Clean coal flotation reagent regulation and control method and reagent regulation and control system thereof

Abstract

The invention discloses a clean coal flotation reagent regulation and control method and a reagent regulation and control system thereof.The method comprises the steps that in the clean coal flotation process, an image sample file is recorded by a visual module; the central processing module processes the sample file to obtain a flotation state judgment reference set; performing size calculation on a plurality of foam objects in the flotation state judgment reference set, and drawing a foam size distribution proportion diagram of the generated sample unit; then comprehensively judging the flotation effect in a sampling time period according to the uniformity change trend of a foam layer, the thickness change trend of the foam layer, the relative proportion condition of foam objects in an ideal foam size range in each sample unit and the foam stability in a plurality of continuous sample units, and calculating to obtain an agent adjustment addition amount; and the medicine adding adjusting module adjusts and controls the medicine adding amount in real time according to the obtained medicine adjusting adding amount. The agent adding amount can be regulated and controlled according to the real-time dynamic change of the foam layer, so that the flotation effect and stability are improved.

Description

Technical Field

[0001] The invention relates to the technical field of coal preparation, in particular to a clean coal flotation reagent control method and a reagent control system thereof. Background Art

[0002] Flotation coal washing is a common coal preparation process. Various reagents need to be added during the process to obtain better flotation effects. The amount of reagents added is usually obtained by the raw coal selectivity test analysis. However, due to the complexity of the slurry composition, in actual addition, too much or too little reagent is added, which is a common situation. Too much or too little reagent content will seriously affect the flotation effect and cause the flotation effect to be unstable. It is usually necessary to conduct regular inspections and observations, and adjust the amount of reagents added according to experience. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a clean coal flotation reagent control method and a reagent control system thereof, which can automatically control the amount of reagent added according to the real-time dynamic changes of the foam layer to improve the flotation effect and stability.

[0004] Technical solution: To achieve the above purpose, the present invention provides a method for regulating and controlling a clean coal flotation reagent and a reagent regulating and controlling system thereof. During the clean coal flotation process, the actual amount of the reagent to be added is regulated and controlled in real time by the reagent regulating and controlling system;

[0005] The drug control system includes: a visual module for real-time observation of the dynamic changes of the foam layer and collection of image samples; a central processing module for processing image samples to obtain information, analyzing the information to determine the flotation state, and making corresponding decisions and sending control instructions; a drug adjustment module for executing control instructions and controlling and adjusting the real-time drug addition amount;

[0006] The specific steps of drug regulation are as follows:

[0007] S1. The visual module records the dynamic changes of the foam layer, saves a historical image at a preset time interval, and takes the latest saved image as the sample file;

[0008] S2, the central processing module processes the sample file, takes a single frame image as a sample unit, takes multiple sample units with a preset frame interval in the sample file, each of which records the foam layer thickness, foam shape and distribution state at a corresponding moment, and performs image analysis on each sample unit;

[0009] Take multiple sub-samples in a single sample unit, and extract features from the multiple sub-samples respectively. The multiple sub-samples are evenly distributed in the sample unit, and the distribution positions of the sub-samples in the multiple sample units overlap.

[0010] In a single sub-sample, the foam boundary contour is extracted, and the area enclosed by the complete contour line is regarded as a single foam object;

[0011] First, incomplete objects close to the border line in each sub-sample are eliminated, and then by comparing the size changes of the same foam objects in two adjacent sample units, the foam objects in each sample unit with large size changes relative to the same foam objects in the adjacent sample units on both sides are eliminated, and the set composed of the remaining foam objects in each sample unit is used as the reference set for judging the flotation state of the sample unit;

[0012] S3. In a single sample unit, the sizes of multiple foam objects in the flotation state judgment reference set are calculated, the distribution law of the sizes of the multiple foam objects and the overlap relative to the ideal foam size range are summarized, and a foam size distribution ratio diagram of the sample unit is generated;

[0013] S4. First, the uniformity of the foam layer in the corresponding sample unit is judged according to the slope of each foam size distribution ratio diagram; then, the flotation effect within the sampling period is comprehensively judged according to the uniformity change trend of the foam layer, the thickness change trend of the foam layer, the proportion of foam objects within the ideal foam size range relative to all foam objects in each sample unit, and the foam stability in multiple consecutive sample units. If the flotation effect is low, the corresponding influencing factors are analyzed, and the corresponding reagent adjustment addition amount is calculated;

[0014] S5, the reagent adding module adjusts the reagent adding amount of the clean coal flotation system in real time according to the reagent adding amount obtained in step S4.

