CN114519715B - Foam overflow amount detection method and device, electronic equipment and medium - Google Patents
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Abstract
The invention provides a method and a device for detecting foam overflow amount, electronic equipment and a medium, wherein the method comprises the following steps: continuously scanning the foam diversion trench through a laser to obtain a depth map of the foam diversion trench; dividing the depth map into a plurality of foam characteristic sub-maps, and extracting characteristic parameters based on the foam characteristic sub-maps; the foam overflow amount is calculated based on the characteristic parameters. The invention improves the problems of poor representativeness of concentrate foam overflow and unmeasurable foam flow.
Description
Technical Field
The invention relates to the technical field of mineral flotation, in particular to a method and a device for detecting foam overflow amount, electronic equipment and a medium.
Background
The flotation process is a process of enriching the selected elements by making simple substances or compounds of target elements have different hydrophile (lyophobic) properties in gas-liquid-solid three-phase flow under the action of flotation reagents. In the process, the flotation effect is directly influenced by the monomer dissociation degree of the ore, the action time and effect of the agent addition, the ore pulp concentration and the aeration amount in the flotation process, the target element grade and the physical and chemical property change of the ore. However, in the industrial production process, the parameters often belong to objects which are difficult to measure and control, and for the concentrate yield which is most directly controlled in the production process or in each flotation operation process, the constant operation concentrate yield can produce good mineral separation effect in most flotation processes, and the constant operation concentrate yield is also one of important control targets for flotation optimization control. In order to achieve the aim, detection methods such as flotation liquid level constant control, flotation surface foam flow rate constant control, flotation concentrate quantity constant control and the like are generally adopted at present, but the existing detection methods have the problems of poor representativeness of concentrate foam overflow and unpredictability of foam flow.
Disclosure of Invention
In view of the above, the present invention is directed to a method, an apparatus, an electronic device and a medium for detecting foam overflow amount, so as to solve the problems of poor representativeness of concentrate foam overflow and non-measurable foam flow.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for detecting an overflow amount of foam, including: continuously scanning the foam diversion trench through a laser to obtain a depth map of the foam diversion trench; dividing the depth map into a plurality of foam characteristic subgraphs, and extracting characteristic parameters based on the foam characteristic subgraphs; the foam overflow amount is calculated based on the characteristic parameters.
In one embodiment, the foam feature sub-graph comprises: two overflow area subgraphs, two flow guide area subgraphs and a confluence area subgraph; extracting characteristic parameters based on the foam characteristic subgraph, comprising the following steps: determining a mean value array and a pixel mean value corresponding to the overflow area subgraph; determining a first characteristic value and a first parameter by adopting a preset algorithm based on the mean value array; the first characteristic value is used for representing the overflow trend; determining a second characteristic value based on the pixel point mean value; wherein the second characteristic value is used for representing the height of the foam in the overflow area.
In one embodiment, extracting the feature parameters based on the foam feature subgraph further comprises: converting the pixel value of the overflow region subgraph based on the first characteristic value and the first parameter to obtain a conversion result; determining a third feature value based on the transformation result; wherein the third characteristic value is used for characterizing the size of the flotation froth.
In one embodiment, extracting the feature parameters based on the foam feature subgraph further comprises: splicing the flow guiding region subgraph and the confluence region subgraph to obtain a spliced image; determining a fourth characteristic parameter based on the spliced image and a pre-calibrated temporary scanning background image; wherein the fourth characteristic parameter is used to characterize the volume of the foam flowing out.
In one embodiment, extracting the feature parameters based on the foam feature subgraph further comprises: converting the confluence regional subgraph into a four-value graph based on a predetermined four-valued segmentation threshold; carrying out gray level co-occurrence matrix transformation on the four-value image to obtain a foam texture characteristic matrix; determining a fifth characteristic value based on the foam texture characteristic matrix; wherein the fifth characteristic value is used to characterize the froth weir flow rate.
