CN117181632A - Underground continuous transportation coal gangue sorting device and method - Google Patents

Abstract

The invention belongs to the technical field of coal mine underground gangue separation, and relates to a coal gangue sorting device and method for underground continuous transportation, which are suitable for exploiting thick coal seams with gangue interlayers. When the coal gangue is sorted, the invention adopts the omnidirectional camera to monitor, and enlarges the coal flow and slows down the transportation speed through the flow expansion belt sorting system, thereby improving the recognition precision; the sorting track can continuously and efficiently sort the gangue, so that the sorting efficiency is improved; the method does not need to control the coal flow by slowing down the production speed, and does not influence the normal production under the well and the transportation of coal materials. Because the design of the invention is based on the underground coal transportation system, all devices are additionally arranged on the basis of the original transportation system, and the modification is convenient and quick; the invention has low input economic cost, can quickly, efficiently and accurately identify and sort the coal and the gangue in the rapid movement on the premise of not influencing the normal production of the coal mine, has good sorting effect, does not reduce the normal transportation speed of the coal, has good practicability and is worthy of popularization.

Description

Underground continuous transportation coal gangue sorting device and method

Technical Field

The invention belongs to the technical field of coal mine underground gangue separation, and particularly relates to a coal gangue separation device and method for underground continuous transportation.

Background

Coal is ballast stone for safe and stable supply of energy in China, the yield and reserve of thick coal beds in China are about 45%, and the coal is a main coal bed for realizing high yield and high efficiency by coal resources in China. One or more layers of gangue often exist in thick coal seams, resulting in a rapid increase in the gangue content in the coal stream produced when the seam is mined.

The existing underground transportation system for thick coal seam mining comprises a scraper conveyor positioned at one side of a coal mining machine, wherein a reversed loader is arranged at the tail end of the scraper conveyor, a crusher is arranged at one side of the reversed loader, and an adhesive tape conveyor is arranged at the lower side of the crusher. In actual use, the transport flow of the downhole transport system is as follows: the coal mining machine extracts the mixed materials of coal and gangue on a working face, the mixed materials fall on a scraper conveyor in front of the coal mining machine, the mixed materials are transported to a reversed loader in a crossheading through the scraper conveyor, the reversed loader conveys the mixed materials to a crusher to crush the mixed materials, the crushed mixed materials fall to a rubber belt conveyor, and the crushed mixed materials are conveyed to the ground for sorting through a conveying roadway.

After the gangue is transported to the ground and separated, the gangue is often treated in a form of pile up of the gangue, a large amount of land is occupied, atmospheric and water pollution is caused, spontaneous combustion and explosion risks exist, and a large amount of energy sources are consumed for transporting the gangue.

In order to realize that the gangue does not rise, continuous gangue separation is an effective method in the underground transportation stage, but because the coal flow extracted from the underground thick coal seam has the characteristics of large quantity and high speed, how to rapidly, efficiently and accurately identify and separate the coal and the gangue in rapid movement on the premise of low cost input without reducing the normal transportation speed of the coal is a technical problem which needs to be solved in the current stage.

Disclosure of Invention

In view of the above, the invention provides a coal gangue sorting device and method for underground continuous transportation, based on an underground coal transportation system, all devices are additionally arranged on the basis of the original transportation system, a second image acquisition assembly, a first image acquisition assembly and a sound acquisition assembly are adopted for monitoring, and a slow flow expansion conveying assembly, a path selection assembly, a queuing device and a sorting device are combined to form a flow expansion belt sorting system, so that the coal flow is expanded, the transportation speed is slowed down, the input economic cost is low, the coal and gangue in rapid movement can be rapidly, efficiently and accurately identified and sorted on the premise that the normal production of a coal mine is not influenced, the sorting effect is good, the normal transportation speed of the coal is not reduced, and the practicability is good, and the popularization is worth.

The technical scheme of the invention is as follows:

the utility model provides a coal gangue sorting unit of continuous transportation in pit, includes scraper conveyor, scraper conveyor's end is provided with the reversed loader, one side of reversed loader is provided with the breaker, and the downside of breaker is provided with the rubber belt conveyer, still includes:

the metal supporting plate is arranged at the lower side of the outlet of the crusher, the metal supporting plate is positioned at one end of the rubber belt conveyor, one side of the metal supporting plate is provided with a sound acquisition assembly, and the crusher is provided with a first image acquisition assembly;

a first bracket is arranged above the belt conveyor, a slow flow expansion transmission component is arranged on the first bracket, the width of the slow flow expansion transmission component is larger than that of the belt conveyor, and a path selection component is arranged between one end of the slow flow expansion transmission component and the belt conveyor;

the other end of the slow flow expansion conveying component is provided with a queuing device and a sorting device for sorting coal and gangue, and the sorting device is provided with a coal outlet and a gangue outlet; one side of the rubber belt conveyor is provided with a gangue transferring and conveying assembly, one end of the gangue transferring and conveying assembly is positioned at the lower side of a gangue outlet of the sorting device, and a coal outlet of the sorting device is positioned at the upper side of the rubber belt conveyor;

the upper side frame of the slow flow expansion transmission assembly is provided with a second image acquisition assembly, and the second image acquisition assembly, the first image acquisition assembly, the sound acquisition assembly, the sorting device and the path selection assembly are all connected with the information processing device.

