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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- CN111906050A CN111906050A CN202010820282.5A CN202010820282A CN111906050A CN 111906050 A CN111906050 A CN 111906050A CN 202010820282 A CN202010820282 A CN 202010820282A CN 111906050 A CN111906050 A CN 111906050A
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- 239000003245 coal Substances 0.000 title claims abstract description 56
- 238000004458 analytical method Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 38
- 238000004891 communication Methods 0.000 claims abstract description 19
- 238000007664 blowing Methods 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 239000002184 metal Substances 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 4
- 239000011435 rock Substances 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 4
- 239000013589 supplement Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/30—Transforming light or analogous information into electric information
- H04N5/33—Transforming infrared radiation
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Abstract
The invention provides a coal and gangue sorting system and method based on video analysis, and belongs to the technical field of artificial intelligent machines of mines. The system mainly comprises a central processing unit, a camera, a near infrared light source and a sorting control unit. The near-infrared light source is used for carrying out infrared detection and light supplement on the coal rock sample, and the camera is used for collecting video information. The central processing unit comprises a control module, a near-infrared light source control module, a video processing module, a prediction module and a communication module, and is used for controlling the operation of each part, processing, identifying and transmitting the coal rock video information to the communication module. And the communication module transmits the identification information to the sorting control unit, and commands and controls the air blowing device and the mechanical arm. The coal and gangue sorting system is simple in structure, high in recognition rate and strong in adaptability, can realize real-time recognition and information transmission, guarantees timeliness and accuracy of coal and gangue sorting, improves coal and gangue sorting efficiency, guarantees safety of personnel and effectively saves cost.
Description
Technical Field
The invention relates to the technical field of mining machinery, in particular to a coal and gangue sorting system and method based on video analysis.
Background
The coal and gangue separation is a process of automatically identifying coal and gangue by adopting a method and separating by a machine. With the enhancement of coal mining intensity, a great deal of manpower is often needed to separate coal from gangue. The coal gangue sorting system can be widely applied to production links of coal dressing plant raw coal gangue sorting and the like, effectively reduces the labor intensity of workers, improves the operation environment and has important significance on safe and efficient production in the coal dressing process.
The core technology of the coal gangue separation is a coal rock identification technology, and the existing coal rock identification methods are more, such as radar detection, vibration detection methods, electromagnetic wave detection methods and the like. However, various identification modes are easily interfered by the external environment, and the device has the disadvantages of complex structure, difficult operation port, difficult deployment and poor device adaptability.
There is a need for a new coal rock identification method or apparatus that improves upon, and even solves, the problems of the prior art.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a coal and gangue sorting system and method based on video analysis, a near-infrared light source is not easy to receive external environment interference, the light source is stable, the accuracy and safety of coal and rock identification and sorting are improved by the video analysis method, and the consumption of manpower and material resources in the coal and gangue sorting process is reduced by the automatic coal and gangue sorting system.
In order to achieve the purpose, the invention provides a coal and gangue sorting system based on video analysis.
The central processing unit comprises a control module, a near-infrared light source control module, a prediction module, a video processing module and a communication module;
the control module is in control connection with the near infrared light source control module and is used for controlling the near infrared light source to adjust the included angle of the light source sector;
the control module is in control connection with the camera and is used for triggering the camera to acquire a signal of a sample video;
the control module is connected with the control video processing module and is used for controlling the transmission of the sample video collected by the camera to the video processing module for block division and coordinate positioning;
the control module is connected with the control prediction module and used for controlling the prediction module to call the sample video for prediction and identification at the video processing module and transmitting the identification result to the sorting control unit through the communication module.
The sorting control unit comprises an air blowing device and a mechanical arm; the sorting control unit is connected with the communication module and used for transmitting the recognition result to the mechanical arm and the air blowing device to sort the coal and gangue.
Further, according to the coal and gangue sorting system, the central processing unit is located in the first metal shell and is installed beside the mechanical arm right above the belt conveyor, the near-infrared light source and the camera are located in the second metal shell and are installed on the rear side of the discharge port right above the belt conveyor, a perspective window with the size of 10 x 20cm is arranged in the center of one surface, facing the coal and gangue object, of the second metal shell, and the optical axis of the camera is aligned to the center of the perspective window.
Further, according to the coal and gangue sorting system, the near-infrared light source is a single light source and is arranged beside the camera, the bottom surface of the cone light source is perpendicular to the optical axis of the camera, and the included angle of the fan surface of the light source is controlled by the processing unit to provide a proper included angle of the light source for the sample.
Furthermore, according to the coal and gangue sorting system, the sorting control unit is located in the third metal shell and is connected with and controls the mechanical arm and the air blowing device, the mechanical arm and the air blowing device are located in front of the coal and gangue conveying line, and the prediction module transmits the prediction result to the initial stage and sorting control unit to sort the identified coal and gangue.
