Coal gangue sorting method and system, electronic equipment and storage medium

Abstract

The invention relates to a coal gangue sorting method and system, electronic equipment and a storage medium, and relates to the field of ore sorting.The method comprises the steps that when it is detected that a gas row gun operates, video information of coal gangue is obtained, the motion trail of the coal gangue is determined based on the video information, and if the motion trail of the coal gangue is entering a coal conveying belt, the coal gangue enters the coal conveying belt; if yes, determining the coal gangue as target coal gangue, obtaining an x-ray image of the target coal gangue, determining a characteristic value of the target coal gangue based on the x-ray image of the target coal gangue and the video information, obtaining real-time video information of the main conveyor belt, and determining a target side from two sides of the conveying direction of the main conveyor belt based on the real-time video information, the blank area of the target side is larger than the blank area of the other side, controlling the grabbing device to grab the target coal gangue from the coal conveying belt based on the characteristic value, and controlling the grabbing device to convey the target coal gangue to the target side. The coal gangue in the separated coal can be reduced, so that the coal content is increased.

Description

Technical Field

[0001] The present application relates to the field of ore sorting, and in particular to a coal gangue sorting method, system, electronic equipment and storage medium. Background Art

[0002] Gangue, a byproduct of coal mining, is typically separated from the coal using an ore sorter. The ore sorter screens the material on the main conveyor belt to identify the gangue. At the end of the main conveyor belt, a gas lance sprays high-pressure gas onto the gangue, propelling it onto the gangue conveyor belt. However, some gangue may not be sufficiently propelled by the gas lance and may enter the coal conveyor belt, resulting in excessive gangue inclusion in the coal, reducing the sorting effect and coal content. Therefore, how to reduce the gangue content in the sorted coal and increase the coal content becomes a challenge. Summary of the Invention

[0003] In order to reduce the gangue in the coal after sorting to increase the coal content, the present application provides a gangue sorting method, system, electronic equipment and storage medium.

[0004] In a first aspect, the present application provides a method for separating coal gangue, which adopts the following technical solution: A method for separating coal gangue, comprising: When the operation of the gas discharge gun is detected, video information of the coal gangue is obtained, and a movement trajectory of the coal gangue is determined based on the video information; If the movement trajectory of the coal gangue is entering the coal conveyor belt, the coal gangue is determined as the target coal gangue, and an X-ray image of the target coal gangue is acquired; Determining a characteristic value of the target gangue based on the X-ray image and video information of the target gangue; Acquire real-time video information of the main conveyor belt, and determine a target side from both sides of the conveying direction of the main conveyor belt based on the real-time video information, wherein the blank area of ​​the target side is larger than the blank area of ​​the other side; Based on the characteristic value, a grabbing device is controlled to grab the target gangue from the coal conveyor belt, and the grabbing device is controlled to transport the target gangue to the target side.

[0005] By adopting the technical scheme, when it is detected that the air-lance is operating, it is indicated that the air-lance is separating the coal gangue, therefore, the video information of the coal gangue is acquired and the motion track of the coal gangue is determined, the path of the coal gangue and the position about to enter can be analyzed according to the motion track, if the motion track of the coal gangue is to enter the coal conveying belt, it is indicated that the coal gangue is about to mix into the coal, therefore, the coal gangue is determined as the target coal gangue, and the x-ray image of the target coal gangue is acquired, the x-ray image represents the absorption degree of x-rays by the coal gangue when the x-rays pass through the coal gangue, the absorption degrees of x-rays by different coal gangues are different, the video information records the shape and other characteristics of the coal gangue, the shapes of different coal gangues are different, therefore, the characteristic value representing the characteristics of the target coal gangue itself can be determined according to the x-ray image and the video information, the materials on the main conveying belt are usually gathered in the middle region, and the materials on the two side edges of the main conveying belt are less and the idle regions are larger, therefore, the target coal gangue is suitable to be re-transported, so that the target coal gangue is not easy to be mixed with the materials after being re-returned to the main conveying belt, the largest one of the two side edge regions is determined as the target side, the target coal gangue can be found on the coal conveying belt according to the characteristic value, and the grabbing device is controlled to grab the target coal gangue and re-transport the target coal gangue to the target side on the main conveying belt, so that the coal gangue in the separated coal is reduced, and the coal content is improved.

[0006] In another possible implementation manner, the characteristic value of the target coal gangue is determined based on the x-ray image and the video information of the target coal gangue, and the method comprises the following steps. The x-ray image is subjected to gray scale transformation to obtain a gray scale image, and a gray scale value of the target coal gangue is determined from the gray scale image. The video information is subjected to edge detection to obtain a contour of the target coal gangue. A circumscribed circle of the contour is determined, and a diameter of the circumscribed circle is determined. An average value of the gray scale value of the target coal gangue is determined, and a ratio of the average value of the gray scale value to the diameter is calculated, and the ratio represents the characteristic value of the target coal gangue.

