CN202516782U - Intelligent sorting system - Google Patents
Intelligent sorting system Download PDFInfo
- Publication number
- CN202516782U CN202516782U CN2011205633021U CN201120563302U CN202516782U CN 202516782 U CN202516782 U CN 202516782U CN 2011205633021 U CN2011205633021 U CN 2011205633021U CN 201120563302 U CN201120563302 U CN 201120563302U CN 202516782 U CN202516782 U CN 202516782U
- Authority
- CN
- China
- Prior art keywords
- intelligent
- workbench
- separation system
- coal
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Image Processing (AREA)
Abstract
The utility model provides an intelligent sorting system which comprises a raw material conveyor, a lump coal screening device, a buffer material bin, a material distributor, a working platform, an intelligent sorting device, an actuating mechanism, a gangue conveyor and a lump coal conveyor. The intelligent series sorting system applies technologies such as image, a computer, a programmable logic controller (PLC) and the like in an integrating way, thus completing the design for a brand new gangue on-line real-time automatic identification sorting system; and the system effectively improves the gangue sorting identification reliability when saving the cost.
Description
Technical field
The utility model relates to the coal separation system, is specifically related to a kind of intelligent separation system that is applicable to coal gangues automation selection.
Background technology
Coal separation is the processing step that must carry out in the coal production process, and discharge refuse is one of important step of coal preparation technique.At present; The most of coal production of China is still continuing the behindhand type of artificial discharge refuse; Not only labour intensity is big and production efficiency is low for this discharge refuse mode; Simultaneously the spoil picking rates also directly receives discharge refuse production operation personnel health physical efficiency, peopleware, mood, working sense of responsibility and a plurality of artificial factor of management of water equality when on duty, the quality of production of coal is lacked ensure.Also have discharge refuse modes such as traditional heavily Jie separates outside the artificial discharge refuse mode of production; These modes of production are except that will consuming a large amount of electric energy; Also can produce amounts of dust and a large amount of reluctant coal slime pollutant; To air, the water source that people and crops are depended on for existence causes serious destruction and pollution with ploughing, the resource and environment that cuts coal that especially occurs in China main producing coal area pollute and just very deficient originally water resource between show outstanding contradiction day.Existing many coal production processing enterprise receives the restriction of China environmental protection method to some extent, causes the idleness of equipment, and output descends, and economic loss is serious.
In order to change the discharge refuse mode of production of this backwardness in the coal production process, promote the technological progress and the energy-saving and emission-reduction of coal production industry, protection environment and resource are badly in need of a kind of saving energy and reduce the cost and the equipment that is used for coal gangues automation selection of environmental protection.
The utility model content
In order to solve the problem that exists in the above-mentioned background technology, the utility model proposes a kind of intelligent separation system that is applicable to coal gangues automation selection, and this system carries out intelligent sorting based on image recognition technology to gangue.
The technical scheme that provides according to the utility model; Provide a kind of intelligent separation system to comprise ingredient conveyor 1, lump coal separating screen device 2, buffering feed bin 3, distributing device 4, workbench 5, intelligent sorting unit 6, executing agency 7, spoil conveyer 8 and lump coal conveyer 9; Bulk materials is sent into lump coal separating screen device 2 by ingredient conveyor 1; Material after the screening gets into buffering feed bin 3 by different particle size fractions, again via getting into workbench 5 behind distributing device 4 uniform distributions; When material through workbench 5 during through intelligent identification device 6; If intelligent identification device 6 finds have spoil to pass through; Then intelligent identification device is passed to executing agency 7 to signal through the PLC programmable logic controller (PLC); Executing agency 7 makes the gases at high pressure that come from air pump promote the cylinder action through high-pressure hose through the magnetic valve action, cylinder drives the manipulator that is connected with cylinder and shifts gangue on the gangue conveyer onto, and coarse coal then continues to be transported to the lump coal conveyer by workbench.The intelligence separation system is applicable to coal gangues automation selection.
The intelligent separation system of the utility model uses video camera or camera or CCD device as the picture signal harvester.
