture pixel nonzero value, to measure
Material concentration, and the speed of service of adjustment plectrum device is controlled, the intensive coal cinder on pipeline is separated.
Plectrum device is located at 9 below the crossbeam of portal frame, is made of servo motor, guide rail 10, lead screw 12 and plectrum 7；It is described
Guide rail 10 is set to 9 crossbeam lower end surface of portal frame, and the plectrum 7 is set on guide rail 10, and the servo motor is set to gantry
It is mobile to control plectrum 7 by lead screw 12 for frame 9.
Camera shutter trigger is a pair of of correlation photoelectric sensor 13, is placed in test desk 5 close to shooting area edge
It rolls on wiring；The correlation photoelectric sensor 13 connects central processing unit；
Test desk 5 is made of vision camera unit, the dynamic weighing sensor of shooting area；
Vision camera unit is made of the depth camera 14 for being located at the multiple angles of object under test, and depth camera 14 can choose
TOF camera, Kinect camera；Depth camera 14 is connect with central processing unit, is controlled by central processing unit；
When sample enters in 5 shooting area of test desk, correlation photoelectric sensor 13 sends trigger signal to central processing
Device, central processing unit controlling depth camera 14 acquire image, interfere with each other to avoid camera from taking pictures, cannot shoot, need simultaneously
Separated in time is taken pictures respectively by depth camera 14
Dynamic weighing sensor is placed in below the pipeline in imaging area, and the weight data of acquisition is sent to central processing
Device；
Executing agency's setting is sorted in test desk 5, including scraping wings 15 and hopper 16, the wherein setting of scraping wings 15 is measuring
On platform 5, it is connect with central processing unit；5 side of test desk in 15 pusher direction of scraping wings is arranged in the hopper 16.
Sorting coal of the present invention and gangue step:
1, formation arranges: first with the visual identity on 9 top video camera 11 of portal frame, assembly line is unordered mixed and disorderly
Coal stone sorts by line-up device, and block material is arranged successively and there are gaps；Secondly differential pipeline 3 is utilized, coal stone is expanded
Between spacing, convenient for coal stone carry out one by one detection measure；
2, obtain object deep image information: coal and gangue to be arranged enters imaging area, video camera 11 by
Trigger signal driving is taken pictures, and is taken pictures by the different angle in target object to object, is obtained target object at each angle
Deep image information on degree；
3, cubing: by handling deep image information, according to point cloud data, fit object object is at one
Slicing profile under dimension, and then its volume is asked to the slice area integral of a dimension of object.
4, density calculates: the weight of target object is obtained by weighing sensor, according to formula density p=quality m/ volume
V calculates object density.
5, sorting executes: density threshold of the central processing unit according to setting determines that material is coal or gangue；If it is determined that being
Gangue sorts executing agency according to the instruction of controller, shifts gangue onto hopper 16 with material-pulling device.If it is determined that be coal,
Executing agency's attonity, coal enter in confluence pipeline 6 along pipeline.
Wherein, cubing step are as follows:
(1) calibration of single depth camera 14
Commercial depth camera 14 (by taking TOF camera Microsoft Kinect as an example), generally all comprising a RGB camera shooting
The infrared camera of head and a perceived depth, therefore the calibration between single depth camera 14 is related to RGB camera and red
The calibration of outer camera internal reference and and two cameras between outer ginseng calibration.
Internal reference calibration uses famous Zhang Zhengyou calibration method, the black and white chessboard of multiple different positions and poses of fixed camera station acquisition
The image (paying attention to the active infrared light source for needing to shelter from depth camera 14 when infrared camera acquisition) of case marker fixed board, using such as
Lower formula calculates the Intrinsic Matrix of camera:
Wherein, M is the Intrinsic Matrix of camera, and dimension is 3 × 3；R is the outer parameter spin matrix of camera, dimension is 3 ×
3；T is the outer parameter translational vector of camera, and dimension is 3 × 1, [X Y Z]TFor the point coordinate under world coordinate system；[u v]TFor figure
As the point coordinate under coordinate system；S is zoom factor, generally equivalent to the depth information under camera coordinates system.
Outer ginseng calibration is actually the relative pose calibration between RGB camera and infrared camera, RGB camera and red
Position orientation relation between outer camera can indicate are as follows:
Wherein PirFor the point coordinate under infrared camera coordinate system, dimension is 3 × 1；PrgbFor under RGB camera coordinate system
Point coordinate, dimension be 3 × 1；For infrared camera coordinate system to the spin matrix of RGB camera coordinate system, dimension 3
×3；For infrared camera coordinate system to the translation matrix of RGB camera coordinate system, dimension is 3 × 1.
