Coal gangue utilization identification method and system

Abstract

The invention relates to a coal gangue utilization identification method and system, and relates to the field of ore sorting, and the method comprises the steps: obtaining an X-ray image and a first color image of each material on a main conveying belt, determining the density of each material based on the X-ray image, determining the three-channel color value of each material based on the first color image, and determining the density of each material based on the three-channel color value. Determining the probability that each material belongs to the coal gangue based on the density and the three-channel color value, if an abnormal material with the probability in an abnormal probability interval exists, controlling a manipulator to grab the abnormal material and determine the resistance value of the abnormal material, and correcting the probability that the abnormal material belongs to the coal gangue based on the resistance value to obtain the corrected probability; and if the corrected probability reaches a preset probability threshold value, the manipulator is controlled to convey the abnormal materials to a first preset position, so that the high-pressure airflow jetting device pushes the abnormal materials to a coal gangue collecting position. The coal gangue in the materials can be more accurately separated out, and the separation effect is improved.

Description

Technical Field

[0001] The present application relates to the field of ore separation, and in particular, to a method and system for identifying the utilization of coal gangue. Background Art

[0002] Coal gangue is the main solid waste in coal mining. At present, the mined coal is usually separated from the coal gangue in the coal by an ore separator. After the coal material enters the main conveyor belt of the ore separator, the density of the material is collected by X-ray and the image of the material is collected by a camera. Coal and coal gangue are distinguished according to the density and the image. Then, at the end of the main conveyor belt, the coal gangue is pushed into the coal gangue conveyor belt by a high-pressure air jet device, and the high-pressure air jet device does not eject gas to the coal, so that the coal enters the coal conveyor belt. However, the density and image of some coal gangue are relatively close to those of coal, and the ore separator cannot accurately separate these coal gangue, resulting in the mixing of coal gangue into coal and deteriorating the separation effect. Summary of the Invention

[0003] In order to more accurately separate the coal gangue in the material and improve the separation effect, the present application provides a method and system for identifying the utilization of coal gangue.

[0004] In a first aspect, the present application provides a method for identifying the utilization of coal gangue, adopting the following technical solution: A method for identifying the utilization of coal gangue includes: Obtaining an X-ray image and a first color image of each material on the main conveyor belt; Determining the density of each material based on the X-ray image, and determining the three-channel color value of each material based on the first color image; Determining the probability that each material belongs to coal gangue based on the density and the three-channel color value; If there are abnormal materials with probabilities in the abnormal probability interval, controlling a manipulator to grab the abnormal materials and determining the resistance value of the abnormal materials; Correcting the probability that the abnormal materials belong to coal gangue based on the resistance value to obtain a corrected probability; If the corrected probability reaches a preset probability threshold, controlling the manipulator to transport the abnormal materials to a first preset position so that the high-pressure air jet device pushes the abnormal materials to the coal gangue collection place.

[0005] By adopting the above technical solution, the X-ray image and the first color image of the material are obtained, which facilitates determining the density of the material according to the X-ray image and determining the three-channel color value of the material according to the first color image. Both the density and the three-channel color value are key factors characterizing the properties of the material. Therefore, according to the density and the three-channel color value, the probability that each material belongs to coal gangue can be accurately determined. The abnormal probability interval is used as the interval where the probability of the material is suspicious, that is, it is impossible to accurately determine whether the material specifically belongs to coal or coal gangue. Therefore, the manipulator is controlled to grasp the abnormal material whose probability is in the abnormal probability interval and determine the resistance value of the abnormal material. There is a difference in the resistance values between coal and coal gangue. Therefore, the probability of the abnormal material is corrected according to the resistance value to obtain the corrected probability. If the corrected probability reaches the preset probability threshold, it indicates that the abnormal material belongs to coal gangue, and the manipulator is controlled to transport the abnormal material to the first preset position, so that the high-pressure air jet device pushes the abnormal material to the coal gangue collection place, thereby being able to more accurately separate the coal gangue in the material and improving the separation effect.

[0006] In another possible implementation manner, the determining the probability that each material belongs to coal gangue based on the density and the three-channel color value includes: Converting the three-channel color value into an HSV value and calculating the similarity between the HSV value and a preset HSV value representing standard coal gangue; Determining a first ratio between the density and a preset density value representing standard coal gangue; Multiplying the items of the HSV value to obtain a product and determining a second ratio between the product and the density, where the second ratio represents the characteristic value of the material; Calculating the difference between the characteristic value of each material and a preset characteristic value representing standard coal gangue; Determining the probability that each material belongs to coal gangue based on the similarity, the first ratio, and the difference.

[0007] In another possible implementation manner, a jet device, a camera device, and multiple groups of clamping parts are arranged on the manipulator. A group of metal contacts is arranged on each group of clamping parts, and each group of metal contacts is connected to a circuit for measuring resistance. The controlling the manipulator to grasp the abnormal material and obtaining the resistance value of the abnormal material includes: Obtaining a second color image on the main conveyor belt collected by the camera device; Identifying the abnormal material from the second color image and performing target tracking on the abnormal material to obtain the real-time position of the abnormal material on the main conveyor belt; Control the movement of the manipulator based on the real-time position. When the manipulator moves above the abnormal material, control the jet device to eject gas at the abnormal material, and control the clamping part to grab the abnormal material; Control the circuit to conduct to determine the resistance value of the abnormal material.

[0008] In another possible implementation manner, the controlling the circuit to conduct to determine the resistance value of the abnormal material includes: Control each group of contacts to form a path with the abnormal material in a preset order, and obtain the candidate resistance values of the abnormal material when each group of metal contacts forms a path; Calculate the average value of all candidate resistance values to obtain the resistance value of the abnormal material.

[0009] In another possible implementation manner, correcting the probability that the abnormal material belongs to coal gangue based on the resistance value to obtain a corrected probability includes: Determine the first target probability interval where the resistance value is located from two preset probability intervals. Each preset probability interval corresponds to a material type, and the material types include coal and coal gangue; Obtain the candidate resistance values corresponding to each group of contacts, and determine the second target probability interval where each candidate resistance value is located from two preset probability intervals; Determine the proportion of those belonging to coal gangue among all the second target probability intervals; Determine a probability correction value based on the first target probability interval and the proportion, and correct the probability according to the probability correction value to obtain a corrected probability.

