CN111318461A - Gangue letter sorting system based on machine vision - Google Patents
Gangue letter sorting system based on machine vision Download PDFInfo
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- CN111318461A CN111318461A CN202010166228.3A CN202010166228A CN111318461A CN 111318461 A CN111318461 A CN 111318461A CN 202010166228 A CN202010166228 A CN 202010166228A CN 111318461 A CN111318461 A CN 111318461A
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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
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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
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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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- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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Abstract
The invention discloses a machine vision-based coal gangue sorting system, which comprises: the coal gangue sorting and classifying system comprises a material feeding system, a machine vision system and a coal gangue sorting and classifying system, wherein the material feeding system comprises a feeding hopper, a queuing mechanism and a belt conveyor, and is used for feeding, queuing and transmitting materials to be sorted; the machine vision system is arranged on the belt conveyor and comprises a box type machine vision light source system and an industrial camera, and the box type machine vision light source system comprises a box type shell, a machine vision light source and an extension bin; the coal gangue sorting and classifying system comprises a robot gripper and a control system, and the control system comprises a data input and output controller, a server and a display terminal. The coal gangue sorting system based on machine vision combines the material technology, the light source technology, the image processing technology and the robot technology, improves the coal gangue sorting efficiency, has high automation level, and avoids the influence of manual sorting on human health.
Description
Technical Field
The invention relates to the technical field of coal gangue sorting, in particular to a coal gangue sorting system based on machine vision.
Background
At the present stage, the main methods for sorting mature coal gangues include jigging coal separation, dense medium coal separation, dry coal separation, gamma ray coal separation and the like, but the existing methods have the problems of natural resource waste, low sorting precision, overhigh cost, overlarge influence of equipment upgrading and modification and the like, so that the methods can be only applied to limited coal mines, and the methods are sorted by manual selection methods in many coal mines so far, which causes low sorting efficiency, influences the health of people, such as coal silicosis, dust absorption and the like, and also has the problems of high labor cost, high labor intensity, easiness in missorting or missed sorting and the like.
In recent years, with the development and progress of technologies, image processing is gradually applied to relevant production links of coal mines, and coal gangue sorting systems based on X-ray images, near-infrared images and even color images are gradually paid attention by relevant research institutions, so that a plurality of good solutions are provided. The invention relates to a coal gangue automatic sorting system based on a color digital image and provided by a machine vision system.
Disclosure of Invention
The invention aims to provide a machine vision-based coal gangue sorting system, which combines a material technology, a light source technology, an image processing technology and a robot technology, improves the coal gangue sorting efficiency, has high automation level and avoids the influence of manual sorting on human health.
In order to achieve the purpose, the invention provides the following scheme:
a coal gangue sorting system based on machine vision comprises: the coal gangue sorting and classifying system comprises a material feeding system, a machine vision system and a coal gangue sorting and classifying system, wherein the material feeding system comprises a feeding hopper, a queuing mechanism and a belt conveyor, and is used for feeding, queuing and transmitting materials to be sorted;
the machine vision system is arranged on the belt conveyor and comprises a box type machine vision light source system and an industrial camera, the box type machine vision light source system comprises a box type shell, machine vision light sources and extension bins, the extension bins are arranged at the left end and the right end of the box type shell and communicated with the box type shell, material through holes are formed in the extension bins, and the industrial camera is arranged on the box type shell and used for collecting images of materials to be sorted passing through the interior of the box type shell;
the coal gangue sorting and classifying system comprises a robot gripper and a control system, the control system comprises a data input and output controller, a server and a display terminal, the data input and output controller is respectively and electrically connected with the industrial camera and the robot gripper, the data input and output controller is in communication connection with the server, and the server is connected with the display terminal; the data input and output controller receives image data from the industrial camera and transmits the image data to the server, and the server classifies the materials to be sorted based on a neural network algorithm; and the data input and output controller controls the robot gripper to sort the materials to be sorted.
Optionally, the box-type shell comprises a metal shell, and a high diffuse reflection coating is sprayed on the inner side wall of the metal shell.
Optionally, the metal shell is made of common aluminum or aluminum alloy, and the thickness of the metal shell is 2 mm.
