Ore identification method, identification device, ore sorting method and sorting device

Abstract

The present disclosure relates to the field of mining, and specifically to an ore identification method, an identification device, an ore sorting method and a sorting device. The ore identification method comprises: obtaining multiple images of a stone to be tested at different angles; determining the ore image information in each of the images; if the ore image information is not detected in the multiple images, determining that the stone to be tested is waste rock; if the ore image information is detected in at least one of the images, determining the classification of the stone to be tested according to the ore image information of each of the images. Through the ore identification method provided by the present disclosure, more comprehensive surface information of the stone to be tested can be obtained to avoid omissions. According to the ore image information of multiple images, the stone to be tested is classified to avoid misidentification and missed identification, and the category of the stone to be tested can be determined more accurately and efficiently, and the stone to be tested can be subdivided into categories according to needs, which is conducive to improving the recovery rate of the ore.

Description

Technical Field

[0001] The present invention relates to the mining field, and in particular to an ore identification method, an identification device, an ore sorting method and a sorting device. Background Art

[0002] In the process of ore sorting, it is necessary to collect images of each stone to be tested, identify the ore based on the image collection results, determine the category of the stone to be tested, and then sort the stone to be tested. Since only part of the surface information of the stone to be tested can be obtained during the image collection process, the collected images are limited and it is impossible to accurately determine the category of the stone to be tested, which leads to the misidentification and missed identification of the ore area on the stone to be tested, and the recognition accuracy of the stone to be tested is poor. Summary of the invention

[0003] To overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides a method for identifying an ore, comprising: acquiring multiple images of a stone to be tested at different angles; determining the ore image information in each of the images; if the ore image information is not detected in any of the multiple images, determining that the stone to be tested is waste rock; if the ore image information is detected in at least one of the images, determining the classification of the stone to be tested based on the ore image information of each of the images: if any of the images or at least half of the images include the ore image information, determining that the stone to be tested is ore; or, determining the mineral content information of the stone to be tested based on the ore image information of each image; and, determining the classification of the stone to be tested based on the mineral content information.

[0004] In some embodiments, determining the mineral content information of the stone to be tested based on the mineral image information of each image includes: determining the position information of the mineral image area and the size information of the mineral image area in each image based on the mineral image information of each image; determining the mineral content information of the stone to be tested based on the position information and the size information of the mineral image area in each image.

[0005] In some embodiments, determining the position information of the ore image area and the size information of the ore image area in each of the images based on the ore image information of each of the images includes: taking image sub-information corresponding to the same cross-section of the stone to be measured in each of the images as cross-sectional information of the stone to be measured, according to the ore image information of the images, wherein the cross-section is a cross-section of the stone to be measured along the shooting direction of the image; and determining the position information and size information of the ore image area in each of the images based on the cross-sectional information.

[0006] In some embodiments, determining the position information and size information of the ore image area in each image based on the cross-sectional information includes: determining a first distance of the ore image area in each image from the center of the image, a second distance of each image sub-information, and a third distance occupied by the ore image area in the image based on the cross-sectional information; and determining the position information of the ore image area and the size information of the ore image area based on the first distance, the second distance and the third distance.

[0007] In some embodiments, determining the position information of the ore image area and the size information of the ore image area according to the first distance, the second distance and the third distance includes: determining the center angle corresponding to the end of the ore image area close to the center of the image and the center of the image on the cross-section that is approximately circular according to the first distance and the second distance as the position information; and determining the center angle corresponding to the ore image area on the cross-section that is approximately circular according to the position information, the second distance and the third distance as the size information.

[0008] In some embodiments, the mineral content information of the stone to be measured is determined based on the position information of the ore image area in each of the images and the size information of the ore image area, including: determining the size information of the ore image area in the overlapping area of ​​each image based on the position information and size information of the ore image area in each image; determining the size information of the ore image area on the cross section after fusing the ore image areas in the overlapping area; determining the mineral content information of the stone to be measured based on the size information of the ore image area on the cross section; wherein the overlapping area is the same area on the surface of the stone to be measured captured in a plurality of different images.

[0009] In some embodiments, the mineral content information of the stone to be measured is determined based on the position information of the ore image area in each of the images and the size information of the ore image area, including: for the same ore image area in the overlapping area in multiple images, taking the average value of the size information of the ore image area as the size of the ore image area; or for the same ore image area in the overlapping area in multiple images, taking the weighted average value of the size information of the ore image area as the size of the ore image area; or for two different images including the same overlapping area, each taking half of the overlapping area as a fusion area, and determining the size information of the ore image area in the fusion area.

[0010] In some embodiments, the mineral content information of the stone to be tested is determined based on the position information of the ore image area in each of the images and the size information of the ore image area, including: determining the proportion of the ore image area on each cross section based on the size information of the ore image area on the cross section; calculating the average value based on the proportion of the ore image area on each cross section to determine the mineral content information of the stone to be tested, wherein the number j of the cross sections satisfies: 1≤j≤M, M is the size information of the stone to be tested in the image, in a direction perpendicular to the cross section.

[0011] In some embodiments, determining the mineral content information of the stone to be tested based on the mineral image information of each image includes: determining the mineral area on the surface of the stone to be tested based on the mineral image information of each image; determining the mineral content information of the stone to be tested based on the area ratio of the mineral area on the surface of the stone to be tested.

[0012] In a second aspect, the present disclosure further provides a mineral identification device for executing the mineral identification method as described in any of the above embodiments, comprising: an image acquisition module for acquiring multiple images of the stone to be tested at different angles; and an identification module for determining the classification of the stone to be tested based on the multiple images.

[0013] In some embodiments, the image acquisition module includes: a movable camera, used to acquire the image, and shoot the image from different angles by changing the position of the camera; or, a stationary camera and one or more reflectors, used to acquire the image, and shoot the image from different angles by making the camera shoot the image and making the camera shoot the image reflected by the reflector; or, multiple stationary cameras located at different positions, used to shoot the image from different angles.

