CN105944976A - Method and device for sorting massive gangue by using digital image processing technology - Google Patents

Abstract

The invention discloses a method for sorting massive gangue by using a digital image processing technology. Firstly, an original image of a raw coal measured on a conveying belt is obtained through a CCD camera, and is preprocessed by using the digital image processing technology; then, an image intensity value is used for filling a height value of the image, the three-dimensional reconstruction is performed, the pixel volume of the raw coal is calculated, an actual volume of the raw coal is calculated according to a corresponding pixel equivalent, and a massive raw coal is obtained according to volume threshold judgment; and gangue is determined according to a grey level histogram of the image, and is sorted into an appointed area by using an industrial robot. The method has the characteristics of improving the massive gangue sorting accuracy and speed.

Description

A kind of method and device utilizing digital image processing techniques sorting coarse coal spoil

Technical field

The present invention relates to the Sorting Technique field of coarse coal spoil, utilize numeral particularly to one The method and device of image processing techniques sorting coarse coal spoil.

Background technology

China's coalfield distribution is wide, and coal-forming age is complete, is the country of worldwide coal yield maximum, The quality improving coal is to improve colliery economic benefit, enhancing coal industry international competition with yield One important measures of power.

Gangue is organic compound co-deposited with coal in coalification course and inorganic chemical The rock that thing mixes, belongs to inferior fuel, and its caloric value is low, and carbon content is low, and hardness is big, Mineral content is high, and the content of organic matter is low.If the gangue content in colliery is too much, coal can be affected Yield and quality.Industrial typically can using gangue as a kind of trade waste air storage, Both having wasted the mineral resources of preciousness, and taken again farmland, spoil leaching water will pollute surrounding soil And subsoil water, and containing certain combustible in gangue, occur under appropriate conditions certainly Combustion, discharges the harmful gas atmosphere pollutions such as sulfur dioxide, nitrogen oxides, oxycarbide and flue dust Environment, affects the healthy of Residents in Mining Area, brings the most serious society, environment and warp Ji problem.If but reasonably utilized by gangue, or reclaiming useful ore deposit from gangue Thing and chemical products, or it is applied to building trade as filler, or make fertilizer, have The biggest commercial value.

For many years, coarse coal spoil pushes away from picking ribbon conveyer by manpower spade always Discharging on discharge refuse chute, the labor intensity of this mode people is very big, selects the efficiency of cash and discharge refuse Relatively low, particularly during the passing fault of down-hole, the manual sorting of big spoil discharge seriously govern whole The production of individual mine and the lifting speed of mine.And utilize image processing techniques and industrial robot Realize the sorting of gangue, it is possible to reduce the complexity of traditional images Processing Algorithm, improve bastard coal The accuracy of stone sorting and speed, it is ensured that the quality of coal and yield, have the biggest commercial value.

Summary of the invention

In order to overcome above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of utilization The method and device of digital image processing techniques sorting coarse coal spoil, uses and fills picture altitude Method obtain raw coal volume and utilize industrial robot to realize automatic sorting, there is reduction image Process complexity, improve accuracy and the feature of speed of sorting coarse coal spoil.

To achieve these goals, the technical solution used in the present invention is as follows:

A kind of method utilizing digital image processing techniques sorting coarse coal spoil, it is characterised in that Comprise the following steps:

Step one: obtain the left view of tested raw coal, the right side on conveyer belt by CCD camera and regard Figure and front view, be sent to computer by image；

Step 2: calculate pixel equivalent ε between picture size and actual size, obtain list Position actual size representated by pixel；

Step 3: be filtered left view, right view and front view processing, and carry out gray scale Change, image is become gray level image；

Step 4: split with background by raw coal image, obtains effective coal cinder region；Meter Calculate the average gray value G in coal cinder region_mean, G_meanIt is gangue more than 120；

Step 5: use Adaptive Thresholding to carry out binary conversion treatment front view, and obtain, Under, the position on left and right four summits；

Step 6: in calculating, summit, the horizontal range on lower summit to left summit are N_left1And N_left2, Take both higher value N_left=max (N_left1,N_left2) it is left side maximum pixel number；

Step 7: draw the grey level histogram of left view, minimum gray value G_lminCorresponding height Angle value is 0, gray scale maximum G_lmaxCorresponding height value is N_left, the picture of other each gray values Element height is

$H_{lx}=\frac{N_{left}}{G_{l\max }-G_{l\min }}(G_{lx}-G_{lmin})$

Setting up threedimensional model by the height value of every, computer draws left view three through statistics Actual voxel block number s included in dimension module space₁；