[0007] In another possible implementation manner, the main conveying belt is evenly divided into two regions along a conveying direction, and the target side is determined from two sides of the main conveying belt along the conveying direction based on the real-time video information, and the method comprises the following steps. Target materials on the outermost sides of a plurality of regions on the main conveying belt are determined from the real-time video information, and the plurality of regions are divided along the conveying direction of the main conveying belt. The target materials are sequentially connected along the conveying direction to obtain a polyline segment about the sequentially connected target materials. Perpendicular lines are drawn from both ends of the polyline segment to the edges of the main conveying belt in the regions to form a closed region. Calculate the area of each corresponding closed area on both sides of the main conveyor belt, and determine the side with the largest closed area as the target side.

[0008] In another possible implementation, the grabbing device includes a mechanical hand and two belt conveyors, one for each target side, and the control of the grabbing device to grab the target coal gangue from the coal conveyor belt based on the characteristic value includes: Obtain the x-ray image and video information of each material on the coal conveyor belt; Determine the characteristic value of each material based on the x-ray image and video information of each material on the coal conveyor belt; Identify the target coal gangue from the coal conveyor belt based on the characteristic value of each material and the characteristic value of the target coal gangue, and control the mechanical hand to grab the target coal gangue.

[0009] In another possible implementation, the control of the grabbing device to deliver the target coal gangue to the target side includes: When the mechanical hand is detected to grab the target coal gangue to the belt conveyor of any target side, control the belt conveyor of the target side to operate.

[0010] In a second aspect, the present application provides a coal gangue sorting system, which adopts the following technical solution: A coal gangue sorting system includes: An ore sorting machine, which includes a main conveyor belt for conveying materials, an x-ray device for collecting x-ray images of target coal gangue, an air lance for separating coal gangue, a coal gangue conveyor belt for transporting coal gangue, a coal conveyor belt for transporting coal, a first camera device for collecting video information of coal gangue, and a second camera device for collecting real-time video information of the main conveyor belt; A grabbing device for delivering the target coal gangue to the target side; The electronic device is in communication connection with the ore sorting machine and the grabbing device, and is used for acquiring video information of the coal gangue when detecting that the air lance is running, determining a motion trajectory of the coal gangue based on the video information, determining the coal gangue as target coal gangue if the motion trajectory of the coal gangue is into the coal conveying belt, acquiring an X-ray image of the target coal gangue, determining a characteristic value of the target coal gangue based on the X-ray image and the video information, acquiring real-time video information of the main conveying belt, and determining a target side of the main conveying belt based on the real-time video information, wherein a blank area of the target side is greater than that of the other side, controlling the grabbing device to grab the target coal gangue from the coal conveying belt based on the characteristic value, and controlling the grabbing device to deliver the target coal gangue to the target side.

[0011] By adopting the technical scheme, the ore sorting machine mainly plays a role in sorting and analyzing the coal gangue in the material, and the first camera device and the X camera device on the ore sorting machine collect the related characteristics of the coal gangue, the second camera device collects the distribution of the material on the main conveying belt, and then the collected related characteristics and other data are sent to the electronic device, so that the electronic device determines the characteristic value of the target coal gangue and the target side of the main conveying belt to which the target coal gangue is returned. The electronic device identifies the target coal gangue from the coal conveying belt and controls the grabbing device to grab the target coal gangue, so as to deliver the target coal gangue to the target side of the main conveying belt, thereby realizing the effect of reducing the coal gangue in the sorted coal to improve the content of the coal.

[0012] In another possible implementation manner, the grabbing device includes a mechanical hand, a sliding rail arranged above the coal conveying belt, and two belt conveyors; The sliding rail includes two first rails parallel to the coal conveying belt and a second rail perpendicular to the first rail, the second rail is parallel to the horizontal plane, the second rail is in sliding connection with the first rail, the mechanical hand is arranged on the second rail, and the mechanical hand can slide on the second rail; The two belt conveyors are respectively arranged on the two sides of the coal conveying belt and are arranged in an inclined manner, one end of the belt conveyor is located on one side of the coal conveying belt, and the other end is located on one side of the main conveying belt; the belt conveyor is further provided with a guide plate, the guide plate is located on one end of the belt conveyor close to the main conveying belt, and is used for guiding the target coal gangue to fall into the target side.

[0013] By adopting the technical scheme, the manipulator can move in a larger range and freely on the sliding track, the belt conveyor is located on both sides of the coal conveying belt, the manipulator can place the grabbed target coal gangue on the belt conveyor, the belt conveyor is inclined to transport the target coal gangue to the guide plate, and the target coal gangue rolls on the guide plate and then returns to the main conveying belt.