Optionally, the box casing is the rectangle box, the top surface of rectangle box sets up machine vision light source, state machine vision light source and be the LED backlight, the spraying of the four sides inside wall of rectangle box has high diffuse reflection coating.
Optionally, the bottom surface of the rectangular box body is of an unclosed structure.
Optionally, the high diffuse reflection coating is white, the thickness is 0.2mm, and the diffuse reflectance is 98%.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the coal gangue sorting system and method based on machine vision provided by the invention have the advantages of no pollution, small occupied space and high automation degree, and solve the problems of low efficiency, influence on human health by working environment and low automation degree in the traditional coal gangue sorting; based on the machine vision principle, an industrial camera is used for obtaining images, the images are input into a server, classification and judgment are carried out by adopting a pre-trained neural network algorithm, so that the materials to be sorted are determined to be coal, coal gangue or medium stones, and finally, the materials to be sorted are grabbed by a robot gripper to be classified and sorted; compared with the existing method, the system has simpler structure, lower process flow complexity, less energy consumption, no pollution to the environment and human body, and is convenient to be embedded into the existing automatic production line; in addition, the box-type machine vision light source system which is designed by a special structure, processed by a special coating material on the inner surface and reasonably matched with a light source and enables the inner light field to be more uniform is adopted to shoot images of materials such as coal and coal gangue which pass through the box-type machine vision light source system, the texture and the structure of the surfaces of the materials are more distinctive, and the box-type machine vision light source system is more suitable for further sorting the coal and the coal gangue by using an image processing method.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a coal gangue sorting system based on machine vision according to an embodiment of the present invention;
FIG. 2 is a bottom view of the top surface of a rectangular box of an embodiment of the present invention;
FIG. 3 is a front view of a box-type machine vision light source system in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a coal gangue sorting and classifying system according to an embodiment of the present invention;
reference numerals: 1. a feed hopper; 2. a queuing mechanism; 3. materials to be sorted; 4. the material passes through the hole; 5. a lengthening bin; 6. a box-type housing; 7. an industrial camera; 8. a robot gripper; 9. a belt conveyor; 10. an industrial camera mounting hole; 11. an LED backlight.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a machine vision-based coal gangue sorting system, which combines a material technology, a light source technology, an image processing technology and a robot technology, improves the coal gangue sorting efficiency, has high automation level and avoids the influence of manual sorting on human health.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 4, a coal gangue sorting system based on machine vision provided by an embodiment of the present invention includes: the coal gangue sorting and classifying system comprises a material feeding system, a machine vision system and a coal gangue sorting and classifying system, wherein the material feeding system comprises a feeding hopper 1, a queuing mechanism 2 and a belt conveyor 9, and is used for feeding, queuing and transmitting materials 3 to be sorted;
the queuing mechanism 2 in the material feeding system is used for queuing materials which are placed on the belt conveyor 9 from the feeding hopper 1, and the materials in each queue after passing through the queuing mechanism 2 are in front and back rows without being stacked;
the machine vision system is arranged on the belt conveyor and comprises a box type machine vision light source system and an industrial camera 7, the box type machine vision light source system comprises a box type shell 6, a machine vision light source and two extension bins 5, the two extension bins 5 are respectively arranged at the left end and the right end of the box type shell 6 and communicated with the box type shell 6, material through holes 4 are formed in the extension bins 5, and the industrial camera 7 is arranged on the box type shell 6 through an industrial camera mounting hole 10 and used for carrying out image acquisition on materials to be sorted passing through the interior of the box type shell 6;
the coal gangue sorting and classifying system comprises a robot gripper 8 and a control system, the control system comprises a data input and output controller, a server and a display terminal, the data input and output controller is respectively and electrically connected with the industrial camera 7 and the robot gripper 8, the data input and output controller 7 is in communication connection with the server, and the server is connected with the display terminal; the data input and output controller receives image data from the industrial camera 7 and transmits the image data to the server, and the server classifies the materials to be sorted based on a neural network algorithm; and the data input and output controller controls the robot gripper 8 to sort the materials to be sorted.
