CN111906050A - Coal and gangue sorting system and method based on video analysis - Google Patents
Coal and gangue sorting system and method based on video analysis Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及矿山机械技术领域,特别涉及基于视频解析的煤矸分选系统及方法。The invention relates to the technical field of mining machinery, in particular to a coal gangue sorting system and method based on video analysis.
背景技术Background technique
煤矸分选即采用一种方法自动将煤与矸石进行识别,并通过机器进行分选的过程。随着煤矿开采强度的增强,经常需要大量的人力进行煤与矸石的分选。煤矸分选系统可广泛应用于选煤厂原煤选矸等生产环节,有效的减轻了工人劳动强度、改善了作业环境,对选煤过程的安全高效生产具有重要意义。Coal gangue sorting is a process in which coal and gangue are automatically identified by a method and sorted by machines. With the enhancement of coal mining intensity, a lot of manpower is often required to sort coal and gangue. The coal gangue separation system can be widely used in the production process such as raw coal gangue separation in coal preparation plants, which can effectively reduce the labor intensity of workers and improve the working environment, which is of great significance to the safe and efficient production of the coal preparation process.
煤矸分选的核心技术为煤岩识别技术,已有的煤岩识别方式较多,如雷达探测、振动检测法、电磁波探测法等。但是各种识别方式均较易收到外界环境的干扰,并且结构复杂、操作口难、难于部署、装置适应性差。The core technology of coal gangue separation is coal rock identification technology, and there are many existing coal rock identification methods, such as radar detection, vibration detection method, electromagnetic wave detection method, etc. However, various identification methods are relatively easy to receive interference from the external environment, and have complex structures, difficult operation ports, difficult deployment, and poor device adaptability.
需要一种新的改善甚至解决现有技术中存在的问题的煤岩识别方法或装置。There is a need for a new coal rock identification method or device that improves or even solves the problems existing in the prior art.
发明内容SUMMARY OF THE INVENTION
为了解决现有技术存在的技术问题,本发明提供了基于视频解析的煤矸分选系统及方法,近红外光源不易收到外界环境干扰,光源稳定,视频解析的方法提高了煤岩识别选的精准性、安全性,自动化煤矸分拣系统降低了煤矸分选过程中对人力及物力的消耗。In order to solve the technical problems existing in the prior art, the present invention provides a coal gangue sorting system and method based on video analysis, the near-infrared light source is not easily disturbed by the external environment, the light source is stable, and the video analysis method improves the identification and selection of coal and rock. Accuracy and safety, the automatic coal gangue sorting system reduces the consumption of manpower and material resources in the coal gangue sorting process.
为了实现上述目的,本发明提出了基于视频解析的煤矸分选系统,所述煤矸分选系统,所述系统主要包括中央处理单元、摄像机、近红外线光源、摄像机及分拣控制单元。In order to achieve the above object, the present invention proposes a coal gangue sorting system based on video analysis. The coal gangue sorting system mainly includes a central processing unit, a camera, a near-infrared light source, a camera and a sorting control unit.
所述中央处理单元包括控制模块、近红外光源控制模块、预测模块、视频处理模块、通讯模块;The central processing unit includes a control module, a near-infrared light source control module, a prediction module, a video processing module, and a communication module;
所述控制模块控制连接所述近红外线光源控制模块,用于控制近红外光源调节光源扇面夹角;The control module controls and connects the near-infrared light source control module, and is used for controlling the near-infrared light source to adjust the angle of the fan surface of the light source;
所述控制模块控制连接摄像机,用于触发摄像机采集样本视频的信号;The control module controls the connection of the camera, and is used to trigger the camera to collect the signal of the sample video;
所述控制模块连接控制视频处理模块,用于控制将摄像机采集的样本视频输送到视频处理模块进行区块划分及坐标定位;The control module is connected to the control video processing module, and is used to control the sample video collected by the camera to be sent to the video processing module for block division and coordinate positioning;
所述控制模块连接控制预测模块,用于控制预测模块在视频处理模块调取样本视频进行预测识别,并将识别结果通过通讯模块传输至分拣控制单元。The control module is connected to the control prediction module, and is used for the control prediction module to retrieve the sample video from the video processing module for prediction and identification, and transmit the identification result to the sorting control unit through the communication module.
