A vehicle-mounted uranium ore grade detection device and method

Abstract

The present invention relates to the field of uranium ore analysis and measurement, and particularly to a device and method for detecting the grade of on-vehicle uranium ore. The grade detection device includes: a two-dimensional electric moving platform connected to a grade detector probe; a one-dimensional linear laser and a mineral sample loading height detection unit are arranged below the grade detector probe; an industrial control computer is respectively connected to an industrial CCD camera, the grade detector probe, the two-dimensional electric moving platform and the mineral sample loading height detection unit. The detection method is as follows: collect the position edge image information of the on-vehicle uranium ore, process the information, and control the grade detector probe to move to the optimal detection position; extract the one-dimensional distance curve from the surface of the on-vehicle ore to the grade detector probe, calculate the relative intensity of the ore rays, and combine the 185 keV γ energy peak of <supgt;235< / supgt;U detected by the grade detector probe to give the grade measurement result. The present invention makes the measurement result of the grade detector not affected by the vehicle and the loading height of the ore, and improves the measurement accuracy and automation level of the instrument.

Description

Technical Field

[0001] The invention relates to the field of uranium ore analysis and measurement, and in particular to a vehicle-mounted uranium ore grade detection device and method. Background Art

[0002] In the process of uranium mining and utilization, the grade measurement of uranium ore is a very important link. The uranium grade measurement at the uranium mine automobile metering station plays an important guiding role in the entire uranium extraction process.

[0003] The detector of the ore grade monitor is mainly used to detect the radioactivity of the ore itself, but it is actually impossible to distinguish which rays come from the ore being measured and which rays come from external interference. The shielding effect of lead can reduce external interference. Usually, the detector is wrapped with lead shielding. In the part facing the ore, the lead shielding component has a tapered opening. Within this range, there is no lead material covering, which is used to detect the grade of the ore carried by the vehicle. The angle of the detector receiving window, that is, the opening angle of the lead shielding, is determined according to the actual width of the truck bed and the hoisting height of the grade meter probe.

[0004] The ore grade measuring instrument currently used in uranium mines uses steel bars and angle irons to hoist the grade meter probe on the roof of the automobile metering station. Since the opening angle of the lead shield is fixed and the hoisting height is fixed, the physical detection range of the grade monitor is fixed. The type of vehicle used to transport ore in the automobile metering station is not unique, and the width of the truck bed cannot be unified. The vehicle is manually driven, and the parking position is likely to deviate from the extension line of the center of the grade meter probe. This causes the detection range of the ore grade monitor to be too large, including the ore background scattered on the ground, or the detection range is too small, and the ore in the truck bed is not fully involved in the measurement. In addition, the radioactivity of the ore itself will decrease as the distance between the detector and the surface of the vehicle-borne ore increases. Therefore, even if the ore has the same grade, different measurement results will be produced due to the different filling thickness of the ore in the truck bed. All of the above factors will affect the accuracy of the measurement. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a vehicle-mounted uranium ore grade detection device and method, so that the measurement result of the grade meter is not affected by the vehicle and the ore filling height, and the accuracy and automation level of the instrument measurement are improved.

[0006] The present invention provides a vehicle-mounted uranium ore grade detection device, comprising: a two-dimensional electric mobile platform, a grade meter probe, a straight-line laser, a ore sample filling height detection unit, an industrial CCD camera and an industrial computer;

[0007] The two-dimensional electric moving platform is connected to the grader probe to drive the grader probe to move;

[0008] The straight-line laser is arranged at the lower part of the probe of the grader;

[0009] The ore sample filling height detection unit is arranged at the lower part of the grade meter probe;

[0010] The industrial computer is respectively connected with the industrial CCD camera, the grade meter probe, the two-dimensional electric mobile platform, and the ore sample filling height detection unit, and is used for processing image information and controlling the movement of the two-dimensional electric mobile platform.

[0011] Preferably, the two-dimensional electric mobile platform comprises:

[0012] A sling with guide rails on the lower surface and a top for fixing;

[0013] The middle part of the worm screw lift is connected to the screw rod through a nut, and the two ends cooperate with the guide rail through sliders.

