A screening plant stream monitoring and regulation system and method

Abstract

The application discloses a screening equipment flow monitoring and adjusting system and method, which comprises a visual sensing device (1), a rotating mechanism (2), a guide plate (3) and a visual processing controller (4). Material is fed into the screening equipment through a feeding chute, and then flows into a screen surface for screening after being shunted by the guide plate (3). The visual sensing device (1) is used for collecting the flow distribution on the screen surface and sending the collected data to the visual processing controller (4) for analysis. The visual processing controller (4) is used for calculating the uneven distribution on the screen surface according to the analysis result, and when the material flow is unevenly distributed on the screen surface, a signal is sent to the rotating mechanism (2) to adjust the guide plate (3) until the material flow is evenly distributed. The application has the advantages of simple construction, obvious system performance improvement, real-time measurement, strong adaptability, low use cost and the like. The screening process flow monitoring and adjusting intelligence are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mineral processing screening classification and the field of mine automation, and particularly relates to a screening equipment material flow monitoring and adjusting system and method. BACKGROUND

[0002] With the rapid development of artificial intelligence, visual sensing technology, image processing and other technologies, it has become a new trend to apply artificial intelligence automation in the mineral processing process. In order to meet the needs of uneven material flow distribution, low screen utilization rate, and the need for feedback adjustment in the screening production process, a simple and effective screening equipment material flow monitoring and adjusting system and method are urgently needed.

[0003] At present, most coal preparation plants screening equipment only has simple protection functions such as automatic start and stop, current, and slipping, and the running state of the equipment and the material flow are judged by artificial experience. It is impossible to numerically and intelligently identify and adjust the material flow in real time, which seriously affects the working efficiency of the equipment and increases the equipment maintenance workload and production cost. SUMMARY

[0004] The present application provides a screening equipment material flow monitoring and adjusting system and method, which has the advantages of high-precision measurement, low-error calculation, and high-efficiency analysis, and realizes real-time monitoring and dynamic adjustment of the material flow state of the screening equipment.

[0005] Technical scheme: In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is:

[0006] The screening equipment material flow monitoring and adjusting system comprises a visual sensing device (1), a rotating mechanism (2), a guide plate (3), and a visual processing controller (4). The material enters the screening equipment through a feeding chute (5), and the material flow is divided by the guide plate (3) and then enters the screen surface for screening. The visual sensing device (1) is used to collect the material flow distribution on the screen surface and send the collected data to the visual processing controller (4) for analysis. The visual processing controller (4) is used to calculate the uneven distribution of the screen surface according to the analysis result, and when the material flow is unevenly distributed on the screen surface, a signal is transmitted to the rotating mechanism (2) to adjust the guide plate (3) until the material flow is evenly distributed.

[0007] Optionally, the visual sensing device (1) is an image information collecting device, including but not limited to a camera or an infrared sensor.

[0008] Optionally, the visual sensing device (1) is multiple, and the multiple visual sensing devices (1) are respectively located near one end of the inside of the side plate of the screening device and near one end of the guide plate (3), and the visual processing controller (4) is further used for fusing information collected by the multiple visual sensing devices to obtain the flow distribution of the entire screen surface through correction splicing.

[0009] The application also provides a control method of the screening device flow monitoring and adjusting system, and the method comprises: using a feedback control algorithm to realize automatic adjustment of the flow distribution of the screening device, wherein, based on the multi-view image information collected by the visual sensing device (1), the volume of the material in each region is determined by calculating the height and area of the material on the screen surface, and the position of the guide plate (3) is controlled in real time.

[0010] Optionally, the feedback control algorithm is used to realize automatic adjustment of the flow distribution of the screening device, which comprises: setting an expected uniform flow distribution as a target reference signal, the visual sensing device (1) collects the multi-view image information of the flow distribution on the screen surface, and transmits the multi-view image information to the visual processing controller (4) for image processing and analysis, the visual processing controller (4) uses a multi-view processing algorithm to calculate the volume of the material in each region, divides the entire screen surface into a plurality of regions, and calculates the volume of the material in each region, determines the uniformity index of the flow by comparing the volume of the material in each region with the preset target volume, and outputs a control signal according to the uniformity index, the control signal is used to adjust the flow distribution of the screening device.

[0011] Optionally, the uniformity index of the flow is determined, which comprises: calculating the uniformity index (U) using the following formula:

[0012]

[0013] Wherein N represents the number of regions divided on the screen surface, V i represents the volume of the material in the i-th region, V total represents the total volume of the material on the entire screen surface.

