A method and system for identifying coal gangue utilization

Abstract

The present application relates to a method and system for identifying gangue utilization, and relates to the field of ore sorting. The method includes obtaining an X-ray image and a first color image of each material on a main conveyor 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 probability that each material is gangue based on the density and the three-channel color value. If there is an abnormal material with a probability within an abnormal probability interval, a manipulator is controlled to grab the abnormal material and determine the resistance value of the abnormal material. The probability that the abnormal material is gangue is corrected based on the resistance value to obtain a corrected probability. If the corrected probability reaches a preset probability threshold, the manipulator is controlled to transport the abnormal material to a first preset position so that a high-pressure airflow injection device pushes the abnormal material to a gangue collection area. The present application can more accurately separate gangue from materials and improve the separation effect.

Description

Technical Field

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

[0002] Gangue is the primary solid waste in coal mining. Currently, mined coal is typically separated from gangue by an ore sorter. After the gangue enters the main conveyor belt of the ore sorter, its density is measured by X-rays and its image is captured by a camera. Coal and gangue are distinguished based on density and image. A high-pressure air jet is then used at the end of the main conveyor belt to push the gangue onto the gangue conveyor belt. This high-pressure air jet does not spray gas onto the coal, allowing the coal to enter the coal conveyor belt. However, some gangue has a density and image similar to that of coal, making it difficult for the ore sorter to accurately separate the gangue. This can cause the gangue to mix with the coal, compromising the separation efficiency. Summary of the Invention

[0003] In order to more accurately separate the gangue from the material and improve the separation effect, the present application provides a gangue utilization identification method and system.

[0004] In the first aspect, the present application provides a method for identifying and utilizing coal gangue, which adopts the following technical solution:

[0005] A method for identifying and utilizing coal gangue, comprising:

[0006] Acquire an X-ray image and a first color image of each material on the main conveyor belt;

[0007] determining a density of each material based on the X-ray image, and determining a three-channel color value of each material based on the first color image;

[0008] Determining the probability of each material being gangue based on the density and the three-channel color values;

[0009] If there is an abnormal material with a probability within the abnormal probability interval, control the manipulator to grab the abnormal material and determine the resistance value of the abnormal material;

[0010] Correcting the probability that the abnormal material is gangue based on the resistance value to obtain a corrected probability;

[0011] If the corrected probability reaches a preset probability threshold, the manipulator is controlled to transport the abnormal material to a first preset position, so that the high-pressure airflow injection device pushes the abnormal material to a coal gangue collection area.

[0012] By adopting the above technical solution, an X-ray image and a first color image of the material are obtained, which facilitates determining the density of the material based on the X-ray image, and determining the three-channel color value of the material based on the first color image. The density and the three-channel color value are both key factors in characterizing the properties of the material. Therefore, the probability of each material belonging to coal gangue can be accurately determined based on the density and the three-channel color value. The abnormal probability interval is used as an 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 manipulator is controlled to grab the abnormal material whose probability is within the abnormal probability interval and determine the resistance value of the abnormal material. There is a difference in the resistance value of coal and coal gangue. Therefore, the probability of the abnormal material is corrected according to the resistance value to obtain a corrected probability. If the corrected probability reaches the preset probability threshold, it means that the abnormal material belongs to coal gangue. The manipulator is controlled to transport the abnormal material to the first preset position, so that the high-pressure airflow injection device pushes the abnormal material to the coal gangue collection area, thereby more accurately separating the coal gangue from the material and improving the separation effect.

[0013] In another possible implementation, determining the probability of each material being gangue based on the density and the three-channel color values includes:

[0014] Converting the three-channel color values into HSV values, and calculating the similarity between the HSV values and the preset HSV values representing standard coal gangue;

[0015] determining a first ratio between the density and a predetermined density value representing standard coal gangue;

[0016] multiplying each item of the HSV value to obtain a product, and determining a second ratio between the product and density, wherein the second ratio represents a characteristic value of the material;

[0017] Calculating the difference between the characteristic value of each material and the preset characteristic value representing standard coal gangue;

[0018] The probability that each material belongs to coal gangue is determined based on the similarity, the first ratio, and the difference.

[0019] In another possible implementation, the manipulator is provided with an air 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. The manipulator is controlled to grasp the abnormal material and obtain the resistance value of the abnormal material, including:

[0020] Acquiring a second color image on the main conveyor belt captured by the camera device;

[0021] Identifying the abnormal material from the second color image and tracking the abnormal material to obtain a real-time position of the abnormal material on the main conveyor belt;

[0022] Controlling the movement of the manipulator based on the real-time position, and when the manipulator moves above the abnormal material, controlling the jet device to spray gas toward the abnormal material, and controlling the clamping portion to grasp the abnormal material;

[0023] The circuit is controlled to be conductive to determine the resistance value of the abnormal material.

[0024] In another possible implementation, controlling the circuit to be conductive to determine the resistance value of the abnormal material includes:

[0025] Controlling each set of contacts to form a path with the abnormal material in sequence according to a preset order, and obtaining a candidate resistance value of the abnormal material when each set of metal contacts forms the path;

[0026] The resistance value of the abnormal material is obtained by averaging all the resistance values to be selected.

