CN113680706A - Pneumatic separation coal and gangue sorting method and system - Google Patents

Pneumatic separation coal and gangue sorting method and system Download PDF

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CN113680706A
CN113680706A CN202110548078.7A CN202110548078A CN113680706A CN 113680706 A CN113680706 A CN 113680706A CN 202110548078 A CN202110548078 A CN 202110548078A CN 113680706 A CN113680706 A CN 113680706A
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gangue
coal
target object
sorting
information
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CN113680706B (en
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陈国栋
王子翔
王鹏
丁梓豪
冯云
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Suzhou Bozhao Intelligent Technology Co ltd
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Suzhou University
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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
    • B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
    • B07C5/3427—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain by changing or intensifying the optical properties prior to scanning, e.g. by inducing fluorescence under UV or x-radiation, subjecting the material to a chemical reaction
    • 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
    • B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
    • B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
    • B07C5/366—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means during free fall of the articles

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Abstract

The invention provides a pneumatic separation coal gangue sorting method, which comprises the following steps: acquiring coal and gangue information; setting the horizontal distance x that the coal gangue needs to be sortedc(ii) a Setting the speed v of a conveying belt for transporting coal gangue0(ii) a Air blowing time t with sorting deviceq(ii) a Based on the coal and gangue information and the horizontal distance x of the coal and gangue to be sortedcSpeed v of a conveying belt for transporting coal and gangue0And the blowing time t of the sorting deviceqCalculating the coal and gangue sorting force Fq; and calculating the number d of air blowing openings based on the coal and gangue sorting force Fq. The present disclosure also provides a pneumatic separation coal gangue letter sorting system.

Description

Pneumatic separation coal and gangue sorting method and system
Technical Field
The disclosure relates to the technical field of coal and gangue sorting, in particular to a method and a system for pneumatically separating coal and gangue.
Background
Coal is an important basic energy source in China, coal gangue is a solid generated in the coal mining process, and when the coal gangue and coal are mixed and combusted, harmful substances are generated to pollute the environment, so that the separation of the coal gangue and the coal is an essential process. The prior art sorting methods have various drawbacks. The manual sorting method is gradually eliminated due to poor working environment and low efficiency, the wet sorting method has high cost, wastes a large amount of water resources, and is not suitable for some middle and western regions. The ray identification method has damage to human body, high cost and no applicability. The image recognition method is intensively researched by people because of the advantages of no water, simple process, low cost and the like. However, most of the existing vision-based coal and gangue sorting systems adopt a manipulator mode to sort coal and gangue, and the manipulator is low in sorting speed and efficiency and difficult to adapt to quick sorting of the coal and gangue on a high-speed conveying belt. In addition, a pneumatic separation mode is also used for sorting coal and gangue, but the shapes and sizes of coal and gangue are changed thousands of times, the single blowing sorting scheme is only used for easily causing wrong sorting, the blowing force is small, the large gangue falls into a coal pile due to insufficient blowing force to cause wrong sorting, the blowing force is large, not only can coal blocks near the small gangue be blown away to cause wrong sorting, but also can cause resource waste.
Disclosure of Invention
In order to solve at least one of the technical problems, the invention provides a pneumatic separation coal gangue sorting method and system.
According to one aspect of the disclosure, the disclosure provides a pneumatic separation coal gangue sorting method, which comprises the following steps:
acquiring coal and gangue information;
setting the horizontal distance x that the coal gangue needs to be sortedc；
Setting the speed v of a conveying belt for transporting coal gangue0；
Air blowing time t with sorting deviceq；
Based on the coal and gangue information and the horizontal distance x of the coal and gangue to be sortedcSpeed v of a conveying belt for transporting coal and gangue0And, the blowing time t of the sorting deviceqCalculating the coal and gangue sorting force Fq; and the number of the first and second groups,
and calculating the number d of air blowing openings based on the coal and gangue sorting force Fq.
According to the pneumatic separation coal gangue sorting method of at least one embodiment of the disclosure, the acquiring coal gangue information comprises:
acquiring a coal gangue image through a near-infrared camera;
obtaining the classification, the center coordinate and the size of a target object A in the coal gangue image;
acquiring point cloud information of the coal and gangue through a depth camera;
acquiring the center coordinate, the gravity center coordinate and the depth information of a target object B from the coal and gangue point cloud information; and the number of the first and second groups,
and judging whether the target object A and the target object B belong to the same object, and if so, taking the classification and the size of the target object A as the classification and the size of the acquired coal and gangue information.
According to the pneumatic separation coal and gangue sorting method of at least one embodiment of the disclosure, the obtaining of the classification, the center coordinate and the size of the target object A in the coal and gangue image comprises:
identifying the coal and gangue images through a deep learning algorithm to obtain the classification of the target object A;
calculating the center coordinates of the target object A; and the number of the first and second groups,
calculating the size of a target object A, wherein the size of the target object A comprises the length and the width, and the coal and gangue information further comprises the coal and gangue mass, and the coal and gangue mass is obtained by calculation based on the classification, the size and the density of the target object A.
According to the pneumatic separation coal and gangue sorting method of at least one embodiment of the present disclosure, the obtaining of the center coordinate and the depth information of the target object B from the coal and gangue point cloud information includes:
preprocessing and segmenting by utilizing a PCL point cloud library to obtain point cloud information of a target object B; and the number of the first and second groups,
and calculating the center coordinates, the gravity center coordinates and the depth information of the target object B, wherein the depth information comprises the height of the target object B.
According to the pneumatic separation gangue sorting method of at least one embodiment of the present disclosure, the determining whether the target object a and the target object B belong to the same object includes:
converting the central coordinate of the target object A into a coordinate under a depth camera coordinate system through a conversion matrix, wherein the conversion matrix is obtained by calibrating a near-infrared camera and a depth camera;
the coordinates of the target object B and the coordinates of the target object A after coordinate conversion are subjected to difference, and a difference value is obtained through calculation; and the number of the first and second groups,
and when the difference is smaller than the threshold value, judging that the target object A and the target object B are the same object.