[0014] In a third aspect, the present disclosure further provides an ore sorting method, which includes: an ore identification method as described in any of the above embodiments; determining a sorting time and a sorting position according to the classification of the stone to be tested and the coordinates of the stone to be tested; and sorting the stone to be tested according to the sorting time and the sorting position.

[0015] In a fourth aspect, the present disclosure further provides an ore sorting device for executing the ore sorting method as described in any of the above embodiments, comprising: an image acquisition module for acquiring multiple images of the stone to be tested at different angles; a recognition module for determining the classification of the stone to be tested based on the multiple images; and a sorting module for sorting the stone to be tested according to the classification of the stone to be tested determined by the recognition module.

[0016] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0017] Through the ore identification method provided by the present disclosure, multiple images of the stone to be tested at different angles can be obtained, thereby obtaining more comprehensive surface information of the stone to be tested and avoiding omissions. In addition, based on the multiple images, the ore image information in each image is determined, and the stone to be tested is classified to avoid misidentification and missed identification caused by missing ore image information on the surface of the stone to be tested. The category of the stone to be tested can be determined more accurately and efficiently, and the stone to be tested can be subdivided into categories according to needs, which is conducive to improving the recovery rate of the ore. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0019] Figure 1 is a flow chart of a method for identifying an ore according to an exemplary embodiment of the disclosure;

[0020] Figure 2 is a flow chart of a method for identifying an ore according to another exemplary embodiment of the present disclosure;

[0021] Figure 3 is a flow chart of a method for identifying an ore according to another exemplary embodiment of the present disclosure;

[0022] Figure 4 is a flow chart of a method for identifying an ore according to another exemplary embodiment of the present disclosure;

[0023] Figure 5 is a flow chart of a method for identifying an ore according to another exemplary embodiment of the present disclosure;

[0024] Figure 6 is a flow chart of a method for identifying an ore according to another exemplary embodiment of the present disclosure;

[0025] Figure 7 is a schematic diagram showing a camera photographing a stone to be measured according to another exemplary embodiment of the present disclosure;

[0026] Figure 8 is a schematic cross-sectional view of a stone to be tested according to another exemplary embodiment of the present disclosure;

[0027] Fig. 9 is a flow chart of a method for identifying an ore according to another exemplary embodiment of the present disclosure;

[0028] Fig.10 is a flow chart of a method for identifying an ore according to another exemplary embodiment of the present disclosure;

[0029] Fig.11 is a flow chart of a method for identifying an ore according to another exemplary embodiment of the present disclosure;

[0030] Fig.12 is a flow chart of a method for identifying an ore according to another exemplary embodiment of the present disclosure;

[0031] Fig.13 is a schematic diagram of an ore identification and sorting process according to an exemplary embodiment of the disclosure;

[0032] Fig.14 is a schematic diagram of an ore identification and sorting process according to an exemplary embodiment of the disclosure;

[0033] Fig.15 is a schematic diagram of a cross section of a stone to be measured when the stone to be measured is photographed by two cameras according to an exemplary embodiment of the disclosure;

[0034] Fig.16 is a schematic diagram of a cross section of a stone to be measured when the stone to be measured is photographed by two cameras according to another exemplary embodiment of the present disclosure;

[0035] Fig.17 is a flow chart of a method for identifying an ore according to an exemplary embodiment of the disclosure;

[0036] Fig.18 is a flow chart of a method for identifying an ore according to an exemplary embodiment of the disclosure;

[0037] Fig.19 is a schematic diagram of the structure of an ore identification device according to an exemplary embodiment of the disclosure;

[0038] Fig. 20 is a flow chart of an ore separation method according to an exemplary embodiment of the disclosure;

[0039] Fig.21 is a schematic diagram of a camera and a sorting module according to an exemplary embodiment of the disclosure;

[0040] Fig. 22 is a schematic diagram of an ore identification and sorting process according to an exemplary embodiment of the disclosure;

[0041] Fig.23 It is a logical schematic diagram of determining the classification of a stone to be tested in a method for identifying an ore according to an exemplary embodiment of the disclosure;

[0042] Fig.24 It is a schematic diagram of the structure of an ore sorting device according to an exemplary embodiment of the disclosure. DETAILED DESCRIPTION

[0043] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0044] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0045] In the current technology, the ore sorting equipment includes: a conveying device, an identification device and a sorting device, wherein the conveying device can be a conveyor belt, and the stone to be tested is transmitted from the conveying device to the identification device, and the category of the stone to be tested is determined by the identification device. Generally, a single camera is set to collect the image of the stone to be tested from above the conveyor belt that transports the stone to be tested, and then the stone category is determined according to the color of the stone to be tested in the image. Finally, according to the category of the stone to be tested determined by the identification device, the stone to be tested is made to fly out from the end of the conveyor belt and enter the sorting device, and the stones to be tested of different categories are separated by the sorting device. However, since a single camera can only obtain the image above the stone to be tested, and cannot obtain the surface information of the stone to be tested on the side in contact with the conveyor belt, the image information is incomplete and the category of the stone to be tested cannot be accurately determined. In some cases, the surface of the side of the stone to be tested that contacts the conveyor belt contains an ore area, and the image obtained by the single camera does not contain the ore area, which will lead to ore identification errors and low accuracy of ore identification and sorting.

[0046] To solve the above problems, the exemplary embodiments of the present disclosure provide a method for identifying an ore, such as Figure 1 As shown, the following steps may be included:

[0047] Step S10, obtaining multiple images of the stone to be tested at different angles. Multiple images of the stone to be tested at different angles can be taken by one or more cameras. One or more cameras can be set at the end of the conveying device of the ore sorting equipment. In the process of the stone to be tested being transferred from the conveying device to the sorting device, when the stone to be tested flies out of the end of the conveyor belt, multiple images of the stone to be tested at different angles can be obtained by one or more cameras. For stones to be tested of different particle sizes, different cameras or lenses can be set, and the camera position can also be adjusted to adapt to stones of different particle sizes, so that each image to be tested includes complete and clear surface information of the stone to be tested. Multiple images can include all the information on the surface of the stone to be tested; in one case, the surface of the stone to be tested may have some grooves and other locations that are difficult to be captured by the camera, and the information on the surface of the stone to be tested obtained in the multiple images may have some omissions. It can also be approximately considered that the multiple images include all the information on the surface of the stone to be tested.