[0014] In another possible implementation manner, the guide plate is provided with a baffle, the baffle is located at the opening of the guide plate, and the baffle is hinged to the side plate of the guide plate.

[0015] By adopting the technical scheme, the baffle blocks the target coal gangue, the target coal gangue rolls on the guide plate at a high speed when the target coal gangue leaves the guide plate and is prone to roll to the middle position of the main conveying belt, the baffle blocks at the outlet of the guide plate to reduce the speed of the target coal gangue, the target coal gangue falls vertically to the main conveying belt as much as possible, and the target coal gangue falls better on the target side.

[0016] In a third aspect, the present application provides an electronic device, which adopts the technical scheme as follows: An electronic device, comprising: at least one processor; a memory; at least one application program, wherein the at least one application program is stored in the memory and is configured to be executed by the at least one processor, and the at least one processor is configured to execute the coal gangue sorting method according to any one of the possible implementation manners of the first aspect.

[0017] In a fourth aspect, the present application provides a computer readable storage medium, which adopts the technical scheme as follows: A computer readable storage medium, when the computer program is executed in the computer, the computer executes the coal gangue sorting method according to any one of the first aspect.

[0018] In summary, the present application has at least one of the following beneficial technical effects: When the gas discharge gun is detected to be running, it means that the gas discharge gun is separating the gangue, so the video information of the gangue is obtained and the movement trajectory of the gangue is determined. According to the movement trajectory, the path of the gangue and the position it is about to enter can be analyzed. If the movement trajectory of the gangue is to enter the coal conveyor belt, it means that the gangue is about to be mixed with the coal, so the gangue is determined as the target gangue, and the X-ray image of the target gangue is obtained. The X-ray image represents the degree of absorption of the gangue to the X-ray when the X-ray passes through the gangue. There are differences between different gangues in the degree of absorption of the X-ray. The video information records the shape and other characteristics of the gangue. There are differences between the shapes of different gangues. Therefore, according to X-ray images and video information can be used to comprehensively determine the characteristic values ​​that characterize the characteristics of the target gangue itself. On the main conveyor belt, materials are usually concentrated in the middle area, while the areas on the edges of the main conveyor belt have less material and larger idle areas. Therefore, it is suitable to re-transport the target gangue, so that the target gangue is not easily mixed with the material after returning to the main conveyor belt. The largest side of the edge areas on both sides is determined as the target side. According to the characteristic value, the target gangue can be found from the coal conveyor belt and the grabbing device can be controlled to grab the target gangue and re-transport the target gangue to the target side on the main conveyor belt, thereby reducing the gangue in the coal after sorting and increasing the coal content. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of a coal gangue sorting method according to an embodiment of the present application.

[0020] Figure 2 It is a structural schematic diagram of a coal gangue sorting system according to an embodiment of the present application.

[0021] Figure 3 This is a structural block diagram of a coal gangue sorting system according to an embodiment of the present application.

[0022] Figure 4 This is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] The present application is further described in detail below with reference to the accompanying drawings.

[0024] After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

[0025] In order to make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0026] In addition, the term "and / or" in the present application is only used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in the present application generally represents an "or" relationship between the associated objects unless otherwise specified.

[0027] The embodiments of the present application will be described in further detail below with reference to the drawings of the specification.

[0028] The embodiments of the present application provide a coal gangue sorting method, which is executed by an electronic device. The electronic device can be a server or a terminal device. The server can be a physical server, a server cluster composed of multiple physical servers, or a distributed system, and can also be a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected through wired or wireless communication, and the embodiments of the present application do not limit this. As shown in the figure, the method comprises steps S101, S102, S103, S104, and S105, wherein, Figure 1 S101, when detecting that the air gun is running, acquiring video information of the coal gangue, and determining a motion trajectory of the coal gangue based on the video information.

[0029] For the embodiments of the present application, the air gun is connected to the electronic device through a wire. The air gun comprises a plurality of air outlets arranged side by side. Each air outlet of the air gun outputs a signal when running, so that the electronic device knows that the air gun is running and the specific running air outlet. If a certain material on the main conveying belt is coal, the air gun does not run, so that the coal falls into the coal conveying belt at the end of the main conveying belt. If a certain material is coal gangue, the air gun runs, so that the coal gangue is pushed into the coal gangue conveying belt by the high-pressure gas sprayed by the air gun at the end of the main conveying belt.

[0030] ​A camera device can be arranged at the end of the main conveyor belt to collect video information of the coal gangue. When it is detected that the gas discharge gun is operating, it indicates that the gas discharge gun is separating the coal gangue. Therefore, the electronic device obtains the video information of the coal gangue. The electronic device parses the video information into each frame of picture, and determines the position of the coal gangue in each frame of picture. The motion trajectory of the coal gangue can be drawn according to the position of the coal gangue in each frame of picture.