[0014] Optionally, the control signal is output according to the uniformity index, which comprises: calculating the control signal for adjusting the position and angle of the guide plate (3) according to the uniformity index, wherein, based on the control signal, the rotating mechanism (2) is controlled to adjust the position and angle of the guide plate (3) to realize automatic correction and uniform distribution of the flow, and the calculation formula of the control signal is:

[0015]

[0016] wherein, K P , K i , K d represent proportional, integral and derivative gain respectively, U desired is a target value of the predicted uniformity.

[0017] Optionally, after the position and angle of the guide plate (3) are adjusted by controlling the rotating mechanism (2) based on the control signal, the method further comprises: optimizing the disparity map by using a graph cut optimization algorithm, and automatically correcting the flow deviation.

[0018] Optionally, the optimizing the disparity map by using a graph cut optimization algorithm comprises: constructing an energy function according to the similarity and constraint conditions between the disparity maps, and optimizing the disparity map by minimizing the energy function, wherein the optimization formula is: E(f) = E data (f) + E occ (f) + E smooth (f), wherein the data item E data measures the consistency of data on the node by calculating the difference or error of the disparity value, the smoothness item E smooth measures the consistency between adjacent nodes by calculating the smoothness of the disparity value, and the occlusion item E occ is set as the cost brought by the occlusion pixel, wherein the data item.

[0019] After the disparity map is optimized by using the graph cut optimization algorithm, the method further comprises: constructing a "depth-average height association table" of the material on the screen surface by using the disparity map, and defining the uniformity index (U) as the PWM signal according to the proportion of the average height of the material in each depth region of the screen surface:

[0020]

[0021] R PWM represents the PWM resolution, represents the average height of the material in the guide area corresponding to the i th guide plate, and the PWM signal is used to control the start and stop of the guide plate motor.

[0022] Beneficial effects: The screening equipment flow monitoring and adjusting system and method provided by the application have the following advantages over the prior art: a new screening equipment flow monitoring and adjusting method is provided, real-time monitoring and intelligent analysis of the flow of the screening equipment can be realized, the flow state of the screening equipment is adjusted in real time, the screening and analysis process is more efficient and intelligent, and the production efficiency of the equipment is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are part of this specification, are included to provide a further understanding of the present application, and are incorporated into and constitute a part of this specification. The

[0024] Figure 1 A schematic diagram of the structure of the screening plant stream monitoring and regulation system is shown;

[0025] Figure 2 A schematic diagram of the screening plant stream monitoring and regulation system with material is shown;

[0026] Figure 3 A simplified schematic diagram of the control algorithm is shown.

[0027] Wherein, the above drawings include the following reference signs:

[0028] 1, visual sensing device; 2, rotating mechanism; 3, deflector; 4, visual processing controller; 5, feed chute. DETAILED DESCRIPTION

[0029] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0030] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should belong to the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] As Figure 1 and Figure 2As shown, a screening equipment flow monitoring and adjusting system comprises a visual sensing device 1, a rotating mechanism 2, a guide plate 3, and a visual processing controller 4. The material enters the screening equipment through a feeding chute 5, and then flows into the screening surface through the guide plate 3 for screening. The visual sensing device 1 is used to collect the flow distribution on the screening surface and send the collected data to the visual processing controller 4 for analysis. The visual processing controller 4 is used to calculate the uneven distribution on the screening surface according to the analysis result, and send a signal to the rotating mechanism 2 when the material flow is unevenly distributed on the screening surface. The rotating mechanism 2 adjusts the guide plate 3 until the material flow is evenly distributed.

[0033] Specifically, the visual sensing device 1 is a device for collecting image information, including but not limited to a camera or an infrared sensor. In addition, the visual sensing device can also be a camera, an infrared camera, a laser scanner, an optical sensor, an optical range finder, etc.

[0034] Specifically, the visual sensing device 1 has multiple visual sensing devices 1, which are respectively located near one end of the internal side plate of the screening equipment and near one end of the guide plate 3. The visual processing controller 4 is also used to fuse the information collected by the multiple visual sensing devices to obtain the flow distribution of the entire screening surface through correction and splicing.

[0035] The application also provides a control method of a screening equipment flow monitoring and adjusting system, which comprises the following steps:

[0036] S1: First, the existing screening equipment needs to be modified, or the corresponding hardware and system are provided when the screening equipment is installed. The feeding chute of the screening equipment is modified, the rotating mechanism 2 and the guide plate 3 are installed through punching, and a stepping motor is additionally installed for independent driving.

