CN114535063B - Underground coal gangue sorting integrated device based on artificial intelligent image recognition - Google Patents
Underground coal gangue sorting integrated device based on artificial intelligent image recognition Download PDFInfo
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- CN114535063B CN114535063B CN202210103632.5A CN202210103632A CN114535063B CN 114535063 B CN114535063 B CN 114535063B CN 202210103632 A CN202210103632 A CN 202210103632A CN 114535063 B CN114535063 B CN 114535063B
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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
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/28—Moving screens not otherwise provided for, e.g. swinging, reciprocating, rocking, tilting or wobbling screens
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/46—Constructional details of screens in general; Cleaning or heating of screens
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
- B07C5/16—Sorting according to weight
- B07C5/22—Sorting according to weight using a plurality of stationary weighing mechanisms
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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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Abstract
The invention discloses an underground coal gangue sorting integrated device based on artificial intelligent image recognition. The device mainly comprises a conveying device, a particle size sorting device and a coal gangue identification and separation device; the conveying device mainly comprises a conveying belt and is responsible for transferring coal materials in the device; the particle size sorting device mainly comprises screens with different apertures and is used for sorting coal materials with different particle sizes; the gangue identification and separation device mainly comprises a camera, a weighing device, an embedded computer and a controllable rotating baffle plate, and can accurately identify coal and gangue by image identification and weighing based on artificial intelligence, and then can knock down the gangue by the controllable rotating baffle plate, thereby achieving the aim of gangue separation. The device has simple structure, large processible grain diameter range and high sorting accuracy, and reduces labor cost; gangue is separated before the coal is discharged from the well, so that the well discharge amount of the gangue is effectively reduced.
Description
Technical Field
The invention relates to an underground coal gangue sorting integrated device based on artificial intelligent image recognition, and belongs to the technical field of coal mining.
Background
For a long time, in the practice of coal mine production, the waste rock removal of the extracted raw coal is mainly realized by conveying the waste rock carried by the raw coal to the ground and then washing and selecting the waste rock in a coal preparation plant. However, as production is continuously carried out, separated gangue is piled up on the ground to be called gangue hill, so that extra transportation and treatment cost of the gangue is brought, and the problems of occupation of the ground by a gangue discharge field, formation of ground environmental pollution and the like are caused. The waste rock in coal exploitation is not lifted, energy is saved, emission is reduced, and the cyclic utilization of the underground waste rock becomes a key scientific problem which needs to be overcome urgently. Therefore, the development and perfection of the underground separation technology are promoted, and the method is a necessary way for the future development of the coal industry.
Disclosure of Invention
The invention aims to provide an underground coal gangue separation integrated device based on artificial intelligent image recognition, which has the advantages of simple structure, convenient operation, strong reliability and good separation effect.
The invention provides an underground coal gangue sorting integrated device based on artificial intelligent image recognition, which comprises an iron shell, a conveying device, a particle size sorting device and a coal gangue recognition and separation device; the conveying device comprises a conveying belt and is responsible for transferring coal materials in the device; the particle size sorting device comprises screens with different apertures and is used for sorting coal materials with different particle sizes; the gangue identification and separation device comprises a camera, a weighing device, an embedded computer and a controllable rotating baffle plate, and can accurately identify coal and gangue through image identification and weighing based on artificial intelligence, and then can knock down the gangue through the controllable rotating baffle plate, so that the purpose of gangue sorting is achieved.
