CN111299137A - Burnt precious stone sorting system based on machine vision - Google Patents
Burnt precious stone sorting system based on machine vision Download PDFInfo
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- CN111299137A CN111299137A CN202010273815.2A CN202010273815A CN111299137A CN 111299137 A CN111299137 A CN 111299137A CN 202010273815 A CN202010273815 A CN 202010273815A CN 111299137 A CN111299137 A CN 111299137A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/28—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—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
- B07C5/04—Sorting according to size
- B07C5/08—Sorting according to size measured electrically or electronically
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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
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
- B07C5/366—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means during free fall of the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B2201/00—Details applicable to machines for screening using sieves or gratings
- B07B2201/04—Multiple deck screening devices comprising one or more superimposed screens
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Abstract
The invention discloses a flint clay sorting system based on machine vision, which comprises a vibration loading device, a conveying belt device, an image acquisition device, a main control subsystem, a sorting device and a discharging device, wherein one end of the lower part of the vibration loading device is fixedly connected with one end of the conveying belt device, the other end of the conveying belt device is connected with the sorting device, the discharging device is installed on one side of the sorting device, the image acquisition device is installed on the upper part of the conveying belt device and is used for uploading acquired information of material images to the main control subsystem, and the main control subsystem is used for processing data information of the image acquisition device and sending processing result information to the conveying belt device and the sorting device. The automatic sorting machine has high automation degree, can replace manual sorting operation, reduces the labor intensity of operators, has low sorting cost, high efficiency and high quality assurance reliability, and solves the problems of insufficient labor, low efficiency and high labor intensity of manual sorting of flint clay in the prior art.
Description
Technical Field
The invention belongs to the technical field of image information extraction and identification, and particularly relates to a flint clay sorting system based on machine vision.
Background
At present, the automatic technology combined with machine vision in China is well applied to mineral processing, but the technology has no great progress in the separation of refractory material ores, and particularly, the separation of flint clay still adopts the original traditional manual selection. The removal rate of iron-containing waste stones in the chemical components of the flint clay influences the whiteness of the flint clay and a plurality of performances of subsequent products. The manual separation of flint clay has high production cost and low efficiency.
Because the quantity of the flint clay raw materials to be sorted is extremely large, the flint clay clinker is difficult to sort by conventional equipment due to inherent properties such as irregular appearance, non-uniform size and the like.
Along with the development of the technology, the price of the machine vision image acquisition equipment is lower and lower, the arrangement to the actual ore production site becomes possible, and the machine vision-based flint clay sorting system has important significance for improving the production efficiency, relieving the labor deficiency, improving the quality and realizing social benefits.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a flint clay and flint clay sorting system based on machine vision.
In order to realize the purpose, the invention is realized by the following technical scheme:
a flint clay sorting system based on machine vision comprises a vibration loading device, a conveyor belt device, an image acquisition device, a main control subsystem, a sorting device and a discharging device, wherein one end of the lower part of the vibration loading device is fixedly connected with one end of the conveyor belt device, the other end of the conveyor belt device is connected with the sorting device, the discharging device is arranged on one side of the sorting device, the image acquisition device is arranged on the upper part of the conveyor belt device, the vibration feeding device carries out size grading on the flint clay raw materials, the conveyer belt device arranges the flint clay raw materials singly, the image acquisition device is used for uploading information acquired by the material image to the main control subsystem, the main control subsystem is used for processing data information of the image acquisition device and sending processing result information to the conveying belt device and the sorting device, the sorting device eliminates useless ores through an air nozzle, and the blanking device is provided with a conveying belt to convey away flint clay and waste ores.
The vibration feeding device comprises a screening structure, a transmission device, a vibration device and a chute, wherein the screening structure is respectively connected with the transmission device, the vibration device and the chute; the screening structure comprises a feeding hopper, a transmission shaft, a large screen layer, a middle screen layer, three small screen layers, baffles and a screen cylinder, wherein the large screen layer, the middle screen layer and the small screen layer are connected with the screen cylinder from top to bottom, the three baffles are respectively arranged at the upper parts of the large screen layer, the middle screen layer and the small screen layer and are fixed on the transmission shaft, the transmission shaft sequentially penetrates through the large screen layer, the middle screen layer and the small screen layer, a lower end bearing part of the transmission shaft is connected with a middle hole position of a lower cover of the screen cylinder in an installing way, an upper end bearing part of the transmission shaft is connected with a middle hole position of an upper cover of the screen cylinder in an installing way, the baffle is smaller than the radius size of the inner wall of the screen cylinder along the axial diameter direction of the transmission shaft, a gap is arranged between the lower end of each layer of the baffle and the corresponding screen layer, the feeding hopper is connected with the upper cover of the screen cylinder, the transmission device, the wall of the screen drum above the chute is provided with an opening, and when the coke and precious stone material is pushed to the opening through the baffle, the coke and precious stone material slides downwards to the small hopper through the chute.