The box-type shell 6 comprises a metal shell, and a high diffuse reflection coating is sprayed on the inner side wall of the metal shell. The metal material shell is ordinary aluminium or aluminum alloy material, and thickness is 2 mm. Box casing 6 is the rectangle box, the top surface of rectangle box sets up machine vision light source, state machine vision light source and be LED backlight 11, the spraying of the four sides inside wall of rectangle box has high diffuse reflection coating. The bottom surface of the rectangular box body is of an unclosed structure. The high diffuse reflection coating is white, the thickness of the coating is 0.2mm, and the diffuse reflection rate is 98%. The machine vision light source is used for enhancing the brightness of the surface of the measured object entering the measuring space, and the machine vision light source is matched with the coating to ensure that the surface of the measured object has no highlight area and highlight dark area; the four sides of the box-type shell 6 except the bottom and the top are provided with 200 mm-200 mm material through holes in the right view direction and the left view direction for passing the materials to be sorted on the belt conveyor 9; the 200mm by 200mm material passing holes are designed for the material size of the common size in a preliminary way, and the actual size is better to slightly exceed the maximum material size; the extension bin 5 is provided with a material through hole 4 on the left view side and a material through hole 4 on the right view side respectively, the cross section of the extension bin is consistent with the size of the material through hole 4 and is initially set to 200mm by 200mm, the extension bin 5 is arranged for reducing the influence of ambient light, and the length is preferably set to be slightly longer so as to reduce the interference of the ambient light as much as possible;
in the working process, the belt conveyor 9 continuously runs at a relatively constant speed, and the material to be sorted falls onto the belt conveyor 9 from the feeding hopper 1 and is conveyed from right to left according to the direction of the view angle shown in fig. 1. The system working process and the processing flow are as follows:
firstly, acquiring surface image data of an object to be measured: the materials to be sorted enter the shell of the box type machine vision system from the extension bin and the material through holes, the data input and output controller controls an industrial camera arranged at the top of the shell to shoot images, and image data acquisition control and image data transmission channels are temporarily stored in the data input and output controller;
secondly, coal gangue identification: after the image data of the object to be measured is acquired, the data input and output controller sends the acquired data to the server, and the server performs class prediction on the input image by utilizing a neural network which performs deep learning in advance, so that the current object to be measured is determined to be coal, coal gangue or medium stone;
thirdly, grabbing and selecting the robot gripper: and controlling the robot gripper to grip and sort the materials after the tested materials pass through the material passing hole and the extension bin on the other side according to the classification result given in the second step and the current running speed of the belt conveyor.
The sorting method of the coal gangue sorting system based on machine vision in the invention specifically comprises the following steps:
controlling the belt conveyor to continuously run at a constant speed, and conveying the materials to be sorted falling from the feeding hopper to the box type machine vision light source system;
under the transmission of the belt conveyor, the materials to be sorted enter the box-type shell from the material through holes and the extension bins, and the data input and output controller controls the industrial camera arranged on the box-type shell to shoot images;
the data input and output controller transmits the image to the server;
the server classifies the materials to be sorted according to the neural network algorithm after deep learning;
the server respectively transmits the classification results to a display terminal and a data input and output controller, and the display terminal displays the classification results;
the data input and output controller determines a grabbing target and a grabbing position according to the classification result and the running speed of the belt conveyor, sends out a sorting control instruction and transmits the sorting control instruction to the robot gripper;
and the robot gripper sorts the materials to be sorted according to the sorting control instruction.
