CN113182175A - Coal gangue photoelectric sorting robot based on dual-energy X-ray - Google Patents
Coal gangue photoelectric sorting robot based on dual-energy X-ray Download PDFInfo
- Publication number
- CN113182175A CN113182175A CN202110567249.0A CN202110567249A CN113182175A CN 113182175 A CN113182175 A CN 113182175A CN 202110567249 A CN202110567249 A CN 202110567249A CN 113182175 A CN113182175 A CN 113182175A
- Authority
- CN
- China
- Prior art keywords
- gangue
- ray
- coal
- energy
- dual
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
- B07C5/3416—Sorting according to other particular properties according to radiation transmissivity, e.g. for light, x-rays, particle radiation
-
- 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
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
The invention provides a gangue photoelectric sorting robot based on dual-energy X-ray, which consists of a vibration grading sieve, an X-ray detector, a belt conveyor, a belt speed detection device, a robot controller, an upper computer, an X-ray generator and a mechanical arm, wherein raw coal is firstly conveyed to the vibration grading sieve by the coal conveying conveyor to be graded according to the granularity, separated coal powder is collected, a gangue mixture falls onto a material conveying belt to continuously move forwards, the centering of the gangue and the distance interval between the gangue are controlled by a queuing mechanism to ensure that the gangue sequentially passes through an X-ray imaging area, the gangue sorting robot adopts dual-energy X-ray high-low energy imaging, an X-ray generating source and a high-double-layer X-ray detector are used, the X-ray detector converts an analog signal into a digital signal and transmits the digital signal to the upper computer, after image processing and a corresponding recognition algorithm are carried out, the upper computer sends an instruction to the mechanical arm control system to control the mechanical arm to sort the coal and gangue, the robot improves the accuracy and stability of the coal and gangue sorting system, and solves the problems of resource waste and environmental pollution.
Description
Technical Field
The invention relates to the technical field of coal gangue sorting, in particular to a coal gangue photoelectric sorting robot based on dual-energy X-rays.
Background
At the present stage, the coal and gangue separation method mainly comprises manual gangue discharge, jigging coal separation, floating coal separation, selective crushing coal separation, dense medium coal separation and the like, but the methods generally have the problems of low identification precision, high investment cost, serious environmental pollution and the like, and the traditional coal separation theory and technology face severe challenges at present when the country continuously attaches importance to the clean technology and environmental protection, and a more efficient, intelligent and environment-friendly coal and gangue separation technology is urgently needed.
Meanwhile, coal and gangue identification is one of key technologies for realizing unmanned and intelligent production and processing of coal, and at the present stage, methods for coal and gangue identification mainly include a vibration detection method, an ultrasonic detection method, a radar detection method, an optical detection method, a ray detection method and the like, but all of the methods have different defects.
In summary, how to solve the above technical problems is an urgent problem to be solved.
Disclosure of Invention
The invention provides a gangue photoelectric sorting robot based on dual-energy X-rays, which aims to solve the problems in the background technology.
The invention adopts the following technical scheme for solving the technical problems: referring to fig. 1, the gangue photoelectric sorting robot based on dual-energy X-ray is characterized by comprising an X-ray generator, a belt conveyor, an X-ray detector, a vibration grading sieve, a robot controller, a belt speed detection device, an upper computer and a mechanical arm sorting device, wherein the vibration grading sieve is connected with the belt conveyor, the robot controller is connected with a mechanical arm, the belt speed detection device, the mechanical arm sorting device and an upper computer module are all connected with the robot controller, and the X-ray generator and the robot controller are all connected with the upper computer module.
A separation method of a gangue photoelectric separation robot based on dual-energy X-ray comprises the following steps:
step A: as shown in fig. 1, raw coal is first conveyed to a vibration grading sieve by a coal conveyor to be sieved and graded according to the particle size.
And B: the separated coal powder is collected, and the coal and gangue mixture falls onto the material conveying belt to continue to move forwards.
And C: the separated coal powder is collected under the control of the queuing mechanism, and the coal and gangue mixture falls onto the material conveying belt to continue to move forwards.