Preferably, the picture signal harvester is installed in apart from directly over the workbench between 40 centimetres to 60 centimetres.Clearing apparatus further comprises purging device, this purging device be installed in workbench directly over.This purging device be installed in workbench directly over 40 centimeters.In addition, executing agency is installed in workbench one side, and execution action part cylinder should keep level with workbench but not contact.
Technology such as the integrated image application of the serial separation system of the described intelligence of the utility model, computer, PLC have been accomplished the design that brand-new gangue online in real time is discerned separation system automatically; Having practiced thrift cost simultaneously, improved the identification certainty of coal gangues automation selection effectively.
Brief Description Of Drawings
Fig. 1 is the sketch map according to the intelligent separation system of the utility model;
Fig. 2 is the workflow sketch map according to the intelligent separation system of the utility model;
Fig. 3 is the dust pelletizing system structural representation;
Fig. 4 is the clearing apparatus structural representation;
Fig. 5 is executing agency's structural representation;
Fig. 6 is that the hardware of the identification usefulness of intelligent separation system constitutes sketch map;
Fig. 7-10 is the electrical control sketch map according to the intelligent separation system of the utility model.
The specific embodiment
The example according to the utility model theory that provides below is the optimised process of the utility model, not it will be understood by those skilled in the art that and should the utility model be limited to the following specific embodiment.
With reference to figure 1, wherein Fig. 1 is the sketch map of intelligent separation system.Its intelligent separation system comprises ingredient conveyor 1, lump coal separating screen device 2, buffering feed bin 3, distributing device 4, workbench 5, intelligent sorting unit 6, executing agency 7, spoil conveyer 8, lump coal conveyer 9, clearing apparatus 10, dust pelletizing system 11, dust shield 12 and air-introduced machine 13; Bulk materials is sent into the lump coal separating screen device by ingredient conveyor 1; Material after the screening gets into the buffering feed bin by different particle size fractions; Via getting into workbench behind the distributing device uniform distribution, when material passes through intelligent identification device through workbench, there is spoil to pass through again if find; Then intelligent identification device is made reflection fast; PLC (programmable logic controller (PLC)) passes to executing agency's (executing agency's structural representation sees accompanying drawing 5 for details) to signal, and through the magnetic valve action, the gases at high pressure that come from air pump promote the cylinder action through high-pressure hose; Shift spoil onto the spoil conveyer and transport, coarse coal is then moved on the lump coal conveyer by workbench and is transported.The effect of clearing apparatus (the clearing apparatus structural representation sees accompanying drawing 4 for details) is the dust granule that blows the material adhesion off; Dust pelletizing system (the dust pelletizing system structural representation sees accompanying drawing 3 for details) is that these dust granules in the dust shield are disposed, and by air-introduced machine pure air is discharged again.
Parts shown in Fig. 3-5 are as follows respectively: a back blowing machine, b blowback revolution, c discharger, 13 air-introduced machines, 5 workbenches, h1 air pump, h2 high-pressure hose, h3 purging device, 5 workbenches, f1 magnetic valve, f2 cylinder.
In intelligent separation system, use video camera or camera or CCD device as the picture signal harvester, the quality that install picture signal harvester installation site directly influences separating effect.The camera installation site should be installed in apart from directly over the workbench between 40 centimetres to 60 centimetres in our experience, clear the getting final product that requires image to try one's best.The purging device of clearing apparatus is installed should be at the height that does not contact lump coal, be preferably mounted at workbench directly over, that is: from being processed the near but discontiguous position of product; Generally be installed in workbench directly over 40 centimeters.Executing agency's installation requirement is in workbench one side, and execution action part cylinder should keep level with workbench but not contact.
Because whole identification and sorting work process are noncontacts, and be real-time, therefore can not influence normal material transmission.Can be provided with several material queuing passages on the belt, each passage independently disposes intelligent identification device.The hardware of the identification usefulness of the intelligent separation system that reference is shown in Figure 6 constitutes sketch map.Hardware bundle spotting-in China 610L industrial computer 61,19 cun displays 62 of Samsung, video frequency collection card 63, infrared camera 64, incandescent lamp 65, Omron PLC 66 and the executing agency 7 of identification usefulness.Particularly, grind magnificent 610L industrial computer as main control computer, hardware configuration 250GB hard disk, Inter (R) E74002.8GHz CPU, the internal memory of 1G is as the computation core of system; Infrared camera, ordinary incandescent lamp are formed the collecting part of graphical information; Automatically the control fill order partly is the PLC of the high computation processor of OMRON series CP1H, through the link industrial computer, unlike signal is exported to executing agency through programme-control, constitutes executive system; That the video frequency collection card of collection vision signal is selected for use is a day quick VC8000.