In one embodiment, calculating the foam overflow based on the characteristic parameter comprises: the foam overflow was calculated according to the following formula:
wherein the content of the first and second substances,Wthe amount of the foam overflowing is shown,V（t) To representtThe volume of the foam that flows out at the moment,E（t) To representtThe flow rate of the foam overflow weir at the moment,a、kis a value of constant [, ]t 0,t 1]Indicating the start-stop time of each periodic overflow flow measurement.
In one embodiment, the method further comprises: when the foam diversion trench is in a vacant slot state, acquiring images of the foam diversion region and the foam confluence region as original background images; when the foam is in the foam overflow area, if the pixel points of the foam confluence area meet the preset conditions, the images of the foam diversion area and the foam confluence area are used as temporary scanning background images.
In a second aspect, an embodiment of the present invention provides a foam overflow amount detection apparatus, including: the device comprises a processing device and a laser which is arranged at the tail end of a foam diversion trench of the flotation machine and in front of and above a confluence trench; the laser is used for scanning the foam diversion trench; the processing device is used for detecting the foam overflow amount by adopting the steps of any one of the methods provided by the first aspect.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a processor and a memory, where the memory stores computer-executable instructions capable of being executed by the processor, and the processor executes the computer-executable instructions to implement the steps of any one of the methods provided in the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of any one of the methods provided in the first aspect.
The embodiment of the invention has the following beneficial effects:
according to the method, the device, the electronic equipment and the medium for detecting the overflow amount of the foam, provided by the embodiment of the invention, firstly, the foam diversion trench is continuously scanned through the laser to obtain a depth map of the foam diversion trench; then, dividing the depth map into a plurality of foam characteristic subgraphs, and extracting characteristic parameters based on the foam characteristic subgraphs; and finally, calculating the foam overflow amount based on the characteristic parameters. According to the method, the flotation froth outflow process is measured by using a laser line sweep, the depth maps of different areas of the froth guiding gutter are subjected to image analysis to extract characteristic parameters, the froth overflow amount of the froth area is calculated, and the concentrate froth amount in the overflow area is indirectly calculated, so that the problems of poor concentrate froth overflow representativeness and unmeasurable froth overflow amount are solved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for detecting foam overflow according to an embodiment of the present invention;
fig. 2 is an installation schematic diagram of a measuring device according to an embodiment of the present invention;
FIG. 3 is a schematic view of three foam channels according to an embodiment of the present invention;
figure 4 is a top view of a flotation machine (flotation column) according to an embodiment of the present invention;
FIG. 5 is a schematic view of a laser line scan area of a trapezoidal flow guide groove according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating calibration of a temporary scanning background according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a foam overflow amount detection device according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments 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 apparent 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.
At present, for the flotation process, various yield constant closed loops are developed in the field of automatic flotation control, and the more representative methods are as follows: the method comprises three detection control methods of constant control of flotation liquid level, constant control of flotation surface foam flow rate and constant control of flotation concentrate amount. The most difficult for the control system is the accuracy and representativeness of the detection. Firstly, aiming at a constant liquid level control method, because the flotation operation belongs to up-down communication operation, the thickness and the flow of a foam layer are greatly influenced by the changes of up-down flow and aeration quantity, the constant liquid level control cannot realize the production of the constant yield of the concentrate, and obvious periodic fluctuation occurs in the production process of the concentrate, thereby causing the continuous fluctuation of the operation yield. Secondly, for the constant flow rate control detection method through froth image detection, the biggest problem is that the froth image monitoring in the production monitoring process is a specific flotation overflow point, and in many cases, the froth flow rate of a single point cannot represent the yield condition of the whole flotation cell; particularly, the scraping condition of the foam cannot be detected by a foam image due to the periodic foam scraping of the scraper type flotation machine. Thirdly, the constant control of the concentrate quantity is realized by adding a concentration meter and a flowmeter in a flotation concentrate overflow pipe, and the yield of the flotation concentrate is reflected by a metering method. However, external factors such as ensuring full pulp pipe, preventing concentrate pipeline deposition, and keeping constant flushing water amount cannot be solved, and only limited operation is used for rough detection in the production process of a concentrating mill, so that yield metering cannot be realized. In a word, the existing detection method has the problems of harsh process conditions, lack of measurement means, poor measurement representativeness, no measurable foam flow and the like.
