CN113304869B - Automatic identification and access method and device for shaking table ore belt - Google Patents
Automatic identification and access method and device for shaking table ore belt Download PDFInfo
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- CN113304869B CN113304869B CN202110618805.2A CN202110618805A CN113304869B CN 113304869 B CN113304869 B CN 113304869B CN 202110618805 A CN202110618805 A CN 202110618805A CN 113304869 B CN113304869 B CN 113304869B
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 239000012141 concentrate Substances 0.000 claims abstract description 152
- 229910052500 inorganic mineral Inorganic materials 0.000 claims abstract description 24
- 239000011707 mineral Substances 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000005070 sampling Methods 0.000 claims description 15
- 238000005065 mining Methods 0.000 claims description 12
- 238000013316 zoning Methods 0.000 claims description 6
- 230000002035 prolonged effect Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 3
- XOLBLPGZBRYERU-UHFFFAOYSA-N tin dioxide Chemical compound O=[Sn]=O XOLBLPGZBRYERU-UHFFFAOYSA-N 0.000 description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 229910001662 tin mineral Inorganic materials 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005188 flotation Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910001608 iron mineral Inorganic materials 0.000 description 1
- SZVJSHCCFOBDDC-UHFFFAOYSA-N iron(II,III) oxide Inorganic materials O=[Fe]O[Fe]O[Fe]=O SZVJSHCCFOBDDC-UHFFFAOYSA-N 0.000 description 1
- JQJCSZOEVBFDKO-UHFFFAOYSA-N lead zinc Chemical compound [Zn].[Pb] JQJCSZOEVBFDKO-UHFFFAOYSA-N 0.000 description 1
- 238000007885 magnetic separation Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B03—SEPARATION OF SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS; MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03B—SEPARATING SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS
- B03B5/00—Washing granular, powdered or lumpy materials; Wet separating
- B03B5/02—Washing granular, powdered or lumpy materials; Wet separating using shaken, pulsated or stirred beds as the principal means of separation
- B03B5/04—Washing granular, powdered or lumpy materials; Wet separating using shaken, pulsated or stirred beds as the principal means of separation on shaking tables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B03—SEPARATION OF SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS; MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
- B03B—SEPARATING SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS
- B03B13/00—Control arrangements specially adapted for wet-separating apparatus or for dressing plant, using physical effects
- B03B13/04—Control arrangements specially adapted for wet-separating apparatus or for dressing plant, using physical effects using electrical or electromagnetic effects
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Manufacture And Refinement Of Metals (AREA)
- Combined Means For Separation Of Solids (AREA)
Abstract
The invention relates to a method and a device for automatically identifying and receiving a cradle ore belt, wherein the device comprises a camera, an ore belt identification host, a control host and a detection execution unit; and the detection execution unit comprises a driving circuit, an electric push rod, a position sensor, a mineral receiving plate leading arm and a mineral receiving plate. The method for identifying the ore belt of the cradle comprises the following steps: the method comprises the steps of taking an ore belt image database of shaking table concentrate, middling and tailing as a standard, taking an obtained shaking table output end image as a basis, dividing the obtained image into a plurality of images to be detected, comparing the images to be detected with image samples of the database one by one, determining ore belt membership degree of the concentrate, middling and tailing and calculating weighted membership degree, and determining a concentrate-middling boundary and a middling-tailing boundary based on the weighted membership degree. The invention can automatically identify the change of the ore belt in real time and timely collect useful minerals according to the change of the ore belt.
Description
Technical Field
The invention relates to a method and a device for automatically identifying and picking up a shaking table ore belt, in particular to an automatic ore dressing method and a device capable of automatically identifying the change of the ore belt and automatically tracking and picking up useful minerals, belonging to the field of automatic ore dressing.
Background
The shaking table is a gravity separation device widely applied in the mineral separation industry, and utilizes the mechanical shaking and the water flow flushing effect to divide the minerals into high and low grades, and the reasonable separation of the minerals of different grades is realized by taking the minerals of different ore zones. In the production process of the shaking table, minerals at the output end of the shaking table are generally divided into concentrate, middling and tailing ore belts, the concentrate and the middling are required to be respectively taken, the concentrate can be used as a product, the middling is required to be treated again, and the tailings are directly discarded. The factors influencing the operation of the cradle are many, and mainly include the nature of ore feeding, the concentration of ore feeding, the amount of ore feeding, the flushing water of the ore feeding body and the like. In the actual production process, the changes of these factors often cause frequent changes of the zoning of the minerals of the shaking table, so that the changes of the mineral zones need to be tracked in time and the minerals of different mineral zones need to be accurately picked up. Traditional shaking table ore dressing production mainly is attended by the manual work, needs constantly observe shaking table ore zone's change and in time carry out concentrate and middling and take according to the ore zone change. Often, concentrating mills have tens to hundreds of shaking tables, and a plurality of workers are required to watch, so that the concentrating mill has high labor cost, high labor intensity and untimely operation.
Disclosure of Invention
The invention provides a method and a device for automatically identifying and receiving a shaking table ore belt, which can replace a worker to watch a shaking table, automatically identify the change of the shaking table ore belt and timely adjust the position of an ore receiving plate according to the change condition of the ore belt so as to realize accurate receiving of concentrate and middling.
An automatic identification and access device for a cradle ore belt comprises a camera 2, an ore belt identification host 3, a control host 4 and a detection execution unit; the detection execution unit comprises a driving circuit 5, an electric push rod 6, a position sensor 7, a mineral receiving plate 8 and a mineral receiving groove 9; the camera 2, the ore belt recognition host 3 and the control host 4 are sequentially connected, the control host 4, the driving circuit 5, the electric push rod 6, the leading arm of the ore receiving plate 8 and the ore receiving plate 8 are sequentially connected, and the position sensor 7 is connected with the leading arm of the ore receiving plate 8 and used for detecting the position of the ore receiving plate 8 and transmitting a position signal of the ore receiving plate 8 to the control host 4.
