WO2014068478A2 - Provision of data on the froth in a froth flotation plant - Google Patents

Provision of data on the froth in a froth flotation plant Download PDF

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Publication number
WO2014068478A2
WO2014068478A2 PCT/IB2013/059750 IB2013059750W WO2014068478A2 WO 2014068478 A2 WO2014068478 A2 WO 2014068478A2 IB 2013059750 W IB2013059750 W IB 2013059750W WO 2014068478 A2 WO2014068478 A2 WO 2014068478A2
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WO
WIPO (PCT)
Prior art keywords
froth
laser
camera
image
light
Prior art date
Application number
PCT/IB2013/059750
Other languages
French (fr)
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WO2014068478A3 (en
Inventor
Francois Eberhardt Du Plessis
Original Assignee
Francois Eberhardt Du Plessis
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Francois Eberhardt Du Plessis filed Critical Francois Eberhardt Du Plessis
Priority to AU2013340393A priority Critical patent/AU2013340393B2/en
Priority to CA2886752A priority patent/CA2886752C/en
Publication of WO2014068478A2 publication Critical patent/WO2014068478A2/en
Publication of WO2014068478A3 publication Critical patent/WO2014068478A3/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B03—SEPARATION OF SOLID MATERIALS USING LIQUIDS OR USING PNEUMATIC TABLES OR JIGS; MAGNETIC OR ELECTROSTATIC SEPARATION OF SOLID MATERIALS FROM SOLID MATERIALS OR FLUIDS; SEPARATION BY HIGH-VOLTAGE ELECTRIC FIELDS
    • B03D—FLOTATION; DIFFERENTIAL SEDIMENTATION
    • B03D1/00—Flotation
    • B03D1/02—Froth-flotation processes
    • B03D1/028—Control and monitoring of flotation processes; computer models therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608—Height gauges

