A coal gangue identification method and system based on laser vibration measurement

Abstract

The present invention discloses a coal gangue identification method and system based on laser vibration measurement, which relates to the technical field of coal gangue identification. The specific steps are as follows: The laser vibration measurement module and the depth camera module are used to perform real-time measurement on the coal gangue block to obtain the vibration frequency information and volume information of the coal gangue block; A vibration frequency-volume database of the coal gangue block is established, and the vibration frequency information and volume information are compared with the vibration frequency-volume database of the coal gangue block to determine whether the measured block is coal or gangue; The gangue is sorted according to the judgment result. The present invention uses non-contact and high-precision laser vibration measurement and depth camera technology to obtain the vibration frequency and volume parameters of coal gangue. By establishing a vibration frequency-volume database in advance, the one-to-one correspondence between data and results is achieved, realizing accurate, fast and unmanned coal gangue identification and sorting. At the same time, the coal gangue sorting efficiency is improved, and the influence of environmental factors on intelligent equipment can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of coal gangue identification, and more particularly to a coal gangue identification method and system based on laser vibration measurement. Background Art

[0002] In coal production, the coal directly mined without any processing is called raw coal. Inevitably, some impurities will be mixed into the raw coal, and the most common one is coal gangue. Coal gangue has a low calorific value. Mixing it into coal will reduce the supply efficiency of coal energy, and the toxic gases released during combustion will also cause environmental pollution. However, the coal gangue separated from raw coal can not only be used as wall materials, chemical products, handicrafts, etc., but also be applied to underground backfilling and integrated power generation, and the components such as rare metals can be further refined. Therefore, separating coal gangue from coal is an essential treatment process in the coal production process, and it is also one of the effective methods to reduce the environmental negative effects in coal use and improve the quality of coal.

[0003] According to the differences in density, visual information, and the degree of selective absorption of light between coal and gangue, a variety of coal gangue separation methods have been developed. According to different devices, they can be divided into mechanical gangue separation, radioactive gangue separation, manual gangue separation, optical and image gangue separation, etc. The most widely used sorting method at present is manual gangue separation. This method relies on the subjective judgment of workers for sorting, which is relatively flexible. However, the working environment of manual gangue separation is harsh, the labor intensity is high, and misselection and omission are likely to occur. And in the future coal mine production process, intelligent coal gangue separation is also an essential part. In the existing intelligent sorting systems, image recognition can better realize the identification and sorting process of coal gangue. However, the coal gangue identification method based on image technology is often affected by environmental factors, such as: light, humidity, temperature, dust, etc. And the radioactive gangue separation method is also affected by the radioactivity of other substances in the environment, resulting in low identification accuracy. Therefore, for those skilled in the art, how to improve the efficiency and accuracy of coal gangue separation is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the present invention provides a coal gangue identification method and system based on laser vibration measurement to solve the problems raised in the background art.

[0005] To achieve the above object, the present invention adopts the following technical scheme: A coal gangue identification method based on laser vibration measurement, the specific steps include the following:

[0006] Measure the coal gangue block in real time through the laser vibration measurement module and the depth camera module to obtain the vibration frequency information and volume information of the coal gangue block;

[0007] Establish a vibration frequency - volume database for coal gangue blocks, compare the vibration frequency information and volume information with the vibration frequency - volume database of coal gangue blocks, and determine whether the measured block is coal or gangue;

[0008] Sort the gangue according to the judgment result.

[0009] On the other hand, provide a coal gangue identification system based on laser vibration measurement. The sorting is carried out by the coal gangue identification method based on laser vibration measurement, including a vibrating conveyor, a scanning and identification platform, a data processing terminal, and an intelligent sorting manipulator; wherein,

[0010] The vibrating conveyor is used to level and transfer coal gangue blocks and at the same time keep the coal gangue blocks in a vibrating state;

[0011] The scanning and identification platform includes a laser vibration measurement module and a depth camera module, and is used to scan and measure the coal gangue blocks to obtain measurement data;

[0012] The data processing terminal is used to receive the measurement data and compare it with an existing database to determine whether the measured block is coal or gangue;

[0013] The intelligent sorting manipulator is used to receive the judgment result of the data processing terminal and sort the gangue according to the judgment result.

[0014] Optionally, the measurement data includes the vibration frequency and volume of the coal gangue blocks.

[0015] Optionally, a self - adjusting vibration source device is installed on the vibrating conveyor.

[0016] Optionally, the intelligent sorting manipulator includes a robotic arm, a robotic claw, and an optical fiber; wherein, the robotic claw is located at the end of the robotic arm and is connected to the scanning and identification platform and the data processing terminal through the optical fiber.

[0017] Optionally, the laser vibration measurement module and the depth camera module form an integrated probe and are installed on the scanning and identification platform.