所述分拣控制单元包括气吹装置及机械手臂;所述分拣控制单元连接所述通讯模块,用于将识别结果传输至机械手臂及气吹装置,对煤矸进行分拣。The sorting control unit includes an air blowing device and a mechanical arm; the sorting control unit is connected to the communication module, and is used for transmitting the identification result to the mechanical arm and the air blowing device to sort the coal gangue.
进一步地,根据本发明所述煤矸分选系统,所述中央处理单元位于第一金属壳内,安装于皮带输送机正上方机械手臂旁,所述近红外光源及摄像机位于第二金属壳内,安装于皮带输送机正上方出料口后侧,所述第二金属壳面向煤矸对象的一面正中心有大小为10×20cm的透视窗,摄像机光轴对准透视窗正中心。Further, according to the coal gangue sorting system of the present invention, the central processing unit is located in the first metal shell, installed next to the mechanical arm directly above the belt conveyor, and the near-infrared light source and the camera are located in the second metal shell. , installed on the back side of the discharge port just above the belt conveyor, the center of the side of the second metal shell facing the coal gangue object has a perspective window with a size of 10 × 20cm, and the optical axis of the camera is aligned with the center of the perspective window.
进一步地,根据本发明所述煤矸分选系统,所述近红外光源为单一光源置于摄像机旁,椎体光源底面垂直于摄像机光轴,光源扇面夹角由处理单元控制,为样本提供合适的光源夹角。Further, according to the coal gangue sorting system of the present invention, the near-infrared light source is a single light source placed next to the camera, the bottom surface of the cone light source is perpendicular to the optical axis of the camera, and the angle of the light source fan is controlled by the processing unit to provide suitable samples for the sample. angle of the light source.
进一步地,根据本发明所述煤矸分选系统,所述分拣控制单元位于第三金属壳内,连接控制机械手臂及气吹装置,所述机械手臂及气吹装置位于煤矸输送线之前,预测模块将预测结果传输至期初及分拣控制单元,对识别出的煤矸进行分选。Further, according to the coal gangue sorting system of the present invention, the sorting control unit is located in the third metal shell, and is connected to control the mechanical arm and the air blowing device, and the mechanical arm and the air blowing device are located before the coal gangue conveying line. , the prediction module transmits the prediction results to the beginning and sorting control unit, and sorts the identified coal gangue.
进一步地,根据本发明所述煤矸分选系统,所述预测模块采用的是DSP芯片。Further, according to the coal gangue sorting system of the present invention, the prediction module adopts a DSP chip.
本发明达到的有益效果:The beneficial effects achieved by the present invention:
所述煤矸分选系统结构简单、识别率高、适应性强,可以实现实时识别及信息传递,保证了煤矸分选的时效性及准确性,提高了煤矸分选效率,保障了人员的安全并有效节约了成本。The coal gangue separation system has simple structure, high recognition rate and strong adaptability, can realize real-time recognition and information transmission, ensure the timeliness and accuracy of coal gangue separation, improve coal gangue separation efficiency, and protect personnel. safety and cost savings.
附图说明Description of drawings
图1是本发明提供的基于视频解析的煤矸分选系统的结构示意图;Fig. 1 is the structural representation of the coal gangue sorting system based on video analysis provided by the present invention;
图2是本发明提供的中央处理单元各模块及其他单元结构示意图;2 is a schematic structural diagram of each module and other units of the central processing unit provided by the present invention;
图3是本发明提供的近红外光源及摄像机的结构示意图。FIG. 3 is a schematic structural diagram of a near-infrared light source and a camera provided by the present invention.
图4是本发明提供的基于视频解析的煤矸分选系统工作过程图;Fig. 4 is the working process diagram of the coal gangue sorting system based on video analysis provided by the present invention;
说明书附图中的附图标记包括:Reference numerals in the drawings in the description include:
1-给料槽,2-整列装置,3-第二金属壳,4-第一金属壳,5-第三金属壳,6-机械手臂,7-气吹装置,8-运煤槽,9-运矸槽,10-皮带输送机,11-近红外线光源,12-摄像机,13-散热器,14-接线头,15-透视窗。1- Feeding trough, 2- Alignment device, 3- Second metal shell, 4- First metal shell, 5- Third metal shell, 6- Robot arm, 7- Air blowing device, 8- Coal transport trough, 9 - gangue trough, 10-belt conveyor, 11-near infrared light source, 12-camera, 13-radiator, 14-connector, 15-perspective window.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明的一部分实施例,而不是全部的实施例。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.