[0014] The lower end of the screw of the turbine screw lift is connected to the flat head;

[0015] The lead screw is fixed to the lower surface of the hanger through a bearing unit, and a brake motor is connected to one end of the lead screw to drive the lead screw to rotate, so that the lower part of the worm screw lift can be adjusted in the horizontal direction.

[0016] Preferably, at least two worm screw elevators are included, and the worm screw elevators are connected via a coupling; a flat head is connected to the lower end of the screw of each worm screw elevator.

[0017] Preferably, a reducer is further included, and the reducer is connected to the screw rod.

[0018] Preferably, the industrial CCD camera and the hanger are in the same vertical plane, and are installed at a height between the coupling and the grade meter probe.

[0019] Preferably, the outside of the grade meter probe is wrapped with a lead shielding component, the lead shielding component has an opening, and the laser port extension line of the linear laser is tangent to the opening at the bottom end of the lead shielding component.

[0020] Preferably, the ore sample filling height detection unit comprises an L frame, a stepping motor, a motor extension shaft, and a single-point laser ranging radar;

[0021] The L frame is fixed on the central vertical plane of the lead shielding component, close to the lower edge of the lead shielding component. The stepper motor is fixed below the L frame. The shaft of the stepper motor is parallel to the axis of the lead screw. The motor extension shaft is a hollow tube bent 90 degrees, one end of which is concentrically connected to the shaft of the stepper motor, and the other end is connected to the single-point laser ranging radar.

[0022] Preferably, it also includes: a photoelectric detection switch and a weighing component arranged below the two-dimensional electric moving platform;

[0023] The photoelectric detection switch and the weighing assembly are respectively connected to the industrial computer.

[0024] The present invention provides a method for detecting the grade of a vehicle-mounted uranium ore using the grade detection device described in the above technical solution, comprising the following steps:

[0025] Step A: collecting position edge image information of the vehicle-mounted uranium ore, processing the position edge image information, determining the relative height and relative horizontal distance between the grade meter probe and the mine car, analyzing the determination result, and if the relative height and relative horizontal distance between the grade meter probe and the mine car are not at the optimal detection position, automatically controlling the grade meter probe to move until it stops at the optimal detection position;

[0026] Step B: Extract the one-dimensional distance curve between the vehicle-mounted ore surface and the grader probe, calculate the relative intensity of the ore rays at the detection distance based on the above curve, and combine it with the detection of the grader probe to obtain the relative intensity of the ore rays at the detection distance. 235 The 185keV gamma energy peak of U gives the grade measurement result.

[0027] Preferably, in step A:

[0028] If dL>0 and dR<0 or dL and dR have the same sign and |dL|>|dR|, it is determined that the parking position of the mine car is to the right of the center line of the grade meter probe, and the industrial computer issues a command to automatically control the grade meter probe to move right;

[0029] If dL<0 and dR>0 or dL and dR have the same sign and |dL|<|dR, it is determined that the parking position of the mine car is to the left of the center line of the grade meter probe, and the industrial computer issues a command to automatically control the grade meter probe to move left;

[0030] As the two-dimensional mobile platform moves, the industrial CCD camera takes at least 20 images per second, and makes real-time analysis and judgment until the analysis result shows that the difference between |dL| and |dR| is less than the allowable error value. Then the grade meter probe stops at this position. The grade meter probe is located in the middle of the mine car bucket, which is the best relative horizontal distance.

[0031] The two-dimensional mobile platform should make vertical adjustments according to one of the values ​​dL or dR in the image. If dL<0, it is determined that the detection range of the grade meter probe is smaller than the bucket width of the mine car, and the grade meter probe is vertically lowered;

[0032] If dL>0, it is determined that the detection range of the grade meter probe is greater than the bucket width of the mine car, and the grade meter probe is raised vertically; as the position of the grade meter probe changes, the industrial CCD camera takes at least 20 pictures per second, and analyzes and judges in real time until the analysis result shows that the difference of |dL| is less than the allowable error value, and the grade meter probe stops at this position;

[0033] dL is the distance between the projection of the collimated straight line visible light L emitted by the straight line laser on the obstacle and the left edge of the bucket of the mine car in the image taken by the industrial CCD camera. The straight line visible light L is outside the left edge of the bucket of the mine car, and this value is positive, otherwise it is negative;

[0034] dR is the distance between the projection of the collimated visible light R emitted by the linear laser on the obstacle and the right edge of the mine car bucket in the image taken by the industrial CCD camera. If the linear visible light R is outside the right edge, this value is positive, otherwise it is negative.

