CN108380524A - Bastard coal screening installation and system - Google Patents
Bastard coal screening installation and system Download PDFInfo
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- CN108380524A CN108380524A CN201810184943.2A CN201810184943A CN108380524A CN 108380524 A CN108380524 A CN 108380524A CN 201810184943 A CN201810184943 A CN 201810184943A CN 108380524 A CN108380524 A CN 108380524A
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- spoil
- image
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- 239000003245 coal Substances 0.000 title claims abstract description 185
- 238000009434 installation Methods 0.000 title claims abstract description 24
- 238000012216 screening Methods 0.000 title claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 52
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000000926 separation method Methods 0.000 claims abstract description 10
- 230000032258 transport Effects 0.000 claims description 101
- 238000005498 polishing Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims description 3
- 239000004575 stone Substances 0.000 claims 1
- 230000005251 gamma ray Effects 0.000 abstract description 4
- 230000005855 radiation Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013145 classification model Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 102000004190 Enzymes Human genes 0.000 description 1
- 108090000790 Enzymes Proteins 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000030833 cell death Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001311 chemical methods and process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000002075 main ingredient Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 150000007523 nucleic acids Chemical class 0.000 description 1
- 102000039446 nucleic acids Human genes 0.000 description 1
- 108020004707 nucleic acids Proteins 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- Sorting Of Articles (AREA)
Abstract
A kind of bastard coal screening installation of offer of the embodiment of the present invention and system.The equipment application is in bastard coal separation system, the system comprises the first transport device, the first transport device be used for transport include coal and spoil raw coal, the equipment include electric connection vision photographic device, control mechanism and executing agency.Wherein, vision photographic device and executing agency are arranged above the first transport device.Vision photographic device is used to obtain the image for the raw coal being transported on the first transport device, and raw coal image is sent to control mechanism.Control mechanism is used to obtain the coordinates of motion, the coordinates of motion of spoil of coal by identification according to raw coal image, and sends control command to executing agency according to the coordinates of motion of the coal of acquisition and the coordinates of motion of spoil.Executing agency is used to execute respective operations according to control command to sort coal and spoil.It not only avoids staff by gamma-ray radiation as a result, also has the characteristics that error is small, sorting index is high.
Description
Technical field
The present invention relates to ore sorting technology fields, in particular to a kind of bastard coal screening installation and system.
Background technology
Raw coal includes coal and spoil, and the quality of coal can be influenced if not coming out gangue sorting.It mainly takes at present
Coal, spoil is identified in single energy gamma rays identification technology, is then hit to the coal or spoil of identification using high frequency air valve
It falls, to realize the sorting of coal and spoil.
Gamma rays has extremely strong penetrating power.When human body is irradiated by gamma rays, gamma rays can enter
The inside of human body, and ionization occurs with internal cell, complicated organic molecule, such as albumen can be corroded by ionizing the ion of generation
Matter, nucleic acid and enzyme, they all be constitute living cell tissue main ingredient may result in human body once they are destroyed
Normal chemical process be interfered, it is serious to make cell death.In addition, being shot down using high frequency air valve, there is mistake
The big deficiency of rate, so that sorting index is relatively low.
Invention content
In order to overcome above-mentioned deficiency in the prior art, a kind of bastard coal sorting of being designed to provide of the embodiment of the present invention is set
Standby and system can be identified coal and spoil using image recognition, and according to the coordinates of motion of the coal obtained after identification
And spoil obtains coordinates of motion control executing agency and sorts coal and spoil, thus not only avoids staff by gamma
Ray radiation also has the characteristics that error is small, sorting index is high.
The embodiment of the present invention provides a kind of bastard coal screening installation, is applied to bastard coal separation system, the system comprises first
Transport device, first transport device be used for transport include coal and spoil raw coal, the equipment include electric connection regard
Feel photographic device, control mechanism and executing agency, wherein the vision photographic device and executing agency's setting are in first fortune
Above defeated device,
The vision photographic device is used to obtain the image for the raw coal being transported on first transport device, and by raw coal
Image is sent to the control mechanism；
The control mechanism is used to obtain the coordinates of motion of coal by identification according to the raw coal image, the movement of spoil is sat
Mark, and control command is sent to the executing agency according to the coordinates of motion of the coal of acquisition and the coordinates of motion of spoil；
The executing agency is used to execute respective operations according to the control command to sort coal and spoil.