The baffle comprises a sleeve and a flat plate which are connected, and the sleeve is connected with the transmission shaft.
The size of the densely-distributed small holes of the large sieve layer is phi 25mm, the size of the densely-distributed small holes of the middle sieve layer is phi 17mm, the size of the densely-distributed small holes of the small sieve layer is phi 9mm, and flint clay with different diameters falls on different sieve layers.
The main control subsystem comprises an upper computer PC and a lower computer PLC, the upper computer PC stores image information of the image acquisition device, a data platform comprising a flint clay image library, a useless ore image library (containing gangue and expanded stone) and a harmful ore image library is built on the upper computer PC, a classification model is built on the upper computer PC, and classification threshold values are determined on the upper computer PC and comprise screening standards of determined quantity, color and size; and the lower computer PLC receives the intelligent sorting result of the upper computer PC, controls the conveyor belt device and the sorting device to complete cooperation, and simultaneously can directly acquire the running condition of the equipment so as to facilitate operation and maintenance.
Establishing a classification model on an upper computer PC through a moving target detection algorithm, a target segmentation algorithm and a deep learning introduction method, wherein the establishing of the classification model specifically comprises the following steps: the method comprises the steps of establishing a deep learning network, training an image library, testing a model, improving the accuracy and generalization capability of a classification model, obtaining identification and detection results of flint clay, useless ore (including gangue and expansive stone) and harmful ore by loading image information of the flint clay to be detected and comparing the image information with the image library, realizing identification and numbering of the flint clay of image information, obtaining color information and on-belt coordinate information of the flint clay, obtaining the number of the flint clay to be removed according to the color information of the flint clay, and finishing intelligent sorting of the flint clay.
The conveying belt device comprises a small hopper, a flattening mechanism, a bracket and a belt; the small hopper comprises three small hoppers which are of an integrated structure, the hoppers are arranged above the bracket, and the opening of each small hopper corresponds to the lower end of the chute; the flattening mechanism is arranged on the bracket at the rear of the small hopper discharging area and right above the belt; the belt is matched with the rollers on the support, the power mechanism drives the belt to rotate to convey the coke and stone materials, the rotating speed of the power mechanism is controlled by the main control subsystem, and three grooves are uniformly distributed in the width direction of the belt.
Preferably, the sorting device comprises a signal receiver, a signal transmitter, a compressed air pump and an air nozzle, wherein the air nozzle comprises three array air nozzles, namely a small-hole air nozzle, a middle-hole air nozzle and a large-hole air nozzle; the small-hole air tap, the middle-hole air tap and the large-hole air tap are respectively fixedly connected to the bracket, the air flow direction is upward on the lower side of the end part of the conveying belt, and the positions of the small-hole air tap, the middle-hole air tap and the large-hole air tap correspond to the grooves of the belt; the sorting device signal receiver is electrically connected with the lower computer PLC, after the sorting device receives the lower computer PLC signal, the sorting device signal transmitter precisely controls the array air nozzles to remove useless ores, and the sizes of the three array air nozzles are matched according to the size of the flint clay.
The blanking device comprises a flint clay hopper and a waste stone hopper, wherein the flint clay hopper and the waste stone hopper are respectively matched with the corresponding flint clay conveying belt and the corresponding waste stone conveying belt to finish the transportation work of flint clay and waste stone.
The image acquisition device comprises a camera subsystem, and the camera subsystem adopts an industrial camera and a lens;
the image acquisition device further comprises an illumination subsystem for providing uniform illumination for the camera view field, and a height adjusting mechanism for adjusting the illumination of the view field is arranged on a fixing frame of the illumination subsystem in the height direction.