[0035] Preferably, reflective paint strips are coated on the tops of the two side panels of the mine car bucket, and then the collimated visible light emitted by the linear laser and the position image information of the reflective paint strips on the edge of the mine car are collected.

[0036] Preferably, the step A further comprises:

[0037] The mine car carrying uranium ore triggers the retro-reflective photoelectric switch, which generates a level change and triggers the industrial CCD camera to collect the collimated visible light emitted by the linear laser and the position image information of the reflective paint strip on the edge of the mine car;

[0038] The step B also includes:

[0039] After the measurement is completed, the industrial computer's external LED indicator light and voice broadcast will prompt you to leave. At this point, the measurement process is complete.

[0040] Compared with the prior art, the grade detection device of the vehicle-mounted uranium ore of the present invention is composed of a two-dimensional electric mobile platform, a grade meter probe, a straight-line laser, a ore sample filling height detection unit, an industrial CCD camera and an industrial computer, forming a closed-loop system for automatic adjustment of the position of the grade meter probe, and realizing the detection of the ore sample filling height. The grade detection device can automatically adjust the position of the grade meter probe according to the position of the mine car and the ore sample filling height, eliminating the uncertain influencing factors of the vehicle-mounted uranium ore and improving the accuracy and automation level of the measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram showing the structure of a vehicle-mounted uranium ore grade detection device according to an embodiment of the present invention;

[0042] Figure 2A schematic diagram showing the structure of the two-dimensional electric mobile platform in the A direction;

[0043] Figure 3 A schematic diagram showing the relative positions of the grader probe and the linear laser;

[0044] In the figure: 1-lifting device; 2-screw rod; 3-guide rail; 4-bearing unit; 5-slider; 6-brake motor; 7-coupling; 8-industrial computer; 9-industrial CCD camera; 10-turbine screw lift; 11-flat head; 12-grade meter probe; 13-lead shielding component; 14-line laser; 15-photoelectric detection switch; 16-weighing assembly; 17-L frame; 18-stepping motor; 19-motor extension shaft; 20-single-point laser ranging radar; 21-nut; 22-reducer. DETAILED DESCRIPTION

[0045] In order to further understand the present invention, the embodiments of the present invention are described below in conjunction with examples, but it should be understood that these descriptions are only for further illustrating the features and advantages of the present invention, rather than limiting the present invention.

[0046] The embodiment of the present invention discloses a vehicle-mounted uranium ore grade detection device, such as Figures 1-2 As shown, it includes: a two-dimensional electric moving platform, a grader probe, a linear laser, a ore sample filling height detection unit, an industrial CCD camera and an industrial computer;

[0047] The two-dimensional electric moving platform is connected to the grader probe to drive the grader probe to move;

[0048] The two-dimensional electric mobile platform comprises:

[0049] The hanger 1 has a guide rail 3 on its lower surface and a top for fixing; it can be fixed on the roof of the automobile metering station;

[0050] The middle part of the worm screw lift 10 is connected to the screw rod 2 through a nut 21, and the two ends cooperate with the guide rail 3 through a slider 5;

[0051] The lower end of the screw of the turbine screw lift 10 is connected to the flat head 11;

[0052] Preferably, at least two worm screw lifts 10 are included, and the worm screw lifts 10 are connected via a coupling 7 ; a flat head 11 is connected to the lower end of the screw of each worm screw lift 10 .

[0053] The function of the coupling 7 is to make the two sets of worm screw elevators rise or fall at the same time to ensure the smooth operation of the grader probe 12 hoisted by the flat head.