Based on this, the embodiment of the invention provides a foam overflow amount detection method, a foam overflow amount detection device, electronic equipment and a medium, so as to solve the problems that the concentrate foam overflow representativeness is poor and the foam flow is not measurable.
To facilitate understanding of the embodiment, a detailed description will be given to a foam overflow amount detection method disclosed in the embodiment of the present invention, which can be executed by an electronic device, such as a computer, a smart phone, and the like. Referring to the flowchart of a method for detecting the foam overflow amount shown in fig. 1, it is shown that the method mainly includes the following steps S101 to S103:
step S101: and continuously scanning the foam diversion trench through a laser to obtain a depth map of the foam diversion trench.
In one embodiment, referring to fig. 2, a line-scan laser (laser line-scan camera) can be added at the end of the froth guiding gutter of the flotation machine (column) and at a fixed height above the front of the confluence gutter, and the froth flow state of the overflow weir and the guiding gutter above the froth overflow gutter can be measured. Specifically, three foam guiding grooves with rectangular guiding grooves, trapezoidal guiding grooves and single-side guiding grooves can be adopted as shown in fig. 3, and no matter what type of guiding and converging manner is adopted, the method is to measure the foam in the flow direction collected by the foam collection and calculate the total amount of the foam.
In the selection process of the installation position and the installation mode of the on-line scanning laser, the tail end of the foam diversion trench is selected for installation in the embodiment, so that the measurement of the sampling point is more representative. Referring to the top view of the flotation machine (flotation column) shown in fig. 4, the direction of the arrows in the figure is the direction of froth flow. The measuring device (line scanning laser) can be arranged at the tail end of the flow guide area to form the position of the flow converging area, and meanwhile, the measuring device is additionally arranged at the front end of washing water to avoid the interference of the washing water so as to be positioned in the collecting area of flotation foam.
In this embodiment, taking the trapezoidal diversion trench as an example, referring to fig. 5, in a line frequency array obtained by a line scanning area of a laser, firstly, the leftmost side in the scanning area is set as a scanning starting point, and three different measurement areas, namely a foam overflow area, a foam diversion area and a foam confluence area, are sequentially set in a scanning result, and because the measurement areas are symmetrical left and right in the figure, the marks on the rear half part of the line scanning array are omitted. Wherein the foam overflow area measures the foam foaming condition in the flotation process; the foam flow guiding area is the condition that foam flows along the normal direction of the flow guiding groove in a non-vertical area; the foam confluence area represents an area where foam in the guide groove converges in the tangential direction, namely a state parameter of the foam flowing through the guide groove instantly. In a specific application, the laser carries out continuous scanning acquisition on the foam diversion trench area with a scanning period of 2ms, so thatt 0Is timed tot 1And continuously collecting for 3 seconds at intervals of 1 second at any moment, and realizing continuous measurement and characteristic parameter extraction. According to the above-mentioned acquisition cycle, a depth map of m × n can be obtained, where m =1500, and n is the number of pixel points scanned in a row, and n =2048 in the embodiment of the present invention.
Step S102: and segmenting the depth map into a plurality of foam characteristic subgraphs, and extracting characteristic parameters based on the foam characteristic subgraphs.
In one embodiment, the depth map of m × n may be divided into P1: m × 0, P2: m × 1, P3: m × 2, P4: m × 3, P5: and m X4 represent the foam characteristic sub-graphs of the foam overflow area X0, the foam flow guide area X1, the foam flow convergence area X2, the foam flow guide area X3 and the foam overflow area X4 in the figure 5 respectively, and extracting characteristic parameters of the foam characteristic sub-graphs, such as: parameter representing the height of the foam surface in the foam overflow areah、Parameters reflecting the size of the flotation frothSParameters representing the tendency of floodingβVolume of foam dischargedVFlow rate characteristic parameter of foam overflow weirEAnd so on.
Step S103: the foam overflow amount is calculated based on the characteristic parameters.
