Mine foreign matter sorting system

Abstract

The invention discloses a mine foreign matter sorting system. The system comprises a vibrating screen, a screen surface visual identification mechanism, a foreign matter collecting device, a foreign matter visual identification positioning mechanism and a foreign matter sorting mechanism. Through preliminary recognition and distribution of mineral aggregate foreign matters on the front-end screen surface and accurate recognition and sorting of mineral aggregate foreign matters on the rear-end screen surface, various foreign matters influencing normal operation of the system in mineral aggregates can be accurately, rapidly and thoroughly sorted, the labor intensity of personnel is reduced, and the system safety and the production efficiency are effectively guaranteed. The mine foreign matter sorting system provided by the invention also has the advantages of simple structure, low investment and maintenance cost, high foreign matter recognition and sorting efficiency, thorough foreign matter sorting, high safety, unattended operation and the like on the premise of not influencing the production efficiency.

Description

Technical Field

[0001] The invention relates to mine dressing equipment, in particular to a mine foreign body sorting system, and belongs to the technical field of mine equipment. Background Art

[0002] Most mines in China are disturbed by foreign objects in mines all year round. These foreign objects include but are not limited to waste anchors, waste manganese steel, waste iron wire, iron blocks, waste steel cables, rubber sheets, wooden sticks and various household garbage. These foreign objects in mines will bring serious harm to subsequent processing and production, such as tearing of transport belts, frequent entry of foreign objects into crushing equipment leading to high load damage, safety accidents, equipment damage and shutdown, etc. Efficient removal of foreign objects in mines has always been a major problem in the mining industry. Realizing the refined removal of foreign objects in mines will greatly reduce the equipment failure rate and the incidence of safety accidents, greatly release the production capacity of mines, and is of great significance to the healthy development of the entire mining industry.

[0003] At present, many mines still stay at the stage of removing these foreign objects on the vibrating screen by manual post-processing after finding that foreign objects have caused equipment abnormalities, which has high labor intensity and low efficiency of foreign object removal. Some mines will also be equipped with a certain number of electromagnetic iron removers on the conveyor belt, but they can only remove magnetic foreign objects mixed in the ore on the surface of the conveyor belt, and cannot effectively remove the belt surface and other non-magnetic foreign objects. For example, CN212668392U is a belt conveyor iron removal device, including a belt conveyor mechanism, an iron removal mechanism and a metal detector, the belt conveyor mechanism includes a bracket, a belt roller, a belt and a driving motor, the belt roller is rotatably connected to the bracket, the belt is sleeved on the belt roller, the driving motor is connected to the belt roller in a transmission manner, the iron removal mechanism includes a support frame and a magnet plate, the support frame is fixedly connected to the bracket, the magnet plate is connected to the support frame, the magnet plate is arranged above the belt, the metal detector is fixedly connected to the bracket, the metal detector is also arranged above the belt, and the support frame and the metal detector are arranged in sequence in the running direction of the belt. Obviously, the existing iron removers cannot completely remove all foreign matter from the minerals in the mines, and cannot achieve the purpose of fine and efficient removal of foreign matter. At the same time, there are also related studies on the sorting of foreign matter on the conveyor belt with visual inspection technology. The effect of this kind of visual inspection and sorting only on the conveyor belt is very limited. The reason is that the mine conveyor belt generally has a large transport volume and thick ore, and buried or partially buried foreign matter is difficult to identify and pick (in order to prevent the ore flow from falling on the conveyor belt, the current mine conveyor belt is generally a concave design with a low middle and high sides. The concave area in the middle is very easy to pile up and the material layer is thick, so foreign matter is easily buried, which makes it difficult to remove foreign matter), so the purpose of fine removal of foreign matter cannot be achieved.

[0004] In the prior art, since the materials on the mineral conveying device are in a state of relative motion, and there are dust, humidity, light and other factors, the vision is blurred and it is difficult for the human eye to observe clearly. It is very difficult to sort out foreign objects from it. Summary of the invention

[0005] In view of the problems in the prior art that there are many types and large quantities of foreign matter mixed in minerals, which leads to high labor intensity in manual removal of foreign matter, low production efficiency, and the additional iron remover can only remove magnetic foreign matter but cannot remove other non-magnetic foreign matter, resulting in incomplete removal of foreign matter, and foreign matter buried and partially buried is difficult to be identified and sorted only on the conveyor belt. The present invention provides a mine foreign matter sorting system, which identifies foreign matter through a screen surface visual recognition mechanism, and separately diverts the identified foreign matter-containing ore to a foreign matter sorting mechanism, and then accurately identifies and locates the foreign matter through a foreign matter visual recognition and positioning mechanism, and then the foreign matter is sorted out by the foreign matter sorting mechanism. The present invention has the advantages of high foreign matter recognition accuracy, good foreign matter sorting effect, simple system structure, low investment and maintenance cost, and unmanned operation without affecting production efficiency.

[0006] In order to achieve the above technical objectives, the technical solutions adopted by the present invention are specifically described as follows: A mine foreign body sorting system, the system comprises a mineral conveying device, a screen surface visual recognition mechanism, a foreign body collecting device, a foreign body visual recognition and positioning mechanism and a foreign body sorting mechanism. The screen surface visual recognition mechanism is arranged above the screen surface of the mineral conveying device. The foreign body collecting device is arranged downstream of the mineral conveying device. The foreign body collecting device comprises a material dropping funnel and a material distribution funnel. The foreign body sorting mechanism is arranged downstream of the material distribution funnel, and the foreign body visual recognition and positioning mechanism is arranged on the foreign body sorting mechanism.

[0007] Preferably, a baffle protrusion plate extending along the material flow direction is arranged on the screen surface of the mineral conveying device.

[0008] In the present invention, by arranging a baffle protrusion plate on the screen surface, the ore flow on the screen surface can be diverted, thereby preventing the ore flow from piling up in the middle of the screen surface.

[0009] Preferably, the material dropping hopper is arranged between the material distribution hopper and the mineral conveying device, and the foreign matter collecting device further comprises a foreign matter separation device. The foreign matter separation device is installed at the top of the upper opening of the material dropping hopper and the material distribution hopper, and can move above the material dropping hopper and the material distribution hopper.

[0010] Preferably, the system also includes a control system; the control system includes an embedded server and a PLC control server; the embedded server is connected to a screen surface visual recognition mechanism and a foreign object visual recognition and positioning mechanism; the PLC control server is connected to control a foreign object collection device and a foreign object sorting mechanism; the embedded server and the PLC control server are connected via electrical signals; a screen surface foreign object visual recognition algorithm module is provided in the embedded server, and the screen surface foreign object visual recognition algorithm is an Antijam-YOLO target detection algorithm; the Antijam-YOLO target detection algorithm includes image enhancement preprocessing, image feature extraction and target detection frame generation; the image feature extraction adopts an explicit visual center module EVCBlock and a lightweight upsampling operator CARAFE.

[0011] Preferably, the foreign matter collecting device further comprises a bucket cover, which is arranged above the dropping funnel and the dividing funnel, and the foreign matter separating device is arranged inside the bucket cover.

[0012] Preferably, the foreign matter separation device comprises a telescopic rod, a receiving hopper slot and a fixed seat. One end of the telescopic rod is fixedly connected to the fixed seat, and the other end is provided with a receiving hopper slot that opens and closes at the bottom to discharge. The fixed seat of the foreign matter separation device is installed at the top of the upper opening of the blanking funnel and the distribution funnel through a moving mechanism, and moves above the blanking funnel and the distribution funnel through the moving mechanism. The receiving hopper slot is telescopically extended along the length direction of the foreign matter collection device (referring to the direction from the blanking funnel to the distribution funnel) through the telescopic rod. Preferably, the receiving hopper slot is connected to the telescopic rod through a rotating device.