Step D: the coal and gangue are centered and spaced at intervals, so that the coal and gangue are ensured to sequentially pass through the X-ray imaging area.
Step E: the coal and gangue sorting robot adopts dual-energy X-ray high-low energy imaging, the dual-energy X-ray system is divided into a true dual-energy X-ray system and a false dual-energy X-ray system, and in order to save cost, the false dual-energy X-ray system is selected and used, and an X-ray generating source and a high-low energy double-layer X-ray detector are adopted.
Step F: the X-ray detector converts the analog signals into digital signals and transmits the digital signals to the upper computer, and after image processing and corresponding recognition algorithms are carried out, the upper computer sends an instruction to the mechanical arm control system to send an instruction to control the mechanical arm to sort the coal and gangue.
The dual-energy X-ray coal and gangue sorting robot adopts X-ray imaging, high and low energy images need to be subjected to filtering segmentation processing, an R value image is generated, an R value threshold is set to classify coal gangue, generally, in order to distinguish the coal gangue more obviously, the R value image is subjected to pseudo color processing, green represents coal, red represents gangue, and the processing result is shown in figure 2.
Because the traditional coal and gangue image classification algorithm is influenced by the thickness of coal and gangue materials and the environment and the self limitation of the algorithm, the problems of low model identification accuracy, low identification speed, poor convergence of the algorithm and the like are caused; the high-energy and low-energy images are combined with the R value images, and the support vector machine of the particle swarm algorithm is used for classification, so that the influence of uncertain factors such as light sources, dust, imaging backgrounds and material surfaces is avoided, a system model is simplified, and the sorting efficiency of the sorting robot is greatly improved.
Sorting coal gangue as a specific implementation step of image classification, and also as a last ring of a coal gangue sorting robot, wherein the current coal gangue sorting mode comprises manual sorting, high-pressure air valve nozzle sorting and mechanical arm sorting; the invention is to adopt a mechanical arm to sort the coal gangue.
Before the coal gangue is sorted, the position information of the coal and the gangue in the image needs to be determined, and the coal and the gangue are positioned by adopting a mass center method in the project. Firstly preprocessing a coal and gangue image, determining an edge contour of a target area by adopting an edge contour extraction algorithm, performing expansion and corrosion processing on the image by using morphological knowledge, further processing the image contour, finally determining coordinates of the target area of the coal and gangue image by adopting a centroid method, sending an instruction by an upper computer to control a mechanical arm to grab, and finally finishing sorting the coal and gangue.
Drawings
FIG. 1 is a diagram of a model of the present invention.
FIG. 2 is an R-value threshold image segmentation map for the image processing stage of the present invention.
Fig. 3 is a flow chart of the present invention.
In the figure: 1-a vibration grading sieve, 2-an X-ray detector, 3-a belt conveyor, 4-a belt speed detection device, 5-a robot controller, 6-an upper computer, 7-an X-ray generator and 8-a mechanical arm.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1, the invention relates to a gangue photoelectric sorting robot based on dual-energy X-ray, which comprises a vibration grading sieve 1, an X-ray detector 2, a belt conveyor 3, a belt speed detection device 4, a robot controller 5, an upper computer 6, an X-ray generator 7 and a mechanical arm 8, wherein the vibration grading sieve 1 and the X-ray detector 2 are both connected with the belt conveyor 3, the belt speed detection device 4, the mechanical arm 8 and the upper computer 6 are both connected with the robot controller 5, and the X-ray generator 7 and the robot controller 5 are both connected with the upper computer 6. The system is characterized in that raw coal is conveyed to a vibration grading sieve for screening through a coal conveying conveyor in normal time, grading is carried out according to the granularity, separated coal dust is collected, coal and gangue mixtures fall onto a material conveying belt to continuously move forwards, the separated coal dust is collected under the control of a queuing mechanism, the coal and gangue mixtures fall onto the material conveying belt to continuously move forwards, the coal and gangue mixtures are centered and spaced from each other, coal and gangue are ensured to sequentially pass through an X-ray imaging area, a coal and gangue sorting robot adopts dual-energy X-ray high-low energy imaging, the dual-energy X-ray system is divided into a true dual-energy X-ray system and a false dual-energy X-ray system, and in order to save cost, the system adopts an X-ray generating source and a high-double-layer low-energy X-ray detector, the X-ray detector converts analog signals into digital signals and transmits the digital signals to an upper computer, after image processing and a corresponding recognition algorithm are carried out, the upper computer sends an instruction to the mechanical arm control system to send an instruction to control the mechanical arm to sort the coal and gangue.