The invention has the beneficial effects that:
1. the vibration feeding device is connected to one side of the conveyer belt device, and the sorting device is connected to the other side of the conveyer belt device; the image acquisition device is connected to the upper side of the conveyor belt device; the vibration feeding device is used for grading the sizes of the flint clay and uniformly distributing the flint clay to a feeding belt device; the image information is uploaded to the main control subsystem after being collected by the image collecting device; the master control subsystem comprises an upper computer PC and a lower computer PLC, and the upper computer PC introduces a deep learning theory to establish a stable and reliable classification model to process data information of the camera image and then feeds back a processing result to the lower computer PLC; the lower computer PLC receives the information and then controls the conveying belt device to run at a set speed, and meanwhile, the sorting device receives the information and then controls the array air nozzle to remove useless ores; the blanking device is provided with a collecting device and a conveying belt to convey away flint clay and waste rocks. The automatic sorting machine has high automation degree, can replace manual sorting operation, reduces the labor intensity of operators, has low sorting cost and high efficiency, ensures the quality and has high reliability, and solves the problems of insufficient labor, low efficiency and high labor intensity of manual sorting of flint clay in the prior art.
2. The invention integrates machine vision and AI deep learning into a whole, replaces manual selection, improves the sorting efficiency of the flint clay, ensures the sorting precision and the product quality, saves human resources and reduces the operation cost. In addition, through training the classification model, the production efficiency can be improved, the separation quality of the flint clay is improved, and the economic benefit of the product is increased.
3. The device has a simple structure, can be suitable for conveying belts with different widths, and well embodies the adjustability of sorting equipment.
4. After the baffle of the transmission shaft of the vibration feeding device is installed, a gap is reserved between the baffle and the inner wall of the screen cylinder of each screen layer such as the large screen layer, the middle screen layer and the small screen layer, and the rotation is convenient and flexible. The sizes of the densely-distributed small holes of the large sieve layer are phi 25mm, the sizes of the densely-distributed small holes of the middle sieve layer are phi 17mm, the sizes of the densely-distributed small holes of the small sieve layer are phi 9mm, under the action of self gravity in the vibration process of the flint clay raw material, flint clays with different diameters fall on different sieve layers, the flint clays are divided into phi 25-30 mm, phi 17-25 mm, phi 9-17 mm and phi 9mm, the flint clays with different diameters slide down to a small hopper of a belt system after being pushed to an upper opening of a chute under the action of each layer of baffle in the rotation process of a transmission shaft, the sizes below phi 9mm are not required to be sorted, so that the number of pattern collection of a pattern collection device can be reduced after the flint clays are sorted, the calculation amount of a master control subsystem is reduced, the efficiency of the master control subsystem is improved, the sorting precision is ensured, and the sorting.
5. The image acquisition device comprises a camera subsystem and an illumination subsystem, wherein the camera subsystem adopts an industrial camera and a lens and can acquire images within a full-bandwidth view field range, the illumination subsystem provides uniform illumination for the camera view field, and a fixing frame of the illumination system is provided with a height adjusting hole in the height direction and used for adjusting the illumination of the view field and ensuring the integrity and the clarity of image acquisition, so that the accuracy and the quality of sorting are ensured, and the sorting efficiency is improved.
6. The conveying belt of the conveying belt device is provided with three grooves, so that coke and rock materials with different diameters can be distinguished conveniently, the pattern acquisition quantity of the pattern acquisition device is reduced, and the calculation quantity of the main control subsystem is reduced.
7. The sorting device is provided with three array air nozzles, the size of the array air nozzles is matched according to the size of the coke jewel materials, so that the coke jewel materials with different sizes can be thrown to the blanking device at a consistent speed after being blown by the array air nozzles, the splashing of the coke jewel materials is reduced, the loss caused by the splashing of the coke jewel and the labor intensity and the cleaning cost of operators caused by the need of cleaning the splashing are avoided, and the production cost is reduced.