[0015] Furthermore, in step S2, after removing objects with incomplete borders, the center of mass of the remaining foam objects in the sub-sample is first calculated, and then the displacement distance of the same foam object in the adjacent sample units is extracted according to the movement direction of the foam layer, which is used to match and lock all the same foam objects in the corresponding sub-samples in the adjacent sample units, and the locked foam objects are compared through overlap, and the foam objects with overlap lower than the preset value are removed.

[0016] Furthermore, in step S3, when calculating the size of a single foam object, first extract the convex segment of the multi-segment contour line of the foam object, take the connecting line between the center point of the convex segment and the center of mass of the foam object, calculate the length of the multi-segment connecting line, and take the average value of the length of the multi-segment connecting line as the radius size of the foam object.

[0017] Furthermore, if the contour line of the foam object does not contain a convex segment, the center points of multiple straight contour lines are connected to the center of mass of the foam object respectively, the lengths of the multiple connecting lines are calculated, and the average value of the lengths of the multiple connecting lines is taken as the radius size of the foam object.

[0018] Furthermore, in step S1, the visual module shoots perpendicularly to the plane where the foam layer is located, and the shooting area is a foam scraping area away from the flotation area of ​​the flotation tank.

[0019] Furthermore, in step S4, the thickness variation trend of the foam layer is obtained by photographing and recording the marking array on both sides of the pool wall of the flotation pool foam scraping area through the visual module, the marking array comprises a plurality of marking units arranged equidistantly along the vertical direction, and the number of marking units in each sample unit represents the thickness of the froth layer at the corresponding moment, and the thickness variation trend of the foam layer within the sample time period is obtained according to the number of markings in a plurality of consecutive sample units.

[0020] Furthermore, in step S4, the foam stability is obtained by classifying the sound when the foam layer is scraped out according to the pre-stored sound reference samples through the sound recognition module, and then making a corresponding foam stability judgment according to the obtained sound type.

[0021] Furthermore, it includes an adjustment dosing module, which is provided with multiple dosing pipelines corresponding to multiple flotation cells, one end of the dosing pipeline is connected to the impeller cavity of the inflation mechanism corresponding to the flotation cell, and the other end is connected to the dosing tanks of multiple reagents through branches, and each branch is provided with a dosing regulating valve for regulating the flow rate.

[0022] Furthermore, a visual module and a sound recognition module are provided at the foam scraping outlet of each flotation cell, and the visual module and the sound recognition module are connected to the plurality of dosing regulating valves corresponding to the flotation cell through control signal transmission of a central processing module.

[0023] Furthermore, each of the flotation cell's pulp outlets is provided with a reagent concentration detection module, the dosing pipeline is provided with a total amount regulating valve, and the reagent concentration detection module is connected to the total amount regulating valve of the corresponding flotation cell through a central processing module control signal transmission.

[0024] Beneficial effects: The clean coal flotation reagent control method and reagent control system of the present invention observe the dynamic changes of the foam layer of each flotation cell in real time through the visual module, generate corresponding reagent ratio control instructions, and fine-tune the reagent ratio of each flotation cell respectively to maintain the flotation effect of each flotation cell. By detecting the reagent concentration at the outlet of the ore pulp of each flotation cell, the total amount of reagent added in the next flotation cell is regulated to maintain the reagent addition amount around the preset addition amount or within the preset addition range, thereby dynamically fine-tuning each flotation cell without deviating from the preset total amount of reagent added. Reagent control is more accurate, reliable and timely, which improves the flotation effect and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1A block diagram of a clean coal flotation reagent control method of the present invention;

[0026] Figure 2 The figure is a schematic diagram of the structure of a drug control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] As attached Figure 1-2 The clean coal flotation reagent control method and reagent control system described above can control the actual amount of the required added reagent in real time through the reagent control system during the clean coal flotation process.