Further, the conveying device consists of a low-level conveying belt, a lifting conveying belt, a high-level conveying belt, an extra-large lump coal conveying belt, a medium lump coal conveying belt, a coal ash conveying belt, a gangue conveying belt, an iron chute and a fixed baffle; the lower conveyor belt in the conveying device is connected with the lifting conveyor belt and then connected with the upper conveyor belt;
the particle size sorting device consists of a shovel plate, a V-shaped groove, a large-aperture screen, a medium-aperture screen, a small-aperture screen, a ceramic chute and a screen support; the shovel plate can slide on the upper surface of the screen; the V-shaped groove is positioned at the edge of the lower side of the screen;
the large-aperture screen is positioned below the high-level conveyor belt, the medium-aperture screen is positioned below the large-aperture screen, the small-aperture screen is positioned below the medium-aperture screen, and the screens are all obliquely fixed on a screen support, and vibration is controlled by the screen support; the large-aperture screen and the V-shaped groove are connected with the ultra-large coal conveyor belt through the ceramic chute, and the medium-aperture screen and the small-aperture screen are respectively connected with the large-coal conveyor belt and the medium-coal conveyor belt in the same way; the screen mesh is inclined at the same time in a direction parallel to the rolling direction of the coal blocks and in a direction perpendicular to the rolling direction of the coal blocks, and the two directions are inclined by 10-20 degrees; the V-shaped grooves are obliquely arranged in combination with the screen, so that coal blocks larger than the aperture of the screen can flow onto the V-shaped grooves from the screen to roll down quickly, and the separation speed is increased.
The coal gangue sorting and identifying device consists of a camera, a controllable rotating baffle, a light supplementing lamp, a weighing device and an embedded computer; the embedded computer is connected with the camera, the light supplementing lamp, the weighing device and the controllable rotating baffle plate through cables;
a camera and a light supplementing lamp are fixed above the extra-large lump coal conveyor belt, the large lump coal conveyor belt and the medium lump coal conveyor belt, and the light supplementing lamp is closely adjacent to the camera; the extra-large lump coal conveyor belt, the large lump coal conveyor belt and the medium lump coal conveyor belt are provided with controllable rotating baffles; the weighing devices are arranged below the extra-large lump coal conveyor belt, the large lump coal conveyor belt and the medium lump coal conveyor belt;
the coal ash conveyor belt is positioned below the small-caliber screen; the gangue conveyor belt is positioned below the iron chute, and a fixed baffle plate is arranged on the gangue conveyor belt at the position corresponding to the iron chute; the cameras have self-cleaning functions;
the low-level conveyor belt, the coal ash conveyor belt and a part of the gangue conveyor belt are positioned outside the iron shell, and other parts are positioned inside the iron shell.
Furthermore, the lifting conveyor belt uses a belt with a large inclination angle, so that the device can lift coal in a smaller space;
primarily separating coal materials with different particle sizes by using a large-aperture screen, a medium-aperture screen and a small-aperture screen to improve the accuracy of image recognition and reduce the subsequent separation engineering quantity; the screens are obliquely arranged and are provided with screen supports with vibrating devices, and the matched shovel plate can shovel coal materials clamped on the screens so as to accelerate the separation speed of the coals with different particle sizes; the screen support is composed of an iron rod and a vibration motor which controls the vibration of the iron rod so as to vibrate the screen.
The pore sizes of the large pore size screen, the medium pore size screen and the small pore size screen are respectively 100mm, 50mm and 25mm, so that the coals on the extra-large lump coal conveyor belt, the large lump coal conveyor belt and the medium lump coal conveyor belt are respectively extra-large lump coal, large lump coal and medium lump coal; the coal on the coal ash conveyor belt is small lump coal, granular coal and pulverized coal.
Furthermore, the embedded computer can distinguish the coal and the gangue through the texture features of the coal and the gangue in the image obtained by the camera through the artificial intelligent training model, and can estimate the volume according to the sizes of the coal and the gangue in the image;
the embedded computer can adjust the rotating speeds of the extra-large lump coal conveyor belt, the large lump coal conveyor belt and the medium lump coal conveyor belt according to the density degree of coal and gangue blocks in the images obtained by the camera through an artificial intelligent training model.