The sorting work flow process of intelligence separation system may further comprise the steps:
The first step: threshold values settles the standard.
In lump coal product to be selected, pick out representational sample, distinguish through manual work respectively and confirm spoil and coal.Then spoil sample and coal sample are placed respectively under system's camera and compare.The adjustment threshold parameter is till appropriate value is told spoil signal and coal signal.
Second step: the contrary coal stream of system starts.
Behind the validation criteria threshold values; Product conveyor starts (spoil conveyer; The lump coal conveyer) → startup → work conveyer startup → clearing apparatus startup → distributing device device startup → lump coal separating screen device startup → ingredient conveyor startup of dust pelletizing system startup (air-introduced machine, back blowing machine, blowback revolution, discharger) → executing agency; Subsystem starts to be accomplished, and waits for product pan feeding to be selected.(with reference to figure 2).
The 3rd step started image processing system, and the lump coal that contains gangue on the workbench is implemented sorting.
In the intelligent separation system of the utility model; Use image processing system to carry out video, monitoring, storage; Real-time parallel is handled vision signal, and this image processing system has Multi-channel Real-time property, no synchronization loss phenomenon, committed memory space system performance such as less.
System is after initialization; By image capturing system extract real-time original image, the control of IMAQ is accomplished by main control computer, and the original image information that collects is sent into image processing system; This system selects for use dsp system to accomplish, and image is strengthened, filtering, cuts apart and feature extraction.Result is sent to main control computer; Main control computer is sent characteristic information into recognition system and is discerned; Recognition system is sent to recognition result on the main control computer; Main control computer calls corresponding model according to the type that identifies, and compares, calculates, sees off various signals and move to executive system.
Image processing is carried out in step (1)-(3) in the intelligent sorting process of the utility model below main the utilization, and the technology that also can use morphologic filtering method to replace binary conversion treatment is carried out image and handled.
(1) use Gauss's smoothing processing that image is carried out denoising.In image acquisition process, because the image that influences of various factors tends to occur some irregular noises, original image all might produce losing of data in transmission, storage etc., thereby influences the quality of image, handles noise process and is called smoothly.Smoothly can reduce the visual noise of image, remove the HFS in the image simultaneously, those original unconspicuous low-frequency components are discerned more easily then, smoothly can realize through convolution.After the floor projection after the process convolution is level and smooth, binaryzation provides the better image effect.
(2) contrast enhancement processing of gangue.
Contrast strengthens; It is exactly further processing to image; Contrast is further drawn back; It is directly handled its gray scale to each pixel of original image, and its processing procedure mainly is the gray level of pixel to be carried out computing and operation result is realized as the new gray value of this pixel through strengthening function.Adopt directly from the histogram of the number of pixels of representing every kind of gray scale and observe.The expression formula of the enhancing function of selecting for use through change just can obtain different treatment effects.
(3) image binaryzation is handled
The purpose of binary conversion treatment is that the multi-level gray scale image that gather to obtain is processed into bianry image, so as with analysis and understanding and identification and minimizing amount of calculation.Binaryzation is exactly through some algorithms; Change the pixel color in the image through a threshold value, make the black and white two-value is only arranged in the entire image picture, this image generally is made up of black region and white portion; Can represent a pixel with a bit; For example: " 1 " expression black " 0 " expression white, this is convenient to us to Feature Extraction, adopts intra-class variance and the outer variance of group to realize binaryzation in this design.Suppose that m is the threshold values of binaryzation; For example setting of image gray scale scale unit m is
at this f: the image n of input: the number f (x of all pixels; Y): pixel coordinate (x; The order that the gray value of the every image of gray value y) is lower than scale unit m is 0; The order that the gray value of image is higher than scale unit m is 1, and this skill is referred to as the acquisition of two-value threshold values.