[0054] The turbine screw lift 10 can drive the grader probe 12, and has a compact structure, small size, light weight, and a self-locking function. It not only reduces the downward force of the device in the horizontal direction, but also has the advantages of large load capacity and low noise. Its self-locking function prevents the grader probe from moving downward due to its own gravity when the motor fails or the system is powered off.

[0055] The screw rod 2 is fixed to the lower surface of the hanger 1 through the bearing unit 4. The brake motor 6 is connected to one end of the screw rod 2 to drive the screw rod 2 to rotate, so that the lower half of the turbine screw lift 10 is adjusted in the horizontal direction.

[0056] The bearing unit 4 includes a bearing and a bearing seat, and is used to fix the screw rod.

[0057] Preferably, a reducer 22 is further included, and the reducer 22 is connected to the screw rod 2. The function of the reducer 22 is to prevent the screw rod 2 from moving too fast, so as to ensure the closed-loop control accuracy of the two-dimensional electric mobile platform.

[0058] According to the present invention, the grader probe 12 is an important component for detecting the grade of ore. The grader probe 12 is wrapped with a lead shielding component 13 on the outside, and the lead shielding component 13 has an opening.

[0059] The straight-line laser 14 is arranged at the lower part of the grade meter probe 12; the straight-line laser 14 uses the collimation performance of the laser to simulate the direct characteristics of the ray, making the detection range of the grade meter "visible" to both the human eye and the camera, ensuring the positioning uniformity and accuracy of the entire detection device under sufficient light and dim environment, and enhancing the "visibility" ability of the industrial CCD camera. For the specific structure, see Figure 3 .

[0060] Preferably, the laser port extension line of the straight line laser 14 is tangent to the bottom opening of the lead shielding component 13. The collimated visible light emitted from the port just represents the effective detection range of the grade meter probe through the opening angle of the lead shielding component 13. The use of a straight line laser instead of a point laser source to project on the obstacle is to facilitate the capture of the industrial CCD camera 9, and in the image analysis and processing, the points on the straight line are sampled and averaged at intervals, which improves the accuracy of positioning.

[0061] According to the present invention, the ore sample filling height detection unit is arranged at the lower part of the grade meter probe 12;

[0062] Specifically, the ore sample filling height detection unit includes an L frame 17, a stepping motor 18, a motor extension shaft 19, and a single-point laser ranging radar 20;

[0063] In the ore sample filling height detection unit, the single-point laser ranging radar is used to measure not only the ore sample filling height of a fixed point, but also driven by the stepper motor, the single-point laser ranging radar performs a "scanning" rotation of 120-150° in the length direction of the mine car, and obtains a curve showing the distance between the grader probe and the surface of the onboard ore changing along the length direction of the bucket. To prevent the motor from interfering with the detector, the entire unit is installed on the outside of the lead shield of the grader probe and ensures that the single-point laser ranging radar is on the central extension line of the grader probe. It moves with the positioning of the grader probe, so that the detected ore sample filling height is exactly a one-dimensional curve along the length direction of the bucket center, which is the most representative.

[0064] The L frame 17 is fixed on the central vertical plane of the lead shielding part 13, near the lower edge of the lead shielding part 13, and the stepper motor 18 is fixed below the L frame 17. The shaft of the stepper motor 18 is parallel to the axis of the screw rod 2. The motor extension shaft 19 is a hollow tube bent 90 degrees, one end of which is concentrically connected to the shaft of the stepper motor 18, and the other end is connected to the single-point laser ranging radar 20. This fixing method can ensure that when the shaft of the stepper motor rotates, it drives the single-point laser ranging radar 20 to "scan" in the plane in the length direction of the mine car, and obtain a one-dimensional curve of the ore sample filling height.

[0065] The industrial CCD camera 9 is used to capture the image of the laser straight line and the width edge of the mine car in real time. The industrial CCD camera 8 is hoisted on the roof of the automobile metering station. The industrial CCD camera 9 and the hoist 1 are in the same vertical plane and the installation height is between the coupling 7 and the grade meter probe 12.