8. The conveying belt device comprises the small hoppers, the flattening mechanism, the bracket and the belt, wherein the three small hoppers form three hoppers in an integrated structure, so that the structure is compact and the weight is light;
the small hopper is used for receiving the flint clay from the chute and slowing down the speed of the flint clay falling to the belt, so that on one hand, the damage and damage of the flint clay to a belt conveying part can be reduced, the use and maintenance cost can be reduced, meanwhile, the loss caused by flint clay splashing and the labor intensity and cleaning cost of an operator caused by the fact that the flint clay needs to be cleaned can be prevented, and the production cost is reduced;
the single particles are distributed after the flint clay accumulated on the belt is flattened through the flattening mechanism, so that the identification of an image system is facilitated, the identification quality is ensured, the sorting quality and efficiency are ensured, and the unqualified sorted products are avoided;
the three grooves are formed in the width direction of the belt and used for distinguishing coke stones with different sizes, the distribution width of the coke stones is determined, the conveying efficiency is high on the premise that the sorting quality of the coke stones is guaranteed, and the production benefit is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, 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 diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the sectional structure of the vibration feeding device of the present invention;
FIG. 3 is a schematic diagram of the vibrating device and chute structure of the vibrating feeding device of the present invention;
FIG. 4 is a schematic diagram of a screening structure of the vibrating feeding device of the present invention;
FIG. 5 is a schematic diagram of the conveyor belt assembly of the present invention;
FIG. 6 is a schematic diagram of a belt of the conveyor assembly of the present invention;
FIG. 7 is a schematic view of the structure of the sorting apparatus of the present invention.
The labels in the figure are: 1. the device comprises a vibration feeding device, 111, a feeding hopper, 112, a transmission shaft, 113, a large sieve layer, 114, a middle sieve layer, 115, a small sieve layer, 116, a baffle plate, 117, a sieve cylinder, 12, a transmission device, 13, a vibration device, 14, a chute, 2, a conveying belt device, 21, a small hopper, 22, a flattening mechanism, 23, a support, 24, a belt, 3, an image acquisition device, 4, a main control subsystem, 5, a sorting device, 51, a small hole air nozzle, 52, a compressed air pump, 53, a middle hole air nozzle, 54, a large hole air nozzle, 6 and a blanking device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be noted that the terms orientation or positional relationship are merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the apparatus referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention; the terms "mounted," "connected," and "connected" are to be construed broadly.
With reference to fig. 1-7, a flint clay sorting system based on machine vision comprises a vibration loading device 1, a conveyer belt device 2, an image acquisition device 3, a master control subsystem 4, a sorting device 5 and a discharging device 6, wherein one end of the lower part of the vibration loading device 1 is fixedly connected with one end of the conveyer belt device 2, the other end of the conveyer belt device 2 is connected with the sorting device 5, the discharging device 6 is installed on one side of the sorting device 5, and the image acquisition device 3 is installed on the upper part of the conveyer belt device 2.
The vibration feeding device 1 is used for size grading of flint clay raw materials, the conveyer belt device 2 is used for enabling the flint clay raw materials to be arranged in a single mode, the image acquisition device 3 is used for uploading information of acquired material images to the main control subsystem 4, the main control subsystem 4 is used for sending processing result information to the conveyer belt device 2 and the sorting device 5 after processing data information of the image acquisition device 3, the sorting device 5 controls the array air nozzles to remove useless ores, and the discharging device 6 is provided with a conveyer belt to convey the flint clays and the waste ores away.
The vibration feeding device 1 comprises a screening structure 11, a transmission device 12, a vibration device 13 and a chute 14, wherein the screening structure is respectively connected with the transmission device 12, the vibration device 13 and the chute 14. The screening structure comprises a feeding hopper 111, a transmission shaft 112, a large screening layer 113, a middle screening layer 114, a small screening layer 115, baffles 116 and a screening drum 117, wherein the number of the baffles 116 is 3, and the number of the baffles is 1; the transmission shaft 112 sequentially passes through the baffle 116, the large sieve layer 113, the baffle 116, the middle sieve layer 114, the baffle 116 and the small sieve layer 115, a lower end bearing part of the transmission shaft 112 is connected with a middle hole of a lower cover of the sieve drum 117 in an installing manner, the sieve drum is placed in the sieve drum and then the lower cover of the sieve drum 117 is fastened, an upper end bearing part of the transmission shaft 112 is connected with a middle hole of an upper cover of the sieve drum 117 in an installing manner and then the upper cover of the sieve drum 117 is fastened, meanwhile, the sieve layers are fastened through positioning holes in the drum wall of the sieve drum 117, the middle hole diameter of each sieve layer of the screening structure is slightly larger than the shaft diameter of the transmission shaft 112, and the large sieve layer 113, the middle sieve layer 114 and the small sieve layer 115 are; the baffle 116 is formed by connecting a sleeve and a flat plate through bolts, the sleeve and the transmission shaft 112 are tightly connected together through interference fit, 3 baffles 116 are uniformly installed and fixed on the transmission shaft 112, the size of each screen layer baffle 116 in the axial diameter direction of the transmission shaft 112 is smaller than the size of the radius of the inner wall of the screen cylinder 117, and meanwhile, a certain amount of clearance is formed between the lower end of each layer of baffle and a screen layer, so that the rotation is flexible; the feeding hopper 111 is connected with the upper cover of the screen drum 117; the transmission device 12 is connected with the lower part of the transmission shaft 112; the vibrating device 13 is connected with the screen drum 117; the chute 14 is connected to a screen drum 117, and the screen drum wall above the chute 14 has an opening, so that coke stones can slide down to the small hopper 21 through the chute 14 when pushed to the opening by the baffle 116.