[0013] Alternatively, the foreign matter separation device includes a fixed seat, a cantilever and a receiving chute. The top end of the cantilever is fixedly connected to the fixed seat, and the bottom end is connected to the upper bucket wall of the receiving chute with an arc-shaped receiving channel through a universal joint. The receiving chute rotates with the bottom end of the cantilever as the rotation center through the universal joint. The fixed seat of the foreign matter separation device is installed at the top of the upper opening of the blanking funnel and the dividing funnel through a moving mechanism, and moves above the blanking funnel and the dividing funnel through the moving mechanism. Preferably, the cantilever is a telescopic structure. The foreign matter on the screen surface is collected by adapting to the falling angle of the foreign matter on the screen surface through a rotating mechanism, and then sent to the sorting belt for refined sorting.

[0014] Preferably, the moving mechanism includes an X-axis translation slide, an X-axis driving slide, a Y-axis translation slide and a Y-axis driving slide. An X-axis translation slide is provided on each of the upper edges on both sides in the width direction of the foreign matter collecting device, and the two X-axis translation slides are parallel to each other and laid along the direction from the blanking funnel to the distribution funnel. Both ends of the Y-axis translation slide are respectively connected to the two X-axis translation slides through the X-axis driving slide. The fixed seat is connected to the Y-axis translation slide through the Y-axis driving slide. The foreign matter separation device is driven to move along the length direction of the foreign matter collecting device (referring to the direction from the blanking funnel to the distribution funnel) through the X-axis translation slide and the two X-axis driving slides. The foreign matter separation device is driven to move along the width direction of the foreign matter collecting device (perpendicular to the aforementioned length direction) through the Y-axis translation slide and the Y-axis driving slide.

[0015] Preferably, the foreign matter sorting mechanism comprises a sorting conveying device, a foreign matter grabbing device and a foreign matter collecting box. The feeding end of the sorting conveying device is located downstream of the leakage port of the material distribution hopper. The foreign matter grabbing device is arranged above the sorting conveying device. The foreign matter collecting box is arranged on one side of the foreign matter grabbing device. The foreign matter visual identification and positioning mechanism is arranged above the sorting conveying device and between the foreign matter grabbing device and the material distribution hopper.

[0016] Preferably, the sorting and conveying device is a belt conveyor or a chain conveyor. The present invention has no specific requirements for the sorting and conveying device, as long as it can achieve the goal of laying the materials flat and conveying the materials.

[0017] Preferably, the foreign body grasping device is a truss-type grasping device, a robot or a manipulator.

[0018] Preferably, the truss-type grasping device comprises a supporting truss, a telescopic mechanical arm, a mechanical claw and a multi-directional moving device. The supporting truss is a rectangular steel frame structure having four legs and straddling the sorting and conveying device. The upper end of the telescopic mechanical arm is connected to the upper end of the supporting truss through the multi-directional moving device, and the mechanical claw is installed at the lower end of the telescopic mechanical arm. The telescopic mechanical arm and the mechanical claw are driven to move horizontally in the width and length directions of the sorting and conveying device by the multi-directional moving device. The mechanical claw is driven to rise and fall in the vertical direction by the telescopic mechanical arm.

[0019] Preferably, the mechanical claw is connected to the bottom end of the telescopic mechanical arm via a driving motor, and the driving motor drives the mechanical claw to rotate.

[0020] Preferably, the mechanical gripper is a multi-finger structure with at least three claws, and the lengths of each claw are the same or different. The upper end of each claw is independently hinged to the bottom end of the telescopic mechanical arm; the lower end of each claw is bent toward the claw center, and an anti-slip protrusion is provided on the inner side of the bent part. The multi-finger structure mechanical gripper has multiple degrees of freedom (such as Fig.11 The figure shows a gripper with four degrees of freedom). When grasping, the motor can adjust each gripper to rotate to different degrees according to the size and shape of the target foreign object, that is, the four degrees of freedom can be flexibly adjusted to achieve stable grasping of foreign objects of different sizes and shapes.

[0021] Preferably, the mechanical gripper is a double-plywood structure having a left plywood and a right plywood, and the widths of the left and right plywood are the same or different (for example, the widths of the left plywood and the right plywood are different and / or the heights of the left plywood and the right plywood are also different, that is, in the left plywood and the right plywood, the board surface area of ​​one plywood is smaller than the board surface area of ​​the other plywood). The left plywood and the right plywood are both designed as concave arc plates or bent plates, and the concave surfaces of the two are arranged oppositely. The concave surfaces of the left plywood and the right plywood are also staggered with clamping protrusions.

[0022] It should be noted that the left and right splints of the mechanical gripper are both bent plates with movable connections at the bends, that is, the bending angles of the left and right splints are adjustable. Preferably, the movable connection mode at the bends of the left and right splints is hinged. It is further preferred that the bending angles of the left and right splints are greater than 90° obtuse angles.

[0023] Preferably, the multi-directional moving device comprises a longitudinal slide rail, a longitudinal driving slide, a transverse slide rail and a transverse driving slide rail. The two longitudinal slide rails are respectively arranged above the supporting trusses located on both sides of the sorting and conveying device, and the two longitudinal slide rails are arranged parallel to the sorting and conveying device. The two ends of the transverse slide rail are respectively connected to the two longitudinal slide rails through two longitudinal driving slide rails. The upper end of the telescopic mechanical arm is connected to the transverse slide rail through the transverse driving slide rail.

[0024] Preferably, the foreign body visual identification and positioning mechanism comprises a rear end truss and a rear end identification camera. The lower end of the rear end truss is fixed to the ground on both sides of the sorting and conveying device or to a bracket of the sorting and conveying device, and the upper end of the rear end truss is higher than the belt surface of the sorting and conveying device. The rear end identification camera is arranged on the upper end cross beam of the rear end truss and is located above the belt surface of the sorting and conveying device.

[0025] Preferably, the screen surface visual recognition mechanism is arranged on the outer cover of the bucket cover of the foreign matter collection device close to the mineral conveying device. The screen surface visual recognition mechanism is an industrial camera with adaptive light source assistance or a combination of a split industrial camera and an auxiliary light source. The screen surface visual recognition mechanism can detect foreign matter in various areas of the screen surface in a targeted manner; at the same time, a rotating mechanism is designed to rotate the camera shooting angle, thereby improving the efficiency of foreign matter recognition.

[0026] Preferably, the industrial camera is provided with a cleaning device. A mineral conveying device cover is provided above the mineral conveying device, which can provide a stable light source environment.

[0027] Preferably, the rear-end recognition camera is an industrial camera with adaptive light source assistance or an auxiliary light source is provided beside the rear-end recognition camera.

[0028] In the present invention, by providing a screen surface visual recognition mechanism on the mineral conveying device, the foreign matter in the ore can be preliminarily identified directly on the screen surface of the mineral conveying device, and the normal ore and the ore containing foreign matter are diverted and processed respectively by the double-funnel foreign matter collecting device, especially the ore containing foreign matter is transported to the foreign matter sorting mechanism for foreign matter sorting, wherein a foreign matter visual recognition and positioning mechanism is also provided on the foreign matter sorting mechanism, and the foreign matter mixed in the ore is accurately identified and positioned for a second time by the foreign matter visual recognition and positioning mechanism, and the foreign matter sorting mechanism accurately and quickly picks out the identified and positioned foreign matter. In other words, the present invention realizes the preliminary screening and accurate identification of foreign matter respectively by two visual recognition mechanisms, greatly improves the identification efficiency and accuracy of foreign matter in the ore, does not require manual identification, avoids the occurrence of phenomena such as missed picking and wrong picking of foreign matter, and at the same time ensures the system safety and production efficiency, greatly reduces the labor intensity of workers, and removes foreign matter thoroughly.