Definitions

  • Froth flotation is used in industry as a separation process and is very widely used for separating valuable minerals from gangue.
  • the characteristics of the froth are an indication as to whether the plant is operating efficiently. In earlier times the technician simply made visual observations of the froth. Based on his skill and knowledge he would make adjustments based on the visual characteristics of the froth.
  • the present invention provides a method of, and apparatus for, providing data on the characteristics of the flotation froth of a froth flotation plant.
  • a method of providing data on the movement of froth in a froth flotation plant comprising taking two digital images in succession of part of the froth's surface, illuminating said part of the froth's surface using a laser beam whilst one image is being taken but not whilst the other image is being taken, and subtracting one image digitally from the other so as to leave only the image of the laser.
  • Said part can be subjected to general illumination by an infrared light source, the laser's light being of the same wavelength as said source.
  • a method of providing data on the height of the froth in a froth flotation plant comprising directing a digital camera at a part of the surface of the froth, the camera being a
  • predetermined height above a datum level of the froth directing a laser beam at said part, the point of origin of the laser beam being a predetermined distance from the centre of the camera lens and the beam being at a predetermined angle to a line through the centre of the camera lens, taking an image of said part so as to determine the position of the laser's light spot with respect to the edge of the image, calculating the distance from the laser "spot" on said part to the camera lens, and calculating the vertical height of the froth using the output of an accelerometer which detects the degree by which the camera's orientation deviates from horizontal.
  • apparatus comprising a digital camera for taking images of a part of the surface of the froth in a froth flotation cell, a laser for directing a laser beam at a fixed angle to an axis passing through the centre of the lens of the digital camera for producing a light spot on said part of said surface, and an accelerometer for providing data indicative of the angle by which said axis deviates from vertical.
  • Said apparatus can include by an infrared light source for providing general illumination of said part, the laser and the light source providing light of the same wavelength.
  • Figure 1 is a pictorial view of apparatus in accordance with the present invention.
  • Figure 2 is a section through the apparatus of Figure 1 ;
  • Figure 3 is a pictorial view similar to that of Figure 1 but with parts of a cover omitted;
  • Figure 4 is a wavelength diagram
  • Figure 5 diagrammatically illustrates the method of operation of the apparatus of Figures 1 to 3;
  • Figure 6 and 7 are digital images of the flotation froth; and Figure 8 illustrates the blocks of the block matching algorithm.
  • FIG. 1 to 3 The apparatus illustrated in Figures 1 to 3 comprises a sealed housing designated 10 only the left hand part of which is shown in Figure 3.
  • a narrow bandwidth light source 12 is provided. This produces light in the invisible part of the spectrum and directs it downwardly to provide general illumination of the top surface of the froth in the froth flotation cell.
  • the light source can be an infrared LED.
  • Light reflected from the froth passes through an optical filter 14 to an electronic camera 16.
  • a laser 18, which produces red light of the same wavelength as the LED, is provided for directing its light beam onto the top surface of the froth.
  • the laser's beam is at an angle to the vertical as is described below.
  • the images produced by the camera 16 are transmitted by an antenna 20 to a remote location for storage and viewing.
  • Reference numeral 22 designates the electronics which process the output of the camera 16 to a signal form that can be transmitted by the antenna 20.
  • a hood 24 is provided above the housing 10. There is an airgap gap between the housing 10 and the hood 24.
  • the hood 24 shields the housing 10 from direct sunlight thereby to minimise the danger of overheating in the sealed housing 10.
  • An accelerometer (not shown) is provided to permit the angle of the apparatus with respect to horizontal to be determined.
  • FIG 4 the spectral emission lines of the LED light source 12 and the laser 18 are shown. It will be noted that the peaks of these spectral lines coincide.
  • the two vertical dotted lines show the limits of the wavelengths that the filter 14 permits to reach the camera.
  • the filter is intended to prevent light from the sun and from other external sources reaching the camera 16. This limits the detrimental effects that can be caused by shadows and uneven lighting. Consequently the light which reaches the camera is almost exclusively that from the two light sources 12 and 18.
  • the chosen wavelength of 820 nm to 860 nm is a compromise. Sunlight levels are lower at most longer infrared wavelengths. However, readily available silicon based cameras are highly sensitive at shorter infrared wavelengths.
  • Strong LED sources at 830 nm and 850 nm are commercially available. When all these factors are taken into consideration the chosen wavelength of between 820 nm and 860 nm represents the best available choice.
  • the area illuminated by the light source 12 is within the field of view of the camera 16 as is the spot on the surface of the froth which is illuminated by the laser 18. Because the laser is directed at an angle to the vertical, the apparent position of the red light spot on the surface of the froth, as viewed by the electronic camera 16, moves laterally with changes in froth depth.
  • the laser 18 is located 145 mm in the horizontal direction from the centre point of the camera lens.
  • the laser is positioned at an angle of between 1 1 and 18 degrees to the vertical. An angle of 16 degrees is preferred.
  • the lens of the camera 16 is 800mm above the level of the froth lip over which the froth flows.
  • the zero correction of the camera is undertaken in the factory.
  • the camera and the laser are in a fixed relationship to one another, both being mounted on a laser cut chassis plate of the housing 10. This means that the distance from the centre of the camera's lens to the laser is known and fixed as is the angle of the laser which respect to a line passing through the axis of the camera lens. The angle between adjacent pixels of the camera is also fixed and known.
  • the deviation of the housing 10 from horizontal is known based on the output of the accelerometer.
  • the camera is triggered to take two images in quick succession. For one of the images the laser 18 is on and for the other image the laser 18 is off. The position of the point of light where the laser intersects the froth is calculated by moving the two images until they coincide and then subtracting one from the other. The only remaining clear image is that of the laser and the number of pixels of that point from the zero position can be calculated.
  • the distance from the spot of light to the camera lens can be calculated. This is not, however, necessarily the height of the froth because the camera may be at an angle to the horizontal which means that the reading may be too high or too low.
  • the next step is to calculate the true height of the froth using the calculated distance of the camera to the froth and the output of the accelerometer which is an indication of how far the camera is from the position it occupies when the housing 10 is horizontal.
  • the rate of movement of the froth is determined by taking two images in quick succession and using a block algorithm to locate some parts of the images that correspond.
  • the number of pixels though which the selected part of the image has moved in the interval between images can be determined which enables the angle through which that part of the image has moved to be calculated.
  • the angle of movement can be used to calculate the distance through which the froth has moved in the time between images.
  • Figure 8 illustrates the laser dot position, the rectangle in which the laser is searched for and each of the blocks of the block matching algorithm each with their vector of detected movement in pixels.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Operation Control Of Excavators (AREA)
  • Studio Devices (AREA)

Abstract

Methods of providing data on the movement of froth in a froth flotation plant and on the height of the froth in the plant are disclosed. The surface of the froth is generally illuminated at the predetermined wavelength and a laser of the same wavelength is used to produce a light post on the froth's surface. An electronic camera is used to produce digital images of the surface and these are processed to provide the requisite information.

