A method for automatically sorting ore

Abstract

The invention relates to the technical field of ore sorting, and discloses an automatic ore sorting method, comprising: by dividing the conveying area of ​​a conveyor belt, identifying the position of non-ore in the conveying area, acquiring the remaining ores in the relevant area according to the position, selecting an appropriate ore spacing as the discharge position of the non-ore, judging whether the non-ore can be discharged according to the size relationship between the discharge position and the top view of the non-ore in the conveying area, if it can be executed, setting the discharge route and the discharge execution speed, detecting the actual path in the discharge operation process in real time, and executing the path adjustment strategy when the actual path does not coincide with the discharge route, and re-planning the discharge route of the discharge operation.

Description

Technical Field

[0001] The invention relates to the technical field of ore sorting, in particular to an automatic ore sorting method. Background Art

[0002] As the important role of mineral resources in economic and social development becomes more and more obvious, the demand for mineral sorting technology is also growing. As a key technology, mineral sorting technology has gradually been valued and studied by people.

[0003] Mineral sorting is particularly important in the process of mineral mining and processing. Minerals contain various elements and compounds, and the content and distribution of these elements and compounds have an important impact on the value and use of minerals. Therefore, in the process of mineral mining and processing, minerals need to be sorted to obtain high-quality mineral products.

[0004] At present, mineral sorting technology mainly includes manual sorting and mechanical sorting. Manual sorting is a traditional sorting method that mainly relies on manual identification and classification of minerals. Although this method is simple, it is inefficient and prone to errors. It is overly dependent on manual experience and has high resource costs. Mechanical sorting is a method of sorting minerals using mechanical equipment. This method can improve sorting efficiency, but the sorting efficiency of mechanical equipment is not stable enough, and it is easy to cause misoperation, resulting in the sorting out of qualified ores.

[0005] In summary, there is an urgent need for an automatic ore sorting method to solve the above problems. Summary of the invention

[0006] The present invention provides an automatic ore sorting method for promoting the solution of the problems mentioned in the above background technology.

[0007] The present invention provides the following technical solution: an automatic ore sorting method,

[0008] Optionally, an automatic ore sorting method comprises:

[0009] Get the conveyor belt's conveying area;

[0010] Dividing a conveying area of ​​the conveyor belt into a first area and a second area;

[0011] Divide the ore into target objects and non-target objects;

[0012] Get the contact point between the target object and the conveyor belt;

[0013] Determine the area where the target object contacts the conveyor belt;

[0014] According to the contact point between the target object and the conveyor belt and the area where the target object is located, the remaining ores in the area where the target object is located are screened, and the screening results are entered into the distance set;

[0015] Perform elimination comparison processing through distance set;

[0016] Determine whether to execute the discharge operation according to the discharge comparison processing result;

[0017] If the discharge operation is performed, the discharge path of the target object is set according to the contact point between the target object and the conveyor belt and the center point of the exit distance;

[0018] Real-time monitoring of the actual path of the target object during the discharge operation;

[0019] If the actual path does not coincide with the discharge path, a path adjustment strategy is implemented.

[0020] Optionally, dividing the conveyor belt into a first area and a second area includes:

[0021] On the conveyor belt, draw a straight line perpendicular to the conveying direction of the conveyor belt, which is called the dividing line;

[0022] The part of the dividing line between the two edges of the conveyor belt is recorded as the dividing line segment;

[0023] The conveyor belt edge includes a first edge and a second edge;

[0024] Get the midpoint of the segment;

[0025] On the conveyor belt, draw a straight line through the midpoint of the dividing line segment and parallel to the edge of the conveyor belt, which is recorded as the first straight line;

[0026] The conveyor belt area between the first straight line and the first edge is recorded as the first area;

[0027] The conveyor belt area between the first straight line and the second edge is recorded as the second area.

[0028] Optionally, dividing the ore into target objects and non-target objects includes:

[0029] Identify the conveying area of ​​the conveyor belt through image recognition technology;

[0030] Mark the ores that are identified as inferior as the objects to be discharged and enter them into the discharge set;

[0031] Marking the ores identified as high-quality as non-discharge objects;

[0032] Randomly select an element from the collection as the target object.