[0029] In the present invention, the material dropping funnel and the material dividing funnel realize the diversion of debris (foreign matter or mineral materials containing foreign matter), and the collecting device grabs possible foreign matter into the material dividing funnel, and then enters the secondary sorting.

[0030] In the present invention, the system of the present invention can match the corresponding visual detection algorithm according to actual production needs, and cooperate with the existing industrial cameras or X-ray detection and identification equipment on the market to perform real-time detection of foreign objects on the surface of the mineral conveyor or the sorting belt, thereby improving the detection effect, and can be applied to mine foreign object sorting operations in different environments.

[0031] Preferably, the rear-end recognition camera is a laser radar camera, and the laser radar camera cooperates with a three-dimensional point cloud target detection algorithm to perform target detection on the sorting belt surface.

[0032] Preferably, the back-end recognition camera is a depth camera, and the depth camera cooperates with a two-dimensional target detection algorithm to perform target detection based on depth information.

[0033] In the present invention, the foreign matter collecting device includes a material dropping funnel and a material dividing funnel. The material dropping funnel is used to transfer normal mineral materials on the mineral conveying device to the main material conveying belt conveyor and send it to the next process. The material dividing funnel is used to transfer mineral materials containing foreign materials to the foreign matter sorting mechanism for accurate sorting of foreign materials. The mineral material diversion efficiency is high, and compared with manual processing, it has the advantages of low diversion cost, low labor intensity and high production efficiency.

[0034] In the present invention, the ore containing foreign matter is transferred to the rear-side dividing funnel through the receiving hopper trough. In the initial state, the receiving hopper trough is located above the front-side dropping funnel, and is moved in the length direction and width direction of the front-side dropping funnel through the moving mechanism. When the screen surface visual recognition mechanism detects that the screen surface mineral material is suspected to contain foreign matter, the coordinate information of the detected target area mineral material is sent to the receiving hopper trough and the moving mechanism in real time. The moving mechanism controls the receiving hopper trough to move to the corresponding position and extends the receiving hopper trough to the bottom of the mineral conveying device to receive the mineral containing foreign matter, and then moves to the top of the rear-side dividing funnel through the moving mechanism, opens the opening and closing unloading plate at the bottom of the receiving hopper trough, and pours the mineral containing foreign matter into the rear-side dividing funnel. In this process, the mineral containing foreign matter will be broken up and spread on the conveyor belt of the foreign matter sorting mechanism, so that the foreign matter can be exposed as much as possible, so that the foreign matter visual recognition and positioning mechanism can accurately identify it, thereby improving the foreign matter identification and sorting efficiency. In the present invention, the bottom of the receiving hopper trough has an opening and closing function. When the bottom of the receiving hopper trough is in a closed state, it is used to receive materials containing foreign matter. When the receiving hopper trough moves to the material separation funnel, the bottom of the receiving hopper trough opens, allowing the materials containing foreign matter to enter the sorting and conveying device. The opening and closing structure of the bottom of the receiving hopper trough is a common structure in the prior art. For example, the bottom plate of the receiving hopper trough is divided into two pieces, which are connected to the side wall of the receiving hopper trough by a hinge; or, the bottom plate of the receiving hopper trough is a left-right movable structure, and the bottom plate can move relative to the side wall of the receiving hopper trough to realize the opening and closing of the bottom of the receiving hopper trough.

[0035] In the present invention, the foreign matter separation device can also adopt a structure including a fixed seat, a cantilever and a receiving chute. In the initial state, the receiving chute is located above the front side drop hopper and is in a horizontal receiving state (the lower part of the receiving chute is in a horizontal state), and is moved by the cantilever in the length direction and width direction of the front side drop hopper located in the moving mechanism. When the screen surface visual recognition mechanism detects that the screen surface mineral material is suspected to contain foreign matter, the coordinate information of the detected target area mineral material is sent to the cantilever and the moving mechanism in real time, and the moving mechanism controls the receiving chute to move to the corresponding position, and the receiving chute moves to the bottom of the mineral conveying device screen tail to receive the mineral material containing foreign matter, and then moves to the top of the rear side distribution funnel through the moving mechanism. The material in the receiving chute can be dumped by the rotation of the cantilever, that is, the cantilever rotates around the fixed seat, thereby driving the receiving chute to rotate, so that the state of the receiving chute changes, and the material in the receiving chute is dumped into the distribution funnel. Alternatively, the receiving chute rotates around the cantilever, so that the state of the receiving chute changes, and the material in the receiving chute is dumped into the material distribution funnel. Preferably, the receiving chute rotates through a universal joint, and the receiving chute is a cylindrical structure with openings on both the front and rear sides. Through the rotation of the universal joint, the receiving chute stands upright, and the mineral materials containing foreign matter are discharged from the opening at the front or rear end of the receiving chute. The mineral materials containing foreign matter will be scattered and spread on the conveyor belt of the foreign matter sorting mechanism, so that the foreign matter can be exposed as much as possible, so that the foreign matter visual recognition and positioning mechanism can accurately identify it, thereby improving the foreign matter recognition and sorting efficiency.

[0036] In the present invention, the receiving chute is a cylindrical structure with openings at both ends. When receiving materials, the receiving chute is in a horizontal or partially horizontal state, and materials containing foreign matter enter the receiving chute from the opening at the front section of the receiving chute; when the receiving chute moves to the material distribution hopper, the receiving chute rotates around the universal joint, the receiving chute is in an inclined or upright state, the opening at the front or rear end of the receiving chute faces downward, and the materials in the receiving chute enter the distribution hopper due to their own gravity, and then enter the sorting and conveying device.

[0037] In the present invention, the receiving chute can also be a cylindrical structure with one end open and the other end open and closed. When receiving materials, the receiving chute is in a horizontal or partially horizontal state, and materials containing foreign matter enter the receiving chute from the opening of the front section of the receiving chute; when the receiving chute moves to the material distribution hopper, the receiving chute rotates around the universal joint, and the end with the opening and closing structure is downward, the opening and closing structure is opened, and the materials in the receiving chute enter the material distribution hopper due to their own gravity, and then enter the sorting and conveying device.

[0038] In the present invention, the universal joint is a prior art, such as a ball shaft, and the outer wall of the receiving chute is provided with a wrapping structure that cooperates with the universal joint. As long as it is possible to imagine that the receiving chute rotates around the universal joint, any device that adjusts the state of the receiving chute can be used.

[0039] In the present invention, a special foreign object grabbing device is provided in the foreign object sorting mechanism, and the foreign object grabbing device is a truss-type grabbing device, a robot or a manipulator. As long as it is possible to grab the foreign objects in the materials on the sorting and conveying device. Preferably, the truss-type grabbing device includes a supporting truss, a telescopic mechanical arm, a mechanical claw and a multi-directional moving device. The telescopic mechanical arm is controlled by the multi-directional moving device to move freely in the width direction (width direction of the sorting and conveying device) and the length direction (feeding direction of the sorting and conveying device) of the truss. The specific coordinates of its movement are derived from the precise coordinates of the foreign objects fed back by the front-end foreign object visual recognition and positioning mechanism. The movement of the mechanical claw in the vertical direction is controlled by the lifting and lowering of the telescopic mechanical arm, so as to quickly and accurately grab the foreign objects.