According to the pneumatic separation coal and gangue sorting method of at least one embodiment of the disclosure, the horizontal distance x of the coal and gangue to be sorted is determined based on the coal and gangue informationcSpeed v of a conveying belt for transporting coal and gangue0And, the blowing time t of the sorting deviceqAnd calculating the coal and gangue sorting force Fq, comprising the following steps:
horizontal distance x for sorting coal ganguecSpeed v of a conveying belt for transporting coal and gangue0Air blowing time t of sorting deviceqAnd, the coal and gangue information comprises coal and gangue height hgThe mass m of the coal and the gangue is obtained by calculating the length, the width, the height and the density of the coal and the gangue and is used as a variable to be input into a sorting force calculation model Fq＝f(v0，hg，m，xc，tq) The following equations (1) to (12) are used to obtain the required sorting force Fq for different gangues to be sorted into proper positions:
x0＝v0t0 (1)
Figure BDA0003074269280000031
Figure BDA0003074269280000032
θ＝30°+(v0-1)×35(1≤v0＜2.8) (4)
Figure BDA0003074269280000033
Figure BDA0003074269280000034
Figure BDA0003074269280000035
Figure BDA0003074269280000036
vertical velocity v of coal gangue after leaving airflow fieldqWhen the time is less than 0, the coal and gangue horizontally moves for a distance xqIs composed of
Figure BDA0003074269280000041
Vertical velocity v of coal gangue after leaving airflow fieldqWhen the motion distance is more than 0, the horizontal movement distance of the coal gangue is
Figure BDA0003074269280000042
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionqWhen the time is less than 0, the total horizontal movement distance of the coal gangue is
Figure BDA0003074269280000043
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionqWhen the horizontal movement distance is more than 0, the total horizontal movement distance of the coal and the gangue is
Figure BDA0003074269280000044
Wherein, the physical meaning of each parameter is as follows:
hgcoal and gangue height;
h0the height of the coal gangue falling in the y direction when the coal gangue falls to the action area of the air flow from the conveying belt;
hqthe distance between the upper part of the conveying belt and the axis of the pneumatic separation device;
hpthe total height of the coal refuse drop;
x0the horizontal distance of movement of the coal gangue when the coal gangue does not enter the action area of the airflow;
xqthe horizontal movement distance of the coal gangue after the action of the air flow field;
x1the total horizontal movement distance of the coal and gangue when the coal and gangue is not blown;
xcthe distance that the gangue needs to be sorted;
r, length of nozzle;
v0the speed of the conveyor belt;
l, the distance between the axis of the pneumatic separation device and the center of the coal gangue;
theta, the rotation angle of the pneumatic sorting device can be obtained through experiments;
v0when the coal and gangue just enters the airflow field, the speed of the coal and gangue in the horizontal direction;
vnwhen the coal and gangue just enters the airflow field, the speed of the coal and gangue in the vertical direction;
vpafter the acting force of the air flow is finished, the horizontal direction movement speed of the coal gangue;
vqafter the acting force of the air flow is finished, the vertical direction movement speed of the coal gangue;
m, the mass of the coal gangue.
The pneumatic separation gangue sorting method according to at least one embodiment of the present disclosure further includes: and calculating the number d of air blowing openings based on the coal and gangue sorting force Fq, wherein the calculation formula is as follows:
Figure BDA0003074269280000051
wherein, the physical meaning of each parameter is as follows:
Aqthe cross-sectional area of the nozzle;
p, gas pressure of the individual nozzles.
The pneumatic separation gangue sorting method according to at least one embodiment of the present disclosure further includes: and determining the number of transverse air blowing openings and the number of longitudinal air blowing openings of the array type pneumatic separation device based on the number of air blowing openings and the coal and gangue information.
According to one aspect of the present disclosure, the present disclosure provides a pneumatic separation gangue sorting system, including:
the conveying device is used for conveying the coal gangue;
the acquisition device is used for acquiring the coal gangue image and the point cloud information of the coal gangue;
the acquisition module is used for acquiring coal gangue information;
the sorting strategy module calculates sorting force based on the coal and gangue information; and the number of the first and second groups,
and the sorting device sorts the coal and gangue to different positions based on the sorting force.
According to at least one embodiment of this disclosure's pneumatic separation coal gangue letter sorting system, collection system includes:
the near-infrared camera is used for acquiring a coal gangue image; and the number of the first and second groups,
and the depth camera is used for acquiring point cloud information of the coal gangue.
According to the pneumatic separation coal gangue sorting system of at least one embodiment of the present disclosure, the obtaining module is configured to obtain coal gangue information, and includes:
obtaining the classification, the center coordinate and the size of a target object A in the coal gangue image;
acquiring the center coordinate, the gravity center coordinate and the depth information of a target object B from the coal and gangue point cloud information; and the number of the first and second groups,
and judging whether the target object A and the target object B belong to the same object, and if so, taking the classification and the size of the target object A as the classification and the size of the acquired coal and gangue information.
According to the pneumatic separation coal and gangue sorting system of at least one embodiment of the present disclosure, the obtaining of the classification, the center coordinate and the size of the target object a in the coal and gangue image comprises:
identifying the coal and gangue images through a deep learning algorithm to obtain the classification of the target object A;
calculating the center coordinates of the target object A; and the number of the first and second groups,
calculating the size of a target object A, wherein the size of the target object A comprises a length and a width, and the pneumatic separation coal and gangue sorting system according to at least one embodiment of the disclosure further comprises coal and gangue quality, and the coal and gangue quality is obtained based on the classification, the size and the density of the target object A through calculation.
According to the pneumatic separation gangue sorting system of at least one embodiment of the present disclosure, the obtaining of the center coordinate, the barycentric coordinate, and the depth information of the target object B from the gangue point cloud information includes:
preprocessing and segmenting by utilizing a PCL point cloud library to obtain point cloud information of a target object B; and the number of the first and second groups,
and calculating the center coordinates, the gravity center coordinates and the depth information of the target object B, wherein the depth information comprises the height of the target object B.
According to the pneumatic separation gangue sorting system of at least one embodiment of the present disclosure, the determining whether the target object a and the target object B belong to the same object includes:
converting the central coordinate of the target object A into a coordinate under a depth camera coordinate system through a conversion matrix, wherein the conversion matrix is obtained by calibrating a near-infrared camera and a depth camera;
the coordinates of the target object B and the coordinates of the target object A after coordinate conversion are subjected to difference, and a difference value is obtained through calculation; and the number of the first and second groups,
and when the difference is smaller than the threshold value, judging that the target object A and the target object B are the same object.