As a further scheme of the invention, the cameras 2 are arranged above the output end of the cradle 1 and are connected with the mining area identification host 3 through data lines, and each cradle 1 is provided with 1 camera 2; the mine belt identification host 3 and the control host 4 exchange data through a network cable.
As a further aspect of the invention, the drive circuit 5 comprises a concentrate drive circuit 11, a middling drive circuit 18;
The electric push rod 6 comprises a concentrate electric push rod 12 and a middling electric push rod 19;
the position sensor 7 comprises a concentrate position sensor 13 and a middling position sensor 20;
the ore receiving plate 8 comprises a concentrate receiving plate 15 and a middling receiving plate 22;
The concentrate driving circuit 11, the concentrate electric push rod 12, the concentrate position sensor 13, the concentrate receiving plate 15 and the concentrate receiving plate leading arm 14 form a concentrate detection executing part;
The middling driving circuit 18, the middling electric push rod 19, the middling position sensor 20, the middling receiving plate 22 and the middling receiving plate leading arm 21 form a middling detection executing part;
the concentrate driving circuit 11, the concentrate electric push rod 12, the concentrate receiving plate leading arm 14 and the concentrate receiving plate 15 are sequentially connected, and the concentrate position sensor 13 is respectively connected with the control host 4 and the concentrate receiving plate leading arm 14;
the middling driving circuit 18, the middling electric push rod 19, the middling receiving ore plate leading arm 21 and the middling receiving ore plate 22 are sequentially connected, and the middling position sensor 20 is respectively connected with the control host 4 and the middling receiving ore plate leading arm 21.
As a further scheme of the invention, the control host 4 outputs a control signal to control the expansion and contraction of the electric push rod 6 through the driving circuit 5, so as to control the position of the ore receiving plate 8.
As a further aspect of the invention, each cradle 1 is provided with a camera 2 and a detection execution unit, and the control system shares a mine belt identification host 3 and a control host 4.
As a further scheme of the invention, the camera 2 is arranged above the diagonal line of the output vertex angle of the shaking table 1, the distance from the projection point of the camera 2 on the shaking table to the output vertex angle of the shaking table is one third of the length of the horizontal output end of the shaking table 1, and the distance from the camera to the surface of the shaking table just allows the image to cover half of the horizontal output end of the shaking table 1.
As a further scheme of the invention, the ore receiving tank 9 comprises a concentrate receiving tank 26, a middling receiving tank 27 and a tailing receiving tank 28; the maximum position reached by the middling receiving tank 27 is the position reached by the middling zone 23 near the concentrate zone 16, and the maximum position reached by the tailings receiving tank 28 is the position reached by the tailings zone 25 near the middling zone 23.
As a further scheme of the invention, the concentrate receiving plate 15 and the middling receiving plate 22 receive the concentrate belt 16 and the middling belt 22 within a certain range, the concentrate receiving plate 15 and the middling receiving plate 22 are overlapped and telescopic, and respectively comprise a fixed plate length and a movable plate, wherein the fixed plate is the shortest length of the concentrate belt 16 and the middling belt 22, and the movable plate length is the longest length of the concentrate belt 16 and the middling belt 22.
As a further aspect of the invention, the concentrate receiving plate 15 is mounted above the middling receiving plate 22 and has a minimum overlap to meet the concentrate and middling receiving requirements.
As a further aspect of the present invention, the polarity of the output power of the driving circuit 5 is determined by the level states of the positive and negative input ports, and at most only one of the ports is at a high level, when the positive input port is at a high level, the power output is right and left, and when the negative input port is at a high level, the power output is right and left.
As a further scheme of the invention, the extension and retraction movement of the electric push rod 6 is determined by the polarity of the connected power supply, and the position of the ore receiving plate 8 is controlled according to the polarity.
An automatic identification method for a cradle ore belt comprises the following specific steps:
s11, establishing a typical image database of a concentrate area, a middling area and a tailing area of a shaking table output end ore belt;
S12, the camera 2 acquires an image of the output end of the cradle in real time, transmits an image signal to the mining belt identification host 3, and acquires a digital image according to a certain sampling frequency to form an image array of the corresponding cradle 1;
s13, taking the edge of the output end of the shaking table 1 as a base line, and taking a screen shot of the digital image with a certain width to form a sampling image comprising a concentrate ore belt 16, a middling ore belt 23 and a tailing ore belt 25;
s14, equally dividing the sampling image into a plurality of images to be tested along the transverse edge of the output end of the cradle, and numbering according to the positions;
S15, comparing each image to be detected with the typical image of the database one by one, and calculating the preliminary membership degree of the image to be detected and the typical image;
S16, carrying out weighted operation on the preliminary membership of the image to be detected according to the zoning rule of the concentrate zone 16, the middling zone 23 and the tailing zone 25 in the movement process of the shaking table to obtain weighted membership;
S17, determining whether the image block to be measured belongs to a concentrate ore zone 16, a middling ore zone 23 or a tailing ore zone 25 according to the weighted membership degree, and determining a concentrate-middling boundary 17 and a middling-tailing boundary 24;
s18, determining the position of a concentrate-middling boundary and the position of a middling-tailing boundary according to the corresponding relation between the actual size of the cradle and the image pixel size, and transmitting the data of the concentrate-middling boundary and the position of the middling-tailing boundary of the cradle to the control host 4;
S19, circularly executing the steps from S12 to S18, and dynamically detecting the positions of a concentrate-middling boundary line and a middling-tailing boundary line of the cradle;
s20, repeatedly executing the steps from S12 to S19, and detecting the positions of concentrate-middling boundary lines and middling-tailing boundary lines of the plurality of shaking tables.