The invention provides a method for separating underground coal gangue by adopting the device, which comprises the following steps:
a. lifting the coal to the position above the large-aperture screen by a low-position conveyor belt, a lifting conveyor belt and a high-position conveyor belt;
b. screening by using a large-aperture screen, a medium-aperture screen and a small-aperture screen according to the particle size of the coal;
c. the coal materials screened according to the particle size of the coal materials enter an oversized coal conveyor belt, a massive coal conveyor belt, a medium-sized coal conveyor belt and a coal ash conveyor belt through ceramic sliding grooves respectively for subsequent separation;
d. judging the coal and the gangue by weighting the result of identifying the texture features and the result of weighing and calculating the density based on the artificial intelligence image:
the densities of the coal and the gangue are calculated according to the weighing device and the estimated volume, and the differences of the coal and the gangue can be distinguished according to the differences of the densities. Then weighting the image recognition texture feature distinguishing result and the density distinguishing result as criteria for distinguishing coal and gangue;
the embedded computer intervenes the identification result manually in the initial stage of use, and trains the model while working, so that the identification accuracy is higher and higher;
e. the gangue is knocked down to the lowest gangue conveyor belt through the controllable rotating baffle plate to be carried out;
f. the extra-large lump coal, the large lump coal and the medium lump coal are respectively conveyed out through the extra-large lump coal conveying belt, the large lump coal conveying belt and the medium lump coal conveying belt, and the small lump coal, the granular coal and the pulverized coal are conveyed out through the coal ash conveying belt.
The invention has the beneficial effects that:
(1) The invention uses the structure of the multi-stage screen to make up for the defect that the recognition accuracy is reduced due to the too large difference of particle sizes in the artificial intelligent image recognition;
(2) According to the invention, the structure of the multi-stage screen is used for classifying the coal blocks according to the market, so that extra-large coal, medium coal and coal materials smaller than medium coal are separated, and the subsequent separation amount is reduced;
(3) The invention utilizes artificial intelligent image recognition to calculate the texture characteristics and the volume of the coal and the gangue at the same time, and the data of the comprehensive weighing device can obtain the density of the coal and the gangue. The weighting density and the image texture feature result in a more accurate result than the existing single recognition image texture feature result.
Drawings
FIG. 1 is a schematic diagram of an integrated device for separating coal and gangue in a well based on artificial intelligence image recognition.
In the figure: 1 a-a low conveyor belt; 1 b-lifting conveyor belt; 1 c-a high conveyor belt; 1d, an extra large lump coal conveyor belt; 1 e-a bulk coal conveyor belt; 1f, a medium lump coal conveyor belt; 1 g-coal ash conveyor belt; 1h, a gangue conveyor belt; 2-an iron shell; 3-a shovel plate; 4-V-shaped grooves; 5a, a large-aperture screen; 5 b-a medium pore size screen; 5c, a small-aperture screen; 6-a ceramic chute; 7-a video camera; 8-a controllable rotating baffle; 9-an iron chute; 10-a fixed baffle; 11-screen support; 12-a light supplementing lamp; 13-a weighing device; 14-an embedded computer.
Detailed Description
An embodiment of the present invention will be further described below with reference to the accompanying drawings, but is not limited to the following embodiments.
As shown in FIG. 1, the underground coal gangue sorting integrated device based on artificial intelligent image recognition comprises an iron shell, a conveying system, a particle size sorting system and a coal gangue recognition and separation system.
As shown in FIG. 1, the underground coal gangue sorting integrated device based on artificial intelligent image recognition comprises an iron shell, a conveying system, a particle size sorting system and a coal gangue recognition and separation system.