[0033] Optionally, determining the area where the contact point between the target object and the conveyor belt is located includes:

[0034] Get the contact point between the target object and the conveyor belt;

[0035] If the contact point of the target object on the conveyor belt is on the segmentation line, a top view of the target object on the conveyor belt is obtained;

[0036] Obtain the areas of the first region and the second region of the top view, respectively, and record them as d1 and d2;

[0037] If d1 is greater than or equal to d2, the target object is set to be in the first area;

[0038] If d1 is less than d2, the target object is set to be in the second area.

[0039] Optionally, the method of screening the remaining ores in the area where the target object is located according to the contact point between the target object and the conveyor belt and the area where the target object is located, and entering the screening result into the distance set includes:

[0040] If the contact point between the target object and the conveyor belt is in the first area, a straight line parallel to the first edge is drawn through the contact point between the target object and the conveyor belt, which is recorded as the screening line;

[0041] Obtain all non-discharged objects on the conveyor belt between the screening line and the first edge;

[0042] Randomly select a pair of non-discharged objects to connect them to form a pre-selected line segment;

[0043] If there are other non-excluded objects on the pre-selected line segment, a new pair of non-excluded objects is selected for connection;

[0044] If there are no other non-excluded objects on the pre-selected line segment, the pre-selected line segment formed by the current pair of non-excluded objects is entered into the distance set;

[0045] When all non-ejectable objects in the first area are traversed, the selection stops;

[0046] By comparing the elements in the distance set pairwise, the non-excluded object corresponding to the maximum value of the element in the distance set is selected and recorded as the first ore and the second ore.

[0047] Optionally, performing the ejection comparison process on the distance set and judging whether to execute the ejection operation according to the ejection comparison process result includes:

[0048] The straight-line distance between the first ore and the second ore is recorded as the exit distance;

[0049] Get a top view of the target object on the conveyor belt;

[0050] Obtaining a contour of a top view of a target object on a conveyor belt, recorded as a first target object contour;

[0051] Obtain the contact points between the first ore and the second ore and the conveyor belt, which are recorded as node No. 1 and node No. 2;

[0052] Draw a straight line through nodes 1 and 2, and record it as the exit line;

[0053] Set the interception threshold a;

[0054] Select any point on the first target object contour as the interception starting point, and select multiple interception nodes along the target object contour in a clockwise direction, denoted as , , … , n is the number of intercepted nodes;

[0055] Randomly select two interception nodes, connect them to form an interception line segment, and enter the interception line segment parallel to the exit line into the interception set;

[0056] By comparing the elements in the set pairwise, the size of the elements is intercepted and the maximum value of the elements is selected as the comparison element;

[0057] If the comparison element is greater than the exit distance, the current target object is marked and a human operator is called to discharge the current target object;

[0058] If the comparison element is less than or equal to the exit distance, the automatic discharge operation is performed.

[0059] Optionally, if the discharge operation is performed, setting a discharge path for the target object according to a contact point between the target object and the conveyor belt and a center point of an exit distance includes:

[0060] The point where the target object touches the conveyor belt is taken as the starting point;

[0061] Obtain the center point between the first ore and the second ore, and record it as the outlet midpoint;

[0062] performing a discharge operation on the target object along a discharge path using a mechanical paddle;

[0063] The mechanical paddles are rectangular metal plates;

[0064] Set the operation time threshold t;

[0065] The predicted position of the exit midpoint in the transmission area after time t is recorded as the predicted midpoint;

[0066] Draw a ray from the starting point through the predicted midpoint, recorded as the discharge ray;

[0067] The line segment formed between the starting point and the predicted midpoint is recorded as the predicted line segment;

[0068] Obtain the contact points between the first ore and the second ore and the conveyor belt after time t, and record them as the first prediction point and the second prediction point;

[0069] If the first predicted point and the second predicted point are on the ejection ray, the operation time threshold t is adjusted to ;

[0070] If the first predicted point and the second predicted point are not on the discharge ray, setting the discharge ray as the discharge path;

[0071] Get the predicted line segment length;

[0072] The ratio between the predicted segment length and the operation time threshold t is recorded as the execution speed.

[0073] Optionally, if the comparison element is less than or equal to the exit distance, performing an automatic discharge operation includes:

[0074] Set the execution speed to the actual speed of the mechanical paddle in the ejection operation;

[0075] Acquire the moving trajectory of the target object during the discharge operation in real time;

[0076] If the moving track of the target object during the discharge operation coincides with the discharge path of the target object, then a vertical distance between the contact point between the target object and the conveyor belt and the first edge is determined and recorded as the discharge distance;

[0077] If the discharge distance is zero, the discharge operation on the current target object is stopped;

[0078] If the moving trajectory of the target object during the ejection operation does not coincide with the ejection path, the path adjustment strategy is executed.