Preferably, the path selection assembly comprises a transfer assembly arranged at one side of the slow flow expansion transmission assembly, the transfer assembly is close to the crusher, an angle adjusting device is arranged between the transfer assembly and the adhesive tape conveyor and used for adjusting an included angle between the transfer assembly and the adhesive tape conveyor, and one end of the transfer assembly away from the slow flow expansion transmission assembly is further provided with a flow expansion shovel plate.

Preferably, the transferring and conveying assembly comprises a support II, a driving assembly, a first rotating shaft and a second rotating shaft are arranged on the support II, central axes of the first rotating shaft and the second rotating shaft are parallel and are arranged at intervals, one end of the first rotating shaft is connected with a driving assembly used for driving the first rotating shaft to rotate, a first roller wheel is sleeved and fixed on the first rotating shaft, a second roller wheel is sleeved and fixed on the second rotating shaft, and a conveying belt is wound on the second roller wheel and the first roller wheel.

Preferably, the angle adjusting device comprises two parallel first supporting beams arranged at intervals, one ends of the two first supporting beams are hinged to a pair of opposite sides of the first support, the other ends of the first supporting beams are fixed to a pair of opposite sides of the second support, a second supporting beam is arranged on the first support, the second supporting beams are horizontally arranged and one ends of the second supporting beams are fixedly connected with the first support, two synchronous driving hydraulic cylinders are arranged at the other ends of the second supporting beams, one ends of the hydraulic cylinders are fixedly connected with the second supporting beams, and the other ends of the hydraulic cylinders are hinged to the first supporting beams.

Preferably, the flow expansion shovel plate comprises a first plate body, one end of the first plate body is as wide as the adhesive tape conveyor, the other end of the first plate body is as wide as the conveyor belt of the transfer conveying assembly, two ends of the conveyor belt are respectively fixed with a connecting rod, the connecting rods are fixed with a second bracket, a flow guide structure for uniformly distributing materials is arranged on the first plate body, the flow guide structure comprises a plurality of groups of separation assemblies arranged on the first plate body, the groups of separation assemblies are arranged at intervals and radially along the direction from the adhesive tape conveyor to the transfer conveying assembly, each group of separation assemblies comprises a plurality of flow separation sheets, and the flow separation sheets are arranged at intervals in sequence.

Preferably, the sorting device comprises a queuing device erected on the first bracket, the queuing device is positioned at the discharge end of the slow flow expansion transmission component, a plurality of sorting tracks arranged side by side are further arranged at the lower side of the discharge end of the slow flow expansion transmission component, the sorting tracks are obliquely arranged, one end far away from the slow flow expansion transmission component is lower than one end close to the slow flow expansion transmission component to form the discharge end, a leak convenient for materials to fall is formed at the discharge end of the sorting tracks, a gangue transfer channel fixed with the first bracket is arranged at the lower side of the leak, a gangue outlet is formed at one end of the gangue transfer channel, which is obliquely arranged, a screening component is arranged at one side of the leak, and the screening component is connected with the information processing device and is used for controlling the opening and closing of the leak; one side of the sorting track is provided with a collecting device, the collecting device is positioned in the discharging direction of the sorting track, and the outlet of the collecting device forms a coal outlet.

Preferably, the queuing device comprises a gate-shaped frame, the gate-shaped frame comprises a first rod, a second rod and a third rod which are sequentially and vertically fixedly connected from beginning to end, the first rod and the third rod are respectively and fixedly connected with the support, a plurality of partition plates are uniformly distributed on the second rod, the discharge ends of the slow flow expansion transmission components are divided into a plurality of discharge channels by partition plate interval arrangement, the slow flow expansion transmission components are provided with transmission belts, and a gap is arranged between one end, close to the transmission belts of the slow flow expansion transmission components, of each partition plate.

Preferably, the screening assembly comprises a steering engine fixed on the first bracket, the steering engine is connected with the information processing device, and the output shaft of the steering engine is connected with a sorting baffle plate, so that when the steering engine rotates, the sorting baffle plate is driven to realize vertical-horizontal conversion, and the leakage opening is opened and closed.

