CN114515705A - Coal gangue sorting system based on multi-mode imaging analysis - Google Patents
Coal gangue sorting system based on multi-mode imaging analysis Download PDFInfo
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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
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
Abstract
The invention provides a coal gangue sorting system based on multi-modal imaging analysis, which comprises: the coal gangue pre-screening module, the coal gangue checking module and the motion planning module are arranged in the coal gangue pre-screening module; the coal gangue primary screening module is used for carrying out primary screening on coal gangue on raw coal to be detected to obtain first positioning information and target information, sending the first positioning information to the motion planning module and sending the target information to the coal gangue checking module; the coal gangue checking module is used for acquiring a multi-modal image according to the target information, inputting the multi-modal image into the multi-modal coal gangue detection model to check the coal gangue to obtain second positioning information, and sending the second positioning information to the motion planning module; the motion planning module is used for carrying out multi-mechanical-arm collaborative motion planning according to the first positioning information and the second positioning information so as to control the multi-mechanical-arm to sort out gangue and impurities through collaborative motion.
Description
Technical Field
The invention relates to the technical field of coal gangue sorting, in particular to a coal gangue sorting system based on multi-mode imaging analysis.
Background
With the development of social economy, the clean coal technology is more and more concerned by people, so that the problem of separating coal and gangue is very important to solve. At present, the coal and gangue separation mainly depends on two technologies of heavy medium coal separation and manual gangue separation, but in actual production, the heavy medium coal separation has the problems of large occupied area, much water resource waste and the like, and the manual gangue separation has the problems of high labor intensity, poor working environment, easy accident occurrence and the like. Therefore, the intelligent separation of the coal gangue is urgently needed to replace the traditional separation method.
In the prior art, most of coal and gangue sorting methods adopt a single detection method, and mainly include ray detection, electromagnetic detection, vibration detection, optical detection and the like. These single detection methods all have obvious disadvantages, wherein, the X-ray detection method faces the problem that the quality and thickness of coal and gangue have certain influence on the setting of the sorting threshold; detection methods such as electromagnetism and vibration are difficult to adapt to the characteristics of complex geology in China; the optical detection method faces the problem that the identification precision is influenced by the fact that ash and coal dust with different thicknesses are wrapped on the surface of coal gangue.
Therefore, the current single detection method is difficult to realize the high-precision coal gangue separation.
Disclosure of Invention
The invention provides a coal gangue sorting system based on multi-modal imaging analysis, which is used for solving the problem of a single detection method in the prior art and realizing high-precision coal gangue sorting.
The invention provides a coal gangue sorting system based on multi-modal imaging analysis, which comprises: the coal gangue primary screening module, the coal gangue checking module and the motion planning module are arranged in the coal gangue screening module; the coal gangue primary screening module is used for carrying out primary screening on coal gangue on raw coal to be detected to obtain first positioning information and target information, sending the first positioning information to the motion planning module, and sending the target information to the coal gangue checking module; the first positioning information is gangue and impurity positioning information determined by the gangue primary screening module, and the target information is positioning information of a target deviating from a set threshold value determined by the gangue primary screening module; the coal gangue checking module is used for acquiring a multi-modal image according to the target information, inputting the multi-modal image to a multi-modal coal gangue detection model to check coal gangue to obtain second positioning information, and sending the second positioning information to the motion planning module; the second positioning information is gangue and impurity positioning information determined by the gangue checking module; and the motion planning module is used for planning the coordinated motion of the multiple mechanical arms according to the first positioning information and the second positioning information so as to control the multiple mechanical arms to sort out gangue and impurities through the coordinated motion.
According to the coal gangue sorting system based on multi-modal imaging analysis, provided by the invention, the coal gangue prescreening module comprises an X-ray imaging module and an X-ray image analysis module; the X-ray imaging module is used for emitting X-rays to the raw coal to be detected and generating an X-ray image of the raw coal to be detected; the X-ray image analysis module is used for carrying out coal-gangue-impurity discrimination on the X-ray image of the raw coal to be detected based on a predetermined coal-gangue-impurity discrimination threshold value to obtain the first positioning information and the target information.