[0079] Optionally, if the moving track of the target object during the ejection operation does not coincide with the ejection path, executing a path adjustment strategy includes:

[0080] The path adjustment strategy is as follows:

[0081] Get the contact point between the current target object and the conveyor belt and record it as the actual position;

[0082] Obtain a top view outline of the current target object on the conveyor belt, recorded as a second target object outline;

[0083] Select any point on the second target object contour as the test starting point, take the interception threshold a as the unit, and select multiple test nodes in the clockwise direction along the target object contour, denoted as , , … , m is the number of test nodes;

[0084] Randomly select two test nodes, connect them to form a test line segment, and enter the test line segment parallel to the exit line into the test set;

[0085] By comparing the sizes of elements in the test set pairwise, the maximum value of the element is selected as the test element;

[0086] If the test element is larger than the exit distance, the current target object is marked and a human operator is called to discharge the current target object;

[0087] If the test element is less than or equal to the exit distance, the actual position is used as the starting point of the prediction test;

[0088] Obtain the center point between the first ore and the second ore, and record it as the predicted outlet midpoint;

[0089] The position of the predicted exit midpoint in the transmission area after time t is recorded as the predicted actual midpoint;

[0090] Draw a ray from the test starting point through the predicted actual midpoint, recorded as the predicted discharge ray;

[0091] The line segment formed between the test starting point and the predicted actual midpoint is recorded as the predicted actual line segment;

[0092] Obtain the contact points between the first ore and the second ore and the conveyor belt after time t, and record them as the first predicted actual point and the second predicted actual point;

[0093] If the first predicted actual point and the second predicted actual point are on the predicted discharge ray, the operation time threshold t is adjusted to ;

[0094] If the first predicted actual point and the second predicted actual point are not on the predicted discharge ray, setting the predicted discharge ray as a test discharge path;

[0095] Get the predicted actual line segment length;

[0096] The ratio between the predicted actual segment length and the operation time threshold is recorded as the predicted execution speed;

[0097] Setting the predicted execution speed to the actual speed of the mechanical paddle during the ejection operation;

[0098] performing a discharge operation on the target object along a test discharge path using a mechanical paddle;

[0099] Detect the moving trajectory of the current target object in real time;

[0100] If the current moving trajectory of the target object does not coincide with the target object test path, the above path adjustment strategy is repeatedly executed;

[0101] If the moving trajectory of the current target object coincides with the target object test path, then the vertical distance between the contact point of the current target object on the conveyor belt and the first edge is determined and recorded as the test distance;

[0102] If the test distance is zero, the discharge operation on the current target object is stopped.

[0103] The present invention has the following beneficial effects:

[0104] 1. The automatic ore sorting method divides the conveyor belt into a first area and a second area, which can help to more carefully manage and control the sorting process and make the sorting operation more orderly.

[0105] 2. This automatic ore sorting method can accurately classify the ore into high-quality and low-quality ones by using image recognition technology to identify the ore, thereby improving the accuracy of sorting.

[0106] 3. This automatic ore sorting method determines the areas where the inferior ores in different positions are located, so that the best discharge path can be selected for the inferior ores in different areas, thereby improving the sorting efficiency.

[0107] 4. This method for automatic ore sorting obtains the position information of all high-quality ores between the low-quality ore and the nearest conveyor belt edge, screens out the maximum distance between adjacent high-quality ores, obtains all line segments in the top view parallel to the screened adjacent high-quality ores based on the top view of the low-quality ore in the transmission area, selects the longest line segment through traversal comparison, and judges whether the low-quality ore can be discharged based on the ratio between the longest line segment and the maximum distance. Based on the judgment result, it can automatically decide whether to perform the discharge operation, thereby reducing manual intervention and improving the response speed and accuracy of the operation.

[0108] 5. This method of automatic ore sorting uses a top view to determine whether a discharge operation can be performed. In this way, the longest line segment of inferior ores of different shapes can be calculated, thereby improving the accuracy and rigor of sorting judgments and having strong adaptability and flexibility.