[0040] In the present invention, the mechanical claw is connected to the bottom end of the telescopic mechanical arm through a driving motor, and the gripping angle of the mechanical claw is controlled by the driving motor to better grasp foreign objects. At the same time, the mechanical claw is a double-ply plate structure with a left ply plate and a right ply plate, and the inner concave surfaces of the left ply plate and the right ply plate are staggered with gripping protrusions. According to the size of the foreign object, the opening and closing degree between the left ply plate and the right ply plate of the mechanical claw is controlled, and the design of the gripping protrusion can improve the gripping stability of foreign objects of different sizes.

[0041] In the present invention, an ore return belt conveyor may be provided at the discharge end of the foreign matter sorting mechanism to transport the ore after the foreign matter is sorted out back to the main conveyor belt conveyor and enter the next ore processing procedure.

[0042] In the present invention, in order to further improve the automation function of the system and facilitate installation and deployment, a microservice controller can be used to preliminarily identify foreign objects in the ore material on the screen surface of the mineral conveying device and re-identify foreign objects in the ore material transferred to the foreign object sorting mechanism. A core controller is used to automatically control and process the ore material diversion process and the sorting process. The microserver and the core controller communicate through a network cable and are both connected to the mine control center for unified management and control.

[0043] In the present invention, the mineral conveying device is one of a vibrating screen, a fixed screen, a chute, a hopper, and a conveyor belt, preferably a vibrating screen. The mineral conveying device provides an unfolding surface for the conveyed mineral, and a vibrating screen, a fixed screen, an inclined chute or a hopper, or a high-bandwidth horizontal conveyor belt that can unfold the material can be used. As long as the material can be unfolded, no stacking will occur, and foreign matter can be visually detected, the technology of the present invention is applicable.

[0044] In the present invention, the system also includes a control system; the control system includes an embedded server and a PLC control server. The embedded server is connected to the screen surface visual recognition mechanism and the foreign body visual recognition and positioning mechanism. The PLC control server is connected to control the foreign body collection device and the foreign body sorting mechanism. The embedded server and the PLC control server are connected through electrical signals. A screen surface foreign body visual recognition algorithm module is provided in the embedded server, and the screen surface foreign body visual recognition algorithm is the Antijam-YOLO target detection algorithm. The Antijam-YOLO target detection algorithm includes image enhancement preprocessing, image feature extraction and target detection frame generation; the image feature extraction adopts an explicit visual center module EVCBlock and a lightweight upsampling operator CARAFE. The algorithm is improved from the YOLO target detection algorithm model and is specifically designed for complex situations on the screen surface. It mainly includes: for the interference of water mist and dust on the screen surface, image enhancement is performed in conjunction with the image enhancement algorithm (normalization processing and grayscale processing) before image preprocessing to solve the influence of water mist and dust on the screen surface of the mineral conveying device on target detection. In response to the strong vibration interference on the screen surface, an explicit visual center module (EVCBlock) is introduced into the model to enhance feature extraction. The explicit visual center module takes the output of the EfficientNetV2 backbone network as input, and includes a lightweight multi-layer perceptron (Lightweight MLP) for capturing global long-range dependencies and a learnable visual center (LVC) for aggregating local key areas to enhance the model's ability to recognize the local contours of foreign objects. In response to the interference of ore stacking on the screen surface, a lightweight upsampling operator CARAFE is introduced into the model, which can aggregate contextual information within a large receptive field to obtain a larger receptive field, dynamically generate adaptive kernels, support specific content-aware processing, and enhance the model's feature extraction capabilities under dense backgrounds. In order to reduce the model's computational workload and increase computational speed, the original SPPF module in the backbone network is replaced with the AIFI module used in the RT-DETR model.

[0045] In the present invention, the rear-end recognition camera is a laser radar camera, which cooperates with a three-dimensional point cloud target detection algorithm to detect targets on the sorting belt surface; or, the rear-end recognition camera is a depth camera, which cooperates with a two-dimensional target detection algorithm to detect targets based on depth information. The purpose of accurately obtaining target position information is achieved by cooperating with a laser radar camera and a three-dimensional point cloud target detection algorithm, or by cooperating with a depth camera and a two-dimensional target detection algorithm.

[0046] In the present invention, foreign matter in the ore includes, but is not limited to, long steel wires, steel bars, steel forgings, block iron parts, sheet iron, and other large and medium-sized scrapped parts of various shapes and various household garbage.

[0047] In the present invention, the length of the mineral conveying device is 1-100m, preferably 1.5-80m, and more preferably 2-60m. The width of the foreign matter collecting device is greater than the width of the mineral conveying device; preferably, the width of the foreign matter collecting device is 1-500cm greater than the width of the mineral conveying device, preferably 2-400cm, and more preferably 3-300cm. The width of the foreign matter sorting mechanism is greater than the width of the material distribution funnel; preferably, the width of the foreign matter sorting mechanism is 1-500cm greater than the width of the material distribution funnel, preferably 2-400cm, and more preferably 3-300cm.

[0048] Compared with the prior art, the beneficial technical effects of the present invention are as follows: 1: The mine foreign body sorting system of the present invention can accurately, quickly and thoroughly sort out various foreign bodies in the ore that affect the normal operation of the system through preliminary identification and diversion of foreign bodies in the ore material on the front-end screen surface and precise identification and sorting of foreign bodies in the ore material at the back-end, thereby reducing the labor intensity of personnel and effectively ensuring the safety of the system and production efficiency.

[0049] 2: The mine foreign body sorting system of the present invention has the characteristics of simple structure, low investment and maintenance cost, high efficiency in foreign body identification and sorting, thorough foreign body sorting, high safety, and unmanned operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 The figure is a schematic diagram of the overall structure of the system of the present invention.

[0051] Figure 2 The figure is a schematic diagram of the structure of the system of the present invention from a top view.

[0052] Figure 3 It is a three-dimensional schematic diagram of the mineral conveying device of the system of the present invention.

[0053] Figure 4 This is an enlarged view of the bucket cover of the foreign matter collection device of the present invention.

[0054] Figure 5 It is an enlarged schematic diagram of the top of the hopper trough type foreign matter collecting device of the present invention.

[0055] Figure 6 It is a structural schematic diagram of the hopper tank of the present invention.

[0056] Figure 7 It is a schematic structural diagram of the material receiving chute type foreign matter separation device of the present invention.

[0057] Figure 8 It is a structural schematic diagram of the material receiving chute of the present invention.

[0058] Fig. 9 It is a schematic diagram of the three-dimensional structure of the foreign body grasping device of the present invention.

[0059] Fig.10 It is an enlarged view of the telescopic mechanical arm and the mechanical claw hand with a multi-finger structure of the present invention.

[0060] Fig.11 It is an enlarged schematic diagram of the multi-finger structure of the mechanical gripper of the present invention.

[0061] Fig.12 It is an enlarged schematic diagram of the mechanical gripper with a double-plywood structure of the present invention.

[0062] Fig.13 It is a structural schematic diagram of the foreign body visual recognition and positioning mechanism of the present invention.

[0063] Fig.14 The system of the present invention includes a schematic structural diagram of a control system.

[0064] Fig.15 This is a working principle diagram of the screen surface visual recognition algorithm Antijam-YOLO of the present invention.