According to the pneumatic separation coal gangue sorting system of at least one embodiment of the present disclosure, the sorting strategy module calculates the sorting force based on the coal gangue information, including:
the horizontal distance x based on the coal and gangue information and required to be sortedcSpeed v of a conveying belt for transporting coal and gangue0And, the blowing time t of the sorting deviceqAnd calculating the coal and gangue sorting force Fq, comprising the following steps:
horizontal distance x for sorting coal ganguecSpeed v of a conveyor belt of a conveyor module0Air blowing time t of sorting deviceqAnd, the coal and gangue information comprises coal and gangue height hgThe mass m of the coal and the gangue is obtained by calculating the length, the width, the height and the density of the coal and the gangue and is used as a variable to input a sorting force calculation model Fq＝f(v0，hg，m，xc，tq) The following equations (1) to (12) are used to obtain the required sorting force Fq for different gangues to be sorted into proper positions:
x0＝v0t0 (1)
Figure BDA0003074269280000071
Figure BDA0003074269280000072
θ＝30°+(v0-1)×35(1≤v0＜2.8) (4)
Figure BDA0003074269280000073
Figure BDA0003074269280000074
Figure BDA0003074269280000075
Figure BDA0003074269280000076
vertical velocity v of coal gangue after leaving airflow fieldqWhen the time is less than 0, the coal and gangue horizontally moves for a distance xqIs composed of
Figure BDA0003074269280000077
Vertical velocity v of coal gangue after leaving airflow fieldqWhen the motion distance is more than 0, the horizontal movement distance of the coal gangue is
Figure BDA0003074269280000078
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionqWhen the time is less than 0, the total horizontal movement distance of the coal gangue is
Figure BDA0003074269280000081
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionqWhen the horizontal movement distance is more than 0, the total horizontal movement distance of the coal and the gangue is
Figure BDA0003074269280000082
Wherein, the physical meaning of each parameter is as follows:
hgcoal and gangue height;
h0the height of the coal gangue falling in the y direction when the coal gangue falls to the action area of the air flow from the conveying belt;
hqthe distance between the upper part of the conveying belt and the axis of the pneumatic separation device;
hpcoal refuse fallingThe total height;
x0the horizontal distance of movement of the coal gangue when the coal gangue does not enter the action area of the airflow;
xqthe horizontal movement distance of the coal gangue after the action of the air flow field;
x1the total horizontal movement distance of the coal and gangue when the coal and gangue is not blown;
xcthe distance that the gangue needs to be sorted;
r, length of nozzle;
v0the speed of the conveyor belt;
l, the distance between the axis of the pneumatic separation device and the center of the coal gangue;
theta, the rotation angle of the pneumatic sorting device can be obtained through experiments;
v0when the coal and gangue just enters the airflow field, the speed of the coal and gangue in the horizontal direction;
vnwhen the coal and gangue just enters the airflow field, the speed of the coal and gangue in the vertical direction;
vpafter the acting force of the air flow is finished, the horizontal direction movement speed of the coal gangue;
vqafter the acting force of the air flow is finished, the vertical direction movement speed of the coal gangue;
m, the mass of the coal gangue.
According to the pneumatic separation coal and gangue sorting system of at least one embodiment of the present disclosure, the sorting strategy module calculates the number d of air blowing openings based on the coal and gangue sorting force Fq, and the calculation formula is as follows:
Figure BDA0003074269280000083
wherein, the physical meaning of each parameter is as follows:
Aqthe cross-sectional area of the nozzle;
p, gas pressure of the individual nozzles.
According to this at least one embodiment of this disclosure's pneumatic separation coal gangue letter sorting system, sorting device is array pneumatic separation device, array pneumatic separation device includes:
the nozzles are used for ejecting air and forming airflow to blow to the coal gangue to be separated;
a blowing block for blowing air toward the nozzle;
the air inlet block is used for introducing air and blowing the air to the air blowing block;
the electromagnetic valves are used for controlling the air in and out of the air inlet block; and the number of the first and second groups,
and the electromagnetic valve mounting plate is used for mounting and fixing the electromagnetic valve.
According to the pneumatic separation coal and gangue sorting system of at least one embodiment of the disclosure, the sorting strategy module determines the number of transverse air blowing openings and the number of longitudinal air blowing openings of the array type pneumatic separation device based on the number d of the air blowing openings and coal and gangue information.
According to at least one embodiment of this disclosure, the pneumatic separation coal gangue letter sorting system still includes:
the coal box is used for receiving the coal materials separated by the array type pneumatic separation device; and the number of the first and second groups,
and the waste rock material box is used for receiving the waste rock materials separated by the array type pneumatic separation device.
The pneumatic separation coal and gangue sorting system further comprises an infrared light source, wherein the infrared light source irradiates on the coal and gangue and is used for assisting the near-infrared camera to collect coal and gangue image information.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a schematic flow diagram of a pneumatic separation gangue sorting method according to one embodiment of the present disclosure.
Fig. 2 is a schematic diagram of the principle of pneumatic separation of gangue for sorting according to one embodiment of the present disclosure.
Fig. 3 is a schematic flow chart of a method for acquiring gangue information according to an embodiment of the disclosure.
Fig. 4 is a flow diagram of a pneumatic separation gangue sorting method according to yet another embodiment of the present disclosure.
Fig. 5 is a schematic diagram of a pneumatic separation gangue sorting system according to yet another embodiment of the present disclosure.
FIG. 6 is a schematic diagram of an array-type pneumatic separation apparatus according to one embodiment of the present disclosure.
Fig. 7 is a schematic structural diagram of a pneumatic separation gangue sorting device according to one embodiment of the present disclosure.
Description of the reference numerals
1000 pneumatic separation coal gangue letter sorting system
1002 conveying device
1004 collecting device
1006 acquisition module
1008 sorting strategy module
1010 sorting device
1011 array pneumatic separation device
1020 nozzle
1021 air blowing block
1022 air inlet block
1023 solenoid valve
1024 solenoid valve mounting plate
1025 coal charging box
1026 waste rock bin
1041 near infrared camera
1042 depth camera
1043 Infrared light Source
1100 bus
1200 processor
1300 memory
1400 and other circuits.
Detailed Description
The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.
The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise noted, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality between the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.
When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.
For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" higher, "and" side (e.g., "in the sidewall") to describe one component's relationship to another (other) component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" can encompass both an orientation of "above" and "below". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.
Fig. 1 is a flow chart of a pneumatic separation coal gangue sorting method according to an embodiment of the disclosure.
As shown in fig. 1, a pneumatic separation gangue sorting method S100 includes:
s102: acquiring coal and gangue information;
s104: setting the horizontal distance x that the coal gangue needs to be sortedc；
S106: setting the speed v of a conveying belt for transporting coal gangue0；
S108: air blowing time t with sorting deviceq；
S110: horizontal distance x for sorting coal and gangue based on coal and gangue informationcSpeed v of a conveying belt for transporting coal and gangue0And, the blowing time t of the sorting deviceqCalculating the coal and gangue sorting force Fq; and the number of the first and second groups,
s112: and calculating the number d of air blowing openings based on the coal and gangue sorting force Fq.