[0018] Through the above - mentioned technical solutions, compared with the prior art, the present invention discloses a coal gangue identification method and system based on laser vibration measurement, which has the following beneficial technical effects: using non - contact and high - precision laser vibration measurement technology and depth camera technology to obtain the vibration frequency and volume parameters of coal gangue, by establishing a vibration frequency - volume database in advance, achieving a one - to - one correspondence between data and results, realizing accurate, fast, and unmanned coal gangue identification and sorting, while improving the coal gangue sorting efficiency and reducing the influence of environmental factors on intelligent equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0020] Figure 1 It is a vibration frequency - volume database diagram of the coal gangue block of the present invention;

[0021] Figure 2 It is a system structure diagram of the present invention;

[0022] Figure 3 It is a self - regulating vibration source device diagram of the present invention;

[0023] Figure 4 It is a working schematic diagram of the vibrating conveyor of the present invention;

[0024] Figure 5 It is a structure diagram of the scanning and identification table of the present invention;

[0025] Figure 6 It is a structure diagram of the intelligent sorting manipulator of the present invention;

[0026] Figure 7 It is a schematic diagram of the laser vibration measurement principle of the present invention;

[0027] Among them, 1 is the vibrating conveyor, 2 is the scanning and identification table, 3 is the intelligent sorting manipulator, 4 is coal, 5 is gangue, 6 is the self - regulating vibration source device, 7 is the data processing terminal, 8 is the integrated probe of laser vibration measurement and depth camera, 9 is the optical fiber, 10 is the robotic arm, and 11 is the robotic claw. Specific embodiments

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0029] Embodiment 1 of the present invention discloses a coal gangue identification method based on laser vibration measurement, and the specific steps are as follows:

[0030] S1. Through the laser vibration measurement module and the depth camera module, perform real - time measurement on the coal gangue block to obtain the vibration frequency information and volume information of the coal gangue block;

[0031] S2. Establish a vibration frequency - volume database for coal and gangue blocks, compare the vibration frequency information and volume information with the vibration frequency - volume database of coal and gangue blocks, and determine whether the measured block is coal or gangue;

[0032] S3. Sort the gangue according to the judgment result.

[0033] Due to different densities, the obvious vibration frequency differences between coal blocks and gangue blocks under vibration can be used as the basis for coal - gangue identification. Laser vibration measurement is a new vibration measurement technology. Vibration detection methods are divided into two forms: non - contact vibration measurement and contact vibration measurement. Laser vibration measurement technology uses a non - contact measurement method. Based on the principle of generating frequency difference by the laser Doppler frequency shift effect and combining with laser interference technology, it extracts information such as the vibration frequency, velocity, displacement, and acceleration of various objects. The advantages of laser vibration measurement technology lie in non - contact, fast, and accurate.

[0034] As Figure 7 shown, the basic principle of laser vibration measurement technology is as follows: The laser beam is divided into two paths by a beam - splitting prism. One path is the measurement light for measuring the object to be measured, and the other path is the reference light. Since the reflected light from the object surface will beat with the reference light, the beat - frequency signal is processed by a photodiode, and thus the vibration frequency information of the object can be extracted.

[0035] Specifically, as Figure 7 shown, the reflected light reflected from the vibrating object (coal and gangue block) will carry the vibration characteristics of the vibrating object itself, that is, the Doppler frequency shift. By measuring the Doppler frequency shift of the coherent laser light wave reflected from a tiny area on the surface of the vibrating block, the vibration frequency of the block can be determined. The working process of laser vibration measurement is as follows: The laser beam with frequency f emitted by the laser source is divided into two beams by the first prism (the prism 1 in Figure 7 ). One beam forms a reference light with a known frequency through the drive of the Bragg cell and enters the photodetector; the other beam is the measurement light, which is irradiated onto the measured block through the second prism (the prism 2 in Figure 7 ) and is reflected. Due to the vibration of the surface of the measured block, the reflected light will generate a Doppler frequency shift Δf D , and a reflected light with a frequency of f + Δf D will be generated. After reflection, it also enters the photodetector through the second prism. The two beams of light will beat in the photodetector, and finally, through the processing and demodulation of the beat - frequency signal by the signal processing system, the vibration frequency information of the measured block can be obtained.

[0036] Compared with traditional contact vibration measurement, laser vibration measurement has unique characteristics such as flexible installation and placement, high-precision measurement, and efficient working mode. Based on this, the present invention designs a coal gangue identification method based on laser vibration measurement. By using laser vibration measurement technology and depth camera technology to measure the vibration frequency and volume of coal gangue blocks on the coal gangue separation operation line in real time, a block vibration frequency-volume database is established in advance. The vibration frequency-volume database of coal gangue blocks is as Figure 1 shown. Through data comparison, the purpose of ground coal gangue identification and separation can be achieved.

[0037] Embodiment 2 of the present invention provides a coal gangue identification system based on laser vibration measurement, which uses a coal gangue identification method based on laser vibration measurement for separation, as Figure 2 , Figure 5 shown, including a vibrating conveyor 1, a scanning and identification table 2, a data processing terminal 7, and an intelligent sorting manipulator 3; among them,

[0038] The vibrating conveyor 1 is used to level and transfer coal gangue blocks and at the same time keep the coal gangue blocks in a vibrating state;

[0039] The scanning and identification table 2 includes a laser vibration measurement module and a depth camera module, which are used to scan and measure coal gangue blocks to obtain measurement data;

[0040] The data processing terminal 7 is used to receive the measurement data and compare it with the existing database to determine whether the measured block is coal or gangue;

[0041] The intelligent sorting manipulator 3 is used to receive the judgment result of the data processing terminal and sort the gangue 5 according to the judgment result, and the coal 4 is transported on the vibrating conveyor 1.