Further, according to the coal gangue sorting system, the prediction module adopts a DSP chip.
The invention achieves the following beneficial effects:
the coal and gangue sorting system is simple in structure, high in recognition rate and strong in adaptability, can realize real-time recognition and information transmission, guarantees timeliness and accuracy of coal and gangue sorting, improves coal and gangue sorting efficiency, guarantees safety of personnel and effectively saves cost.
Drawings
FIG. 1 is a schematic structural diagram of a gangue sorting system based on video analysis provided by the invention;
FIG. 2 is a schematic diagram of the structure of each module and other units of the CPU provided by the present invention;
fig. 3 is a schematic structural diagram of the near-infrared light source and the camera provided by the invention.
FIG. 4 is a diagram of the working process of the gangue sorting system based on video analysis provided by the invention;
reference numerals in the drawings of the specification include:
1-feeding trough, 2-arraying device, 3-second metal shell, 4-first metal shell, 5-third metal shell, 6-mechanical arm, 7-air blowing device, 8-coal conveying trough, 9-gangue conveying trough, 10-belt conveyor, 11-near infrared light source, 12-camera, 13-radiator, 14-connector lug and 15-perspective window.
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.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. The terms "a" and "an" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless otherwise expressly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and can include, for example, mechanical or electrical connections, and communication between two elements, either directly or indirectly through intervening media, as well as the specific meaning of such terms as would be understood by one of ordinary skill in the art to which the term pertains.
In order to solve the problems in the prior art, as shown in fig. 1 to 4, the invention provides a coal gangue sorting system based on video analysis, which improves the safety, accuracy and stability of coal gangue sorting.
As shown in fig. 1, the coal gangue sorting system based on video analysis comprises a feeding trough 1, wherein the feeding trough 1 is connected with an arraying device 2, arranged at one end of a belt conveyor 10 and used for arraying materials to avoid overlapping of the materials, the belt conveyor 10 is sequentially provided with a second metal shell 3, a first metal shell 4, a third metal shell 5, a mechanical arm 6, an air blowing device 7, a coal transporting trough 8 and a gangue transporting trough 9 from left to right.
As shown in fig. 1, the gangue sorting system based on video analysis includes a central processing unit, a camera 12, a near infrared light source 11 and a sorting control unit, wherein the central processing unit is disposed in a first metal casing and is installed beside the sorting control unit.
As shown in fig. 2, the near-infrared light source and the camera are arranged in the second metal shell and are installed at the rear side of the discharge port right above the belt conveyor, a perspective window with the size of 10 × 20cm is arranged in the center of one surface of the second metal shell facing the gangue object, and the optical axis of the camera is aligned to the center of the perspective window. The second metal shell is provided with a radiator 13, a connector lug 14 and a perspective window 15.
The near-infrared light source is a single light source and is arranged beside the camera, the bottom surface of the cone light source is perpendicular to the optical axis of the camera, the included angle of the sector of the light source is controlled by the processing unit, a proper included angle of the light source is provided for a sample, a good light source environment is provided for the camera, and the video is clearer.
The camera adopts a CMOS imaging sensor, has the functions of automatic exposure control, gamma correction, background compensation, automatic gain control and the like, and is used for collecting coal and gangue video images.
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;
the control module adopts an RAM (random access memory) processor with a central processing unit of Cortex-R5 core, and the output end of the control module is connected with the infrared light source control module, the camera, the video processing module and the coal rock identification module in a control way and is used for controlling the operation of the whole coal rock identification device;
the control module is in control connection with the near infrared light source control module and is used for controlling the near infrared light source to adjust the included angle of the light source sector;
the control module is connected with the camera in a control mode and used for triggering the camera to collect a signal of a sample video, and the communication port connected with the control input end of the camera imaging sensor is used as I2C, realizing a bus port;
the control module is connected with the control video processing module and used for controlling the transmission of the sample video collected by the camera to the video processing module for block division and coordinate positioning, the data input end is connected with the data output port of the camera, the data output port of the video storage processing module is connected with the data input port of the prediction module and used for controlling the transmission of the sample video collected by the camera to the video processing module for block division and coordinate positioning, and the communication port connected with the data output end of the camera imaging sensor is realized by an MIPI port;
the control module is connected with the control prediction module and used for controlling the prediction module to call sample videos from the video processing module for prediction and recognition and transmitting recognition results to the sorting control unit through the communication module, the prediction module adopts TMS320C6000 series DSP chips of TI company, and the signal input end is connected with the output end of the video processing module and is connected with the communication module;
the output end of the communication module is connected with 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 with and controls the air blowing device and the mechanical arm.