[0109] 6. This method of automatic ore sorting predicts the position of the screened high-quality ore after the operation time by setting the operation time, and then calculates the execution speed of the discharge operation by the distance between the center of the inferior ore and the screened high-quality ore. By considering the influence of the operation time and speed on the discharge operation, the reliability and authenticity of the discharge operation can be greatly improved.

[0110] 7. This method of automatic ore sorting ensures the stability of the sorting process by monitoring the actual path of inferior ore during the discharge operation in real time and comparing it with the preset path. If there is any deviation, adjustments are made to ensure the stability of the sorting process. At the same time, the possibility of mis-discharging high-quality ore and missing inferior ore is reduced, thereby improving the quality and efficiency of sorting. BRIEF DESCRIPTION OF THE DRAWINGS

[0111] Figure 1 It is a schematic diagram of the structure of the present invention;

[0112] Figure 2 The present invention is discharged from the operation schematic diagram. DETAILED DESCRIPTION

[0113] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0114] Example 1, see Figure 1 to Figure 2 , an automatic ore sorting method, comprising:

[0115] Get the conveyor belt's conveying area;

[0116] The conveying area is the ore transportation area;

[0117] Dividing a conveying area of ​​the conveyor belt into a first area and a second area;

[0118] Divide the ore into target objects and non-target objects;

[0119] The target object is the ore that needs to be discharged, and the non-target object is the ore that does not need to be discharged;

[0120] Get the contact point between the target object and the conveyor belt;

[0121] Determine the area where the target object contacts the conveyor belt;

[0122] According to the contact point between the target object and the conveyor belt and the area where the target object is located, the remaining ores in the area where the target object is located are screened, and the screening results are entered into the distance set;

[0123] Perform elimination comparison processing through distance set;

[0124] Determine whether to execute the discharge operation according to the discharge comparison processing result;

[0125] If the discharge operation is performed, the discharge path of the target object is set according to the contact point between the target object and the conveyor belt and the center point of the exit distance;

[0126] Real-time monitoring of the actual path of the target object during the discharge operation;

[0127] If the actual path does not coincide with the discharge path, a path adjustment strategy is implemented.

[0128] The step of dividing the conveyor belt into a first area and a second area comprises:

[0129] On the conveyor belt, draw a straight line perpendicular to the conveying direction of the conveyor belt, which is called the dividing line;

[0130] The part of the dividing line between the two edges of the conveyor belt is recorded as the dividing line segment;

[0131] The conveyor belt edge includes a first edge and a second edge;

[0132] Get the midpoint of the segment;

[0133] On the conveyor belt, draw a straight line through the midpoint of the dividing line segment and parallel to the edge of the conveyor belt, which is recorded as the first straight line;

[0134] The conveyor belt area between the first straight line and the first edge is recorded as the first area;

[0135] The conveyor belt area between the first straight line and the second edge is recorded as the second area;

[0136] By dividing the conveyor belt into the first area and the second area, this can help to manage and control the sorting process more finely, making the sorting operation more orderly.

[0137] The ore is divided into target objects and non-target objects, including:

[0138] Identify the conveying area of ​​the conveyor belt through image recognition technology;

[0139] Mark the ores that are identified as inferior as the objects to be discharged and enter them into the discharge set;

[0140] Marking the ores identified as high-quality as non-discharge objects;

[0141] Randomly select elements in the discharge set as the target object;

[0142] By using image recognition technology to identify ore, the ore can be accurately divided into high-quality and low-quality ones, improving the accuracy of sorting.

[0143] Determining the area where the contact point between the target object and the conveyor belt is located includes:

[0144] Get the contact point between the target object and the conveyor belt;

[0145] If the contact point of the target object on the conveyor belt is on the segmentation line, a top view of the target object on the conveyor belt is obtained;

[0146] Obtain the areas of the first region and the second region of the top view, respectively, and record them as d1 and d2;

[0147] d1 represents the area of ​​the top view in the first region, and d2 represents the area of ​​the top view in the second region;

[0148] If d1 is greater than or equal to d2, the target object is set to be in the first area;

[0149] If d1 is less than d2, the target object is set to be in the second area;

[0150] By determining the areas where the inferior ores in different positions are located, the best discharge path can be selected for the inferior ores in different areas to improve the sorting efficiency.