[0037] S2: Multiple visual sensing devices 1 are arranged inside and above the side plate of the screening equipment to fuse the information collected by the multiple devices to form binocular / multi-view vision to ensure that high-quality visual image information is obtained. The camera is connected with the visual processing controller 4 through a high-speed transmission interface to transmit image data in real time.

[0038] S3: A precise rotating mechanism is used to adjust the position and angle of the guide plate 3. The rotating mechanism has high precision and stability, and can quickly respond to the control signal to realize uniform distribution of the material flow. The guide plate 3 is located at the feeding position of the screening equipment, and is a key adjusting component. The guide plate is controlled by the rotating mechanism 2 to adjust its position and angle to adjust the flow direction of the material flow. It has multiple degrees of freedom and can flexibly adjust the distribution of the material flow. The visual processing controller 4 adopts a high-performance microprocessor or an upper computer. It is responsible for receiving and processing multi-view image data, and calculating the uniformity index and generating a control signal through an algorithm.

[0039] S4: The visual sensing device 1 is installed inside and above the side plate of the screening device, collects data through multiple points, fuses the information collected by multiple devices, and obtains the material flow distribution of the entire screen surface. The collected image data is transmitted to the visual processing controller 4 through a high-speed transmission interface. In the visual processing controller 4, a high-efficiency multi-view visual processing algorithm is used to perform stereo matching and three-dimensional reconstruction on the multi-view visual image. The image data collected by the multi-view visual sensing device is represented by the following formula:

[0040] I(x,y) = I l (x,y) + I r (x-d,y),

[0041] where I(x,y) represents the pixel value of the multi-view camera composite image, I l (x,y) and I r (x-d,y) represent the pixel values of the left camera and the right camera respectively, and d represents the disparity of the left and right cameras. The disparity calculation method of the multi-view visual sensing device can be determined according to the stereo matching algorithm used. Through multi-view visual technology, the height information h(x,y) and area information A(x,y) of different regions on the screen can be obtained. These information can be calculated through stereo matching and three-dimensional reconstruction algorithm.

[0042] Specifically, the multiple cameras need to be calibrated first to determine the internal and external parameters of the cameras, including focal length, distortion parameters, rotation and translation matrix, etc. Feature points such as corner points and edges are extracted from multiple images, and these feature points are matched to find corresponding point pairs in different images. According to the matched feature point pairs, stereo matching is performed by calculating the disparity. Disparity represents the horizontal pixel difference of corresponding points in two images, which can be obtained by calculating the brightness, color or texture of the pixels. The depth information in the image is obtained by calculating the disparity. There is a certain mathematical relationship between disparity and depth, which can be calculated by known camera parameters and stereo baseline length. According to the depth information and camera parameters, the points in the image are converted to points in three-dimensional space, and three-dimensional reconstruction is performed. Triangulation and other methods can be used to fuse points in multiple views to obtain more accurate three-dimensional reconstruction results. The point cloud obtained by three-dimensional reconstruction is processed and optimized, which can perform filtering, surface reconstruction, texture mapping and other operations to obtain more complete and beautiful three-dimensional models.

[0043] For example, the following formula can be used to calculate the material height at each pixel point:

[0044]

[0045] Where B represents the camera baseline length, f represents the focal length of the camera, and d(x, y) represents the disparity value.

[0046] Using the height and area information, the material volume of each region can be calculated. By dividing the entire screen into N regions, the material volume distribution of each region can be obtained. These data are used for subsequent calculation of uniformity indicators.

[0047] V i = h i · A i ,

[0048] Where h i represents the average material height of the first region, and A i represents the area of the first region.

[0049] The visual processing controller 4 receives the stereo image data collected by the multi-view visual sensing device and processes and analyzes the images. Through stereo matching and three-dimensional reconstruction algorithms, the material volume V i of each region is calculated, and the uniformity indicator U is calculated according to the above formula. These calculation results are used to determine the control signal to achieve automatic adjustment of the deflector.

[0050] S5: Divide the entire screen into several regions and calculate the volume of the material in each region. Then, by comparing the material volume of each region with the preset target volume, the uniformity indicator of the material flow is determined, and a control signal is output according to the uniformity indicator, which is used to adjust the material flow distribution of the screening device.