[0010] In another possible implementation manner, the method further includes: If the corrected probability does not reach a preset probability threshold, control the manipulator to transport the abnormal material to a second preset position, and the second preset position is farther from the main conveyor belt than the first preset position.

[0011] In a second aspect, the present application provides a coal gangue utilization identification system, adopting the following technical solutions: A coal gangue utilization identification system includes: An ore separator, on which a main conveyor belt for transporting materials, an X-ray device for collecting X-ray images of each material on the main conveyor belt, a camera for collecting the first color image of each material, and a high-pressure air flow jet device for separating coal gangue are provided, and the high-pressure air flow jet device is located at the end of the main conveyor belt; An electronic device, communicatively connected to an ore separator, is configured to obtain X-ray images and first color images of each material on a main conveyor belt; determine the density of each material based on the X-ray images, and determine the three-channel color values of each material based on the first color images; determine the probability that each material belongs to coal gangue based on the density and the three-channel color values; if there are abnormal materials whose probabilities are in an abnormal probability range, control a manipulator to grasp the abnormal materials and determine the resistance values of the abnormal materials; correct the probability that the abnormal materials belong to coal gangue based on the resistance values to obtain a corrected probability; if the corrected probability reaches a preset probability threshold, control the manipulator to transport the abnormal materials to a first preset position so that a high-pressure air jet device pushes the abnormal materials to a coal gangue collection location. A manipulator, communicatively connected to the electronic device, is configured to grasp the abnormal materials, and when the corrected probability reaches the preset probability threshold, control the manipulator to transport the abnormal materials to the first preset position so that the high-pressure air jet device pushes the abnormal materials to the coal gangue collection location.

[0012] By adopting the above technical solution, the main conveyor belt of the ore separator is used to transport materials. During the movement of the materials on the main conveyor belt, an X-ray device collects X-ray images of the materials, and a camera collects first color images of the materials. After the electronic device obtains the X-ray images and first color images of each material, it executes a coal gangue utilization recognition method shown in any possible implementation manner of the first aspect, thereby being able to more accurately separate coal gangue in the materials and improving the separation effect. The manipulator is communicatively connected to the electronic device and is controlled by the electronic device, thereby realizing grasping abnormal materials and, when the corrected probability reaches the preset probability threshold, controlling the manipulator to move the abnormal materials to the first preset position so that the abnormal materials are pushed by the gas ejected by the high-pressure air jet device and then collected at the coal gangue collection location.

[0013] In another possible implementation manner, a jet device, a camera device, and at least one set of metal contacts are provided on the manipulator. The at least one set of metal contacts is connected to a circuit for measuring resistance. The manipulator includes multiple sets of clamping parts, and one set of metal contacts is provided on each set of clamping parts. The number of sets of clamping parts is the same as the number of sets of metal contacts. The jet device is configured to eject gas towards the abnormal materials, and the camera device is configured to collect second color images on the main conveyor belt.

[0014] For the embodiments of the present application, a jet device is provided on the manipulator to remove floating dust and coal dust on abnormal materials when grasping abnormal materials, thereby reducing the influence of impurities on the subsequent measurement of resistance values. The camera device is used to collect the second color image on the main conveyor belt. Multiple sets of clamping parts are used to grasp abnormal materials more firmly. The metal contacts can better contact the abnormal materials, thereby improving the accuracy of subsequent resistance value measurement.

[0015] In a third aspect, the present application provides an electronic device, adopting the following technical solution: An electronic device, which includes: At least one processor; A memory; At least one application program, where at least one application program is stored in the memory and is configured to be executed by at least one processor. At least one configuration is for: executing a coal gangue utilization recognition method shown in any possible implementation manner of the first aspect.

[0016] In a fourth aspect, the present application provides a computer-readable storage medium, adopting the following technical solution: A computer-readable storage medium, when the computer program is executed on a computer, causes the computer to execute a coal gangue utilization recognition method described in any item of the first aspect.

[0017] In summary, the present application includes at least one of the following beneficial technical effects: Obtain the X-ray image and the first color image of the material, which is convenient for determining the density of the material according to the X-ray image and determining the three-channel color value of the material according to the first color image. Both the density and the three-channel color value are key factors characterizing the properties of the material. Therefore, according to the density and the three-channel color value, the probability that each material belongs to coal gangue can be accurately determined. The abnormal probability interval is the interval where the probability of the material is suspicious, that is, it is impossible to accurately determine whether the material specifically belongs to coal or coal gangue. Therefore, control the manipulator to grasp the abnormal material whose probability is in the abnormal probability interval and determine the resistance value of the abnormal material. There is a difference in the resistance values between coal and coal gangue. Therefore, correct the probability of the abnormal material according to the resistance value to obtain the corrected probability. If the corrected probability reaches the preset probability threshold, it means that the abnormal material belongs to coal gangue. Control the manipulator to transport the abnormal material to the first preset position, so that the high-pressure air jet device pushes the abnormal material to the coal gangue collection place, thereby being able to more accurately separate the coal gangue in the material and improving the separation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic flowchart of a coal gangue utilization recognition method according to an embodiment of the present application.

[0019] Figure 2 It is a schematic structural diagram of an ore separator and a manipulator in an embodiment of the present application.

[0020] Figure 3 It is a specific structural schematic diagram of the manipulator in an embodiment of the present application.

[0021] Figure 4 It is a schematic structural diagram of a circuit for measuring resistance values in an embodiment of the present application.

[0022] Figure 5 It is a schematic structural diagram of a coal gangue utilization identification system in an embodiment of the present application.

[0023] Figure 6 It is a specific structural schematic diagram of an electronic device in an embodiment of the present application.

[0024] Reference numerals: 2, ore separator; 21, main conveyor belt; 22, X-ray device; 23, camera; 24, high-pressure air jet device; 25, partition plate; 3, manipulator; 31, camera device; 32, air jet device; 33, clamping part; 34, metal contact; 4, multimeter; 5, electronic device; 51, processor; 52, bus; 53, memory; 54, transceiver; 6, slide rail. Detailed implementation manners

[0025] The following further describes the present application in detail with reference to the accompanying drawings.