[0151] According to the contact point between the target object and the conveyor belt and the area where the target object is located, the remaining ores in the area where the target object is located are screened, and the screening results are entered into the distance set, including:

[0152] If the contact point between the target object and the conveyor belt is in the first area, a straight line parallel to the first edge is drawn through the contact point between the target object and the conveyor belt, which is recorded as the screening line;

[0153] Obtain all non-discharged objects on the conveyor belt between the screening line and the first edge;

[0154] Randomly select a pair of non-discharged objects to connect them to form a pre-selected line segment;

[0155] If there are other non-excluded objects on the pre-selected line segment, a new pair of non-excluded objects is selected for connection;

[0156] If there are no other non-excluded objects on the pre-selected line segment, the pre-selected line segment formed by the current pair of non-excluded objects is entered into the distance set;

[0157] The distance set is used to select the maximum length between adjacent ores;

[0158] When all non-ejectable objects in the first area are traversed, the selection stops;

[0159] By comparing the elements in the distance set pairwise, the non-excluded object corresponding to the maximum value of the element in the distance set is selected and recorded as the first ore and the second ore.

[0160] See also Figure 2The step of performing the ejection comparison process through the distance set and determining whether to execute the ejection operation according to the ejection comparison process result includes:

[0161] The straight-line distance between the first ore and the second ore is recorded as the exit distance;

[0162] Get a top view of the target object on the conveyor belt;

[0163] By using a top view to determine whether the discharge operation can be performed, the longest line segment of inferior ores of different shapes can be calculated, thereby improving the accuracy and rigor of sorting judgment, and having strong adaptability and flexibility;

[0164] Obtaining a contour of a top view of a target object on a conveyor belt, recorded as a first target object contour;

[0165] Obtain the contact points between the first ore and the second ore and the conveyor belt, which are recorded as node No. 1 and node No. 2;

[0166] Draw a straight line through nodes 1 and 2, and record it as the exit line;

[0167] Set the interception threshold a;

[0168] The interception threshold is a constant, which is used as the interception unit of the outline of the inferior ore top view, to help select the longest line segment in the inferior ore top view, and then determine whether the discharge operation can be performed;

[0169] Select any point on the first target object contour as the interception starting point, and select multiple interception nodes along the target object contour in a clockwise direction, denoted as , , … , n is the number of intercepted nodes;

[0170] Randomly select two interception nodes, connect them to form an interception line segment, and enter the interception line segment parallel to the exit line into the interception set;

[0171] By comparing the elements in the set pairwise, the size of the elements is intercepted and the maximum value of the elements is selected as the comparison element;

[0172] If the comparison element is greater than the exit distance, the current target object is marked and a human operator is called to discharge the current target object;

[0173] If the comparison element is less than or equal to the exit distance, the automatic discharge operation is performed;

[0174] By obtaining the position information of all high-quality ores between the inferior ore and the nearest conveyor belt edge, the maximum distance between adjacent high-quality ores is screened out. Based on the top view of the inferior ore in the transmission area, all line segments parallel to the screened adjacent high-quality ores in the top view are obtained. The longest line segment is selected through traversal comparison. The ratio between the longest line segment and the maximum distance is used to determine whether the inferior ore can be discharged. Based on the judgment result, it can be automatically determined whether to perform the discharge operation, which reduces manual intervention and improves the response speed and accuracy of the operation.

[0175] If the discharge operation is performed, a discharge path of the target object is set according to the contact point between the target object and the conveyor belt and the center point of the exit distance, including:

[0176] The point where the target object touches the conveyor belt is taken as the starting point;

[0177] Obtain the center point between the first ore and the second ore, and record it as the outlet midpoint;

[0178] performing a discharge operation on the target object along a discharge path using a mechanical paddle;

[0179] The mechanical paddles are rectangular metal plates;

[0180] Set the operation time threshold t;

[0181] The operation time threshold is a constant, which is used to set the execution time of the discharge operation. The discharge operation threshold can be adjusted according to different ore discharge requirements;

[0182] The predicted position of the exit midpoint in the transmission area after time t is recorded as the predicted midpoint;

[0183] Draw a ray from the starting point through the predicted midpoint, recorded as the discharge ray;

[0184] The line segment formed between the starting point and the predicted midpoint is recorded as the predicted line segment;

[0185] Obtain the contact points between the first ore and the second ore and the conveyor belt after time t, and record them as the first prediction point and the second prediction point;