Step 8: in calculating, summit, the horizontal range on lower summit to right summit are N_right1With N_right2, take both higher value N_right=max (N_right1,N_right2) it is right side maximum pixel number；

Step 9: draw the grey level histogram of right view, minimum gray value G_rminCorresponding height Angle value is 0, gray scale maximum G_rmaxCorresponding height value is N_right, other each gray values Pixels tall is

$H_{rx}=\frac{N_{right}}{G_{r\max }-G_{r\min }}(G_{rx}-G_{rmin})$

Setting up threedimensional model by the height value of every, computer draws right view three through statistics Actual voxel block number s included in dimension module space₂；

Actual voxel block number included in view threedimensional model space, left and right is carried out Summation, sum=s₁+s₂；

Step 10: utilize pixel equivalent ε, is scaled reality by the pixel volume in image coordinate system Volume, V=sum × ε are measured in border³；

By the volume V calculated and threshold value V_maxCompare, more than V_maxFor coarse coal Spoil；

Step 11: obtain the coordinate of gangue on conveyer belt by target location, and by coordinate Information sends industrial robot to by Ethernet；Gangue is grabbed appointment by industrial robot Region, other raw coal are transported to coal by conveyer belt and specify region.

Described V_maxFor 100cm³。

A kind of device utilizing digital image processing techniques sorting coarse coal spoil, including transport coal Spoil, the conveyer belt of raw coal, camera above being arranged above of conveyer belt, a left side for conveyer belt Right two ends are provided with left camera and right camera, are fixed on the industrial robot of conveyer belt side； Left camera and right camera camera lens in the face of placing, be each attached to conveyer belt edge and with top Camera is on same vertical, and industrial robot and left camera are at homonymy, and along conveyer belt Direction is arranged on left camera front；Described left camera, right camera and top camera Outfan is connected with the input of industrial robot.

Beneficial effects of the present invention:

The coarse coal spoil sorting industrial robot that the present invention relates to, it is possible to achieve coarse coal spoil Automatic sorting process, have automatic, lossless, accuracy is high, fireballing feature.If will The present invention is applied to coal mining field, it is possible to preferably sort out the coarse coal being mingled with in colliery Spoil, it is ensured that the quality of coal and yield, the most also can sort out gangue and carry out comprehensive utilization With, reduce environmental pollution, promote economic development, there is the biggest market potential.

Accompanying drawing explanation

Fig. 1 is the flow chart that coarse coal spoil of the present invention calculates.

Fig. 2 is the flow chart of coarse coal spoil of the present invention sorting.

Fig. 3 is the structural representation of apparatus of the present invention.

Detailed description of the invention

Embodiments of the present invention are described in detail below in conjunction with the accompanying drawings with embodiment.

As shown in Figure 1: a kind of method utilizing digital image processing techniques sorting coarse coal spoil, It is characterized in that, comprise the following steps:

Step one: obtain the left view of tested raw coal, the right side on conveyer belt by CCD camera and regard Figure and front view, be sent to computer by image；

Step 2: calculate pixel equivalent ε between picture size and actual size, obtain list Position actual size representated by pixel；

Step 3: be filtered left view, right view and front view processing, and carry out gray scale Change, image is become gray level image；

Step 4: split with background by raw coal image, obtains effective coal cinder region；Meter Calculate the average gray value G in coal cinder region_mean, G_meanIt is gangue more than 120；

Step 5: use Adaptive Thresholding to carry out binary conversion treatment front view, and obtain, Under, the position on left and right four summits；

Step 6: in calculating, summit, the horizontal range on lower summit to left summit are N_left1And N_left2, Take both higher value N_left=max (N_left1,N_left2) it is left side maximum pixel number；

Step 7: draw the grey level histogram of left view, minimum gray value G_lminCorresponding height Angle value is 0, gray scale maximum G_lmaxCorresponding height value is N_left, the picture of other each gray values Element height is

$H_{lx}=\frac{N_{left}}{G_{l\max }-G_{l\min }}(G_{lx}-G_{lmin})$

Setting up threedimensional model by the height value of every, computer draws left view three through statistics Actual voxel block number s included in dimension module space₁；

Step 8: in calculating, summit, the horizontal range on lower summit to right summit are N_right1With N_right2, take both higher value N_right=max (N_right1,N_right2) it is right side maximum pixel number；