[0048] Step S20, determine the ore image information in each image; the ore image information in each image can be determined based on multiple images of the stone to be tested at different angles, and the ore image information can include: the type of ore in the image to be tested, the location and size information of the ore area, etc. If the ore image information is not detected in multiple images, it can be determined that the stone to be tested is waste rock. When the ore image information is not detected in multiple images, it can be determined that the ore is not identified at all angles of the stone to be tested, so it can be determined that the stone to be tested does not contain ore, and the stone to be tested is waste rock. If the ore image information is detected in at least one image, step S30 is executed to determine the classification of the stone to be tested based on the ore image information of each image. If the image ore information is detected in any one or more images, it can be determined that the surface of the ore to be tested in the image includes ore, and it can be determined that the stone to be tested belongs to ore. According to different material identification and sorting requirements, the stone to be tested can be specifically classified. The specific classification of the stone to be tested, such as middlings, concentrates, etc., can be determined based on the ore image information of each image, such as the position and size of the ore image.

[0049] like Figure 2 As shown, step S30, determining the classification of the stone to be tested according to the ore image information of each image, may include: executing if any image or at least half of the images include ore image information, then determining that the stone to be tested is ore. Or executing step S31, step S32.

[0050] If any image or at least half of the images include ore image information, it can be determined that the stone to be tested is ore. In the case where only ore and waste rock need to be distinguished, the classification of the stone to be tested can be directly determined based on the ore image information. If any image includes ore information, it means that the stone to be tested contains ore, and it can be determined that the stone to be tested is ore. In some cases, it is necessary to eliminate the stone to be tested with less ore content. It can be judged based on the number of images containing ore image information of the stone to be tested. If half or more of the images include ore information, it can be considered that the ore content in the stone to be tested meets the requirements, and the stone to be tested is determined to be ore; if less than half of the images include ore information, it can be considered that the ore content in the stone to be tested does not meet the requirements, and the stone to be tested is determined to be waste rock.

[0051] Step S31, according to the ore image information of each image, determine the ore content information of the stone to be measured; according to the ore image information of each image, the ore image information may include the type of ore on the surface of the stone to be measured in the image, as well as the position and size, etc., to determine the ore content information of the stone to be measured, and the ore content information may be the ore content on the surface of the stone to be measured. The ore content information may be determined by comprehensively considering the ore image information in multiple images.

[0052] Step S32, according to the mineral content information, determine the classification of the stone to be tested. The classification of the stone to be tested can be determined according to the mineral content information, and the stone to be tested can be divided into two categories: ore or waste rock. The threshold of the mineral content information can be preset. When the mineral content information is less than the threshold, the stone to be tested can be determined as waste rock; when the mineral content information is greater than or equal to the threshold, the stone to be tested can be determined as ore. The stone to be tested can also be divided into three or more categories, such as Fig.23 As shown, in some embodiments, the stones to be tested can be divided into three categories: waste rock, medium ore and concentrate. The threshold of the mineral content information can be preset, and the stones to be tested with mineral content information greater than or equal to 50% are determined as concentrate, the stones to be tested with mineral content information greater than 0 and less than 50% are determined as medium ore, and the stones to be tested with mineral content of 0 are determined as waste rock. By setting different thresholds of mineral content information, the stones to be tested with different ore contents can be divided into multiple categories, thereby distinguishing each stone to be tested.

[0053] Through the ore identification method of this embodiment, images of the stone to be tested can be obtained from multiple angles, panoramic information of the stone to be tested can be obtained, and complete and comprehensive surface ore information of the stone to be tested can be obtained, which can avoid image information loss, avoid missing ore image information during the detection process of the stone to be tested, avoid the occurrence of identification errors, and improve the accuracy of ore identification. The ore image information of the surface of the stone to be tested at multiple angles can be determined by the image of the stone to be tested, and the category of the stone to be tested can be determined. The classification of the stone to be tested can be determined according to the number of images containing ore image information, which can be quickly identified and have higher recognition efficiency. It is also possible to determine the ore content information of the stone to be tested according to the ore image information in all images, and then determine the classification of the stone to be tested according to the ore content information, so that the stone to be tested can be divided into multiple different categories, with higher accuracy in the identification and classification process, and can complete identification and classification according to the needs of various different ore identification and sorting, and can adapt the identification method to various different needs to adapt to different classification needs, with better universality.

[0054] In some embodiments, Figure 3 As shown, step S31, determining the mineral content information of the stone to be tested according to the mineral image information of each image, may include: step S311 and step S312.

[0055] Step S311, according to the ore image information of each image, determine the position information and size information of the ore image area in each image; the ore image information may include: the position information and size information of the ore image area. The position information and size information of the ore image area can be determined by the position and area in the image, and the ore image area can also be determined by the center angle of the stone cross section corresponding to the image.

[0056] Step S312, according to the position information of the ore image area in each image and the size information of the ore image area, the mineral content information of the stone to be measured is determined. According to the size information of the ore image area in each image, the proportion of the ore area on the surface of the stone to be measured can be determined as the mineral content information. Since each image may include an overlapping area, the ore image area located in the overlapping area may appear in different images. According to the position information of the ore image area in each image, it can be determined whether the ore image area in different images corresponds to the same ore area on the surface of the stone to be measured, thereby avoiding multiple calculations of the ore image area in the overlapping area, resulting in inaccurate mineral content information, causing errors in the identification of the stone to be measured, and can effectively improve the identification accuracy of the stone to be measured.

[0057] In some embodiments, step S311, determining the position information and size information of the ore image area in each image according to the ore image information of each image, may include: step S3111, step S3112.