[0186] If the first predicted point and the second predicted point are on the ejection ray, the operation time threshold t is adjusted to ;

[0187] If the first predicted point and the second predicted point are not on the discharge ray, setting the discharge ray as the discharge path;

[0188] Get the predicted line segment length;

[0189] The ratio between the predicted segment length and the operation time threshold t is recorded as the execution speed;

[0190] By setting the operation time, the position of the screened high-quality ore after the operation time is predicted, and then the execution speed of the discharge operation is calculated through the distance between the center of the inferior ore and the screened high-quality ore. By considering the impact of the operation time and speed on the discharge operation, the reliability and authenticity of the discharge operation can be greatly improved.

[0191] If the comparison element is less than or equal to the exit distance, the automatic discharge operation is performed, including:

[0192] Set the execution speed to the actual speed of the mechanical paddle in the ejection operation;

[0193] Acquire the moving trajectory of the target object during the discharge operation in real time;

[0194] If the moving track of the target object during the discharge operation coincides with the discharge path of the target object, then a vertical distance between the contact point between the target object and the conveyor belt and the first edge is determined and recorded as the discharge distance;

[0195] If the discharge distance is zero, the discharge operation on the current target object is stopped;

[0196] If the moving trajectory of the target object during the ejection operation does not coincide with the ejection path, a path adjustment strategy is executed;

[0197] By real-time monitoring of the actual path of low-quality ore during the discharge operation and comparing it with the preset path, adjustments are made if there are deviations to ensure the stability of the sorting process. At the same time, the possibility of mis-discharging high-quality ore and missing low-quality ore is reduced, thereby improving the quality and efficiency of sorting.

[0198] If the moving track of the target object during the ejection operation does not coincide with the ejection path, a path adjustment strategy is executed, including:

[0199] The path adjustment strategy is as follows:

[0200] Get the contact point between the current target object and the conveyor belt and record it as the actual position;

[0201] Obtain a top view outline of the current target object on the conveyor belt, recorded as a second target object outline;

[0202] Select any point on the second target object contour as the test starting point, take the interception threshold a as the unit, and select multiple test nodes in the clockwise direction along the target object contour, denoted as , , … , m is the number of test nodes;

[0203] Randomly select two test nodes, connect them to form a test line segment, and enter the test line segment parallel to the exit line into the test set;

[0204] By comparing the sizes of elements in the test set pairwise, the maximum value of the element is selected as the test element;

[0205] If the test element is larger than the exit distance, the current target object is marked and a human operator is called to discharge the current target object;

[0206] If the test element is less than or equal to the exit distance, the actual position is used as the starting point of the prediction test;

[0207] Obtain the center point between the first ore and the second ore, and record it as the predicted outlet midpoint;

[0208] The position of the predicted exit midpoint in the transmission area after time t is recorded as the predicted actual midpoint;

[0209] Draw a ray from the test starting point through the predicted actual midpoint, recorded as the predicted discharge ray;

[0210] The line segment formed between the test starting point and the predicted actual midpoint is recorded as the predicted actual line segment;

[0211] Obtain the contact points between the first ore and the second ore and the conveyor belt after time t, and record them as the first predicted actual point and the second predicted actual point;

[0212] If the first predicted actual point and the second predicted actual point are on the predicted discharge ray, the operation time threshold t is adjusted to ;

[0213] If the first predicted actual point and the second predicted actual point are not on the predicted discharge ray, setting the predicted discharge ray as a test discharge path;

[0214] Get the predicted actual line segment length;

[0215] The ratio between the predicted actual segment length and the operation time threshold is recorded as the predicted execution speed;

[0216] Setting the predicted execution speed to the actual speed of the mechanical paddle during the ejection operation;

[0217] performing a discharge operation on the target object along a test discharge path using a mechanical paddle;

[0218] Detect the moving trajectory of the current target object in real time;

[0219] If the current moving trajectory of the target object does not coincide with the target object test path, the above path adjustment strategy is repeatedly executed;

[0220] If the moving trajectory of the current target object coincides with the target object test path, then the vertical distance between the contact point of the current target object on the conveyor belt and the first edge is determined and recorded as the test distance;

[0221] If the test distance is zero, the discharge operation on the current target object is stopped.