The conveying system consists of a low-level conveying belt 1a, a lifting conveying belt 1b, a high-level conveying belt 1c, an extra-large lump coal conveying belt 1d, a large lump coal conveying belt 1e, a medium lump coal conveying belt 1f, a coal ash conveying belt 1g, a gangue conveying belt 1h, an iron chute 9 and a fixed baffle 10;
the particle size sorting system consists of a shovel plate 3, a V-shaped groove 4, a large-aperture screen 5a, a medium-aperture screen 5b, a small-aperture screen 5c, a ceramic chute 6 and a screen support 11;
the gangue sorting and identifying system consists of a camera 7, a controllable rotating baffle plate 8, a light supplementing lamp 12, a weighing device 13 and an embedded computer 14;
the lower conveyor belt 1a and the lifting conveyor belt 1b in the conveying system are connected and then connected with the upper conveyor belt 1 c;
the large-aperture screen 5a is positioned below the high-level conveyor belt 1c, the medium-aperture screen 5b is positioned below the large-aperture screen 5a, the small-aperture screen 5c is positioned below the medium-aperture screen 5b, and the screens are all obliquely fixed on the screen support 11, and vibration is controlled by the screen support 11;
the shovel 3 can slide on the upper surfaces of the screens 5a-5 c; the V-shaped groove 4 is positioned at the edge of the lower side of the screen 5; the screen mesh is inclined at the same time in a direction parallel to the rolling direction of the coal blocks and in a direction perpendicular to the rolling direction of the coal blocks, and the two directions are inclined by 10-20 degrees; the V-shaped grooves are obliquely arranged in combination with the screen, so that coal blocks larger than the aperture of the screen can flow onto the V-shaped grooves from the screen to roll down quickly, and the separation speed is increased.
The large-aperture screen 5a and a V-shaped groove 4 are connected with the extra-large lump coal conveyor belt 1d through a ceramic chute 6, and the medium-aperture screen 5b and the small-aperture screen 5c are respectively connected with the large lump coal conveyor belt 1e and the medium lump coal conveyor belt 1f in the same manner;
a camera 7 and a light supplementing lamp 12 are fixed above the extra-large lump coal conveyor belt 1d, the large lump coal conveyor belt 1e and the medium lump coal conveyor belt 1f, and the light supplementing lamp 12 is closely adjacent to the camera 7;
the extra-large lump coal conveyor belt 1d, the large lump coal conveyor belt 1e and the medium lump coal conveyor belt 1f are provided with a controllable rotating baffle plate 8;
the weighing devices 13 are arranged below the extra-large lump coal conveyor belt 1d, the large lump coal conveyor belt 1e and the medium lump coal conveyor belt 1 f;
the embedded computer 14 is connected with the camera 7, the light supplementing lamp 12, the weighing device 13 and the controllable rotating baffle 8 through cables;
the coal ash conveyor belt 1g is positioned below the small-caliber screen 5 c; the gangue conveyor belt 1h is positioned below the iron chute 9 and is provided with a fixed baffle 10; the cameras 7 have self-cleaning functions;
the housing 2 covers the whole device except for part of the conveyor system. Except for a part of the low-level conveyor belt 1a, the coal ash conveyor belt 1g and the gangue conveyor belt 1h, the other parts are all positioned in the iron shell 2.
Further, the lifting conveyor 1b uses a large-inclination belt, so that the device can lift coal in a small space.
The large-aperture screen 5a, the medium-aperture screen 5b and the small-aperture screen 5c are used for primarily sorting coal materials with different particle sizes, so that the accuracy of image recognition is improved, and the subsequent sorting engineering quantity is reduced; the screens are obliquely arranged and are provided with screen supports with vibrating devices, and the matched shovel plate 3 can shovel off coal materials clamped on the screens so as to accelerate the separation speed of the coals with different particle sizes; the screen support is composed of an iron rod and a vibration motor which controls the vibration of the iron rod so as to vibrate the screen.
The pore sizes of the large pore size screen 5a, the medium pore size screen 5b and the small pore size screen 5c are respectively 100mm, 50mm and 25mm, so that the coals on the extra-large lump coal conveyor belt 1d, the large lump coal conveyor belt 1e and the medium lump coal conveyor belt 1f are respectively extra-large lump coal, large lump coal and medium lump coal; the coal on the coal ash conveyor belt 1g is small lump coal, granular coal and pulverized coal.