[0058] Step S3111, based on the ore image information of the image, take the image sub-information of the same cross section of the stone to be measured in each image as the cross-sectional information of the stone to be measured, wherein the cross section is the cross section of the stone to be measured along the shooting direction of the image. Each image can be processed separately, and a row of pixel points of the stone to be measured in each image can be taken as the image sub-information of the stone to be measured, so that the pixel points taken in each image are located on the same cross section of the stone to be measured, and the pixel points taken in multiple images are integrated as the cross-sectional information of the stone to be measured. It is also possible to map multiple images one by one in sequence to the outer surface of the ore to be measured, and the ore to be measured can be approximated as a sphere. After all images are mapped to the outer surface of the ore to be measured, the stone to be measured can be intercepted along the shooting direction of the image, and the image sub-information mapped to the surrounding side of the cross section of the stone to be measured is obtained as the cross-sectional information of the stone to be measured.

[0059] Step S3112, determining the position information and size information of the ore image area in each image based on the cross-sectional information. The position information and size information of each ore image area in each image can be determined based on the cross-sectional information of the image to be measured and the image sub-information in each image. In each image, a standard position can be determined, and the standard position can be the center line of each image. The position information of the ore image area can be expressed as the distance between the ore image area in the image and the standard position, or as the center angle corresponding to the edge of the ore image area on the cross section and the standard position. The size information of the ore image area can be expressed as the distance between the ore image area in the image in the image sub-information, or as the center angle corresponding to the ore image area on the cross section.

[0060] Through the method provided in this embodiment, the ore image area in multiple images can be mapped to the cross-section of the stone to be tested, and the information in multiple images located on the same cross-section can be extracted and integrated into cross-section information. Then, the position information and size information of the ore image area can be determined based on the cross-section information. The image sub-information belonging to the same cross-section of the stone to be tested in multiple different images can be integrated and identified, thereby determining the position and size information of the ore image area, and combining multiple images for identification with higher accuracy.

[0061] In some embodiments, Figure 5 As shown, step S3112, determining the position information and size information of the ore image area in each image according to the cross-sectional information, includes: step S31121, step S31122.

[0062] Step S31121, according to the cross-sectional information, determine the first distance of the ore image area in each image from the image center, the second distance of each image sub-information, and the third distance of the ore image area in the image. The image sub-information in different images belonging to the same cross-sectional area can be processed separately according to the cross-sectional information to determine that the first distance of the ore image area in each image from the image center is N 1 The first distance can be the distance between the ore image area in the image and the image center, or the number of pixels between the ore image area in the image and the image center. The second distance of each image sub-information can be recorded as 2*N 2 The second distance of each image sub-information can be the length of the stone to be measured in the image on the cross section of the stone to be measured corresponding to the current image, or it can be the number of pixels occupied by the stone to be measured in the image on the cross section of the stone to be measured corresponding to the current image. When the stone to be measured is approximated as a sphere, N 2 It can be regarded as the radius of the current cross section of the stone to be measured. The third distance N occupied by the ore image area in the image 3 , which can be the length of the ore image area in each image, or the number of pixels occupied by the ore image area in each image.

[0063] Step S31122, determining the position information of the ore image area and the size information of the ore image area according to the first distance, the second distance and the third distance. According to the first distance, the second distance and the third distance, the position information and the size information of the ore image area can be obtained by calculation, wherein the position information and the size information can be expressed in the form of a central angle.

[0064] Through the method of this embodiment, the first distance, the second distance and the third distance in each image can be determined through the cross-sectional information, and the position information and size information of the ore image area can be determined. More accurate position and size information of the ore image area can be obtained, which is convenient for the subsequent determination of the mineral content and the identification and classification of the stones to be measured, so that the identification and classification accuracy of the stones to be measured is higher.

[0065] In some embodiments, Figure 6 As shown, according to the first distance, the second distance and the third distance, the position information of the ore image area and the size information of the ore image area are determined, including: according to the first distance and the second distance, the corresponding central angle between the end of the ore image area close to the image center and the image center on the approximately circular cross section is determined as the position information. And, according to the position information, the second distance and the third distance, the corresponding central angle of the ore image area on the approximately circular cross section is determined as the size information.

[0066] According to the first distance and the second distance, the corresponding central angle between one end of the ore image area close to the image center and the image center on the approximately circular cross section is determined as the position information. Figure 7 As shown in FIG. 1 , taking the case where images of a stone to be tested are taken from different angles by three stationary cameras, the stone to be tested is equivalent to a sphere, and three stationary cameras surround the stone to be tested. Figure 8 As shown in the figure, it is a schematic diagram of a cross section, where A is the center of the image, FG is the ore image area in the cross-section information of the stone to be measured, and the first distance N 1 It can be the number of pixels from the ore image area to the image center in the image. The second distance is 2*N 2 It can be the number of pixels occupied by the stone to be measured in the image on the cross section of the stone to be measured. It can be calculated according to the formula: α = arcsin (N 1 / N 2 ), determine the center angle α corresponding to the end of the ore image area close to the image center and the image center on the approximately circular cross-section as position information. The center angle α can be used to characterize the position of the end of the ore image area close to the image center on the approximately circular cross-section of the stone to be measured, so that the position of the ore image area is represented by the center angle. In other embodiments, the center angle α can also be the center angle corresponding to the end away from the image center and the image center on the approximately circular cross-section. The center angle α can be used to characterize the position of the end of the ore image area away from the image center on the approximately circular cross-section of the stone to be measured, so that the position of the ore image area is represented by the center angle. In other embodiments, the center angle α can also be as follows Figure 8As shown, the center point of arc FG corresponds to the center of the image on the approximately circular cross section. The center angle α can be used to characterize the location of the center of the ore region on the approximately circular cross section, thereby representing the location of the ore image region through the center angle.