Wherein, S102: acquiring coal gangue information, comprising the following steps:
acquiring a coal gangue image through a near-infrared camera;
obtaining the classification, the center coordinate and the size of a target object A in a coal gangue image;
acquiring point cloud information of the coal and gangue through a depth camera;
acquiring the center coordinate, the gravity center coordinate and the depth information of a target object B from the coal and gangue point cloud information; and the number of the first and second groups,
and judging whether the target object A and the target object B belong to the same object, and if so, taking the classification and the size of the target object A as the classification and the size of the acquired coal and gangue information.
Wherein, obtain the classification, the central coordinate and, the size of target object A in the coal gangue image, include:
identifying the coal and gangue images through a deep learning algorithm to obtain the classification of the target object A;
calculating the center coordinates of the target object A; and the number of the first and second groups,
calculating the size of a target object A, wherein the size of the target object A comprises the length and the width
According to the pneumatic separation coal and gangue sorting method of at least one embodiment of the disclosure, the coal and gangue information further comprises coal and gangue quality, and the coal and gangue quality is obtained based on classification, size and density calculation of the target object A.
Wherein, obtain target object B's central coordinate, barycenter coordinate and, depth information from the coal gangue point cloud information, include:
preprocessing and segmenting by utilizing a PCL point cloud library to obtain point cloud information of a target object B; and the number of the first and second groups,
the center coordinates and depth information of the target object B are calculated, and the depth information includes the height of the target object B.
The method for calculating the coal and gangue center, the coal and gangue gravity center and the coal and gangue height comprises the following steps:
Figure BDA0003074269280000131
Figure BDA0003074269280000132
hg＝max(zi)，i＝1，2，3......n
wherein L iscIs the central coordinate of coal and gangue, LmIs the coordinates of the center of gravity of the coal and gangue, hgThe height of the coal gangue is represented, i represents the number of points in the point cloud information, and x, y and z represent coordinates of the coal gangue in the horizontal direction, the vertical direction and the z direction in the space respectively.
Wherein, judging whether the target object A and the target object B belong to the same object comprises:
converting the central coordinate of the target object A into a coordinate under a depth camera coordinate system through a conversion matrix, wherein the conversion matrix is obtained by calibrating a near-infrared camera and the depth camera;
the coordinates of the target object B and the coordinates of the target object A after coordinate conversion are subjected to difference, and a difference value is obtained through calculation; and the number of the first and second groups,
and when the difference is smaller than the threshold value, judging that the target object A and the target object B are the same object.
Wherein, based on the coal and gangue information, the horizontal distance x of the coal and gangue to be sortedcSpeed v of a conveying belt for transporting coal and gangue0Andtime t of blowing of sorting apparatusqAnd calculating the coal and gangue sorting force Fq, comprising the following steps:
horizontal distance x for sorting coal ganguecSpeed v of a conveying belt for transporting coal and gangue0Air blowing time t of sorting deviceqAnd, the coal and gangue information comprises coal and gangue height hgAnd the mass m of the coal and gangue is obtained by calculating the length, width, height and density of the coal and gangue, the height of the target object B is the height of the coal and gangue and is used as a variable input sorting force calculation model Fq＝f(v0，hg，m，xc，tq) The following equations (1) to (12) are used to obtain the required sorting force Fq for different gangues to be sorted into proper positions:
x0＝v0t0 (1)
Figure BDA0003074269280000141
Figure BDA0003074269280000142
θ＝30°+(v0-1)×35(1≤v0＜2.8) (4)
Figure BDA0003074269280000143
Figure BDA0003074269280000144
Figure BDA0003074269280000145
Figure BDA0003074269280000146
vertical velocity v of coal gangue after leaving airflow fieldqWhen the time is less than 0, the coal and gangue horizontally moves for a distance xqIs composed of
Figure BDA0003074269280000147
Vertical velocity v of coal gangue after leaving airflow fieldqWhen the motion distance is more than 0, the horizontal movement distance of the coal gangue is
Figure BDA0003074269280000151
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionqWhen the time is less than 0, the total horizontal movement distance of the coal gangue is
Figure BDA0003074269280000152
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionqWhen the horizontal movement distance is more than 0, the total horizontal movement distance of the coal and the gangue is
Figure BDA0003074269280000153
Wherein, the physical meaning of each parameter is as follows:
hgcoal and gangue height;
h0the height of the coal gangue falling in the y direction when the coal gangue falls to the action area of the air flow from the conveying belt;
hqthe distance between the upper part of the conveying belt and the axis of the pneumatic separation device;
hpthe total height of the coal refuse drop;
x0the horizontal distance of movement of the coal gangue when the coal gangue does not enter the action area of the airflow;
xqthe horizontal movement distance of the coal gangue after the action of the air flow field;
x1coal gangue when not being blownTotal horizontal movement distance;
xcthe distance that the gangue needs to be sorted;
r, length of nozzle;
v0the speed of the conveyor belt;
l, the distance between the axis of the pneumatic separation device and the center of the coal gangue;
theta, the rotation angle of the pneumatic sorting device can be obtained through experiments;
v0when the coal and gangue just enters the airflow field, the speed of the coal and gangue in the horizontal direction;
vnwhen the coal and gangue just enters the airflow field, the speed of the coal and gangue in the vertical direction;
vpafter the acting force of the air flow is finished, the horizontal direction movement speed of the coal gangue;
vqafter the acting force of the air flow is finished, the vertical direction movement speed of the coal gangue;
m, the mass of the coal gangue.
The number d of the air blowing openings is calculated based on the coal and gangue sorting force Fq, and the calculation formula is as follows:
Figure BDA0003074269280000161
wherein, the physical meaning of each parameter is as follows:
Aqthe cross-sectional area of the nozzle;
p, gas pressure of the individual nozzles.
Fig. 2 is a schematic diagram of the pneumatic separation gangue sorting principle of one embodiment of the present disclosure.
As shown in fig. 2, in the process that the coal gangue is conveyed to the pneumatic sorting device through the conveyor belt until being separated, the physical meaning of each parameter in the sorting force models (1) to (12) is shown in fig. 2, and in the sorting force models (1) to (12), the horizontal movement distance x of the coal gangue to be separated is setcThe other parameters can be measured and calculated to obtain the sorting force Fq, and then the known cross section area A of the nozzle is combinedqAnd gas pressureThe number d of the air outlets can be calculated by the force P.
Fig. 3 is a schematic flow chart of a method for acquiring gangue information according to an embodiment of the disclosure.