In one embodiment, the foam overflow can be calculated according to the following formula:
wherein the content of the first and second substances,Wthe amount of the foam overflowing is shown,V（t) To representtThe volume of the foam that flows out at the moment,E（t) To representtThe flow rate of the foam overflow weir at the moment,a、kis a value of constant [, ]t 0,t 1]Indicating the start-stop time of each periodic overflow flow measurement.
In the embodiment of the invention, when the formula is adopted to detect the foam overflow amount, the flow rate of the foam overflow amount cannot be directly measured, and the characteristic value needs to be obtainedEAn exponential logarithmic transformation was performed to characterize the foam flow rate. The formula expresses that the product of the volume and the flow speed of the foam passing through the laser in unit time is the foam overflow amount, namely the ore pulp amount in the foam diversion trench.
Further, an embodiment of the present invention further provides a calibration process for the above formula, which specifically includes: in the characteristic parameterVAndEthe sampling amount is measured when the sampling amount is stable, the ore pulp volume in unit time is selected as a calibration value, and no less than 5 groups of weighed ore pulp samples are generally recordedWhile recording the time of dayV、EValues are calibrated, parameterskUsually a constant between 0.5 and 2 can be chosen, and for simplicity of the calculation a step size of 0.1 pairs of parameters can be chosenkDiscretizing to obtain the final product of 0.5,0.6, …, 1.9 and 2.0kParameter sequence obtained by substituting the sampled actual value into the above formulaa,kThe least square solution of (1) is the expression of the foam overflow flow in the diversion area.
According to the foam overflow amount detection method provided by the embodiment of the invention, the flotation foam outflow process is measured by utilizing the line sweep of the laser, the characteristic parameters are extracted by carrying out image analysis on the depth maps of different areas of the foam diversion trench, the foam overflow amount of the foam area is calculated, and the concentrate foam amount in the overflow area is indirectly calculated, so that the problems of poor representativeness of concentrate foam overflow and immeasurable foam overflow amount are solved.
In one embodiment, the foam characterization sub-graph comprises: two overflow region subgraphs (see X0 and X4 shown in fig. 5), two flow guide region subgraphs (see X1 and X3 shown in fig. 5), and one confluence region subgraph (see X2 shown in fig. 5). When extracting the feature parameters based on the foam feature subgraph, the following methods can be adopted, including but not limited to:
(1) foam characteristic calculation of foam overflow area
Since the P1 is symmetrical to the P5 region, only the calculation method of the P1 portion is described, and the calculation method of the P5 portion is similar to that of the P1 portion. The method specifically comprises the following steps:
firstly, determining a mean value array and a pixel mean value corresponding to an overflow area subgraph.
In particular, if
That is, the pixel belongs to the overflow region sub-graph P1, there is a one-dimensional array Y as a mean value array representing the flow trend of the overflow foam to the foam in the overflow weir in the time period, wherein,
，
and (i, j) represents a pixel point.
Then, based on the mean value array, a preset algorithm is adopted to determine a first characteristic value and a first parameter; wherein the first characteristic value is used for representing the overflow trend.
Specifically, the sequence number and the mean value array can be selected according toYPerforming a linear least squares operation to obtain the following equation:
so that the first characteristic value can be solvedβAnd a first parameterα：
Wherein the parametersβThe absolute value of (a) represents the tendency of the foam to flow from the overflow region to the confluence region, and is a key characteristic parameter in the embodiment of the invention.
Finally, determining a second characteristic value based on the pixel point mean value; wherein the second characteristic value is used for representing the foam height of the overflow area.
Specifically, the second characteristic value, namely the overflow area foam height, can be calculated according to the following formulah：
Wherein the content of the first and second substances,
for all the pixel mean values in the P1 graph,His an actual measurement of the height of the edge of the weir in a static background.
Further, based on the first characteristic value and the first parameter, the pixel value of the overflow area subgraph is transformed to obtain a transformation result; determining a third feature value based on the transformation result; wherein the third characteristic value is used for characterizing the size of the flotation froth.
Specifically, any point in a designated row in the foam overflow area sub-pixel matrix is transformed according to the following formula based on the first eigenvalue and the first parameter:
thus, the third characteristic value, the total average fluctuation number, can be calculatedSThe method is used for expressing the fluctuation of the foam texture in the overflow area, namely, the size of the flotation foam, and the specific calculation formula is as follows:
wherein the texture fluctuation feature value is a value in the range of [0, X0/2], and the larger the feature vector is, the smaller the foam is.