A method for collecting a cradle ore belt comprises the following specific steps:
S31, detecting the position of the concentrate receiving plate 17 in real time through a concentrate position sensor 13, detecting the position of the middling receiving plate 22 in real time through a middling position sensor 20, and transmitting a position sensor signal to the control host 4;
S32, calculating the distance from the outer edge of the concentrate receiving plate 17 to the base point along the outer edge of the middling receiving plate 22 by taking the top corner point of the output end of the shaking table 1 as the base point;
s33, setting an action threshold of the ore receiving plate 8, and keeping the position of the ore receiving plate 8 unchanged when the boundary position change of the ore strip exceeds the action threshold range in a control period;
s34, when frequent fluctuation occurs at the boundary position of the ore strip, adjusting the position of the ore receiving plate 8 to the median position of the fluctuation of the ore strip, and avoiding frequent actions of the ore receiving plate 8;
s35, setting a control dead zone, and when the fluctuation range of the ore belt is in the control dead zone, enabling the electric push rod 6 not to act, so that the service life of the detection execution unit is prolonged;
s36, comparing the position of the ore receiving plate with the position of the boundary of the detected ore strip by taking the position of the boundary of the detected ore strip as a target, and keeping the position of the ore receiving plate consistent with the position of the boundary of the detected ore strip according to the magnitude and the change characteristics of the deviation as the basis of whether the position of the ore receiving plate is regulated.
The beneficial effects of the invention are as follows:
(1) The invention can realize the automatic identification of the ore belt of the cradle and the automatic adjustment of the position of the ore receiving plate according to the change condition of the ore belt, thereby realizing the accurate receiving of the cradle concentrate and middlings and realizing the unattended operation of the cradle concentrate.
(2) The invention can adjust the position of the ore receiving plate in time according to the change of the ore belt of the cradle concentrate and the middling belt, and has positive effects of stabilizing the quality of concentrate products and improving the recovery rate of useful minerals.
(3) The invention can obviously improve the automation and informatization technical level of the concentrating production of the shaking table, greatly save labor force and lighten the labor intensity of workers, and bring obvious economic and social benefits for enterprises.
Drawings
FIG. 1 is a control schematic of the present invention;
Fig. 2 is a block diagram of the apparatus of the present invention.
The reference numerals in the drawings: the device comprises a shaking table, a 2-camera, a 3-ore belt identification host, a 4-control host, a 5-driving circuit, a 6-electric push rod, a 7-position sensor, an 8-ore receiving plate, a 9-ore receiving tank, an 11-ore concentrate driving circuit, a 12-ore concentrate electric push rod, a 13-ore concentrate position sensor, a 14-ore concentrate receiving plate arm, a 15-ore concentrate receiving plate, a 16-ore concentrate belt, a 17-ore concentrate-middling boundary line, a 18-middling driving circuit, a 19-middling electric push rod, a 20-middling position sensor, a 21-middling receiving plate arm, a 22-middling receiving plate, a 23-middling belt, a 24-middling-tailing boundary line, a 25-tailing belt, a 26-ore concentrate receiving tank, a 27-middling receiving tank and a 28-tailing receiving tank.
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
Example 1: the automatic identification and automatic access control method is applied to the automatic identification and automatic access control of the cradle ore belt for recovering the tin ore and tin minerals. The concentration of ore pulp is about 25%, the tin grade of the ore to be selected is about 0.8%, the specification of the shaking table is 4450X1855, the treatment capacity is about 25t/d, the number of the shaking tables is 30, concentrate and middlings are collected, the SnO2 grade of the concentrate is required to be 45%, the SnO2 grade of the middlings is more than 0.2%, the concentrate is directly used as a product, and middlings are recleaning.
The utility model provides a shaking table ore deposit area automatic identification and connect device, the device mainly comprises camera 2, ore deposit area discernment host computer 3, control host computer 4 and detection execution unit, detection execution unit mainly comprises drive circuit 5, electric putter 6, position sensor 7 and connect ore deposit board 8 and connect ore deposit groove 9, and camera 2, ore deposit area discernment host computer 3, control host computer 4 connect gradually, and control host computer 4, drive circuit 5, electric putter 6, connect the arm of ore deposit board 8, connect ore deposit board 8 to connect in proper order, position sensor 7 is connected with the arm of ore deposit board 8 for detect the position of ore deposit board 8, and will connect the position signal of ore deposit board 8 to send control host computer 4.
The overall design scheme of the automatic identification and access device for the cradle ore belt is as follows: the cameras 2 are arranged above the output ends of the shaking tables 1 and are connected with the mining belt identification host 3 through data lines, and each shaking table 1 is provided with 1 camera 2; the mining area identification host 3 and the control host 4 exchange data through a network cable;
as a further aspect of the invention, the drive circuit 5 comprises a concentrate drive circuit 11, a middling drive circuit 18;
The electric push rod 6 comprises a concentrate electric push rod 12 and a middling electric push rod 19;
the position sensor 7 comprises a concentrate position sensor 13 and a middling position sensor 20;
the ore receiving plate 8 comprises a concentrate receiving plate 15 and a middling receiving plate 22;
The concentrate driving circuit 11, the concentrate electric push rod 12, the concentrate position sensor 13, the concentrate receiving plate 15 and the concentrate receiving plate leading arm 14 form a concentrate detection executing part;
The middling driving circuit 18, the middling electric push rod 19, the middling position sensor 20, the middling receiving plate 22 and the middling receiving plate leading arm 21 form a middling detection executing part;
the concentrate driving circuit 11, the concentrate electric push rod 12, the concentrate receiving plate leading arm 14 and the concentrate receiving plate 15 are sequentially connected, and the concentrate position sensor 13 is respectively connected with the control host 4 and the concentrate receiving plate leading arm 14;
the middling driving circuit 18, the middling electric push rod 19, the middling receiving ore plate leading arm 21 and the middling receiving ore plate 22 are sequentially connected, and the middling position sensor 20 is respectively connected with the control host 4 and the middling receiving ore plate leading arm 21.