The embedded computer 14 can distinguish the coal and the gangue through the texture characteristics of the coal and the gangue in the image obtained by the camera 7 through an artificial intelligent training model, and can estimate the volume according to the sizes of the coal and the gangue in the image;
the embedded computer 14 can adjust the rotating speeds of the extra-large lump coal conveyor belt 1d, the large lump coal conveyor belt 1e and the medium lump coal conveyor belt 1f according to the density degree of coal and gangue blocks in the images obtained by the camera 7 through an artificial intelligence training model.
As shown in the figure, the residual coal compound mining three-dimensional similarity simulation experiment method comprises the following steps:
a. lifting the coal to the position above the large-aperture screen 5a by a low-level conveyor belt 1a, a lifting conveyor belt 1b and a high-level conveyor belt 1 c;
b. screening by using a large-aperture screen 5a, a medium-aperture screen 5b and a small-aperture screen 5c according to the particle size of the coal;
c. the coal materials screened according to the particle size of the coal materials enter an extra-large lump coal conveyor belt 1d, a large lump coal conveyor belt 1e, a medium lump coal conveyor belt 1f and a coal ash conveyor belt 1g through a ceramic chute 6 respectively for subsequent sorting;
d. judging the coal and the gangue by weighting the result of identifying the texture features and the result of weighing and calculating the density based on the artificial intelligence image: the densities of the coal and the gangue are calculated according to the weighing device and the estimated volume, and the differences of the coal and the gangue can be distinguished according to the differences of the densities; the weighted image identification texture feature distinguishing result and the density distinguishing result are used as criteria for distinguishing coal and gangue; the embedded computer intervenes the identification result manually in the initial stage of use, and trains the model while working, so that the identification accuracy is higher and higher;
let the weight formula be a=k×s+ (1-k) ×m;
s is the result of identifying texture features by the image, and the value of s is 0 to 100;
m is the result of weighing and calculating the density, and the value of m is 0 to 100;
k is the weight occupied by image recognition, and the value is 0 to 1;
a is a criterion of coal gangue separation;
when a > =50, the block is considered to be coal;
the block is considered gangue when a < 50.
e. The gangue is knocked down to the lowest gangue conveyor belt 1h through the controllable rotating baffle plate 8 to be carried out;
f. the extra-large lump coal, the large lump coal and the medium lump coal are respectively transported out through the extra-large lump coal conveyor belt 1d, the large lump coal conveyor belt 1e and the medium lump coal conveyor belt 1f, and the small lump coal, the granular coal and the pulverized coal are transported out through the coal ash conveyor belt 1 g.
Claims (7)
1. Underground coal gangue sorting integrated device based on artificial intelligent image recognition is characterized in that: comprises an iron shell, a conveying device, a particle size sorting device and a coal gangue identification and separation device; the conveying device comprises a conveying belt and is responsible for transferring coal materials in the device; the particle size sorting device comprises screens with different apertures and is used for sorting coal materials with different particle sizes; the coal gangue identification and separation device comprises a camera, a weighing device, an embedded computer and a controllable rotating baffle plate, and the purpose of coal gangue sorting is achieved by accurately identifying coal and gangue through image identification and weighing based on artificial intelligence and then knocking down the gangue through the controllable rotating baffle plate;
the conveying device consists of a low-level conveying belt (1 a), a lifting conveying belt (1 b), a high-level conveying belt (1 c), an extra-large lump coal conveying belt (1 d), a large lump coal conveying belt (1 e), a medium lump coal conveying belt (1 f), a coal ash conveying belt (1 g), a gangue conveying belt (1 h), an iron chute (9) and a fixed baffle (10);