As shown in fig. 3, a method S300 for obtaining gangue information includes:
s301: collecting a coal gangue image by a near-infrared camera;
s302: identifying the coal and gangue, and acquiring the classification, center coordinates and size of a target object A;
s303: converting the obtained coordinates of the target object A into coordinates of a depth camera coordinate system;
s304: the depth camera acquires point cloud information of the coal and gangue;
s305: preprocessing and dividing the point cloud information of the coal and gangue to obtain the point cloud information of a target object B;
s306: obtaining the center coordinate and the depth information of the target object B, wherein the depth information comprises the height of the target object B; and the number of the first and second groups,
s307: and comparing the two central coordinates, judging and judging that the target object A and the target object B are the same target object if the difference value is smaller than the threshold value, and taking the classification, the central coordinate and the size of the target object A as the acquired coal and gangue information, wherein the high flux of the coal and gangue information is acquired through the height of the target object B.
The method comprises the steps of utilizing a near-infrared camera and a depth camera to collect coal and gangue information in a fusion mode, on one hand, utilizing the characteristics of the near-infrared camera, such as being insensitive to illumination conversion, being capable of capturing energy on the surface of an object and still well capturing characteristics of the surface of a target object when the field condition is poor, and the like to collect images to identify the coal and gangue, effectively improving the coal and gangue identification accuracy rate in a coal mine scene, on the other hand, utilizing the depth camera to obtain the depth information of the coal gangue, fusing the information of the depth camera and the depth camera, being capable of obtaining the coal and gangue information, including classification and size, and further obtaining the coal and gangue quality according to the coal and gangue density, so that different sorting strategies can be adopted according to different shapes and sizes of the coal gangue.
Fig. 4 is a flow chart of a pneumatic separation gangue sorting method according to another embodiment of the disclosure.
As shown in fig. 4, a pneumatic separation gangue sorting method S200 includes:
s202: acquiring coal and gangue information;
s204: setting the horizontal distance x that the coal gangue needs to be sortedc；
S206: setting the speed v of a conveying belt for transporting coal gangue0；
S208: air blowing time t with sorting deviceq；
S210: horizontal distance x for sorting coal and gangue based on coal and gangue informationcSpeed v of a conveying belt for transporting coal and gangue0And, the blowing time t of the sorting deviceqCalculating the coal and gangue sorting force Fq; and the number of the first and second groups,
s212: and calculating the number d of air blowing openings based on the coal and gangue sorting force Fq.
S214: and determining the number of transverse air blowing openings and the number of longitudinal air blowing openings of the array type pneumatic separation device based on the number of air blowing openings and the coal and gangue information.
Wherein, S202 corresponds to S102, S204 corresponds to S104, S206 corresponds to S106, S208 corresponds to S108, S210 corresponds to S110, and S212 corresponds to S112.
Wherein, the number of the air blowing openings is divided in the horizontal and vertical proportion: the method comprises the steps of obtaining the total number of air blowing openings needed by a piece of coal gangue after being sorted to a proper position according to a previous formula, then dividing the proportion of the number of the transverse and longitudinal air blowing openings of the array type pneumatic separation device according to the posture of the coal gangue, dividing the number of the transverse and longitudinal air blowing openings according to the proportion of the length and the width of the coal gangue obtained by a camera if the coal gangue is in a flat posture and an oblate posture, and dividing the number of the transverse and longitudinal air blowing openings of the tail end pneumatic separation device according to the proportion of the length and the height of the coal gangue if the coal gangue is in a vertical posture.
Wherein, the side of the coal and gangue in the same direction as the belt motion direction is marked as width p, the side vertical to the belt motion direction is marked as length q, and the height of the coal and gangue is marked as hg，min(p，q)/hgFlat posture is more than 1.3, min (p, q)/h is more than or equal to 0.5gOblate posture with min (p, q)/h less than or equal to 1.3gThe posture of < 0.5 is vertical.
Through analyzing the movement of the coal gangue in the falling process from the belt, a flexible sorting model of the coal gangue is established, the model takes the relevant information of the coal gangue, the belt speed and the distance required to be sorted of the coal gangue, which are acquired by a near-infrared camera and a depth camera, as input, and takes different sorting strategies aiming at different gangue as output, so that corresponding sorting strategies are realized aiming at the coal gangue with different shapes and sizes, different belt speeds and different sorting distances, the mistaken sorting is effectively reduced, and the waste of resources is reduced or avoided.
Fig. 5 is a schematic structural diagram of a pneumatic separation gangue sorting system according to an embodiment of the disclosure.
The means in the system may comprise respective modules for performing each or several of the steps of the above-described flow charts. Thus, each step or several steps in the above-described flow charts may be performed by a respective module, and the apparatus may comprise one or more of these modules. The modules may be one or more hardware modules specifically configured to perform the respective steps, or implemented by a processor configured to perform the respective steps, or stored within a computer-readable medium for implementation by a processor, or by some combination.
The hardware architecture may be implemented using a bus architecture. The bus architecture may include any number of interconnecting buses and bridges depending on the specific application of the hardware and the overall design constraints. The bus connects together various circuits including one or more processors, memories, and/or hardware modules. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, external antennas, and the like.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one connection line is shown, but no single bus or type of bus is shown.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present disclosure includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the implementations of the present disclosure. The processor performs the various methods and processes described above. For example, method embodiments in the present disclosure may be implemented as a software program tangibly embodied in a machine-readable medium, such as a memory. In some embodiments, some or all of the software program may be loaded and/or installed via memory and/or a communication interface. When the software program is loaded into memory and executed by a processor, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform one of the methods described above by any other suitable means (e.g., by means of firmware).
The logic and/or steps represented in the flowcharts or otherwise described herein may be embodied in any readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
For the purposes of this description, a "readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the readable storage medium include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). In addition, the readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in the memory.
It should be understood that portions of the present disclosure may be implemented in hardware, software, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps of the method implementing the above embodiments may be implemented by hardware that is instructed to implement by a program, which may be stored in a readable storage medium, and when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
As shown in fig. 5, a pneumatic separation gangue sorting system 1000 includes:
the conveying device 1002 is used for conveying coal gangue;
the acquisition device 1004 is used for acquiring a coal gangue image and coal gangue point cloud information;
an obtaining module 1006, configured to obtain coal and gangue information;
a sorting strategy module 1008 that calculates a sorting force based on the coal and gangue information; and the number of the first and second groups,
the sorting device 1010 sorts the coal and gangue to different positions based on the sorting force.