The method for sorting by using the underground continuous transportation gangue sorting device comprises the following steps:

the method comprises the steps that coal materials enter a crusher, the crushed coal materials fall onto a metal supporting plate through a discharge hole, a first image acquisition component starts to acquire image information I and transmits the acquired image information I to an information processing device, and meanwhile, a sound acquisition component acquires sound information of impact of the coal materials on the metal supporting plate and the metal supporting plate in real time and transmits the acquired sound information to the information processing device;

the information processing device processes the collected sound information and the image information to obtain a gangue mixing rate, compares the gangue mixing rate with a set threshold value, and if the gangue mixing rate is lower than the threshold value, the angle adjusting device does not act, and the coal flow is continuously transported to the ground through the rubber belt conveyor; if the gangue mixing rate is higher than the threshold value, the information processing device sends a control instruction to the angle adjusting device, the angle adjusting device is controlled to move down the transfer conveying assembly and the flow expanding shovel plate, so that the flow expanding shovel plate is contacted with the rubber belt conveyor, and coal flows sequentially enter the slow flow expanding conveying assembly through the flow expanding shovel plate and the transfer conveying assembly;

when the coal flow enters the slow flow expansion transmission assembly, the second image acquisition assembly starts to acquire image information II and transmits the acquired image information II to the information processing device, and the information processing device processes the acquired image information II to acquire a recognition result of coal and gangue; when the coal flow reaches the tail end of the slow flow expansion conveying component, the coal flow passes through the queuing device and falls to the sorting track according to a preset path; when the gangue falls to the sorting track, the information processing device sends a control instruction to the steering engine, the steering engine drives the sorting baffle to rotate to a vertical position to stop so as to open the leakage opening, the gangue falls into the gangue transfer channel at the leakage opening, and slides to the gangue transfer conveying component in the gangue transfer channel to be conveyed back to the goaf; when coal falls to the sorting track, the information processing device sends a control instruction to the steering engine, the steering engine drives the sorting baffle to rotate to a horizontal position to stop so as to close the leakage opening, and the coal enters the collecting device and slides to the rubber belt conveyor to be transported to the ground.

Compared with the prior art, the underground continuous transportation coal gangue sorting device and method provided by the invention have the advantages that when coal gangue sorting is carried out, the second image acquisition assembly, the first image acquisition assembly and the sound acquisition assembly are adopted for monitoring, and the slow flow expansion conveying assembly, the path selection assembly, the queuing device and the sorting device are combined to form the flow expansion belt sorting system, so that coal flow is expanded, transportation speed is slowed down, identification precision is improved, gangue can be continuously and efficiently sorted, and sorting efficiency is improved; the method does not need to control the coal flow by slowing down the production speed, and does not influence the normal production under the well and the transportation of coal materials. Because the design of the invention is based on the underground coal transportation system, all devices are additionally arranged on the basis of the original transportation system, and the modification is convenient and quick; according to the gangue mixing rate identification method, the first image acquisition component and the sound acquisition component are utilized to acquire image and sound information, and the weighting result is adopted to judge the gangue mixing rate, so that the judging result is more accurate; different values can be set according to the needs for the gangue mixing rate threshold, so that the gangue mixing rate threshold is high in flexibility and practicability and worthy of popularization.

Drawings

FIG. 1 is a schematic view of the whole structure of the present invention _；

FIG. 2 is a schematic diagram of a part of the present invention;

FIG. 3 is a schematic diagram showing a partial structure of the present invention _；

FIG. 4 is a schematic diagram of a portion of a third embodiment of the present invention;

FIG. 5 is a schematic diagram showing a partial structure of the present invention _；

FIG. 6 is a schematic diagram of a partial structure of the present invention;

FIG. 7 is a schematic view of a part of the present invention _；

FIG. 8 is a schematic diagram of a portion of the present invention;

FIG. 9 is a schematic view of a part of the present invention;

FIG. 10 is a schematic diagram of a portion of the present invention;

FIG. 11 is a schematic view of a part of the present invention;

fig. 12 is a flow chart of the present invention.

Reference numerals:

1. a crusher; 2. a soundproof cover; 3. a spray head; 4. a first image acquisition component; 5. a metal pallet; 6. a sound collection assembly; 7a, a rubber belt conveyor; 7b, a transfer and conveying assembly; 7c, a slow spread flow transmission assembly; 8. a flow expansion shovel plate; 9. a split baffle; 10. a second image acquisition assembly; 11. a queuing device; 12. sorting tracks; 13. a sorting baffle; 14. a collecting device; 15. a gangue transfer passage; 16. an information processing device; 17. a gangue transfer assembly; 18. and an angle adjusting device.

Detailed Description

The invention provides a coal gangue sorting device and method for underground continuous transportation, and the invention is described below with reference to schematic diagrams of fig. 1 to 12.

Example 1

As shown in fig. 1 to 9, the underground continuous-transportation coal gangue sorting device provided by the invention comprises a scraper conveyor positioned at one side of a coal mining machine, wherein a reversed loader is arranged at the tail end of the scraper conveyor, a crusher 1 is arranged at one side of the reversed loader, an adhesive tape conveyor 7a is arranged at the lower side of the crusher 1, and a flow expansion belt sorting system formed by combining a second image acquisition assembly 10, a first image acquisition assembly 4, a sound acquisition assembly 6, a slow flow expansion transmission assembly 7c, a path selection assembly, a queuing device 11 and a sorting device is further included.

The metal layer board 5 that the export downside at breaker 1 set up, metal layer board 5 are located the one end of adhesive tape conveyor 7a, and one side of metal layer board 5 is provided with sound collection subassembly 6, is provided with first image acquisition subassembly 4 on breaker 1.