Similarly, the transformational relation of point to the RGB camera coordinate system and infrared camera coordinate system under world coordinate system can
To indicate are as follows:
WhereinFor world coordinate system to the spin matrix of RGB camera coordinate system, dimension is 3 × 3；PwFor world's seat
Point coordinate under mark system, dimension are 3 × 1；For world coordinate system to the translation matrix of RGB camera coordinate system, dimension 3
×1；For world coordinate system to the spin matrix of infrared camera coordinate system, dimension is 3 × 3；It is arrived for world coordinate system
The translation matrix of infrared camera coordinate system, dimension are 3 × 3.
It is assumed that it is identical point that RGB camera and infrared camera, which are seen, then bringing formula (3) (4) into formula (2) can
To obtain:
It is obtained after expansion:
It can further be obtained by equation (6):
RGB camera and infrared camera observe the same scaling board simultaneously, can be evaluated whether using Zhang Zhengyou calibration algorithm
The outer parameter matrix for the world coordinate system that RGB camera and infrared camera are defined relative to current scaling board out, i.e., By the observed result of multiframe bring into formula (8) can maximum likelihood estimation go outWithThat is RGB camera
Rotational translation matrix between infrared camera.
By formula (1) it is found that point coordinate P under RGB camera coordinate systemrgbBe mapped to image coordinate system can be by following
Formula obtains:
Wherein, srgbThe depth information provided for RGB camera.
It is similarly available:
Wherein sirThe depth information provided for infrared camera.
Formula (11) is brought into formula (2), available:
(12), which are substituted into (9), to be obtained,
This formula is the formula that depth information is registered to RGB image, i.e. re-projection formula.It is carried out using multiframe observed result
Re-projection optimizes the stated accuracy that can further improve depth camera 14.
(2) calibration of multiple depth cameras 14
The target that multiple depth cameras 14 are demarcated is the coordinate system obtained between each depth camera 14 by scaling method
Transformation matrix.Under the premise of completing the calibration of single depth camera 14, what more depth cameras 14 were demarcated is in the nature the multiple depths of calibration
The transformation matrix between the RGB camera coordinate system of camera 14 is spent, scaling method is similar with above-mentioned derivation, can also use
Re-projection optimization improves the stated accuracy between multiple cameras；
The transformation matrix method particularly includes:
The outer parameter matrix characterization of camera is pose of the camera relative to some scaling board；The calibration of multiple cameras is then
According to this principle, by obtaining outer parameter matrix of multiple cameras relative to same scaling board, to obtain each depth phase
Coordinate system transformation matrix between machine 14；
(3) object depth information obtains
This method needs to obtain in 360 ° of panoramic ranges of object being measured to realize the cubing to irregularly shaped object
Depth information.It is interfered with each other between multiple depth cameras 14 to meet above-mentioned requirements and avoiding, realizes that conveyer belt object is dynamic
State measurement, the depth camera 14 of different angle needs the starting shooting of setting time interval around object under test.
When object passes through shooting area on conveyer belt, shutter trigger triggers corresponding depth camera after detecting object
14 adopt figure.Then according to the calibration result between multiple depth cameras 14, the depth information that each camera acquires can be transformed into
Under the same coordinate system, and then the panorama depth information of object is obtained.
In the present embodiment, what object depth information obtained method particularly includes: 3 depths of different angle (0 °, 120 °, 240 °)
Degree camera needs the starting shooting of setting time interval to adopt figure, and then according to the calibration result between each depth camera, (coordinate system turns
Change matrix), 3 depth maps that 3 cameras acquire are transformed under the same coordinate system, and then obtain the panorama depth letter of object
Breath；
(4) depth information pre-processes
Object data is not only contained by the depth data that multiple depth cameras 14 obtain, but also contains the backgrounds such as conveyer belt
Data, while further comprising noise data caused by environmental disturbances or equipment itself precision reason.Therefore pretreated target
To reject background data and noise data by effective method, effective testee depth information data are obtained.Relative to
Object data, background data are essentially the data of certain depth, such as conveyer belt plane.Therefore it can be incited somebody to action by dimension filter
Most of background data proposes.Later according between cloud distribution and relative geometrical relation carry out Gaussian smoothing filter then can will
Most of noise data proposes.That is the octree of building description point cloud spatial relation, so as to the quick-searching to cloud；Root
According to the distribution and relative geometrical relation between K point of arest neighbors, the mean value and variance of gauss hybrid models are calculated, it is flat to carry out Gauss
Sliding filtering proposes noise data；
(5) testee cubing