[0066] The industrial computer 8 is respectively connected to the industrial CCD camera 9, the grade meter probe 12, the two-dimensional electric mobile platform, and the ore sample filling height detection unit, and is used to process the image information and control the movement of the two-dimensional electric mobile platform.

[0067] The industrial computer 8 and related software use the image analysis and processing results as feedback to control the motor rotation to make the platform move in horizontal and vertical two-dimensional directions, thereby driving the grader probe to move to the best detection position.

[0068] The industrial computer and related software analyze the images captured by the industrial CCD camera, and use the relative position parameters of the straight line visible light (representing the detection range of the uranium grader probe) and the width of the truck as feedback to achieve real-time closed-loop adjustment of the platform movement. The two-dimensional mobile platform drives the grader probe to move horizontally and vertically, and finally stays at the best detection position, providing basic guarantee for the accuracy of the measurement.

[0069] Preferably, the vehicle-mounted uranium ore grade detection device further comprises: a photoelectric detection switch 15 and a weighing assembly 16 disposed below the two-dimensional electric movable platform;

[0070] The photoelectric detection switch 15 and the weighing assembly 16 are connected to the industrial computer 8 respectively.

[0071] When the photoelectric detection switch is blocked by the mine car, a level change occurs, triggering the industrial CCD camera to work. The load-bearing component is a floor scale, which is used to bear the weight of the mine car and transmit the weight information to the industrial computer for grade analysis.

[0072] The photoelectric detection switch is preferably a regressive diffuse reflection photoelectric switch. The advantage of using this type of switch is that when a car enters, the entire measurement process is automatically triggered. After the measurement is completed, there will be a signal light and voice prompts, and the driver will drive the vehicle away without manual operation.

[0073] The embodiment of the present invention further discloses a method for detecting the grade of a vehicle-mounted uranium ore using the grade detection device described in the above technical solution, comprising the following steps:

[0074] Step A: collecting position edge image information of the vehicle-mounted uranium ore, processing the position edge image information, determining the relative height and relative horizontal distance between the grade meter probe and the mine car, analyzing the determination result, and if the relative height and relative horizontal distance between the grade meter probe and the mine car are not at the optimal detection position, automatically controlling the grade meter probe to move until it stops at the optimal detection position;

[0075] Step B: Extract the one-dimensional distance curve between the vehicle-mounted ore surface and the grader probe, calculate the relative intensity of the ore rays at the detection distance based on the above curve, and combine it with the detection of the grader probe to obtain the relative intensity of the ore rays at the detection distance. 235 The 185keV gamma energy peak of U gives the grade measurement result.

[0076] According to the present invention, firstly, the position of the grade meter probe is automatically adjusted according to the collected vehicle-borne ore position image information, so that the grade meter is in the best detection position and the detection accuracy is improved; then the grade of the ore is measured.

[0077] In order to make the boundary of the on-board ore clearer and easier for the industrial CCD camera to extract image information, thereby improving the accuracy of information collection, preferably, in step A, reflective paint strips are coated on the top of the two side panels of the mine car bucket, and then the collimated visible light emitted by the linear laser and the position image information of the reflective paint strips on the edge of the mine car are collected.

[0078] Processing the position edge image information, determining the relative height and relative horizontal distance between the grade meter probe and the mine car, analyzing the determination result, and automatically controlling the grade meter probe to move until it stops at the optimal detection position if the relative height and relative horizontal distance between the grade meter probe and the mine car are not at the optimal detection position;

[0079] The criteria are:

[0080] If dL>0 and dR<0 or dL and dR have the same sign and |dL|>|dR|, it is determined that the parking position of the mine car is to the right of the center line of the grade meter probe, and the industrial computer issues a command to automatically control the grade meter probe to move right;

[0081] If dL<0 and dR>0 or dL and dR have the same sign and |dL|<|dR, it is determined that the parking position of the mine car is to the left of the center line of the grade meter probe, and the industrial computer issues a command to automatically control the grade meter probe to move left;

[0082] As the two-dimensional mobile platform moves, the industrial CCD camera takes at least 20 images per second, and makes real-time analysis and judgment until the analysis result shows that the difference between |dL| and |dR| is less than the allowable error value. Then the grade meter probe stops at this position. The grade meter probe is located in the middle of the mine car bucket, which is the best relative horizontal distance.