A first bracket is arranged above the belt conveyor 7a, a slow flow expansion transmission component 7c is arranged on the first bracket, the width of the slow flow expansion transmission component 7c is larger than that of the belt conveyor 7a, and a path selection component is arranged between one end of the slow flow expansion transmission component 7c and the belt conveyor 7 a;

the other end of the slow flow expansion conveying component 7c is provided with a queuing device 11 and a sorting device for sorting coal and gangue, wherein the sorting device is provided with a coal outlet and a gangue outlet; one side of the rubber belt conveyor 7a is provided with a gangue transferring and conveying assembly 17, one end of the gangue transferring and conveying assembly 17 is positioned at the lower side of a gangue outlet of the sorting device, and a coal outlet of the sorting device is positioned at the upper side of the rubber belt conveyor 7 a;

a second image acquisition assembly 10 is arranged on the upper side of the slow flow expansion transmission assembly 7c, and the second image acquisition assembly 10, the first image acquisition assembly 4, the sound acquisition assembly 6, the sorting device and the path selection assembly are all connected with the information processing device 16.

The second image acquisition assembly, the first image acquisition assembly and the sound acquisition assembly are adopted for monitoring, and the slow flow expansion transmission assembly, the path selection assembly, the queuing device and the sorting device are combined to form a flow expansion belt sorting system, so that coal flow is expanded, transportation speed is slowed down, and accurate sorting is realized.

Wherein, specifically, provided on the crusher 1 is a crusher sound insulation device comprising a sound insulation cover 2 provided on a crushing box of the crusher 1. The sound-proof housing 2 is in a cuboid shape, completely wraps the crusher 1, and is provided with a feeding channel and a discharging channel at the feeding port and the discharging port of the crusher 1. The sound-proof cover 2 adopts a damping sound-proof plate with a constraint damping structure, and a layer of sound-absorbing cotton is covered inside, and the sections of the feeding channel and the discharging channel are trapezoidal, so that the diffusion effect of noise can be weakened.

The crushing box body is also provided with a spray head 3, and the spray head 3 is connected with a water supply assembly arranged outside and used for spraying water into the crushing box body to realize dust fall after being atomized by the spray head 3. The spray head 3 adopts the existing product, is arranged right above the inside of the sound insulation cover 2, and is externally connected with a transfusion pipeline.

Further, the first image acquisition component 4 adopts an explosion-proof camera, and the explosion-proof camera is fixedly connected to the crusher 1 and is used for realizing information acquisition in cooperation with the sound acquisition component 6. The explosion-proof camera is located below the sound-proof housing 2 and at a position 200mm away from the discharge hole, and the lens direction of the explosion-proof camera is parallel to the running direction of the adhesive tape conveyor 7 a.

The sound collection assembly 6 adopts a sound sensor, and the metal supporting plate 5 and the sound sensor form a sound signal characteristic recognition device. The metal supporting plate 5 is positioned under the discharge hole of the crusher, and the metal supporting plate 5 is made of stainless steel, and the inclined angle of the metal supporting plate is suitable for enabling materials to slide down. The side of the metal pallet 5 is provided with an acoustic sensor. The left and right sides and the rear of the metal supporting plate 5 are provided with baffle plates with the height of 50mm, so that the supporting plate is prevented from being splashed by the objects falling from the discharge hole of the crusher.

Further, as shown in fig. 2 to 6, the path selection assembly includes a transferring assembly 7b disposed at one side of the slow flow expansion and transmission assembly 7c, the transferring assembly 7b is disposed near the crusher 1, an angle adjusting device 18 is disposed between the transferring assembly 7b and the adhesive tape conveyor 7a, the angle adjusting device 18 is used for adjusting an included angle between the transferring assembly 7b and the adhesive tape conveyor 7a, the included angle formed between the transferring assembly 7b and the adhesive tape conveyor 7a is between 20 ° and 30 °, and one end of the transferring assembly 7b far away from the slow flow expansion and transmission assembly 7c is further provided with a flow expansion shovel plate 8. The angle adjusting device 18 is used for controlling the lifting and lowering of the transferring and conveying assembly 7b, when the transferring and conveying assembly 7b is lifted, the transferring and conveying assembly 7b does not work, and when the transferring and conveying assembly 7b is lowered, the transferring and conveying assembly 7b works.

Further, the transferring and conveying assembly 7b comprises a second support, the second support is provided with a driving assembly, a first rotating shaft and a second rotating shaft, central axes of the first rotating shaft and the second rotating shaft are parallel and are arranged at intervals, one end of the first rotating shaft is connected with a driving assembly used for driving the first rotating shaft to rotate, a first roller is sleeved and fixed on the first rotating shaft, a second roller is sleeved and fixed on the second rotating shaft, and a conveying belt is wound on the second roller and the first roller.