(4) morphologic filtering
Or adopt the morphologic filtering technology that image is handled.The intelligent sorting process of the utility model also can adopt the morphologic filtering technology to carry out image.
Wherein, (x, ON operation y) and closed operation have simple geometric and explain image function f.Suppose to use spherical structure element b that f is carried out ON operation, this structural element is regarded as " rolling " ball.Can on how much, be interpreted as the principle that f carries out ON operation with b: promote the downside rolling of ball, so that spheroid can move around at the whole downside of curved surface along curved surface.When spheroid rolled across the whole downside of f, the peak of the curved surface that is touched by any part of spheroid had just constituted the curved surface of ON operation.All crests narrower than sphere diameter all reduce on amplitude and sharp-pointed degree.In like manner, spheroid is in the slide of curved surface, and when spheroid rolled across the whole upper side of f, the minimum point of the curved surface that is touched by any part of spheroid constituted the curved surface of closed operation.Can know that from the morphology basic principle morphologic opening operation can remove on the image the bright relatively distributed architecture that the form with structural element does not match, and keeps the part that those match simultaneously; Closed operation then can be filled the dark relatively distributed architecture that does not match with structural element on those images, keeps the part that those match simultaneously.Therefore they can be used for effectively extracting characteristic and level and smooth picture.Notably be when adopting morphological filter, should select structural element according to different purpose with difformity, size and Orientation characteristic.In addition, the computing of morphology open and close all has idempotence, this means that a filtering is clean specific to the noise filtering of structural element with all with regard to oneself, repeats once more can not produce new result.This is the not available character of a classical way (like linear convolution filtering, medium filtering).Because morphology operations is to carry out image from the geometric shape viewpoint of image to handle, therefore this good nonlinear filter can keep picture structure not to be passivated in filtering.
Electrical control in the intelligent separation system of the utility model is specifically adopted the PLC automatic operation system referring to shown in Fig. 7-10, is convenient to concentrate monitored state, control operation.Concrete control as follows: the system dynamic power supply is for exchanging 380 volts, and the control power supply is 220 volts of interchanges.At first send electricity before the system works with electrical source of power switch S F1, simultaneously that each circuit breaker QF1-7 is closed, insurance FU1 protection control loop power supply, air switch PQF is closed, and it is charged to control the PLC system automatically.So far system's distribution preparation finishes, and waits for starting operation.PLC feedback signal X000-X011 detects the feedback of status whether transship in each corresponding loop contactor KM1-KM7 adhesive, off-state and each loop of electrothermal relay FR1-7 protection.According to the state of feedback signal X000-X011, control the state between the each several part in the locking system automatically, control the start and stop of corresponding loop automatically through relay K 1-7.When for example accompanying drawing 8 actuating mechanism controls loops were manually moved, SB3 was a stop button, and SB4 is a start button; When pressing the SB4 start button, the KM2 contactor coil gets electric, and its self-locking of often making war keeps the loop energising; Executing agency gets electric operation; When executing agency's loop overload, electrothermal relay FR2 breaks off control loop, and executing agency's outage is out of service.Automatically be solidificated among the PLC according to the technology coding during operation, under the situation that condition satisfies, PLC output, corresponding relay K 2 coils get electric, the K2 closure of often making war in the control loop, executing agency gets electric operation.Under the ungratified situation of condition, PLC stops output, the outage of K2 relay coil, and the K2 point in the actuating mechanism controls loop breaks off, and the loop outage is out of service.In like manner other loops are equally controlled.System's start and stop see first the said contrary coal stream in front in proper order for details and start.