[0222] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0223] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An automatic ore sorting method, characterized in that: include: Get the conveyor belt's conveying area; Dividing a conveying area of ​​the conveyor belt into a first area and a second area; Divide the ore into target objects and non-target objects; Get the contact point between the target object and the conveyor belt; Determine the area where the target object contacts the conveyor belt; According to the contact point between the target object and the conveyor belt and the area where the target object is located, the remaining ores in the area where the target object is located are screened, and the screening results are entered into the distance set; According to the contact point between the target object and the conveyor belt and the area where the target object is located, the remaining ores in the area where the target object is located are screened, and the screening results are entered into the distance set, including: If the contact point between the target object and the conveyor belt is in the first area, a straight line parallel to the first edge is drawn through the contact point between the target object and the conveyor belt, which is recorded as the screening line; Obtain all non-discharged objects on the conveyor belt between the screening line and the first edge; Randomly select a pair of non-discharged objects to connect them to form a pre-selected line segment; If there are other non-excluded objects on the pre-selected line segment, a new pair of non-excluded objects is selected for connection; If there are no other non-excluded objects on the pre-selected line segment, the pre-selected line segment formed by the current pair of non-excluded objects is entered into the distance set; When all non-ejectable objects in the first area are traversed, the selection stops; By comparing the elements in the distance set pairwise, the non-excluded object corresponding to the maximum value of the elements in the distance set is selected and recorded as the first ore and the second ore; Perform elimination comparison processing through distance set; Determine whether to execute the discharge operation according to the discharge comparison processing result; If the discharge operation is performed, the discharge path of the target object is set according to the contact point between the target object and the conveyor belt and the center point of the exit distance; Real-time monitoring of the actual path of the target object during the discharge operation; If the actual path does not coincide with the discharge path, a path adjustment strategy is implemented.

2. The method for automatic ore sorting according to claim 1, characterized in that: The step of dividing the conveyor belt into a first area and a second area comprises: On the conveyor belt, draw a straight line perpendicular to the conveying direction of the conveyor belt, which is called the dividing line; The part of the dividing line between the two edges of the conveyor belt is recorded as the dividing line segment; The conveyor belt edge includes a first edge and a second edge; Get the midpoint of the segment; On the conveyor belt, draw a straight line through the midpoint of the dividing line segment and parallel to the edge of the conveyor belt, which is recorded as the first straight line; The conveyor belt area between the first straight line and the first edge is recorded as the first area; The conveyor belt area between the first straight line and the second edge is recorded as the second area.

3. The method for automatic ore sorting according to claim 1, characterized in that: The ore is divided into target objects and non-target objects, including: Identify the conveying area of ​​the conveyor belt through image recognition technology; Mark the ores that are identified as inferior as the objects to be discharged and enter them into the discharge set; Marking the ores identified as high-quality as non-discharge objects; Randomly select an element from the collection as the target object.

4. The method for automatic ore sorting according to claim 1, characterized in that: Determining the area where the contact point between the target object and the conveyor belt is located includes: Get the contact point between the target object and the conveyor belt; If the contact point of the target object on the conveyor belt is on the segmentation line, a top view of the target object on the conveyor belt is obtained; Obtain the areas of the first region and the second region of the top view, respectively, and record them as d1 and d2; If d1 is greater than or equal to d2, the target object is set to be in the first area; If d1 is less than d2, the target object is set to be in the second area.

5. The method for automatic ore sorting according to claim 1, characterized in that: The performing the ejection comparison process by using the distance set and judging whether to execute the ejection operation according to the ejection comparison process result includes: The straight-line distance between the first ore and the second ore is recorded as the exit distance; Get a top view of the target object on the conveyor belt; Obtaining a contour of a top view of a target object on a conveyor belt, recorded as a first target object contour; Obtain the contact points between the first ore and the second ore and the conveyor belt, which are recorded as node No. 1 and node No. 2; Draw a straight line through nodes 1 and 2, and record it as the exit line; Set the interception threshold a; Select any point on the first target object contour as the interception starting point, and select multiple interception nodes along the target object contour in a clockwise direction, denoted as , , … , n is the number of intercepted nodes; Randomly select two interception nodes, connect them to form an interception line segment, and enter the interception line segment parallel to the exit line into the interception set; By comparing the elements in the set pairwise, the size of the elements is intercepted and the maximum value of the elements is selected as the comparison element; If the comparison element is greater than the exit distance, the current target object is marked and a human operator is called to discharge the current target object; If the comparison element is less than or equal to the exit distance, the automatic discharge operation is performed.