[0031] In S102, if the motion trajectory of the coal gangue is into the coal conveyor belt, the coal gangue is determined as the target coal gangue, and the x-ray image of the target coal gangue is obtained.

[0032] For the embodiment of the present application, a partition plate is further arranged at the end of the main conveyor belt. The partition plate is arranged obliquely to separate two passages. The electronic device can determine the relative position relationship between the motion trajectory and the partition plate, and then determine whether the coal gangue enters the coal conveyor belt or the coal gangue conveyor belt. Since the coal is not pushed by the gas discharge gun, the passage and the coal conveyor belt below the partition plate are the coal passage and the coal conveyor belt, and the passage and the coal gangue conveyor belt above the partition plate are the coal gangue passage and the coal gangue conveyor belt. If the motion trajectory is below the partition plate, it is determined that the motion trajectory of the coal gangue is into the coal conveyor belt, that is, the coal gangue is mixed into the coal. Therefore, the electronic device determines the coal gangue as the target coal gangue. An x-ray device is arranged above the main conveyor belt to collect the x-ray image of the material when identifying the coal gangue. Therefore, the electronic device can obtain the x-ray image of the target coal gangue.

[0033] In S103, the characteristic value of the target coal gangue is determined based on the x-ray image and the video information of the target coal gangue.

[0034] For the embodiment of the present application, the x-ray image is the absorption degree of x-rays by the coal gangue when the x-rays pass through the coal gangue. Different coal gangues have different absorption degrees of x-rays. The video information records the shape and other characteristics of the coal gangue. There are differences between the shapes of different coal gangues. Therefore, the electronic device can determine the characteristic value of the target coal gangue according to the x-ray image and the video information, which is used to distinguish other materials. Moreover, the characteristic value obtained by comprehensive analysis of the x-ray image and the video information is more accurate and conforms to the characteristics of the target coal gangue itself.

[0035] In S104, the real-time video information of the main conveyor belt is obtained, and the target side is determined from the two sides of the main conveyor belt in the conveying direction based on the real-time video information.

[0036] The blank area of the target side is greater than that of the other side.

[0037] For the embodiment of the present application, after the electronic device determines the target coal gangue mixed in the coal, the target coal gangue needs to be transported to the main conveying belt again. In order to make the target coal gangue not easy to mix with the materials on the main conveying belt, and the materials on the main conveying belt are usually gathered in the middle area, and there are more blank areas on the two side edge areas of the main conveying belt, which are suitable for transporting the target coal gangue. A camera device is arranged above the main conveying belt, which is used to collect real-time video information on the main conveying belt. The accumulation and distribution of the materials on the main conveying belt are recorded in the real-time video information. Therefore, the electronic device can determine the side edge area with the largest blank area on the main conveying belt according to the real-time video information, that is, the target side.

[0038] S105, based on the characteristic value, controlling the grabbing device to grab the target coal gangue from the coal conveying belt, and controlling the grabbing device to transport the target coal gangue to the target side.

[0039] For the embodiment of the present application, the electronic device can find the target coal gangue from the coal conveying belt according to the characteristic value, and then control the grabbing device to grab the target coal gangue. After the grabbing device grabs the target coal gangue, the target coal gangue is transported to the target side of the main conveying belt, so as to re-identify and separate the target coal gangue. The coal gangue in the sorted coal is reduced, and the quality and content of the coal are improved.

[0040] In one possible implementation of the embodiment of the present application, the characteristic value of the target coal gangue is determined based on the x-ray image and the video information of the target coal gangue in step S103, which specifically includes steps S1031 (not shown in the figure), S1032 (not shown in the figure), S1033 (not shown in the figure) and S1034 (not shown in the figure), wherein, S1031, performing gray scale transformation on the x-ray image to obtain a gray scale image, and determining the gray scale value of the target coal gangue from the gray scale image.

[0041] For the embodiment of the present application, the electronic device first performs filtering and denoising processing on the x-ray image, such as Gaussian filtering, median filtering, etc. to obtain a denoised image, and then performs gray scale transformation to obtain a gray scale image. The gray scale value of each pixel of the target coal gangue is determined from the gray scale image.

[0042] S1032, performing edge detection on the video information to obtain the contour of the target coal gangue.

[0043] For the embodiment of the present application, the electronic device performs edge detection on the video information. Similarly, each frame of the video information is gray processed to obtain a gray image, and then the position where the gray value appears a step is determined from the gray image, that is, the contour of the target coal gangue.

[0044] S1033, determining the circumscribed circle of the contour, and determining the diameter of the circumscribed circle.