Output design in the intelligent separation system of the utility model
Intelligent Recognition separator belt speed 0.8m/s;
Coal cinder and spoil granularity 150～300mm;
Coal cinder and spoil evenly, are more closely pressed line and are arranged;
The distribution granularity is coal cinder or 5 of the spoil (2.5) of 150mm (300mm) on the belt of 0.8m length, and is assumed to be spherically, and the coal cinder of then handling in 1 hour or the volume of spoil are:
V
150=4/3 * π * R
3* 5 (piece) * 3600 (second)=4/3 * π * 0.075
3* 5 * 3600=31.80M
3
V
300=4/3 * π * R
3* 2.5 (piece) * 3600 (second)=4/3 * π * 0.15
3* 2.5 * 3600=127.17M
3The proportion of coal considers that according to 1.2～1.4 then hour disposal ability is:
S
150＝31.80×(1.2～1.4)＝38.16～44.52T
S
300＝127.17×(1.2～1.4)＝152.60～178.04T
Actual calculation condition and above design conditions necessarily exist difference, and for example: actual coal cinder or spoil can not be spherical, and its volume ratio is little by the volume of spherical calculating; Distance between coal cinder or spoil can be all very not little yet, considers above-mentioned reason, conservative 0.5 the discount parameter that is provided with, and then hour disposal ability based on DSP image processing apparatus processing image information can reach:
S
150=19～22T/ hour S
300=76～89T/ hour
Consider again special-purpose based on the DSP image processing apparatus in processing image information; Also want processing control signals; As the belt speed signal, calculate coal cinder or spoil to time at turnover panel place, provide shutter control device actuating signal etc.; Handle these control signals and also need take the time resource based on the DSP image processing apparatus, 0.8 coefficient is set on aforementioned calculation result's basis again, then the actual gangue sorting hour disposal ability based on the DSP image processing apparatus is:
S
150=15.2～17.6T/ hour S
300=60.8～71.3T/ hour
(2) if the width >=800mm of belt; And under the smooth condition of lateral comparison; 2 passages or multichannel can be set, and each passage is provided with an image processing apparatus and automatic panel-turnover device (a shared video camera) respectively, can make the disposal ability of system improve nearly 1 times.
Technology such as the integrated image application of intelligent serial separation system of the utility model, computer, PLC have been accomplished the design that brand-new gangue online in real time is discerned separation system automatically.Having practiced thrift cost simultaneously, improved the identification certainty of coal gangues automation selection effectively.
As above-mentioned, clear intelligent serial separation system and the method that has described the utility model proposition in detail.Although the utility model is described and explained to the preferred embodiment of the utility model in detail; But this area those skilled in the art be appreciated that; Under the situation of the spirit of the utility model that does not deviate from accompanying claims definition and scope, can in form and details, make multiple modification.
Claims (6)
1. intelligent separation system; It is characterized in that; Comprise ingredient conveyor (1), lump coal separating screen device (2), buffering feed bin (3), distributing device (4), workbench (5), intelligent sorting unit (6), executing agency (7), spoil conveyer (8) and lump coal conveyer (9); Bulk materials is sent into lump coal separating screen device (2) by ingredient conveyor (1), and the material after the screening gets into buffering feed bin (3) by different particle size fractions, again via getting into workbench (5) behind distributing device (4) uniform distribution; When material through workbench (5) when the intelligent identification device (6); If intelligent identification device (6) finds have spoil to pass through; Then intelligent identification device is passed to executing agency (7) to signal through programmable logic controller (PLC); Executing agency (7) makes the gases at high pressure that come from air pump promote the cylinder action through high-pressure hose through the magnetic valve action, cylinder drives the manipulator that is connected with cylinder and shifts gangue on the gangue conveyer onto, and coarse coal then continues to be transported to the lump coal conveyer by workbench.
2. according to the intelligent separation system described in the claim 1, it is characterized in that it uses video camera or camera or CCD device as the picture signal harvester.
3. according to the intelligent separation system described in the claim 2, it is characterized in that the picture signal harvester is installed in apart from directly over the workbench between 40 centimetres to 60 centimetres.
4. according to the intelligent separation system described in the claim 1, it is characterized in that further comprise clearing apparatus, this clearing apparatus comprises purging device, this purging device be installed in workbench directly over.
5. according to the intelligent separation system described in the claim 4, it is characterized in that, wherein this purging device be installed in workbench directly over 40 centimeters.