Wherein, the collection device 1004 includes:
the near-infrared camera 1041 is used for collecting a coal gangue image; and the number of the first and second groups,
and the depth camera 1042 is used for acquiring point cloud information of the coal and gangue.
The obtaining module 1006 is configured to obtain coal and gangue information, and includes:
obtaining the classification, the center coordinate and the size of a target object A in a coal gangue image;
acquiring the center coordinate and depth information of a target object B from the point cloud information of the coal and gangue; and the number of the first and second groups,
and judging whether the target object A and the target object B belong to the same object, and if so, taking the classification and the size of the target object A as the classification and the size of the acquired coal and gangue information.
Wherein, obtain the classification, the central coordinate and, the size of target object A in the coal gangue image, include:
identifying the coal and gangue images through a deep learning algorithm to obtain the classification of the target object A;
calculating the center coordinates of the target object A; and the number of the first and second groups,
calculating the size of a target object A, wherein the size of the target object A comprises the length and the width
The coal and gangue information also comprises coal and gangue mass, and the coal and gangue mass is obtained based on the classification, the size and the density calculation of the target object A.
The method comprises the following steps of obtaining the center coordinate of a target object B from the point cloud information of the coal and gangue, and obtaining depth information, wherein the depth information comprises:
preprocessing and segmenting by utilizing a PCL point cloud library to obtain point cloud information of a target object B; and the number of the first and second groups,
the center coordinates and depth information of the target object B are calculated, and the depth information includes the height of the target object B.
Wherein, judging whether the target object A and the target object B belong to the same object comprises:
converting the central coordinate of the target object A into a coordinate under a depth camera coordinate system through a conversion matrix, wherein the conversion matrix is obtained by calibrating a near-infrared camera and the depth camera;
the coordinates of the target object B and the coordinates of the target object A after coordinate conversion are subjected to difference, and a difference value is obtained through calculation; and the number of the first and second groups,
and when the difference is smaller than the threshold value, judging that the target object A and the target object B are the same object.
Wherein, letter sorting strategy module 1008, based on coal gangue information, calculates the letter sorting power, includes:
horizontal distance x for sorting coal and gangue based on coal and gangue informationcSpeed v of a conveying belt for transporting coal and gangue0And, the blowing time t of the sorting deviceqAnd calculating the coal and gangue sorting force Fq, comprising the following steps:
horizontal distance x for sorting coal ganguecSpeed v of a conveyor belt of a conveyor module0Air blowing time t of sorting deviceqAnd, the coal and gangue information comprises coal and gangue height hgThe mass m of the coal gangue is obtained by calculating the length, width, height and density of the coal gangue and is used as a variable input sorting force calculation model Fq＝f(v0，hg，m，xc，tq) The following equations (1) to (12) are used to obtain the required sorting force Fq for different gangues to be sorted into proper positions:
xO＝vOt0 (1)
Figure BDA0003074269280000211
Figure BDA0003074269280000212
θ＝30°+(v0-1)×35(1≤v0＜2.8) (4)
Figure BDA0003074269280000213
Figure BDA0003074269280000221
Figure BDA0003074269280000222
Figure BDA0003074269280000223
vertical velocity v of coal gangue after leaving airflow fieldqWhen the time is less than 0, the coal and gangue horizontally moves for a distance xqIs composed of
Figure BDA0003074269280000224
Vertical velocity v of coal gangue after leaving airflow fieldqWhen the motion distance is more than 0, the horizontal movement distance of the coal gangue is
Figure BDA0003074269280000225
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionqWhen the time is less than 0, the total horizontal movement distance of the coal gangue is
Figure BDA0003074269280000226
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionqWhen is greater than 0The total horizontal movement distance of the coal and gangue is
Figure BDA0003074269280000227
Wherein, the physical meaning of each parameter is as follows:
hgcoal and gangue height;
h0the height of the coal gangue falling in the y direction when the coal gangue falls to the action area of the air flow from the conveying belt;
hqthe distance between the upper part of the conveying belt and the axis of the pneumatic separation device;
hpthe total height of the coal refuse drop;
x0the horizontal distance of movement of the coal gangue when the coal gangue does not enter the action area of the airflow;
xqthe horizontal movement distance of the coal gangue after the action of the air flow field;
x1the total horizontal movement distance of the coal and gangue when the coal and gangue is not blown;
xcthe distance that the gangue needs to be sorted;
r, length of nozzle;
v0the speed of the conveyor belt;
l, the distance between the axis of the pneumatic separation device and the center of the coal gangue;
theta, the rotation angle of the pneumatic sorting device can be obtained through experiments;
v0when the coal and gangue just enters the airflow field, the speed of the coal and gangue in the horizontal direction;
vnwhen the coal and gangue just enters the airflow field, the speed of the coal and gangue in the vertical direction;
vpafter the acting force of the air flow is finished, the horizontal direction movement speed of the coal gangue;
vqafter the acting force of the air flow is finished, the vertical direction movement speed of the coal gangue;
m, the mass of the coal gangue.
The sorting strategy module 1008 calculates the number d of the air blowing openings based on the coal and gangue sorting force Fq, and the calculation formula is as follows:
Figure BDA0003074269280000231
wherein, the physical meaning of each parameter is as follows:
Aqthe cross-sectional area of the nozzle;
p, gas pressure of the individual nozzles.
Wherein the sorting device 1010 is an array type pneumatic separation device.
Fig. 6 is a schematic structural diagram of an array type pneumatic separation device provided in an embodiment of the present disclosure.
As shown in fig. 6, the array type pneumatic separation apparatus 1011 includes:
a plurality of nozzles 1020 for ejecting air and forming an air flow to blow the coal gangue to be separated;
an air blowing block 1021 for blowing air toward the nozzle;
an air intake block 1022 for taking in air and blowing the air toward the air blowing block;
a plurality of solenoid valves 1023 for controlling the air in and out of the air inlet block; and the number of the first and second groups,
and a solenoid valve mounting plate 1024 for mounting and fixing the solenoid valve.
According to the pneumatic separation coal and gangue sorting system and the sorting strategy module of at least one embodiment of the disclosure, the number of the transverse air blowing openings and the number of the longitudinal air blowing openings of the array type pneumatic separation device are determined based on the number d of the air blowing openings and coal and gangue information.
Fig. 7 is a schematic structural diagram of another pneumatic separation gangue sorting device provided by the embodiment of the disclosure.
As shown in fig. 7, the pneumatic separation gangue sorting device further includes:
the coal box 1025 is used for receiving the coal materials separated by the array type pneumatic separation device;
a waste bin 1026 for receiving the waste material separated by the array pneumatic separation device; and the number of the first and second groups,
and the infrared light source 1043 irradiates on the coal gangue and is used for assisting the near-infrared camera to acquire image information of the coal gangue.