According to the coal gangue sorting system based on multi-modal imaging analysis, the relative position of the X-ray imaging module and the raw coal to be detected and the X-ray emission intensity of the X-ray imaging module are adjusted according to the characteristic parameters of the raw coal to be detected.
According to the coal gangue sorting system based on multi-modal imaging analysis, the coal gangue checking module comprises a multi-modal imaging module and a multi-modal image analysis module; the multi-modal imaging module comprises at least two of a visible light imaging module, an infrared imaging module and a depth imaging module and is used for generating a multi-modal image corresponding to the target deviating from the set threshold value according to the target information; the multi-modal image analysis module is used for inputting the multi-modal images into a multi-modal coal gangue detection model to obtain multi-modal detection results, and fusing the multi-modal detection results to obtain second positioning information.
According to the coal gangue sorting system based on multi-modal imaging analysis, the multi-modal coal gangue detection model is obtained by training according to multi-modal image samples and actual detection results corresponding to the multi-modal image samples.
According to the coal gangue sorting system based on multi-modal imaging analysis, the system further comprises a transmission system, a sorting system and a sorting system, wherein the transmission system is used for transmitting the raw coal to be detected through a belt; the number and the angle of the imaging modules contained in the multi-modal imaging module are determined according to the width of the belt, the transmission speed of the belt and the characteristic parameters of the raw coal to be detected.
According to the coal gangue sorting system based on multi-modal imaging analysis provided by the invention, under the condition that the multi-modal imaging module comprises the infrared imaging module, the system further comprises heating modules arranged on two sides of the belt and used for heating raw coal corresponding to the target information.
According to the coal gangue sorting system based on multi-modal imaging analysis, provided by the invention, the multi-mechanical arm coordinated motion planning is carried out according to the first positioning information and the second positioning information so as to control the multi-mechanical arm to sort out gangue and impurities through coordinated motion, and the coal gangue sorting system comprises:
according to the coal gangue sorting system based on multi-modal imaging analysis, provided by the invention, a multi-mechanical arm collaborative motion planning optimization model is constructed according to the first positioning information and the second positioning information; solving the multi-mechanical arm collaborative motion planning optimization model by using a depth reinforcement learning algorithm to obtain a multi-mechanical arm collaborative motion planning result; and sending a control instruction to each mechanical arm in the multiple mechanical arms according to the coordinated movement planning result of the multiple mechanical arms, wherein the control instruction is used for instructing each mechanical arm to carry out the action of sorting the gangue and the impurities.
According to the coal gangue sorting system based on multi-mode imaging analysis, the coal gangue primary screening module, the coal gangue checking module and the motion planning module are arranged, raw coal is screened twice, coal gangue can be sorted accurately on line, the coal gangue sorting precision is improved, a plurality of mechanical arms can be controlled to sort out gangue and impurities timely, imaging equipment can be reasonably arranged according to different working conditions, and manual gangue sorting by intelligent detection equipment is better replaced.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a coal gangue sorting system based on multi-modal imaging analysis provided by the present invention;
FIG. 2 is a second schematic structural diagram of the coal gangue sorting system based on multi-modal imaging analysis provided by the present invention;
reference numerals:
101, a coal gangue primary screening module; 102: a coal gangue checking module; 103: an exercise planning module;
1: an X-ray imaging module; 2: an X-ray image analysis module; 3: a visible light module;
4, an infrared imaging module; 5: a depth imaging module; 6: a multi-modal image analysis module;
7: an exercise planning module; 8: a plurality of robots.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
The coal gangue sorting system based on multi-modal imaging analysis of the invention is described below with reference to fig. 1-2.
FIG. 1 is a schematic structural diagram of a coal gangue sorting system based on multi-modal imaging analysis, as shown in FIG. 1, including: a coal gangue primary screening module 101, a coal gangue checking module 102 and a motion planning module 103; wherein the content of the first and second substances,
the coal gangue primary screening module 101 is configured to perform primary screening of coal gangue on raw coal to be detected to obtain first positioning information and target information, send the first positioning information to the motion planning module 103, and send the target information to the coal gangue checking module 102; the first positioning information is gangue and impurity positioning information determined by the gangue primary screening module 101, and the target information is positioning information of a target deviating from a set threshold value determined by the gangue primary screening module 101;
the coal gangue checking module 102 is configured to obtain a multi-modal image according to the target information, input the multi-modal image to a multi-modal coal gangue detection model to check coal gangue, obtain second positioning information, and send the second positioning information to the motion planning module 103; the second positioning information is gangue and impurity positioning information determined by the gangue checking module 102;
the motion planning module 103 is configured to perform multi-robot collaborative motion planning according to the first positioning information and the second positioning information, so as to control the multi-robot to sort out gangue and impurities through collaborative motion.