In embodiments of the present invention, the vision photographic device includes fixing piece, light source, image acquisition device,
The fixing piece is semi-enclosed cavity, and first transport device passes through the fixing piece, the fixing piece to be used for
The fixed light source and image acquisition device, wherein the light source and image acquisition device are arranged above first transport device；
The light source is for providing illumination, so that described image collector acquires raw coal image；
Described image collector is used to acquire transported on the first transport device below the described image collector
The image of raw coal, wherein described image collector is cmos camera.
In embodiments of the present invention, the fixing piece includes being oppositely arranged for being passed through for first transport device
First through hole and the second through-hole.
In embodiments of the present invention, the light source and image acquisition device are arranged in the fixing piece, wherein the light source
It is configured in a manner of positive polishing or side polishing.
In embodiments of the present invention, the control mechanism includes processing unit, and the processing unit is acquired with described image
Device is electrically connected,
The processing unit is used to carry out image recognition to the every frame raw coal image obtained through described image collector, obtains
Per the profile of frame raw coal objects in images, to obtain the static coordinate of every frame raw coal objects in images, according to every frame raw coal image
The static coordinate of middle object obtains the coordinates of motion of continuous multiple frames raw coal objects in images；
The processing unit is additionally operable to be produced coal and spoil according to the identification of the characteristics of image of raw coal objects in images；
The processing unit is additionally operable to the coordinates of motion according to object and the coal identified and spoil obtains the movement seat of coal
The coordinates of motion of mark and spoil.
In embodiments of the present invention, the control mechanism further includes controller and driver,
The controller is electrically connected with the processing unit and driver,
The coordinates of motion for the coal that the controller is used to be sent according to the processing unit and the coordinates of motion of spoil are sent
Control instruction gives the driver, with the working condition through executing agency described in the driver control.
In embodiments of the present invention, the driver includes servo-driver, the executing agency include servo motor and
Manipulator, the control instruction include the first control instruction,
The servo-driver is used to control the working condition of the servo motor according to first control instruction, so that
The manipulator is moved to corresponding position.
In embodiments of the present invention, the driver further includes circuit driver, and the executing agency further includes solenoid valve
And cylinder, the control instruction further include the second control instruction,
The circuit driver is used to control the work that the solenoid valve changes the cylinder according to second control instruction
Make state, so that the manipulator executes respective action.
In embodiments of the present invention, the equipment further includes arranging-in-row device,
The arranging-in-row device includes dividing row part and permutation part；
Described point of row part is used to the raw coal on first transport device being divided into multiple row；
The permutation part is used to increase the gap between the raw coal of adjacent column.
The embodiment of the present invention also provides a kind of bastard coal separation system, and the system comprises the first transport device, the second transports
Device, third transport device, coal storage warehouse, spoil storage warehouse and the bastard coal being arranged above first transport device
Screening installation,
First transport device be used for transport include coal and spoil raw coal；
Coal and spoil in the raw coal that the bastard coal screening installation transports on first transport device for identification, and will
Coal is sorted from first transport device to second transport device, and spoil is sorted from first transport device to described
Third transport device；
The coal storage warehouse is arranged below second transport device, what second transport device was used to sub-elect
Coal is transported to the coal storage warehouse；
The spoil storage warehouse is arranged below the third transport device, and the third transport device will be for that will sub-elect
Spoil transport to the spoil storage warehouse.
In terms of existing technologies, the invention has the advantages that：
A kind of bastard coal screening installation of offer of the embodiment of the present invention and system.The equipment application is in bastard coal separation system, institute
State system include the first transport device, first transport device be used for transport include coal and spoil raw coal.The equipment packet
Include vision photographic device, control mechanism and the executing agency of electric connection.Wherein, the vision photographic device and executing agency set
It sets above first transport device.The vision photographic device is used to obtain the original being transported on first transport device
The image of coal, and raw coal image is sent to the control mechanism.The control mechanism is used to be passed through according to the raw coal image
Identification obtains the coordinates of motion, the coordinates of motion of spoil of coal, and according to the coordinates of motion of the coal of acquisition and the coordinates of motion of spoil
Control command is sent to the executing agency.The executing agency is used to execute respective operations according to the control command with by coal
And spoil is sorted.Coal and spoil are identified using image recognition, and according to the coordinates of motion of the coal obtained after identification
And spoil obtains coordinates of motion control executing agency and sorts coal and spoil, thus not only avoids staff by gamma
Ray radiation also has the characteristics that recognition speed is fast, error is small, sorting index is high.