[0065] Reference numerals: 1: mineral conveying device; 2: screen surface visual recognition mechanism; 3: foreign matter collecting device; 301: material dropping funnel; 302: material dividing funnel; 303: foreign matter separating device; 304: bucket cover; 30301: telescopic rod; 30302: receiving hopper slot; 30303: fixing seat; 4: foreign matter visual recognition and positioning mechanism; 401: rear end truss; 402: rear end recognition camera; 5: foreign matter sorting mechanism; 501: sorting and conveying device; 502: foreign matter grabbing device; 5021: supporting truss; 5022 : Telescopic robotic arm; 5023: Mechanical claw; 5024: Multi-directional moving device; 50241: Longitudinal slide rail; 50242: Longitudinal drive slide; 50243: Transverse slide rail; 50244: Transverse drive slide; 5025: Drive motor; 503: Foreign matter collection box; 6: Moving mechanism; 601: X-axis translation slide rail; 602: X-axis drive slide; 603: Y-axis translation slide rail; 604: Y-axis drive slide; 7: Control system; 701: Embedded server; 702: PLC control server. DETAILED DESCRIPTION

[0066] The technical solution of the present invention is illustrated below by way of example, and the scope of protection requested by the present invention includes but is not limited to the following embodiments.

[0067] A mine foreign body sorting system, the system comprises a mineral conveying device 1, a screen surface visual recognition mechanism 2, a foreign body collecting device 3, a foreign body visual recognition and positioning mechanism 4 and a foreign body sorting mechanism 5. The screen surface visual recognition mechanism 2 is arranged above the screen surface of the mineral conveying device 1. The foreign body collecting device 3 is arranged downstream of the mineral conveying device 1. The foreign body collecting device 3 comprises a material dropping funnel 301 and a material distribution funnel 302. The foreign body sorting mechanism 5 is arranged downstream of the material distribution funnel 302, and the foreign body visual recognition and positioning mechanism 4 is arranged on the foreign body sorting mechanism 5.

[0068] Preferably, a baffle protrusion plate 101 extending along the material flow direction is provided on the screen surface of the mineral conveying device 1 .

[0069] Preferably, the system also includes a control system 7; the control system 7 includes an embedded server 701 and a PLC control server 702; the embedded server 701 is connected to the screen surface visual recognition mechanism 2 and the foreign object visual recognition and positioning mechanism 4; the PLC control server 702 is connected to control the foreign object collection device 3 and the foreign object sorting mechanism 5; the embedded server 701 and the PLC control server 702 are connected through electrical signals; a screen surface foreign object visual recognition algorithm module is provided in the embedded server 701, and the surface visual recognition algorithm is an improved YOLO target detection algorithm; the improved YOLO target detection algorithm includes image denoising enhancement preprocessing and image feature extraction; the image feature extraction adopts an explicit visual center module EVCBlock and a lightweight upsampling operator CARAFE.

[0070] Preferably, the material dropping hopper 301 is arranged between the material distribution hopper 302 and the mineral conveying device 1, and the foreign matter collecting device 3 further comprises a foreign matter separation device 303. The foreign matter separation device 303 is installed at the top of the upper opening of the material dropping hopper 301 and the material distribution hopper 302, and can move above the material dropping hopper 301 and the material distribution hopper 302.

[0071] Preferably, the foreign matter collecting device 3 further comprises a bucket cover 304 , which is disposed above the material dropping funnel 301 and the material dividing funnel 302 , and the foreign matter separating device 303 is disposed in the bucket cover 304 .

[0072] Preferably, the foreign matter separation device 303 comprises a telescopic rod 30301, a receiving hopper slot 30302 and a fixed seat 30303. One end of the telescopic rod 30301 is fixedly connected to the fixed seat 30303, and the other end thereof is provided with a receiving hopper slot 30302 for discharging through the bottom opening and closing. The fixed seat 30303 of the foreign matter separation device 303 is installed at the top of the upper opening of the material dropping funnel 301 and the material distribution funnel 302 through the moving mechanism 6, and moves above the material dropping funnel 301 and the material distribution funnel 302 through the moving mechanism 6. The receiving hopper slot 30302 is extended and retracted along the length direction of the foreign matter collection device 3 through the telescopic rod 30301.

[0073] Preferably, the hopper trough 30302 is connected to the telescopic rod 30301 via a rotating device.

[0074] Alternatively, the foreign matter separation device 303 includes a fixed seat 30303, a cantilever 30304 and a material receiving chute 30305. The top of the cantilever 30304 is fixedly connected to the fixed seat 30303, and the bottom of the cantilever 30304 is connected to the upper bucket wall of the material receiving chute 30305 having an arc-shaped material receiving channel through a universal joint 30306. The material receiving chute 30305 rotates with the bottom of the cantilever 30304 as the rotation center through the universal joint 30306. The fixed seat 30303 of the foreign matter separation device 303 is installed at the top of the upper opening of the material dropping funnel 301 and the material distribution funnel 302 through the moving mechanism 6, and moves above the material dropping funnel 301 and the material distribution funnel 302 through the moving mechanism 6.

[0075] Preferably, the cantilever 30304 is a telescopic structure.

[0076] Preferably, the mobile mechanism 6 includes an X-axis translation rail 601, an X-axis driving slide 602, a Y-axis translation rail 603 and a Y-axis driving slide 604. An X-axis translation rail 601 is provided on each of the upper edges on both sides in the width direction of the foreign matter collecting device 3, and the two X-axis translation rails 601 are parallel to each other and laid along the direction from the blanking funnel 301 to the distribution funnel 302. Both ends of the Y-axis translation rail 603 are respectively connected to the two X-axis translation rails 601 through the X-axis driving slide 602. The fixed seat 30303 is connected to the Y-axis translation rail 603 through the Y-axis driving slide 604. The foreign matter separation device 303 is driven to move along the length direction of the foreign matter collecting device 3 by the X-axis translation rail 601 and the two X-axis driving slides 602. The foreign matter separation device 303 is driven to move along the width direction of the foreign matter collection device 3 by the Y-axis translation slide rail 603 and the Y-axis driving slide table 604 .

[0077] Preferably, the foreign matter sorting mechanism 5 comprises a sorting conveying device 501, a foreign matter grabbing device 502 and a foreign matter collecting box 503. The feeding end of the sorting conveying device 501 is located downstream of the leakage port of the material distribution funnel 302. The foreign matter grabbing device 502 is arranged above the sorting conveying device 501. The foreign matter collecting box 503 is arranged on one side of the foreign matter grabbing device 502. The foreign matter visual identification and positioning mechanism 4 is arranged above the sorting conveying device 501 and between the foreign matter grabbing device 502 and the material distribution funnel 302.

[0078] Preferably, the sorting and conveying device 501 is a belt conveyor or a chain conveyor.

[0079] Preferably, the foreign body grasping device 502 is a truss-type grasping device, a robot or a manipulator.

[0080] Preferably, the truss-type grabbing device comprises a supporting truss 5021, a telescopic mechanical arm 5022, a mechanical claw 5023 and a multi-directional moving device 5024. The supporting truss 5021 is a rectangular steel frame structure having four legs and straddling the sorting and conveying device 501. The upper end of the telescopic mechanical arm 5022 is connected to the upper end of the supporting truss 5021 through the multi-directional moving device 5024, and the mechanical claw 5023 is installed at the lower end of the telescopic mechanical arm 5022. The telescopic mechanical arm 5022 and the mechanical claw 5023 are driven to move horizontally in the width and length directions of the sorting and conveying device 501 by the multi-directional moving device 5024. The mechanical claw 5023 is driven to rise and fall in the vertical direction by the telescopic mechanical arm 5022.

[0081] Preferably, the mechanical claw hand 5023 is connected to the bottom end of the telescopic mechanical arm 5022 via a driving motor 5025, and the driving motor 5025 drives the mechanical claw hand 5023 to rotate.