[0026] Those skilled in the art can make modifications to this embodiment without creative contributions according to needs after reading this specification, but as long as they are within the scope of the claims of the present application, they are protected by the patent law.

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present application belong to the scope of protection of the present application.

[0028] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after unless otherwise specified.

[0029] The following further describes the embodiments of the present application in detail with reference to the accompanying drawings of the specification.

[0030] An embodiment of the present application provides a method for identifying the utilization of coal gangue, which is executed by an electronic device. The electronic device can be a server or a terminal device. Among them, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected through wired or wireless communication methods, and the embodiments of the present application do not limit this here. As Figure 1 shown, the method includes step S101, step S102, step S103, step S104, step S105 and step S106, where S101, obtain the X-ray image and the first color image of each material on the main conveyor belt.

[0031] For the embodiments of the present application, referring to Figure 2 , the main conveyor belt 21 is a main part of the ore separator 2 and is used to transport coal mine materials. The coal mine materials include coal and impurity waste coal gangue. An X-ray device 22 and a camera 23 are arranged above the main conveyor belt 21. The X-ray device 22 is used to emit X-rays to the materials on the main conveyor belt 21 and generate X-ray images according to the absorption degree of the materials to the X-rays. The camera 23 is used to collect the color images of the materials, that is, the first color images, so as to facilitate subsequent analysis of the appearance of the materials. The ore separator 2 in the attached drawings of the present application is only an example. In other embodiments, the ore separator 2 may further include a housing.

[0032] The electronic device is connected to the ore separator through a wire. Therefore, the electronic device is connected to the X-ray device and the camera on the ore separator, so that the electronic device can obtain the X-ray image and the first color image of each material.

[0033] S102, determine the density of each material based on the X-ray image, and determine the three-channel color value of each material based on the first color image.

[0034] For the embodiments of the present application, the electronic device performs gray-scale transformation on the X-ray image to obtain a gray-scale image of the material, and determines the density of the coal gangue by calculating the gray-scale value of the coal gangue. In other embodiments, the X-ray device can calculate the density of the coal gangue by measuring the intensity change of the X-ray before and after passing through the coal gangue, and then send the density to the electronic device. The three-channel color value includes RGB (Red, Green, Blue) color values. The electronic device can obtain the three-channel color values by using an image processing library such as PIL (Pillow) or OpenCV in Python.

[0035] S103. Determine the probability that each material belongs to coal gangue based on density and three-channel color values.

[0036] For the embodiments of the present application, the density of the material characterizes the composition and texture of the material, and the three-channel color value characterizes the appearance of the material. Therefore, both the density and the three-channel color value are key factors for characterizing whether the material belongs to coal or coal gangue. The electronic device can preliminarily determine the probability that each material belongs to coal gangue based on the density and the three-channel color values.

[0037] S104. If there are abnormal materials with probabilities in the abnormal probability interval, control the manipulator to grab the abnormal materials and determine the resistance values of the abnormal materials.

[0038] For the embodiments of the present application, the density and appearance of some materials are relatively close to those of coal. Therefore, the electronic device determines the probabilities of these materials, and the magnitudes of the probabilities are not sufficient to accurately distinguish whether the materials belong to coal or coal gangue. Therefore, abnormal materials are screened through the abnormal probability interval, and the abnormal probability interval is, for example, [40%, 60%]. When the probability of the material is in the abnormal probability interval, there is a large degree of uncertainty, which may lead to sorting errors and sorting the materials belonging to coal gangue into coal. The electronic device controls the manipulator to grab the abnormal materials and determine the resistance values of the abnormal materials. Since the resistances of coal gangue and coal are different, the resistance of coal is usually between 10 6 and 10 9 ohm·m, while the resistance of coal gangue is usually between 10 3 and 10 6 ohm·m. Therefore, it is convenient to classify the abnormal materials more accurately according to the resistance values of the abnormal materials.

[0039] S105. Correct the probability that the abnormal material belongs to coal gangue based on the resistance value to obtain the corrected probability.

[0040] For the embodiments of the present application, the resistance value also belongs to the key factors of the material attributes and can be used as the key condition for distinguishing whether the abnormal material belongs to coal or coal gangue. Therefore, the electronic device corrects the probability that the abnormal material belongs to coal gangue according to the resistance value of the abnormal material, so as to obtain the finally corrected probability. The corrected probability can accurately classify the abnormal materials.

[0041] S106. If the corrected probability reaches the preset probability threshold, control the manipulator to transport the abnormal material to the first preset position so that the high-pressure air jet device pushes the abnormal material to the coal gangue collection place.

[0042] For the embodiments of the present application, the preset probability threshold serves as the demarcation point at which an abnormal material is more likely to belong to coal gangue. For example, the preset probability threshold is 70%. The electronic device compares the corrected probability with 70%. If the preset probability threshold is reached, it indicates that the abnormal material is more likely to belong to coal gangue. As Figure 2 shown, the ore separator 2 further includes a high-pressure air jet device 24 and a partition plate 25. The high-pressure air jet device 24 is located at the end of the main conveyor belt 21. The high-pressure air jet device 24 includes a plurality of high-pressure nozzles arranged side by side. When the separator detects coal gangue, the high-pressure nozzles at the corresponding positions are triggered to jet air to separate it. The partition plate 25 is located on the right side of the high-pressure air jet device 24. The partition plate 25 is inclined. The right side of the partition plate 25 is the coal gangue collection area, and the left side is the coal collection area. The electronic device controls the manipulator 3 to grab the abnormal material and transport the abnormal material to the first preset position. The first preset position can be located at the end of the main conveyor belt 21 and above the high-pressure air jet device 24. When the manipulator 3 transports the abnormal material to the first preset position, the manipulator 3 releases the abnormal material. When the abnormal material falls to the high-pressure air jet device 24, the high-pressure air jet device 24 operates and ejects high-speed gas. The high-speed gas exerts a thrust on the abnormal material, so that the abnormal material flies into the right side of the partition plate 25 and enters the coal gangue collection area, thereby being able to more accurately separate the coal gangue in the material and improving the separation effect.