The coal gangue sorting system and method based on machine vision provided by the invention have the advantages of no pollution, small occupied space and high automation degree, and solve the problems of low efficiency, influence on human health by working environment and low automation degree in the traditional coal gangue sorting; based on the machine vision principle, an industrial camera is used for obtaining images, the images are input into a server, classification and judgment are carried out by adopting a pre-trained neural network algorithm, so that the materials to be sorted are determined to be coal, coal gangue or medium stones, and finally, the materials to be sorted are grabbed by a robot gripper to be classified and sorted; compared with the existing method, the system has simpler structure, lower process flow complexity, less energy consumption, no pollution to the environment and human body, and is convenient to be embedded into the existing automatic production line; in addition, the box-type machine vision light source system which is designed by a special structure, processed by a special coating material on the inner surface and reasonably matched with a light source and enables the inner light field to be more uniform is adopted to shoot images of materials such as coal and coal gangue which pass through the box-type machine vision light source system, the texture and the structure of the surfaces of the materials are more distinctive, and the box-type machine vision light source system is more suitable for further sorting the coal and the coal gangue by using an image processing method.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A gangue sorting system based on machine vision is characterized by comprising: the coal gangue sorting and classifying system comprises a material feeding system, a machine vision system and a coal gangue sorting and classifying system, wherein the material feeding system comprises a feeding hopper, a queuing mechanism and a belt conveyor, and is used for feeding, queuing and transmitting materials to be sorted;
the machine vision system is arranged on the belt conveyor and comprises a box type machine vision light source system and an industrial camera, the box type machine vision light source system comprises a box type shell, machine vision light sources and extension bins, the extension bins are arranged at the left end and the right end of the box type shell and communicated with the box type shell, material through holes are formed in the extension bins, and the industrial camera is arranged on the box type shell and used for collecting images of materials to be sorted passing through the interior of the box type shell;
the coal gangue sorting and classifying system comprises a robot gripper and a control system, the control system comprises a data input and output controller, a server and a display terminal, the data input and output controller is respectively and electrically connected with the industrial camera and the robot gripper, the data input and output controller is in communication connection with the server, and the server is connected with the display terminal; the data input and output controller receives image data from the industrial camera and transmits the image data to the server, the server classifies the materials to be sorted based on a neural network algorithm and transmits the classification results to the display terminal and the data input and output controller respectively, and the display terminal displays the classification results; and the data input and output controller controls the robot gripper to sort the materials to be sorted.
2. The machine vision-based coal gangue sorting system of claim 1, wherein the box-type housing comprises a metal casing, and a high diffuse reflection coating is sprayed on an inner side wall of the metal casing.
3. The machine vision-based coal gangue sorting system of claim 2, wherein the metal casing is made of common aluminum or aluminum alloy and has a thickness of 2 mm.
4. The machine vision-based coal gangue sorting system according to claim 2, wherein the box-type housing is a rectangular box body, the machine vision light source is arranged on the top surface of the rectangular box body, the machine vision light source is an LED backlight, and high diffuse reflection coatings are sprayed on the four inner side walls of the rectangular box body.
5. The machine vision-based coal refuse sorting system of claim 4, wherein the bottom surface of the rectangular box is of an unclosed structure.
6. The machine vision-based coal refuse sorting system of claim 2, wherein the high diffuse reflectance coating is white, 0.2mm thick, and 98% diffuse reflectance.
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| CN202010166228.3A CN111318461A (en) | 2020-03-11 | 2020-03-11 | Gangue letter sorting system based on machine vision |
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Cited By (6)
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| CN112058701A (en) * | 2020-08-28 | 2020-12-11 | 河海大学常州校区 | Coal and coal gangue sorting system and method based on polarization imaging |
| CN112686250A (en) * | 2020-12-23 | 2021-04-20 | 三梁环境技术(山西)有限公司 | Coal gangue classification method, device, equipment and storage medium |
| CN112718080A (en) * | 2020-12-17 | 2021-04-30 | 安徽宇艳智能机械科技有限公司 | Adjustable mining machinery device |
| CN112871745A (en) * | 2021-01-11 | 2021-06-01 | 三梁环境技术(山西)有限公司 | Coal gangue classification model obtaining method, coal gangue classification model obtaining device and coal gangue classification method equipment |
| CN112893159A (en) * | 2021-01-14 | 2021-06-04 | 陕西陕煤曹家滩矿业有限公司 | Coal gangue sorting method based on image recognition |
| CN115106312A (en) * | 2022-06-13 | 2022-09-27 | 中实洛阳重型机械有限公司 | Intelligent ore sorting device based on binocular camera laser guide |
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| CN115106312A (en) * | 2022-06-13 | 2022-09-27 | 中实洛阳重型机械有限公司 | Intelligent ore sorting device based on binocular camera laser guide |
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Application publication date: 20200623 |