[0027] In another possible implementation, the probability that the abnormal material is gangue is corrected based on the resistance value to obtain the corrected probability, including:

[0028] Determining a first target probability interval in which the resistance value is determined from two preset probability intervals, each preset probability interval corresponding to a material type, the material types including coal and coal gangue;

[0029] Obtaining the candidate resistance value corresponding to each group of contacts, and determining a second target probability interval for each candidate resistance value from two preset probability intervals;

[0030] Determine the proportion of gangue in all second target probability intervals;

[0031] A probability correction value is determined based on the first target probability interval and the proportion, and the probability is corrected according to the probability correction value to obtain a corrected probability.

[0032] In another possible implementation, the method further includes:

[0033] If the corrected probability does not reach the preset probability threshold, the manipulator is controlled to transport the abnormal material to a second preset position, which is farther away from the main conveyor belt than the first preset position.

[0034] In a second aspect, the present application provides a gangue utilization identification system, which adopts the following technical solutions:

[0035] A gangue utilization and identification system, comprising:

[0036] An ore sorter, wherein the ore sorter is provided with 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 a first color image of each material, and a high-pressure airflow injection device for sorting coal gangue, wherein the high-pressure airflow injection device is located at the end of the main conveyor belt;

[0037] An electronic device, communicatively connected to the ore sorter, is configured to obtain an X-ray image and a first color image of each material on the main conveyor belt; 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 is gangue based on the density and the three-channel color value; if there is an abnormal material with a probability within an abnormal probability interval, control a manipulator to grab the abnormal material and determine the resistance value of the abnormal material; correct the probability that the abnormal material is gangue based on the resistance value to obtain a corrected probability; if the corrected probability reaches a preset probability threshold, control the manipulator to transport the abnormal material to a first preset position so that the high-pressure airflow jet device pushes the abnormal material to a gangue collection area;

[0038] The manipulator is communicatively connected to the electronic device, and is used to grab the abnormal material and, when the corrected probability reaches a preset probability threshold, control the manipulator to transport the abnormal material to a first preset position, so that the high-pressure airflow injection device pushes the abnormal material to a coal gangue collection area.

[0039] By adopting the above-mentioned technical solution, the main conveyor belt of the ore sorting machine is used to transport materials. During the movement of the materials on the main conveyor belt, the X-ray device collects X-ray images of the materials, the camera collects first color images of the materials, and the electronic device obtains the X-ray image and first color image of each material and then executes a coal gangue utilization identification method shown in any possible implementation of the first aspect, thereby more accurately separating coal gangue from the materials and improving the separation effect. The manipulator is connected to the electronic device for communication and is controlled by the electronic device to grasp abnormal materials. When the corrected probability reaches a preset probability threshold, the manipulator is controlled to move the abnormal materials to a first preset position so that the abnormal materials are pushed by the gas ejected by the high-pressure airflow injection device and then collected at the coal gangue collection area.

[0040] In another possible implementation, the manipulator is provided with an air 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, each group of clamping parts is provided with a group of metal contacts, and the number of groups of clamping parts is consistent with the number of groups of metal contacts; the air jet device is used to spray gas toward abnormal materials, and the camera device is used to collect a second color image on the main conveyor belt.

[0041] For the embodiment of the present application, an air jet device is provided on the robot arm to remove floating dust and coal dust on the abnormal material when grabbing the abnormal material, thereby reducing the impact of impurities on the subsequent measurement of the resistance value. The camera device is used to collect the second color image on the main conveyor belt, and multiple groups of clamping parts are used to more firmly grab the abnormal material. The metal contacts can better contact with the abnormal material, thereby improving the accuracy of the subsequent measurement of the resistance value.

[0042] In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0043] An electronic device, comprising:

[0044] at least one processor;

[0045] Memory;

[0046] At least one application, wherein at least one application is stored in a memory and configured to be executed by at least one processor, and at least one is configured to: execute a coal gangue utilization identification method shown in any possible implementation manner of the first aspect.

[0047] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0048] A computer-readable storage medium, when the computer program is executed in a computer, causes the computer to execute the coal gangue utilization identification method described in any one of the first aspects.

[0049] In summary, this application includes at least one of the following beneficial technical effects:

[0050] Obtaining an X-ray image and a first color image of the material facilitates determining the density of the material based on the X-ray image, and determining the three-channel color value of the material based on the first color image. Density and three-channel color values are both key factors in characterizing the properties of the material. Therefore, the probability of each material belonging to gangue can be accurately determined based on the density and three-channel color values. The abnormal probability interval is an interval where the material probability is suspicious, that is, it is impossible to accurately determine whether the material specifically belongs to coal or gangue. Therefore, the manipulator is controlled to grab 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 value of coal and gangue. Therefore, the probability of the abnormal material is corrected according to the resistance value to obtain a corrected probability. If the corrected probability reaches the preset probability threshold, it means that the abnormal material belongs to gangue. The manipulator is controlled to transport the abnormal material to the first preset position, so that the high-pressure airflow injection device pushes the abnormal material to the gangue collection area, thereby being able to more accurately separate the gangue from the material, thereby improving the separation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of a method for identifying coal gangue utilization according to an embodiment of the present application.

[0052] Figure 2 It is a structural diagram of the ore sorting machine and the manipulator in the embodiment of the present application.

[0053] Figure 3 It is a schematic diagram of the specific structure of the manipulator in the embodiment of the present application.

[0054] Figure 4 Schematic diagram of the structure of a circuit for measuring resistance value according to an embodiment of the present application.

[0055] Figure 5 It is a structural diagram of a coal gangue utilization and identification system in an embodiment of the present application.

[0056] Figure 6 It is a schematic diagram of the specific structure of an electronic device according to an embodiment of the present application.

[0057] Figure numerals: 2, ore sorting machine; 21, main conveyor belt; 22, X-ray device; 23, camera; 24, high-pressure air flow jet device; 25, partition plate; 3, robot arm; 31, camera device; 32, 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 DESCRIPTION

[0058] The present application is further described in detail below with reference to the accompanying drawings.

[0059] After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

[0060] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0061] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document, unless otherwise specified, generally indicates an "or" relationship between the related objects.

[0062] The embodiments of the present application are described in further detail below with reference to the accompanying drawings.

[0063] The embodiment of the present application provides a method for identifying the utilization of coal gangue, which is executed by an electronic device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, and the embodiment of the present application does not limit this. Figure 1 As shown, the method includes step S101, step S102, step S103, step S104, step S105 and step S106, wherein,

[0064] S101, acquiring an X-ray image and a first color image of each material on the main conveyor belt.

[0065] For the embodiments of this application, refer to Figure 2The main conveyor belt 21 is a major component of the ore sorter 2 and is used to transport coal and mineral materials, including coal and impurity waste such as gangue. An X-ray device 22 and a camera 23 are provided above the main conveyor belt 21. The X-ray device 22 is used to emit X-rays toward the material on the main conveyor belt 21, generating an X-ray image based on the material's absorption of X-rays. The camera 23 is used to capture a color image of the material, i.e., a first color image, to facilitate subsequent analysis of the material's appearance. The ore sorter 2 shown in the drawings of this application is merely an example. In other embodiments, the ore sorter 2 may further include a housing.

[0066] The electronic device is connected to the ore sorting machine via a wire, and thus the electronic device is connected to the X-ray device and the camera on the ore sorting machine, so that the electronic device can obtain the X-ray image and the first color image of each material.

[0067] S102 : Determine the density of each material based on the X-ray image, and determine the three-channel color values of each material based on the first color image.

[0068] In this embodiment of the present application, the electronic device performs grayscale conversion on the X-ray image to obtain a grayscale image of the material, and determines the density of the gangue by calculating the gangue limescale value. In other embodiments, the X-ray device can calculate the density of the gangue by measuring the change in X-ray intensity before and after it passes through the gangue, and then transmit this density to the electronic device. Three-channel color values include RGB (Red, Green, Blue) color values, and the electronic device can obtain these three-channel color values using an image processing library such as PIL (Pillow) in Python or OpenCV.

[0069] S103 , determining the probability of each material being gangue based on the density and the three-channel color values.

[0070] For the embodiment 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, the density and the three-channel color value are both key factors in characterizing whether the material belongs to coal or gangue. The electronic device can preliminarily determine the probability of each material belonging to gangue based on the density and the three-channel color value.

[0071] S104: If there is an abnormal material with a probability within the abnormal probability interval, control the robot arm to grab the abnormal material and determine the resistance value of the abnormal material.

[0072] In the embodiment of the present application, the density and appearance of some materials are similar to those of coal, so the electronic device determines the probability of these materials. The probability is not enough to accurately distinguish whether the material belongs to coal or gangue. Therefore, the abnormal materials are screened through the abnormal probability interval. 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 uncertainty, which may lead to sorting errors and sorting materials belonging to gangue into coal. The electronic device controls the manipulator to grab the abnormal material and determine the resistance value of the abnormal material. Since the resistance of gangue and coal is different, the resistance of coal is usually between 10 6 to 10 9 Ohm-meter, while the resistance of coal gangue is usually between 10 3 to 10 6 Therefore, the resistance value of abnormal materials can facilitate more accurate classification of abnormal materials in the future.

[0073] S105 , correcting the probability that the abnormal material is gangue based on the resistance value to obtain a corrected probability.

[0074] For the embodiment of the present application, the resistance value is also a key factor in the material properties and can be used as a key condition to distinguish 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, thereby obtaining the final corrected probability. The corrected probability can accurately classify the abnormal material.

[0075] S106: If the corrected probability reaches the preset probability threshold, the manipulator is controlled to transport the abnormal material to the first preset position, so that the high-pressure airflow injection device pushes the abnormal material to the coal gangue collection area.

[0076] In the embodiment of the present application, the preset probability threshold is used as the demarcation point for the abnormal material to be more likely to be 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 means that the abnormal material is more likely to be coal gangue. Figure 2As shown, the ore sorter 2 also includes a high-pressure airflow injection device 24 and a separator 25. The high-pressure airflow injection device 24 is located at the end of the main conveyor belt 21 and includes multiple high-pressure nozzles arranged side by side. When the sorter detects gangue, the corresponding high-pressure nozzles are triggered to spray air, separating the gangue. The separator 25 is located to the right of the high-pressure airflow injection device 24 and is tilted. The right side of the separator 25 is the 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 airflow injection 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 airflow injection device 24, the high-pressure airflow injection device 24 runs and sprays high-speed gas. The high-speed gas applies thrust to 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 from the material, thereby improving the separation effect.

[0077] In a possible implementation of the embodiment of the present application, the probability of each material belonging to coal gangue is determined based on the density and the three-channel color value in step S103, which 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), wherein:

[0078] S1031 , converting the three-channel color values into HSV values, and calculating the similarity between the HSV values and the preset HSV values representing standard coal gangue.

[0079] In the embodiment of the present application, the electronic device normalizes the three-channel RGB color values from the range of 0-255 to the range of 0-1, then determines the maximum and minimum values of the three RGB channels after normalization to the range of 0-1. The hue (H), saturation (S), and value (V) are then calculated according to the relevant formula to obtain the HSV value. The electronic device sequentially calculates the difference between each HSV item, then calculates the overall difference using the Euclidean distance formula. Finally, the electronic device subtracts the overall difference from 1 to obtain the similarity. The higher the similarity, the closer the appearance of the material is to that of standard coal gangue, and the greater the possibility that it is coal gangue.

[0080] S1032: Determine a first ratio between the density and a preset density value representing standard coal gangue.

[0081] In the embodiment of the present application, the density of the material for electronic equipment is divided by the 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 is coal gangue.

[0082] S1033: Multiply each HSV value to obtain a product, and determine a second ratio between the product and the density.

[0083] The second ratio represents a characteristic value of the material.

[0084] For the embodiment of the present application, the electronic device multiplies the HSV values ​​each item to obtain a product. The product is equivalent to fusing the HSV values to obtain a total numerical value. The HSV value is represented by a total numerical value to facilitate subsequent calculations. Then the electronic device calculates the second ratio of the product to the density of the material. The second ratio combines the HSV characteristics and density, and uses the second ratio to overall represent the characteristic value of the material. Different materials have different corresponding characteristic values, which makes it easy to determine the probability that the material belongs to coal gangue based on the characteristic value.

[0085] S1034, calculating the difference between the characteristic value of each material and the preset characteristic value representing the standard coal gangue.

[0086] For the embodiment 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 the calculation method 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 uses the difference to a certain extent to characterize the possibility that the material belongs to coal gangue.

[0087] S1035 , determining the probability that each material is gangue based on the similarity, the first ratio, and the difference.

[0088] For the embodiments of the present application, in summary, similarity, the first ratio, and the difference are all key factors in characterizing whether a material belongs to gangue. The higher the similarity, the higher the probability of belonging to gangue, the smaller the difference, the smaller the probability of belonging to gangue, and the closer the first ratio is to 1, the higher the probability of belonging to gangue. Therefore, the electronic device subtracts 1 from the first ratio to obtain the result and takes the absolute value of the result. The smaller the absolute value, the higher the probability of belonging to gangue. The staff can set corresponding coefficients for the similarity, absolute value, and difference. For ease of calculation, the reciprocal of the difference and the reciprocal of the absolute value can be taken. The electronic device uses the corresponding coefficients for the similarity, the reciprocal of the difference, and the reciprocal of the absolute value to perform weighted calculation to obtain the probability of each material belonging to gangue. The probability determined by the similarity, the first ratio, and the difference is more accurate.

[0089] In a possible implementation of the embodiment of the present application, a manipulator is provided with an air 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, specifically including 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), wherein:

[0090] S1041, obtaining a second color image on the main conveyor belt captured by the camera device.

[0091] For the embodiments of this application, refer 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 that abnormal materials can be discovered and monitored in time.

[0092] The electronic device is connected to the camera device on the manipulator via a wire, and the electronic device obtains the second color image captured by the camera device so as to subsequently identify abnormal materials from the second color image.

[0093] 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.

[0094] For the embodiment of the present application, the electronic device segments the image of the abnormal material from the first color image and saves it, 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, and then the electronic device marks the abnormal material, so that the camera device can target the abnormal material and obtain the real-time location of the abnormal material.

[0095] S1043, controlling the movement of the manipulator based on the real-time position, and when the manipulator moves above the abnormal material, controlling the jet device to spray gas toward the abnormal material, and controlling the clamping part to grab the abnormal material.

[0096] For the embodiment of the present application, the electronic device controls the movement of the manipulator according to the real-time position. Figure 3 The manipulator 3 is provided with an air jet device 32. When the manipulator 3 is located above the abnormal material, the electronic device sprays gas toward the abnormal material through the air jet device 32 on the manipulator 3 and grabs the abnormal material. The air jet device 32 sprays gas toward the abnormal material, thereby removing floating dust and coal dust on the surface of the abnormal material, reducing the influence of floating dust and coal dust on the subsequent measurement of the resistance value of the abnormal material, and improving the accuracy of the resistance value measurement. After the gas is sprayed to remove the floating dust and coal dust, the abnormal material can be grabbed.

[0097] S1044, the control circuit is turned on to determine the resistance value of the abnormal material.

[0098] For the embodiments of this application, refer to Figure 3 and Figure 4Manipulator 3 includes multiple sets of gripping parts 33, each set of gripping parts 33 being equipped with metal contacts 34. After manipulator 3 grasps an abnormal material, the metal contacts 34 on manipulator 3 come into contact with the abnormal material, and electronic device 5 controls the circuit to conduct to measure the resistance value of the abnormal material. Specifically, the circuit includes a multimeter 4 set to the resistance measurement range. Multimeter 4 and electronic device 5 are connected via a wire. The resistance value measured by multimeter 4 is then transmitted to electronic device 5, allowing electronic device 5 to determine the resistance value of the abnormal material.

[0099] In a possible implementation of the embodiment of the present application, in step S1044, the control circuit is turned on to determine the resistance value of the abnormal material, which specifically includes step 1 and step 2, wherein:

[0100] Step 1: Control each set of contacts to form a path with the abnormal material in sequence according to a preset order, and obtain the candidate resistance value of the abnormal material when each set of metal contacts forms the path.

[0101] Step 2: averaging all candidate resistance values to obtain the resistance value of the abnormal material.

[0102] For the embodiments of this application, Figure 4 As shown, the circuit is provided with two sets of single-pole multi-throw switches. Figure 4 In the figure, there is a single-pole, three-throw switch. Each set of metal contacts 34 is located on two of the switches. The two sets of switches operate simultaneously. Each time they operate, one set of metal contacts 34 connects to the multimeter 4 and forms a path with the abnormal material, thereby measuring the resistance of the abnormal material. Because each set of metal contacts 34 is located at a different position on the abnormal material, the measured resistance values may vary. After the electronic device 5 obtains the candidate resistance value for each set of metal contacts 34, it averages all the candidate resistance values using an average calculation formula. The resulting average value is the resistance value of the abnormal material. The resistance value of the abnormal material is more accurately obtained by determining the candidate resistance values through multiple measurements and averaging them.

[0103] Furthermore, when controlling each set of metal contacts to measure resistance, the electronic device can control the clamping parts of other metal contacts to loosen to break contact with the abnormal material, thereby further reducing the impact of other clamping parts on the resistance measurement. After the other clamping parts are loosened, a small gap is maintained between them and the abnormal material, thereby preventing the abnormal material from falling out.

[0104] In a possible implementation of the embodiment of the present application, in step S105, the probability that the abnormal material belongs to 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), wherein:

[0105] S1051 , determining a first target probability interval in which the resistance value is determined from two preset probability intervals.

[0106] Each preset probability interval corresponds to a material type, which includes coal and coal gangue.

[0107] For the embodiment of the present application, the staff can set two preset probability intervals based on the resistance value of coal and the resistance value of coal gangue and store them in the local storage medium of 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, thereby determining the first target probability interval where the resistance value is located, that is, the type of material to which the abnormal material characterized by the resistance value may belong.

[0108] S1052 , obtaining candidate resistance values corresponding to each group of contacts, and determining a second target probability interval where each candidate resistance value is located from two preset probability intervals.

[0109] 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, so the electronic device can obtain the candidate resistance values. The electronic device compares each candidate resistance value with two preset probability intervals respectively, thereby determining the second target probability interval in which each candidate resistance value is located.

[0110] S1053: Determine the proportion of gangue in all second target probability intervals.

[0111] For the embodiment of the present application, multiple candidate resistance values of the abnormal material may be located in different preset probability intervals. The more candidate resistance values that belong to the preset probability interval of coal gangue, the greater the possibility that the abnormal material belongs to coal gangue. Therefore, the electronic device uses the candidate resistance values belonging to the preset probability interval of coal gangue to divide the number of all candidate resistance values to obtain the proportion. The larger the proportion, the higher the possibility of belonging to coal gangue, and vice versa.

[0112] S1054: 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.

[0113] For the embodiment of the present application, the two preset probability intervals correspond to a probability calculation value respectively. The probability calculation value of the preset probability interval belonging to gangue is a positive value, and the probability calculation value of the preset probability interval belonging to coal is a negative value. The electronic device multiplies the proportion by the 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 positive. If it does not reach one-half, the other probability calculation value is negative. 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 uses the probability that the abnormal material belongs to gangue determined according to the density and the three-channel color value plus 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 is more accurate.

[0114] In a possible implementation of the embodiment of the present application, the method further includes step S107 (not shown in the figure), wherein step S107 may be performed after step S105, wherein:

[0115] S107: If the corrected probability does not reach the preset probability threshold, the robot is controlled to transport the abnormal material to a second preset location.

[0116] The second preset position is farther away from the main conveyor belt than the first preset position.

[0117] In this embodiment of the present application, if the corrected probability does not reach the preset probability threshold, it indicates a high probability that the abnormal material is coal. The electronic device controls the manipulator to transport the abnormal material to a second preset location. The second preset location is farther away from the main conveyor belt than the first preset location and is therefore less susceptible to the influence of the high-pressure air jet device. After the manipulator reaches the second preset location, it releases the clamping portion, allowing the abnormal material to freely fall into the coal collection area.

[0118] The above embodiment introduces a gangue utilization identification method from the perspective of method flow. The following embodiment introduces a gangue utilization identification system. Please refer to the following embodiment for details.

[0119] The embodiment of the present application provides a gangue utilization identification system, such as Figure 3 As shown, a gangue utilization identification system may specifically include:

[0120] The ore sorter 2 is provided with 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 flow injection device 24 for sorting coal gangue. The high-pressure air flow injection device 24 is located at the end of the main conveyor belt.

[0121] The electronic device 5 is connected to the ore sorting machine 2 through a wire and is used to obtain an X-ray image and a 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 is an abnormal material with a probability in the abnormal probability interval, control the manipulator 3 to grab the abnormal material and determine the resistance value of the abnormal material; based on the resistance value, correct the probability that the abnormal material belongs to coal gangue to obtain the corrected probability; if the corrected probability reaches the preset probability threshold, control the manipulator 3 to transport the abnormal material to the first preset position, so that the high-pressure airflow injection device 24 pushes the abnormal material to the coal gangue collection area.

[0122] The manipulator 3 is connected to the electronic device 5 through a wire and is used to grab abnormal materials. When the corrected probability reaches a preset probability threshold, the manipulator 3 is controlled to transport the abnormal materials to a first preset position so that the high-pressure airflow injection device 24 pushes the abnormal materials to the coal gangue collection area.

[0123] For the embodiments of this application, refer to Figure 2 and Figure 5 , the coal and mineral materials enter the main conveyor belt 21 of the ore sorting machine 2, and the main conveyor belt 21 transports the materials. During the movement of the materials, the X-ray image of each material is collected by the X-ray device 22, and the first color image of each material is collected by the camera 23. The electronic device 5 can be a computer, server or other equipment. The electronic device 5 determines the density and three-channel color value of each material based on the X-ray image and the first color image, and determines the probability of each material belonging to coal gangue based on the density and the three-channel color value, and then determines the abnormal material divided by the abnormal probability interval, controls the manipulator 3 to grab the abnormal material and determines the resistance value of the abnormal material, and corrects the probability of the abnormal material belonging to coal gangue based on the resistance value to obtain the corrected probability. If the corrected probability reaches the preset probability threshold, the manipulator 3 is controlled to move the abnormal material. It is sent to the first preset position. After arriving at the first preset position, the manipulator 3 is released, and the abnormal material falls. The high-pressure airflow injection device 24 on the ore sorting machine 2 is connected to the gas source. The high-pressure airflow injection device 24 sprays gas to the abnormal material, thereby pushing the abnormal material to move to the gangue collection area. The ore sorting machine 2 is also provided with a partition plate 25. The partition plate is tilted and is located at the end of the main conveyor belt 21. The high-pressure airflow injection 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 gangue collection area, and the left side is the coal collection area.

[0124] Reference Figure 3The robot arm 2 of the manipulator 3 is also equipped with a camera device 31. The camera device 31 on the manipulator 3 is used to track the abnormal material, so that the manipulator 3 can determine the location of the abnormal material and grasp it. The manipulator 3 is also equipped with an air jet device 32. The air jet device 32 is used to spray gas towards the abnormal material when the manipulator 3 grasps the abnormal material, thereby removing dust and soot on the surface of the abnormal material, and improving the accuracy of the subsequent resistance value measurement.

[0125] Reference Figure 2 A slide rail 6 can be set on the ore sorting machine 2 or near the ore sorting machine 2. The direction of the slide rail 6 is consistent with the direction of the main conveyor belt 21. The manipulator 3 can move on the slide rail 6 driven by the motor, so that the manipulator 3 can better grasp abnormal materials.

[0126] Reference Figure 3 and Figure 4 The manipulator 3 is provided with multiple groups of clamping parts 33 for grabbing abnormal materials, and each group of clamping parts 33 is provided with a group of metal contacts 34. The clamping part 33 is a bent rod structure, and the metal contacts 34 are located on the inner side of the end of the clamping part 33. Each group of metal contacts 34 are arranged opposite to each other and are 180 degrees apart in the circumferential direction. Each group 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 metal contacts 34. In the embodiment of the present application, the single-pole multi-throw switch is a single-pole three-throw switch. The multimeter 4 is connected to the electronic device 5 through a wire, so that the electronic device 5 obtains the selected resistance value collected by the multimeter 4.

[0127] 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 and identification system can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0128] An electronic device is provided in an embodiment of the present application, such as Figure 6 As shown, Figure 6 The electronic device 5 shown includes a processor 51 and a memory 53. The processor 51 and the memory 53 are connected, for example, via a bus 52. Optionally, the electronic device 5 may further include a transceiver 54. It should be noted that in actual applications, the number of transceivers 54 is not limited to one, and the structure of the electronic device 5 does not constitute a limitation on the embodiments of the present application.

[0129] 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 may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction 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, or a combination of a DSP and a microprocessor.

[0130] 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. The bus 52 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but it does not mean that there is only one bus or one type of bus.

[0131] 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 an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0132] The memory 53 is used to store application code for executing the solution of the present application, and the execution is controlled by the processor 51. The processor 51 is used to execute the application code stored in the memory 53 to implement the content shown in the above method embodiment.

[0133] Electronic devices include, but are 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), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. They may also include servers, etc. Figure 6 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0134] The embodiment of the present application provides a gangue utilization identification device, which includes:

[0135] A gangue utilization identification device, comprising:

[0136] A data acquisition module, used to acquire an X-ray image and a first color image of each material on the main conveyor belt;

[0137] a data determination module, configured to determine the density of each material based on the X-ray image and determine the three-channel color values of each material based on the first color image;

[0138] A probability determination module is used to determine the probability of each material belonging to coal gangue based on density and three-channel color values;

[0139] The resistance value determination module is used to control the manipulator to grab the abnormal material and determine the resistance value of the abnormal material when there is an abnormal material with a probability within the abnormal probability interval;

[0140] A probability correction module is used to correct the probability that the abnormal material is gangue based on the resistance value to obtain a corrected probability;

[0141] The first control module is used to control the manipulator to transport the abnormal material to a first preset position when the corrected probability reaches a preset probability threshold, so that the high-pressure airflow injection device pushes the abnormal material to a coal gangue collection area.

[0142] The embodiment of the present application discloses a gangue utilization identification device, wherein the data acquisition module acquires an X-ray image and a first color image of a material, so that the data determination module determines the density of the material according to the X-ray image and determines the three-channel color value of the material according to the first color image. The density and the three-channel color value are both key factors in characterizing the properties of the material. Therefore, the probability determination module can accurately determine the probability of each material belonging to gangue according to the density and the three-channel color value. The abnormal probability interval is used as a suspicious interval of the material probability, that is, it is impossible to accurately determine whether the material specifically belongs to coal or gangue, so the resistance value is determined. The determination module controls the manipulator to grab abnormal materials whose probability is in the abnormal probability interval and determines the resistance value of the abnormal materials. There is a difference in the resistance value of coal and 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 means that the abnormal material belongs to gangue. The first control module controls the manipulator to transport the abnormal material to the first preset position, so that the high-pressure airflow injection device pushes the abnormal material to the gangue collection area, thereby being able to more accurately separate the gangue from the material, thereby improving the separation effect.

[0143] In one possible implementation of the embodiment of the present application, the probability determination module determines the probability that each material is gangue based on the density and the three-channel color values, specifically including:

[0144] Convert the three-channel color values into HSV values, and calculate the similarity between the HSV values and the preset HSV values representing standard coal gangue;

[0145] determining a first ratio between the density and a predetermined density value representative of standard coal gangue;

[0146] Multiplying each HSV value to obtain a product, and determining a second ratio between the product and the density, the second ratio representing a characteristic value of the material;

[0147] Calculate the difference between the characteristic value of each material and the preset characteristic value representing standard coal gangue;

[0148] The probability that each material belongs to coal gangue is determined based on the similarity, the first ratio, and the difference.

[0149] In one possible implementation of the embodiment of the present application, a manipulator is provided with an air 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 controlling the manipulator to grasp an abnormal material and obtain the resistance value of the abnormal material, the resistance value determination module is specifically used to:

[0150] Acquire a second color image on the main conveyor belt captured by the camera device;

[0151] Identify abnormal materials from the second color image and track the abnormal materials to obtain the real-time position of the abnormal materials on the main conveyor belt;

[0152] The robot moves based on real-time position control. When the robot moves above the abnormal material, the jet device is controlled to spray gas toward the abnormal material, and the clamping part is controlled to grab the abnormal material.

[0153] The control circuit is turned on to determine the resistance value of the abnormal material.

[0154] In one possible implementation of the embodiment of the present application, the resistance value determination module is specifically configured to:

[0155] Controlling each set of contacts to form a path with the abnormal material in sequence according to a preset order, and obtaining a candidate resistance value of the abnormal material when each set of metal contacts forms the path;

[0156] The resistance value of the abnormal material is obtained by averaging all the resistance values to be selected.

[0157] In one possible implementation of the embodiment of the present application, the probability correction module corrects the probability that the abnormal material is gangue based on the resistance value to obtain the corrected probability, specifically for:

[0158] Determine a first target probability interval in which the resistance value is determined from two preset probability intervals, each preset probability interval corresponds to a material type, and the material types include coal and coal gangue;

[0159] Obtaining the candidate resistance value corresponding to each group of contacts, and determining a second target probability interval for each candidate resistance value from two preset probability intervals;

[0160] Determine the proportion of gangue in all second target probability intervals;

[0161] A probability correction value is determined based on the first target probability interval and the proportion, and the probability is corrected according to the probability correction value to obtain a corrected probability.

[0162] In a possible implementation of the embodiment of the present application, a gangue utilization identification device further includes:

[0163] The second control module is used 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, and the second preset position is farther away from the main conveyor belt than the first preset position.

[0164] 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 here.

[0165] 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 and identification device can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0166] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer-readable storage medium is run on a computer, the computer can execute the corresponding contents of the aforementioned 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. The density and the three-channel color value are both key factors in characterizing the properties of the material. Therefore, the probability of each material belonging to coal gangue can be accurately determined according to the density and the three-channel color value. The abnormal probability interval is a suspicious interval of material probability, that is, it is impossible to accurately determine whether the material specifically belongs to coal or coal gangue. Therefore, the manipulator is controlled to grab 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 value of 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 means that the abnormal material belongs to coal gangue. The manipulator is controlled to transport the abnormal material to the first preset position, so that the high-pressure airflow injection device pushes the abnormal material to the coal gangue collection area, and then the coal gangue in the material can be more accurately separated, thereby improving the separation effect.

[0167] It should be understood that although the steps in the flowcharts of the accompanying drawings are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the accompanying drawings may include multiple sub-steps or multiple stages, and 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 in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0168] The above description is only part of the implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for identifying and utilizing coal gangue, characterized in that: include: Acquire an X-ray image and a first color image of each material on the main conveyor belt; determining a density of each material based on the X-ray image, and determining a three-channel color value of each material based on the first color image; Determining the probability of each material being gangue based on the density and the three-channel color values; If there is an abnormal material with a probability within the abnormal probability interval, control the manipulator to grab the abnormal material and determine the resistance value of the abnormal material; Correcting the probability that the abnormal material is gangue based on the resistance value to obtain a corrected probability; If the corrected probability reaches a preset probability threshold, the manipulator is controlled to transport the abnormal material to a first preset position, so that the high-pressure airflow injection device pushes the abnormal material to a coal gangue collection area.

2. A method for identifying and utilizing coal gangue according to claim 1, characterized in that: Determining the probability that each material belongs to gangue based on the density and the three-channel color value includes: Converting the three-channel color values into HSV values, and calculating the similarity between the HSV values and the preset HSV values representing standard coal gangue; determining a first ratio between the density and a predetermined density value representing standard coal gangue; multiplying each item of the HSV value to obtain a product, and determining a second ratio between the product and density, wherein the second ratio represents a characteristic value of the material; Calculating the difference between the characteristic value of each material and the preset characteristic value representing standard coal gangue; The probability that each material belongs to coal gangue is determined based on the similarity, the first ratio, and the difference.

3. The method for identifying and utilizing coal gangue according to claim 1, wherein: The manipulator is provided with an air 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. The control manipulator grasps the abnormal material and obtains the resistance value of the abnormal material, including: Acquiring a second color image on the main conveyor belt captured by the camera device; Identifying the abnormal material from the second color image and tracking the abnormal material to obtain a real-time position of the abnormal material on the main conveyor belt; Controlling the movement of the manipulator based on the real-time position, and when the manipulator moves above the abnormal material, controlling the jet device to spray gas toward the abnormal material, and controlling the clamping portion to grasp the abnormal material; The circuit is controlled to be conductive to determine the resistance value of the abnormal material.

4. A method for identifying and utilizing coal gangue according to claim 3, characterized in that: The controlling the circuit to conduct to determine the resistance value of the abnormal material includes: Controlling each set of contacts to form a path with the abnormal material in sequence according to a preset order, and obtaining a candidate resistance value of the abnormal material when each set of metal contacts forms the path; The resistance value of the abnormal material is obtained by averaging all the resistance values to be selected.

5. The method for identifying and utilizing coal gangue according to claim 4, characterized in that: Correcting the probability that the abnormal material is gangue based on the resistance value to obtain a corrected probability includes: Determining a first target probability interval in which the resistance value is determined from two preset probability intervals, each preset probability interval corresponding to a material type, the material types including coal and coal gangue; Obtaining the candidate resistance value corresponding to each group of contacts, and determining a second target probability interval for each candidate resistance value from two preset probability intervals; Determine the proportion of gangue in all second target probability intervals; A probability correction value is determined based on the first target probability interval and the proportion, and the probability is corrected according to the probability correction value to obtain a corrected probability.

6. The method for identifying and utilizing coal gangue according to claim 1, characterized in that: The method further comprises: If the corrected probability does not reach the preset probability threshold, the manipulator is controlled to transport the abnormal material to a second preset position, which is farther away from the main conveyor belt than the first preset position.

7. A coal gangue utilization identification system, characterized in that: include: An ore sorter, wherein the ore sorter is provided with 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 a first color image of each material, and a high-pressure airflow injection device for sorting coal gangue, wherein the high-pressure airflow injection device is located at the end of the main conveyor belt; An electronic device, communicatively connected to the ore sorter, is configured to obtain an X-ray image and a first color image of each material on the main conveyor belt; 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 is gangue based on the density and the three-channel color value; if there is an abnormal material with a probability within an abnormal probability interval, control a manipulator to grab the abnormal material and determine the resistance value of the abnormal material; correct the probability that the abnormal material is gangue based on the resistance value to obtain a corrected probability; if the corrected probability reaches a preset probability threshold, control the manipulator to transport the abnormal material to a first preset position so that the high-pressure airflow jet device pushes the abnormal material to a gangue collection area; The manipulator is communicatively connected to the electronic device, and is used to grab the abnormal material and, when the corrected probability reaches a preset probability threshold, control the manipulator to transport the abnormal material to a first preset position, so that the high-pressure airflow injection device pushes the abnormal material to a coal gangue collection area.

8. The gangue utilization and identification system according to claim 7, characterized in that: The manipulator is provided with an air 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, each group of clamping parts is provided with a group of metal contacts, and the number of groups of clamping parts is consistent with the number of groups of metal contacts; the air jet device is used to spray gas towards abnormal materials, 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; Memory; At least one application, wherein the at least one application is stored in the memory and configured to be executed by the at least one processor, and the at least one application is used to execute a coal gangue utilization identification method 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 in a computer, the computer is caused to execute the coal gangue utilization and identification method according to any one of claims 1 to 6.

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