the particle size sorting device consists of a shovel plate (3), a V-shaped groove (4), a large-aperture screen (5 a), a medium-aperture screen (5 b), a small-aperture screen (5 c), a ceramic chute (6) and a screen support (11); the shovel plate (3) can slide on the upper surface of the screen; the V-shaped groove (4) is positioned at the edge of the lower side of the screen (5);
the large-aperture screen (5 a) is positioned below the high-position conveyor belt (1 c), the medium-aperture screen (5 b) is positioned below the large-aperture screen (5 a), the small-aperture screen (5 c) is positioned below the medium-aperture screen (5 b), the screens are all obliquely fixed on the screen support (11), and vibration is controlled by the screen support (11); the large-aperture screen (5 a) and the V-shaped groove (4) are connected with the ultra-large lump coal conveyor belt (1 d) through the ceramic chute (6), and the medium-aperture screen (5 b) and the small-aperture screen (5 c) are respectively connected with the large lump coal conveyor belt (1 e) and the medium lump coal conveyor belt (1 f) in the same manner;
the coal gangue sorting and identifying device consists of a camera (7), a controllable rotating baffle (8), a light supplementing lamp (12), a weighing device (13) and an embedded computer (14); the embedded computer (14) is connected with the camera (7), the light supplementing lamp (12), the weighing device (13) and the controllable rotating baffle (8) through cables;
the lower conveyor belt (1 a) in the conveying device is connected with the lifting conveyor belt (1 b) and then connected with the upper conveyor belt (1 c); a camera (7) and a light supplementing lamp (12) are fixed above the extra-large lump coal conveyor belt (1 d), the large lump coal conveyor belt (1 e) and the medium lump coal conveyor belt (1 f), and the light supplementing lamp (12) is closely adjacent to the camera (7); the extra-large lump coal conveyor belt (1 d), the large lump coal conveyor belt (1 e) and the medium lump coal conveyor belt (1 f) are provided with a controllable rotating baffle (8); the weighing devices (13) are arranged below the extra-large lump coal conveyor belt (1 d), the large lump coal conveyor belt (1 e) and the medium lump coal conveyor belt (1 f);
the coal ash conveyor belt (1 g) is positioned below the small-caliber screen (5 c); the gangue conveyor belt (1 h) is positioned below the iron chute (9), and a fixed baffle (10) is arranged on the gangue conveyor belt at the position corresponding to the iron chute; the cameras (7) have self-cleaning functions;
part of the low-level conveyor belt (1 a), the coal ash conveyor belt (1 g) and the gangue conveyor belt (1 h) is positioned outside the iron shell, and other parts are positioned in the iron shell (2);
judging the coal and the gangue by weighting the result of identifying the texture features and the result of weighing and calculating the density based on the artificial intelligence image: calculating the density of the coal and the gangue according to the weighing device and the estimated volume, and distinguishing the difference of the coal and the gangue according to the difference of the density; the weighted image identification texture feature distinguishing result and the density distinguishing result are used as criteria for distinguishing coal and gangue; the embedded computer intervenes the identification result manually in the initial stage of use, and trains the model while working, so that the identification accuracy is higher and higher;
let the weight formula be a=k×s+ (1-k) ×m;
s is the result of identifying texture features by the image, and the value of s is 0 to 100;
m is the result of weighing and calculating the density, and the value of m is 0 to 100;
k is the weight occupied by image recognition, and the value is 0 to 1;
a is a criterion of coal gangue separation;
when a > =50, the block is considered to be coal;
the block is considered gangue when a < 50.
2. The underground coal gangue sorting integrated device based on artificial intelligence image recognition according to claim 1, wherein: the lifting conveyor belt (1 b) uses a belt with a large inclination angle, so that the device can lift coal in a small space.