This method is directed to the cubing of irregularly shaped object, and the method that simple length, width and height cannot be used to be multiplied calculates
Volume.In general obtain point cloud be all it is sparse, the continuous profile edge of object must be obtained in order to calculate volume, needed
It is obtained using the method for fitting.Because the scrambling of body surface will necessarily be generated with plane or the method for surface fitting
Biggish error and computational efficiency it is relatively low under.This method uses for reference the thought of multiple integral, and irregularly shaped object is tieed up according to one
Degree is sliced, and irregular size is calculated to the calculating for being converted into irregular geometric figures area.It is dilute in view of point cloud data
Property is dredged, this method obtains the continuous profile of object particular slice first with local polynomial fitting method: suppose there is N number of discrete
Profile point Pi(xi,yi), u=1,2 ..., N, the polynomial function fitted by these profile points are as follows:
Y (x)=a0+a1x+a2x2+a3x3；
Wherein a is multinomial coefficient；
The objective function of construction fitting is sum of the distance of N number of discrete profile point to above-mentioned polynomial curve, and formula is as follows:
Wherein yiFor the ordinate of discrete profile point；
It is inverse by descriptor matrix, it can directly find out the optimal solution of the polynomial function y (x) of fitting；
Then the area of object particular slice, that is, the polynomial function y (x) being fitted and x-axis are calculated using the method for integral
In [xmin, xmax] area that surrounds of segment, integral formula of quadraturing is as follows:
Finally using the method for integral, the volume of determinand is calculated.The volume of determinand is object slice area in z-axis
Integral, calculation formula is as follows:
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, without departing from the inventive concept of the premise, can also make several improvements and modifications, these improvements and modifications also should be regarded as
In the scope of the present invention.
Claims (10)
1. it is a kind of sort coal and gangue equipment, which is characterized in that including pipeline, queueing mechanism, camera shutter trigger,
Test desk, sorting executing agency, central processing unit；The queueing mechanism, camera shutter trigger, test desk, sorting execution machine
Structure is set gradually on a conveyor, and is connect with central processing unit signal.
2. the equipment of sorting coal and gangue according to claim 1, which is characterized in that the pipeline is several,
Every strip transmission line includes the feeding pipeline set gradually, differential pipeline, shunts pipeline, confluence pipeline；The queuing
Mechanism is arranged in above feeding pipeline arranged side by side；The differential pipeline is used to expand the spacing between material；The measurement
Platform, which is set to, to be shunted on pipeline；The camera shutter trigger is set to the position at test desk inlet edge；The sorting
Executing agency is set on test desk.
3. the equipment of sorting coal and gangue according to claim 1 or 2, which is characterized in that the queueing mechanism is by dragon
Door frame, video camera and plectrum device and material baffle composition；Gantry is placed on above pipeline；Video camera is placed in portal frame cross
Beam middle, plectrum device are located at portal frame below the crossbeam；Video camera passes through connection central processing unit, central processing unit pair
The material picture that video camera obtains is carried out vision algorithm processing and is calculated for the color characteristic of gangue using self-adaption binaryzation
Method handles image binaryzation, then the quantitative proportion of statistical picture pixel nonzero value, to measure material concentration, and controls
The speed of service of system adjustment plectrum device, the intensive coal cinder on pipeline is separated.
4. the equipment of sorting coal and gangue according to claim 3, which is characterized in that the plectrum device is by servo electricity
Machine, guide rail, lead screw and plectrum composition, the guide rail are set to portal frame crossbeam lower end surface, and the plectrum is set on guide rail, institute
It states servo motor and is set to portal frame, it is mobile to control plectrum by lead screw.
5. the equipment of sorting coal and gangue according to claim 1, which is characterized in that the test desk includes that vision is taken the photograph
As unit, dynamic weighing sensor；The vision camera unit is mainly directed at the depth phase of the multiple angles in imaging area by being located at
Machine composition；The depth camera is connect with central processing unit；Dynamic weighing sensor is placed under the pipeline in imaging area
Side, acquisition weight data are sent to central processing unit.
6. the equipment of sorting coal and gangue according to claim 5, which is characterized in that the depth camera is in determinand
Surrounding is uniformly distributed in 360 degree of regions.
7. the equipment of sorting coal and gangue according to claim 1, which is characterized in that described to be arranged on test desk
Sorting executing agency includes scraping wings and hopper, and wherein scraping wings is arranged on test desk, is connect with central processing unit；The material
The test desk side in scraping wings pusher direction is arranged in bucket.