[0051] Specifically, the average density of the material can be calculated based on the material height and the area of the region, which can be obtained by dividing the total volume of the material by the area of the region. The total mass of the material can be calculated based on the average density of the material and the material height, which can be obtained by multiplying the average density of the material by the area of the region. The mass flow rate of the material can be calculated based on the total mass of the material and the area of the region, which can be obtained by dividing the total mass of the material by the flow time within a given time. The mass flow velocity of the material can be calculated based on the mass flow rate of the material and the area of the region, which can be obtained by dividing the mass flow rate of the material by the area of the region. The operating parameters of the screening equipment can be adjusted based on the mass flow velocity of the material and the uniformity requirement of the material, which can include screen size, screen angle, and vibration frequency, etc. By adjusting these parameters, the distribution uniformity of the material in the screening equipment can be controlled to meet the requirements. The distribution uniformity of the material can be monitored and adjusted, and during operation, the distribution uniformity of the material in the screening equipment needs to be constantly monitored, and the operating parameters can be adjusted according to the monitoring results to achieve the ideal distribution uniformity. The screening equipment can be regularly maintained and maintained, and the normal operation and accurate control of the distribution uniformity of the material require regular maintenance and maintenance, including cleaning the screen, checking and replacing damaged parts, etc.

[0052] Specifically, the process of adjusting parameters based on the material height includes determining the theoretical screening effect requirements of the screening equipment, including the classification particle size range and distribution requirements. Based on the height of the material and the theoretical screening effect requirements, the appropriate screen size is selected. Generally speaking, when the material is finer, a smaller screen aperture should be selected; when the material is coarser, a larger screen aperture can be selected. The adjustment of the screen angle will affect the residence time of the material on the screen, and thus affect the screening effect. Generally, when the material height is lower, a larger screen angle is suitable; when the material height is higher, a smaller screen angle is suitable. The adjustment of the vibration frequency will affect the movement speed of the material on the screen and the screening effect. Generally speaking, when the material height is lower, a higher vibration frequency is suitable; when the material height is higher, a lower vibration frequency is suitable.

[0053] For example, assuming that the height of the screening equipment of a certain coal mine is 2 meters, and the coal particles of 0-5 mm need to be classified and screened, and the distribution uniformity is required. The following adjustments can be made: since the coal particles are fine, a screen aperture of 0.5 mm can be selected. Since the material height is low, a larger screen angle, such as 30 degrees, can be selected. Since the material height is low, a higher vibration frequency, such as 50 Hz, is suitable.

[0054] Specifically, the process of adjusting parameters according to the area of the region includes measuring the screen area of the coal mine screening equipment, usually using square meters as the unit. According to the requirements of coal production, determine the distribution requirements of the material on the screening equipment, such as requiring uniform distribution or distribution according to different particle sizes of the material. According to the area of the region and the distribution requirements of the material, select the appropriate screen size. Screen size is usually represented by the size of the opening, larger opening size is suitable for screening larger particles of material, and smaller opening size is suitable for screening smaller particles of material. The angle of the screen affects the trajectory and distribution of the material on the screen surface. Generally speaking, smaller screen angle can make the material stay on the screen surface for a longer time, which is beneficial to uniform distribution. According to the area of the region and the distribution requirements of the material, select the appropriate screen angle. The vibration frequency determines the movement speed and distribution of the material on the screening equipment. Higher vibration frequency can make the material move quickly on the screen surface, and lower vibration frequency can make the material stay on the screen surface for a longer time. According to the area of the region and the distribution requirements of the material, select the appropriate vibration frequency.

[0055] For example, assume that the area of the coal mine screening equipment is 10 square meters, and the material is required to be uniformly distributed. According to this requirement, the screen size can be selected as 2 mm, the screen angle as 15 degrees, and the vibration frequency as 800 times per minute.

[0056] Specifically, the process of adjusting parameters according to the volume of the material includes determining the volume of the material by measuring or referring to the density of the material and the size of the container. According to the volume of the material, select the appropriate screen aperture. Generally, the screen aperture should be slightly larger than the average diameter of the material particles to ensure that the material can pass through the screen smoothly. The adjustment of the screen angle can affect the uniformity of the distribution of the material on the screen. Generally speaking, larger screen angle can improve the dispersibility of the material, and smaller screen angle can increase the residence time of the material on the screen. According to the characteristics of the material and the desired screening effect, select the appropriate screen angle. The adjustment of the vibration frequency can affect the movement speed and uniformity of the distribution of the material on the screen. Higher vibration frequency can speed up the movement of the material on the screen, and lower vibration frequency can increase the residence time of the material on the screen. According to the characteristics of the material and the desired screening effect, select the appropriate vibration frequency.