The control host 4 outputs a control signal to control the expansion and contraction of the electric push rod 6 through the driving circuit 5, so that the position of the ore receiving plate 8 is controlled;
Each cradle 1 is provided with a camera 2 and a detection execution unit, and the control system shares a mine belt identification host 3 and a control host 4.
The concentrate receiving plate 15 is mounted above the middling receiving plate 22 and its smallest overlap should be able to meet the concentrate and middling receiving requirements.
The polarity of the output power supply of the driving circuit 5 is determined by the level states of the positive and negative input ports, and at most only one port can be at a high level, when the positive input port is at a high level, the power supply output is at a right-left ground, and when the negative input port is at a high level, the power supply output is at a right-left ground.
The extension and retraction movements of the electric push rod 6 are determined by the polarity of the connected power supply, and the position of the ore receiving plate 8 is controlled according to the polarity.
The camera 2 is arranged above the diagonal line of the output vertex angle of the shaking table 1, and the distance from the projection point of the camera 2 on the shaking table to the output vertex angle of the shaking table is about one third of the length of the transverse output end of the shaking table 1 and is 600mm; the distance from the image to the table surface is just enough to cover half of the transverse output end of the table 1, which is 800mm.
The ore receiving tank 9 comprises a concentrate receiving tank 26, a middling receiving tank 27 and a tailing receiving tank 28, and has the following position arrangement characteristics: the maximum reached position of the middling receiving tank 27 is the position of maximum arrival of the middling zone 23 near the concentrate zone 16, and the maximum reached position of the tailings receiving tank 28 is the position of maximum arrival of the tailings zone 25 near the middling zone 23. The concentrate receiving tank 26 has a length of 1000mm and the middling receiving tank 27 has a length of 600mm.
The concentrate receiving plate 15 and the middling receiving plate 22 can receive the concentrate belt 16 and the middling belt 22 within a certain range, and the design characteristics are as follows: the concentrate receiving plate 15 and the middling receiving plate 22 are overlapped and telescopic and respectively comprise a fixed plate and a movable plate, the length of the fixed plate is the shortest length of the concentrate belt 16 and the middling belt 22, and the length of the movable plate is the longest length of the concentrate belt 16 and the middling belt 22. The length of the fixed plate of the concentrate receiving plate 15 is 600mm, and the length of the movable plate is 400mm; the length of the fixed plate of the middling receiving plate 15 is 350mm, and the length of the movable plate is 250mm.
The hardware design selection of this embodiment is: the specification of the camera 2 is as follows: resolution is 8M, focal length is 2.8mm, ethernet is 1000M, and the number is 30; the specification of the ore belt identification host computer 3 is as follows: E3845/8G/128G/1000M/24 inches, 1 station in number; the control host 4 selects S7-1200PLC of Siemens, the number is 1, and the control host is mainly configured as follows: CPU module order number 6ES7 211-1AD42-0XB0 quantity 1, AI module order number 6ES7 231-4HF40-0XB0 quantity 4, DO module order number 6ES7 222-1BH40-0XB0 quantity 4; the specifications of the concentrate drive circuit 11 and the middling drive circuit 18 are: the input signal is 24VDC, the output power is 24VDC, and the number is 30; the specification of the concentrate electric push rod 12 and the middling electric push rod 19 is as follows: the power supply is 24VDC, the speed is 10mm/s, the stroke is 500mm, the rated thrust is 500N, and the number is 30 respectively; the concentrate position sensor 13 and the middling position sensor 20 are of the following specifications: the stroke is 600mm, the power supply is 24VDC, the output signal is 4-20 mA, and the number is 30; the specification of the concentrate receiving plate 15 is length, width=500 mmX200mm, and the number is 30; the middling receiving panels 22 are of length X width = 600mmX200mm, number 30.
An automatic identification method for a cradle ore belt comprises the following technical steps:
S11, establishing a typical image database of a concentrate area, a middling area and a tailing area of a mineral belt at the output end of a shaking table, wherein the number of images of each mineral is 15;
S12, the camera 2 acquires an image of the output end of the cradle in real time, transmits an image signal to the mining belt identification host 3, and acquires a digital image according to a sampling frequency of 5Hz to form an image array of the corresponding cradle 1;
s13, taking the edge of the output end of the shaking table 1 as a base line, and taking a screen shot of the digital image with a certain width to form a sampling image comprising a concentrate ore belt 16, a middling ore belt 23 and a tailing ore belt 25;
S14, equally dividing the sampling image into 60 images to be detected along the edge of the output end of the cradle, and numbering the images to be detected to be 1-60;
S15, comparing each image to be detected with the typical image of the database one by one, and calculating the preliminary membership degree of the image to be detected and the typical image;
S16, carrying out weighted operation on the preliminary membership of the image to be detected according to the zoning rule of the concentrate zone 16, the middling zone 23 and the tailing zone 25 in the movement process of the shaking table to obtain weighted membership;
S17, determining whether the image block to be measured belongs to a concentrate ore zone 16, a middling ore zone 23 or a tailing ore zone 25 according to the weighted membership degree, and determining a concentrate-middling boundary 17 and a middling-tailing boundary 24;
S18, determining the positions of the concentrate-middling boundary and the middling-tailing boundary according to the corresponding relation between the actual size of the shaking table and the image pixel size. Transmitting the data of the concentrate-middling boundary position and middling-tailing boundary position of the cradle to a control host, wherein the actual size corresponding to each pixel is 1.8mm;
S19, circularly executing the steps from S12 to S18, and dynamically detecting the positions of a concentrate-middling boundary line and a middling-tailing boundary line of the cradle;
s20, repeatedly executing the steps from S12 to S19, and detecting the positions of concentrate-middling boundary lines and middling-tailing boundary lines of the plurality of shaking tables.