8. a kind of method for sorting coal and gangue characterized by comprising
S1, formation arrangement: the unordered mixed and disorderly coal stone of pipeline is sorted by queueing mechanism first, block material is arranged successively simultaneously
There are gaps；Secondly differential pipeline is utilized, the spacing between coal stone is expanded；
S2, obtain object deep image information: coal and gangue to be arranged enters imaging area, and camera unit is by triggering
Signal driving is taken pictures, and by taking pictures in the different angle of target material to material, obtains target material in all angles
Deep image information；
S3, cubing: by handling deep image information, according to point cloud data, fit object material is tieed up at one
Slicing profile under degree, and then its volume is asked to the slice area integral of a dimension of target material；
S4, density calculate: obtaining the weight of target material by weighing sensor, counted according to formula density p=quality m/ volume V
Calculate object density；
S5, sorting execute: according to the target material density being calculated, reduced density threshold value determines that material is coal or gangue；
If it is determined that being gangue, sorting executing agency is shifted gangue in hopper by scraping wings；If it is determined that being coal, execution machine is sorted
Structure attonity, coal enter in confluence pipeline along pipeline.
9. the method for sorting coal and gangue according to claim 8, which is characterized in that cubing described in step S3
Specific steps are as follows:
The calibration of S3.1, single depth camera: the mark of the RGB camera and infrared camera internal reference that are included including depth camera
Outer ginseng calibration between fixed and two cameras；
The calibration of S3.2, multiple depth cameras: the Intrinsic Matrix of single camera and outer is obtained by the scaling method of step 3.1
Parameter matrix, the outer parameter matrix characterization of camera is pose of the camera relative to some scaling board；The calibration of multiple cameras
Then according to this principle, by obtaining outer parameter matrix of multiple cameras relative to same scaling board, to obtain each depth
Coordinate system transformation matrix between camera；
S3.3, object depth information obtain: the depth camera of different angle needs the starting shooting of setting time interval to adopt figure, according to each
The depth information that each camera acquires is transformed under the same coordinate system, and then obtains by the calibration result between a depth camera
The panorama depth information of object；
S3.4, depth information pretreatment: background data is proposed by dimension filter；Later according between cloud distribution and
Relative geometrical relation carries out Gaussian smoothing filter and proposes noise data；
S3.5, testee cubing: using for reference the thought of multiple integral, and irregularly shaped object is cut according to a dimension
Piece converts irregular geometric figures area for irregular size calculating and calculates.
10. the method for sorting coal and gangue according to claim 9, which is characterized in that the specific method of step S3.5
Are as follows:
The continuous profile of object particular slice is obtained first with local polynomial fitting method: suppose there is N number of discrete profile point Pi
(xi,yi), i=1,2 ..., N, the polynomial function fitted by these profile points are as follows:
Y (x)=a0+a1x+a2x2+a3x3；
Wherein a is multinomial coefficient；
The objective function of construction fitting is sum of the distance of N number of discrete profile point to above-mentioned polynomial curve, and formula is as follows:
Wherein yiFor the ordinate of discrete profile point；
It is inverse by descriptor matrix, it can directly find out the optimal solution of the polynomial function y (x) of fitting；
Then the area of object particular slice is calculated using the method for integral, that is, the polynomial function y (x) and x-axis being fitted exist
[xmin, xmax] area that surrounds of segment, integral formula of quadraturing is as follows:
Finally using the method for integral, the volume of determinand is calculated.The volume of determinand is product of the object slice area in z-axis
Point, calculation formula is as follows:
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110852995A (en) * | 2019-10-22 | 2020-02-28 | 广东弓叶科技有限公司 | Discrimination method of robot sorting system |
| CN111871864A (en) * | 2020-08-06 | 2020-11-03 | 辽宁瑞华实业集团高新科技有限公司 | Sorting device and method |
| CN111882600A (en) * | 2020-06-23 | 2020-11-03 | 无锡北斗星通信息科技有限公司 | Coal briquette directional processing platform utilizing cloud analysis |
| CN113019949A (en) * | 2021-03-04 | 2021-06-25 | 安徽理工大学 | Coal gangue sorting system based on image data processing |
| CN113680706A (en) * | 2021-05-19 | 2021-11-23 | 苏州大学 | Pneumatic separation coal and gangue sorting method and system |
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| CN113926725A (en) * | 2021-10-26 | 2022-01-14 | 东北大学秦皇岛分校 | Coal and gangue rapid sorting device and method based on density estimation |
| CN117036953A (en) * | 2023-08-21 | 2023-11-10 | 中国科学院自动化研究所 | Multi-feature fusion coal gangue identification method |
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| CN111882600A (en) * | 2020-06-23 | 2020-11-03 | 无锡北斗星通信息科技有限公司 | Coal briquette directional processing platform utilizing cloud analysis |
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| CN113751365A (en) * | 2021-09-28 | 2021-12-07 | 西南科技大学 | Nuclear waste detecting and sorting system and method based on double optical cameras |
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