(2) Foam diversion area and confluence area mixed calculation
In one embodiment, the flow guide region subgraph and the confluence region subgraph can be spliced to obtain a spliced image; then, determining a fourth characteristic parameter based on the spliced image and a pre-calibrated temporary scanning background image; wherein the fourth characteristic parameter is used to characterize the volume of the outgoing foam.
In specific application, three sub-graphs P2, P3 and P4 can be integrated into a new graph PTNew picture PTFor a depth picture of size (m × (X1+ X2+ X3)), the foam guiding groove interior can be calculated according to the following formulaIntegral volumeVAnd calculating a fourth characteristic value, wherein if the millimeter is taken as the detection precision, the volume unit is cubic millimeter.
Wherein the content of the first and second substances,X T and temporarily scanning a background image for calibration in advance.
(3) Foam confluence zone texture calculation
In one embodiment, the merge region sub-graph may be first converted into a four-valued graph based on a predetermined four-valued segmentation threshold; then carrying out gray level co-occurrence matrix transformation on the four-value image to obtain a foam texture characteristic matrix; finally, determining a fifth characteristic value based on the foam texture characteristic matrix; wherein the fifth characteristic value is used to characterize the froth weir flow rate.
In a specific application, the foam texture in the foam confluence area reflects the speed of foam flowing through the guide grooves in the confluence area, and the higher the flow speed, the finer the foam texture. In the diversion area, because foam downward flow interference exists in the trapezoidal diversion trench, image processing and analysis are performed by only adopting a confluence area sub-image P3 in the confluence area.
Since the confluence region map P3 is in a speed change process of acceleration or deceleration during the instantaneous sampling process, it needs to be subjected to local statistical variable threshold transformation, which is specifically as follows:
first, a variable threshold segmentation of the local sub-bands is determined, the merged sub-band P3 being variable in the m (column) direction, and a sliding window region of 50X 2 is set (the value 50 is selected mainly taking into account that the scanning frequency is 2ms, 50 pixels correspond to 100ms scanning pass time, and the 50X 2 region area is larger than the maximum foam area, with sufficient representativeness), then a four-valued segmentation threshold of this region is determinedT i Comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,
is the mean of the pixel values of the depth map,
variance, parameter, of value of sub-pixels for the confluence regiona1=0.8，a2=0.9，a3=0.95；b1=0.12，b2=0.3，b3=0.44。
Based on the four-value graph, the corresponding four-value graph of the confluence zone graph can be obtainedG：
Further, the above four-value graph is usedG(dimension m X2) to obtain 0 °, 45 °, 90 ° and 135 ° co-occurrence matrices. The 90 orientation of the selected co-occurrence matrix is more representative of the present application because the foam moves tangentially along the laser scan line. Thus, a 4-by-4 dimensional feature matrix may be obtainedMRepresenting the foam texture characteristics, namely the foam flow rate, and all the elements of the matrix satisfy the following conditions:
finally, a fourth-order gray level co-occurrence matrix of a confluence region graph P3 is obtainedMThen, the entropy of M is solvedEI.e., the fifth eigenvalue:
the fifth characteristic value indicates that when the foam flow rate is high, the more disordered the texture of the foam surface is, the more complicated the foam shadow caused by the fine foam is, so that the entropy of the constructed characteristic matrix is larger, and conversely, the entropy is smaller in a static state.
In summary, the laser line sweep is periodically obtainedThe scan feature vectors of (a) are all obtained, i.e.: parameter representing the height of the foam surface in the foam overflow areahParameters reflecting the size of the flotation frothSParameters representing the tendency to floodingβVolume of foam run-offVAnd froth overflow weir flow rate characteristicsE。
In the implementation of the invention, the obtained characteristic parameters can be used for solving the key problem that the foam overflow amount in the flotation process is not measurable in the open channel diversion trench, and meanwhile, the working condition diagnosis is carried out by combining the technological process, and the diagnosis process and the effect are as follows:
(1) when the temperature is higher than the set temperatureh<0, i.e. the foam layer is in the area C of FIG. 5, indicates that the foam layer is sunken, and the characteristic parameter is presentβMeaningless, when the sink state continues for a period of time and the volume of overflowVWhen the change does not exist, the bottom background in the diversion trench needs to be calibrated again; when the state of the sink tank is continuous, the flotation equipment needs to be operated to improve the liquid level or the aeration effect so as to ensure normal production.