Preferably, as shown in fig. 5, the angle adjusting device 18 includes two parallel first supporting beams arranged at intervals, one ends of the two first supporting beams are hinged to a pair of opposite sides of the first support, the other ends of the first supporting beams are fixed to a pair of opposite sides of the second support, a second supporting beam is arranged on the first support, one end of the second supporting beam is horizontally arranged and fixedly connected with the first support, two synchronous driving hydraulic cylinders are arranged at the other ends of the second supporting beams, one ends of the hydraulic cylinders are fixedly connected with the second supporting beams, and the other ends of the hydraulic cylinders are hinged to the first supporting beams. The hydraulic cylinder controls the first supporting beam to lift and put down, and the first supporting beam synchronously drives the transferring and conveying assembly 7b to synchronously act, so that the lifting or putting down action is realized.

Preferably, as shown in fig. 2 and 6, the flow expansion shovel 8 includes a first plate body, one end of the first plate body is as wide as the adhesive tape conveyor 7a, the other end of the first plate body is as wide as the conveyor belt of the transfer conveying assembly 7b, two ends of the first plate body are respectively fixed with a connecting rod, the connecting rods are fixed with a second bracket, a flow guiding structure for uniformly distributing materials is arranged on the first plate body, the flow guiding structure includes a plurality of groups of separation assemblies arranged on the first plate body, the plurality of groups of separation assemblies are arranged radially at intervals along the direction from the adhesive tape conveyor 7a to the transfer conveying assembly 7b, the intervals can be adjusted according to the crushing particle size of the crusher, and the flow separation baffle 9 can enable coal flow to be uniformly diffused to the wider transfer conveying assembly 7b from a narrower inlet at the front end of the flow expansion shovel 8, so as to be conveyed to the slow flow expansion conveying assembly 7c. Each group of separation components comprises a plurality of separation baffle plates 9, and the separation baffle plates 9 are sequentially arranged at intervals. The cross section of the diversion baffle 9 can be a rectangular sheet body or a fusiform shape with two small ends and a large middle part.

Wherein, spread the flow shovel board 8 and fix in the transportation conveying subassembly 7b front end, can rotate along with transporting conveying subassembly 7b and place on adhesive tape conveyor 7 a.

Preferably, as shown in fig. 7 and 8, the sorting device comprises a queuing device 11 erected on a first bracket, the queuing device 11 is positioned at the discharge end of a slow flow expansion conveying component 7c, a plurality of sorting tracks 12 arranged side by side are further arranged at the lower side of the discharge end of the slow flow expansion conveying component 7c, the sorting tracks 12 are obliquely arranged, one end far away from the slow flow expansion conveying component 7c is lower than one end close to the slow flow expansion conveying component 7c to form the discharge end, a drain opening which is convenient for materials to fall is formed at the discharge end of the sorting tracks 12, a gangue transfer channel 15 fixed with the first bracket is arranged at the lower side of the drain opening, a gangue outlet is formed at one end of the gangue transfer channel 15, the width of the gangue transfer channel 15 is 100mm, the inclination angle of the gangue transfer channel 15 is such that all the gangue slides well, a screening component is arranged at one side of the drain opening, and the screening component is connected with an information processing device 16 for controlling the opening and closing of the drain opening; a collecting device 14 is arranged on one side of the sorting track 12, the collecting device 14 is used for preventing coal flow from falling into the outside of the rubber belt conveyor 7a, the width of the upper part of the collecting device 14 is consistent with that of the slow flow expansion conveying assembly 7c, the width of the lower part of the collecting device is consistent with that of the rubber belt conveyor 7a, a baffle is arranged at the front part of the collecting device 14, the collecting device 14 is positioned in the discharging direction of the sorting track 12, and a coal outlet is formed at the outlet of the collecting device 14.

Preferably, the queuing device 11 comprises a gate-shaped frame, the gate-shaped frame comprises a first rod, a second rod and a third rod which are vertically and fixedly connected in sequence from beginning to end, the first rod and the third rod are fixedly connected with a first bracket respectively, a plurality of partition plates with the length of 300mm are uniformly distributed on the second rod, the partition plates are arranged at intervals of 100mm to divide the discharge end of the slow flow expansion conveying assembly 7c into a plurality of discharge channels, the slow flow expansion conveying assembly 7c is provided with a conveying belt, a gap of about 5mm is reserved between one end, close to the conveying belt of the slow flow expansion conveying assembly 7c, of the partition plates and the conveying belt, abrasion caused by contact friction between the conveying belt and the partition plates is prevented, the outer parts of the two outermost partition plates are fixed on the first bracket of the slow flow expansion conveying assembly 7c through fixing plates, and the tail ends of the partition plates are flush with the tail ends of the slow flow expansion conveying assembly 7c so as to enable coal materials to fall into the sorting track 12 according to a preset path.

Preferably, as shown in fig. 10 to 11, the screening assembly comprises a steering engine fixed on a first bracket, the steering engine is connected with the information processing device 16, the output shaft of the steering engine is connected with a sorting baffle 13 with the specification of 100mm×100mm, the sorting baffle 13 is lifted and put down under the control of the information processing device 16, and when the steering engine rotates, the sorting baffle 13 is driven to realize vertical-horizontal conversion, so that the opening and closing of a leakage opening are realized.

In addition, in order to increase friction, the broken materials are prevented from sliding off, and stripes are arranged on the surface of the conveying belt of the transferring and conveying assembly 7 b.