A method for collecting a cradle ore belt comprises the following technical steps:
S31, detecting the position of the concentrate receiving plate 17 in real time through a concentrate position sensor 13, detecting the position of the middling receiving plate 22 in real time through a middling position sensor 20, and transmitting a position sensor signal to the control host 4;
S32, calculating the distance from the outer edge of the concentrate receiving plate 17 to the base point along the outer edge of the middling receiving plate 22 by taking the top corner point of the output end of the shaking table 1 as the base point;
S33, setting an action threshold value of the ore receiving plate 8 to be +/-12 mm, and keeping the position of the ore receiving plate 8 unchanged when the boundary position change of the ore strip exceeds the action threshold value range in a control period.
And S34, when frequent fluctuation occurs at the boundary position of the ore strip, adjusting the position of the ore receiving plate 8 to the median position of the fluctuation of the ore strip, and avoiding frequent actions of the ore receiving plate 8.
S35, setting a control dead zone as +/-3 mm, and when the fluctuation range of the ore belt is within the control dead zone, enabling the electric push rod not to act, so that the service life of the detection execution unit is prolonged.
S36, comparing the position of the ore receiving plate with the position of the boundary of the detected ore strip by taking the position of the boundary of the detected ore strip as a target, and keeping the position of the ore receiving plate consistent with the position of the boundary of the detected ore strip according to the magnitude and the change characteristics of the deviation as the basis of whether the position of the ore receiving plate is regulated.
Example 2:
The automatic identification and automatic access control of the shaking table ore belt are applied to tin mineral recovery of lead zinc ore flotation tailings. The concentration of the ore pulp is about 30%, the SnO2 grade of the ore is about 0.6%, the specification of the shaking table is 4000X1500, the treatment capacity is about 30t/d, the number of the shaking tables is 50, the concentrate and middlings are collected, the SnO2 grade of the concentrate is required to be 42%, the SnO2 grade of the middlings is more than 0.25%, the concentrate is directly used as a product, and the middlings are reselected.
The component arrangement type and the component connection method of the present embodiment are the same as those of embodiment 1.
The camera 2 is installed above the output end of the shaking table 1, the installation height just enables the image to cover the output end of the shaking table 1, and the distance between the position right below the camera and the edge of the output end of the shaking table 1 is about 250mm.
The camera 2 is arranged above the diagonal line of the output vertex angle of the shaking table 1, and the distance from the projection point of the camera 2 on the shaking table to the output vertex angle of the shaking table is about one third of the length of the transverse output end of the shaking table 1 and is 500mm; the distance from the image to the table surface is just enough to cover half of the transverse output end of the table 1, which is 600mm.
The concentrate receiving tank 26 has a length of 700mm and the middling receiving tank 27 has a length of 500mm.
The length of the fixed plate of the concentrate receiving plate 15 is 400mm, and the length of the movable plate is 300mm; the length of the fixed plate of the middling receiving plate 15 is 250mm, and the length of the movable plate is 250mm.
The hardware design selection of this embodiment is: the specification of the camera 2 is as follows: the resolution is 4M, the focal length is 4mm, the Ethernet is 1000M, and the number is 50. The specification of the ore belt identification host computer 3 is as follows: ST 256E-2124/32G/1T/1000M/20 inch. The control host 4 selects S7-300PLC of Siemens, the CPU module order number is 6ES7 314-1AG14-0AB0 quantity 1, the AI module order number is 6ES7 331-1KF02-0AB0 quantity 7, the DO module order number is 6ES7 322-1BL00-0AA0 quantity 4, and the power module order number is 6ES7 307-1EA01-0AA0 quantity 1; the specifications of the concentrate drive circuit 11 and the middling drive circuit 18 are: the input signal is 24VDC, the output power is 24VDC, and the number is 50; the specification of the concentrate electric push rod 12 and the middling electric push rod 19 is as follows: the power supply is 24VDC, the speed is 15mm/s, the stroke is 400mm, the rated thrust is 300N, and the number is 50; the concentrate position sensor 13 and the middling position sensor 20 are of the following specifications: the stroke is 500mm, the power supply is 24VDC, the output signal is 4-20 mA, and the number is 50 respectively; the specification of the concentrate receiving plate 15 is length, width=400 mmX200mm, and the number is 50; the middling receiving panels 22 are of length X width = 500mmX200mm, number 50.