[0067] According to the position information, the second distance and the third distance, the center angle of the ore image area corresponding to the approximately circular cross section is determined as the size information. 3 It can be the number of pixels that the ore image area occupies in the image. It can be calculated according to the formula θ=N 3 / (N 2 *cosα), determine the center angle θ corresponding to the ore image area on the approximately circular cross section as size information. When the image contains multiple ore image areas, the position information α and size information θ are calculated for each ore image area, so that the position information and size information of all ore image areas in each image can be accurately obtained, which can effectively avoid omissions, be more comprehensive and detailed, and improve the accuracy of identification and classification of the stones to be tested by improving the accuracy of the position information and size information.

[0068] In some embodiments, Fig. 9 As shown, step S312, determining the mineral content information of the stone to be measured according to the position information and the size information of the mineral image area in each image, may include: step S3121, step S3122, and step S3123.

[0069] Step S3121, according to the position information and size information of the ore image area in each image, determine the size information of the ore image area in the overlap area of ​​each image. The overlap area is the same area on the surface of the stone to be measured that is captured in multiple different images. Since multiple images are obtained from different angles of the stone to be measured, the information of a partial area of ​​the stone to be measured may appear in multiple different images. Such an area on the surface of the stone to be measured that appears in multiple images can be recorded as an overlap area in each image. For these overlap area images, it is necessary to make only one calculation in all images in the subsequent determination of the mineral content according to the position information and size information of the ore in the overlap area, so as to avoid the situation where the overlap area includes the ore image area, and the ore image area corresponding to the same position of the stone to be measured in the overlap area is calculated multiple times in different images, resulting in the final determined mineral content information being higher than the actual mineral content of the stone to be measured. Whether the ore image area is located in the overlapped area can be determined based on the position information of the ore image area, and then the size information of the ore image area in the overlapped area can be determined based on the overlapped area range of each image, thereby facilitating the positioning of all ore images located in the overlapped area.

[0070] Step S3122, after fusing the ore image regions in the overlapping regions, determine the size information of the ore image regions on the cross section. The same ore image regions that appear in the overlapping regions of different images are fused, and it can be determined whether they are located in the overlapping region based on the position information of the ore image regions in each image, and the size information of the ore image regions in the overlapping regions is combined to determine the size information of the ore image regions. The size information of the ore image regions may include the ore image regions located in the non-overlapping regions in each image on the cross section, and the fused ore image regions located in the overlapping regions on the cross section.

[0071] Step S3123, according to the size information of the ore image area on the cross section, determine the mineral content information of the stone to be measured; according to the size information of the ore image area on the cross section and the size information of the complete cross section, the proportion of the ore image area on the cross section can be determined, which can be used as the mineral content information. Through the method of this embodiment, the information of the ore image area in the overlapping area of ​​each image can be fused, avoiding multiple calculations of the same ore image area resulting in the final mineral content information being greater than the actual mineral content information of the stone to be measured, and ensuring the accuracy of the size information of the ore image area and the accuracy of the mineral content information, thereby improving the accuracy of stone recognition.

[0072] In some embodiments, Fig.10 , Fig.11 , Fig.12 As shown, the ore content information of the stone to be measured is determined according to the position information of the ore image area and the size information of the ore image area in each image, including: step S3124, or step S3125 or step S3126.

[0073] like Fig.10 As shown, in step S3124, for the same ore image region in the overlapping region of the multiple images, the average value of the size information of the ore image region is taken as the size of the ore image region. For the same ore image region in the overlapping region of the multiple images, the size information of the ore image region in the overlapping region in each image can be determined, and the size information is summed and averaged in each image including the ore image region, thereby avoiding repeated calculation of the size information of the ore image region in the overlapping region, and the results of the multiple images can be averaged, which can make the size confirmation of the ore image region in the overlapping region more accurate.

[0074] like Fig.11As shown, in step S3125, for the same ore image area in the overlapping area of ​​multiple images, the weighted average of the size information of the ore image area is taken as the size of the ore image area; for the same ore image area in the overlapping area of ​​multiple images, the weight of each image overlapping area can be preset according to the shooting angle of the image and the shooting quality, clarity and other parameters of the image, and the weight can be determined according to the distance between the ore image area and the center of the image. For the same ore image area in the overlapping area of ​​multiple images, the distance between the ore image area and the center of the image in each image can be determined in each image, and a higher weight can be set for the image with a smaller distance, and a smaller weight can be set for the image with a larger distance; the weight of each image can also be set proportionally according to the distance between the ore image area and the center of the image in each image. The size information of the ore image area in the overlapping area of ​​each image can be determined, and the size information is summed and the weighted average is calculated. The size information of the ore image area is weighted averaged to each image including the ore image area, which can make the size confirmation of the ore image area in the overlapping area more accurate.

[0075] like Fig.12 As shown, in step S3126, for two different images including the same overlapping area, half of the overlapping area is taken as the fusion area to determine the size information of the ore image area in the fusion area. It is possible to directly determine the size information of the ore image area by taking a portion of each of the multiple images including the same ore image area in the overlapping area as the fusion area. In some embodiments, Fig.13 As shown in FIG. 1 , taking the case where images of the stone to be tested are taken from different angles by three stationary cameras as an example, the stone to be tested is equivalent to a sphere, as shown in FIG. Figure 7 As shown, the cross section equivalent to a circle can be based on the line connecting the equivalent circle and the center point of the camera. The area within π / 6 on the left and right is the area that can only be photographed by the camera, and the area from π / 6 to π / 2 on the left and right is the overlap area. The area within π / 3 on the left and right can be determined as the main area of ​​the camera, and the area from π / 3 to π / 2 is the secondary area of ​​the camera. Figure 7 As shown, the ∠AOD and ∠BOE areas are areas that can only be photographed by their corresponding cameras, and the ∠DOE area is an overlapping area. The areas corresponding to ∠AOC and ∠BOC can be regarded as the main areas on one side of two different cameras corresponding to ∠AOC and ∠BOC, respectively. According to each image, judgment can be made within the main area of ​​each camera, that is, the area within π / 3 on the left and right, so that the outer surface of the cross section can be completely recognized without the need for fusion calculation of other parts in the overlapping area, which has better recognition efficiency.