In this embodiment, the dual-energy X-ray coal gangue sorting robot adopts X-ray imaging, and needs to perform filtering segmentation processing on high and low energy images, generate an R-value image, set an R-value threshold to classify coal gangue, and generally, in order to distinguish coal gangue more clearly, perform pseudo color processing on the R-value image, where green represents coal and red represents gangue, and the processing result is shown in fig. 2.
In the embodiment, the traditional coal and gangue image classification algorithm is influenced by the thickness of coal and gangue materials and the environment, and the self limitation of the algorithm causes the problems of low model identification accuracy, low identification speed, poor convergence of the algorithm and the like; the high-energy and low-energy images are combined with the R value images, and the support vector machine of the particle swarm algorithm is used for classification, so that the influence of uncertain factors such as light sources, dust, imaging backgrounds and material surfaces is avoided, a system model is simplified, and the sorting efficiency of the sorting robot is greatly improved.
In the embodiment, the coal and gangue sorting is used as a specific implementation step for image classification, and is also the last ring of the coal and gangue sorting robot, and the current coal and gangue sorting mode includes manual sorting and high-pressure air valve nozzle sorting. The invention is to adopt a mechanical arm to sort the coal gangue.
In the embodiment, before the coal gangue is sorted, the position information of the coal and the gangue in the image needs to be determined, and the coal and the gangue are positioned by adopting a mass center method in the project; firstly, preprocessing a coal and gangue image, determining an edge profile of a target area by adopting an edge profile extraction algorithm, performing expansion and corrosion processing on the image by using morphological knowledge, further processing the image profile, finally determining coordinates of the target area of the coal and gangue image by adopting a centroid method, sending an instruction by an upper computer to control a mechanical arm to grab, and finally finishing sorting the coal and gangue; the accuracy and the stability of the coal and gangue sorting system are improved, and the problems of resource waste and environmental pollution are solved; the method is more beneficial to the construction of an intelligent green mine, provides an effective technical scheme for realizing the underground coal gangue separation, and has wide development prospect.
Claims (4)
1. A gangue photoelectric sorting robot based on dual-energy X-rays comprises a vibrating classifying screen (1), an X-ray detector (2), a belt conveyor (3), a belt speed detection device (4), a robot controller (5), an upper computer (6), an X-ray generator (7) and a mechanical arm (8); the vibration grading screen (1) and the X-ray detector (2) are connected with the belt conveyor (3), the belt speed detection device (4), the mechanical arm (8) and the upper computer (6) are connected with the robot controller (5), and the X-ray generator (7) and the robot controller (5) are connected with the upper computer (6).
2. The gangue photoelectric sorting robot based on dual-energy X-ray of claim 1, characterized in that: the X-ray generator (7) adopts IXS200BP500P265 as a ray source.
3. The gangue photoelectric sorting robot based on dual-energy X-ray of claim 1, characterized in that: the X-ray detector (2) adopts DT X-CARDD011506412C and is used for receiving high-energy and low-energy rays emitted by the ray source.