To enable the above objects, features, and advantages of invention to be clearer and more comprehensible, present pre-ferred embodiments cited below particularly, and
The appended attached drawing of cooperation, is described in detail below.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is one of the schematic diagram of bastard coal screening installation provided in an embodiment of the present invention.
Fig. 2 is the two of the schematic diagram of bastard coal screening installation provided in an embodiment of the present invention.
Fig. 3 is the structural schematic diagram of arranging-in-row device in Fig. 2.
Fig. 4 is one of the structural schematic diagram of vision photographic device in Fig. 2.
Fig. 5 is the second structural representation of vision photographic device in Fig. 2.
Fig. 6 is the structural schematic diagram of bastard coal separation system provided in an embodiment of the present invention.
Icon：10- bastard coal screening installations；11- feeding warehouses；20- bastard coal separation systems；100- vision photographic devices；110-
Fixing piece；111- the first side walls；1111- first through hole；The second through-holes of 1121-；113- third side walls；The 4th side walls of 114-；
115- roofs；120- light sources；130- image acquisition devices；200- control mechanisms；300- executing agencies；400- arranging-in-row devices；411-
Fixed frame；412- divides row part；413- permutation parts；The first transport devices of 510-；The second transport devices of 520-；523- coal storage warehouses；
530- third transport devices；533- spoil storage warehouses.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiment of the present invention, people in the art
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is instruction or implies that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is instruction or implies relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" refers to only that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Fig. 1 and Fig. 2 is please referred to, Fig. 1 is one of the schematic diagram of bastard coal screening installation 10 provided in an embodiment of the present invention, Fig. 2
It is the two of the schematic diagram of bastard coal screening installation 10 provided in an embodiment of the present invention.First transport device 510 is for transporting original
Coal, raw coal include coal and spoil.The bastard coal screening installation 10 may include the vision photographic device 100 being electrically connected, control
Mechanism 200 and executing agency 300 processed.Wherein, the vision photographic device 100 and the setting of the executing agency 300 are described the
The top of one transport device 510.The control mechanism 200 may be provided at the top of first transport device 510, can not also
It is arranged in the top of first transport device 510.In the embodiment of the present embodiment, the setting of the control mechanism 200 exists
The top of first transport device 510.
In the present embodiment, the vision photographic device 100 be used for obtain on first transport device 510 be transported
The image of raw coal, and raw coal image is sent to the control mechanism 200.The control mechanism 200 is used for according to the raw coal
Image obtains the coordinates of motion of coal and the coordinates of motion of spoil by identification, and according to the coordinates of motion of obtained coal and spoil
The coordinates of motion send control command to the executing agency 300.The executing agency 300 is used to be executed according to the control command
Respective operations with by first transport device 510 coal and spoil sort.
Referring once again to Fig. 2, in the present embodiment, the bastard coal screening installation 10 can also include arranging-in-row device 400.Institute
Stating arranging-in-row device 400, vision photographic device 100, control mechanism 200 and executing agency 300 can be successively along the first transport dress
The transporting direction for setting raw coal on 510 is successively set on the top of first transport device 510.The arranging-in-row device 400 is used for
Not of uniform size, irregular, the rambling raw coal of arrangement is arranged in queue that is in good order, having certain interval, in order to
The vision photographic device 100 obtains raw coal image, and sorts coal and spoil convenient for the executing agency 300, avoids sorting wrong
Accidentally.
Fig. 3 is please referred to, Fig. 3 is the structural schematic diagram of arranging-in-row device 400 in Fig. 2.The arranging-in-row device 400 may include point
Row part 412 and permutation part 413.Described point of row part 412 and permutation part 413 are separately fixed on the fixed frame 411.Described point of row
Part 412 is arranged in the front of the permutation part 413.Described point of row part 412 is used for the raw coal on first transport device 510
It is divided into multiple row, the permutation part 413 is used to increase the gap between the raw coal of adjacent column.
In the present embodiment, described to divide row part 412 that be colter, which generally can be triangular pyramid, thus
Raw coal can be divided into multiple row.Wherein, it can fix there are one row part 412 is divided, can also be fixed with multiple on a fixed frame 411
Divide row part 412.The permutation part 413 can be metallic plate, such as steel plate, iron plate etc..The permutation part 413 can be relatively described solid
Determine frame 411 to swing, pass through swinging for permutation part 413, you can increases and arrange at a distance between row.According to the length of metallic plate
Degree and other demands permutation part 413 can be fixed by one or more fixed frames 411.In the embodiment party of the present embodiment
It, can be according to demand along the transporting direction of raw coal setting multicomponent row part 412 and multiple permutation parts 413 (as shown in Figure 3) in formula.