Description

PROVISION OF DATA ON THE FROTH IN A FROTH FLOTATION PLANT
FIELD OF THE INVENTION This invention relates to the provision of data on the froth in a froth flotation plant. BACKGROUND TO THE INVENTION
Froth flotation is used in industry as a separation process and is very widely used for separating valuable minerals from gangue.
It has long been understood that the characteristics of the froth are an indication as to whether the plant is operating efficiently. In earlier times the technician simply made visual observations of the froth. Based on his skill and knowledge he would make adjustments based on the visual characteristics of the froth.
More recently technology has been brought to bear on the control of froth flotation plants and reference can be made to United States patents 6, 727, 990 and 6, 778,881 as disclosing camera and computer based systems for replacing or supplementing the technician's experience based control of the plant.
The present invention provides a method of, and apparatus for, providing data on the characteristics of the flotation froth of a froth flotation plant.
BRIEF DESCRIPTION OF THE INVENTION
According to a first aspect of the present invention is provided a method of providing data on the movement of froth in a froth flotation plant, the method comprising taking two digital images in succession of part of the froth's surface, illuminating said part of the froth's surface using a laser beam whilst one image is being taken but not whilst the other image is being taken, and subtracting one image digitally from the other so as to leave only the image of the laser. Said part can be subjected to general illumination by an infrared light source, the laser's light being of the same wavelength as said source.
According to a further aspect of the present invention there is provided a method of providing data on the height of the froth in a froth flotation plant, the method comprising directing a digital camera at a part of the surface of the froth, the camera being a
predetermined height above a datum level of the froth, directing a laser beam at said part, the point of origin of the laser beam being a predetermined distance from the centre of the camera lens and the beam being at a predetermined angle to a line through the centre of the camera lens, taking an image of said part so as to determine the position of the laser's light spot with respect to the edge of the image, calculating the distance from the laser "spot" on said part to the camera lens, and calculating the vertical height of the froth using the output of an accelerometer which detects the degree by which the camera's orientation deviates from horizontal. According to a further aspect of the present invention there is provided apparatus comprising a digital camera for taking images of a part of the surface of the froth in a froth flotation cell, a laser for directing a laser beam at a fixed angle to an axis passing through the centre of the lens of the digital camera for producing a light spot on said part of said surface, and an accelerometer for providing data indicative of the angle by which said axis deviates from vertical.
Said apparatus can include by an infrared light source for providing general illumination of said part, the laser and the light source providing light of the same wavelength. BRIEF DESCRIPTION OF THE DRAWINGS
For a better understanding of the present invention, and to show how
the same may be carried into effect, reference will now be made, by way of example, to the accompanying drawings in which;
Figure 1 is a pictorial view of apparatus in accordance with the present invention;
Figure 2 is a section through the apparatus of Figure 1 ;
Figure 3 is a pictorial view similar to that of Figure 1 but with parts of a cover omitted;
Figure 4 is a wavelength diagram; Figure 5 diagrammatically illustrates the method of operation of the apparatus of Figures 1 to 3;
Figure 6 and 7 are digital images of the flotation froth; and Figure 8 illustrates the blocks of the block matching algorithm.
DETAILED DESCRIPTION OF THE DRAWINGS The apparatus illustrated in Figures 1 to 3 comprises a sealed housing designated 10 only the left hand part of which is shown in Figure 3.
A narrow bandwidth light source 12 is provided. This produces light in the invisible part of the spectrum and directs it downwardly to provide general illumination of the top surface of the froth in the froth flotation cell. The light source can be an infrared LED. Light reflected from the froth passes through an optical filter 14 to an electronic camera 16.
A laser 18, which produces red light of the same wavelength as the LED, is provided for directing its light beam onto the top surface of the froth. The laser's beam is at an angle to the vertical as is described below.
The images produced by the camera 16 are transmitted by an antenna 20 to a remote location for storage and viewing. Reference numeral 22 designates the electronics which process the output of the camera 16 to a signal form that can be transmitted by the antenna 20.
A hood 24 is provided above the housing 10. There is an airgap gap between the housing 10 and the hood 24. The hood 24 shields the housing 10 from direct sunlight thereby to minimise the danger of overheating in the sealed housing 10.
An accelerometer (not shown) is provided to permit the angle of the apparatus with respect to horizontal to be determined.
Turning now to Figure 4, the spectral emission lines of the LED light source 12 and the laser 18 are shown. It will be noted that the peaks of these spectral lines coincide. The two vertical dotted lines show the limits of the wavelengths that the filter 14 permits to reach the camera. The filter is intended to prevent light from the sun and from other external sources reaching the camera 16. This limits the detrimental effects that can be caused by shadows and uneven lighting. Consequently the light which reaches the camera is almost exclusively that from the two light sources 12 and 18. The chosen wavelength of 820 nm to 860 nm is a compromise. Sunlight levels are lower at most longer infrared wavelengths. However, readily available silicon based cameras are highly sensitive at shorter infrared wavelengths. Strong LED sources at 830 nm and 850 nm are commercially available. When all these factors are taken into consideration the chosen wavelength of between 820 nm and 860 nm represents the best available choice. The area illuminated by the light source 12 is within the field of view of the camera 16 as is the spot on the surface of the froth which is illuminated by the laser 18. Because the laser is directed at an angle to the vertical, the apparent position of the red light spot on the surface of the froth, as viewed by the electronic camera 16, moves laterally with changes in froth depth.
The use of the apparatus described will now be explained. The distances and angles given below are by way of example only.
The laser 18 is located 145 mm in the horizontal direction from the centre point of the camera lens. The laser is positioned at an angle of between 1 1 and 18 degrees to the vertical. An angle of 16 degrees is preferred. The lens of the camera 16 is 800mm above the level of the froth lip over which the froth flows. In this regard what is called the zero correction of the camera is undertaken in the factory. When the camera is positioned as described the pixel position for that set up is adopted as the zero reference. The camera and the laser are in a fixed relationship to one another, both being mounted on a laser cut chassis plate of the housing 10. This means that the distance from the centre of the camera's lens to the laser is known and fixed as is the angle of the laser which respect to a line passing through the axis of the camera lens. The angle between adjacent pixels of the camera is also fixed and known. The deviation of the housing 10 from horizontal is known based on the output of the accelerometer.
The camera is triggered to take two images in quick succession. For one of the images the laser 18 is on and for the other image the laser 18 is off. The position of the point of light where the laser intersects the froth is calculated by moving the two images until they coincide and then subtracting one from the other. The only remaining clear image is that of the laser and the number of pixels of that point from the zero position can be calculated.
From the information available as outlined above, the distance from the spot of light to the camera lens can be calculated. This is not, however, necessarily the height of the froth because the camera may be at an angle to the horizontal which means that the reading may be too high or too low. The next step is to calculate the true height of the froth using the calculated distance of the camera to the froth and the output of the accelerometer which is an indication of how far the camera is from the position it occupies when the housing 10 is horizontal.
The rate of movement of the froth is determined by taking two images in quick succession and using a block algorithm to locate some parts of the images that correspond. The number of pixels though which the selected part of the image has moved in the interval between images can be determined which enables the angle through which that part of the image has moved to be calculated. As the froth height has been calculated as described above, the angle of movement can be used to calculate the distance through which the froth has moved in the time between images.
Two digital images of the froth are shown in Figures 6 and 7. These images were taken 20 milliseconds apart
Figure 8 illustrates the laser dot position, the rectangle in which the laser is searched for and each of the blocks of the block matching algorithm each with their vector of detected movement in pixels.