In use, the ratio of the running speed of the slow flow expansion transmission component 7c to the running speed of the adhesive tape conveyor 7a is equal to the reciprocal of the width ratio of the two, and the running speed of the slow flow expansion transmission component 7c is not more than 2m/s, so that the identification software can identify the dynamic image with higher precision.

Further, the second image acquisition component 10 adopts a 360-degree panoramic camera, the picture acquired by the 360-degree panoramic camera 10 is different from a common camera, the field of view of the picture is provided with the whole slow flow expansion transmission component 7c, and the acquired image can be transmitted to the information processing device 16 in real time, so that the gangue identification path is long, and the identification precision is high.

Further, the information processing device 16 contains recognition software using a deep learning algorithm, and can extract and process characteristics such as textures and gray scales in the transmission image, and can also extract and analyze voiceprints of the acoustic information of the coal stream. The method comprises the steps of collecting images of falling coal flows with different gangue mixing rates as a training set, and learning characteristic information of the images by using deep learning image recognition software until the recognition accuracy of a built model reaches more than 90%, so as to obtain a recognition model 1, wherein the recognition model 1 uses the image information I to recognize the gangue content of the falling coal flows in the crusher; collecting coal flows with different gangue mixing rates and impact sounds of the metal supporting plates 5 as training sets, and learning voiceprint characteristic information by using deep learning sound recognition software until the recognition accuracy of a built model reaches more than 90%, so as to obtain a recognition model 2, wherein the recognition model 2 is used for recognizing the gangue content of the falling coal flows in the crusher through sound information; collecting images of underground coal and gangue as a training set, and learning characteristic information of the images by using deep learning image recognition software until the recognition accuracy of a built model reaches more than 90%, so as to obtain a recognition model 3, wherein the recognition model 3 is used for recognizing the gangue content of the falling coal flow in the crusher through image information I.

The information processing device 16 processes the coal flow image information I collected by the explosion-proof camera and the sound information collected by the sound information sensor by using the recognition model 1 and the recognition model 2 respectively, and weights the results obtained by the recognition model 1 and the recognition model 2 to obtain the final coal flow gangue mixing rate.

The information processing device 16 is used for identifying the coal gangue image information on the expansion flow conveying belt 7c collected by the 360-degree panoramic camera by using the identification model 3, and identifying the coal and the gangue in slow movement, and can collect information in the identification process, so that the information processing device can be used for perfecting a basic model obtained by manual training, and the identification accuracy is gradually improved.

Further, as shown in fig. 12, the method for sorting by using the underground continuous transportation gangue sorting device comprises the following steps:

the coal material enters the crusher 1, the crushed coal material falls onto the metal supporting plate 5 from the discharge hole, the first image acquisition component 4 starts to acquire image information I and transmits the acquired image information I to the information processing device 16, and meanwhile, the sound acquisition component 6 acquires sound information of the impact of the coal material falling onto the metal supporting plate 5 and the metal supporting plate 5 in real time and transmits the acquired sound information to the information processing device 16;

the information processing device 16 processes the collected sound information and image information to obtain a gangue mixing rate, compares the gangue mixing rate with a set threshold value, and if the gangue mixing rate is lower than the threshold value, the angle adjusting device 18 does not act, and the coal flow is continuously transported to the ground through the rubber belt conveyor 7 a; if the gangue mixing rate is higher than the threshold value, the information processing device 16 sends a control instruction to the angle adjusting device 18, and the angle adjusting device 18 is controlled to move to put down the transfer conveying assembly 7b and the flow expanding shovel plate 8, so that the flow expanding shovel plate 8 is contacted with the adhesive tape conveyor 7a, and coal flows sequentially enter the slow flow expanding conveying assembly 7c through the flow expanding shovel plate 8 and the transfer conveying assembly 7 b;

when the coal flow enters the slow flow expansion transmission component 7c, the second image acquisition component 10 starts to acquire image information I, and transmits the acquired image information I to the information processing device 16; when the coal flow reaches the tail end of the slow flow expansion conveying component 7c, the coal flow passes through the queuing device 11 and falls to the sorting track 12 according to a preset path; when the gangue falls to the sorting track 12, the information processing device 16 sends a control instruction to the steering engine, the steering engine drives the sorting baffle 13 to rotate to a vertical position to stop so as to open a leak, the gangue falls into the gangue transfer channel 15 at the leak, and slides to the gangue transfer conveying component 17 in the gangue transfer channel 15 to be conveyed back to the goaf; when coal falls to the sorting track 12, the information processing device 16 sends a control instruction to the steering engine, the steering engine drives the sorting baffle 13 to rotate to a horizontal position to stop so as to close the leakage opening, and the coal enters the collecting device 14 to slide down to the rubber belt conveyor 7a to be conveyed to the ground.