[0083] The two-dimensional mobile platform should make vertical adjustments according to one of the values ​​dL or dR in the image. If dL<0, it is determined that the detection range of the grade meter probe is smaller than the bucket width of the mine car, and the grade meter probe is vertically lowered;

[0084] If dL>0, it is determined that the detection range of the grade meter probe is greater than the bucket width of the mine car, and the grade meter probe is raised vertically; as the position of the grade meter probe changes, the industrial CCD camera takes at least 20 pictures per second, and analyzes and judges in real time until the analysis result shows that the difference of |dL| is less than the allowable error value, and the grade meter probe stops at this position;

[0085] dL is the distance between the projection of the collimated straight line visible light L emitted by the straight line laser on the obstacle and the left edge of the bucket of the mine car in the image taken by the industrial CCD camera. The straight line visible light L is outside the left edge of the bucket of the mine car, and this value is positive, otherwise it is negative;

[0086] dR is the distance between the projection of the collimated visible light R emitted by the linear laser on the obstacle and the right edge of the mine car bucket in the image taken by the industrial CCD camera. If the linear visible light R is outside the right edge, this value is positive, otherwise it is negative.

[0087] After determining the best detection position of the grader probe, proceed to step B.

[0088] Step B: Extract the one-dimensional distance curve between the vehicle-mounted ore surface and the grader probe, calculate the relative intensity of the ore rays at the detection distance based on the above curve, and combine it with the detection of the grader probe to obtain the relative intensity of the ore rays at the detection distance. 235 The 185keV gamma energy peak of U gives the grade measurement result.

[0089] Preferably, the stepper motor drives the single-point laser ranging radar to rotate 120-150° in the plane along the length direction of the mine car. The laser ranging radar transmits the distance value of the obstacle encountered during its transmission, and uses the software system in the industrial computer to extract the one-dimensional distance curve between the vehicle-mounted ore surface and the grade meter probe.

[0090] After the measurement is completed, the external LED indicator light of the industrial computer and the voice broadcast will leave the prompt, and the measurement process is completely completed.

[0091] The specific working process is as follows:

[0092] Step A: The mine car carrying uranium ore enters the automobile metering station, and the mine car carrying uranium ore triggers the retro-reflective photoelectric switch, generates a level change, triggers the industrial CCD camera to work, and collects the collimated visible light emitted by the linear laser and the position image information of the reflective paint belt on the edge of the mine car;