[0043] In a possible implementation manner of the embodiments of the present application, determining the probability that each material belongs to coal gangue based on density and three-channel color values in step S103 specifically includes step S1031 (not shown in the figure), step S1032 (not shown in the figure), step S1033 (not shown in the figure), step S1034 (not shown in the figure), and step S1035 (not shown in the figure), where S1031, convert the three-channel color value into an HSV value, and calculate the similarity between the HSV value and the preset HSV value representing standard coal gangue.

[0044] For the embodiments of the present application, the electronic device normalizes the three-channel color value RGB from the range of 0-255 to the range of 0-1, then determines the maximum value and the minimum value after normalizing the RGB three channels to the range of 0-1, and then calculates the hue (H), saturation (S), and value (V) according to relevant formulas to obtain the HSV value. The electronic device calculates the differences of each item of HSV in turn, then calculates the comprehensive difference using the Euclidean distance formula, and finally subtracts the comprehensive difference from 1 to obtain the similarity. The higher the similarity, the closer the appearance of the material is to the appearance of the standard coal gangue, and the greater the possibility of belonging to coal gangue.

[0045] S1032, determine the first ratio between the density and the preset density value representing standard coal gangue.

[0046] For the embodiments of the present application, the density of the material for the electronic device is divided by a preset density value to obtain a first ratio. The closer the first ratio is to 1, the closer the density of the material is to the density of standard coal gangue, and the greater the possibility that it belongs to coal gangue.

[0047] S1033. Multiply each item of the HSV value to obtain a product, and determine a second ratio between the product and the density.

[0048] Wherein, the second ratio characterizes the characteristic value of the material.

[0049] For the embodiments of the present application, the electronic device multiplies each item of the HSV value to obtain a product. The product is equivalent to fusing the HSV values to obtain a total value, and using a total value to characterize the HSV value, which is convenient for subsequent calculations. Then, the electronic device calculates the second ratio between the product and the density of the material. The second ratio combines the HSV characteristics and the density, and generally characterizes the characteristic value of the material with the second ratio. Different materials correspond to different characteristic values, so as to facilitate determining the probability that the material belongs to coal gangue according to the characteristic value.

[0050] S1034. Calculate the difference between the characteristic value of each material and a preset characteristic value representing standard coal gangue.

[0051] For the embodiments of the present application, the standard coal gangue corresponds to a preset characteristic value, and the calculation method of the preset characteristic value is the same as that of the characteristic value of the material. The electronic device calculates the difference between the characteristic value of the material and the preset characteristic value, and the difference characterizes the possibility that the material belongs to coal gangue to a certain extent.

[0052] S1035. Determine the probability that each material belongs to coal gangue based on the similarity, the first ratio, and the difference.

[0053] For the embodiments of the present application, in summary, the similarity, the first ratio, and the difference are all key factors characterizing whether the material belongs to coal gangue. The higher the similarity, the higher the possibility of belonging to coal gangue; the smaller the difference, the smaller the possibility of belonging to coal gangue; the closer the first ratio is to 1, the higher the possibility of belonging to coal gangue. Therefore, the electronic device subtracts 1 from the first ratio to obtain a result and takes the absolute value of the result. The smaller the absolute value, the higher the possibility of belonging to coal gangue. The staff can set respective corresponding coefficients for the similarity, the absolute value, and the difference. For the convenience of calculation, the reciprocal of the difference and the reciprocal of the absolute value can be taken. The electronic device calls the respective corresponding coefficients for weighted calculation of the similarity, the reciprocal of the difference, and the reciprocal of the absolute value to obtain the probability that each material belongs to coal gangue. The probability determined by the similarity, the first ratio, and the difference is more accurate.

[0054] In a possible implementation manner of the embodiment of the present application, a jet device, a camera device, and multiple groups of clamping parts are arranged on the manipulator. A group of metal contacts is arranged on each group of clamping parts, and a circuit for measuring resistance is connected to each group of metal contacts. Specifically, it includes step S1041 (not shown in the figure), step S1042 (not shown in the figure), step S1043 (not shown in the figure), and step S1044 (not shown in the figure), where S1041, obtain the second color image on the main conveyor belt collected by the camera device.

[0055] For the embodiment of the present application, referring to Figure 3 , when the manipulator 3 is in an idle state, the camera device 31 on the manipulator is in a position covering the entire main conveyor belt 21, so as to be able to detect and monitor abnormal materials in a timely manner.

[0056] The electronic device is connected to the camera device on the manipulator through a wire, and the electronic device obtains the second color image collected by the camera device, so as to subsequently identify abnormal materials from the second color image.

[0057] S1042, identify abnormal materials from the second color image and perform target tracking on the abnormal materials to obtain the real-time position of the abnormal materials on the main conveyor belt.

[0058] For the embodiment of the present application, the electronic device segments and saves the image of the abnormal material from the first color image. The electronic device segments each material from the second color image, and then calculates the similarity between each material and the abnormal material in turn. The material with the highest similarity is the abnormal material. Then the electronic device labels the abnormal material, so that the camera device performs target tracking on the abnormal material to obtain the real-time position of the abnormal material.

[0059] S1043, control the movement of the manipulator based on the real-time position. When the manipulator moves above the abnormal material, control the jet device to spray gas on the abnormal material, and control the clamping part to grab the abnormal material.

[0060] For the embodiment of the present application, the electronic device controls the movement of the manipulator according to the real-time position. Referring to Figure 3 , a jet device 32 is arranged on the manipulator 3. When the position of the manipulator 3 is above the abnormal material, the electronic device makes the jet device 32 on the manipulator 3 spray gas towards the abnormal material and grab the abnormal material. The jet device 32 sprays gas on the abnormal material, so as to remove the floating dust and coal dust on the surface of the abnormal material, etc., reduce the influence of the floating dust and coal dust on the subsequent measurement of the resistance value of the abnormal material, improve the accuracy of the resistance value measurement, and grab the abnormal material after spraying gas to remove the floating dust and coal dust.