According to the underground continuous transportation coal gangue sorting device and method, when coal gangue sorting is carried out, the omnidirectional camera is adopted for monitoring, the coal flow is enlarged, the transportation speed is slowed down through the flow expansion belt sorting system, and the recognition precision is improved; the sorting track can continuously and efficiently sort the gangue, so that the sorting efficiency is improved; the method does not need to control the coal flow by slowing down the production speed, and does not influence the normal production under the well and the transportation of coal materials; the design of the invention is based on an underground coal transportation system, and all devices are additionally arranged on the basis of the original transportation system, so that the modification is convenient and quick; according to the invention, the camera and the sound acquisition component 6 are utilized to acquire image and sound information, and the weighted result is adopted to judge the gangue mixing rate, so that the judging result is more accurate; different values can be set according to the requirements of the gangue mixing rate threshold, so that the flexibility is high; the invention has low input economic cost, can quickly, efficiently and accurately identify and sort the coal and the gangue in the rapid movement on the premise of not influencing the normal production of the coal mine, has good sorting effect, does not reduce the normal transportation speed of the coal, has good practicability and is worthy of popularization.

The foregoing disclosure is only illustrative of the preferred embodiments of the present invention, but the embodiments of the present invention are not limited thereto, and any variations within the scope of the present invention will be apparent to those skilled in the art.

Claims (9)

1. The utility model provides a coal gangue sorting unit of continuous transportation in pit, includes scraper conveyor, scraper conveyor's end is provided with the reversed loader, one side of reversed loader is provided with breaker (1), and the downside of breaker (1) is provided with adhesive tape conveyor (7 a), its characterized in that still includes:

a metal supporting plate (5) is arranged at the lower side of an outlet of the crusher (1), the metal supporting plate (5) is positioned at one end of the rubber belt conveyor (7 a), a sound collecting assembly (6) is arranged at one side of the metal supporting plate (5), and a first image collecting assembly (4) is arranged on the crusher (1);

a first bracket is arranged above the adhesive tape conveyor (7 a), a slow flow expansion conveying component (7 c) is arranged on the first bracket, the width of the slow flow expansion conveying component (7 c) is larger than that of the adhesive tape conveyor (7 a), and a path selection component is arranged between one end of the slow flow expansion conveying component (7 c) and the adhesive tape conveyor (7 a);

the other end of the slow flow expansion conveying component (7 c) is provided with a queuing device (11) and a sorting device for sorting coal and gangue, and the sorting device is provided with a coal outlet and a gangue outlet; one side of the rubber belt conveyor (7 a) is provided with a gangue transferring and conveying assembly (17), one end of the gangue transferring and conveying assembly (17) is positioned at the lower side of a gangue outlet of the sorting device, and a coal outlet of the sorting device is positioned at the upper side of the rubber belt conveyor (7 a);

the upper side frame of the slow flow expansion transmission component (7 c) is provided with a second image acquisition component (10), and the second image acquisition component (10), the first image acquisition component (4), the sound acquisition component (6), the sorting device and the path selection component are all connected with the information processing device (16).

2. A coal gangue sorting apparatus for downhole continuous transportation according to claim 1, wherein the path selection assembly comprises a transfer conveying assembly (7 b) arranged at one side of the slow flow expansion conveying assembly (7 c), the transfer conveying assembly (7 b) is arranged close to the crusher (1), an angle adjusting device (18) is arranged between the transfer conveying assembly (7 b) and the adhesive tape conveyor (7 a), the angle adjusting device (18) is used for realizing that an included angle between the transfer conveying assembly (7 b) and the adhesive tape conveyor (7 a) is adjustable, and a flow expansion shovel plate (8) is further arranged at one end of the transfer conveying assembly (7 b) away from the slow flow expansion conveying assembly (7 c).

3. The underground continuous transportation coal gangue sorting device according to claim 2, wherein the transporting and conveying assembly (7 b) comprises a second support, a driving assembly, a first rotating shaft and a second rotating shaft are arranged on the second support, central axes of the first rotating shaft and the second rotating shaft are parallel and are arranged at intervals, one end of the first rotating shaft is connected with a driving assembly for driving the first rotating shaft to rotate, a first roller is sleeved and fixed on the first rotating shaft, a second roller is sleeved and fixed on the second rotating shaft, and a conveying belt is wound on the second roller and the first roller.

4. A coal gangue sorting apparatus for underground continuous transportation according to claim 3, wherein the angle adjusting device (18) comprises two parallel first support beams arranged at intervals, one ends of the two first support beams are hinged to a pair of opposite sides of the first support beam, the other ends of the first support beams are fixed to a pair of opposite sides of the second support beam, a second support beam is arranged on the first support beam, one end of the second support beam is horizontally arranged and fixedly connected with the first support beam, two synchronously driven hydraulic cylinders are arranged at the other ends of the second support beam, one ends of the hydraulic cylinders are fixedly connected with the second support beam, and the other ends of the hydraulic cylinders are hinged to the first support beam.