And the sorting control unit is used for adjusting and controlling the air blowing device and the mechanical arm according to the transmitted prediction result and is used for sorting the coal and gangue.
The gangue sorting method based on video analysis is shown in fig. 4:
1. when the device is started, the feeding device conveys materials to the belt conveyor, and the materials are aligned and tiled through the aligning device, so that the materials are prevented from being stacked; and meanwhile, starting the coal and gangue sorting system, and initializing the camera and the parameters of the near-infrared light source.
2. The video processing module is connected with the control camera to shoot the coal gangue samples and is used for controlling the sample videos collected by the camera to be transmitted to the video processing module to be subjected to block division and coordinate positioning.
3. The video processing module transmits the video to the prediction module to process and identify the video, and a prediction result is obtained.
4. The prediction result is transmitted to the sorting control unit by the communication module, and robotic arm and air-blowing device sort the coal gangue according to the prediction result, improve sorting efficiency, practice thrift the cost of labor.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. Coal gangue sorting system based on video analysis, its characterized in that: the device comprises a feeding groove, wherein the feeding groove is connected with an arraying device and is arranged at one end of a belt conveyor, and the belt conveyor is sequentially provided with a second metal shell, a first metal shell, a third metal shell, a mechanical arm, an air blowing device, a coal conveying groove and a gangue conveying groove from left to right;
still include central processing unit, near-infrared light source, camera and letter sorting control unit:
the central processing unit comprises a control module, a near-infrared light source control module, a video processing module, a prediction module and a communication module;
the control module is in control connection with the near infrared light source control module and is used for controlling the near infrared light source to adjust the included angle of the light source sector;
the control module is in control connection with the camera and is used for triggering the camera to acquire a signal of a video sample;
the control module is connected with the control video processing module and is used for controlling the transmission of the sample video collected by the camera to the video processing module for block division and coordinate positioning;
the control module is connected with the control prediction module and is used for controlling the prediction module to call the sample video from the video processing module for prediction and identification and transmitting the identification result to the sorting control unit through the communication module;
the sorting control unit comprises an air blowing device and a mechanical arm; the sorting control unit is connected with the communication module and used for transmitting the recognition result to the mechanical arm and the air blowing device to sort the coal and gangue.
2. The gangue sorting system based on video analysis as claimed in claim 1, wherein the near infrared light source is a single light source disposed beside the camera, the bottom surface of the cone light source is perpendicular to the optical axis of the camera, and the included angle of the fan surface of the light source is controlled by the processing unit to provide a proper included angle of the light source for the sample.
3. The gangue separation system based on video analysis as claimed in claim 1, wherein the central processing unit is located in a first metal shell and is installed beside the mechanical arm directly above the belt conveyor, the light source and the camera are located in a second metal shell and are installed directly above the belt conveyor, the distance from the air blowing opening is 0.8m, a perspective window with the size of 10 x 20cm is arranged in the center of one surface of the first metal shell facing the belt conveyor, and the optical axis of the camera is aligned with the center of the perspective window.
4. The video analysis-based gangue separation system of claim 1, wherein the sorting control unit is located in the third metal shell and is connected with and controls a mechanical arm and an air blowing device, the mechanical arm and the air blowing device are located in front of the gangue conveying line, and the prediction module transmits the prediction result to the initial stage and sorting control unit to sort the identified gangue.
5. The gangue sorting system based on video parsing of claim 1, wherein the prediction module employs a DSP chip.
6. The method for sorting the coal gangue based on video analysis is characterized by comprising the following steps of:
s1, starting the device, conveying materials to a belt conveyor by a feeding device, and arranging and tiling the materials by an arranging device to prevent the materials from being stacked; meanwhile, starting a coal and gangue sorting system, and initializing a camera and near-infrared light source parameters;
s2, the video processing module is connected with the control camera to shoot the coal gangue sample and is used for controlling the sample video collected by the camera to be transmitted to the video processing module to be subjected to block division and coordinate positioning;
s3, the video processing module transmits the video to the prediction module to process and identify the video, and a prediction result is obtained;
and S4, the prediction result is transmitted to the sorting control unit through the communication module, and the mechanical arm and the air blowing device sort the coal and gangue according to the prediction result, so that the sorting efficiency is improved, and the labor cost is saved.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010820282.5A CN111906050B (en) | 2020-08-14 | 2020-08-14 | System and method for separating gangue based on video analysis |
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| CN202010820282.5A CN111906050B (en) | 2020-08-14 | 2020-08-14 | System and method for separating gangue based on video analysis |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113210286A (en) * | 2021-04-23 | 2021-08-06 | 太原理工大学 | Gangue letter sorting production line |
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