It should be noted that the set threshold is three preset optimal thresholds for distinguishing coal-gangue-impurities, and when the detection value of the detected target is not within the three threshold ranges after the detected target passes through the coal gangue primary screening module, it indicates that the detected target deviates from the set threshold, and the coal gangue primary screening module fails in detection, and the target needs to be screened again by using the coal gangue checking module. The set threshold value can be customized according to needs.
It should be noted that the multi-modal image refers to an image acquired by a device using different imaging principles for the same target.
It is understood that the multi-modality images include images acquired by a device utilizing at least two different imaging principles.
For example, the multimodal image includes at least two of a visible light image, an infrared image, and a depth image.
It can be understood that the multiple mechanical arms at least comprise two mechanical arms, and coordinated motion planning needs to be carried out on the mechanical arms when the gangue and impurities are sorted, so that collision between the mechanical arms during sorting is avoided.
Specifically, the whole coal gangue sorting system consists of three parts: the coal gangue pre-screening module 101, the coal gangue checking module 102 and the movement planning module 103 are adopted. Firstly, a coal gangue primary screening module 101 is utilized to primarily screen raw coal to be detected, a batch of coal-gangue-impurities are screened out, positioning information of the gangue and the impurities in the raw coal is sent to a motion planning module 103, so that the motion planning module 103 controls a plurality of mechanical arms to sort out the gangue and the impurities through cooperative motion, and meanwhile, the positioning information of the raw coal which deviates from a set threshold value in the primary screening is sent to a coal gangue check module, so that the coal gangue check module 102 performs secondary screening on the raw coal which deviates from the set threshold value; then, the coal gangue checking module 102 is used for re-screening the raw coal which is preliminarily screened but is not successfully detected to screen out another batch of coal, gangue and impurities, and the positioning information of the gangue and the impurities in the raw coal is sent to the motion planning module 103, so that the motion planning module 103 controls a plurality of mechanical arms to sort out the gangue and the impurities through cooperative motion; the motion planning module 103 is mainly used for receiving positioning information of the gangue and impurities screened by the gangue primary screening module and the gangue checking module and sorting the gangue and the impurities in time.
In the above embodiment, through setting up gangue prescreening module 101, gangue checking module 102 and motion planning module 103, carried out twice screening to raw coal, can the online accurate gangue of sorting out, improved gangue sorting precision, the control multimachine arm that simultaneously can be timely sorts out gangue and impurity to can carry out imaging device's reasonable layout according to the operating mode of difference, better realization intelligent detection equipment replaces artifical gangue sorting.
Optionally, the coal gangue prescreening module 101 includes an X-ray imaging module and an X-ray image analyzing module; wherein the content of the first and second substances,
the X-ray imaging module is used for emitting X-rays to the raw coal to be detected and generating an X-ray image of the raw coal to be detected;
the X-ray image analysis module is used for carrying out coal-gangue-impurity discrimination on the X-ray image of the raw coal to be detected based on a predetermined coal-gangue-impurity discrimination threshold value to obtain the first positioning information and the target information.
It should be noted that the X-ray detection is realized according to different absorption conditions of the coal or gangue on the rays, and has stronger anti-interference capability.
It should be noted that, before the coal gangue primary screening module 101 is used to screen coal gangue, a large amount of data of coal-gangue-impurity needs to be collected to establish an X-ray database, and three optimal thresholds for distinguishing coal, gangue and impurity are determined.
It can be understood that when the detection value obtained by the X-ray image analysis module is within any threshold range of coal, gangue and impurities, the class of the raw coal to be detected is judged to be the class corresponding to the threshold; when the detection value is not within the three threshold value ranges, it is described that the detection value corresponds to a target deviating from the set threshold value.