(2) When the temperature is higher than the set temperaturehWhen the foam overflow state is more than or equal to 0, indicating that the foam overflow state is normal, and at the moment, the characteristic parameterβThe larger the acceleration characteristic of the foam flow, the better the overflow volumeVAnd will gradually increase.
(3) Parameter(s)WDirectly reflects the overflow amount of the concentrate in the single tank, therefore,Wcan be directly used for controlling the flotation yield.
(4) Parameter(s)βThe foam size in the flotation process is represented, and the decision-making function is played for adjusting the aeration quantity, the foaming agent or the liquid level in the control process.
(5) When volume of overflowVAbove a threshold value (which indicates that the overflow launder is about to be filled with froth and reaches a saturation state, i.e. the area of the shaded area A in FIG. 5 is close to the trapezoidal area), the overflow amount of the concentrate is increasedWThe parameters are invalid, the flotation equipment is in a saturated overflow state at the moment, the production is abnormal, and further flotation accidents such as overflowing and the like are caused.
In the embodiment of the present invention, after the measurement device is installed, the background information needs to be calibrated, which specifically includes:
(1) and when the foam diversion trench is in a hollow trench state, acquiring images of the foam diversion region and the foam confluence region as original background images.
In one embodiment, the state of the system when the slurry is not filled and bubbles are generated, namely the empty tank state, is firstly measured, only the trapezoids in the X1, X2 and X3 areas in the collection area shown in figure 5 are used as the original background, and the original background is used as background data
So that the number of line scan pixels
。
(2) When the foam is in the foam overflow area, if the pixel points of the foam confluence area meet the preset conditions, the images of the foam diversion area and the foam confluence area are used as temporary scanning background images.
In one embodiment, during sample collection, when the foam is in the region C shown in fig. 5 for a long time (i.e., when the foam is in the foam overflow region), the state of the foam flow guide region and the foam confluence region is recorded and set as the instantaneous zero point. The setting method comprises the following steps 1 to 2:
step 1: 99 percent of pixel points in the areas of the foam layers X0 and X4 are smaller than the height H-H of the overflow weir0And last for t seconds, the end time is recorded ast 0The moment of time.
Step 2: fromt 0Is timed tot 1At the moment, m frames of line scanning results are collected, and the area X2 totally contains s pixel points, if each frame of result meets the preset condition:
for any of the secondiAs a result of the frame line scan, the following expression exists, satisfying
The foam guiding area and the foam converging area are used as temporary scanning backgrounds
See fig. 6. The embodiment of the invention can select
，tIn the range of =10 seconds,t 0tot 1The duration was 3 seconds as the final verification parameter. The meaning of temporary scanning background is that when ore pulp sludge is deposited in the diversion trench, a temporary background area needs to be deducted from a calculation result to meet the requirement of continuous dynamic measurement.
According to the method provided by the embodiment of the invention, the scanning result of the line scanning laser is adopted to represent the foam overflow condition near the overflow weir in the flotation process, and data analysis is carried out according to the depth image formed by continuous scanning, so that the non-contact measurement has the characteristics of convenience in installation and maintenance and the like; secondly, the result measured by the method can reflect the size of the foam, the overflow quantity of the foam, the overflow trend of the foam and the flotation state of the flotation machine in the flotation process, so that a single device can detect key parameters in various flotation processes; the installation position is flexible, the most representative position in the flotation process can be selected for design, and the foam overflow state in the flotation process is reflected; finally, the uninterrupted zero point migration method is adopted, so that the problem of volume calculation distortion caused by the fact that the volume in the diversion trench is reduced due to mineral deposition can be prevented.