An automatic identification method for a cradle ore belt comprises the following technical steps:
S11, establishing a typical image database of a concentrate area, a middling area and a tailing area of a mineral belt at the output end of a shaking table, wherein the number of images of each mineral is 10;
S12, the camera 2 acquires an image of the output end of the cradle in real time, transmits an image signal to the mining belt identification host 3, and acquires a digital image according to a sampling frequency of 5Hz to form an image array of the corresponding cradle 1;
s13, taking the edge of the output end of the shaking table 1 as a base line, and taking a screen shot of the digital image with a certain width to form a sampling image comprising a concentrate ore belt 16, a middling ore belt 23 and a tailing ore belt 25;
S14, equally dividing the sampling image into 40 images to be detected along the edge of the output end of the shaking table, wherein the number of the images is 1-40;
S15, comparing each image to be detected with the typical image of the database one by one, and calculating the preliminary membership degree of the image to be detected and the typical image;
S16, carrying out weighted operation on the preliminary membership of the image to be detected according to the zoning rule of the concentrate zone 16, the middling zone 23 and the tailing zone 25 in the movement process of the shaking table to obtain weighted membership;
S17, determining whether the image block to be measured belongs to a concentrate ore zone 16, a middling ore zone 23 or a tailing ore zone 25 according to the weighted membership degree, and determining a concentrate-middling boundary 17 and a middling-tailing boundary 24;
s18, determining the positions of the concentrate-middling boundary and the middling-tailing boundary according to the corresponding relation between the actual size of the shaking table and the image pixel size. Transmitting the data of the concentrate-middling boundary position and middling-tailing boundary position of the cradle to a control host, wherein the actual size corresponding to each pixel is 2mm;
S19, circularly executing the steps from S12 to S18, and dynamically detecting the positions of a concentrate-middling boundary line and a middling-tailing boundary line of the cradle;
s20, repeatedly executing the steps from S12 to S19, and detecting the positions of concentrate-middling boundary lines and middling-tailing boundary lines of the plurality of shaking tables.
A method for collecting a cradle ore belt comprises the following technical steps:
S31, detecting the position of the concentrate receiving plate 17 in real time through a concentrate position sensor 13, detecting the position of the middling receiving plate 22 in real time through a middling position sensor 20, and transmitting a position sensor signal to the control host 4;
S32, calculating the distance from the outer edge of the concentrate receiving plate 17 to the base point along the outer edge of the middling receiving plate 22 by taking the top corner point of the output end of the shaking table 1 as the base point;
S33, setting an action threshold of the ore receiving plate 8 to be +/-15 mm, and keeping the position of the ore receiving plate 8 unchanged when the boundary position change of the ore strip exceeds the action threshold range in a control period.
And S34, when frequent fluctuation occurs at the boundary position of the ore strip, adjusting the position of the ore receiving plate 8 to the median position of the fluctuation of the ore strip, and avoiding frequent actions of the ore receiving plate 8.
S35, setting a control dead zone as +/-4 mm, and when the fluctuation range of the ore belt is within the control dead zone, enabling the electric push rod not to act, so that the service life of the detection execution unit is prolonged.
S36, comparing the position of the ore receiving plate with the position of the boundary of the detected ore strip by taking the position of the boundary of the detected ore strip as a target, and keeping the position of the ore receiving plate consistent with the position of the boundary of the detected ore strip according to the magnitude and the change characteristics of the deviation as the basis of whether the position of the ore receiving plate is regulated.
Example 3:
The automatic identification and automatic access control method is applied to automatic identification and automatic access control of the shaking bed ore belt for recycling the iron mineral in the magnetite magnetic separation tailings. The iron grade of the selected ore is about 35%, the concentration of ore pulp is about 35%, the specification of the shaking table is 4450X1855, the treatment capacity is about 35t/d, the number of the shaking tables is 80, the iron grade of the concentrate is required to be 58%, the iron grade of the middling is more than 45%, the concentrate is directly used as a product, and middling is recleaning.
The component arrangement type and the component connection method of the present embodiment are the same as those of embodiment 1.
The camera 2 is arranged above the diagonal line of the output vertex angle of the shaking table 1, and the distance from the projection point of the camera 2 on the shaking table to the output vertex angle of the shaking table is about one third of the length of the transverse output end of the shaking table 1 and is 550mm; the distance from the image to the table surface is just enough to cover half of the transverse output end of the table 1, which is 800mm.
The concentrate receiving tank 26 has a length of 900mm and the middling receiving tank 27 has a length of 700mm.
The length of the fixed plate of the concentrate receiving plate 15 is 500mm, and the length of the movable plate is 400mm; the length of the fixed plate of the middling receiving plate 15 is 400mm, and the length of the movable plate is 300mm.
The hardware design selection of this embodiment is: the specification of the camera 2 is as follows: the resolution is 5M, the focal length is 4mm, the Ethernet is 1000M, and the number is 80. The specification of the ore belt identification host computer 3 is as follows: SR590/32G/2T/1000M/24 inch, 1 station in number. The control host 4 selects S7-1500PLC of Siemens, the number is 1, and the main components are configured as follows: CPU module order number is 6ES7513-1AL01-0AB0 number 1, AI module order number is 6ES7 531-7NF10-0AB0 number 10, DO module order number is 6ES7 522-1BL01-0AB0 number 6, and power module order number is 6ES7 507-0RA00-0AB0 number 1; the specifications of the concentrate drive circuit 11 and the middling drive circuit 18 are: the input signal is 24VDC, the output power is 24VDC, and the number is 80; the specification of the concentrate electric push rod 12 and the middling electric push rod 19 is as follows: 24VDC of the power supply, 15mm/s of speed, 600mm of stroke and 600N of rated thrust, wherein the number of the rated thrust is 80; the concentrate position sensor 13 and the middling position sensor 20 are of the following specifications: the stroke is 700mm, the power supply is 24VDC, the output signal is 4-20 mA, and the number is 80; the specification of the concentrate receiving plate 15 is length X width=600 mmX250mm, and the number is 80; the middling receiving panels 22 are of length X width = 700mmX250mm, number 80.