Specifically, when raw coal to be detected passes through the coal gangue primary screening module 101, firstly, the X-ray imaging module sends X-rays to the raw coal to be detected to generate an X-ray image of the raw coal to be detected, then, the X-ray image analysis module performs image data processing on the generated X-ray image of the raw coal to be detected to distinguish the gangue, the coal and targets deviating from a set threshold value, then, positioning information of the distinguished gangue and impurities is sent to the motion planning module 103, the gangue and the impurities are sorted out, and the positioning information of the distinguished targets deviating from the set threshold value is sent to the coal gangue checking module 102 to be screened again.
In the above embodiment, the detection raw coal is primarily screened by the X-ray imaging module and the X-ray image analysis module, so that coal, gangue and impurities can be distinguished to a great extent, the raw coal which fails to be detected by the gangue primary screening module 101 is subsequently screened again, and meanwhile, the positioning information of the gangue and the impurities can be timely generated and sent to the motion planning module 103, so that the gangue and the impurities can be rapidly sorted.
Optionally, the relative position between the X-ray imaging module and the raw coal to be detected and the X-ray emission intensity of the X-ray imaging module are adjusted according to the characteristic parameters of the raw coal to be detected.
It can be understood that the quality, thickness, volume and material of the coal and gangue have certain influence on the acquisition of the image during the X-ray detection, so the position of the ray imaging module and the X-ray emission intensity need to be adjusted according to the characteristic parameters of the raw coal to be detected.
In this embodiment, the characteristic parameters include, but are not limited to, volume parameters, material parameters, quality parameters, and thickness parameters.
In the above embodiment, the position and the X-ray intensity of the X-ray imaging module are adjusted according to the characteristic parameters of the raw coal to be detected, so that the screening precision of the coal gangue primary screening module is further improved, and coal-gangue-impurities can be largely distinguished in the coal gangue primary screening module.
Optionally, the coal gangue checking module 102 includes a multi-modal imaging module and a multi-modal image analysis module; wherein the content of the first and second substances,
the multi-modal imaging module comprises at least two of a visible light imaging module, an infrared imaging module and a depth imaging module and is used for generating a multi-modal image corresponding to the target deviating from the set threshold value according to the target information;
the multi-modal image analysis module is used for inputting the multi-modal images into a multi-modal coal gangue detection model to obtain multi-modal detection results, and fusing the multi-modal detection results to obtain second positioning information.
In one embodiment, the multi-modal processing information may be fused using a weight matrix.
Specifically, in the coal gangue checking module 102, a multi-mode imaging module is used to generate a multi-mode image for a target deviating from a set threshold value, which is obtained after the coal gangue is primarily screened by the coal gangue primary screening module 101, then the generated multi-mode image is input to a multi-mode coal gangue detection model of a multi-mode image analysis module to obtain a multi-mode detection result, the multi-mode detection result is fused, coal-gangue-impurities can be accurately distinguished, and then positioning information of the distinguished gangue and impurities is sent to the motion planning module 103 to sort the gangue and the impurities.
In the embodiment, the multi-mode imaging module and the multi-mode image analysis module are matched with each other, so that raw coal which fails to be detected by the coal gangue prescreening module can be screened again, the sorting precision of the coal gangue is improved, meanwhile, positioning information of gangue and impurities can be timely generated, and the positioning information is sent to the motion planning module, so that the gangue and the impurities which are judged by the coal gangue checking module can be quickly sorted out.
Optionally, the multi-modal coal gangue detection model is obtained by training according to a multi-modal image sample and an actual detection result corresponding to the multi-modal image sample.
The actual detection result refers to actual positioning information of gangue and impurities in the multi-modal image sample.
In one embodiment, the multi-modal coal gangue detection model may use a ShuffleNet and SGAN converged network.
In another embodiment, the multi-modal coal gangue detection model may use a Knowledge distribution and shuffle fusion network.
The multi-mode coal gangue detection model can detect and classify multi-mode images, output multi-mode information and obtain coal gangue check results by fusing the multi-mode information.