[0029] The drug control system comprises:

[0030] The visual module is used to observe the dynamic changes of the foam layer in real time and collect image samples.

[0031] The central processing module is used to process image samples to obtain information, analyze the information to determine the flotation state, make corresponding decisions and send control instructions.

[0032] The dosing adjustment module is used to execute control instructions and control and adjust the real-time dosing amount.

[0033] The specific steps of drug regulation are as follows:

[0034] S1. The visual module records the dynamic changes of the foam layer, saves a historical image every preset time, and uses the latest saved image as a sample file. The visual module shoots perpendicular to the plane where the foam layer is located, and the shooting area is the foam scraping area away from the flotation area of ​​the flotation tank. Since bubbles constantly emerge from the bottom of the tank and randomly penetrate into the foam layer in the flotation area of ​​the flotation tank, the dynamic changes of the foam layer are diversified and irregular, while the foam scraping area relatively far away from the flotation area has no bubbles directly replenished from the bottom, but is scraped from the surface of the flotation area to the surface of the foam scraping area by a scraper. Most of the foam only has bubbles moving horizontally along the liquid surface, so as to facilitate image analysis and processing after sample collection, and avoid the problem of increased difficulty in image processing caused by bubbling in uncertain positions.

[0035] The sample file is a surveillance video of a set duration. The specific duration can be obtained through experimental research. The specific study is the time required from excessive or insufficient addition of the agent to causing significant changes in the foam layer, and then a reasonable setting is made based on this duration. In addition, the sample file is time-sensitive. Only the latest saved file is used as the analysis sample, and 5-10 historical sample files are cached forward for retrieval and viewing, and the excess parts are cleaned up in time. At the same time, the real-time monitoring screen can be retrieved, and the monitor can directly observe the state of the foam layer. If an abnormality is found in the foam layer during the review, manual intervention can be performed to directly adjust the dosage. After manual intervention, the sample file is re-timed and saved for subsequent autonomous control. That is, it is mainly based on automatic control, and manual control can be performed through random manual intervention inspections, which greatly reduces the frequency of manual inspections and reduces the time invested in human observation.

[0036] S2. The central processing module processes the sample file, taking a single frame image as a sample unit, taking multiple sample units with preset frame intervals in the sample file, each of which records the foam layer thickness, foam shape and distribution state at the corresponding moment, and performing image analysis on each sample unit; each sample unit is a screenshot in the video sample file, and multiple screenshots are taken at fixed time intervals as multiple sample units.

[0037] Multiple subsamples are taken in a single sample unit, and features are extracted for the multiple subsamples respectively. The multiple subsamples are evenly distributed in the sample unit, and the distribution positions of the subsamples in the multiple sample units overlap. The subsamples are distributed in the area where the foam layer in the sample unit is located. A small area in the top view of the foam layer is framed by a rectangular frame with fixed length and width, and multiple subsamples frame multiple areas of the same size. These areas are equidistantly distributed along a direction perpendicular to the movement of the foam. The subsample positions in the multiple sample units are selected to be the same, which can be used for before-and-after comparison to obtain the dynamic changes of the foam layer in this area.

[0038] In a single sub-sample, the foam boundary contour is extracted, and the area enclosed by the complete contour line is regarded as a single foam object;

[0039] First, incomplete objects close to the border line in each sub-sample are eliminated, and then by comparing the size changes of the same foam objects in two adjacent sample units, the foam objects in each sample unit with large size changes relative to the same foam objects in the adjacent sample units on both sides are eliminated, and the set composed of the remaining foam objects in each sample unit is used as the reference set for judging the flotation state of the sample unit;

[0040] Among them, after removing the objects with incomplete borders, the centroid of the remaining foam objects in the sub-sample is calculated first, and the matrix algorithm can be used to calculate the centroid according to the contour line of each foam object.