In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.
It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims (10)

1. A pneumatic separation coal gangue sorting method is characterized by comprising the following steps:
acquiring coal and gangue information;
setting the horizontal distance x that the coal gangue needs to be sortedc；
Setting the speed v of a conveying belt for transporting coal gangue0；
Air blowing time t with sorting deviceq；
Based on the coal and gangue information and the horizontal distance x of the coal and gangue to be sortedcSpeed v of a conveying belt for transporting coal and gangue0And the blowing time t of the sorting deviceqCalculating the coal and gangue sorting force Fq; and
and calculating the number d of air blowing openings based on the coal and gangue sorting force Fq.
2. The method for separating the coal gangue according to claim 1, wherein the obtaining the coal gangue information comprises:
acquiring a coal gangue image through a near-infrared camera;
obtaining the classification, the center coordinate and the size of a target object A in the coal gangue image;
acquiring point cloud information of the coal and gangue through a depth camera;
acquiring the center coordinate, the gravity center coordinate and the depth information of a target object B from the coal and gangue point cloud information; and
judging whether the target object A and the target object B belong to the same object, if so, taking the classification and the size of the target object A as the classification and the size of the acquired coal and gangue information;
and/or the obtaining of the classification, the center coordinate and the size of the target object A in the coal gangue image comprises the following steps:
identifying the coal and gangue images through a deep learning algorithm to obtain the classification of the target object A;
calculating the center coordinates of the target object A; and
calculating the size of a target object A, wherein the size of the target object A comprises a length and a width;
and/or the coal and gangue information further comprises coal and gangue quality, and the coal and gangue quality is obtained by calculation based on the classification, the size and the density of the target object A;
and/or acquiring the center coordinate, the gravity center coordinate and the depth information of the target object B from the coal and gangue point cloud information, wherein the center coordinate, the gravity center coordinate and the depth information comprise:
preprocessing and segmenting by utilizing a PCL point cloud library to obtain point cloud information of a target object B; and
calculating the center coordinate, the gravity center coordinate and the depth information of the target object B, wherein the depth information comprises the height of the target object B;
and/or, the judging whether the target object a and the target object B belong to the same object comprises:
converting the central coordinate of the target object A into a coordinate under a depth camera coordinate system through a conversion matrix, wherein the conversion matrix is obtained by calibrating a near-infrared camera and a depth camera;
the coordinates of the target object B and the coordinates of the target object A after coordinate conversion are subjected to difference, and a difference value is obtained through calculation; and
and when the difference is smaller than the threshold value, judging that the target object A and the target object B are the same object.
3. The method of claim 1, wherein the horizontal distance x for which the gangue needs to be sorted based on the gangue information is determinedcSpeed v of a conveying belt for transporting coal and gangue0And the blowing time t of the sorting deviceqAnd calculating the coal and gangue sorting force Fq, comprising the following steps:
horizontal distance x for sorting coal ganguecSpeed v of a conveying belt for transporting coal and gangue0Air blowing time t of sorting deviceqAnd coal and gangue information including coal and gangue height hgThe mass m of the coal and the gangue is obtained by calculating the length, the width, the height and the density of the coal and the gangue and is used as a variable to be input into a sorting force calculation model Fq＝f(v0，hg，m，xc，tq) The following equations (1) to (12) are used to obtain the required sorting force Fq for different gangues to be sorted into proper positions:
x0＝v0t0 (1)
Figure FDA0003074269270000021
Figure FDA0003074269270000022
θ＝30°+(v0-1)×35(1≤v0＜2.8) (4)
Figure FDA0003074269270000023
Figure FDA0003074269270000031
Figure FDA0003074269270000032
Figure FDA0003074269270000033
vertical velocity v of coal gangue after leaving airflow fieldq<When 0, the coal and gangue horizontally move by a distance xqIs composed of
Figure FDA0003074269270000034
Vertical velocity v of coal gangue after leaving airflow fieldq>At 0 hour, the horizontal movement distance of the coal and gangue is
Figure FDA0003074269270000035
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionq<At 0 hour, the total horizontal movement distance of the coal and gangue is
Figure FDA0003074269270000036
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionq>At 0 hour, the total horizontal movement distance of the coal and gangue is
Figure FDA0003074269270000037
Wherein, the physical meaning of each parameter is as follows:
hgcoal and gangue height;
h0the height of the coal gangue falling in the y direction when the coal gangue falls to the action area of the air flow from the conveying belt;
hqthe distance between the upper part of the conveying belt and the axis of the pneumatic separation device;
hpthe total height of the coal refuse drop;
x0the horizontal distance of movement of the coal gangue when the coal gangue does not enter the action area of the airflow;
xqthe horizontal movement distance of the coal gangue after the action of the air flow field;
x1the total horizontal movement distance of the coal and gangue when the coal and gangue is not blown;
xcthe distance that the gangue needs to be sorted;
r, length of nozzle;
v0the speed of the conveyor belt;
l, the distance between the axis of the pneumatic separation device and the center of the coal gangue;
theta, the rotation angle of the pneumatic sorting device can be obtained through experiments;
v0when the coal and gangue just enters the airflow field, the speed of the coal and gangue in the horizontal direction;
vnwhen the coal and gangue just enters the airflow field, the speed of the coal and gangue in the vertical direction;
vpafter the acting force of the air flow is finished, the horizontal direction movement speed of the coal gangue;
vqend of the air flow acting forceThen, the vertical movement speed of the coal gangue;
m, the mass of the coal gangue.
4. The pneumatic separation gangue sorting method of claim 1, further comprising: and calculating the number d of air blowing openings based on the coal and gangue sorting force Fq, wherein the calculation formula is as follows:
Figure FDA0003074269270000041
wherein, the physical meaning of each parameter is as follows:
Aqthe cross-sectional area of the nozzle;
p, gas pressure of the individual nozzles.
5. The method for separating gangue as claimed in claim 4, further comprising: and determining the number of transverse air blowing openings and the number of longitudinal air blowing openings of the array type pneumatic separation device based on the number of air blowing openings and the coal and gangue information.
6. The utility model provides a pneumatic separation coal gangue letter sorting system which characterized in that includes:
the conveying device is used for conveying the coal gangue;
the acquisition device is used for acquiring the coal gangue image and the point cloud information of the coal gangue;
the acquisition module is used for acquiring coal gangue information;
the sorting strategy module calculates sorting force based on the coal and gangue information; and
and the sorting device sorts the coal and gangue to different positions based on the sorting force.