[0045] In the embodiment of the present application, since different gangues have different contours, the corresponding circumscribed circles are different, and similarly, the diameters of the circumscribed circles are also different. Therefore, the electronic device determines the diameter of the circumscribed circle of the target gangue and uses the diameter to characterize the properties of the target gangue.

[0046] S1034, determining the average gray value of the target gangue, and calculating the ratio of the average gray value to the diameter.

[0047] Among them, the ratio represents the characteristic value of the target coal gangue.

[0048] In this embodiment of the present application, the electronic device uses a formula to calculate the grayscale values ​​of all pixels in the target gangue to calculate the average grayscale value. This average grayscale value is used to characterize the target gangue's inherent properties. The electronic device then calculates the ratio of the grayscale average value to the diameter, thereby making the characteristic value more specific. By combining the X-ray image and the contour, the characteristic value is determined to be more consistent with the target gangue's inherent characteristics.

[0049] In one possible implementation of the embodiment of the present application, the main conveyor belt is evenly divided into two areas along the conveying direction. The target side determined from both sides of the conveying direction of the main conveyor belt based on the real-time video information in step S104 specifically includes step S1041 (not shown in the figure), step S1042 (not shown in the figure), step S1043 (not shown in the figure), and step S1044 (not shown in the figure), wherein: S1041, determining the outermost target materials corresponding to each of the multiple areas on both sides of the main conveyor belt from the real-time video information, where the multiple areas are multiple areas separated along the conveying direction of the main conveyor belt.

[0050] For the embodiment of the present application, the electronic device performs material identification on the real-time video information, thereby identifying each material on the main conveyor belt and determining the side where the material is located. The electronic device divides the main conveyor belt into multiple areas along the transportation direction, and then calculates the vertical distance from the material in each area to the edge of the side where it is located. The material with the shortest vertical distance is the outermost material, thereby determining the outermost target material of each area.

[0051] S1042, connecting the target materials in sequence along the conveying direction to obtain broken line segments connected in sequence about the target materials.

[0052] In the embodiment of the present application, after the electronic device determines the outermost target material of each area on each side, the target materials in each area are sequentially connected to obtain broken line segments.

[0053] S1043: Draw perpendicular lines from both ends of the broken line segment to the edge of the main conveyor belt in the area to form a closed area.

[0054] For the embodiment of the present application, the electronic device draws a perpendicular line at both ends of the broken line segment, i.e., the starting end and the ending end of the main conveyor belt, and the broken line segment, the perpendicular line and the edge of the main conveyor belt enclose a closed area.

[0055] In S1044, the electronic device calculates the area of each of the closed areas corresponding to the two sides of the main conveyor belt, and determines the side on which the closed area with the largest area is located as the target side.

[0056] For the embodiment of the present application, the electronic device can represent the area of the closed area by calculating the number of pixels in the closed area, and then compares the number of pixels of the two closed areas to determine the closed area with the largest area, and then determines the side on which the closed area with the largest area is located as the target side. The closed area with the largest area indicates that the blank area is large, and the target coal gangue is re-transported to the target side with the largest blank area, so that the target coal gangue is not easily mixed with the materials, and then the target coal gangue is better re-identified and separated.

[0057] In one possible implementation of the embodiment of the present application, the grabbing device includes a mechanical hand and two belt conveyors, one belt conveyor corresponding to each target side, and the step S105 of controlling the grabbing device to grab the target coal gangue from the coal conveyor belt based on the characteristic value includes steps S1051 (not shown in the figure), S1052 (not shown in the figure) and S1053 (not shown in the figure), wherein, In S1051, the x-ray image and video information of each material on the coal conveyor belt are acquired.

[0058] For the embodiment of the present application, the x-ray device and the camera device are also arranged above the coal conveyor belt, so as to acquire the x-ray image and video information of each material on the coal conveyor belt.

[0059] In S1052, the characteristic value of each material is determined based on the x-ray image and video information of each material on the coal conveyor belt.

[0060] For the embodiment of the present application, the electronic device can determine the characteristic value of each material on the coal conveyor belt in the manner disclosed in steps S1031 to S1034, which will not be repeated here.

[0061] In S1053, the target coal gangue is identified from the coal conveyor belt based on the characteristic value of each material and the characteristic value of the target coal gangue, and the mechanical hand is controlled to grab the target coal gangue.

[0062] For the embodiment of the present application, the electronic device compares the characteristic value of each material with the characteristic value of the target coal gangue, so as to identify the target coal gangue from the coal conveying belt. After the camera device identifies the target coal gangue, the target coal gangue is tracked, so as to determine the real-time position of the target coal gangue, and then the electronic device controls the mechanical hand to move and further grasp the target coal gangue according to the real-time position.