[0057] For example, assume that the screening equipment of a certain coal mine needs to adjust the operating parameters to adapt to the change of the volume of the material. It is known that the volume of the material is 1000 cubic meters, and it is hoped that the material can be uniformly distributed on the screen. First, select the appropriate screen size according to the volume of the material. Assuming that the average diameter of the material particles is 10 mm, the screen aperture can be selected as 12 mm. Second, according to the characteristics of the material and the desired screening effect, select the appropriate screen angle and vibration frequency. Assuming that according to experience, the screen angle is selected as 20 degrees, and the vibration frequency is selected as 50 Hz.

[0058] Specifically, the process of adjusting parameters according to material density includes: first, the density of the material needs to be accurately measured, which can be measured using a densimeter or other related instruments. According to the density of the material and the screening requirements, reference can be made to the operation manual of the screening equipment or consultation with the equipment manufacturer to determine the theoretical screen size, screen angle, and vibration frequency, etc. According to the theoretical parameters, preliminary screening tests are conducted. The material to be screened is placed in the screening equipment, and after running for a period of time, the machine is stopped, and the distribution of the material in different screening layers is observed. Observing the test results, according to the distribution of the material in different screening layers, it is judged whether the material is evenly distributed. If the material is not evenly distributed, the operating parameters of the screening equipment need to be adjusted. According to the test results, the screen size, screen angle, and vibration frequency, etc. are gradually adjusted.

[0059] Adjustments can be made according to the following principles:

[0060] If the material accumulates a lot during the screening process, it means that the screen size is too small, and the screen size needs to be increased;

[0061] If the material passes through the screen quickly during the screening process, it means that the screen size is too large, and the screen size needs to be reduced;

[0062] If the material accumulates in a certain screening layer during the screening process, the screen angle can be adjusted to change the direction of the material flow and increase the uniformity of the material distribution;

[0063] If the material appears to be blocked during the screening process, the vibration frequency can be adjusted to increase the screening efficiency;

[0064] According to the adjusted operating parameters, the screening test is conducted again. Repeat the above steps until the material distribution reaches the requirement of relatively uniformity.

[0065] Specifically, the process of adjusting parameters according to material quality includes: obtaining the particle size distribution data of the material, including the maximum particle size, the minimum particle size, the average particle size, etc. through a particle size analyzer or other methods. According to the particle size distribution data of the material, the appropriate screen size is selected. Generally speaking, the aperture of the screen should be slightly larger than the maximum particle size of the material to ensure that the material can pass through the screen smoothly. The adjustment of the screen angle can affect the residence time and stagnation of the material on the screen. According to the characteristics and requirements of the material, the screen angle is appropriately adjusted to make the material distribution uniform. Generally speaking, a larger screen angle can increase the residence time of the material on the screen, which is beneficial to the passage of finer materials through the screen. The adjustment of the vibration frequency can affect the screening effect and the distribution of the material. According to the characteristics and requirements of the material, the vibration frequency is appropriately adjusted to make the material distribution uniform. Generally speaking, a higher vibration frequency can increase the movement speed and dispersion degree of the material on the screen, which is beneficial to the uniform distribution of the material.

[0066] For example, assume that a coal mine's screening equipment needs to screen coal, and the material's particle size distribution data is as follows: maximum particle size: 20 mm, minimum particle size: 5 mm, average particle size: 10 mm. According to the material's particle size distribution data, select the appropriate screen size. Considering that the material's maximum particle size is 20 mm, a screen aperture of 22 mm can be selected to ensure that the material can pass through the screen smoothly. According to the material's characteristics and requirements, adjust the screen angle and vibration frequency appropriately. Assume that according to the actual situation, the screen angle is adjusted to 20 degrees, and the vibration frequency is 1200 times per minute.

[0067] Specifically, the process of adjusting parameters according to the mass flow rate of the material includes: first, determine the mass flow rate of the material, that is, the mass of the material passing through the screening equipment per unit time. This can be measured by weighing devices or flow meters and other equipment. The screen size determines the particle size range of the material passing through the screen. If the mass flow rate of the material is too high, the screen aperture can be increased to increase the speed and flux of the material passing through the screen. If the mass flow rate of the material is too low, the screen aperture can be reduced to increase the screening effect. The screen angle affects the residence time and motion trajectory of the material on the screen. A larger screen angle can increase the residence time of the material on the screen, which is beneficial to the screening of fine-grained materials. A smaller screen angle can increase the speed of the material, which is suitable for the screening of large-particle materials. The vibration frequency affects the screening effect of the screening equipment and the flowability of the material. Higher vibration frequency can increase the movement speed of the material on the screen, which is beneficial to the screening of the material. Lower vibration frequency can reduce the movement speed of the material, which is suitable for the screening of fine-grained materials.