6. The method for automatic ore sorting according to claim 1, characterized in that: If the discharge operation is performed, a discharge path of the target object is set according to the contact point between the target object and the conveyor belt and the center point of the exit distance, including: The point where the target object touches the conveyor belt is taken as the starting point; Obtain the center point between the first ore and the second ore, and record it as the outlet midpoint; performing a discharge operation on the target object along a discharge path using a mechanical paddle; The mechanical paddles are rectangular metal plates; Set the operation time threshold t; The predicted position of the exit midpoint in the transmission area after time t is recorded as the predicted midpoint; Draw a ray from the starting point through the predicted midpoint, recorded as the discharge ray; The line segment formed between the starting point and the predicted midpoint is recorded as the predicted line segment; Obtain the contact points between the first ore and the second ore and the conveyor belt after time t, and record them as the first prediction point and the second prediction point; If the first predicted point and the second predicted point are on the ejection ray, the operation time threshold t is adjusted to ; If the first predicted point and the second predicted point are not on the discharge ray, setting the discharge ray as the discharge path; Get the predicted line segment length; The ratio between the predicted segment length and the operation time threshold t is recorded as the execution speed.

7. The method for automatic ore sorting according to claim 5, characterized in that: If the comparison element is less than or equal to the exit distance, the automatic discharge operation is performed, including: Set the execution speed to the actual speed of the mechanical paddle in the ejection operation; Acquire the moving trajectory of the target object during the discharge operation in real time; If the moving track of the target object during the discharge operation coincides with the discharge path of the target object, then a vertical distance between the contact point between the target object and the conveyor belt and the first edge is determined and recorded as the discharge distance; If the discharge distance is zero, the discharge operation on the current target object is stopped; If the moving trajectory of the target object during the ejection operation does not coincide with the ejection path, the path adjustment strategy is executed.

8. The method for automatic ore sorting according to claim 7, characterized in that: If the moving track of the target object during the ejection operation does not coincide with the ejection path, a path adjustment strategy is executed, including: The path adjustment strategy is as follows: Get the contact point between the current target object and the conveyor belt and record it as the actual position; Obtain a top view outline of the current target object on the conveyor belt, recorded as a second target object outline; Select any point on the second target object contour as the test starting point, take the interception threshold a as the unit, and select multiple test nodes in the clockwise direction along the target object contour, denoted as , , … , m is the number of test nodes; Randomly select two test nodes, connect them to form a test line segment, and enter the test line segment parallel to the exit line into the test set; By comparing the sizes of elements in the test set pairwise, the maximum value of the element is selected as the test element; If the test element is larger than the exit distance, the current target object is marked and a human operator is called to discharge the current target object; If the test element is less than or equal to the exit distance, the actual position is used as the starting point of the prediction test; Obtain the center point between the first ore and the second ore, and record it as the predicted outlet midpoint; The position of the predicted exit midpoint in the transmission area after time t is recorded as the predicted actual midpoint; Draw a ray from the test starting point through the predicted actual midpoint, recorded as the predicted discharge ray; The line segment formed between the test starting point and the predicted actual midpoint is recorded as the predicted actual line segment; Obtain the contact points between the first ore and the second ore and the conveyor belt after time t, and record them as the first predicted actual point and the second predicted actual point; If the first predicted actual point and the second predicted actual point are on the predicted discharge ray, the operation time threshold t is adjusted to ; If the first predicted actual point and the second predicted actual point are not on the predicted discharge ray, setting the predicted discharge ray as a test discharge path; Get the predicted actual line segment length; The ratio between the predicted actual segment length and the operation time threshold is recorded as the predicted execution speed; Setting the predicted execution speed to the actual speed of the mechanical paddle during the ejection operation; performing a discharge operation on the target object along a test discharge path using a mechanical paddle; Detect the moving trajectory of the current target object in real time; If the current moving trajectory of the target object does not coincide with the target object test path, the above path adjustment strategy is repeatedly executed; If the moving trajectory of the current target object coincides with the target object test path, then the vertical distance between the contact point of the current target object on the conveyor belt and the first edge is determined and recorded as the test distance; If the test distance is zero, the discharge operation on the current target object is stopped.

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