Claims

1 . A method of providing data on the movement of froth in a froth flotation plant, the method comprising taking two digital images in succession of part of the froth's surface, illuminating said part of the froth's surface using a laser beam whilst one image is being taken but not whilst the other image is being taken, and subtracting one image digitally from the other so as to leave only the image of the laser.
2. A method as claimed in claim 1 , wherein said part is subjected to general illumination by an infrared light source, the laser's light being of the same wavelength as said source.
3. A method of providing data on the height of the froth in a froth flotation plant, the method comprising directing a digital camera at a part of the surface of the froth, the camera being a predetermined height above a datum level of the froth, directing a laser beam at said part, the point of origin of the laser beam being a predetermined distance from the centre of the camera lens and the beam being at a predetermined angle to a line through the centre of the camera lens, taking an image of said part so as to determine the position of the laser's light spot with respect to the edge of the image, calculating the distance from the laser's light "spot" on said part to the camera lens, and calculating the vertical height of the froth using the output of an
accelerometer which detects the degree by which the camera's orientation deviates from horizontal.
4. Apparatus comprising a digital camera for taking images of a part of the surface of the froth in a froth flotation cell, a laser for directing a laser beam at a fixed angle to an axis passing through the centre of the lens of the digital camera for producing a light spot on said part of said surface, and an accelerometer for providing data indicative of the angle by which said axis deviates from vertical.
5. Apparatus as claimed in claim 4 and including an infrared light source for providing general illumination of said part, the laser and the light source providing light of the same wavelength.
PCT/IB2013/059750 2012-10-29 2013-10-29 Provision of data on the froth in a froth flotation plant WO2014068478A2 (en)