[0093] The collimated visible light emitted by the linear laser and the position image of the reflective paint strip on the edge of the mine car are captured and transmitted to the industrial computer, which is processed by the image analysis software of the industrial computer. The calculation principle is as follows: If the software analyzes that dL>0 and dR<0 or dL and dR have the same sign and |dL|>|dR|, it means that the parking position of the mine car is to the right of the center line of the grader probe. The software issues a command, the brake motor rotates forward to drive the lead screw to rotate, and the nut on the lead screw produces a linear motion, thereby driving the grader probe and the linear laser generator to move right as a whole. If the software analyzes that dL<0 and dR>0 or dL and dR have the same sign and |dL|<|dR|, it means that the parking position of the mine car is to the left of the center line of the grader probe. The software issues a command, the brake motor rotates reversely to drive the lead screw to rotate, and the nut on the lead screw produces a linear motion, thereby driving the grader probe and the linear laser generator to move left as a whole. As the two-dimensional mobile platform moves, the industrial CCD camera takes 20 pictures per second, and the software analyzes and judges in real time until the analysis results show that the difference between |dL| and |dR| is less than the allowable error value. The software issues a command, the brake motor stops running, and the grader probe stops at this position (the middle of the bucket of the mine car). In order to prevent the two-dimensional mobile platform from moving too fast, the lead screw is connected to the reducer to ensure the closed-loop control accuracy of the platform movement with the difference between |dL| and |dR| as the feedback amount. After completing the horizontal left and right movement of the grader probe, the two-dimensional mobile platform will make vertical adjustments according to one of the values ​​dL or dR in the image. If dL<0, it means that the detection range of the grader probe is smaller than the bucket width of the mine car, the measurement is incomplete, and the grader probe needs to be lowered vertically. If dL>0, it means that the detection range of the grader probe is larger than the bucket width of the mine car, which will include the background effect of uranium ore gravel scattered on the ground, and the grader probe needs to be raised vertically. The software issues a command, the motor rotates forward or reverse, the screw of the turbine screw elevator rises and falls, and as the position of the grader probe changes, the industrial CCD camera takes 20 pictures per second. The software performs real-time analysis and judgment until the analysis result shows that the difference between |dL| is less than the allowable error value. The software issues a command, the motor stops running, and the grader probe stops at the optimal detection position of the probe. The stepper motor drives the single-point ranging laser radar to perform a scanning rotation. The laser ranging radar transmits the distance value of the obstacle encountered during its emission. The software system will extract the one-dimensional distance curve of the vehicle-mounted ore surface from the grader probe. The relative intensity of the ore rays at the detection distance is calculated based on the above curve, combined with the detection of the grader probe. 235 The 185keV γ energy peak of U gives accurate grade measurement results. After the measurement is completed, the external LED indicator light of the industrial computer and the voice broadcast inform the mine car driver to drive the vehicle away from the car metering station, and the measurement process is completely completed.

[0094] The above embodiments are only used to help understand the method and core idea of ​​the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0095] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting the grade of vehicle-mounted uranium ore. It is characterized in that The uranium ore grade detection device is used to detect the uranium ore grade on a vehicle. The uranium ore grade detection device includes: a two-dimensional electric mobile platform, a grade meter probe, a straight-line laser, a ore sample filling height detection unit, an industrial CCD camera and an industrial computer; The two-dimensional electric moving platform is connected to the grader probe to drive the grader probe to move; The straight-line laser is arranged at the lower part of the probe of the grader; The ore sample filling height detection unit is arranged at the lower part of the grade meter probe; The industrial computer is respectively connected to the industrial CCD camera, the grade meter probe, the two-dimensional electric mobile platform, and the ore sample filling height detection unit, and is used to process the image information and control the movement of the two-dimensional electric mobile platform; The method comprises the following steps: Step A: collecting position edge image information of the vehicle-mounted uranium ore, processing the position edge image information, determining the relative height and relative horizontal distance between the grade meter probe and the mine car, analyzing the determination result, and if the relative height and relative horizontal distance between the grade meter probe and the mine car are not at the optimal detection position, automatically controlling the grade meter probe to move until it stops at the optimal detection position; If dL>0 and dR<0 or dL and dR have the same sign and |dL|>|dR|, it is determined that the parking position of the mine car is to the right of the center line of the grade meter probe, and the industrial computer issues a command to automatically control the grade meter probe to move right; If dL<0 and dR>0 or dL and dR have the same sign and |dL|<|dR, it is determined that the parking position of the mine car is to the left of the center line of the grade meter probe, and the industrial computer issues a command to automatically control the grade meter probe to move left; As the two-dimensional mobile platform moves, the industrial CCD camera takes at least 20 images per second, and makes real-time analysis and judgment until the analysis result shows that the difference between |dL| and |dR| is less than the allowable error value. Then the grade meter probe stops at this position. The grade meter probe is located in the middle of the mine car bucket, which is the best relative horizontal distance. The two-dimensional mobile platform should make vertical adjustments according to one of the values ​​dL or dR in the image. If dL<0, it is determined that the detection range of the grade meter probe is smaller than the bucket width of the mine car, and the grade meter probe is vertically lowered; If dL>0, it is determined that the detection range of the grade meter probe is greater than the bucket width of the mine car, and the grade meter probe is raised vertically; as the position of the grade meter probe changes, the industrial CCD camera takes at least 20 pictures per second, and analyzes and judges in real time until the analysis result shows that the difference of |dL| is less than the allowable error value, and the grade meter probe stops at this position; dL is the distance between the projection of the collimated straight line visible light L emitted by the straight line laser on the obstacle and the left edge of the bucket of the mine car in the image taken by the industrial CCD camera. The straight line visible light L is outside the left edge of the bucket of the mine car, and this value is positive, otherwise it is negative; dR is the distance between the projection of the collimated visible light R emitted by the straight-line laser on the obstacle and the right edge of the bucket of the mine car in the image taken by the industrial CCD camera. The straight-line visible light R is outside the right edge, so this value is positive, otherwise it is negative; Step B: Extract the one-dimensional distance curve between the vehicle-mounted ore surface and the grader probe, calculate the relative intensity of the ore rays at the detection distance based on the above curve, and combine it with the detection of the grader probe to obtain the relative intensity of the ore rays at the detection distance. 235 The 185keV gamma energy peak of U gives the grade measurement result.