The sizes of the densely-distributed small holes of the large sieve layer 113 are phi 25mm, the sizes of the densely-distributed small holes of the middle sieve layer 114 are phi 17mm, the sizes of the densely-distributed small holes of the small sieve layer 115 are phi 9mm, flint stones with different diameters fall on different sub-sieve layers in the vibration process of flint stone raw materials and under the action of self gravity, the flint stones are divided into phi 25-30 mm, phi 17-25 mm, phi 9-17 mm and phi 9mm, the flint stones on the layers are pushed to the upper opening of the chute 14 and slide down to the small hopper 21 of the belt system under the action of the baffles 116 on each layer in the rotation process of the transmission shaft 112, the sizes below phi 9mm are smaller, sorting is not needed, the number of pattern acquisition of the pattern acquisition device 3 can be reduced after the flint stones are sorted, and the calculation amount of the main control subsystem 4 is reduced.
Preferably, the conveyor belt device 2 comprises a small hopper 21, a flattening mechanism 22, a bracket 23 and a belt 24; the small hopper 21 is composed of 3 hoppers and is of an integral structure, the small hopper 21 is arranged above the bracket 23, and each small hopper opening corresponds to the lower end of the chute 14; the flattening mechanism 22 is arranged at the rear of the discharge area of the small hopper 21 and right above the belt, and the flattening mechanism 22 is connected with the bracket 23; the belt 24 is driven by rollers evenly distributed on the support 23, so as to carry out the transfer of the coke stones. The small hopper 21 is used for receiving the flint clay from the chute 14, slowing down the falling speed of the flint clay to the belt and preventing splashing; the flint clay accumulated on the belt 24 is distributed with single particles after being flattened by the flattening mechanism 22, so that the identification of an image system is facilitated; 3 grooves are uniformly distributed in the width direction of the belt 24 for distinguishing coke and stone materials with 3 sizes and determining the distribution width of the coke and stone materials, the conveying belt device 2 receives the instruction of a PLC (programmable logic controller) of a lower computer of the main control subsystem 4 to work, and the conveying belt speed is not lower than 2 m/s.
Preferably, the master control subsystem 4 comprises an upper computer PC and a lower computer PLC, the upper computer PC stores image information of the image acquisition device, a data platform comprising a flint clay image library, a useless ore image library (containing gangue and expansive stones) and a harmful ore image library is built on the upper computer PC, a classification model is built on the upper computer PC through a moving target detection algorithm, a target segmentation algorithm and a depth learning introduction method, and a classification threshold value is determined on the upper computer PC, wherein the classification threshold value comprises screening standards capable of determining quantity, color and size so as to meet the requirements of production quality; the lower computer PLC receives the intelligent sorting result of the upper computer PC, controls the conveying belt device 2 and the sorting device 5 to complete cooperation, and meanwhile, the upper computer can directly acquire the running condition of the equipment so as to be convenient for operation and maintenance.
The specific steps of establishing the classification model comprise: the method comprises the steps of establishing a deep learning network, training an image library, testing a model, improving the accuracy and generalization capability of a classification model, obtaining identification and detection results of flint clay, useless ore (including gangue and expansive stone) and harmful ore by loading image information of the flint clay to be detected and comparing the image information with the image library, realizing identification and numbering of the flint clay of image information, obtaining color information and on-belt coordinate information of the flint clay, obtaining the number of the flint clay to be removed according to the color information of the flint clay, and finishing intelligent sorting of the flint clay. Through training the classification model, the production efficiency can be improved, the separation quality of the flint clay is improved, and the economic benefit of the product is increased.