[0041] Then, according to the moving direction of the foam layer, the displacement distance of the same foam object in the adjacent sample units is extracted, which is used to match and lock all the same foam objects in the corresponding subsamples in the adjacent sample units. The locked foam objects are compared by overlap, and the foam objects with an overlap degree lower than the preset value are eliminated. Among them, the centroids of two foam objects whose contours are almost completely overlapped in the moving direction of the foam layer in the adjacent sample units are extracted as a group, and multiple groups are extracted accordingly, and the distance between the centroids of each group is obtained. The average value of multiple distance values ​​with relatively close values ​​is taken as the moving distance of the foam layer between the corresponding moments of the two sample units. The two foam objects with the centroids as one group are considered to have matched each other.

[0042] Then, the remaining unmatched foam objects in the two sample units are matched, specifically including: based on the overlap of the images of two adjacent sample units, firstly, with the center of mass of the unmatched foam object in the sample unit at the previous moment as the center of the circle, and with the calculated foam layer movement distance as the radius, a semicircular reference line is drawn in the direction of the foam layer movement, and the unmatched foam object whose center of mass position is closest to the reference line in the sample unit at the next moment is the most matched object. If the match is successful, the two foam objects are extracted according to the contour, and the centers of mass of the two overlap, and then the overlap of the two foam objects is calculated. If the overlap meets the preset range, the two foam objects are respectively placed in the flotation state judgment reference set of the corresponding sample unit. If the overlap is too low, the two foam objects are eliminated; if the match is unsuccessful, that is, no matching center of mass position is found around the semicircular reference line, the foam object is directly eliminated. Based on the above matching process, in the flotation state judgment reference set obtained by two adjacent sample units, each foam object can find a one-to-one corresponding foam object with a high degree of overlap with each other, which eliminates the developing foam objects and some unstable and broken foam objects, and uses the foam objects with a long existence time, stable structure and more complete structure as the judgment objects of the foam layer state, which makes the judgment of the foam layer state more reliable and representative.

[0043] S3. In a single sample unit, the size of multiple foam objects in the flotation state judgment reference set is calculated, the distribution law of the sizes of the multiple foam objects and the overlap relative to the ideal foam size range are summarized, and a foam size distribution ratio diagram of the sample unit is drawn. The foam size distribution ratio diagram uses percentage as the horizontal axis and foam size as the vertical axis, which can intuitively reflect the distribution state of the foam size of the foam layer.

[0044] When calculating the size of a single foam object, first extract the convex segment of the multi-segment contour line of the foam object, take the line connecting the center point of the convex segment and the center of mass of the foam object, calculate the length of the multi-segment line, and take the average length of the multi-segment line as the radius size of the foam object. Due to the relative extrusion of each foam object in the foam layer, the foam is irregular in shape, in which the contour line of the convex segment is relatively less squeezed and is closer to the original contour of the foam, and some convex segments may be further convex due to extrusion, so the average value of the line connecting the center point of the multi-segment convex segment to the mass point as the radius value of the foam object is closer to the actual size of the foam object.

[0045] If the contour line of the foam object does not contain a convex segment, connect the center points of multiple straight contour lines with the center of mass of the foam object, calculate the length of the multiple connecting lines, and take the average value of the lengths of the multiple connecting lines as the radius size of the foam object.

[0046] If the contour lines of the foam object are all concave arcs, then take the intersection of multiple concave arc segments and the centroid connection line, calculate the length of the multiple segments, and take the average value of the multiple segment lengths as the radius size of the foam object.