[0068] For example, assume that the mass flow rate of a coal mine's screening equipment is 1000 kg / h, and the operating parameters of the screening equipment need to be adjusted to make the material distribution uniform. According to the actual situation, a screen aperture of 10 mm can be selected. If the mass flow rate is too high, causing the material to pass through the screen too slowly, the screen aperture can be increased to 15 mm. According to the particle size of the material and the screening requirements, the screen angle can be set to 20 degrees. If the screening effect of fine-grained materials is poor, the screen angle can be increased to 30 degrees. According to experiments and experience, the vibration frequency is selected to be 30 Hz. If the flowability of the material is poor, the vibration frequency can be increased to 40 Hz.

[0069] Specifically, the process of adjusting parameters according to the mass flow rate of the material includes: determining the mass flow rate of the material; first, the mass flow rate of the material needs to be determined, which can be measured by a flow meter or other measuring equipment. According to the mass flow rate of the material, the size of the screen mesh aperture can be appropriately adjusted. If the material flow rate is large, a larger aperture can be selected to avoid material blockage or overload; if the material flow rate is small, a smaller aperture can be selected to improve the screening effect. The adjustment of the screen angle can affect the movement trajectory and distribution of the material on the screen surface. According to the mass flow rate of the material, the angle of the screen can be appropriately adjusted. Generally speaking, a larger screen angle can increase the passing rate and screening efficiency of the material, and a smaller screen angle can increase the time of the material staying on the screen surface, which helps more thorough screening. The adjustment of the vibration frequency can change the screening effect of the screening equipment and the distribution of the material. According to the mass flow rate of the material, the vibration frequency can be appropriately adjusted. Higher vibration frequency can increase the number of movements of the material on the screen surface, improving the screening efficiency; lower vibration frequency can increase the time of the material staying on the screen surface, which helps more thorough screening.

[0070] For example, assume that the screening equipment of a certain coal mine is responsible for processing 100 tons of coal per hour, and needs to adjust the operating parameters according to the mass flow rate of the coal. Assume that the mass flow rate of the coal is 100 tons / hour. According to the mass flow rate of the coal, select an appropriate screen mesh aperture. If the coal flow rate is large, select a larger screen mesh aperture, for example, select a 3mm screen mesh aperture; if the coal flow rate is small, select a smaller screen mesh aperture, for example, select a 1mm screen mesh aperture. According to the mass flow rate of the coal, adjust the angle of the screen. If the coal flow rate is large, select a larger screen angle, for example, select a 20 degree screen angle; if the coal flow rate is small, select a smaller screen angle, for example, select a 10 degree screen angle. According to the mass flow rate of the coal, adjust the vibration frequency. If the coal flow rate is large, select a higher vibration frequency, for example, select a 1000 times / minute vibration frequency; if the coal flow rate is small, select a lower vibration frequency, for example, select a 800 times / minute vibration frequency.

[0071] The uniformity index (U) is calculated using the following formula:

[0072]

[0073] where N represents the number of regions divided on the screen surface, V i represents the volume of material in the i-th region, V total represents the total volume of material on the entire screen surface.

[0074] According to the uniformity index, the control signal for adjusting the position and angle of the guide plate 3 is calculated, wherein the control signal is used to control the rotating mechanism 2 to adjust the position and angle of the guide plate 3, so as to realize the automatic correction and uniform distribution of the material flow, and the calculation formula of the control signal is:

[0075]

[0076] wherein K P , K i , and K d represent the proportional, integral, and differential gains respectively, U desired is the target value of the predicted uniformity.

[0077] When the material flow distribution approaches the expected target, the controller will continuously monitor and fine-tune the position of the guide plate to maintain the system in the optimal working state. The control algorithm realizes real-time monitoring and adjustment of the material flow, so that the screening equipment can automatically adapt to different working conditions and screening requirements of different materials, thereby improving the stability and efficiency of the system. At the same time, this algorithm has good real-time performance and adaptability, and can be applied to screening equipment of different scales and types.