[0061] S1044, control the circuit to conduct to determine the resistance value of the abnormal material.

[0062] For the embodiments of the present application, with reference to Figure 3 and Figure 4 , the manipulator 3 includes multiple groups of clamping parts 33, and metal contacts 34 are arranged on each group of clamping parts 33. After the manipulator 3 grabs the abnormal material, the metal contacts 34 on the manipulator 3 come into contact with the abnormal material, and the control circuit of the electronic device 5 is turned on to measure the resistance value of the abnormal material. Specifically, the circuit includes a multimeter 4 adjusted to the resistance measurement range. The multimeter 4 is connected to the electronic device 5 through a wire. After the multimeter 4 measures the resistance value, it sends it to the electronic device 5, so that the electronic device 5 determines the resistance value of the abnormal material.

[0063] In a possible implementation manner of the embodiments of the present application, in step S1044, controlling the control circuit to conduct to determine the resistance value of the abnormal material specifically includes step one and step two, where Step one, control each group of contacts to form a path with the abnormal material in a preset order, and obtain the candidate resistance value of the abnormal material when each group of metal contacts form a path.

[0064] Step two, calculate the average value of all candidate resistance values to obtain the resistance value of the abnormal material.

[0065] For the embodiments of the present application, as Figure 4 shown, two single-pole multi-throw switches are arranged on the circuit, which are single-pole triple-throw switches in the Figure 4 of the embodiments of the present application. Each group of metal contacts 34 is respectively arranged on two single-pole triple-throw switches. The two single-pole triple-throw switches act simultaneously. Each time they act, one group of metal contacts 34 is connected to the multimeter 4 and forms a path with the abnormal material, so as to measure the resistance value of the abnormal material. Since the positions of each group of metal contacts 34 on the abnormal material are different, the measured resistance values may be different. After the electronic device 5 obtains the candidate resistance values regarding each group of metal contacts 34, it performs an averaging process on all the candidate resistance values through the average value calculation formula. The finally obtained average value is the resistance value of the abnormal material. The resistance value of the abnormal material obtained by determining the candidate resistance values through multiple measurements and calculating the average value is more accurate.

[0066] Furthermore, when the electronic device controls each group of metal contacts to measure the resistance value, the electronic device can control the clamping parts where other metal contacts are located to perform a loosening action to disengage from the contact with the abnormal material, so as to further reduce the influence of other clamping parts on the resistance value measurement. After other clamping parts are loosened, a small gap is maintained with the abnormal material, so as to prevent the abnormal material from falling off.

[0067] In a possible implementation manner of the embodiment of the present application, in step S105, the probability that the abnormal material belongs to coal gangue is corrected based on the resistance value to obtain the corrected probability, which specifically includes step S1051 (not shown in the figure), step S1052 (not shown in the figure), step S1053 (not shown in the figure), and step S1054 (not shown in the figure). Among them, S1051, determine the first target probability interval where the resistance value is located from two preset probability intervals.

[0068] Among them, each preset probability interval corresponds to a material type, and the material types include coal and coal gangue.

[0069] For the embodiment of the present application, the staff can set two preset probability intervals according to the resistance values of coal and coal gangue and store them in the local storage medium in the electronic device. After the electronic device determines the resistance value of the abnormal material, it compares it with the two preset probability intervals respectively, so as to determine the first target probability interval where the resistance value is located, that is, the material type that the abnormal material may belong to characterized by the resistance value.

[0070] S1052, obtain the candidate resistance values corresponding to each group of contacts, and determine the second target probability interval where each candidate resistance value is located from two preset probability intervals.

[0071] For the embodiment of the present application, the candidate resistance values corresponding to each group of contacts are stored in the local storage medium of the electronic device. Therefore, the electronic device can obtain the candidate resistance values, and the electronic device compares each candidate resistance value with the two preset probability intervals respectively, so as to determine the second target probability interval where each candidate resistance value is located.

[0072] S1053, determine the proportion of those belonging to coal gangue in all the second target probability intervals.

[0073] For the embodiment of the present application, the multiple candidate resistance values of the abnormal material may be located in different preset probability intervals. The more candidate resistance values belonging to the coal gangue preset probability interval, the greater the possibility that the abnormal material belongs to coal gangue. Therefore, the electronic device divides the number of candidate resistance values belonging to the coal gangue preset probability interval by the total number of all candidate resistance values to obtain the proportion. The greater the proportion, the higher the possibility of belonging to coal gangue, and vice versa.

[0074] S1054, determine the probability correction value based on the first target probability interval and the proportion, and correct the probability according to the probability correction value to obtain the corrected probability.

[0075] For the embodiments of the present application, two preset probability intervals respectively correspond to a probability calculation value. The probability calculation value belonging to the preset probability interval of gangue is a positive value, and the probability calculation value belonging to the preset probability interval of coal is a negative value. The electronic device multiplies the proportion by a preset coefficient to obtain another probability calculation value. The preset coefficient is set by the staff according to the actual situation. If the proportion reaches one-half, the other probability calculation value is a positive value. If it does not reach one-half, the other probability calculation value is a negative value. After the electronic device determines the two probability calculation values, it sums the two probability calculation values to obtain a probability correction value. The electronic device adds the probability that the abnormal material determined according to the density and the three-channel color value belongs to gangue to the probability correction value to obtain the corrected probability. The probability that the abnormal material belongs to gangue is corrected by the resistance value of the abnormal material, so that the classification and separation of the abnormal material are more accurate.

[0076] A possible implementation manner of the embodiments of the present application, the method further includes step S107 (not shown in the figure). Among them, step S107 can be executed after step S105, where S107, if the corrected probability does not reach the preset probability threshold, then control the manipulator to transport the abnormal material to the second preset position.

[0077] Among them, the second preset position is farther from the main conveyor belt than the first preset position.

[0078] For the embodiments of the present application, if the corrected probability does not reach the preset probability threshold, it means that the abnormal material is more likely to belong to coal. The electronic device controls the manipulator to transport the abnormal material to the second preset position. The second preset position is farther from the main conveyor belt than the first preset position, so it is less likely to be affected by the high-pressure air jet device. After the manipulator reaches the second preset position, it releases the clamping part so that the abnormal material falls freely into the coal collection area.