An automatic identification method for a cradle ore belt comprises the following technical steps:
s11, establishing a typical image database of a concentrate area, a middling area and a tailing area of a mineral belt at the output end of a shaking table, wherein the number of images of each mineral is 20;
S12, the camera 2 acquires an image of the output end of the cradle in real time, transmits an image signal to the mining belt identification host 3, and acquires a digital image according to a sampling frequency of 5Hz to form an image array of the corresponding cradle 1;
s13, taking the edge of the output end of the shaking table 1 as a base line, and taking a screen shot of the digital image with a certain width to form a sampling image comprising a concentrate ore belt 16, a middling ore belt 23 and a tailing ore belt 25;
S14, equally dividing the sampling image into 60 images to be detected along the edge of the output end of the cradle, and numbering the images to be detected to be 1-60;
S15, comparing each image to be detected with the typical image of the database one by one, and calculating the preliminary membership degree of the image to be detected and the typical image;
S16, carrying out weighted operation on the preliminary membership of the image to be detected according to the zoning rule of the concentrate zone 16, the middling zone 23 and the tailing zone 25 in the movement process of the shaking table to obtain weighted membership;
S17, determining whether the image block to be measured belongs to a concentrate ore zone 16, a middling ore zone 23 or a tailing ore zone 25 according to the weighted membership degree, and determining a concentrate-middling boundary 17 and a middling-tailing boundary 24;
s18, determining the positions of the concentrate-middling boundary and the middling-tailing boundary according to the corresponding relation between the actual size of the shaking table and the image pixel size. Transmitting the data of the concentrate-middling boundary position and middling-tailing boundary position of the cradle to a control host, wherein the actual size corresponding to each pixel is 1.5mm;
S19, circularly executing the steps from S12 to S18, and dynamically detecting the positions of a concentrate-middling boundary line and a middling-tailing boundary line of the cradle;
s20, repeatedly executing the steps from S12 to S19, and detecting the positions of concentrate-middling boundary lines and middling-tailing boundary lines of the plurality of shaking tables.
A method for collecting a cradle ore belt comprises the following technical steps:
S31, detecting the position of the concentrate receiving plate 17 in real time through a concentrate position sensor 13, detecting the position of the middling receiving plate 22 in real time through a middling position sensor 20, and transmitting a position sensor signal to the control host 4;
S32, calculating the distance from the outer edge of the concentrate receiving plate 17 to the base point along the outer edge of the middling receiving plate 22 by taking the top corner point of the output end of the shaking table 1 as the base point;
S33, setting an action threshold value of the ore receiving plate 8 to be +/-12 mm, and keeping the position of the ore receiving plate 8 unchanged when the boundary position change of the ore strip exceeds the action threshold value range in a control period.
And S34, when frequent fluctuation occurs at the boundary position of the ore strip, adjusting the position of the ore receiving plate 8 to the median position of the fluctuation of the ore strip, and avoiding frequent actions of the ore receiving plate 8.
S35, setting a control dead zone as +/-3 mm, and when the fluctuation range of the ore belt is within the control dead zone, enabling the electric push rod not to act, so that the service life of the detection execution unit is prolonged.
S36, comparing the position of the ore receiving plate with the position of the boundary of the detected ore strip by taking the position of the boundary of the detected ore strip as a target, and keeping the position of the ore receiving plate consistent with the position of the boundary of the detected ore strip according to the magnitude and the change characteristics of the deviation as the basis of whether the position of the ore receiving plate is regulated.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (8)
1. Automatic identification and access device for shaking table ore belts, which is characterized in that: the mining area detection device comprises a camera (2), a mining area identification host (3), a control host (4) and a detection execution unit; the detection execution unit comprises a driving circuit (5), an electric push rod (6), a position sensor (7), a mineral receiving plate (8) and a mineral receiving groove (9); the camera (2), the ore strip identification host (3) and the control host (4) are sequentially connected, the control host (4), the driving circuit (5), the electric push rod (6), the leading arm of the ore receiving plate (8) and the ore receiving plate (8) are sequentially connected, and the position sensor (7) is connected with the leading arm of the ore receiving plate (8) and is used for detecting the position of the ore receiving plate (8) and transmitting the position signal of the ore receiving plate (8) to the control host (4);
the driving circuit (5) comprises a concentrate driving circuit (11) and a middling driving circuit (18);
The electric push rod (6) comprises a concentrate electric push rod (12) and a middling electric push rod (19);
the position sensor (7) comprises a concentrate position sensor (13) and a middling position sensor (20);
The ore receiving plate (8) comprises a concentrate receiving plate (15) and a middling receiving plate (22);
the concentrate detection executing part is composed of a concentrate driving circuit (11), a concentrate electric push rod (12), a concentrate position sensor (13), a concentrate receiving plate (15) and a concentrate receiving plate leading arm (14);
The middling detection device comprises a middling driving circuit (18), a middling electric push rod (19), a middling position sensor (20), a middling receiving plate (22) and a middling receiving plate leading arm (21);
The concentrate driving circuit (11), the concentrate electric push rod (12), the concentrate connecting plate leading arm (14) and the concentrate connecting plate (15) are sequentially connected, and the concentrate position sensor (13) is respectively connected with the control host (4) and the concentrate connecting plate leading arm (14);
the middling driving circuit (18), the middling electric push rod (19), the middling receiving ore plate leading arm (21) and the middling receiving ore plate (22) are sequentially connected, and the middling position sensor (20) is respectively connected with the control host (4) and the middling receiving ore plate leading arm (21);
the concentrate receiving plate (15) and the middling receiving plate (22) are connected with the concentrate belt (16) and the middling belt (23) in a certain range, the concentrate receiving plate (15) and the middling receiving plate (22) are overlapped and telescopic, and respectively comprise a fixed plate and a movable plate, wherein the length of the fixed plate is the shortest length of the concentrate belt (16) and the middling belt (23), and the length of the movable plate is the longest length of the concentrate belt (16) and the middling belt (23).
