Multi-mechanical-arm cooperative coal gangue sorting system based on vision and force information fusion perception

Abstract

The invention discloses a multi-mechanical-arm cooperative coal gangue sorting system based on vision and force information fusion perception. The multi-mechanical-arm cooperative coal gangue sortingsystem comprises a recognition positioning subsystem, a main control subsystem, a multi-mechanical-arm sorting subsystem, a belt conveyor, a belt speed detection device and a gangue recovery belt conveyor. The identification result, position information and volume parameters of gangue are obtained through coal gangue visual inspection, gangue standard mass is calculated in combination with ganguestandard density, gangue detection mass at the moment of clamping of a force-sensitive pneumatic manipulator is compared, secondary identification of gangue is completed, meanwhile, a sorting track ofthe mechanical arm for gangue target tasks is planned, a sorting task is efficiently and accurately completed, and the coal gangue recognition rate and the system gangue sorting rate are increased.

Description

technical field [0001] The invention relates to the technical field of coal gangue identification and sorting. Background technique [0002] According to the relevant data of the China Coal Processing and Utilization Association, for every 100 million tons of raw coal washed, about 13 million tons of ash and nearly 350,000 tons of sulfur can be removed, sulfur dioxide emissions can be reduced by 490,000 tons, and more than 18 million tons of gangue and gangue can be removed The proportion is relatively large. The separation of coal and gangue accounts for a relatively large proportion of the entire coal production. The existing methods of gangue selection mainly include manual gangue selection, traditional sorting machine selection and intelligent gangue selection. Manual gangue selection is labor-intensive and inefficient. Traditional separation devices mainly include moving screen jigging type, crushing type, force cylinder vibration type, wind type, dense medium washing...

AI Technical Summary

Problems solved by technology

[0003]The current identification of coal and gangue mainly includes γ-ray identification that endangers human health, infrared identification and image identification have problems such as low identification efficiency

[0004] To sum up, in the existing coal gangue separation technology, there is no coal gangue separation system suitable for the coal gangue flow belt conveyor in the coal washing plant, and there is no The separation device system for multi-dynamic gangue targets, coal gangue identification is a one-time identification method, low identification efficiency and low accuracy

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