Wherein, the swaying direction of front and back two groups of permutation parts 413 can be opposite.
Fig. 4 and Fig. 5 is please referred to, Fig. 4 is one of the structural schematic diagram of vision photographic device 100 in Fig. 2, and Fig. 5 is regarded in Fig. 2
Feel the second structural representation of photographic device 100.The vision photographic device 100 may include fixing piece 110, light source 120 and
Image acquisition device 130.The fixing piece 110 is semi-enclosed cavity, and first transport device 510 passes through the fixing piece 110.
The fixing piece 110 is for fixing the light source 120 and image acquisition device 130.Wherein, the light source 120 and image acquisition device
130 are arranged above first transport device 510.The light source 120 is for providing illumination, so as to described image collector
130 acquisition raw coal images.Described image collector 130 is used to acquire the first transport positioned at 130 lower section of described image collector
The image for the raw coal being transported on device 510.Wherein, described image collector 130 is cmos camera.Cmos camera uses
Cmos image sensor, manufacturing cost is relatively low, fast response time, can quick obtaining raw coal image.In addition, with CMOS technology
It continues to develop, the image acquisition speed and quality of cmos image sensor can further get a promotion.
In the present embodiment, the fixing piece 110 includes being oppositely arranged for being passed through for first transport device 510
First through hole 1111 and the second through-hole 1121.Directly the vision photographic device 100 can be arranged in first fortune as a result,
On defeated device 510.
In the present embodiment, the fixing piece 110 may include the first side wall 111, second sidewall, third side wall 113,
Four side walls 114 and roof 115.The first side wall 111, second sidewall, third side wall 113 and the 4th side wall 114 respectively with institute
State the connection of roof 115.Wherein, the first side wall 111 is oppositely arranged with second sidewall, 113 and the 4th side of the third side wall
Wall 114 is oppositely arranged, and forms a semi-enclosed cavity as a result,.
Optionally, the first through hole 1111 is arranged on the first side wall 111, and the setting of the second through-hole 1121 exists
In the second sidewall.In the embodiment of the present embodiment, the setting of the first through hole 1111 is remote in the first side wall 111
One end from the roof 115, second through-hole 1121 are arranged in the one end of the second sidewall far from the roof 115.
The light source 120 and image acquisition device 130 are arranged in the fixing piece 110.Wherein, described image collector 130 can root
Medium position in the fixing piece 110 is mounted on according to actual conditions, close to the position etc. of roof 115.Optionally, in installation institute
When stating image acquisition device 130, described image collector 130 can be arranged not close to the first through hole 1111 and the second through-hole
1121 position has an impact described image collector 130 to avoid ambient light.By above-mentioned setting, external rings can be isolated
Border light prevents external ambient light from influencing to obtain bastard coal image, and then is interfered to identification, influences the consistency of identification.In addition,
The fixing piece 110 can be also used for fixing other devices.
In the present embodiment, the light source 120 can be LED light source, can also be other light sources.The light source 120 exists
Enough brightness, uniform light are provided when obtaining raw coal image, to improve the consistency of coal rock detection.Optionally, the light source 120
Mounting means can be according to actual needs polishing mode be configured, for example, being installed in a manner of positive polishing, being beaten with side
Light mode is installed.
In the present embodiment, the control mechanism 200 may include processing unit.The processing unit is adopted with described image
Storage 130 is electrically connected.The processing unit can be, but unlimited, desktop computer, controller etc..It can in the processing unit
To be stored with algorithm for carrying out image analysis identification to bastard coal image etc. (for example, object detection model, object classification model
Deng).The processing unit after obtaining the raw coal image, can automatic recording be video, and multiframe raw coal is intercepted from video
Image, and identify according to image analysis algorithm (for example, object detection model) contour of object of every frame raw coal objects in images,
To obtain the static coordinate of every frame raw coal objects in images.Then further according to object tracking algorithm and per frame raw coal objects in images
Static coordinate obtain the coordinates of motion of object.The processing unit can also be according to image recognition algorithm (for example, object classification
Model) and per surface characteristics such as the surface gloss of frame raw coal objects in images and surface roughnesses, identify every frame raw coal figure
Coal and spoil as in.It produces coal in identification and on the basis of spoil, in conjunction with obtaining the coordinates of motion of object, the processing unit
The coordinates of motion of coal and the coordinates of motion of spoil can be obtained.