2. The automatic identification and access device for a cradle mine belt according to claim 1, wherein: the cameras (2) are arranged above the output ends of the shaking tables (1) and are connected with the mining belt identification host (3) through data lines, and each shaking table (1) is provided with 1 camera (2); the mining area identification host (3) and the control host (4) exchange data through a network cable.
3. The automatic identification and access device for a cradle mine belt according to claim 1, wherein: the control host (4) outputs a control signal to control the expansion and contraction of the electric push rod (6) through the driving circuit (5), so that the position of the ore receiving plate (8) is controlled.
4. The automatic identification and access device for a cradle mine belt according to claim 1, wherein: each cradle (1) is provided with a camera (2) and a detection execution unit, and the control system shares a mine belt identification host (3) and a control host (4).
5. The automatic identification and access device for a cradle mine belt according to claim 1, wherein: the camera (2) is arranged above the diagonal line of the output vertex angle of the shaking table (1), the distance from the projection point of the camera on the shaking table to the output vertex angle of the shaking table is one third of the length of the horizontal output end of the shaking table (1), and the distance from the camera to the shaking table surface just enables the image to cover half of the horizontal output end of the shaking table (1).
6. The automatic identification and access device for a cradle mine belt according to claim 1, wherein: the ore receiving tank (9) comprises a concentrate receiving tank (26), a middling receiving tank (27) and a tailing receiving tank (28); the maximum reaching position of the middling receiving tank (27) is the maximum reaching position of the middling belt (23) close to the concentrate belt (16), and the maximum reaching position of the tailing receiving tank (28) is the maximum reaching position of the tailing belt (25) close to the middling belt (23).
7. The method for automatically identifying the cradle ore belt by using the automatic identification and receiving device for the cradle ore belt according to claim 1, which is characterized in that: the method comprises the following specific steps:
s11, establishing a typical image database of a concentrate area, a middling area and a tailing area of a shaking table output end ore belt;
s12, acquiring an image of a transverse output end of the cradle by the camera (2) in real time, transmitting an image signal to the mining belt identification host (3), and acquiring a digital image according to a certain sampling frequency to form an image array of a corresponding cradle (1);
s13, taking the edge of the output end of the shaking table (1) as a base line, and capturing a digital image with a certain width to form a sampling image comprising a concentrate ore belt (16), a middling ore belt (23) and a tailing ore belt (25);
S14, equally dividing the sampling image into a plurality of images to be tested along the edge of the output end of the cradle, and numbering according to the positions;
S15, comparing each image to be detected with the typical image of the database one by one, and calculating the preliminary membership degree of the image to be detected and the typical image;
S16, carrying out weighted operation on the preliminary membership of the image to be detected according to the zoning rule of the concentrate belt (16), the middling belt (23) and the tailing belt (25) in the movement process of the cradle to obtain weighted membership;
s17, determining whether an image block to be detected belongs to a concentrate ore belt (16), a middling ore belt (23) or a tailing ore belt (25) according to the weighted membership degree, and determining a concentrate-middling boundary (17) and a middling-tailing boundary (24);
s18, determining the position of a concentrate-middling boundary and the position of a middling-tailing boundary according to the corresponding relation between the actual size of the cradle and the image pixel size, and transmitting the data of the concentrate-middling boundary and the position of the middling-tailing boundary of the cradle to a control host (4);
S19, circularly executing the steps from S12 to S18, and dynamically detecting the positions of a concentrate-middling boundary line and a middling-tailing boundary line of the cradle;
s20, repeatedly executing the steps from S12 to S19, and detecting the positions of concentrate-middling boundary lines and middling-tailing boundary lines of the plurality of shaking tables.
8. A method for carrying out the collection of the shaking table ore strip by using the automatic identification and collection device of the shaking table ore strip according to claim 1, which is characterized in that: the method comprises the following specific steps:
S31, detecting the position of a concentrate receiving plate (15) in real time through a concentrate position sensor (13), detecting the position of a middling receiving plate (22) in real time through a middling position sensor (20), and transmitting a position sensor signal to a control host (4);
s32, calculating the distance from the outer edge line of the concentrate receiving plate (15) to the base point and from the outer edge line of the middling receiving plate (22) by taking the top corner point of the output end of the shaking table (1) as the base point;
s33, setting an action threshold value of the ore receiving plate (8), and keeping the position of the ore receiving plate (8) unchanged when the boundary position change of the ore strip exceeds the action threshold value range in a control period;
s34, when frequent fluctuation occurs at the boundary position of the ore strip, adjusting the position of the ore receiving plate (8) to the median position of the fluctuation of the ore strip, and avoiding frequent actions of the ore receiving plate (8);
S35, setting a control dead zone, and when the fluctuation range of the ore belt is in the control dead zone, enabling the electric push rod (6) not to act, so that the service life of the detection execution unit is prolonged;
s36, comparing the position of the ore receiving plate with the position of the boundary of the detected ore strip by taking the position of the boundary of the detected ore strip as a target, and keeping the position of the ore receiving plate consistent with the position of the boundary of the detected ore strip according to the magnitude and the change characteristics of the deviation as the basis of whether the position of the ore receiving plate is regulated.
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