7. The pneumatic separation gangue sorting system of claim 6, wherein the collecting device comprises:
the near-infrared camera is used for acquiring a coal gangue image; and
the depth camera is used for acquiring point cloud information of the coal gangue;
and/or the acquisition module is used for acquiring the coal gangue information, and comprises:
obtaining the classification, the center coordinate and the size of a target object A in the coal gangue image;
acquiring the center coordinate, the gravity center coordinate and the depth information of a target object B from the coal and gangue point cloud information; and
judging whether the target object A and the target object B belong to the same object, if so, taking the classification and the size of the target object A as the classification and the size of the acquired coal and gangue information;
and/or the obtaining of the classification, the center coordinate and the size of the target object A in the coal gangue image comprises the following steps:
identifying the coal and gangue images through a deep learning algorithm to obtain the classification of the target object A;
calculating the center coordinates of the target object A; and
calculating the size of a target object A, wherein the size of the target object A comprises a length and a width;
and/or the coal and gangue information further comprises coal and gangue quality, and the coal and gangue quality is obtained by calculation based on the classification, the size and the density of the target object A;
and/or acquiring the center coordinate, the gravity center coordinate and the depth information of the target object B from the coal and gangue point cloud information, wherein the acquiring comprises the following steps:
preprocessing and segmenting by utilizing a PCL point cloud library to obtain point cloud information of a target object B; and
calculating the center coordinate and depth information of the target object B, wherein the depth information comprises the height of the target object B;
and/or, the judging whether the target object a and the target object B belong to the same object comprises:
converting the central coordinate of the target object A into a coordinate under a depth camera coordinate system through a conversion matrix, wherein the conversion matrix is obtained by calibrating a near-infrared camera and a depth camera;
the coordinates of the target object B and the coordinates of the target object A after coordinate conversion are subjected to difference, and a difference value is obtained through calculation; and
and when the difference is smaller than the threshold value, judging that the target object A and the target object B are the same object.
8. The pneumatic separation gangue sorting system of claim 6, wherein the sorting strategy module, based on the gangue information, calculates a sorting force comprising:
the horizontal distance x based on the coal and gangue information and required to be sortedcSpeed v of a conveying belt for transporting coal and gangue0And the blowing time t of the sorting deviceqAnd calculating the coal and gangue sorting force Fq, comprising the following steps:
horizontal distance x for sorting coal ganguecSpeed v of a conveyor belt of a conveyor module0Air blowing time t of sorting deviceqAnd coal and gangue information including coal and gangue height hgThe mass m of the coal and the gangue is obtained by calculating the length, the width, the height and the density of the coal and the gangue and is used as a variable to input a sorting force calculation model Fq＝f(v0，hg，m，xc，tq) The following equations (1) to (12) are used to obtain the required sorting force Fq for different gangues to be sorted into proper positions:
x0＝v0t0 (1)
Figure FDA0003074269270000061
Figure FDA0003074269270000062
θ＝30°+(v0-1)×35(1≤v0＜2.8) (4)
Figure FDA0003074269270000063
Figure FDA0003074269270000064
Figure FDA0003074269270000065
Figure FDA0003074269270000066
vertical velocity v of coal gangue after leaving airflow fieldq<When 0, the coal and gangue horizontally move by a distance xqIs composed of
Figure FDA0003074269270000071
Vertical velocity v of coal gangue after leaving airflow fieldq>At 0 hour, the horizontal movement distance of the coal and gangue is
Figure FDA0003074269270000072
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionq<At 0 hour, the total horizontal movement distance of the coal and gangue is
Figure FDA0003074269270000073
When the coal gangue leaves the airflow field, the velocity v of the coal gangue in the vertical directionq>At 0 hour, the total horizontal movement distance of the coal and gangue is
Figure FDA0003074269270000074
Wherein, the physical meaning of each parameter is as follows:
hgcoal and gangue height;
h0the height of the coal gangue falling in the y direction when the coal gangue falls to the action area of the air flow from the conveying belt;
hqthe distance between the upper part of the conveying belt and the axis of the pneumatic separation device;
hpthe total height of the coal refuse drop;
x0the horizontal distance of movement of the coal gangue when the coal gangue does not enter the action area of the airflow;
xqthe horizontal movement distance of the coal gangue after the action of the air flow field;
x1the total horizontal movement distance of the coal and gangue when the coal and gangue is not blown;
xcthe distance that the gangue needs to be sorted;
r, length of nozzle;
v0the speed of the conveyor belt;
l, the distance between the axis of the pneumatic separation device and the center of the coal gangue;
theta, the rotation angle of the pneumatic sorting device can be obtained through experiments;
v0when the coal and gangue just enters the airflow field, the speed of the coal and gangue in the horizontal direction;
vnwhen the coal and gangue just enters the airflow field, the speed of the coal and gangue in the vertical direction;
vpafter the acting force of the air flow is finished, the horizontal direction movement speed of the coal gangue;
vqafter the acting force of the air flow is finished, the vertical direction movement speed of the coal gangue;
m, the mass of the coal gangue.
9. The pneumatic separation gangue sorting system of claim 6, wherein the sorting strategy module calculates the number of air blowing openings d based on the gangue sorting force Fq, and the calculation formula is as follows:
Figure FDA0003074269270000081
wherein, the physical meaning of each parameter is as follows:
Aqthe cross-sectional area of the nozzle;
p, gas pressure of the individual nozzles.
10. The pneumatic separation gangue sorting system of one of claims 6-9, wherein the sorting device is an arrayed pneumatic separation device, the arrayed pneumatic separation device comprising:
the nozzles are used for ejecting air and forming airflow to blow to the coal gangue to be separated;
a blowing block for blowing air toward the nozzle;
the air inlet block is used for introducing air and blowing the air to the air blowing block;
the electromagnetic valves are used for controlling the air in and out of the air inlet block; and
the electromagnetic valve mounting plate is used for mounting and fixing the electromagnetic valve;
and/or the sorting strategy module determines the number of transverse air blowing openings and the number of longitudinal air blowing openings of the array type pneumatic separation device based on the number d of the air blowing openings and the coal and gangue information;
and/or, further comprising:
the coal box is used for receiving the coal materials separated by the array type pneumatic separation device; and
the waste rock material box is used for receiving the waste rock materials separated by the array type pneumatic separation device;
and/or the system also comprises an infrared light source, wherein the infrared light source irradiates on the coal gangue and is used for assisting the near-infrared camera to acquire coal gangue image information.
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