[0063] In a possible implementation of the embodiment of the present application, the step S105 of controlling the grabbing device to transport the target coal gangue to the target side specifically includes a step S1054 (not shown in the figure), wherein, S1054, when detecting that the mechanical hand grasps the target coal gangue to the belt conveyor of any target side, controlling the belt conveyor of any target side to operate.

[0064] For the embodiment of the present application, since the number of coal gangues accidentally falling on the coal conveying belt is small, the belt conveyor is in a normal closed state. When the electronic device detects that the mechanical hand grasps the target coal gangue and places the target coal gangue to the belt conveyor of the corresponding target side, the belt conveyor of the target side is controlled to operate, so that the belt conveyor of the target side re-transport the target coal gangue to the main conveying belt.

[0065] The above embodiment introduces a coal gangue sorting method from the perspective of method flow, and the following embodiment introduces a coal gangue sorting system, which is specifically described in the following embodiment.

[0066] The embodiment of the present application provides a coal gangue sorting system, as shown in Figure 2 and Figure 3 , the coal gangue sorting system specifically can include: The ore sorting machine 1 includes a main conveying belt 11 for conveying materials, an x-ray device 12 for collecting x-ray images of target coal gangues, a gas discharge gun 13 for separating coal gangues, a coal gangue conveying belt for transporting coal gangues, a coal conveying belt 14 for transporting coal, a first camera device 15 for collecting video information of coal gangues, and a second camera device 16 for collecting real-time video information of the main conveying belt 11; The grabbing device 2 is used for transporting the target coal gangue to the target side; The electronic device 3 is connected with the ore sorting machine 1 through wires or wirelessly, and is connected with the grabbing device 2 through wires or wirelessly, and is used for executing the contents in the above method embodiment.

[0067] Referring to Figure 2 , since the coal gangue conveying belt is not involved in the embodiment of the present application, the coal gangue conveying belt is not shown in the figure, which does not affect the combination of the accompanying drawings Figure 2A coal gangue sorting system is described. The material is on the main conveying belt 11 of the ore sorting machine 1, and the x-ray device 12 collects the x-ray image of the material on the main conveying belt 11. The ore sorting machine 1 further comprises a partition plate 17 located at the end of the main conveying belt 11, the partition plate 17 is inclinedly arranged, after the material moves to the end of the main conveying belt 11, the coal gangue is pushed by the high-pressure gas sprayed by the air gun 13, so as to fly to the area above the partition plate 17, and then fall on the coal gangue conveying belt. The air gun 13 does not spray high-pressure gas to the coal, so the coal falls below the partition plate 17 at the end of the main conveying belt 11, and then falls on the coal conveying belt 14. A first camera device 15 is arranged at the side of the end of the main conveying belt 11, the first camera device 15 can be fixed on the shell of the ore sorting machine 1, which is not shown in the figure, and the first camera device 15 is used to collect video information of the coal gangue to enable the electronic device 3 to analyze the motion trajectory. A second camera device 16 is arranged above the main conveying belt 11 of the ore sorting machine 1 for collecting real-time video information of the main conveying belt 11.

[0068] Referring to Figure 2 The grabbing device 2 comprises a sliding rail 21 arranged above the coal conveying belt 14, a mechanical hand 22, and two belt conveyors 23. The sliding rail 21 comprises two first rails 211 and a second rail 212, the two first rails 211 are arranged in parallel, and the first rail 211 is parallel to the conveying direction of the coal conveying belt 14. The second rail 212 is arranged on the two first rails 211 and is in sliding connection with the first rail 211, the second rail 212 can move on the first rail 211 along the conveying direction of the coal conveying belt 14, and the second rail 212 is connected with the first rail 211 through a pulley. The mechanical hand 22 is arranged on the second rail 212 and can slide on the second rail 212, and the mechanical hand 22 can be telescopic in the vertical direction to grab the target coal gangue.

[0069] Referring to Figure 2 The two belt conveyors 23 are respectively located on the two sides of the coal conveying belt 14, the belt conveyor 23 is arranged obliquely, and a plurality of strip plates 231 are arranged on the surface of the belt conveyor 23 at equal intervals, which can receive the target coal gangue, so as to move the target coal gangue to the main conveying belt 11. A guide plate 24 is further arranged at the end of the belt conveyor 23 close to the main conveying belt 11, the guide plate 24 is arranged obliquely, so that the target coal gangue rolls under the action of gravity after falling on the guide plate 24, and then falls on the target side of the main conveying belt 11.

[0070] Referring to Figure 2In order to make the target coal gangue fall on the main conveying belt 11 and not easy to continue to roll to the middle area of the main conveying belt 11, a baffle 25 is hinged at the outlet of the guide plate 24, and the hinge shaft is located at the top of the side plate of the guide plate 24. The baffle 25 has a blocking effect on the target coal gangue, reduces the speed of the target coal gangue, so that the target coal gangue can fall vertically to the target side as much as possible.