5. The underground continuous-transportation coal gangue sorting device according to claim 4, wherein the flow expansion shovel plate (8) comprises a first plate body, one end of the first plate body is as wide as the adhesive tape conveyor (7 a), the other end of the first plate body is as wide as a conveyor belt of the transfer conveying assembly (7 b), two ends of the first plate body are respectively fixed with a connecting rod, the connecting rods are fixed with the second support, a flow guide structure for uniformly distributing materials is arranged on the first plate body, the flow guide structure comprises a plurality of groups of separation assemblies arranged on the first plate body, the groups of separation assemblies are arranged at intervals in a radial mode along the direction from the adhesive tape conveyor (7 a) to the transfer conveying assembly (7 b), each group of separation assemblies comprises a plurality of flow separation blocks (9), and the flow separation blocks (9) are sequentially arranged at intervals.

6. A coal gangue sorting apparatus for continuous transportation downhole according to claim 5, wherein the sorting apparatus comprises a queuing apparatus (11) mounted on the first support, the queuing apparatus (11) is located at a discharge end of the slow flow spreading and transporting component (7 c), a plurality of sorting tracks (12) are arranged side by side under the discharge end of the slow flow spreading and transporting component (7 c), the sorting tracks (12) are arranged in an inclined manner, one end far from the slow flow spreading and transporting component (7 c) is lower than one end near the slow flow spreading and transporting component (7 c) to form a discharge end, a leak for facilitating material falling is formed at the discharge end of the sorting tracks (12), a gangue transfer channel (15) fixed with the first support is arranged at the lower side of the leak, a gangue outlet is formed at one end of the gangue transfer channel (15), a screening component is arranged at one side of the leak, and the screening component and the information processing apparatus (16) are connected to control the leak; a collecting device (14) is arranged on one side of the sorting track (12), the collecting device (14) is positioned in the discharging direction of the sorting track (12), and a coal outlet is formed by an outlet of the collecting device (14).

7. The underground continuous transportation coal gangue sorting device according to claim 6, wherein the queuing device (11) comprises a gate-shaped frame, the gate-shaped frame comprises a first rod, a second rod and a third rod which are sequentially and vertically fixedly connected end to end, the first rod and the third rod are fixedly connected with a support respectively, a plurality of partition plates are uniformly distributed on the second rod, the partition plates are arranged at intervals to divide the discharge end of the slow flow expansion transmission assembly (7 c) into a plurality of discharge channels, the slow flow expansion transmission assembly (7 c) is provided with a transmission belt, and a gap is arranged between one end, close to the transmission belt, of the slow flow expansion transmission assembly (7 c) and the transmission belt.

8. The underground continuous transportation coal gangue sorting device according to claim 7, wherein the screening assembly comprises a steering engine fixed on the first support, the steering engine is connected with the information processing device (16), an output shaft of the steering engine is connected with a sorting baffle (13), and when the steering engine rotates, the sorting baffle (13) is driven to realize vertical-horizontal conversion, so that the leakage opening is opened and closed.

9. A method for sorting by using a coal gangue sorting apparatus for underground continuous transportation according to claim 8, comprising the steps of:

the coal material enters the crusher (1), the crushed coal material falls onto the metal supporting plate (5) from the discharge hole, the first image acquisition component (4) starts to acquire image information I and transmits the acquired image information I to the information processing device (16), and meanwhile, the sound acquisition component (6) acquires sound information of the impact of the coal material falling onto the metal supporting plate (5) and the metal supporting plate (5) in real time and transmits the acquired sound information to the information processing device (16);

the information processing device (16) processes the collected sound information and the image information to obtain a gangue mixing rate, compares the gangue mixing rate with a set threshold value, and if the gangue mixing rate is lower than the threshold value, the angle adjusting device (18) does not act, and the coal flow is continuously transported to the ground through the rubber belt conveyor (7 a); if the gangue mixing rate is higher than the threshold value, the information processing device (16) sends a control instruction to the angle adjusting device (18), and the angle adjusting device (18) is controlled to move down the transfer conveying assembly (7 b) and the flow expanding shovel plate (8) so that the flow expanding shovel plate (8) is in contact with the adhesive tape conveyor (7 a), and coal flows sequentially enter the slow flow expanding conveying assembly (7 c) through the flow expanding shovel plate (8) and the transfer conveying assembly (7 b);

when the coal flow enters the slow flow expansion transmission component (7 c), the second image acquisition component (10) starts to acquire image information II and transmits the acquired image information II to the information processing device (16), and the information processing device (16) processes the acquired image information II to acquire a recognition result of coal and gangue; when the coal flow reaches the tail end of the slow flow expansion conveying component (7 c), the coal flow passes through the queuing device (11) and falls to the sorting track (12) according to a preset path; when the gangue falls to the sorting track (12), the information processing device (16) sends a control instruction to the steering engine, the steering engine drives the sorting baffle (13) to rotate to a vertical position to stop so as to open a leak, the gangue falls into the gangue transfer channel (15) at the leak, and falls into the gangue transfer conveying assembly (17) in the gangue transfer channel (15) to be conveyed back to the goaf; when coal falls to the sorting track (12), the information processing device (16) sends a control instruction to the steering engine, the steering engine drives the sorting baffle (13) to rotate to a horizontal position to stop so as to close the leakage opening, and the coal enters the collecting device (14) to slide to the rubber belt conveyor (7 a) to be conveyed to the ground.