[0078] S6: The step S5 can also be used to realize the automatic adjustment of the material flow distribution, and a graph cut optimization algorithm is used to optimize the disparity map to realize the automatic correction of the material flow deviation. An energy function is constructed according to the similarity and constraint conditions between the disparity maps, and the energy function is minimized:

[0079] E(f)=E data (f)+E occ (f)+E smooth (f),

[0080] wherein the data term E data measures the consistency of the data on the nodes by calculating the difference or error of the disparity values; the smoothness term E smooth measures the consistency between adjacent nodes by calculating the smoothness of the disparity values; and the occlusion term E occ is set as the cost brought by the occluded pixels.

[0081] The disparity map is optimized by minimizing the energy function, so as to improve the smoothness and accuracy of the disparity map. A "depth-average height correlation table" of the material on the screen surface is constructed through the disparity map, and the uniformity index (U) is defined as the PWM signal according to the proportion of the average height of the material in each depth region of the screen surface:

[0082]

[0083] wherein R PWM represents the PWM resolution, and h i represents the average height of the material in the guide area corresponding to the i th guide plate.

[0084] For example, the 3rd and 4th channels of PWM are used to control the positive and reverse rotation of the guide plate, and a limit switch is used to control the start and stop of the guide plate motor. Figure 3 As shown in the main control algorithm diagram.

[0085] The control system is developed by using platforms such as IFIX and programming control language. The control module is integrated into the plant area ring network through the network. The control module is added through the KEPSERVER database, the node information in the database is read through IFIX to make the corresponding visual operation interface, and the integration with the existing dispatching control system in the plant area is realized. The algorithm adopts the semi-supervised learning mode of artificial intervention to enrich the database, and has the functions of self-learning and self-decision. Including but not limited to the above several main methods.

[0086] The screening equipment flow monitoring and adjusting system can realize real-time monitoring of running speed, running posture and equipment temperature sensing function, real-time temperature measurement, speed measurement and safety warning function for the target, effectively reduces the safety hidden trouble caused by frequent personnel inspection, and can realize real-time flow monitoring and adjustment, and has good application and development prospect in the field of coal and mineral separation.

[0087] When raw coal is classified by the screening equipment, due to uneven feeding or dynamic characteristics of the material group and the screen surface, the material flow may be screened in a certain area of the screen surface, which is not conducive to classification. One or more visual sensing devices are arranged above or on the side of the screening equipment, and adjustable guide plates are arranged at the feeding chute or the feeding inlet of the screening equipment. The visual sensing device obtains the distribution of the material flow on the screen surface, and the treatment and analysis can obtain the treatment capacity per unit area of each area. When the material flow is unevenly distributed, the guide plate is adjusted to intervene to make the material flow uniformly distributed on the screen surface. The control and adjustment module can intervene in the material flow distribution in real time according to the feeding condition to achieve the best screening performance of the equipment. The device can be used in classification, dehydration and medium removal. The device has the advantages of simple construction, obvious system performance improvement, real-time measurement, strong adaptability, low use cost and the like. The screening process flow monitoring and adjustment intelligentization are realized.

[0088] The embodiment of the present application provides a computer readable storage medium, the computer readable storage medium comprises a stored program, wherein the computer readable storage medium controls the device to execute the control method of the screening equipment flow monitoring and adjusting system when the program runs.

[0089] The embodiment of the present application provides a processor, the processor is used for running a program, wherein the processor executes the control method of the screening equipment flow monitoring and adjusting system when the program runs.

[0090] The device comprises a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the control method steps of the screening device material flow monitoring and adjusting system are implemented. The device herein can be a server, a PC, a PAD, a mobile phone, etc.

[0091] The application also provides a computer program product adapted to execute the program of the control method steps of the screening device material flow monitoring and adjusting system when executed on a data processing device.

[0092] Obviously, those skilled in the art should understand that the modules or steps of the application described above can be realized by general computing devices, which can be centralized on a single computing device or distributed on a network composed of multiple computing devices, and can be realized by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different orders, or they can be made into individual integrated circuit modules or multiple modules or steps into a single integrated circuit module. Thus, the application is not limited to any specific combination of hardware and software.

[0093] Those skilled in the art should understand that the embodiments of the application can be provided as a method, a system, or a computer program product. Therefore, the application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0094] The application is described with reference to flowcharts and / or block diagrams according to the methods, devices (systems), and computer program products of the embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The device that realizes the functions specified in one flow or multiple flows and / or blocks. Figure 1 The device that realizes the functions specified in one flow or multiple flows and / or blocks.

[0095] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0096] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the Figure 1 function specified in the flow or flows and / or blocks Figure 1 of the block or blocks.