As to the foam overflow amount detection method provided in the foregoing embodiment, an embodiment of the present invention further provides a foam overflow amount detection device, referring to a schematic structural diagram of a foam overflow amount detection device shown in fig. 7, where the device may include the following parts: the device comprises a processing device 701 and a laser 702 which is arranged at the tail end of a foam diversion trench of the flotation machine and in the front upper part of a confluence trench; the laser 702 is used for scanning the foam guiding gutter; the processing device 701 is used for detecting the foam overflow amount by adopting the steps provided by the method embodiment.
According to the foam overflow amount detection device provided by the embodiment of the invention, the flotation foam outflow process is measured by utilizing line scanning of the laser, the characteristic parameters are extracted by carrying out image analysis on the depth maps of different areas of the foam diversion trench, the foam overflow amount of the foam area is calculated, and the concentrate foam amount in the overflow area is indirectly calculated, so that the problems of poor representativeness of concentrate foam overflow and immeasurable foam overflow amount are solved.
In one embodiment, the processing device 701 includes: the depth map acquisition module is used for continuously scanning the foam diversion trench through a laser to acquire a depth map of the foam diversion trench; the characteristic parameter extraction module is used for dividing the depth map into a plurality of foam characteristic subgraphs and extracting characteristic parameters based on the foam characteristic subgraphs; and the calculation module is used for calculating the foam overflow amount based on the characteristic parameters.
In one embodiment, the foam feature sub-graph comprises: two overflow area subgraphs, two guide area subgraphs and a confluence area subgraph; the characteristic parameter extraction module is further configured to: determining a mean value array and a pixel point mean value corresponding to the overflow area subgraph; determining a first characteristic value and a first parameter by adopting a preset algorithm based on the mean value array; the first characteristic value is used for representing the overflow trend; determining a second characteristic value based on the pixel point mean value; wherein the second characteristic value is used for representing the foam height of the overflow area.
In an embodiment, the feature parameter extracting module is further configured to: converting the pixel value of the overflow region subgraph based on the first characteristic value and the first parameter to obtain a conversion result; determining a third feature value based on the transformation result; wherein the third characteristic value is used for characterizing the size of the flotation froth.
In an embodiment, the feature parameter extraction module is further configured to: splicing the flow guide region subgraph and the confluence region subgraph to obtain a spliced image; determining a fourth characteristic parameter based on the spliced image and a pre-calibrated temporary scanning background image; wherein the fourth characteristic parameter is used to characterize the volume of the outgoing foam.
In an embodiment, the feature parameter extraction module is further configured to: converting the confluence regional subgraph into a four-value graph based on a predetermined four-valued segmentation threshold; carrying out gray level co-occurrence matrix transformation on the four-value image to obtain a foam texture characteristic matrix; determining a fifth characteristic value based on the foam texture characteristic matrix; wherein the fifth characteristic value is used to characterize the froth weir flow rate.
In one embodiment, the computing module is further configured to: the foam overflow was calculated according to the following formula:
wherein, the first and the second end of the pipe are connected with each other,Wthe amount of the overflowing foam is shown,V（t) RepresenttThe volume of foam that flows out at a moment,E（t) RepresenttThe flow rate of the foam overflow weir at the moment,a、kis a value of constant [, ]t 0,t 1]Indicating the start-stop time of each periodic overflow flow measurement.
In an embodiment, the apparatus further includes a background calibration module, configured to: when the foam diversion trench is in a vacant slot state, acquiring images of the foam diversion region and the foam confluence region as original background images; when the foam is in the foam overflow area, if the pixel points of the foam confluence area meet the preset conditions, the images of the foam diversion area and the foam confluence area are used as temporary scanning background images.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
It should be noted that the method for installing the device and the device installation, the specific values, and the like provided in the embodiment of the present invention are only exemplary, and may be different from the embodiment in specific applications, which is not limited herein.
The embodiment of the invention also provides the electronic equipment, which particularly comprises an electronic equipment processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the above embodiments.