Priority Applications (2)

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AU2013340393A AU2013340393B2 (en) 2012-10-29 2013-10-29 Provision of data on the froth in a froth flotation plant
CA2886752A CA2886752C (en) 2012-10-29 2013-10-29 Provision of data on the froth in a froth flotation plant

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ZA201208087 2012-10-29
ZA2012/08087 2012-10-29

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WO2014068478A2 true WO2014068478A2 (en) 2014-05-08
WO2014068478A3 WO2014068478A3 (en) 2014-09-12

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104174505A (en) * 2014-08-07 2014-12-03 玉溪矿业有限公司 Method for quantificationally predicting theoretical ore dressing recovery rate and concentrate grade of ore floatation
CN109815963A (en) * 2019-01-28 2019-05-28 东北大学 Flotation tailing froth images target area automatic obtaining method based on sliding window technology
JP2020199487A (en) * 2019-06-13 2020-12-17 住友金属鉱山株式会社 Apparatus for measuring moving direction of froth, method for measuring moving direction of froth, and flotation ore dressing apparatus and flotation ore dressing method using these
CN114653485A (en) * 2022-03-18 2022-06-24 云南华迅达智能科技有限公司 Flotation process fuzzy control method based on foam flow velocity

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105405149B (en) * 2015-11-20 2018-07-31 中南大学 A kind of compounded texture feature extracting method of floatation foam image

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997045203A1 (en) * 1996-05-31 1997-12-04 Baker Hughes Incorporated Method and apparatus for controlling froth flotation machines
WO2000068672A1 (en) * 1999-05-05 2000-11-16 Antti Niemi Method and apparatus for monitoring and analyzing the surface of floated material
WO2001038001A1 (en) * 1999-11-24 2001-05-31 Outokumpu Oyj Monitoring and control of a froth flotation plant
CN101907446A (en) * 2010-07-15 2010-12-08 中南大学 Device and method for directly measuring thickness of flotation froth by laser

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997045203A1 (en) * 1996-05-31 1997-12-04 Baker Hughes Incorporated Method and apparatus for controlling froth flotation machines
WO2000068672A1 (en) * 1999-05-05 2000-11-16 Antti Niemi Method and apparatus for monitoring and analyzing the surface of floated material
WO2001038001A1 (en) * 1999-11-24 2001-05-31 Outokumpu Oyj Monitoring and control of a froth flotation plant
CN101907446A (en) * 2010-07-15 2010-12-08 中南大学 Device and method for directly measuring thickness of flotation froth by laser

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104174505A (en) * 2014-08-07 2014-12-03 玉溪矿业有限公司 Method for quantificationally predicting theoretical ore dressing recovery rate and concentrate grade of ore floatation
CN109815963A (en) * 2019-01-28 2019-05-28 东北大学 Flotation tailing froth images target area automatic obtaining method based on sliding window technology
JP2020199487A (en) * 2019-06-13 2020-12-17 住友金属鉱山株式会社 Apparatus for measuring moving direction of froth, method for measuring moving direction of froth, and flotation ore dressing apparatus and flotation ore dressing method using these
CN114653485A (en) * 2022-03-18 2022-06-24 云南华迅达智能科技有限公司 Flotation process fuzzy control method based on foam flow velocity
CN114653485B (en) * 2022-03-18 2023-09-26 云南华迅达智能科技有限公司 Flotation process fuzzy control method based on foam flow velocity

Also Published As

Publication number Publication date
ZA201309062B (en) 2014-06-25
AU2013340393B2 (en) 2016-11-17
AU2013340393A1 (en) 2015-04-16
WO2014068478A3 (en) 2014-09-12
CA2886752C (en) 2023-06-06
CA2886752A1 (en) 2014-05-08

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