[0097] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0098] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), flash memory, or a combination of non-volatile memories in different forms. The memory is an example of computer readable storage media.

[0099] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0100] It should also be noted that the terms "comprising," "including," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a... " does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0101] The above description is merely the preferred embodiments of the present application and is not intended to limit the present application. The present application can be variously changed and modified by those skilled in the art without departing from the spirit and scope of the present application. Any modification, equivalent replacement, improvement, and the like made within the spirit and principle of the present application shall be included in the scope of the present application.

Claims

1. A control method for a material flow monitoring and regulation system of a screening equipment, characterized in that, The control method of the material flow monitoring and regulation system of the screening equipment is applied to the material flow monitoring and regulation system of the screening equipment. The material flow monitoring and regulation system of the screening equipment includes: a visual sensing device (1), a rotating mechanism (2), a guide plate (3), and a visual processing controller (4). The material enters the screening equipment through the feeding chute, and the material flow is divided by the guide plate (3) and then enters the screen surface for screening. The visual sensing device (1) is used to collect the material flow distribution on the screen surface and send the collected data to the visual processing controller (4) for analysis. The visual processing controller (4) is used to analyze the data. The result calculation shows that when the material flow is unevenly distributed on the screen surface, a signal is sent to the rotating mechanism (2). The rotating mechanism (2) adjusts the guide plate (3) until the material flow is evenly distributed. The method includes: using a feedback control algorithm to automatically adjust the material flow distribution of the screening equipment. Based on the multi-view visual image information collected by the visual sensing device (1), the material volume of each area is determined by calculating the height and area of ​​the material on the screen surface, and the position of the guide plate (3) is controlled in real time. The automatic adjustment of the material flow distribution of the screening equipment is achieved by using a feedback control algorithm, including: setting a target uniform distribution of the material flow as a target reference signal; the vision sensing device (1) collects multi-view visual image information of the material flow distribution on the screen surface and transmits the multi-view visual image information to the vision processing controller (4) for image processing analysis; the vision processing controller (4) uses a multi-view visual processing algorithm to calculate the material volume of each region, divides the entire screen surface into several regions, calculates the material volume of each region, determines the uniformity index of the material flow by comparing the material volume of each region with the preset target volume, and outputs a control signal according to the uniformity index. The control signal is used to adjust the material flow distribution of the screening equipment. Outputting a control signal based on the uniformity index includes: calculating a control signal to adjust the position and angle of the guide plate (3) based on the uniformity index, wherein the rotating mechanism (2) is controlled based on the control signal to adjust the position and angle of the guide plate (3) to achieve automatic correction and uniform distribution of the material flow. After adjusting the position and angle of the guide plate (3) by controlling the rotating mechanism (2) based on the control signal, the method further includes: optimizing the disparity map using a graph cut optimization algorithm and automatically correcting the material flow deviation. After optimizing the disparity map using a graph cut optimization algorithm, the method further includes: constructing a "depth-average height correlation table" for the material on the screen surface using the disparity map, and defining a uniformity index U as a PWM signal based on the proportion of the average height of the material in each depth region of the screen surface. , ,in, express Resolution Indicates the first The average height of the material in the guide zone corresponding to each guide plate, and the PWM signal is used to control the start and stop of the guide plate motor.

2. The method according to claim 1, characterized in that, The visual sensing device (1) is a device for acquiring image information, including a camera or an infrared sensor.

3. The method according to claim 1, characterized in that, There are multiple vision sensing devices (1), and the multiple vision sensing devices (1) are located at one end close to the inside of the side plate of the screening device and at one end close to the guide plate (3). The vision processing controller (4) is also used to fuse the information collected by the multiple vision sensing devices and obtain the material flow distribution of the entire screen surface by correction and splicing.

4. The method according to claim 1, characterized in that, Output a control signal based on the uniformity index, including: The formula for calculating the control signal is: ， in, , , These represent proportional, integral, and differential gains, respectively. It is the target value for predicting uniformity.

5. The method according to claim 1, characterized in that, The disparity map is optimized using a graph cut optimization algorithm, including: An energy function is constructed based on the similarity and constraints between the disparity maps. The disparity maps are optimized by minimizing the energy function, wherein the optimization formula is: Among them, data items To measure data consistency at nodes by calculating the difference or error in disparity values, a smoothing term is used. To measure the consistency between adjacent nodes by calculating the smoothness of the disparity values, occlusion terms are used. The cost of setting up to block pixels.

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