[0079] The above embodiments introduce a gangue utilization recognition method from the perspective of the method flow. The following embodiments introduce a gangue utilization recognition system. For details, see the following embodiments.

[0080] The embodiments of the present application provide a gangue utilization recognition system, as Figure 3 shown. A gangue utilization recognition system may specifically include: An ore separator 2. On the ore separator 2, there is a main conveyor belt 21 for transporting materials, an X-ray device 22 for collecting X-ray images of each material on the main conveyor belt, a camera 23 for collecting the first color image of each material, and a high-pressure air jet device 24 for separating gangue. The high-pressure air jet device 24 is located at the end of the main conveyor belt.

[0081] An electronic device 5 is connected to the ore separator 2 through a wire and is used to obtain the X-ray image and the first color image of each material on the main conveyor belt 21; determine the density of each material based on the X-ray image, and determine the three-channel color value of each material based on the first color image; determine the probability that each material belongs to coal gangue based on the density and the three-channel color value; if there are abnormal materials with probabilities in the abnormal probability interval, control the manipulator 3 to grab the abnormal materials and determine the resistance value of the abnormal materials; correct the probability that the abnormal materials belong to coal gangue based on the resistance value to obtain the corrected probability; if the corrected probability reaches the preset probability threshold, control the manipulator 3 to transport the abnormal materials to the first preset position so that the high-pressure air jet device 24 pushes the abnormal materials to the coal gangue collection place.

[0082] A manipulator 3 is connected to the electronic device 5 through a wire and is used to grab the abnormal materials, and when the corrected probability reaches the preset probability threshold, control the manipulator 3 to transport the abnormal materials to the first preset position so that the high-pressure air jet device 24 pushes the abnormal materials to the coal gangue collection place.

[0083] For the embodiments of the present application, refer to Figure 2 and Figure 5 In this regard, coal mine materials enter the main conveyor belt 21 of the ore separator 2, and the main conveyor belt 21 transports the materials. During the movement of the materials, the X-ray device 22 collects the X-ray image of each material, and the camera 23 collects the first color image of each material. The electronic device 5 can be a device such as a computer or a server. The electronic device 5 determines the density and the three-channel color value of each material based on the X-ray image and the first color image, and determines the probability that each material belongs to coal gangue based on the density and the three-channel color value, and then determines the abnormal materials outside the abnormal probability interval, controls the manipulator 3 to grab the abnormal materials and determines the resistance value of the abnormal materials, corrects the probability that the abnormal materials belong to coal gangue based on the resistance value to obtain the corrected probability. If the corrected probability reaches the preset probability threshold, control the manipulator 3 to transport the abnormal materials to the first preset position. After reaching the first preset position, the manipulator 3 releases, and the abnormal materials fall. The high-pressure air jet device 24 on the ore separator 2 is connected to a gas source, and the high-pressure air jet device 24 sprays gas on the abnormal materials, thereby pushing the abnormal materials to move to the coal gangue collection place. A partition plate 25 is also provided on the ore separator 2. The partition plate is inclined and is located at the end of the main conveyor belt 21. The high-pressure air jet device 24 is located between the main conveyor belt 21 and the partition plate 25. The right side of the partition plate 25 is the coal gangue collection place, and the left side is the coal collection place.

[0084] Refer to Figure 3, a camera device 31 is further provided on the robotic arm 2 of the robotic hand 3. The camera device 31 on the robotic hand 3 is used to perform target tracking on abnormal materials, so that the robotic hand 3 can know the position of the abnormal materials and grab them. A jet device 32 is also provided on the robotic hand 3. The jet device 32 is used to eject gas towards the abnormal materials when the robotic hand 3 grabs the abnormal materials, so as to remove floating dust, coal ash, etc. on the surface of the abnormal materials, and the accuracy is higher when measuring the resistance value subsequently.

[0085] Refer to Figure 2 , a slide rail 6 can be provided on or near the ore separator 2. The direction of the slide rail 6 is the same as the direction of the main conveyor belt 21. The robotic hand 3 can move on the slide rail 6 driven by a motor, so that the robotic hand 3 can better grab abnormal materials.

[0086] Refer to Figure 3 and Figure 4 , multiple sets of clamping parts 33 for grabbing abnormal materials are provided on the robotic hand 3. A set of metal contacts 34 is provided on each set of clamping parts 33. The clamping part 33 is a bent rod structure. The metal contact 34 is located inside the end of the clamping part 33. Each set of metal contacts 34 is arranged oppositely and is separated by 180 degrees along the circumferential direction. Each set of metal contacts 34 is connected to a circuit for measuring resistance. The circuit includes a multimeter 4 for measuring the resistance value of abnormal materials, a single-pole multi-throw switch, and the metal contacts 34. In the embodiment of the present application, the single-pole multi-throw switch is a single-pole triple-throw switch. The multimeter 4 is connected to the electronic device 5 through a wire, so that the electronic device 5 can obtain the to-be-selected resistance value collected by the multimeter 4.

[0087] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described coal gangue utilization recognition system can refer to the corresponding process in the foregoing method embodiment, and will not be repeated here.

[0088] In the embodiment of the present application, an electronic device is provided, such as Figure 6 shown, Figure 6 The electronic device 5 shown includes: a processor 51 and a memory 53. Among them, the processor 51 and the memory 53 are connected, such as connected through a bus 52. Optionally, the electronic device 5 may further include a transceiver 54. It should be noted that in actual applications, the transceiver 54 is not limited to one, and the structure of the electronic device 5 does not constitute a limitation to the embodiment of the present application.

[0089] The processor 51 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processor 51 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0090] The bus 52 may include a path for transmitting information between the above components. The bus 52 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 52 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0091] The memory 53 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, or it may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0092] The memory 53 is used to store the application program code for executing the solution of this application, and is controlled by the processor 51 for execution. The processor 51 is used to execute the application program code stored in the memory 53 to implement the content shown in the foregoing method embodiments.

[0093] Among them, the electronic device includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), vehicle terminals (such as vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 6 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of this application.