[0071] It can be clearly known from the above method embodiment that the camera device for collecting the appearance image video of the material and the x-ray device for collecting the x-ray image are further arranged above the coal conveying belt 14, and the camera device and the x-ray device on the coal conveying belt 14 are not shown in the above method embodiment and the system embodiment, but can be clearly known how to install and arrange the camera device and the x-ray device on the coal conveying belt 14 in combination with the above method embodiment and the system embodiment. Figure 2

[0072] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the coal gangue sorting system described above can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0073] An electronic device is provided in the embodiment of the present application, as shown in Figure 4 , the electronic device 3 shown in Figure 4 includes a processor 31 and a memory 33. Wherein, the processor 31 and the memory 33 are connected, such as connected through a bus 32. Optionally, the electronic device 3 can also include a transceiver 34. It should be noted that the transceiver 34 is not limited to one in actual application, and the structure of the electronic device 3 does not constitute a limitation on the embodiment of the present application.

[0074] The processor 31 can be a CPU (Central Processing Unit, central processing unit), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can realize or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure content of the present application. The processor 31 can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of DSP and microprocessor, etc.

[0075] ​The bus 32 can include a path that transmits information between the above-described components. The bus 32 can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 32 can be divided into an address bus, a data bus, a control bus, etc. For convenience of representation, Figure 4 Only one thick line is used to represent the bus in the middle, but this does not mean that there is only one bus or one type of bus.

[0076] The memory 33 can be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0077] The memory 33 is used to store application program codes for implementing the scheme of the present application, and is controlled by the processor 31 to execute. The processor 31 is used to execute the application program codes stored in the memory 33 to realize the content shown in the foregoing method embodiments.

[0078] The electronic device includes, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (Personal Digital Assistant), a PAD (Tablet Personal Computer), a PMP (Portable Multimedia Player), a car terminal (for example, a car navigation terminal), etc., and a fixed terminal such as a digital TV, a desktop computer, etc. It can also be a server, etc. Figure 4 The electronic device shown is only an example, and should not bring any limitation to the function and use range of the embodiments of the present application.

[0079] The embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium stores a computer program, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiment. Compared with the related art, when the gas discharge gun is detected to run, it is indicated that the gas discharge gun is separating coal gangue, so video information of the coal gangue is acquired and the motion trajectory of the coal gangue is determined, the path of the coal gangue and the position about to enter can be analyzed according to the motion trajectory, if the motion trajectory of the coal gangue is to enter the coal conveying belt, it is indicated that the coal gangue is about to mix into the coal, so the coal gangue is determined as target coal gangue, and an x-ray image of the target coal gangue is acquired, the x-ray image represents the absorption degree of x-rays by the coal gangue when the x-rays pass through the coal gangue, and the absorption degrees of x-rays by different coal gangues are different, the video information records the shape and other characteristics of the coal gangue, and the shapes of different coal gangues are different, so the characteristic value representing the characteristics of the target coal gangue itself can be determined according to the x-ray image and the video information, the materials on the main conveying belt are usually gathered in the middle region, and the materials on the two side edges of the main conveying belt are less and the idle regions are larger, so the target coal gangue is suitable for being re-transported, so that the target coal gangue is not easy to be mixed with the materials after being re-returned to the main conveying belt, the side with the largest area of the two side edge regions is determined as a target side, the target coal gangue can be found on the coal conveying belt according to the characteristic value, and a grabbing device is controlled to grab the target coal gangue and re-transport the target coal gangue to the target side on the main conveying belt, so that the coal gangue in the sorted coal is reduced, and the coal content is improved.

[0080] It should be understood that, although each step in the flowchart of the accompanying drawings is shown in sequence according to the direction of the arrow, these steps are not necessarily executed in sequence according to the direction of the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and they can be executed in other sequences. Moreover, at least part of the steps in the flowchart of the accompanying drawings can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0081] The above only describes some embodiments of the present application, and it should be pointed out that, for ordinary skilled persons in the technical field, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A method for separating coal gangue, characterized in that: include: When the operation of the gas discharge gun is detected, video information of the coal gangue is obtained, and a movement trajectory of the coal gangue is determined based on the video information; If the movement trajectory of the coal gangue is entering the coal conveyor belt, the coal gangue is determined as the target coal gangue, and an X-ray image of the target coal gangue is acquired; Determining a characteristic value of the target gangue based on the X-ray image and video information of the target gangue; Acquire real-time video information of the main conveyor belt, and determine a target side from both sides of the conveying direction of the main conveyor belt based on the real-time video information, wherein the blank area of ​​the target side is larger than the blank area of ​​the other side; Based on the characteristic value, a grabbing device is controlled to grab the target gangue from the coal conveyor belt, and the grabbing device is controlled to transport the target gangue to the target side.