在本发明的描述中,需要说明的是,术语“上”、“下”、“左”、“右”、“上端”、“下端”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。术语“一”、二”仅用于描述目的,而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "upper end", "lower end", etc. are based on those shown in the accompanying drawings. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. The terms "one", "two" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.
除非另有明确的规定和限定,术语“安装”、“相连”、“连接”应做广义理解,例如,可以是机械连接或电连接,也可以是两个元件内部的连通,可以是直接相连,也可以通过中间媒介间接相连,对于本领域的普通技术人员而言,可以根据具体情况理解上述术语的具体含义。Unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a mechanical connection or an electrical connection, or the internal communication between two components, or a direct connection. , and may also be indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific situations.
为了解决现有技术存在的问题,如图1至图4所示,本发明提供了基于视频解析的煤矸分选系统,提高了煤矸分选的安全性、准确性以及稳定性。In order to solve the problems existing in the prior art, as shown in FIGS. 1 to 4 , the present invention provides a coal gangue sorting system based on video analysis, which improves the safety, accuracy and stability of coal gangue sorting.
如图1所示,所述基于视频解析的煤矸分选系统,包括给料槽1,给料槽1连接整列装置2,布置于皮带输送机10一端,用于将物料进行整列,避免物料出现重叠现象,皮带输送机10自左至右依次设置第二金属壳3,第一金属壳4,第三金属壳5,机械手臂6,气吹装置7,运煤槽8,运矸槽9。As shown in Figure 1, the video analysis-based coal gangue sorting system includes a feeding trough 1, which is connected to an
如图1所示,所述基于视频解析的煤矸分选系统,包括中央处理单元、摄像机12、近红外线光源11及分拣控制单元,所述中央处理单元设置于第一金属壳内,安装于分拣控制单元旁。As shown in FIG. 1 , the video analysis-based coal gangue sorting system includes a central processing unit, a
如图2所示,近红外光源及摄像机布置于第二金属壳内,安装于皮带输送机正上方出料口后侧,所述第二金属壳面向煤矸对象的一面正中心有大小为10×20cm的透视窗,摄像机光轴对准透视窗正中心。第二金属壳上设置有散热器13、接线头14、透视窗15。As shown in Figure 2, the near-infrared light source and the camera are arranged in the second metal shell, which is installed on the back side of the discharge port directly above the belt conveyor. The center of the side of the second metal shell facing the coal gangue object has a size of 10 The perspective window of ×20cm, the optical axis of the camera is aligned with the center of the perspective window. The second metal shell is provided with a
所述近红外光源为单一光源置于摄像机旁,椎体光源底面垂直于摄像机光轴,光源扇面夹角由处理单元控制,为样本提供合适的光源夹角,为摄像机提供良好的光源环境,使视频更加清晰。The near-infrared light source is a single light source placed next to the camera, the bottom surface of the cone light source is perpendicular to the optical axis of the camera, and the angle of the light source sector is controlled by the processing unit to provide a suitable light source angle for the sample and a good light source environment for the camera. The video is clearer.
所述摄像机采用CMOS成像传感器,具有自动曝光控制、伽马校正、背景补偿、自动增益控制等功能,用于采集煤矸视频图像。The camera adopts a CMOS imaging sensor and has functions of automatic exposure control, gamma correction, background compensation, automatic gain control, etc., and is used for collecting coal gangue video images.