[0076] In some embodiments, Fig.14As shown in FIG. 1 , two stationary cameras are used to capture images of the stone to be measured from different angles. When the two cameras are set relative to each other, as shown in FIG. Fig.15 As shown, there is no overlapping area in the images taken by the two cameras, and the images taken by each camera can be directly identified and judged separately without the need to fuse the overlapping areas.

[0077] In some embodiments, Fig.16 As shown, two stationary cameras are used to shoot images of the stone to be tested from different angles. When the two cameras are set on the same side, there is an overlap area in the images shot by the two cameras, wherein the ∠HOI and ∠JOK areas are areas that can only be shot by their corresponding cameras, and ∠IOJ is an overlap area that can be shot by two different cameras. For the ore image area in the ∠IOJ area, the size information of the ore image area can be determined in two different images respectively, and the two size information can be averaged, or the weighted average can be taken as the size of the ore image area in the stone to be tested. It is also possible to take the L point on the surface of the stone to be tested in the overlap area ∠IOJ, and the L point can be the midpoint of the overlap area corresponding to the ∠IOJ of the stone to be tested. The area corresponding to ∠IOL in the image shot by one of the cameras can be taken, combined with the area corresponding to ∠LOJ in the image shot by the other camera, as the fusion area, to determine the size information of the ore image area in the fusion area, so that the size information of the ore image area can be directly determined.

[0078] Through the three different overlapping area fusion methods provided in this embodiment, by calculating the average value of the size information of the ore image area in the overlapping area and fusing the overlapping area with the weighted average value, the size of the ore image area in the overlapping area can be confirmed more accurately, thereby improving the recognition accuracy of the overlapping area; and the method of taking the fusion area can avoid the fusion calculation of the ore image area size of the overlapping area, and can directly judge the image and output the judgment result, which has higher recognition efficiency.

[0079] In some embodiments, Fig.17 As shown, the ore content information of the stone to be measured is determined according to the position information of the ore image area and the size information of the ore image area in each image, including: step S3127 and step S3128.

[0080] Step S3127, according to the size information of the ore image area on the cross section, determine the proportion of the ore image area on each cross section. The size information of all ore image areas on the cross section, that is, the sum of all ore image areas on the current cross section in each image, can be used to determine the proportion of the surface of the stone to be measured. The ore image area on the cross section can include the ore area image in the non-overlapping area captured by each camera, and the fused ore area image in the overlapping area. Multiple cross sections can be selected, according to the following formula: A = (θ 1 +θ 2 +…+θ n ) / 2π, calculate the mineral content information A of each cross section. Among them, θ 1 ,θ 2 ,…,θ n It is the size information of each of the n ore area images in the current section.

[0081] Step S3128, calculate the average value based on the proportion of the ore image area on each cross section to determine the ore content information of the stone to be tested. Multiple cross sections can be selected, and the ore content information A of each cross section can be calculated. 1 ,A 2 ,…,A j , take the average value and determine the mineral content of the stone to be tested Calculated according to the following formula: Among them, the number of cross sections j satisfies: 1≤j≤M, M is the size information of the stone to be tested in the image in the direction perpendicular to the cross section, the number of cross sections selected can be at least 1, and at most the number of pixels of the stone to be tested in the direction perpendicular to the cross section, and the cross section of the stone to be tested corresponding to each row of pixels in the image can be taken to determine the mineral content. Through the method of this embodiment, the mineral content information of the entire stone to be tested can be determined by calculating the mineral content information of one or more cross sections, and the mineral content information of the corresponding stone to be tested in each image can be comprehensively considered. Through the mineral content information of multiple cross sections, the mineral content information of the entire stone to be tested can be calculated more accurately, avoiding missing the ore image area in the image, making the recognition accuracy of the stone to be tested higher, which is beneficial to improving the ore recovery rate.

[0082] In some embodiments, Fig.18 As shown, step S31, determining the mineral content information of the stone to be tested according to the ore image information of each image, includes: step S313 and step S314.

[0083] Step S313, determining the ore region on the surface of the stone to be tested according to the ore image information of each image. According to the ore image information in each image, the ore region corresponding to the ore image region captured in each image can be determined, and the ore region is the actual ore region on the surface of the stone to be tested.

[0084] Step S314, determining the mineral content information of the stone to be tested according to the area ratio of the mineral area on the surface of the stone to be tested. The actual mineral area information on the surface of the stone to be tested corresponding to each image can be determined according to the mineral image information captured in each image, and the mineral area information can include the position and size of the mineral area on the surface of the stone to be tested. According to the actual mineral area on the surface of the stone to be tested corresponding to each image, the mineral areas determined by each image to be tested are integrated to determine the information of all mineral areas on the complete surface of the stone to be tested, thereby obtaining the area ratio of the mineral area on the surface of the stone to be tested, that is, the ratio of the area of ​​all mineral areas to the surface area of ​​the stone to be tested, and determining the area ratio of the mineral area on the surface of the stone to be tested as the mineral content information of the stone to be tested. In some embodiments, the area occupied by the ore region contained in each image on the complete outer surface of the stone to be tested can be determined based on the ore image information of each image, the ratio of the surface area occupied by each ore region to the stone to be tested can be determined, and the ratio of the surface area occupied by each ore region to the stone to be tested can be integrated to determine the ratio of the surface area occupied by all ore regions on the surface of the stone to be tested to the surface of the stone to be tested, and the ratio can be determined as the mineral content information. In other embodiments, the area of ​​all ore regions in each image can be obtained based on the ore image information of each image, so as to determine the area actually occupied by all ore regions in each image on the stone to be tested, and determine the area ratio of the ore region actually occupied on the surface area of ​​the stone to be tested corresponding to the image, and take the average value based on the determined area ratio of all ore regions actually occupied in each image on the surface area of ​​the stone to be tested corresponding to the image, and determine the actual ore region ratio on the surface of the stone to be tested. The area ratio c of the ore region contained in one or more images on the actual surface of the stone to be tested corresponding to the image can be calculated. i , taking the average value, the ore area proportion c on the surface of the stone to be tested can be determined according to the following formula:

[0085]

[0086] Wherein, a is the number of images, i = 1, 2, ..., a. The ore area proportion c on the surface of the stone to be tested can be determined as the ore content information of the stone to be tested.