[0047] S4. First, judge the uniformity of the foam layer in the corresponding sample unit according to the slope of each foam size distribution ratio diagram; then, comprehensively judge the flotation effect within the sampling time period according to the uniformity change trend of the foam layer, the thickness change trend of the foam layer, the proportion of foam objects within the ideal foam size range relative to all foam objects in each sample unit, and the foam stability in multiple consecutive sample units. If the flotation effect is low, analyze the corresponding influencing factors and calculate the corresponding reagent adjustment addition amount.

[0048] Among them, when the total amount of foam objects in the flotation state judgment reference set decreases, it means that the amount of foam in the foam layer decreases, and the foam is easy to break, resulting in fewer foam objects that can be matched, indicating that the content of collector in the reagent is relatively small, so the proportion of collector addition is controlled to increase; if the above situation occurs at the same time, the proportion of large-size foam objects in the flotation state judgment reference set increases, and the foam layer becomes thinner, indicating that the foam layer has a small amount of foam, is easy to break, and also contains large foam, indicating that the amount of foaming agent added is relatively small, so the proportion of foaming agent added is controlled to increase.

[0049] When the total amount of foam objects in the flotation state judgment reference set increases and the proportion of small-size foam increases significantly, it means that the content of collector is too high, so the proportion of collector addition is controlled to decrease; if the thickness of the foam layer increases significantly while the above situation occurs, it means that the content of foaming agent is too high, so the proportion of foaming agent addition is controlled to decrease.

[0050] Among them, the ideal foam size range is generally 3-5cm, the large-size foam object range is generally 8-10cm, and the small-size foam object range is generally 1-2cm.

[0051] Based on the above-mentioned recognition of the state characteristics of the foam layer, there are certain feature overlaps and certain feature differences for the changes in the foam layer caused by too much or too little addition of collectors and foaming agents in the reagents. The feature differences are mainly reflected in the changes in the thickness of the foam layer and whether there are large-sized bubbles. Since the state of the foam layer is relatively complex, if no significant feature differences can be identified, the sound recognition module can also be used to distinguish whether the change in the content of the collector or the foaming agent causes the change in the state of the foam layer. For example, when there are too many or too few foaming agents, the foam is tough and elastic or the size of individual foams is too large, and in both cases, the foam is brittle and easy to break and difficult to be scraped out, so when scraping the foam, a relatively large bursting sound will be emitted; and when there are too many or too few collectors, the foam is dense or the foam content is small and the size is small, so that the foam makes a rustling sound when scraping it out; and the foam in the ideal flotation state will make a slight hissing sound due to movement. Therefore, based on the above-mentioned feature observation set sound recognition of the foam layer, it can be verified and summarized which reagent needs to be adjusted to improve accuracy and reliability.

[0052] On this basis, combined with the judgment of the uniformity of the foam layer, while adjusting the dosage ratio of each reagent, the air intake and stirring speed are coordinated to maintain the air intake and stirring speed suitable for the amount of reagent added, to assist in controlling the thickness of the foam layer and maintain the state stability of each flotation cell.

[0053] Among them, the acquisition of the foam layer thickness change trend is achieved by photographing and recording the identification array on the two side walls of the flotation pool foam scraping area through the visual module, the identification array includes a plurality of identification units arranged equidistantly along the vertical direction, and the number of identification units in each sample unit represents the thickness of the froth layer at the corresponding moment, and the thickness change trend of the foam layer within the sample time period is obtained according to the number of identifications in multiple consecutive sample units.

[0054] The foam stability is obtained by classifying the sound when the foam layer is scraped out according to the pre-stored sound reference samples through the sound recognition module, and then making a corresponding foam stability judgment according to the obtained sound type.

[0055] S5. The dosing adjustment module adjusts the amount of reagent added to the clean coal flotation system in real time according to the amount of reagent added obtained in step S4. The dosing adjustment module is provided with multiple dosing pipelines 2 corresponding to multiple flotation cells 1, one end of the dosing pipeline 2 is connected to the impeller cavity of the aeration mechanism 20 corresponding to the flotation cell 1, and the other end is connected to the dosing tanks 4 of multiple reagents through branches 3, and each branch is provided with a dosing regulating valve 5 for regulating the flow rate. The dosing regulating valves 5 of each branch are controlled by the instructions generated by the central processing module to respectively regulate the flow rate of each reagent added to the dosing pipeline 2, thereby adjusting the dosing ratio between each reagent.