The embodiment of the invention does not specifically limit the structure and the training method of the multi-mode coal gangue detection model.
In the embodiment, the multi-mode images are detected and classified by using the multi-mode coal gangue detection model, so that coal, gangue and impurities can be distinguished quickly and efficiently, and the screening speed of the coal gangue sorting system is increased.
Optionally, the system further comprises a conveying system for conveying the raw coal to be detected through a belt;
the number and the angle of the imaging modules contained in the multi-modal imaging module are determined according to the width of the belt, the transmission speed of the belt and the characteristic parameters of the raw coal to be detected.
It can be understood that the quality, thickness, volume, material and other parameters of the raw coal to be detected, the speed and width of the belt transmission have certain influence on the acquisition of the multi-mode images, and further the accuracy of the screening result is influenced.
In the above embodiment, imaging module is rationally distributed and adjusted according to parameters such as belt width, belt transmission speed, coal gangue quality, etc., so that the accuracy of screening results is improved, and the intelligent detection equipment can better replace manual gangue selection.
Optionally, in a case that the multi-modality imaging module includes an infrared imaging module, the system further includes heating modules arranged on two sides of the belt, and the heating modules are used for heating raw coal corresponding to the target information.
It should be understood that when an infrared imaging module, such as an infrared camera, is used to capture an image, a corresponding heating device is required to rapidly heat the raw coal to be detected.
In one embodiment, the heating means may be radiant heating.
Optionally, the performing coordinated movement planning of the multiple robots according to the first positioning information and the second positioning information to control the multiple robots to sort out gangue and impurities through coordinated movement includes:
constructing a multi-mechanical-arm cooperative motion planning optimization model according to the first positioning information and the second positioning information;
solving the multi-mechanical arm collaborative motion planning optimization model by using a depth reinforcement learning algorithm to obtain a multi-mechanical arm collaborative motion planning result;
and sending a control instruction to each mechanical arm in the multiple mechanical arms according to the coordinated movement planning result of the multiple mechanical arms, wherein the control instruction is used for instructing each mechanical arm to carry out the action of sorting the gangue and the impurities.
In the embodiment, the motion planning module establishes an optimal mathematical model of a mechanical arm dynamic target grabbing problem by receiving positioning information of the coal gangue primary screening module and the coal gangue checking module, and introduces a deep reinforcement learning algorithm, so that the adaptability of multiple mechanical arms to a changeable environment, the rapidity of autonomous path planning and intelligent decision and the high efficiency of cooperative tasks of the multiple mechanical arms can be improved.
Fig. 2 is a second schematic structural diagram of the coal gangue sorting system based on multi-modal imaging analysis, as shown in fig. 2, including:
the system comprises an X-ray imaging module 1, an X-ray image analysis module 2, a visible light module 3, an infrared imaging module 4, a depth imaging module 5, a multi-modal image analysis module 6, a motion planning module 7 and a plurality of mechanical arms 8;
specifically, firstly, an X-ray imaging module 1 is used for emitting rays to raw coal to be detected and generating an X-ray image, then an X-ray image analysis module 2 is used for processing image data of the generated X-ray image, judging whether the raw coal to be detected is coal, gangue and impurities or targets deviating from a set threshold value, positioning information of the gangue and the impurities is used as first positioning information and is sent to a motion planning module 7, and the target information deviating from the set threshold value is sent to a gangue checking module; then, a visible light module 3, an infrared imaging module 4 and a depth imaging module 5 in the coal gangue checking module acquire images of targets deviating from a set threshold value, and respectively send the acquired images to a multi-modal image analysis module 6, the multi-modal image analysis module 6 inputs the multi-modal images to a multi-modal coal gangue detection model to obtain multi-modal detection results, the multi-modal detection results are fused, coal, gangue and impurities are further distinguished, and positioning information of the gangue and the impurities is sent to a motion planning module 7 as second positioning information; and then the motion planning module 7 sends a control instruction to each mechanical arm in the multiple mechanical arms 8 according to the first positioning information and the second positioning information, and then sorts the gangue and impurities corresponding to the positioning information.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A coal gangue sorting system based on multi-modal imaging analysis is characterized by comprising: the coal gangue primary screening module, the coal gangue checking module and the motion planning module are arranged in the coal gangue screening module; wherein the content of the first and second substances,
the coal gangue primary screening module is used for primarily screening coal gangue from raw coal to be detected to obtain first positioning information and target information, sending the first positioning information to the motion planning module, and sending the target information to the coal gangue checking module; the first positioning information is gangue and impurity positioning information determined by the gangue primary screening module, and the target information is positioning information of a target deviating from a set threshold value determined by the gangue primary screening module;
the coal gangue checking module is used for acquiring a multi-modal image according to the target information, inputting the multi-modal image to a multi-modal coal gangue detection model to check coal gangue to obtain second positioning information, and sending the second positioning information to the motion planning module; the second positioning information is gangue and impurity positioning information determined by the gangue checking module;
and the motion planning module is used for planning the coordinated motion of the multiple mechanical arms according to the first positioning information and the second positioning information so as to control the multiple mechanical arms to sort out gangue and impurities through the coordinated motion.