3. The underground coal gangue sorting integrated device based on artificial intelligence image recognition according to claim 1, wherein: the large-aperture screen (5 a), the medium-aperture screen (5 b) and the small-aperture screen (5 c) are used for primarily separating coal materials with different particle sizes, so that the accuracy of image identification is improved, and the subsequent separation engineering quantity is reduced; the screens are obliquely arranged and are provided with screen supports with vibrating devices, and the matched shovel plate (3) can shovel coal materials clamped on the screens so as to accelerate the sorting speed of the coals with different particle sizes;
the pore sizes of the large pore size screen (5 a), the medium pore size screen (5 b) and the small pore size screen (5 c) are respectively 100mm, 50mm and 25mm, so that the coals on the extra-large lump coal conveyor belt (1 d), the large lump coal conveyor belt (1 e) and the medium lump coal conveyor belt (1 f) are respectively extra-large lump coal, large lump coal and medium lump coal; the coal on the coal ash conveyor belt (1 g) is small-sized coal, granular coal and pulverized coal.
4. The underground coal gangue sorting integrated device based on artificial intelligence image recognition according to claim 3, wherein: the screen mesh is inclined at the same time in a direction parallel to the rolling direction of the coal blocks and in a direction perpendicular to the rolling direction of the coal blocks, and the two directions are inclined by 10-20 degrees; the V-shaped grooves are obliquely arranged in combination with the screen, so that coal blocks larger than the aperture of the screen can flow onto the V-shaped grooves from the screen to roll down quickly, and the separation speed is increased.
5. The underground coal gangue sorting integrated device based on artificial intelligence image recognition according to claim 3, wherein: the screen support is composed of an iron rod and a vibration motor which controls the vibration of the iron rod so as to vibrate the screen.
6. The underground coal gangue sorting integrated device based on artificial intelligence image recognition according to claim 1, wherein:
the embedded computer (14) can distinguish the coal and the gangue through the texture characteristics of the coal and the gangue in the image obtained by the camera (7) through an artificial intelligent training model, and can estimate the volume according to the sizes of the coal and the gangue in the image;
the embedded computer (14) can adjust the rotating speeds of the extra-large lump coal conveyor belt (1 d), the large lump coal conveyor belt (1 e) and the medium lump coal conveyor belt (1 f) according to the density degree of coal and gangue blocks in the images obtained by the camera (7) through an artificial intelligent training model.
7. An artificial intelligent image recognition-based underground coal gangue sorting method adopting the artificial intelligent image recognition-based underground coal gangue sorting integrated device as claimed in any one of claims 1 to 6, characterized by comprising the following steps:
a. lifting the coal to the position above a large-aperture screen (5 a) by a low-position conveyor belt (1 a), a lifting conveyor belt (1 b) and a high-position conveyor belt (1 c);
b. screening by using a large-aperture screen (5 a), a medium-aperture screen (5 b) and a small-aperture screen (5 c) according to the particle size of the coal;
c. the coal materials screened according to the particle size of the coal materials enter an extra-large lump coal conveyor belt (1 d), a large lump coal conveyor belt (1 e), a medium lump coal conveyor belt (1 f) and a coal ash conveyor belt (1 g) respectively through a ceramic chute (6) for subsequent separation;
d. judging the coal and the gangue by weighting the result of identifying the texture features and the result of weighing and calculating the density based on the artificial intelligence image:
calculating the density of the coal and the gangue according to the weighing device (13) and the estimated volume, and distinguishing the difference of the coal and the gangue according to the difference of the density; the weighted image identification texture feature distinguishing result and the density distinguishing result are used as criteria for distinguishing coal and gangue; the embedded computer (14) intervenes the identification result by the human in the initial stage of use, trains the model while working, so that the identification accuracy is higher and higher;
e. the gangue is knocked down to the lowest gangue conveyor belt (1 h) through the controllable rotating baffle plate (8) to be transported out;
f. the extra large lump coal, the large lump coal and the medium lump coal are respectively conveyed out through an extra large lump coal conveying belt (1 d), a large lump coal conveying belt (1 e) and a medium lump coal conveying belt (1 f), and the small lump coal, the granular coal and the pulverized coal are conveyed out through a coal ash conveying belt (1 g).
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