如图3所示,所述中央处理单元位于第一金属壳内,包括控制模块、近红外光源控制模块、视频处理模块、预测模块、通讯模块;As shown in FIG. 3 , the central processing unit is located in the first metal shell, and includes a control module, a near-infrared light source control module, a video processing module, a prediction module, and a communication module;
所述控制模块采用中央处理器为Cortex-R5核的RAM处理器,输出端控制连接近红外光源控制模块、摄像机、视频处理模块以及煤岩识别模块用于控制整个煤岩识别装置的运行;The control module adopts a RAM processor whose central processing unit is Cortex-R5 core, and the output terminal is controlled to be connected to a near-infrared light source control module, a camera, a video processing module and a coal rock identification module for controlling the operation of the entire coal rock identification device;
所述控制模块采用控制连接所述近红外线光源控制模块,用于控制近红外光源调节光源扇面夹角;The control module adopts control to connect the near-infrared light source control module for controlling the near-infrared light source to adjust the angle of the fan surface of the light source;
所述控制模块控制连接摄像机,用于触发摄像机采集样本视频的信号,与摄像机成像传感器的控制输入端相连的通信端口用I2C总线端口实现;The control module controls and connects the camera, and is used to trigger the camera to collect the signal of the sample video, and the communication port connected with the control input end of the camera imaging sensor is realized by the I 2 C bus port;
所述控制模块连接控制视频处理模块,用于控制将摄像机采集的样本视频输送到视频处理模块进行区块划分及坐标定位,数据输入端连接所述摄像机数据输出端口,所述存视频处理模块数据输出端口连接所述预测模块数据输入端口,用于控制将摄像机采集的样本视频输送到视频处理模块进行区块划分及坐标定位,与摄像机成像传感器数据输出端相连的通信端口用MIPI端口实现;The control module is connected to the control video processing module, and is used to control the sample video collected by the camera to be sent to the video processing module for block division and coordinate positioning. The data input end is connected to the camera data output port, and the storage video processing module data The output port is connected to the data input port of the prediction module, and is used to control the sample video collected by the camera to be sent to the video processing module for block division and coordinate positioning, and the communication port connected to the data output end of the camera imaging sensor is realized by the MIPI port;
所述控制模块连接控制预测模块,用于控制预测模块在视频处理模块调取样本视频进行预测识别,并将识别结果通过通讯模块传输至分拣控制单元,预测模块采用的是TI公司的TMS320C6000系列DSP芯片,信号输入端连接视频处理模块输出端连接通讯模块;The control module is connected to the control prediction module, which is used for the control prediction module to call the sample video in the video processing module for prediction and identification, and transmit the identification result to the sorting control unit through the communication module. The prediction module adopts the TMS320C6000 series of TI Company. DSP chip, the signal input end is connected to the video processing module and the output end is connected to the communication module;
所述通讯模块输出端连接分拣控制单元,所述预测模块处理后的预测结果通过通讯模块传输至所述分拣控制单元。分拣控制单元连接控制气吹装置及机械手臂。The output end of the communication module is connected to the sorting control unit, and the prediction result processed by the prediction module is transmitted to the sorting control unit through the communication module. The sorting control unit is connected to the control air blowing device and the mechanical arm.
所述分拣控制单元用于根据传来的预测结果,调节控制气吹装置及机械手臂,用于对煤矸进行分拣。The sorting control unit is used for adjusting and controlling the air blowing device and the mechanical arm according to the predicted result, so as to sort the coal gangue.
基于视频解析的煤矸分选方法如图4所示:The coal gangue sorting method based on video analysis is shown in Figure 4:
1.装置的启动,给料装置将物料运送到皮带输送机,经整列装置进行整列和平铺,防止出现物料的堆叠;同时启动煤矸分选系统,初始化摄像机及近红外光源参数。1. When the device is started, the feeding device transports the materials to the belt conveyor, and the alignment device performs alignment and tiling to prevent the stacking of materials; at the same time, the coal gangue sorting system is activated to initialize the parameters of the camera and the near-infrared light source.
2.视频处理模块连接控制摄像机对煤矸样本进行拍摄,用于控制将摄像机采集的样本视频输送到视频处理模块进行区块划分及坐标定位。2. The video processing module is connected to the control camera to shoot the coal gangue sample, which is used to control the sample video collected by the camera to be sent to the video processing module for block division and coordinate positioning.
3.视频处理模块将视频传输至预测模块对视频进行处理及识别,得出预测结果。3. The video processing module transmits the video to the prediction module to process and identify the video, and obtain the prediction result.
4.预测结果由通讯模块传输至分拣控制单元,机械手臂及气吹装置根据预测结果对煤矸进行分拣,提高分拣效率,节约人工成本。4. The prediction result is transmitted to the sorting control unit by the communication module, and the mechanical arm and the air blowing device sort the coal gangue according to the prediction result, which improves the sorting efficiency and saves labor costs.
以上所述仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.
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