2. The method for detecting the grade of uranium ore on a vehicle according to claim 1, It is characterized in that Reflective paint strips are applied to the tops of the two side panels of the mine car's width, and then the collimated visible light emitted by a linear laser and the position image information of the reflective paint strips on the edge of the mine car are collected.

3. The method for detecting the grade of vehicle-mounted uranium ore according to claim 2, It is characterized in that The step A also includes: The mine car carrying uranium ore triggers the retro-reflective photoelectric switch, which generates a level change and triggers the industrial CCD camera to collect the collimated visible light emitted by the linear laser and the position image information of the reflective paint strip on the edge of the mine car; The step B also includes: After the measurement is completed, the external LED indicator light of the industrial computer and the voice broadcast will leave the prompt, and the measurement process is completely completed.

4. The method for detecting the grade of vehicle-mounted uranium ore according to claim 1, It is characterized in that The two-dimensional electric mobile platform comprises: A sling with guide rails on the lower surface and a top for fixing; The middle part of the worm screw lift is connected to the screw rod through a nut, and the two ends cooperate with the guide rail through sliders. The lower end of the screw of the turbine screw lift is connected to the flat head; The lead screw is fixed to the lower surface of the hanger through a bearing unit, and a brake motor is connected to one end of the lead screw to drive the lead screw to rotate, so that the lower part of the worm screw lift can be adjusted in the horizontal direction.

5. The method for detecting the grade of vehicle-mounted uranium ore according to claim 4, It is characterized in that It comprises at least two turbine screw elevators, which are connected via a coupling; the lower end of the screw of each turbine screw elevator is connected with a flat head.

6. The method for detecting the grade of vehicle-mounted uranium ore according to claim 4, It is characterized in that It also includes a reducer, which is connected to the screw rod.

7. The method for detecting the grade of vehicle-mounted uranium ore according to claim 5, It is characterized in that The industrial CCD camera and the hanger are in the same vertical plane, and are installed at a height between the coupling and the grader probe.

8. The method for detecting the grade of vehicle-mounted uranium ore according to claim 1, It is characterized in that The outside of the grader probe is wrapped with a lead shielding component, the lead shielding component has an opening, and the laser port extension line of the linear laser is tangent to the opening at the bottom end of the lead shielding component.

9. The method for detecting the grade of vehicle-mounted uranium ore according to claim 8, It is characterized in that The ore sample filling height detection unit includes an L frame, a stepping motor, a motor extension shaft, and a single-point laser ranging radar; The L frame is fixed on the central vertical plane of the lead shielding component, close to the lower edge of the lead shielding component. The stepper motor is fixed below the L frame. The shaft of the stepper motor is parallel to the axis of the lead screw. The motor extension shaft is a hollow tube bent 90 degrees, one end of which is concentrically connected to the shaft of the stepper motor, and the other end is connected to the single-point laser ranging radar.

10. The vehicle-mounted uranium ore grade detection method according to claim 1, It is characterized in that Also includes: A photoelectric detection switch and a weighing assembly are arranged below the two-dimensional electric moving platform; The photoelectric detection switch and the weighing assembly are respectively connected to the industrial computer.

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