Preferably, the sorting device 5 comprises a signal receiver, a signal transmitter, a compressed air pump 52 and an air nozzle, wherein the air nozzle comprises three array air nozzles, namely a small-hole air nozzle 51, a middle-hole air nozzle 53 and a large-hole air nozzle 54, the annunciator and the air nozzle are installed together, the signal receiver is connected with a PLC (programmable logic controller) of the lower computer of the main control system 4, and information processed by the PLC of the lower computer of the main control subsystem 4 controls the array air nozzle to be opened and closed through the signal transmitter; the small-hole air nozzle 51, the middle-hole air nozzle 53 and the large-hole air nozzle 54 are respectively and fixedly connected to the bracket 24, the air flow direction is upward on the lower side of the end part of the conveying belt, and the positions of the small-hole air nozzle 51, the middle-hole air nozzle 53 and the large-hole air nozzle 54 correspond to the grooves of the belt 23; sorting unit signal receiver is connected with next quick-witted PLC electricity, and after sorting unit received next quick-witted PLC signal, the sorting unit accurate control array air cock was rejected useless ore, and three kinds of array air cocks size are matchd according to the size of burnt precious stone, can make the burnt precious stone material of variation in size throw fly to unloader with the speed of unanimity, reduce splashing of burnt precious stone material.
Preferably, the blanking device 6 comprises a flint clay hopper and a waste stone hopper, wherein the flint clay hopper and the waste stone hopper are respectively matched with a corresponding flint clay conveying belt and a corresponding waste stone conveying belt to finish the transportation work of flint clay and waste stone.
Preferably, the image acquisition means 3 comprise a camera subsystem and an illumination subsystem. The camera subsystem adopts an industrial camera and a lens, and can acquire images in a full-bandwidth view field range. The flint clay raw material is photographed by the image acquisition device and converted into image information in the running process of the conveying belt and is uploaded to the main control subsystem 4. The illumination subsystem provides uniform illumination for the camera view field, and a fixing frame of the illumination system is provided with a height adjusting hole in the height direction for adjusting the illumination of the view field.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the present invention, and various changes, modifications, equivalents and improvements can be made to the embodiment without departing from the principle and spirit of the present invention, and they are included in the protection scope of the present invention.
Claims (10)
1. A flint clay sorting system based on machine vision is characterized by comprising a vibration loading device, a conveying belt device, an image acquisition device, a main control subsystem, a sorting device and a discharging device, wherein one end of the lower portion of the vibration loading device is fixedly connected with one end of the conveying belt device, the other end of the conveying belt device is connected with the sorting device, the discharging device is installed on one side of the sorting device, the image acquisition device is installed on the upper portion of the conveying belt device and used for carrying out size classification on flint clay raw materials, the conveying belt device is used for arranging the flint clay raw materials singly, the image acquisition device is used for uploading information after material image acquisition to the main control subsystem, the main control subsystem is used for processing data information of the image acquisition device and sending processing result information to the conveying belt device and the sorting device, and the sorting device is used for removing useless ores through, the blanking device is provided with a conveyor belt for carrying away flint clay and waste ore.
2. The machine vision-based flint clay sorting system according to claim 1, wherein the vibrating feeding device comprises a screening structure, a transmission device, a vibrating device and a chute, the screening structure is respectively connected with the transmission device, the vibrating device and the chute; the screening structure comprises a feeding hopper, a transmission shaft, a large screen layer, a middle screen layer, three small screen layers, baffles and a screen cylinder, wherein the large screen layer, the middle screen layer and the small screen layers are connected with the screen cylinder from top to bottom, the baffles are respectively arranged at the upper parts of the large screen layer, the middle screen layer and the small screen layer and are fixed on the transmission shaft, the transmission shaft sequentially penetrates through the large screen layer, the middle screen layer and the small screen layer, the lower end bearing part of the transmission shaft is connected with a middle hole of a lower cover of the screen cylinder, the upper end bearing part of the transmission shaft is connected with a middle hole of an upper cover of the screen cylinder, the size of the baffles along the axial diameter direction of the transmission shaft is smaller than the radius size of the inner wall of the screen cylinder, a gap is arranged between the lower end of each layer of the baffles and the corresponding screen layer, the feeding hopper is connected with the upper cover of the screen cylinder, the transmission device is connected with the lower part of the transmission shaft, when the coke jewel material is pushed to the opening through the baffle, the coke jewel material slides downwards to the small hopper through the chute.