6. according to the intelligent separation system described in the claim 1, it is characterized in that wherein executing agency is installed in workbench one side, carry out the action part cylinder with workbench maintenance level but do not contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205633021U CN202516782U (en) | 2011-12-30 | 2011-12-30 | Intelligent sorting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205633021U CN202516782U (en) | 2011-12-30 | 2011-12-30 | Intelligent sorting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202516782U true CN202516782U (en) | 2012-11-07 |
Family
ID=47099752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205633021U Expired - Lifetime CN202516782U (en) | 2011-12-30 | 2011-12-30 | Intelligent sorting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202516782U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103631233A (en) * | 2013-12-04 | 2014-03-12 | 高玉娟 | Visual remote intelligent controller |
| CN103752533A (en) * | 2014-01-23 | 2014-04-30 | 河北联合大学 | Method and device for sorting coal and gangue online through image method |
| CN107030010A (en) * | 2017-04-26 | 2017-08-11 | 江苏浙宏科技股份有限公司 | A kind of soldered ball selects separating device |
| CN108380524A (en) * | 2018-03-06 | 2018-08-10 | 深圳市时维智能装备有限公司 | Bastard coal screening installation and system |
-
2011
- 2011-12-30 CN CN2011205633021U patent/CN202516782U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103631233A (en) * | 2013-12-04 | 2014-03-12 | 高玉娟 | Visual remote intelligent controller |
| CN103631233B (en) * | 2013-12-04 | 2016-10-19 | 高玉娟 | A kind of visual remote intelligent controller |
| CN103752533A (en) * | 2014-01-23 | 2014-04-30 | 河北联合大学 | Method and device for sorting coal and gangue online through image method |
| CN107030010A (en) * | 2017-04-26 | 2017-08-11 | 江苏浙宏科技股份有限公司 | A kind of soldered ball selects separating device |
| CN108380524A (en) * | 2018-03-06 | 2018-08-10 | 深圳市时维智能装备有限公司 | Bastard coal screening installation and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102489450B (en) | Intelligent separation method and system | |
| CN110404688B (en) | Static and wind power fused machine-harvested cotton impurity removal information processing method and device | |
| CN202516782U (en) | Intelligent sorting system | |
| CN103413290B (en) | Multiple features and the multi-level ore grain size image partition method combined | |
| CN109115785A (en) | A kind of casting grinding quality determining method, device and its application method | |
| CN109785378B (en) | Online ore granularity detection equipment based on atlas image algorithm analysis technology | |
| CN111814678B (en) | Method and system for identifying coal flow in conveyor belt based on video monitoring | |
| CN102253050A (en) | Automatic detection method and device for magnetic tile surface defect based on machine vision | |
| CN112893159B (en) | Coal gangue sorting method based on image recognition | |
| CN105588439A (en) | Detection method of sintering machine trolley grate bars | |
| CN103509901B (en) | Blast furnace raw fuel particle size detection method | |
| CN112892823A (en) | Sand making control method and system based on artificial intelligence algorithm | |
| CN104062298A (en) | Device and method for automatically monitoring impurity rate of grains in grain tank of combine harvester based on image processing | |
| CN214210846U (en) | Intelligent coal gangue sorting system | |
| CN204710739U (en) | The quick double-face imaging sorting system of ore based on face battle array | |
| CN106622988A (en) | High-performance carrot computer vision track defective product removing and length and thickness grading device | |
| CN114535063B (en) | Underground coal gangue sorting integrated device based on artificial intelligent image recognition | |
| CN211515231U (en) | Visual identification material sorting system based on convolutional neural network and deep learning | |
| CN101172274B (en) | Matrimony vine classifying and sorting device and methods thereof | |
| CN102266819B (en) | High-efficient high-quality hotching control method for steam coal | |
| CN115436238B (en) | Blast furnace raw fuel granularity online detection method and system | |
| CN111041194A (en) | Preparation device for improving green pellet quality of mineral powder pellets and application method thereof | |
| CN206868643U (en) | A kind of high-performance carrot computer vision crawler belt removes residual and long rough segmentation stage arrangement | |
| CN108304910A (en) | A kind of slip sheet of air conditioner compressor method of counting based on machine vision | |
| CN111507963B (en) | Colliery foreign matter removing method based on target detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20121107 |