[0082] Preferably, the mechanical gripper 5023 is a multi-finger structure with at least three claws, and the lengths of each claw are the same or different; the upper end of each claw is independently hinged to the bottom end of the telescopic mechanical arm 5022. The lower end of each claw is bent toward the claw center, and an anti-slip protrusion is provided on the inner side of the bent portion.

[0083] Alternatively, the mechanical gripper 5023 is a double-plate structure having a left plate and a right plate, and the widths of the left and right plates are the same or different. The left plate and the right plate are both designed as concave arc plates or bent plates, and the concave surfaces of the two are arranged opposite to each other. The concave surfaces of the left plate and the right plate are also staggered with gripping protrusions.

[0084] Preferably, the multi-directional moving device 5024 comprises a longitudinal slide rail 50241, a longitudinal driving slide 50242, a transverse slide rail 50243 and a transverse driving slide 50244. The two longitudinal slide rails 50241 are respectively arranged above the supporting trusses 5021 located on both sides of the sorting and conveying device 501, and the two longitudinal slide rails 50241 are arranged parallel to the sorting and conveying device 501. The two ends of the transverse slide rail 50243 are respectively connected to the two longitudinal slide rails 50241 through two longitudinal driving slides 50242. The upper end of the telescopic mechanical arm 5022 is connected to the transverse slide rail 50243 through the transverse driving slide 50244.

[0085] Preferably, the foreign body visual identification and positioning mechanism 4 includes a rear truss 401 and a rear identification camera 402. The lower end of the rear truss 401 is fixed to the ground on both sides of the sorting and conveying device 501 or to the bracket of the sorting and conveying device 501, and the upper end of the rear truss 401 is higher than the belt surface of the sorting and conveying device 501. The rear identification camera 402 is arranged on the upper end cross beam of the rear truss 401 and is located above the belt surface of the sorting and conveying device 501.

[0086] Preferably, the screen surface visual recognition mechanism 2 is arranged on the outer cover of the bucket cover 304 of the foreign matter collection device 3 close to the mineral conveying device 1. The screen surface visual recognition mechanism 2 is an industrial camera with adaptive light source assistance or a combination of a split industrial camera and an auxiliary light source.

[0087] Preferably, the industrial camera is provided with a cleaning device. A mineral conveying device cover is provided above the mineral conveying device, which can provide a stable light source environment.

[0088] Preferably, the rear-end recognition camera 402 is an industrial camera with adaptive light source assistance or an auxiliary light source is provided beside the rear-end recognition camera 402 .

[0089] Preferably, the rear-end recognition camera 402 is a laser radar camera, which cooperates with a three-dimensional point cloud target detection algorithm to detect targets on the sorting belt surface. Alternatively, the rear-end recognition camera 402 is a depth camera, which cooperates with a two-dimensional target detection algorithm to detect targets based on depth information.

[0090] In the present invention, the mineral conveying device is one of a vibrating screen, a fixed screen, a chute, a funnel, and a conveyor belt, preferably a vibrating screen. Example 1

[0091] like Figure 1-9As shown, a mine foreign body sorting system includes a mineral conveying device 1, a screen surface visual recognition mechanism 2, a foreign body collecting device 3, a foreign body visual recognition and positioning mechanism 4, and a foreign body sorting mechanism 5. The screen surface visual recognition mechanism 2 is arranged above the screen surface of the mineral conveying device 1. The foreign body collecting device 3 is arranged downstream of the mineral conveying device 1. The foreign body collecting device 3 includes a material dropping funnel 301 and a material distribution funnel 302. The foreign body sorting mechanism 5 is arranged downstream of the material distribution funnel 302, and the foreign body visual recognition and positioning mechanism 4 is arranged on the foreign body sorting mechanism 5. Example 2

[0092] Example 1 is repeated, except that the mineral conveying device 1 is a vibrating screen, and a baffle protrusion plate 101 extending along the material flow direction is provided on the screen surface of the vibrating screen. Example 3

[0093] Example 2 is repeated, except that the material dropping funnel 301 is arranged between the material distribution funnel 302 and the vibrating screen 1, and the foreign matter collecting device 3 further includes a foreign matter separation device 303. The foreign matter separation device 303 is installed at the top of the upper opening of the material dropping funnel 301 and the material distribution funnel 302, and can move above the material dropping funnel 301 and the material distribution funnel 302. Example 4

[0094] Example 3 is repeated, except that the foreign matter collecting device 3 further includes a bucket cover 304 . The bucket cover 304 is arranged above the material dropping funnel 301 and the material dividing funnel 302 , and the foreign matter separating device 303 is arranged in the bucket cover 304 . Example 5

[0095] Example 4 is repeated, except that the foreign matter separation device 303 includes a telescopic rod 30301, a hopper slot 30302 and a fixed seat 30303. One end of the telescopic rod 30301 is fixedly connected to the fixed seat 30303, and the other end is equipped with a hopper slot 30302 that opens and closes at the bottom to discharge. The fixed seat 30303 of the foreign matter separation device 303 is installed at the top of the upper opening of the drop hopper 301 and the distribution hopper 302 through the moving mechanism 6, and moves above the drop hopper 301 and the distribution hopper 302 through the moving mechanism 6. The hopper slot 30302 is telescopic along the length direction of the foreign matter collection device 3 through the telescopic rod 30301. Example 6

[0096] Repeat Example 5, except that the hopper trough 30302 is connected to the telescopic rod 30301 through a rotating device. Example 7

[0097] Example 4 is repeated, except that the foreign matter separation device 303 includes a fixed seat 30303, a cantilever 30304 and a material receiving chute 30305. The top of the cantilever 30304 is fixedly connected to the fixed seat 30303, and the bottom of the cantilever 30304 is connected to the upper bucket wall of the material receiving chute 30305 having an arc-shaped material receiving channel through a universal joint 30306. The material receiving chute 30305 rotates with the bottom of the cantilever 30304 as the rotation center through the universal joint 30306. The fixed seat 30303 of the foreign matter separation device 303 is installed at the top of the upper opening of the material dropping funnel 301 and the material distribution funnel 302 through the moving mechanism 6, and moves above the material dropping funnel 301 and the material distribution funnel 302 through the moving mechanism 6. Example 8

[0098] Repeat Example 7, except that the cantilever 30304 is a telescopic structure. Example 9

[0099] Example 8 is repeated, except that the moving mechanism 6 includes an X-axis translation rail 601, an X-axis driving slide 602, a Y-axis translation rail 603 and a Y-axis driving slide 604. An X-axis translation rail 601 is provided on each of the upper edges on both sides in the width direction of the foreign matter collecting device 3, and the two X-axis translation rails 601 are parallel to each other and laid in the direction from the blanking funnel 301 to the distribution funnel 302. Both ends of the Y-axis translation rail 603 are respectively connected to the two X-axis translation rails 601 through the X-axis driving slide 602. The fixed seat 30303 is connected to the Y-axis translation rail 603 through the Y-axis driving slide 604. The foreign matter separation device 303 is driven to move along the length direction of the foreign matter collecting device 3 by the X-axis translation rail 601 and the two X-axis driving slides 602. The foreign matter separation device 303 is driven to move along the width direction of the foreign matter collection device 3 by the Y-axis translation slide rail 603 and the Y-axis driving slide table 604 . Example 10