3. The machine vision-based flint clay sorting system of claim 2, wherein the baffle comprises a sleeve and a flat plate connected together, the sleeve being connected to the drive shaft.
4. The machine vision-based flint clay sorting system as claimed in claim 2, wherein the dense small holes of the large screen layer are phi 25mm, the dense small holes of the middle screen layer are phi 17mm, the dense small holes of the small screen layer are phi 9mm, and flint clays with different diameters fall into different screening layers.
5. The machine vision-based flint clay sorting system according to claim 1, wherein the master control subsystem comprises an upper computer PC and a lower computer PLC, the upper computer PC stores image information of the image acquisition device, a data platform comprising a flint clay image library, a useless ore image library and a harmful ore image library is built on the upper computer PC, a classification model is built on the upper computer PC, and classification thresholds are determined on the upper computer PC, wherein the classification thresholds comprise screening standards for determining quantity, color and size; and the lower computer PLC receives the intelligent sorting result of the upper computer PC, controls the conveyor belt device and the sorting device to complete cooperation, and simultaneously can directly acquire the running condition of the equipment so as to facilitate operation and maintenance.
6. The machine vision-based flint clay sorting system according to claim 5, wherein a classification model is established on the PC through a moving object detection algorithm, an object segmentation algorithm and a deep learning introduction method, and the establishment of the classification model specifically comprises the following steps: the method comprises the steps of establishing a deep learning network, training an image library, testing a model, improving the accuracy and generalization capability of a classification model, obtaining identification and detection results of the flint clay, useless ores and harmful ores by loading image information of the flint clay to be detected and comparing the image information with the image library, realizing identification and numbering of the flint clay of the image information, obtaining color information and on-belt coordinate information of the flint clay, obtaining the number of the flint clay to be removed according to the color information of the flint clay, and finishing intelligent sorting of the flint clay.
7. The machine vision-based flint clay sorting system according to claim 5, wherein the conveyor belt device comprises a small hopper, a flattening mechanism, a bracket and a belt; the small hopper comprises three small hoppers which are of an integrated structure, the hoppers are arranged above the bracket, and the opening of each small hopper corresponds to the lower end of the chute; the flattening mechanism is arranged on the bracket at the rear of the small hopper discharging area and right above the belt; the belt is matched with the rollers on the support, the power mechanism drives the belt to rotate to convey the coke and stone materials, the rotating speed of the power mechanism is controlled by the main control subsystem, and three grooves are uniformly distributed in the width direction of the belt.
8. The machine vision-based flint clay sorting system as claimed in claim 5, wherein the sorting device comprises a signal receiver, a signal transmitter, a compressed air pump and an air nozzle, wherein the air nozzle comprises three array air nozzles of a small-hole air nozzle, a middle-hole air nozzle and a large-hole air nozzle, the annunciator is mounted with the air nozzle, the signal receiver is connected with the lower computer PLC of the main control system, and information processed by the lower computer PLC of the main control subsystem is used for controlling the opening and closing of the array air nozzle through the signal transmitter; the small-hole air tap, the middle-hole air tap and the large-hole air tap are respectively fixedly connected to the bracket, the air flow direction is upward on the lower side of the end part of the conveying belt, and the positions of the small-hole air tap, the middle-hole air tap and the large-hole air tap correspond to the grooves of the belt; the sorting device signal receiver is electrically connected with the lower computer PLC, after the sorting device receives the lower computer PLC signal, the sorting device signal transmitter precisely controls the array air nozzles to remove useless ores, and the sizes of the three array air nozzles are matched according to the size of the flint clay.
9. The machine vision-based flint clay sorting system according to claim 1, wherein the blanking device comprises a flint clay hopper and a waste rock hopper, and the flint clay hopper and the waste rock hopper are respectively matched with the corresponding flint clay conveyor belt and the waste rock conveyor belt to finish the transportation work of flint clay and waste rock.
10. The machine vision-based flint clay sorting system of claim 1, wherein the image capturing device comprises a camera subsystem, the camera subsystem employs an industrial camera and a lens; the image acquisition device further comprises an illumination subsystem for providing uniform illumination for the camera view field, and a height adjusting mechanism for adjusting the illumination of the view field is arranged on a fixing frame of the illumination subsystem in the height direction.
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