2. A method for separating coal gangue according to claim 1, characterized in that: Determining the characteristic value of the target gangue based on the X-ray image and video information of the target gangue includes: Performing grayscale transformation on the X-ray image to obtain a grayscale image, and determining the grayscale value of the target gangue from the grayscale image; Performing edge detection on the video information to obtain the outline of the target gangue; Determining a circumscribed circle of the contour, and determining a diameter of the circumscribed circle; An average grayscale value of the target gangue is determined, and a ratio of the average grayscale value to the diameter is calculated, where the ratio represents a characteristic value of the target gangue.

3. A method for separating coal gangue according to claim 1, characterized in that: The main conveyor belt is evenly divided into two areas along the conveying direction, and the target side determined from both sides of the conveying direction of the main conveyor belt based on the real-time video information includes: Determining, from the real-time video information, the outermost target materials corresponding to each of a plurality of areas on both sides of the main conveyor belt, wherein the plurality of areas are divided along a conveying direction of the main conveyor belt; Connecting the target materials in sequence along the conveying direction to obtain broken line segments about the target materials; Draw perpendicular lines at both ends of the broken line segment to the edge of the main conveyor belt in the area to form a closed area; The areas of the closed areas corresponding to the two sides of the main conveyor belt are calculated, and the side where the closed area with the largest area is located is determined as the target side.

4. A method for separating coal gangue according to claim 1, characterized in that: The grabbing device includes a manipulator and two belt conveyors, one belt conveyor corresponding to each target side, and the grabbing device is controlled based on the characteristic value to grab the target gangue from the coal conveyor belt, including: Obtaining X-ray images and video information of each material on the coal conveyor belt; Determining a characteristic value of each material on the coal conveyor belt based on the X-ray image and video information of each material; The target gangue is identified from the coal conveyor belt based on the characteristic value of each material and the characteristic value of the target gangue, and the manipulator is controlled to grab the target gangue.

5. A method for separating coal gangue according to claim 3, characterized in that: Controlling the grabbing device to transport the target gangue to the target side includes: When it is detected that the manipulator grabs the target gangue from the belt conveyor on any target side, the belt conveyor on any target side is controlled to operate.

6. A coal gangue sorting system, characterized in that: include: An ore sorter, the ore sorter comprising a main conveyor belt for conveying material, an X-ray device for collecting X-ray images of target gangue, an air discharge gun for separating the gangue, a gangue conveyor belt for transporting the gangue, a coal conveyor belt for transporting coal, a first camera device for collecting video information of the gangue, and a second camera device for collecting real-time video information of the main conveyor belt; A grabbing device for transporting target gangue to the target side; An electronic device is communicatively connected to the ore sorting machine and the grabbing device, and is used to obtain video information of the coal gangue when the operation of the air discharge gun is detected, and determine the movement trajectory of the coal gangue based on the video information. If the movement trajectory of the coal gangue is entering the coal conveyor belt, the coal gangue is determined as the target coal gangue, and an X-ray image of the target coal gangue is obtained. The characteristic value of the target coal gangue is determined based on the X-ray image and video information of the target coal gangue, and real-time video information of the main conveyor belt is obtained. The target side is determined from both sides of the conveying direction of the main conveyor belt based on the real-time video information, and the blank area of ​​the target side is larger than the blank area of ​​the other side. Based on the characteristic value, the grabbing device is controlled to grab the target coal gangue from the coal conveyor belt, and the grabbing device is controlled to transport the target coal gangue to the target side.

7. A coal gangue sorting system according to claim 6, characterized in that: The grabbing device includes a manipulator, a sliding track arranged above the coal conveyor belt, and two belt conveyors; The sliding track includes two first tracks parallel to the coal conveyor belt and a second track perpendicular to the first track, the second track is parallel to the horizontal plane, the second track is slidably connected to the first track, and the manipulator is arranged on the second track and can slide on the second track; The two belt conveyors are respectively located on both sides of the coal conveyor belt and are arranged at an angle, with one end of the belt conveyor located on one side of the coal conveyor belt and the other end located on one side of the main conveyor belt; a guide plate is also provided on the belt conveyor, and the guide plate is located on one end of the belt conveyor close to the main conveyor belt, and is used to guide the target coal gangue to fall into the target side.

8. The coal gangue sorting system according to claim 7, characterized in that: The guide plate is provided with a baffle, which is located at the opening of the guide plate and is hinged to the side plate of the guide plate.

9. An electronic device, characterized in that: It includes: at least one processor; Memory; At least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, and the at least one application is used to execute a coal gangue sorting method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed in a computer, the computer is caused to execute the coal gangue sorting method according to any one of claims 1 to 5.

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