The control mechanism 200 can also include controller and driver.The controller and the processing unit and drive
Dynamic device is electrically connected, the coordinates of motion for the coal that the controller is used to be sent according to the processing unit and the coordinates of motion of spoil
Control instruction is sent to the driver, with the working condition through executing agency 300 described in the driver control.
In the present embodiment, the driver includes servo-driver, and the executing agency 300 includes servo motor and machine
Tool hand, the control instruction include the first control instruction.The servo-driver is used to be controlled according to first control instruction
The working condition of the servo motor, so that the manipulator is moved to corresponding position.
In the present embodiment, the driver further includes circuit driver, the executing agency 300 further include solenoid valve and
Cylinder, the control instruction further include the second control instruction.The circuit driver is used for according to the second control instruction control
The working condition that the solenoid valve changes the cylinder is made, so that the manipulator executes respective action (for example, capturing, stirring
Deng).
Wherein, the control instruction can be pulse signal.The controller can be according to the coordinates of motion and spoil of coal
The coordinates of motion manipulator controlled by the first control instruction be moved to position corresponding with coal or spoil, then by the
Two control instructions control the manipulator and carry out the action such as capturing.After the manipulator obtains coal or spoil, the manipulator
The releasable position for having picked up object, last root can be moved to by the control of the first control instruction further according to the controller
Release release movement is made according to the control of the second control instruction, object release will have been picked up.It is described after release movement
Manipulator can be moved according to control to carry out subsequent sorting operation.
Optionally, the control mechanism 200 can also include alarm lamp.The circuit driver can carry isolation work(
Can, when circuit load is broken down, control alarm lamp is alarmed, other functions are had no effect on.
The equipment is not on the basis of changing original raw coal transportation system, you can realizes and is realized to coal in raw coal and spoil
Sorting has the characteristics that easy for installation, maintenance is simple, discrimination is high, improvement cost is low.
Fig. 6 is please referred to, Fig. 6 is the structural schematic diagram of bastard coal separation system 20 provided in an embodiment of the present invention.The bastard coal
Separation system 20 may include the first transport device 510, the second transport device 520, third transport device 530, coal storage warehouse
523, spoil storage warehouse 533 and the bastard coal screening installation 10 being arranged above first transport device 510.First transport
Device 510 be used for transport include coal and spoil raw coal.First transport device for identification of the bastard coal screening installation 10
Coal in the raw coal transported on 510 and spoil, and coal is sorted from first transport device 510 to second transport device
520, spoil is sorted from first transport device 510 to the third transport device 530.The coal storage warehouse 523 is arranged
Below second transport device 520, second transport device 520 is used to transport the coal sub-elected to the coal and store
Storehouse 523 is stored.The spoil storage warehouse 533 is arranged below the third transport device 530, the third transport device
530 store for transporting the spoil sub-elected to the spoil storage warehouse 533.
Optionally, first transport device 510, the second transport device 520 and third transport device 530 can be skin
Band transporter.
In conclusion a kind of bastard coal screening installation of offer of the embodiment of the present invention and system.The equipment application is in bastard coal point
Select system, the system comprises the first transport device, first transport device be used for transport include coal and spoil raw coal.Institute
It includes vision photographic device, control mechanism and the executing agency being electrically connected to state equipment.Wherein, it the vision photographic device and holds
Row mechanism is arranged above first transport device.The vision photographic device is for obtaining quilt on first transport device
The image of the raw coal of transport, and raw coal image is sent to the control mechanism.The control mechanism is used for according to the raw coal
Image obtains the coordinates of motion, the coordinates of motion of spoil of coal by identification, and according to the coordinates of motion of the coal of acquisition and spoil
The coordinates of motion send control command to the executing agency.The executing agency is used to execute corresponding behaviour according to the control command
Make to sort coal and spoil.Coal and spoil are identified using image recognition, and according to the coal obtained after identification
The coordinates of motion and spoil obtain coordinates of motion control executing agency and sort coal and spoil, thus not only avoid staff
By gamma-ray radiation, also have the characteristics that recognition speed is fast, error is small, sorting index is high.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of bastard coal screening installation, which is characterized in that be applied to bastard coal separation system, the system comprises the first transport dresses
Set, first transport device be used for transport include coal and spoil raw coal, the equipment include electric connection vision image
Device, control mechanism and executing agency, wherein the vision photographic device and executing agency are arranged in first transport device
Top,
The vision photographic device is used to obtain the image for the raw coal being transported on first transport device, and by raw coal image
It is sent to the control mechanism；
The control mechanism is used to obtain the coordinates of motion, the coordinates of motion of spoil of coal by identification according to the raw coal image,
And control command is sent to the executing agency according to the coordinates of motion of the coal of acquisition and the coordinates of motion of spoil；
The executing agency is used to execute respective operations according to the control command to sort coal and spoil.