[0094] The embodiments of this application provide a coal gangue utilization identification device. A coal gangue utilization identification device includes: A coal gangue utilization identification device includes: A data acquisition module, configured to acquire X-ray images and first color images of each material on the main conveyor belt; A data determination module, configured to determine the density of each material based on the X-ray image and determine the three-channel color value of each material based on the first color image; A probability determination module, configured to determine the probability that each material belongs to coal gangue based on the density and the three-channel color value; A resistance value determination module, configured to, when there are abnormal materials with probabilities in the abnormal probability interval, control the manipulator to grab the abnormal materials and determine the resistance values of the abnormal materials; A probability correction module, configured to correct the probability that the abnormal materials belong to coal gangue based on the resistance values to obtain the corrected probability; A first control module, configured to, when the corrected probability reaches a preset probability threshold, control the manipulator to transport the abnormal materials to a first preset position so that the high-pressure air jet device pushes the abnormal materials to the coal gangue collection place.

[0095] An embodiment of the present application discloses a device for identifying the utilization of coal gangue. Among them, the data acquisition module acquires the X-ray image and the first color image of the material, facilitating the data determination module to determine the density of the material according to the X-ray image and the three-channel color value of the material according to the first color image. Both the density and the three-channel color value are key factors characterizing the properties of the material. Therefore, the probability determination module can accurately determine the probability that each material belongs to coal gangue according to the density and the three-channel color value. The abnormal probability interval is the interval where the material probability is suspicious, that is, it is impossible to accurately determine whether the material specifically belongs to coal or coal gangue. Therefore, the resistance value determination module controls the manipulator to grab the abnormal material whose probability is in the abnormal probability interval and determines the resistance value of the abnormal material. There is a difference in the resistance values between coal and coal gangue. Therefore, the probability correction module corrects the probability of the abnormal material according to the resistance value to obtain the corrected probability. If the corrected probability reaches the preset probability threshold, it indicates that the abnormal material belongs to coal gangue. The first control module controls the manipulator to transport the abnormal material to the first preset position, so that the high-pressure air jet device pushes the abnormal material to the coal gangue collection place, thereby being able to more accurately separate the coal gangue in the material and improving the separation effect.

[0096] A possible implementation manner of the embodiment of the present application. When the probability determination module determines the probability that each material belongs to coal gangue based on the density and the three-channel color value, it specifically includes: Convert the three-channel color value into HSV value and calculate the similarity between the HSV value and the preset HSV value representing standard coal gangue; Determine the first ratio between the density and the preset density value representing standard coal gangue; Multiply the items of the HSV value to obtain a product, and determine the second ratio between the product and the density. The second ratio represents the characteristic value of the material; Calculate the difference between the characteristic value of each material and the preset characteristic value representing standard coal gangue; Determine the probability that each material belongs to coal gangue based on the similarity, the first ratio, and the difference.

[0097] A possible implementation manner of the embodiment of the present application. The manipulator is provided with a jet device, a camera device, and multiple groups of clamping parts. Each group of clamping parts is provided with a group of metal contacts, and each group of metal contacts is connected to a circuit for measuring resistance. When the resistance value determination module controls the manipulator to grab the abnormal material and obtain the resistance value of the abnormal material, it specifically includes: Acquire the second color image on the main conveyor belt collected by the camera device; Identify the abnormal material from the second color image and perform target tracking on the abnormal material to obtain the real-time position of the abnormal material on the main conveyor belt; Based on real-time position to control the movement of the manipulator. When the manipulator moves above the abnormal material, control the jet device to eject gas towards the abnormal material, and control the clamping part to grab the abnormal material; Turn on the control circuit to determine the resistance value of the abnormal material.

[0098] In a possible implementation manner of the embodiment of the present application, when the resistance value determination module turns on the control circuit to determine the resistance value of the abnormal material, it is specifically used for: Control each group of contacts to form a path with the abnormal material in a preset order, and obtain the candidate resistance values of the abnormal material when each group of metal contacts form a path; Calculate the average value of all candidate resistance values to obtain the resistance value of the abnormal material.

[0099] In a possible implementation manner of the embodiment of the present application, when the probability correction module corrects the probability that the abnormal material belongs to coal gangue based on the resistance value to obtain the corrected probability, it is specifically used for: Determine the first target probability interval where the resistance value determination is located from two preset probability intervals. Each preset probability interval corresponds to a material type, and the material types include coal and coal gangue; Obtain the candidate resistance values corresponding to each group of contacts, and determine the second target probability interval where each candidate resistance value is located from two preset probability intervals; Determine the proportion of those belonging to coal gangue in all the second target probability intervals; Determine the probability correction value based on the first target probability interval and the proportion, and correct the probability according to the probability correction value to obtain the corrected probability.

[0100] In a possible implementation manner of the embodiment of the present application, a coal gangue utilization identification device further includes: A second control module, configured to control the manipulator to transport the abnormal material to a second preset position when the corrected probability does not reach the preset probability threshold. The second preset position is farther from the main conveyor belt than the first preset position.

[0101] In the embodiment of the present application, the first control module and the second control module may be the same control module or different control modules, which is not limited herein.

[0102] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described coal gangue utilization identification device can refer to the corresponding process in the foregoing method embodiment, and will not be elaborated herein.

[0103] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program runs on a computer, the computer can execute the corresponding content in the foregoing method embodiment. Compared with the related art, in the embodiment of the present application, an X-ray image and a first color image of the material are obtained, which is convenient for determining the density of the material according to the X-ray image, and determining the three-channel color value of the material according to the first color image. Both the density and the three-channel color value are key factors characterizing the properties of the material. Therefore, the probability that each material belongs to coal gangue can be accurately determined according to the density and the three-channel color value. The abnormal probability interval is used as the interval where the probability of the material is suspicious, that is, it is impossible to accurately determine whether the material belongs to coal or coal gangue. Therefore, the manipulator is controlled to grasp the abnormal material whose grasping probability is in the abnormal probability interval and determine the resistance value of the abnormal material. There is a difference in the resistance values between coal and coal gangue. Therefore, the probability of the abnormal material is corrected according to the resistance value to obtain the corrected probability. If the corrected probability reaches the preset probability threshold, it indicates that the abnormal material belongs to coal gangue, and the manipulator is controlled to transport the abnormal material to the first preset position, so that the high-pressure air jet device pushes the abnormal material to the coal gangue collection place, and thus the coal gangue in the material can be separated more accurately, improving the separation effect.