[0087] In some embodiments, images can be captured by four orthogonally distributed cameras, each camera forms a 90° angle with respect to the stone to be measured, and each camera is distributed in directions perpendicular to each other, so that a more comprehensive image of the stone to be measured and ore image information in each image can be obtained, the area of ​​the ore image region in each image is determined, the area ratio of the ore image region in the image captured by each camera is determined, and the area ratio of the ore image region in each image is determined according to the area ratio c of the ore image region in each image. i Take the average value and determine the mineral content information according to the above formula. The area ratio of the ore region image in the image can be directly determined by the method of this embodiment, with less calculation and higher recognition efficiency.

[0088] Based on the same inventive concept, Fig.19 As shown, the present disclosure further provides an ore identification device 200 for executing the ore identification method of any of the aforementioned embodiments, comprising: an image acquisition module 210 and an identification module 220 .

[0089] The image acquisition module 210 is used to acquire multiple images of the stone to be tested at different angles. The image acquisition module 210 may include a camera, and may use one or more cameras to capture images of the stone to be tested at different angles to obtain multiple images, wherein the multiple images include images of the outer surface of the stone to be tested at various angles, which may be panoramic image information of the outer surface of the stone to be tested. For stones to be tested of different particle sizes, the image acquisition module may adapt to a variety of stones to be tested of different particle sizes by selecting different cameras, lenses, adjusting working distance and other variables.

[0090] The recognition module 220 is used to determine the classification of the stone to be tested based on the multiple images. The recognition module 220 may include a pre-trained image recognition model, which can identify the ore in the image based on the image. The recognition module can recognize and process each image to determine whether the image contains ore and the ore content of the image, thereby determining the classification of the stone to be tested.

[0091] Through the ore identification device 200 of this embodiment, the image acquisition module 210 can acquire multiple images of the stone to be detected at different angles, and the identification module 220 can process and judge the multiple images one by one to finally determine the classification of the stone to be detected. It has good recognition accuracy.

[0092] In some embodiments, the image acquisition module may include: a movable camera, or a stationary camera and one or more reflectors, or a plurality of stationary cameras located at different positions.

[0093] A movable camera is used to obtain images. By changing the position of the camera, images can be taken from different angles. A movable camera can be set up to change the angle at which the camera takes the stone to be tested by changing the position of the camera, and multiple images of the stone to be tested at different angles can be obtained.

[0094] A stationary camera and one or more reflectors are used to obtain images, and the camera can capture images and the camera can capture images reflected by the reflectors, and the images can be captured from different angles. By setting a stationary camera and one or more reflectors, the stationary camera can capture images of the stone to be measured at its location, and the stationary camera can capture images of the reflectors. The reflectors can be set within the shooting range of the stationary camera. By changing the angle and position of each reflector, the stationary camera can capture images reflected by the reflectors, thereby obtaining images of the stone to be measured at different angles.

[0095] Multiple still cameras at different locations are used to capture images from different angles. Multiple still cameras can be set up at different locations, such as Fig.13 , Fig.14 As shown, two stationary cameras facing each other can be set to take images, or three stationary cameras can be set to take images from different angles. Each camera can take images at the same time to obtain images of the stone to be tested at different angles at the same time. Through the camera setting of the image acquisition module, one or more cameras can be used to take images of the stone to be tested at different angles.

[0096] Based on the same inventive concept, Fig. 20 As shown, the present disclosure also provides an ore sorting method, which includes:

[0097] The ore identification method as in any of the above embodiments;

[0098] Step S40, according to the classification of the stone to be tested and the coordinates of the stone to be tested, the sorting time and the sorting position are determined; according to the classification of the stone to be tested, it can be determined whether the stone to be tested needs to be sorted, and then according to the coordinates of the stone to be tested in the image, the falling trajectory and falling position of the stone to be tested can be determined, and the sorting time and sorting position of the stone to be tested can be determined. In some embodiments, such as Fig.13 , Fig.14 As shown in the figure, silos A, B, and C represent silos for storing concentrate, middlings, and waste rock, respectively. The arrows represent the sorting direction of the sorting module. When the stone to be tested is identified as waste rock, the sorting module can be started to spray the stone into silo C. Fig.21As shown, the actual distance from the stone to be tested to the starting point of the sorting module can be calculated based on the coordinates of the stone to be tested in the image, thereby determining the sorting position, that is, the location of the specific sorting unit operating in the sorting module. The physical position corresponding to the first row and first column of the image can be recorded as point O. Assuming that the coordinates of the center of the stone to be tested in the image are the i-th row and j-th column, and the physical size corresponding to each pixel is d, then in the x direction, according to: X = i*d, the physical distance from the center of the stone to point O can be determined to be X. When the stone in the first column of the image runs to the sorting module, the distance from the starting point of the sorting module is X. 0 , then, according to: P = X + X 0 , determine the sorting position P, where X 0 Can be positive, negative, or 0.

[0099] In step S50, the sorting time can be determined according to the sorting position and the horizontal speed of the stone to be tested. Fig. 22 As shown, the speed of the stone to be measured in the horizontal direction is v x , and the time when the camera captures the center of the stone to be measured is t 1 , the horizontal distance between the center of the stone to be tested and the sorting module is d y , according to: t 2 =t 1 +d y / v x , determine the time t when the stone to be tested arrives at the sorting position 2 .

[0100] According to the sorting time and sorting position, the stones to be tested are sorted. 2 And the sorting position P, determine the location of the specific sorting unit in the sorting module for sorting the stones to be tested, and the time when the sorting unit starts sorting, so that the stones to be tested can be sorted more accurately, avoiding omissions in the sorting process, and making the sorting process more real-time.