[0056] A visual module 6 and a voice recognition module 7 are provided at the foam scraping outlet 11 of each flotation cell 1, and the visual module 6 and the voice recognition module 7 are connected to the multiple dosing regulating valves 5 of the corresponding flotation cell 1 through the control signal transmission of the central processing module 8. The independent dynamic regulation of the reagent proportion of each flotation cell is realized to ensure that each flotation cell maintains a good flotation effect.

[0057] In addition, each of the slurry outlets 12 of the flotation cell 1 is provided with a reagent concentration detection module 9, and the dosing pipeline 2 is provided with a total amount regulating valve 10. The reagent concentration detection module 9 is connected to the total amount regulating valve 10 of the corresponding flotation cell 1 through the control signal transmission of the central processing module 8. The total amount regulating valve 10 is used to regulate the total amount of reagents added in each flotation cell. Before flotation, a batch of coal mines are usually subjected to a selectivity test to determine the addition range of each flotation reagent. Based on this, while realizing the dynamic fine-tuning of the reagent proportion of each flotation cell, it is also necessary to ensure that the total amount of reagent added should be limited to the vicinity of the preset addition amount or within the addition range to ensure the overall flotation effect. Therefore, by detecting the reagent concentration at the slurry outlet of each flotation cell, the total amount of reagent added in the next flotation cell is regulated, and then the addition proportion of each reagent in the corresponding flotation cell is regulated according to the foam layer state of each flotation cell, thereby realizing the reagent regulation of the system. On the basis of not deviating from the preset total amount of reagent added, each flotation cell is dynamically fine-tuned. Drug regulation is more accurate and reliable.

[0058] The above description 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 above principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for regulating and controlling a clean coal flotation reagent, characterized in that: During the clean coal flotation process, the actual amount of reagents required to be added is controlled in real time through the reagent control system; The drug control system includes: a visual module for real-time observation of dynamic changes in the foam layer and collection of image samples; The central processing module is used to process image samples to obtain information, analyze the information to determine the flotation state, make corresponding decisions and send control instructions; the dosing adjustment module is used to execute control instructions and control and adjust the real-time dosing amount; The specific steps of drug regulation are as follows: S1. The visual module records the dynamic changes of the foam layer, saves a historical image at a preset time interval, and takes the latest saved image as the sample file; S2, the central processing module processes the sample file, takes a single frame image as a sample unit, takes multiple sample units with a preset frame interval in the sample file, each of which records the foam layer thickness, foam shape and distribution state at a corresponding moment, and performs image analysis on each sample unit; Take multiple sub-samples in a single sample unit, and extract features from the multiple sub-samples respectively. The multiple sub-samples are evenly distributed in the sample unit, and the distribution positions of the sub-samples in the multiple sample units overlap. In a single sub-sample, the foam boundary contour is extracted, and the area enclosed by the complete contour line is regarded as a single foam object; First, incomplete objects close to the border line in each sub-sample are eliminated, and then by comparing the size changes of the same foam objects in two adjacent sample units, the foam objects in each sample unit with large size changes relative to the same foam objects in the adjacent sample units on both sides are eliminated, and the set composed of the remaining foam objects in each sample unit is used as the reference set for judging the flotation state of the sample unit; S3. In a single sample unit, the sizes of multiple foam objects in the flotation state judgment reference set are calculated, the distribution law of the sizes of the multiple foam objects and the overlap relative to the ideal foam size range are summarized, and a foam size distribution ratio diagram of the sample unit is generated; S4. First, the uniformity of the foam layer in the corresponding sample unit is judged according to the slope of each foam size distribution ratio diagram; then, the flotation effect within the sampling period is comprehensively judged according to the uniformity change trend of the foam layer, the thickness change trend of the foam layer, the proportion of foam objects within the ideal foam size range relative to all foam objects in each sample unit, and the foam stability in multiple consecutive sample units. If the flotation effect is low, the corresponding influencing factors are analyzed, and the corresponding reagent adjustment addition amount is calculated; S5, the reagent adding module adjusts the reagent adding amount of the clean coal flotation system in real time according to the reagent adding amount obtained in step S4.