Fig. 8 is a schematic structural diagram of an electronic device 100 according to an embodiment of the present invention, where the electronic device 100 includes: the system comprises a processor 80, a memory 81, a bus 82 and a communication interface 83, wherein the processor 80, the communication interface 83 and the memory 81 are connected through the bus 82; the processor 80 is arranged to execute executable modules, such as computer programs, stored in the memory 81.
The Memory 81 may include a Random Access Memory (RAM) and a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 83 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like may be used.
The memory 81 is used for storing a program, the processor 80 executes the program after receiving an execution instruction, and the method performed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 80, or implemented by the processor 80.
The processor 80 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by instructions in the form of hardware integrated logic circuits or software in the processor 80. The Processor 80 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 81, and the processor 80 reads the information in the memory 81 and performs the steps of the above method in combination with its hardware.
The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the foregoing method embodiment, which is not described herein again.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the following descriptions are only illustrative and not restrictive, and that the scope of the present invention is not limited to the above embodiments: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. A foam overflow amount detection method is characterized by comprising the following steps:
continuously scanning the foam diversion trench through a laser to obtain a depth map of the foam diversion trench;
segmenting the depth map into a plurality of foam characteristic sub-maps, and extracting characteristic parameters based on the foam characteristic sub-maps; wherein the foam feature subgraph comprises: two overflow area subgraphs, two guide area subgraphs and a confluence area subgraph;
calculating the foam overflow amount based on the characteristic parameters;
calculating the foam overflow amount based on the characteristic parameters, comprising: the foam overflow was calculated according to the following formula:
wherein the content of the first and second substances,Wthe amount of the foam overflowing is shown,V（t) RepresenttThe volume of the foam that flows out at the moment,E（t) To representtThe flow rate of the foam overflow weir at the moment,a、kis a value of constant [, ]t 0,t 1]Indicating the start and stop times of the overflow flow measurement per cycle.
2. The method of claim 1, wherein extracting feature parameters based on the foam feature subgraph comprises:
determining a mean value array and a pixel mean value corresponding to the overflow area subgraph;
determining a first characteristic value and a first parameter by adopting a preset algorithm based on the mean value array; wherein the first characteristic value is used for representing overflow tendency;
determining a second characteristic value based on the pixel point mean value; wherein the second characteristic value is used for representing the foam height of the overflow area.
3. The method of claim 2, wherein extracting feature parameters based on the froth feature subgraph further comprises:
based on the first characteristic value and the first parameter, converting the pixel value of the overflow area subgraph to obtain a conversion result;
determining a third feature value based on the transformation result; wherein the third characteristic value is used to characterize the size of the flotation froth.
4. The method of claim 2, wherein extracting feature parameters based on the froth feature subgraph further comprises:
splicing the flow guide region subgraph and the confluence region subgraph to obtain a spliced image;
determining a fourth characteristic parameter based on the spliced image and a pre-calibrated temporary scanning background image; wherein the fourth characteristic parameter is used to characterize the volume of the outgoing foam.
5. The method of claim 2, wherein extracting feature parameters based on the froth feature subgraph further comprises:
converting the confluence regional subgraph into a four-value graph based on a predetermined four-valued segmentation threshold;
carrying out gray level co-occurrence matrix transformation on the four-value image to obtain a foam texture characteristic matrix;
determining a fifth eigenvalue based on the foam texture eigenvalue matrix; wherein the fifth characteristic value is used to characterize a froth weir flow rate.
6. The method of claim 1, further comprising:
when the foam diversion trench is in a vacant slot state, acquiring images of the foam diversion region and the foam confluence region as original background images;
when the foam is in the foam overflow area, if the pixel points of the foam confluence area meet preset conditions, the images of the foam diversion area and the foam confluence area are used as temporary scanning background images.
7. A foam overflow volume detection device, characterized by comprising: the device comprises a processing device and a laser device which is arranged at the tail end of a foam diversion trench of the flotation machine and in front of and above a confluence trench;
the laser is used for scanning the foam diversion trench;
the processing device is used for detecting the foam overflow amount by adopting the steps of the method of any one of claims 1 to 6.
8. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to perform the steps of the method of any one of claims 1 to 6.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of the preceding claims 1 to 6.
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