[0100] Example 9 is repeated, except that the foreign matter sorting mechanism 5 includes a sorting conveying device 501, a foreign matter grabbing device 502 and a foreign matter collecting box 503. The feeding end of the sorting conveying device 501 is located downstream of the leakage port of the material distribution funnel 302. The foreign matter grabbing device 502 is arranged above the sorting conveying device 501. The foreign matter collecting box 503 is arranged on one side of the foreign matter grabbing device 502. The foreign matter visual identification and positioning mechanism 4 is arranged above the sorting conveying device 501 and between the foreign matter grabbing device 502 and the material distribution funnel 302. Embodiment 11

[0101] Repeat Example 10, except that the foreign body grasping device 502 is a truss-type grasping device. The truss-type grasping device includes a supporting truss 5021, a telescopic mechanical arm 5022, a mechanical claw hand 5023, and a multi-directional moving device 5024. The supporting truss 5021 is a rectangular steel frame structure having four legs and straddling the sorting and conveying device 501. The upper end of the telescopic mechanical arm 5022 is connected to the upper end of the supporting truss 5021 through the multi-directional moving device 5024, and the mechanical claw hand 5023 is installed at the lower end of the telescopic mechanical arm 5022. The telescopic mechanical arm 5022 and the mechanical claw hand 5023 are driven by the multi-directional moving device 5024 to move horizontally in the width and length directions of the sorting and conveying device 501. The mechanical claw hand 5023 is driven to rise and fall in the vertical direction by the telescopic mechanical arm 5022. Example 12

[0102] Example 11 is repeated, except that the mechanical claw hand 5023 is connected to the bottom end of the telescopic mechanical arm 5022 via a driving motor 5025, and the mechanical claw hand 5023 is driven to rotate by the driving motor 5025. Example 13

[0103] The embodiment 12 is repeated, except that the mechanical gripper 5023 is a multi-finger structure with at least three claws, and the lengths of each claw are the same or different; the upper end of each claw is independently hinged to the bottom end of the telescopic mechanical arm 5022. The lower end of each claw is bent toward the claw center, and an anti-slip protrusion is provided on the inner side of the bent portion. Embodiment 14

[0104] Example 12 is repeated, except that the mechanical gripper 5023 is a double-plate structure having a left plate and a right plate, and the widths of the left and right plates are the same. The left plate and the right plate are both designed as concave bent plates, and the concave surfaces of the two plates are arranged opposite to each other. The concave surfaces of the left plate and the right plate are also staggered with gripping protrusions. Embodiment 15

[0105] Repeat Example 13, except that the multi-directional moving device 5024 includes a longitudinal slide rail 50241, a longitudinal drive slide 50242, a transverse slide rail 50243 and a transverse drive slide 50244. The two longitudinal slide rails 50241 are respectively arranged above the support trusses 5021 located on both sides of the sorting and conveying device 501, and the two longitudinal slide rails 50241 are arranged parallel to the sorting and conveying device 501. The two ends of the transverse slide rail 50243 are respectively connected to the two longitudinal slide rails 50241 through two longitudinal drive slides 50242. The upper end of the telescopic mechanical arm 5022 is connected to the transverse slide rail 50243 through the transverse drive slide 50244. Example 16

[0106] Repeat Example 15, except that the foreign body visual identification and positioning mechanism 4 includes a rear truss 401 and a rear identification camera 402. The lower end of the rear truss 401 is fixed to the ground on both sides of the sorting and conveying device 501, and the upper end of the rear truss 401 is higher than the belt surface of the sorting and conveying device 501. The rear identification camera 402 is arranged on the upper end cross beam of the rear truss 401 and is located above the belt surface of the sorting and conveying device 501. Embodiment 17

[0107] The embodiment 16 is repeated, except that the screen surface visual recognition mechanism 2 is arranged on the outer cover of the bucket cover 304 of the foreign matter collecting device 3 close to the vibrating screen 1. The screen surface visual recognition mechanism 2 is a combination of a split industrial camera and an auxiliary light source. Embodiment 18

[0108] The embodiment 17 is repeated, except that the industrial camera is provided with a cleaning device. A vibrating screen cover is provided above the vibrating screen to provide a stable light source environment. Embodiment 19

[0109] Example 18 is repeated, except that an auxiliary light source is provided beside the rear end recognition camera 402 . Embodiment 20

[0110] Example 16 is repeated, except that the system also includes a control system 7; the control system 7 includes an embedded server 701 and a PLC control server 702; the embedded server 701 is connected to the screen surface visual recognition mechanism 2 and the foreign object visual recognition and positioning mechanism 4; the PLC control server 702 is connected to control the foreign object collection device 3 and the foreign object sorting mechanism 5; the embedded server 701 and the PLC control server 702 are connected through electrical signals; a screen surface foreign object visual recognition algorithm module is provided in the embedded server 701, and the screen surface visual recognition algorithm is the Antijam-YOLO target detection algorithm; the Antijam-YOLO target detection algorithm includes image enhancement preprocessing, image feature extraction and target detection frame generation; the image feature extraction adopts the explicit visual center module EVCBlock and the lightweight upsampling operator CARAFE. Embodiment 21

[0111] Example 20 is repeated, except that the rear-end recognition camera 402 is a laser radar camera, and the laser radar camera cooperates with the three-dimensional point cloud target detection algorithm to perform target detection on the sorting belt surface. Embodiment 22

[0112] Example 20 is repeated, except that the back-end recognition camera 402 is a depth camera, and the depth camera cooperates with a two-dimensional target detection algorithm to perform target detection based on depth information.

Claims

1. A mine foreign body sorting system, characterized by: The system comprises a mineral conveying device (1), a screen surface visual recognition mechanism (2), a foreign matter collecting device (3), a foreign matter visual recognition and positioning mechanism (4), and a foreign matter sorting mechanism (5); the screen surface visual recognition mechanism (2) is arranged above the screen surface of the mineral conveying device (1); the foreign matter collecting device (3) is arranged downstream of the mineral conveying device (1); the foreign matter collecting device (3) comprises a material dropping funnel (301) and a material distribution funnel (302); the foreign matter sorting mechanism (5) is arranged downstream of the material distribution funnel (302), and the foreign matter visual recognition and positioning mechanism (4) is arranged on the foreign matter sorting mechanism (5).

2. The system according to claim 1, characterized in that: The material dropping funnel (301) is arranged between the material distribution funnel (302) and the mineral conveying device (1), and the foreign matter collecting device (3) further comprises a foreign matter separation device (303); the foreign matter separation device (303) is installed at the top of the upper openings of the material dropping funnel (301) and the material distribution funnel (302), and can move above the material dropping funnel (301) and the material distribution funnel (302); Preferably, the foreign matter collecting device (3) further comprises a bucket cover (304), the bucket cover (304) being arranged above the material dropping funnel (301) and the material dividing funnel (302), and the foreign matter separating device (303) being arranged inside the bucket cover (304).