[0101] Based on the same inventive concept, Fig.24 As shown, the present disclosure further provides an ore sorting device 400, which is used to perform the ore sorting method of any of the above embodiments, including:

[0102] The image acquisition module 410 is used to acquire multiple images of the stone to be tested at different angles; the image acquisition module 410 may include one or more cameras to capture images of the stone to be tested at different angles to obtain multiple images, wherein the multiple images include images of the outer surface of the stone to be tested at various angles, which may be panoramic image information of the outer surface of the stone to be tested. For stones to be tested of different particle sizes, the image acquisition module may adapt to a variety of stones to be tested of different particle sizes by selecting different cameras, lenses, adjusting working distance and other variables.

[0103] The recognition module 420 is used to determine the classification of the stone to be tested based on multiple images; the recognition module 420 may include a pre-trained image recognition model, which can recognize the ore in the image based on the image. The recognition module can recognize and process each image to determine whether the image contains ore and the ore content of the image, thereby determining the classification of the stone to be tested.

[0104] The sorting module 430 is used to sort the stones to be tested according to the classification of the stones to be tested determined by the recognition module. The sorting module 430 may include multiple sorting units for performing sorting, and determines the sorting time and sorting position according to the classification of the stones to be tested determined by the recognition module and the coordinates of the stones to be tested in the image; it can determine the location of the sorting unit for sorting the stones to be tested in the sorting module, and the time when the sorting unit starts sorting, so that the stones to be tested can be sorted more accurately, avoiding omissions in the sorting process, and making the sorting process more real-time.

[0105] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0106] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0107] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0108] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. A method for identifying an ore, comprising: Acquire multiple images of the stone to be tested at different angles; Determining ore image information in each of the images; If the ore image information is not detected in any of the multiple images, it is determined that the stone to be detected is waste rock; If the ore image information is detected in at least one of the images, the classification of the stone to be detected is determined according to the ore image information of each of the images: According to the ore image information of the image, take the image sub-information corresponding to the same cross section of the stone to be measured in each of the images as the cross-sectional information of the stone to be measured, wherein the cross-sectional information is the cross-sectional information of the stone to be measured along the shooting direction of the image; Determine the position information and size information of the ore image area in each image according to the cross-sectional information; Determine the mineral content information of the stone to be measured according to the position information of the mineral image area and the size information of the mineral image area in each of the images; and The classification of the stone to be tested is determined according to the mineral content information.

2. The ore identification method according to claim 1, wherein: Determining the position information and size information of the ore image area in each image according to the cross-sectional information includes: Determine, according to the cross-sectional information, a first distance between the ore image region in each of the images and the center of the image, a second distance of each of the image sub-information, and a third distance occupied by the ore image region in the image; The position information of the ore image area and the size information of the ore image area are determined according to the first distance, the second distance and the third distance.

3. The ore identification method according to claim 2, wherein: The determining, according to the first distance, the second distance, and the third distance, the position information of the ore image area and the size information of the ore image area comprises: According to the first distance and the second distance, determining a central angle corresponding to a center angle between an end of the ore image region close to the image center and the image center on the approximately circular cross section as the position information; According to the position information, the second distance and the third distance, a central angle corresponding to the ore image area on the approximately circular cross section is determined as the size information.

4. The ore identification method according to claim 1, wherein: Determining the mineral content information of the stone to be measured according to the position information of the mineral image area in each of the images and the size information of the mineral image area includes: Determine the size information of the ore image area in the overlapped area of ​​each image according to the position information and size information of the ore image area in each image; After fusing the ore image regions in the overlapped regions, determining the size information of the ore image regions on the cross section; Determine the mineral content information of the stone to be tested according to the size information of the mineral image area on the cross section; The overlapping area is the same area on the surface of the stone to be measured captured in a plurality of different images.

5. The ore identification method according to claim 4, wherein the ore content information of the stone to be detected is determined according to the position information of the ore image area in each of the images and the size information of the ore image area, comprising: For the same ore image region in the overlapping region of the plurality of images, taking the average value of the size information of the ore image region as the size of the ore image region; or For the same ore image region in the overlapping region of the plurality of images, taking a weighted average of the size information of the ore image region as the size of the ore image region; or For two different images including the same overlapping area, half of the overlapping area is respectively taken as a fusion area, and the size information of the ore image area in the fusion area is determined.

6. The ore identification method according to claim 4, wherein the ore content information of the stone to be detected is determined according to the position information of the ore image area in each of the images and the size information of the ore image area, comprising: Determine the proportion of the ore image area on each of the cross sections according to the size information of the ore image area on the cross section; According to the proportion of the ore image area on each cross section, the average value is calculated to determine the ore content information of the stone to be tested, wherein the number of cross sections j satisfies: 1≤j≤M, M is the size information of the stone to be tested in the image in a direction perpendicular to the cross section.

7. An ore identification device, used to execute the ore identification method according to any one of claims 1 to 6, comprising: An image acquisition module, used to acquire multiple images of the stone to be measured at different angles; The recognition module is used to determine the classification of the stone to be detected according to the multiple images.

8. The ore identification device according to claim 7, wherein the image acquisition module comprises: a movable camera for acquiring the image, and photographing the image from different angles by changing the position of the camera; or, A stationary camera and one or more reflectors for acquiring the image, capturing the image from different angles by having the camera capture the image and having the camera capture the image reflected by the reflector; or A plurality of static cameras arranged at different positions are used to capture the images from different angles.

9. A method for ore separation, wherein: include: The ore identification method according to any one of claims 1 to 6; Determine the sorting time and sorting position according to the classification of the stone to be tested and the coordinates of the stone to be tested; The stones to be tested are sorted according to the sorting time and the sorting position.

10. An ore sorting device, used to perform the ore sorting method according to claim 9, comprising: An image acquisition module, used to acquire multiple images of the stone to be measured at different angles; An identification module, used for determining the classification of the stone to be tested according to the multiple images; The sorting module is used to sort the stones to be tested according to the classification of the stones to be tested determined by the identification module.

Images