2. A clean coal flotation reagent control method according to claim 1, characterized in that: In step S2, after removing objects with incomplete borders, the center of mass of the remaining foam objects in the sub-sample is calculated first, and then the displacement distance of the same foam object in the adjacent sample units is extracted according to the movement direction of the foam layer, which is used to match and lock all the same foam objects in the corresponding sub-samples in the adjacent sample units. The locked foam objects are compared through overlap, and the foam objects with overlap lower than the preset value are removed.

3. A clean coal flotation reagent control method according to claim 2, characterized in that: In step S3, when calculating the size of a single foam object, first extract the convex segment of the multi-segment contour line of the foam object, take the line connecting the center point of the convex segment and the center of mass of the foam object, calculate the length of the multi-segment line, and take the average value of the length of the multi-segment line as the radius size of the foam object.

4. A clean coal flotation reagent control method according to claim 3, characterized in that: If the contour line of the foam object does not contain a convex segment, connect the center points of multiple straight contour lines with the center of mass of the foam object, calculate the length of the multiple connecting lines, and take the average value of the lengths of the multiple connecting lines as the radius size of the foam object.

5. A clean coal flotation reagent control method according to claim 4, characterized in that: In step S1, the visual module shoots perpendicularly to the plane where the foam layer is located, and the shooting area is the foam scraping area away from the flotation area of ​​the flotation tank.

6. A clean coal flotation reagent control method according to claim 5, characterized in that: In step S4, the variation trend of the foam layer thickness is obtained by photographing and recording the identification array on both sides of the pool wall of the flotation pool foam scraping area through the visual module, the identification array comprises a plurality of identification units arranged equidistantly along the vertical direction, and the number of identification units in each sample unit represents the thickness of the froth layer at the corresponding moment, and the thickness variation trend of the foam layer in the sample time period is obtained according to the number of identification units in a plurality of consecutive sample units.

7. A clean coal flotation reagent control method according to claim 6, characterized in that: In step S4, the foam stability is obtained by classifying the sound when the foam layer is scraped out according to the pre-stored sound reference samples through the sound recognition module, and then making a corresponding foam stability judgment according to the obtained sound type.

8. A reagent control system for a clean coal flotation reagent control method according to any one of claims 1 to 7, characterized in that: The invention comprises an adjusting and dosing module, wherein the adjusting and dosing module is provided with a plurality of dosing pipelines (2) corresponding to a plurality of flotation cells (1), one end of the dosing pipeline (2) is connected to the impeller cavity of the aeration mechanism (20) corresponding to the flotation cell (1), and the other end is respectively connected to dosing tanks (4) of a plurality of medicines through a branch line (3), and each branch line is provided with a dosing regulating valve (5) for regulating flow.

9. The reagent control system of the clean coal flotation reagent control method according to claim 8, characterized in that: A visual module (6) and a sound recognition module (7) are provided at the foam scraping outlet (11) of each flotation tank (1), and the visual module (6) and the sound recognition module (7) are both connected to the plurality of dosing regulating valves (5) corresponding to the flotation tank (1) through a central processing module (8) controlling signal transmission.

10. The reagent control system of the clean coal flotation reagent control method according to claim 9, characterized in that: The pulp discharge outlet (12) of each flotation tank (1) is provided with a reagent concentration detection module (9), the dosing pipeline (2) is provided with a total amount regulating valve (10), and the reagent concentration detection module (9) is connected to the total amount regulating valve (10) of the corresponding flotation tank (1) through a central processing module (8) control signal transmission.

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