3. The system according to claim 2, characterized in that: The foreign matter separation device (303) comprises a telescopic rod (30301), a receiving hopper groove (30302) and a fixed seat (30303); one end of the telescopic rod (30301) is fixedly connected to the fixed seat (30303), and the other end of the telescopic rod is equipped with a receiving hopper groove (30302) for discharging by opening and closing the bottom; the fixed seat (30303) of the foreign matter separation device (303) is installed at the top of the upper opening of the material dropping funnel (301) and the material distribution funnel (302) through a moving mechanism (6), and moves above the material dropping funnel (301) and the material distribution funnel (302) through the moving mechanism (6); the receiving hopper groove (30302) is telescopic along the length direction of the foreign matter collection device (3) through the telescopic rod (30301); preferably, the receiving hopper groove (30302) is connected to the telescopic rod (30301) through a rotating device; Alternatively, the foreign matter separation device (303) comprises a fixed seat (30303), a cantilever (30304) and a material receiving chute (30305); the top end of the cantilever (30304) is fixedly connected to the fixed seat (30303), and the bottom end thereof is connected to the upper bucket wall of the material receiving chute (30305) having an arc-shaped material receiving channel via a universal joint (30306); the material receiving chute (30305) is connected to the upper bucket wall of the material receiving chute (30305) via the universal joint (30306). 06) rotates with the bottom end of the cantilever (30304) as the rotation center; the fixed seat (30303) of the foreign matter separation device (303) is installed at the top of the upper opening of the blanking funnel (301) and the distribution funnel (302) through the moving mechanism (6), and moves above the blanking funnel (301) and the distribution funnel (302) through the moving mechanism (6); preferably, the cantilever (30304) is a telescopic structure.

4. The system according to claim 3, characterized in that: The moving mechanism (6) comprises an X-axis translation slide rail (601), an X-axis driving slide table (602), a Y-axis translation slide rail (603) and a Y-axis driving slide table (604); an X-axis translation slide rail (601) is provided on each of the upper edges of the two sides in the width direction of the foreign matter collecting device (3); the two X-axis translation slide rails (601) are parallel to each other and are laid along the direction from the material dropping funnel (301) to the material distributing funnel (302); both ends of the Y-axis translation slide rail (603) are connected to the two X-axis driving slide tables (602) respectively. The foreign matter collecting device (3) is connected to an X-axis translation slide rail (601); the fixed seat (30303) is connected to the Y-axis translation slide rail (603) via a Y-axis driving slide table (604); the foreign matter separation device (303) is driven to move along the length direction of the foreign matter collecting device (3) via the X-axis translation slide rail (601) and the two X-axis driving slide tables (602); and the foreign matter separation device (303) is driven to move along the width direction of the foreign matter collecting device (3) via the Y-axis translation slide rail (603) and the Y-axis driving slide table (604).

5. The system according to any one of claims 2 to 4, characterized in that: The foreign matter sorting mechanism (5) comprises a sorting conveying device (501), a foreign matter grabbing device (502) and a foreign matter collecting box (503); the feeding end of the sorting conveying device (501) is located downstream of the material leakage port of the material distribution funnel (302); the foreign matter grabbing device (502) is arranged above the sorting conveying device (501); the foreign matter collecting box (503) is arranged on one side of the foreign matter grabbing device (502); the foreign matter visual identification and positioning mechanism (4) is arranged above the sorting conveying device (501) and between the foreign matter grabbing device (502) and the material distribution funnel (302); Preferably, the sorting and conveying device (501) is a belt conveyor or a chain conveyor; the foreign matter grabbing device (502) is a truss-type grabbing device, a robot or a manipulator; preferably, the truss-type grabbing device comprises a supporting truss (5021), a telescopic mechanical arm (5022), a mechanical claw (5023) and a multi-directional moving device (5024); the supporting truss (5021) is a rectangular steel frame structure having four legs and straddling the sorting and conveying device (501); the telescopic mechanical arm ( The upper end of the telescopic mechanical arm (5022) is connected to the upper end of the supporting truss (5021) via a multi-directional moving device (5024), and a mechanical claw hand (5023) is installed at the lower end of the telescopic mechanical arm (5022); the multi-directional moving device (5024) drives the telescopic mechanical arm (5022) and the mechanical claw hand (5023) to move horizontally in the width and length directions of the sorting and conveying device (501); and the telescopic mechanical arm (5022) drives the mechanical claw hand (5023) to rise and fall in the vertical direction.

6. The system according to claim 5, characterized in that: The mechanical claw hand (5023) is connected to the bottom end of the telescopic mechanical arm (5022) via a driving motor (5025), and the driving motor (5025) drives the mechanical claw hand (5023) to rotate; Preferably, the mechanical gripper (5023) is a multi-finger structure having at least three claws, and the lengths of each claw are the same or different; the upper end of each claw is independently hinged to the bottom end of the telescopic mechanical arm (5022); the lower end of each claw is bent toward the claw center, and an anti-slip protrusion is provided on the inner side of the bent portion; Alternatively, the mechanical gripper (5023) is a double-plate structure having a left plate and a right plate, and the widths of the left and right plates are the same or different; the left plate and the right plate are both designed as concave arc plates or bent plates, and the concave surfaces of the two are arranged opposite to each other; and gripping protrusions are also arranged alternately on the concave surfaces of the left plate and the right plate.

7. The system according to claim 5 or 6, characterized in that: The multi-directional moving device (5024) comprises a longitudinal slide rail (50241), a longitudinal driving slide platform (50242), a transverse slide rail (50243) and a transverse driving slide platform (50244); the two longitudinal slide rails (50241) are respectively arranged above the supporting trusses (5021) located on both sides of the sorting and conveying device (501), and the two longitudinal slide rails (50241) are arranged parallel to the sorting and conveying device (501); the two ends of the transverse slide rail (50243) are respectively connected to the two longitudinal slide rails (50241) through the two longitudinal driving slide platforms (50242); and the upper end of the telescopic mechanical arm (5022) is connected to the transverse slide rail (50243) through the transverse driving slide platform (50244).

8. The system according to claim 5 or 6, characterized in that: The foreign object visual identification and positioning mechanism (4) comprises a rear end truss (401) and a rear end identification camera (402); the lower end of the rear end truss (401) is fixed to the ground on both sides of the sorting and conveying device (501) or to a bracket of the sorting and conveying device (501), and the upper end of the rear end truss (401) is higher than the belt surface of the sorting and conveying device (501); the rear end identification camera (402) is arranged on the upper end cross beam of the rear end truss (401) and is located above the belt surface of the sorting and conveying device (501).

9. The system according to claim 8, characterized in that: The screen surface visual recognition mechanism (2) is arranged on the outer cover of the bucket cover (304) of the foreign matter collection device (3) close to the mineral conveying device (1); wherein the screen surface visual recognition mechanism (2) is an industrial camera with adaptive light source assistance or a combination of a split industrial camera and an auxiliary light source; Preferably, the industrial camera is provided with a cleaning device; a mineral conveying device cover which can provide a stable light source environment is provided above the mineral conveying device; The rear-end recognition camera (402) is an industrial camera with adaptive light source assistance or an auxiliary light source is arranged beside the rear-end recognition camera (402); the rear-end recognition camera (402) is a laser radar camera or a depth camera.

10. The system according to any one of claims 1 to 9, characterized in that: The mineral conveying device (1) is one of a vibrating screen, a fixed screen, a chute, a hopper, and a conveyor belt, preferably a vibrating screen; and / or The system further comprises a control system (7); the control system (7) comprises an embedded server (701) and a PLC control server (702); the embedded server (701) is connected to a screen surface visual recognition mechanism (2) and a foreign body visual recognition and positioning mechanism (4); the PLC control server (702) is connected to control a foreign body collection device (3) and a foreign body sorting mechanism (5); the embedded server (701) and the PLC control server (702) are connected via electrical signals; a screen surface foreign body visual recognition algorithm module is provided in the embedded server (701), and the screen surface foreign body visual recognition algorithm is an Antijam-YOLO target detection algorithm; the Antijam-YOLO target detection algorithm comprises image enhancement preprocessing, image feature extraction and target detection frame generation; the image feature extraction is enhanced by using an improved explicit visual center module EVCBlock and a lightweight upsampling operator CARAFE; and / or A baffle protrusion plate (101) extending along the material flow direction is arranged on the screen surface of the mineral conveying device (1).

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