[0104] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least some of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed alternately or alternately with at least some of the sub-steps or stages of other steps.

[0105] The above is only a partial implementation manner of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A method for identifying the utilization of coal gangue, characterized in that Including: Obtaining X-ray images and first color images of each material on the main conveyor belt; Determining the density of each material based on the X-ray images, and determining the three-channel color values of each material based on the first color images; Determining the probability that each material belongs to coal gangue based on the density and the three-channel color values; If there are abnormal materials with probabilities in the abnormal probability interval, controlling the manipulator to grab the abnormal materials and determining the resistance values of the abnormal materials; Correcting the probability that the abnormal materials belong to coal gangue based on the resistance values to obtain the corrected probability; If the corrected probability reaches a preset probability threshold, controlling the manipulator to transport the abnormal materials to a first preset position so that the high-pressure air jet device pushes the abnormal materials to the coal gangue collection place.

2. The identification method for coal gangue utilization according to claim 1, characterized in that, The determining the probability that each material belongs to coal gangue based on the density and the three-channel color values includes: Converting the three-channel color values into HSV values and calculating the similarity between the HSV values and preset HSV values representing standard coal gangue; Determining a first ratio between the density and a preset density value representing standard coal gangue; Multiplying the items of the HSV values to obtain a product, and determining a second ratio between the product and the density, where the second ratio represents the characteristic value of the material; Calculating the difference between the characteristic value of each material and a preset characteristic value representing standard coal gangue; Determining the probability that each material belongs to coal gangue based on the similarity, the first ratio, and the difference.

3. The identification method for coal gangue utilization according to claim 1, characterized in that, A jet device, a camera device, and multiple groups of clamping parts are arranged on the manipulator. A group of metal contacts is arranged on each group of clamping parts, and each group of metal contacts is connected to a circuit for measuring resistance. The controlling the manipulator to grab the abnormal materials and obtaining the resistance values of the abnormal materials includes: Obtaining a second color image of the main conveyor belt collected by the camera device; Identifying the abnormal materials from the second color image and performing target tracking on the abnormal materials to obtain the real-time position of the abnormal materials on the main conveyor belt; Controlling the movement of the manipulator based on the real-time position. When the manipulator moves above the abnormal materials, controlling the jet device to spray gas on the abnormal materials and controlling the clamping parts to grab the abnormal materials; Controlling the circuit to conduct to determine the resistance value of the abnormal materials.

4. The identification method for coal gangue utilization according to claim 3, wherein The controlling the circuit to conduct to determine the resistance value of the abnormal materials includes: Controlling each group of contacts to form a path with the abnormal materials in a preset order, and obtaining the candidate resistance values of the abnormal materials when each group of metal contacts forms a path; Taking the average value of all the candidate resistance values to obtain the resistance value of the abnormal materials.

5. The identification method for coal gangue utilization according to claim 4, wherein Correcting the probability that the abnormal materials belong to coal gangue based on the resistance values to obtain the corrected probability includes: Determining a first target probability interval in which the resistance value is located from two preset probability intervals. Each preset probability interval corresponds to a material type, and the material types include coal and coal gangue; Obtain the candidate resistance values corresponding to each group of contacts, and determine the second target probability interval where each candidate resistance value is located from two preset probability intervals; Determine the proportion of those belonging to coal gangue among all the second target probability intervals; Determine a probability correction value based on the first target probability interval and the proportion, and correct the probability according to the probability correction value to obtain the corrected probability.

6. The identification method for coal gangue utilization according to claim 1, characterized in that The method further includes: If the corrected probability does not reach the preset probability threshold, control the manipulator to transport the abnormal material to a second preset position, where the second preset position is farther from the main conveyor belt than the first preset position.

7. A coal gangue utilization identification system, characterized in that, It includes: An ore separator, on which there is a main conveyor belt for transporting materials, an X-ray device for collecting X-ray images of each material on the main conveyor belt, a camera for collecting the first color image of each material, and a high-pressure air jet device for separating coal gangue, and the high-pressure air jet device is located at the end of the main conveyor belt; An electronic device, communicatively connected to the ore separator, for obtaining the X-ray image and the first color image of each material on the main conveyor belt; determining the density of each material based on the X-ray image, and determining the three-channel color value of each material based on the first color image; determining the probability that each material belongs to coal gangue based on the density and the three-channel color value; if there is an abnormal material with a probability in the abnormal probability interval, control the manipulator to grab the abnormal material and determine the resistance value of the abnormal material; correct the probability that the abnormal material belongs to coal gangue based on the resistance value to obtain the corrected probability; if the corrected probability reaches the preset probability threshold, control the manipulator to transport the abnormal material to the first preset position so that the high-pressure air jet device pushes the abnormal material to the coal gangue collection place; A manipulator, communicatively connected to the electronic device, for grabbing the abnormal material, and when the corrected probability reaches the preset probability threshold, controlling the manipulator to transport the abnormal material to the first preset position so that the high-pressure air jet device pushes the abnormal material to the coal gangue collection place.

8. The coal gangue utilization identification system according to claim 7, wherein, The manipulator is provided with a jet device, a camera device and at least one group of metal contacts, the at least one group of metal contacts is connected to a circuit for measuring resistance, the manipulator includes multiple groups of clamping parts, and each group of clamping parts is provided with a group of metal contacts, and the number of groups of the clamping parts is the same as the number of groups of the metal contacts; the jet device is used to spray gas on the abnormal material, and the camera device is used to collect the second color image on the main conveyor belt.

9. An electronic device, characterized in that, It includes: At least one processor; A memory; At least one application program, where the at least one application program is stored in the memory and is configured to be executed by the at least one processor, and the at least one application program: is used to execute a method for identifying the utilization of coal gangue according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed on a computer, the computer is made to execute a method for identifying the utilization of coal gangue according to any one of claims 1 to 6.

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