[0042] Furthermore, while transferring the coal gangue blocks, the vibrating conveyor, in combination with the self-adjusting vibration source device, transforms the coal gangue blocks from a stacked state to a flattened state, as Figure 4 shown, so as to better perform vibration measurement and volume measurement, and facilitate later mechanical claw sorting.

[0043] Furthermore, the measurement data includes the vibration frequency and volume of the coal gangue blocks.

[0044] Furthermore, a self-adjusting vibration source device 6 is installed on the vibrating conveyor, as Figure 3 shown, and the working schematic diagram of the vibrating conveyor is as Figure 4 shown; the structure of the scanning and identification table 2 is as Figure 5 shown. The laser vibration measurement module and the depth camera module form an integrated probe 8 for laser vibration measurement and depth camera, which is installed on the scanning and identification table 2. The scanning and identification table 2 is connected to the intelligent sorting manipulator 3 through an optical fiber 9.

[0045] Furthermore, as Figure 6As shown in the figure, the intelligent sorting manipulator includes a robotic arm 10, a robotic claw 11, and an optical fiber. Among them, the robotic claw 11 is located at the end of the robotic arm 10 and is connected to the scanning and recognition platform 2 and the data processing terminal 7 through the optical fiber.

[0046] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is the difference from other embodiments. For the same and similar parts among the embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method part.

[0047] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can 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 these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A coal gangue identification method based on laser vibration measurement, characterized in that, The specific steps are as follows: The vibration frequency information and volume information of coal and gangue blocks are obtained by real-time measurement of the coal and gangue blocks through a laser vibration measurement module and a depth camera module. A vibration frequency-volume database of coal and gangue blocks is established, and the vibration frequency information and volume information are compared with the vibration frequency-volume database of coal and gangue blocks to determine whether the measured block is coal or gangue. The gangue is sorted according to the judgment result. The basic principle of laser vibration measurement is as follows: The laser beam is divided into two paths by a beam splitter prism, one path is the measurement light and the other path is the reference light. The measurement light is used to measure the object to be measured. Since the reflected light from the object surface will beat with the reference light, the beat signal is processed by a photodiode to extract the vibration frequency information of the object. The reflected light reflected from the coal gangue block will carry the vibration characteristics of the vibrating object itself, i.e., the Doppler frequency shift. By measuring the Doppler frequency shift of the coherent laser light wave reflected from a tiny area on the surface of the vibrating coal gangue block, the vibration frequency of the block can be determined. The working process of laser vibration measurement is as follows: The laser beam with a frequency of f emitted by the laser source is divided into two beams by the first prism. One beam is the reference light with a known frequency formed by the drive of the Bragg cell and enters the photodetector; the other beam is the measurement light, which is irradiated onto the measured block through the second prism and reflected. Due to the vibration of the surface of the measured block, the reflected light will generate a Doppler frequency shift Δf D , and generate a reflected light with a frequency of f + Δf D . After reflection, it also enters the photodetector through the second prism. The two beams of light will perform beat frequency in the photodetector. Finally, the vibration frequency information of the measured block is obtained through the processing and demodulation of the beat frequency signal by the signal processing system.

2. A coal gangue identification system based on laser vibration measurement, characterized in that, Sorting is performed using a coal and gangue identification method based on laser vibration measurement according to claim 1, including a vibrating conveyor, a scanning and identification table, a data processing terminal, and an intelligent sorting manipulator. Among them, The vibrating conveyor is used to level and convey the coal and gangue blocks and at the same time keep the coal and gangue blocks in a vibrating state. The scanning and identification table includes a laser vibration measurement module and a depth camera module, and is used to scan and measure the coal and gangue blocks to obtain measurement data. The data processing terminal is used to receive the measurement data and compare it with the existing database to determine whether the measured block is coal or gangue. The intelligent sorting manipulator is used to receive the judgment result of the data processing terminal and sort the gangue according to the judgment result.

3. The coal gangue identification system based on laser vibration measurement according to claim 2, characterized in that, The measurement data includes the vibration frequency and volume of the coal and gangue blocks.

4. The coal gangue identification system based on laser vibration measurement according to claim 2, characterized in that, An automatic adjustment vibration source device is installed on the vibrating conveyor.

5. The coal gangue identification system based on laser vibration measurement according to claim 2, characterized in that, The intelligent sorting manipulator includes a robotic arm, a robotic claw, and an optical fiber. Among them, the robotic claw is located at the end of the robotic arm and is connected to the scanning and identification table and the data processing terminal through the optical fiber.

6. The coal gangue identification system based on laser vibration measurement according to claim 2, characterized in that, The laser vibration measurement module and the depth camera module form an integrated probe and are installed on the scanning and identification table.

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