4. The gangue photoelectric sorting robot based on dual-energy X-ray of claim 1, characterized in that: the mechanical arm (8) sorts the coal gangue by using a YJ-SC-704V model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110567249.0A CN113182175A (en) | 2021-05-24 | 2021-05-24 | Coal gangue photoelectric sorting robot based on dual-energy X-ray |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110567249.0A CN113182175A (en) | 2021-05-24 | 2021-05-24 | Coal gangue photoelectric sorting robot based on dual-energy X-ray |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113182175A true CN113182175A (en) | 2021-07-30 |
Family
ID=76985019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110567249.0A Pending CN113182175A (en) | 2021-05-24 | 2021-05-24 | Coal gangue photoelectric sorting robot based on dual-energy X-ray |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113182175A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112495832A (en) * | 2020-12-04 | 2021-03-16 | 湖州霍里思特智能科技有限公司 | Mineral product sorting machine and mineral product sorting method |
| CN113926737A (en) * | 2021-09-26 | 2022-01-14 | 河南中平自动化股份有限公司 | Coal gangue device utilizing dual-energy dual-machine X-ray and identification method thereof |
| CN114515703A (en) * | 2022-03-01 | 2022-05-20 | 安徽理工大学 | Multifunctional integrated coal gangue sorting system |
| CN114535133A (en) * | 2022-01-12 | 2022-05-27 | 山东大学 | Coal and gangue sorting method, device and system based on dual-energy ray transmission imaging |
| WO2023202259A1 (en) * | 2022-04-19 | 2023-10-26 | 同方威视技术股份有限公司 | Material sorting system and sorting method |
-
2021
- 2021-05-24 CN CN202110567249.0A patent/CN113182175A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112495832A (en) * | 2020-12-04 | 2021-03-16 | 湖州霍里思特智能科技有限公司 | Mineral product sorting machine and mineral product sorting method |
| CN113926737A (en) * | 2021-09-26 | 2022-01-14 | 河南中平自动化股份有限公司 | Coal gangue device utilizing dual-energy dual-machine X-ray and identification method thereof |
| CN114535133A (en) * | 2022-01-12 | 2022-05-27 | 山东大学 | Coal and gangue sorting method, device and system based on dual-energy ray transmission imaging |
| CN114515703A (en) * | 2022-03-01 | 2022-05-20 | 安徽理工大学 | Multifunctional integrated coal gangue sorting system |
| WO2023202259A1 (en) * | 2022-04-19 | 2023-10-26 | 同方威视技术股份有限公司 | Material sorting system and sorting method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113182175A (en) | Coal gangue photoelectric sorting robot based on dual-energy X-ray | |
| CN102416386B (en) | Process and system for sorting coal by discharging coal gangue through dry method | |
| CN114472207B (en) | Mineral sorting system and mineral sorting method | |
| WO2022057170A1 (en) | Movable photoelectric sorting robot for coal and gangue | |
| CN109482494B (en) | Full-particle-level dry method quality-improving and gangue-discharging process for power coal | |
| CN205673224U (en) | Double energy X-ray transmission ore separators | |
| CN113500014A (en) | Method and system for intelligently sorting based on dynamic adjustment of threshold | |
| CN113941515B (en) | Intelligent separation device for mine coal gangue and identification method thereof | |
| CN112222015A (en) | Double-view-angle imaging raw coal gangue pre-discharging device and method | |
| CN112090480A (en) | Dry-type pre-selection system and process for low-grade fluorite ore | |
| CN116137029B (en) | Multi-parameter intelligent coal gangue monitoring feedback method and system of coal gangue separation equipment | |
| CN214210846U (en) | Intelligent coal gangue sorting system | |
| US3712469A (en) | High speed sorting | |
| CN112264330A (en) | Remove end coal gangue photoelectric separation system | |
| RU2715374C1 (en) | Radiographic separator of minerals | |
| CN114535063A (en) | Underground coal and gangue sorting integrated device based on artificial intelligence image recognition | |
| CN213700011U (en) | Dry-type preselection system of low-grade fluorite ore | |
| CN218743310U (en) | Multi-vision integrated intelligent sorting equipment | |
| CN108855579B (en) | Coal dressing method by using aqueous medium cyclone | |
| US11921064B2 (en) | Detector arrangement, detection system and method of processing data from a detector arrangement for high throughput data handling | |
| WANG et al. | A survey of ore image processing based on deep learning | |
| CN115888972A (en) | Pre-selection process for extracting and discarding fluorite ore blocks | |
| CN110694937A (en) | Low-grade dip-dyed skarn type scheelite pre-waste-throwing process | |
| CN206966158U (en) | Light material screening installation | |
| CN111723861B (en) | Gangue percentage identification method for coal mine control baffle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |