A method, system, electronic device and storage medium for separating coal gangue

Abstract

This application relates to a method, system, electronic device, and storage medium for sorting coal gangue, and pertains to the field of ore sorting. The method includes acquiring video information of the coal gangue when the air exhaust gun is detected to be running, determining the movement trajectory of the coal gangue based on the video information, identifying the coal gangue as target coal gangue if its movement trajectory indicates it is entering a coal conveyor belt, acquiring an X-ray image of the target coal gangue, determining the characteristic values ​​of the target coal gangue based on the X-ray image and video information, acquiring real-time video information of the main conveyor belt, and determining a target side from both sides of the main conveyor belt's conveying direction based on the real-time video information, wherein the blank area on the target side is larger than the blank area on the other side. Based on the characteristic values, controlling a gripping device to grip the target coal gangue from the coal conveyor belt, and controlling the gripping device to transport the target coal gangue to the target side. This application can reduce the amount of coal gangue in the sorted coal, thereby increasing the coal content.

Description

Technical Field

[0001] This application relates to the field of ore sorting, and in particular to a method, system, electronic device and storage medium for sorting coal gangue. Background Technology

[0002] Coal gangue, a byproduct of coal mining, is typically separated from coal using an ore separator. The separator screens the material on the main conveyor belt to identify the gangue. Then, at the end of the main conveyor belt, high-pressure gas is sprayed onto the gangue through air nozzles to propel it into the main conveyor belt. However, some gangue may not be fully propelled by the air nozzles and may end up in the coal conveyor belt, resulting in excessive gangue contamination in the coal. This reduces the separation efficiency and lowers the coal content. Therefore, reducing the amount of gangue in the separated coal to increase its content is a key challenge. Summary of the Invention

[0003] In order to reduce coal gangue in sorted coal and increase coal content, this application provides a coal gangue sorting method, system, electronic equipment and storage medium.

[0004] In a first aspect, this application provides a method for separating coal gangue, which adopts the following technical solution:

[0005] A method for separating coal gangue, comprising:

[0006] When the air exhaust gun is detected to be running, video information of the coal gangue is acquired, and the movement trajectory of the coal gangue is determined based on the video information;

[0007] If the trajectory of the coal gangue is to enter the coal conveyor belt, then the coal gangue is identified as the target coal gangue, and an X-ray image of the target coal gangue is obtained;

[0008] The characteristic values ​​of the target coal gangue are determined based on the X-ray image and video information of the target coal gangue;

[0009] Acquire real-time video information of the main conveyor belt, and determine the target side from both sides of the main conveyor belt's conveying direction based on the real-time video information, wherein the blank area of ​​the target side is larger than the blank area of ​​the other side.

[0010] Based on the aforementioned characteristic value, the grabbing device is controlled to grab the target coal gangue from the coal conveyor belt, and the grabbing device is controlled to transport the target coal gangue to the target side.

[0011] By adopting the above technical solution, when the air exhaust gun is detected to be running, it indicates that the air exhaust gun is separating coal gangue. Therefore, video information of the coal gangue is acquired and its movement trajectory is determined. Based on the movement trajectory, the path of the coal gangue and its upcoming location can be analyzed. If the movement trajectory of the coal gangue is to enter the coal conveyor belt, it indicates that the coal gangue is about to be mixed into the coal. Therefore, the coal gangue is identified as the target coal gangue, and an X-ray image of the target coal gangue is acquired. The X-ray image characterizes the degree of X-ray absorption by the coal gangue when X-rays pass through it. There are differences in the degree of X-ray absorption among different types of coal gangue. The video information records the shape and other characteristics of the coal gangue, and there are differences in the shape among different types of coal gangue. Therefore, based on X-ray images and video information, characteristic values ​​representing the properties of the target coal gangue can be comprehensively determined. On the main conveyor belt, materials usually accumulate in the middle area, while the areas on both sides of the main conveyor belt have less material and larger empty areas, making them suitable for retransporting the target coal gangue. This ensures that the target coal gangue is less likely to mix with the materials after returning to the main conveyor belt. The side with the largest material in the two edge areas is determined as the target side. Based on the characteristic values, the target coal gangue can be located on the coal conveyor belt, and the grabbing device can be controlled to grab the target coal gangue and transport it back to the target side on the main conveyor belt. This reduces the amount of coal gangue in the sorted coal and increases the coal content.

[0012] In another possible implementation, determining the feature values ​​of the target coal gangue based on the X-ray image and video information of the target coal gangue includes:

[0013] The X-ray image is subjected to grayscale transformation to obtain a grayscale image, and the grayscale value of the target coal gangue is determined from the grayscale image;

[0014] Edge detection is performed on the video information to obtain the outline of the target coal gangue;

[0015] Determine the circumcircle of the contour, and determine the diameter of the circumcircle;

[0016] The average gray value of the target coal gangue is determined, and the ratio of the average gray value to the diameter is calculated. The ratio characterizes the feature value of the target coal gangue.

[0017] In another possible implementation, the main conveyor belt is divided into two equal regions along the conveying direction, and the target side determined from both sides of the main conveyor belt's conveying direction based on the real-time video information includes:

[0018] The outermost target material corresponding to each of the multiple areas on both sides of the main conveyor belt is determined from the real-time video information. The multiple areas are divided into multiple areas along the transport direction of the main conveyor belt.

[0019] By sequentially connecting the target materials along the conveying direction, a broken line segment is obtained about the target materials connected sequentially.

[0020] Draw perpendicular lines from both ends of the broken line segment to the edge of the main conveyor belt in the area to form a closed region.

[0021] Calculate the area of ​​the enclosed area corresponding to each side of the main conveyor belt, and determine the side with the largest enclosed area as the target side.

[0022] In another possible implementation, the gripping device includes a robotic arm and two belt conveyors, one for each target side. The gripping device, controlled based on the feature value, grips the target coal gangue from the coal conveyor belt, comprising:

[0023] Obtain X-ray images and video information of each material on the coal conveyor belt;

[0024] The characteristic values ​​of each material are determined based on the X-ray images and video information of each material on the coal conveyor belt;

[0025] Based on the characteristic values ​​of each material and the characteristic values ​​of the target coal gangue, the target coal gangue is identified from the coal conveyor belt, and the robotic arm is controlled to grab the target coal gangue.

[0026] In another possible implementation, controlling the gripping device to transport the target coal gangue to the target side includes:

[0027] When the robotic arm detects that it is grabbing target coal gangue from the belt conveyor on either target side, the belt conveyor on either target side is controlled to run.

[0028] Secondly, this application provides a coal gangue sorting system, which adopts the following technical solution:

[0029] A coal gangue sorting system, comprising:

[0030] An ore sorting machine includes a main conveyor belt for conveying materials, an X-ray device for acquiring X-ray images of target coal gangue, an air exhaust gun for separating coal gangue, a coal gangue conveyor belt for transporting coal, a coal conveyor belt for transporting coal, a first camera device for acquiring video information of coal gangue, and a second camera device for acquiring real-time video information of the main conveyor belt.

[0031] A gripping device is used to transport the target coal gangue to the target side;

[0032] An electronic device, communicatively connected to an ore sorting machine and a gripping device, is used to acquire video information of coal gangue when the air exhaust gun is detected to be running, and determine the movement trajectory of the coal gangue based on the video information. If the movement trajectory of the coal gangue is to enter the coal conveyor belt, the coal gangue is identified as the target coal gangue, and an X-ray image of the target coal gangue is acquired. Based on the X-ray image and video information of the target coal gangue, the characteristic value of the target coal gangue is determined. Real-time video information of the main conveyor belt is acquired, and a target side is determined from both sides of the main conveyor belt's conveying direction based on the real-time video information. The blank area of ​​the target side is larger than the blank area of ​​the other side. Based on the characteristic value, the gripping device is controlled to grab the target coal gangue from the coal conveyor belt, and the gripping device is controlled to transport the target coal gangue to the target side.

[0033] By adopting the above technical solution, the ore separator primarily functions to separate and analyze coal gangue in the material. It uses a first camera and an X-ray camera on the ore separator to collect relevant characteristics of the coal gangue, and a second camera to capture the distribution of material on the main conveyor belt. The collected data, including relevant characteristics, is then sent to electronic equipment. This allows the electronic equipment to determine the characteristic values ​​of the target coal gangue and return it to the target side of the main conveyor belt. The electronic equipment identifies the target coal gangue from the coal conveyor belt and controls the gripping device to grab it, thereby transporting the target coal gangue back to the target side of the main conveyor belt. This reduces the amount of coal gangue in the sorted coal, thus increasing the coal content.

[0034] In another possible implementation, the gripping device includes a robotic arm, a sliding track positioned above the coal conveyor belt, and two belt conveyors;

[0035] The sliding track includes two first tracks parallel to the coal conveyor belt and a second track perpendicular to the first tracks. The second track is parallel to the horizontal plane and is slidably connected to the first tracks. The robotic arm is mounted on the second track and can slide on the second track.

[0036] Two belt conveyors are located on both sides of the coal conveyor belt and are inclined. One end of the belt conveyor is located on one side of the coal conveyor belt and the other end is located on one side of the main conveyor belt. The belt conveyor is also equipped with a guide plate, which is located on the end of the belt conveyor closer to the main conveyor belt, and is used to guide the target coal gangue to fall into the target side.

[0037] By adopting the above technical solution, the robot arm can move more freely and within a wider range on the sliding track. The belt conveyor is located on both sides of the coal conveyor belt, which makes it easy for the robot arm to place the target coal gangue onto the belt conveyor. The belt conveyor is tilted to transport the target coal gangue to the guide plate, where the target coal gangue rolls back onto the main conveyor belt.

[0038] In another possible implementation, a baffle is provided on the guide plate, the baffle being located at the opening of the guide plate and hinged to the side plate of the guide plate.

[0039] By adopting the above technical solution, the baffle acts as a barrier to the target coal gangue. Since the target coal gangue rolls on the guide plate, it has a high speed when it leaves the guide plate and is likely to roll into the middle of the main conveyor belt. Therefore, by blocking the target coal gangue at the exit of the guide plate, the speed of the target coal gangue is reduced, so that the target coal gangue falls onto the main conveyor belt as vertically as possible, thus landing better on the target side.

[0040] Thirdly, this application provides an electronic device that adopts the following technical solution:

[0041] An electronic device comprising:

[0042] At least one processor;

[0043] Memory;

[0044] At least one application, wherein the application is stored in memory and configured to be executed by at least one processor, the at least one configuration being for: executing a coal gangue sorting method as shown in any possible implementation of the first aspect.

[0045] Fourthly, this application provides a computer-readable storage medium, which adopts the following technical solution:

[0046] A computer-readable storage medium, when the computer program is executed in a computer, causes the computer to perform a coal gangue sorting method as described in any one of the first aspects.

[0047] In summary, this application includes at least one of the following beneficial technical effects:

[0048] When the air intake gun is detected in operation, it indicates that the air intake gun is separating coal gangue. Therefore, video information of the coal gangue is acquired to determine its movement trajectory. Based on the movement trajectory, the path of the coal gangue and its upcoming location can be analyzed. If the movement trajectory of the coal gangue is to enter the coal conveyor belt, it means that the coal gangue is about to be mixed into the coal. Therefore, the coal gangue is identified as the target coal gangue, and an X-ray image of the target coal gangue is acquired. The X-ray image represents the degree of X-ray absorption by the coal gangue when X-rays pass through it. Different types of coal gangue have different degrees of X-ray absorption. The video information records the shape and other characteristics of the coal gangue. Different types of coal gangue have different shapes, therefore, based on... X-ray images and video information can be combined to determine the characteristic values ​​that characterize the target coal gangue itself. On the main conveyor belt, the material usually gathers in the middle area, while the areas on both sides of the main conveyor belt have less material and larger empty areas, which are suitable for retransporting the target coal gangue. This makes it less likely for the target coal gangue to mix with the material after returning to the main conveyor belt. The side with the largest material in the two side edge areas is determined as the target side. Based on the characteristic values, the target coal gangue can be found on the coal conveyor belt, and the grabbing device can be controlled to grab the target coal gangue and transport it back to the target side on the main conveyor belt. This reduces the amount of coal gangue in the sorted coal and increases the coal content. Attached Figure Description

[0049] Figure 1 This is a schematic flowchart of a coal gangue sorting method according to an embodiment of this application.

[0050] Figure 2 This is a schematic diagram of the structure of a coal gangue sorting system according to an embodiment of this application.

[0051] Figure 3 This is a structural block diagram of a coal gangue sorting system according to an embodiment of this application.

[0052] Figure 4 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0053] The present application will be further described in detail below with reference to the accompanying drawings.

[0054] After reading this specification, those skilled in the art may make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0057] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0058] This application provides a coal gangue sorting method executed by an electronic device, which can be a server or a terminal device. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smartphone, tablet, laptop, desktop computer, etc., but is not limited to these. The terminal device and the server can be directly or indirectly connected via wired or wireless communication. This application does not impose any limitations on this. Figure 1 As shown, the method includes steps S101, S102, S103, S104, and S105, wherein,

[0059] S101: When the air exhaust gun is detected to be running, video information of the coal gangue is acquired, and the movement trajectory of the coal gangue is determined based on the video information.

[0060] In this embodiment, the air exhaust gun is connected to the electronic equipment via wires. The air exhaust gun includes multiple air nozzles arranged side by side. Each air nozzle outputs a signal during operation, enabling the electronic equipment to know that the air exhaust gun is running and which specific air nozzle is operating. If the material on the main conveyor belt is coal, the air exhaust gun does not operate, allowing the coal to fall into the coal conveyor belt at the end of the main conveyor belt. If the material is coal gangue, the air exhaust gun operates, causing the coal gangue to be pushed into the coal gangue conveyor belt at the end of the main conveyor belt by the high-pressure gas ejected from the air exhaust gun.

[0061] A camera device can be installed at the end of the main conveyor belt to collect video information of the coal gangue. When the operation of the air exhaust gun is detected, it indicates that the air exhaust gun is separating the coal gangue. Therefore, the electronic equipment acquires the video information of the coal gangue, parses the video information into each frame, and determines the position of the coal gangue from each frame. Based on the position of the coal gangue in each frame, the movement trajectory of the coal gangue can be drawn.

[0062] S102, if the trajectory of the coal gangue is to enter the coal conveyor belt, then the coal gangue is identified as the target coal gangue, and an X-ray image of the target coal gangue is obtained.

[0063] In this embodiment, a partition plate is also provided at the end of the main conveyor belt. The partition plate is inclined to separate two channels. The electronic device can determine the relative positional relationship between the movement trajectory and the partition plate, thereby determining whether the coal gangue enters the coal conveyor belt or the coal gangue conveyor belt. Since the coal is not propelled by the air exhaust gun, the area below the partition plate is the coal channel and the coal conveyor belt, while the area above the partition plate is the coal gangue channel and the coal gangue conveyor belt. If the movement trajectory is below the partition plate, it is determined that the coal gangue's movement trajectory is entering the coal conveyor belt, i.e., the coal gangue is mixed with the coal. Therefore, the electronic device identifies the coal gangue as the target coal gangue. An X-ray device is provided above the main conveyor belt to collect X-ray images of the material when identifying coal gangue, thus allowing the electronic device to obtain the X-ray image of the target coal gangue.

[0064] S103, the characteristic values ​​of the target coal gangue are determined based on the X-ray image and video information of the target coal gangue.

[0065] In this embodiment, the X-ray image shows the degree of X-ray absorption by the coal gangue as it passes through the coal gangue; different types of coal gangue absorb X-rays to varying degrees. The video information records the shape and other characteristics of the coal gangue, and different types of coal gangue have different shapes. Therefore, the electronic device can determine the characteristic values ​​of the target coal gangue based on the X-ray image and video information to distinguish it from other materials. Furthermore, the characteristic values ​​obtained through comprehensive analysis of both X-ray images and video information are more accurate and better reflect the characteristics of the target coal gangue itself.

[0066] S104, acquire real-time video information of the main conveyor belt, and determine the target side from both sides of the conveying direction of the main conveyor belt based on the real-time video information.

[0067] The blank area on the target side is larger than the blank area on the other side.

[0068] In this embodiment of the application, after the electronic device identifies the target coal gangue mixed in with the coal, it needs to transport the target coal gangue back to the main conveyor belt. In order to prevent the target coal gangue from mixing with the material on the main conveyor belt, and because the material on the main conveyor belt usually accumulates in the middle area, while the blank areas on both sides of the main conveyor belt have more blank areas, which are suitable for retransporting the target coal gangue, a camera device is set above the main conveyor belt to collect real-time video information on the main conveyor belt. The real-time video information records the accumulation and distribution of the material on the main conveyor belt. Therefore, the electronic device can determine the side edge area with the largest blank area on the main conveyor belt, i.e., the target side, based on the real-time video information.

[0069] S105, based on the characteristic value control, the grabbing device grabs the target coal gangue from the coal conveyor belt and controls the grabbing device to transport the target coal gangue to the target side.

[0070] In this embodiment, the electronic device can locate the target coal gangue from the coal conveyor belt based on its characteristic values, and then control the gripping device to grab the target coal gangue. After grabbing the target coal gangue, the gripping device transports it back to the target side of the main conveyor belt, thereby re-identifying and separating the target coal gangue. This reduces the amount of coal gangue in the sorted coal, improving the quality and content of the coal.

[0071] One possible implementation of this application embodiment is that step S103 determines the feature values ​​of the target coal gangue based on the X-ray image and video information of the target coal gangue, specifically including steps S1031 (not shown in the figure), S1032 (not shown in the figure), S1033 (not shown in the figure), and S1034 (not shown in the figure), wherein,

[0072] S1031, perform grayscale transformation on the X-ray image to obtain a grayscale image, and determine the grayscale value of the target coal gangue from the grayscale image.

[0073] In the embodiments of this application, the electronic device first performs filtering and denoising processing on the X-ray image, such as Gaussian filtering and median filtering, to obtain a denoised image, and then performs grayscale transformation to obtain a grayscale image, and determines the grayscale value of each pixel of the target coal gangue from the grayscale image.

[0074] S1032, edge detection is performed on the video information to obtain the outline of the target coal gangue.

[0075] In the embodiments of this application, the electronic device performs edge detection on the video information. Similarly, it processes each frame of the video information into grayscale to obtain a grayscale image, and then determines the position where the grayscale value jumps from the grayscale image as the outline of the target coal gangue.

[0076] S1033, determine the circumcircle of the profile, and determine the diameter of the circumcircle.

[0077] In the embodiments of this application, since different coal gangues have different outlines, their corresponding circumscribed circles are different, and similarly, the diameters of these circumscribed circles are also different. Therefore, the electronic device determines the diameter of the circumscribed circle of the target coal gangue, using the diameter to characterize the inherent properties of the target coal gangue.

[0078] S1034, determine the average gray value of the target coal gangue, and calculate the ratio of the average gray value to the diameter.

[0079] The ratio represents the characteristic value of the target coal gangue.

[0080] In this embodiment, the electronic device calculates the average gray value of all pixels of the target coal gangue using an average value calculation formula, and uses the average gray value to characterize the inherent properties of the target coal gangue. Then, the electronic device calculates the ratio of the average gray value to the diameter, thereby making the feature value more specific. Combining X-ray images and contours, the feature value is determined to be more consistent with the inherent characteristics of the target coal gangue.

[0081] In one possible implementation of this application embodiment, the main conveyor belt is divided into two equal regions along the conveying direction. Step S104, which determines the target side from both sides of the main conveyor belt's conveying direction based on real-time video information, specifically includes steps S1041 (not shown in the figure), S1042 (not shown in the figure), S1043 (not shown in the figure), and S1044 (not shown in the figure).

[0082] S1041, determine the outermost target material corresponding to each of the multiple areas on both sides of the main conveyor belt from the real-time video information. The multiple areas are divided into multiple areas along the transport direction of the main conveyor belt.

[0083] In this embodiment of the application, the electronic device performs material identification on real-time video information, thereby identifying each material on the main conveyor belt and determining the side where the material is located. The electronic device divides the main conveyor belt into multiple areas along the transport direction, and then calculates the vertical distance from the material in each area to the edge of its side. The material with the closest vertical distance is the outermost material, thereby determining the outermost target material of each area.

[0084] S1042, connect the target materials sequentially along the conveying direction to obtain a broken line segment about the target materials.

[0085] In the embodiments of this application, after the electronic device determines the outermost target material of each region on each side, it connects the target materials of each region sequentially to obtain a broken line segment.

[0086] S1043, draw perpendicular lines from both ends of the broken line segment to the edge of the main conveyor belt in the area to form a closed region.

[0087] In the embodiments of this application, the electronic device draws perpendicular lines at both ends of the broken line segment, that is, at the beginning and end of the main conveyor belt. The broken line segment, the perpendicular lines, and the edge of the main conveyor belt form a closed area.

[0088] S1044, calculate the area of ​​the corresponding enclosed area on both sides of the main conveyor belt, and determine the side with the largest enclosed area as the target side.

[0089] In this embodiment of the application, the electronic device can characterize the area of ​​the closed region by calculating the number of pixels within the closed region. Then, the electronic device compares the number of pixels in two closed regions to determine the closed region with the largest area, and then determines the side containing the closed region with the largest area as the target side. The closed region with the largest area indicates a larger blank area. Re-transporting the target coal gangue to the target side with the largest blank area makes it less likely for the target coal gangue to mix with the material, thus facilitating better re-identification and separation of the target coal gangue.

[0090] In one possible implementation of this application embodiment, the gripping device includes a robotic arm and two belt conveyors, with one belt conveyor corresponding to each target side. Step S105 involves controlling the gripping device to grab the target coal gangue from the coal conveyor belt based on feature values. Specifically, this includes steps S1051 (not shown in the figure), S1052 (not shown in the figure), and S1053 (not shown in the figure).

[0091] S1051, acquire X-ray images and video information of each material on the coal conveyor belt.

[0092] In this embodiment of the application, an X-ray device and a camera device are also installed above the coal conveyor belt to collect X-ray images and video information of each material on the coal conveyor belt.

[0093] S1052, determine the characteristic value of each material based on the X-ray image and video information of each material on the coal conveyor belt.

[0094] In the embodiments of this application, the electronic device can determine the characteristic value of each material on the coal conveyor belt in accordance with the manner disclosed in steps S1031 to S1034, which will not be repeated here.

[0095] S1053 identifies the target coal gangue from the coal conveyor belt based on the characteristic values ​​of each material and the characteristic values ​​of the target coal gangue, and controls the robotic arm to grab the target coal gangue.

[0096] In this embodiment, the electronic device compares the feature value of each material with the feature value of the target coal gangue to identify the target coal gangue from the coal conveyor belt. After the camera device identifies the target coal gangue, it tracks the target coal gangue to determine its real-time position. Then, the electronic device controls the robotic arm to move and grab the target coal gangue based on the real-time position.

[0097] In one possible implementation of this application embodiment, step S105 involves controlling the gripping device to transport the target coal gangue to the target side, specifically including step S1054 (not shown in the figure), wherein...

[0098] S1054: When the robot arm detects that it is grabbing target coal gangue from the belt conveyor on either target side, control the belt conveyor on either target side to run.

[0099] In this embodiment of the application, since the number of coal gangue that accidentally falls onto the coal conveyor belt is small, the belt conveyor is in a normally closed state. When the electronic device detects that the robotic arm grabs the target coal gangue and places the target coal gangue on the corresponding target side belt conveyor, it controls the belt conveyor on the target side to run, so that the belt conveyor on the target side transports the target coal gangue back onto the main conveyor belt.

[0100] The above embodiments describe a coal gangue sorting method from the perspective of process flow. The following embodiments describe a coal gangue sorting system, and details are provided in the following embodiments.

[0101] This application provides a coal gangue sorting system, such as... Figure 2 and Figure 3 As shown, a coal gangue sorting system may specifically include:

[0102] The ore sorting machine 1 includes a main conveyor belt 11 for conveying materials, an X-ray device 12 for acquiring X-ray images of target coal gangue, an air exhaust gun 13 for separating coal gangue, a coal gangue conveyor belt for transporting coal, a coal conveyor belt 14 for transporting coal, a first camera device 15 for acquiring video information of coal gangue, and a second camera device 16 for acquiring real-time video information of the main conveyor belt 11.

[0103] The grabbing device 2 is used to transport the target coal gangue to the target side;

[0104] Electronic device 3 is connected to ore sorting machine 1 via wire or wirelessly, and to gripping device 2 via wire or wirelessly, for performing the contents of the above method embodiments.

[0105] Reference Figure 2Since the coal gangue conveyor belt is not involved in the embodiments of this application, it is not shown in the diagram and does not affect the connection with the appendix. Figure 2 This application describes a coal gangue sorting system. The material passes through the main conveyor belt 11 of the ore sorting machine 1, where an X-ray device 12 captures X-ray images of the material. The ore sorting machine 1 also includes a separator plate 17 located at the end of the main conveyor belt 11. The separator plate 17 is inclined. After the material moves to the end of the main conveyor belt 11, the coal gangue is propelled by high-pressure gas ejected from the air exhaust gun 13, thus flying to the area above the separator plate 17 and then falling onto the coal gangue conveyor belt. The air exhaust gun 13 does not eject high-pressure gas onto the coal, so the coal falls below the separator plate 17 at the end of the main conveyor belt 11 and then onto the coal conveyor belt 14. A first camera device 15 is provided on the side at the end of the main conveyor belt 11. The first camera device 15 can be fixed to the housing of the ore sorting machine 1 (not shown in the housing diagram). The first camera device 15 is used to capture video information of the coal gangue so that the electronic device 3 can analyze the movement trajectory. A second camera device 16 is installed above the main conveyor belt 11 of the ore sorting machine 1 to collect real-time video information of the main conveyor belt 11.

[0106] Reference Figure 2 The gripping device 2 includes a sliding track 21 disposed above the coal conveyor belt 14, a robotic arm 22, and two belt conveyors 23. The sliding track 21 includes two first tracks 211 and one second track 212. The two first tracks 211 are arranged parallel to each other and parallel to the conveying direction of the coal conveyor belt 14. The second track 212 is disposed on the two first tracks 211 and slidably connected to them. The second track 212 can move along the conveying direction of the coal conveyor belt 14 on the first tracks 211, and is connected to the first tracks 211 via pulleys. The robotic arm 22 is disposed on the second track 212 and can slide on it. The robotic arm 22 can extend and retract vertically to grip the target coal gangue.

[0107] Reference Figure 2 Two belt conveyors 23 are located on either side of the coal conveyor belt 14. The belt conveyors 23 are inclined, and multiple strip plates 231 are evenly spaced on their surfaces to support the target coal gangue, thus moving the target coal gangue to the main conveyor belt 11. A guide plate 24 is also provided at the end of the belt conveyor 23 closest to the main conveyor belt 11. The guide plate 24 is inclined, so that after the target coal gangue falls on the guide plate 24, it rolls under the action of gravity and then falls onto the target side of the main conveyor belt 11.

[0108] Reference Figure 2To prevent the target coal gangue from rolling continuously into the middle area of ​​the main conveyor belt 11 after landing on it, a baffle 25 is hinged at the exit of the guide plate 24, with the hinge axis located at the top of the side plate of the guide plate 24. The baffle 25 blocks the target coal gangue, reduces its speed, and allows it to fall as vertically as possible to the target side.

[0109] As can be seen from the above method embodiments, a camera device for acquiring images and videos of the material's appearance and an X-ray device for acquiring X-ray images are also installed above the coal conveyor belt 14. The camera device and X-ray device on the coal conveyor belt 14 are... Figure 2 Although not shown in the figures, the installation and setup of the camera device and X-ray device on the coal conveyor belt 14 can be clearly understood by combining the above method embodiments and system embodiments.

[0110] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the coal gangue sorting system described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0111] This application provides an electronic device, such as... Figure 4 As shown, Figure 4 The illustrated electronic device 3 includes a processor 31 and a memory 33. The processor 31 and the memory 33 are connected, for example, via a bus 32. Optionally, the electronic device 3 may also include a transceiver 34. It should be noted that in practical applications, the transceiver 34 is not limited to one type, and the structure of this electronic device 3 does not constitute a limitation on the embodiments of this application.

[0112] Processor 31 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 the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 31 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0113] Bus 32 may include a pathway for transmitting information between the aforementioned components. Bus 32 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 32 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0114] The memory 33 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0115] The memory 33 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 31. The processor 31 is used to execute the application code stored in the memory 33 to implement the content shown in the foregoing method embodiments.

[0116] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers can also be included. Figure 4 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0117] This application provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments. Compared with related technologies, in this application embodiment, when the operation of the air exhaust gun is detected, it indicates that the air exhaust gun is separating coal gangue. Therefore, video information of the coal gangue is acquired and its movement trajectory is determined. Based on the movement trajectory, the path of the coal gangue and its upcoming location can be analyzed. If the movement trajectory of the coal gangue is to enter the coal conveyor belt, it indicates that the coal gangue is about to be mixed into the coal. Therefore, the coal gangue is identified as the target coal gangue, and an X-ray image of the target coal gangue is acquired. The X-ray image characterizes the degree of X-ray absorption by the coal gangue when X-rays pass through it. There are differences in the degree of X-ray absorption between different coal gangues. The video information records the shape and other characteristics of the coal gangue, and there are differences in the shape of different coal gangues. The differences are such that characteristic values ​​representing the target coal gangue can be comprehensively determined based on X-ray images and video information. On the main conveyor belt, materials usually accumulate in the middle area, while the areas on both sides of the main conveyor belt have less material and larger empty areas, making them suitable for retransporting the target coal gangue. This ensures that the target coal gangue is less likely to mix with the material after returning to the main conveyor belt. The side with the largest material in the two side edge areas is determined as the target side. Based on the characteristic values, the target coal gangue can be located on the coal conveyor belt, and the grabbing device can be controlled to grab the target coal gangue and transport it back to the target side on the main conveyor belt. This reduces the amount of coal gangue in the sorted coal and increases the coal content.

[0118] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated 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 steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0119] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for separating coal gangue, characterized in that, include: When the air exhaust gun is detected to be running, video information of the coal gangue is acquired, and the movement trajectory of the coal gangue is determined based on the video information; If the trajectory of the coal gangue is to enter the coal conveyor belt, then the coal gangue is identified as the target coal gangue, and an X-ray image of the target coal gangue is obtained; The characteristic values ​​of the target coal gangue are determined based on the X-ray image and video information of the target coal gangue; Acquire real-time video information of the main conveyor belt, and determine the target side from both sides of the main conveyor belt's conveying direction based on the real-time video information, wherein the blank area of ​​the target side is larger than the blank area of ​​the other side. Based on the aforementioned characteristic value, the grabbing device is controlled to grab the target coal gangue from the coal conveyor belt, and the grabbing device is controlled to transport the target coal gangue to the target side. The main conveyor belt is divided into two equal regions along the conveying direction. The target side, determined from both sides of the main conveyor belt's conveying direction based on the real-time video information, includes: The outermost target material corresponding to each of the multiple areas on both sides of the main conveyor belt is determined from the real-time video information. The multiple areas are divided into multiple areas along the transport direction of the main conveyor belt. By sequentially connecting the target materials along the conveying direction, a broken line segment is obtained about the target materials connected sequentially. Draw perpendicular lines from both ends of the broken line segment to the edge of the main conveyor belt in the area to form a closed region. Calculate the area of ​​the enclosed area corresponding to each side of the main conveyor belt, and determine the side with the largest enclosed area as the target side.

2. The coal gangue sorting method according to claim 1, characterized in that, The determination of the feature values ​​of the target coal gangue based on the X-ray image and video information includes: The X-ray image is subjected to grayscale transformation to obtain a grayscale image, and the grayscale value of the target coal gangue is determined from the grayscale image; Edge detection is performed on the video information to obtain the outline of the target coal gangue; Determine the circumcircle of the contour, and determine the diameter of the circumcircle; The average gray value of the target coal gangue is determined, and the ratio of the average gray value to the diameter is calculated. The ratio characterizes the feature value of the target coal gangue.

3. The coal gangue sorting method according to claim 1, characterized in that, The gripping device includes a robotic arm and two belt conveyors, one for each target side. The process of controlling the gripping device based on the characteristic values ​​to grip the target coal gangue from the coal conveyor belt includes: Obtain X-ray images and video information of each material on the coal conveyor belt; The characteristic values ​​of each material are determined based on the X-ray images and video information of each material on the coal conveyor belt; Based on the characteristic values ​​of each material and the characteristic values ​​of the target coal gangue, the target coal gangue is identified from the coal conveyor belt, and the robotic arm is controlled to grab the target coal gangue.

4. The coal gangue sorting method according to claim 1, characterized in that, Controlling the gripping device to transport the target coal gangue to the target side includes: When the robotic arm detects that it is grabbing target coal gangue from the belt conveyor on either target side, the belt conveyor on either target side is controlled to run.

5. A coal gangue sorting system for implementing the coal gangue sorting method as described in claim 1, characterized in that, include: An ore sorting machine includes a main conveyor belt for conveying materials, an X-ray device for acquiring X-ray images of target coal gangue, an air exhaust gun for separating coal gangue, a coal gangue conveyor belt for transporting coal, a coal conveyor belt for transporting coal, a first camera device for acquiring video information of coal gangue, and a second camera device for acquiring real-time video information of the main conveyor belt. A gripping device is used to transport the target coal gangue to the target side; An electronic device, communicatively connected to an ore sorting machine and a gripping device, is used to acquire video information of coal gangue when the air exhaust gun is detected to be running, and determine the movement trajectory of the coal gangue based on the video information. If the movement trajectory of the coal gangue is to enter the coal conveyor belt, the coal gangue is identified as the target coal gangue, and an X-ray image of the target coal gangue is acquired. Based on the X-ray image and video information of the target coal gangue, the characteristic value of the target coal gangue is determined. Real-time video information of the main conveyor belt is acquired, and a target side is determined from both sides of the main conveyor belt's conveying direction based on the real-time video information. The blank area of ​​the target side is larger than the blank area of ​​the other side. Based on the characteristic value, the gripping device is controlled to grab the target coal gangue from the coal conveyor belt, and the gripping device is controlled to transport the target coal gangue to the target side.

6. A coal gangue sorting system according to claim 5, characterized in that, The gripping device includes a robotic arm, a sliding track set above the coal conveyor belt, and two belt conveyors; The sliding track includes two first tracks parallel to the coal conveyor belt and a second track perpendicular to the first tracks. The second track is parallel to the horizontal plane and is slidably connected to the first tracks. The robotic arm is mounted on the second track and can slide on the second track. Two belt conveyors are located on both sides of the coal conveyor belt and are inclined. One end of the belt conveyor is located on one side of the coal conveyor belt and the other end is located on one side of the main conveyor belt. The belt conveyor is also equipped with a guide plate, which is located on the end of the belt conveyor closer to the main conveyor belt, and is used to guide the target coal gangue to fall into the target side.

7. A coal gangue sorting system according to claim 6, characterized in that, A baffle is provided on the guide plate, the baffle is located at the opening of the guide plate, and the baffle is hinged to the side plate of the guide plate.

8. 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, the at least one application being used to execute a coal gangue sorting method according to any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed in the computer, the computer is instructed to perform a coal gangue sorting method according to any one of claims 1 to 4.

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