2. equipment according to claim 1, which is characterized in that the vision photographic device includes fixing piece, light source, image
Collector,
The fixing piece is semi-enclosed cavity, and first transport device passes through the fixing piece, and the fixing piece is for fixing
The light source and image acquisition device, wherein the light source and image acquisition device are arranged above first transport device；
The light source is for providing illumination, so that described image collector acquires raw coal image；
Described image collector is used to acquire the raw coal being transported on the first transport device below described image collector
Image, wherein described image collector be cmos camera.
3. equipment according to claim 2, which is characterized in that the fixing piece includes being oppositely arranged for for described the
The first through hole and the second through-hole that one transport device passes through.
4. equipment according to claim 3, which is characterized in that the light source and image acquisition device are arranged in the fixing piece
It is interior, wherein the light source is configured in a manner of positive polishing or side polishing.
5. equipment according to claim 2, which is characterized in that the control mechanism includes processing unit, the processing dress
It sets and is electrically connected with described image collector,
The processing unit is used to carry out image recognition to the every frame raw coal image obtained through described image collector, obtains per frame
The profile of raw coal objects in images, to obtain the static coordinate of every frame raw coal objects in images, according to object in every frame raw coal image
The static coordinate of body obtains the coordinates of motion of continuous multiple frames raw coal objects in images；
The processing unit is additionally operable to be produced coal and spoil according to the identification of the characteristics of image of raw coal objects in images；
The processing unit is additionally operable to the coordinates of motion according to object and the coal identified and spoil obtain coal the coordinates of motion and
The coordinates of motion of spoil.
6. equipment according to claim 5, which is characterized in that the control mechanism further includes controller and driver,
The controller is electrically connected with the processing unit and driver,
The coordinates of motion for the coal that the controller is used to be sent according to the processing unit and the coordinates of motion of spoil send control
It instructs to the driver, with the working condition through executing agency described in the driver control.
7. equipment according to claim 6, which is characterized in that the driver includes servo-driver, the execution machine
Structure includes servo motor and manipulator, and the control instruction includes the first control instruction,
The servo-driver is used to control the working condition of the servo motor according to first control instruction, so that described
Manipulator is moved to corresponding position.
8. equipment according to claim 7, which is characterized in that the driver further includes circuit driver, the execution
Mechanism further includes solenoid valve and cylinder, and the control instruction further includes the second control instruction,
The circuit driver is used to control the work shape that the solenoid valve changes the cylinder according to second control instruction
State, so that the manipulator executes respective action.
9. equipment according to claim 1, which is characterized in that the equipment further includes arranging-in-row device,
The arranging-in-row device includes dividing row part and permutation part；
Described point of row part is used to the raw coal on first transport device being divided into multiple row；
The permutation part is used to increase the gap between the raw coal of adjacent column.
10. a kind of bastard coal separation system, which is characterized in that the system comprises the first transport device, the second transport device, thirds
It is any one in transport device, coal storage warehouse, spoil storage warehouse and the claim 1-9 that is arranged above first transport device
Bastard coal screening installation described in,
First transport device be used for transport include coal and spoil raw coal；
Coal and spoil in the raw coal that the bastard coal screening installation transports on first transport device for identification, and by coal from
First transport device is sorted to second transport device, and spoil is sorted from first transport device to the third
Transport device；
The coal storage warehouse is arranged below second transport device, and second transport device is used to transport the coal sub-elected
Transport to the coal storage warehouse；
The spoil storage warehouse is arranged below the third transport device, the cash that the third transport device is used to sub-elect
Stone is transported to the spoil storage warehouse.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810184943.2A CN108380524A (en) | 2018-03-06 | 2018-03-06 | Bastard coal screening installation and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810184943.2A CN108380524A (en) | 2018-03-06 | 2018-03-06 | Bastard coal screening installation and system |
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| CN108380524A true CN108380524A (en) | 2018-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810184943.2A Pending CN108380524A (en) | 2018-03-06 | 2018-03-06 | Bastard coal screening installation and system |
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