2. The multi-modal imaging analysis based coal gangue sorting system of claim 1, wherein the coal gangue prescreening module comprises an X-ray imaging module and an X-ray image analysis module; wherein the content of the first and second substances,
the X-ray imaging module is used for emitting X-rays to the raw coal to be detected and generating an X-ray image of the raw coal to be detected;
the X-ray image analysis module is used for carrying out coal-gangue-impurity discrimination on the X-ray image of the raw coal to be detected based on a predetermined coal-gangue-impurity discrimination threshold value to obtain the first positioning information and the target information.
3. The multi-modal imaging analysis based coal gangue sorting system according to claim 2, wherein the relative position between the X-ray imaging module and the raw coal to be detected and the X-ray emission intensity of the X-ray imaging module are adjusted according to the characteristic parameters of the raw coal to be detected.
4. The multi-modal imaging analysis based coal gangue sorting system of claim 1, wherein the coal gangue checking module comprises a multi-modal imaging module and a multi-modal image analysis module; wherein the content of the first and second substances,
the multi-modal imaging module comprises at least two of a visible light imaging module, an infrared imaging module and a depth imaging module and is used for generating a multi-modal image corresponding to the target deviating from the set threshold value according to the target information;
the multi-modal image analysis module is used for inputting the multi-modal images into a multi-modal coal gangue detection model to obtain multi-modal detection results, and fusing the multi-modal detection results to obtain second positioning information.
5. The coal gangue sorting system based on multi-modal imaging analysis as claimed in claim 4, wherein the multi-modal coal gangue detection model is trained based on multi-modal image samples and actual detection results corresponding to the multi-modal image samples.
6. The coal gangue sorting system based on multi-modal imaging analysis as claimed in claim 4, wherein the system further comprises a conveying system for conveying the raw coal to be detected by a belt;
the number and the angle of the imaging modules contained in the multi-modal imaging module are determined according to the width of the belt, the transmission speed of the belt and the characteristic parameters of the raw coal to be detected.
7. The coal gangue sorting system based on multi-modal imaging analysis according to claim 6, wherein in the case that the multi-modal imaging module comprises an infrared imaging module, the system further comprises heating modules arranged at two sides of the belt for heating raw coal corresponding to the target information.
8. The multi-modal imaging analysis based coal gangue sorting system according to claim 1, wherein the performing multi-robot collaborative motion planning according to the first positioning information and the second positioning information to control a plurality of robots to sort out gangue and impurities through collaborative motion comprises:
constructing a multi-mechanical-arm cooperative motion planning optimization model according to the first positioning information and the second positioning information;
solving the multi-mechanical-arm cooperative motion planning optimization model by using a depth reinforcement learning algorithm to obtain a multi-mechanical-arm cooperative motion planning result;
and sending a control instruction to each mechanical arm in the multiple mechanical arms according to the coordinated movement planning result of the multiple mechanical arms, wherein the control instruction is used for instructing each mechanical arm to carry out the action of sorting the gangue and the impurities.
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| CN114985305A (en) * | 2022-05-27 | 2022-09-02 | 安徽国祯生态科技有限公司 | Straw quality detection and classification system and method |
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