Step 9: draw the grey level histogram of right view, minimum gray value G_rminCorresponding height Angle value is 0, gray scale maximum G_rmaxCorresponding height value is N_right, other each gray values Pixels tall is

$H_{rx}=\frac{N_{right}}{G_{r\max }-G_{r\min }}(G_{rx}-G_{rmin})$

Setting up threedimensional model by the height value of every, computer draws right view three through statistics Actual voxel block number s included in dimension module space₂；

Actual voxel block number included in view threedimensional model space, left and right is carried out Summation, sum=s₁+s₂；

Step 10: utilize pixel equivalent ε, is scaled reality by the pixel volume in image coordinate system Volume, V=sum × ε are measured in border³；

By the volume V calculated and threshold value V_maxCompare, more than V_maxFor coarse coal Spoil；

Step 11: obtain the coordinate of gangue on conveyer belt by target location, and by coordinate Information sends industrial robot to by Ethernet；Gangue is grabbed appointment by industrial robot Region, other raw coal are transported to coal by conveyer belt and specify region.

Described V_maxFor 100cm³。

As shown in Figure 3: a kind of device utilizing digital image processing techniques sorting coarse coal spoil, Including transport gangue, the conveyer belt of raw coal, camera above being arranged above of conveyer belt, The two ends, left and right of conveyer belt are provided with left camera and right camera, are fixed on conveyer belt side Industrial robot；Left camera and right camera camera lens, in the face of placing, are each attached to conveyer belt Edge and with on the same vertical of top camera, industrial robot and left camera at homonymy, And it is arranged on left camera front along conveyer belt direction；Described left camera, right camera It is connected with the input of industrial robot with the outfan of top camera.

The operation principle of the present invention:

First, obtain the original image of tested raw coal on conveyer belt by CCD camera, utilize Digital image processing techniques carry out pretreatment to image；Secondly, image intensity value blank map is utilized The height value of picture also carries out three-dimensional reconstruction, calculates the pixel volume of raw coal, and according to corresponding Pixel equivalent is calculated the actual volume of raw coal, and judges to obtain bulk according to volume threshold Raw coal；Grey level histogram further according to image determines gangue, and utilizes industrial robot to incite somebody to action Gangue is sorted to specify region.

Claims (3)

1. the method utilizing digital image processing techniques sorting coarse coal spoil, its feature It is, comprises the following steps:

Step one: obtain the left view of tested raw coal, the right side on conveyer belt by CCD camera and regard Figure and front view, be sent to computer by image；

Step 2: calculate pixel equivalent ε between picture size and actual size, obtain list Position actual size representated by pixel；

Step 3: be filtered left view, right view and front view processing, and carry out gray scale Change, image is become gray level image；

Step 4: split with background by raw coal image, obtains effective coal cinder region；Meter Calculate the average gray value G in coal cinder region_mean, G_meanIt is gangue more than 120；

Step 5: use Adaptive Thresholding to carry out binary conversion treatment front view, and obtain, Under, the position on left and right four summits；

Step 6: in calculating, summit, the horizontal range on lower summit to left summit are N_left1And N_left2, Take both higher value N_left=max (N_left1,N_left2) it is left side maximum pixel number；

Step 7: draw the grey level histogram of left view, minimum gray value G_lminCorresponding height Angle value is 0, gray scale maximum G_lmaxCorresponding height value is N_left, the picture of other each gray values Element height is

$H_{lx}=\frac{N_{left}}{G_{l\max }-G_{l\min }}(G_{lx}-G_{l\min })$

Setting up threedimensional model by the height value of every, computer draws left view three through statistics Actual voxel block number s included in dimension module space₁；

Step 8: in calculating, summit, the horizontal range on lower summit to right summit are N_right1With N_right2, take both higher value N_right=max (N_right1,N_right2) it is right side maximum pixel number；

Step 9: draw the grey level histogram of right view, minimum gray value G_rminCorresponding height Angle value is 0, gray scale maximum G_rmaxCorresponding height value is N_right, other each gray values Pixels tall is

$H_{rx}=\frac{N_{right}}{G_{rmax}-G_{rmin}}(G_{rx}-G_{rmin})$

Setting up threedimensional model by the height value of every, computer draws right view three through statistics Actual voxel block number s included in dimension module space₂；

Actual voxel block number included in view threedimensional model space, left and right is carried out Summation, sum=s₁+s₂；

Step 10: utilize pixel equivalent ε, is scaled reality by the pixel volume in image coordinate system Volume, V=sum × ε are measured in border³；

By the volume V calculated and threshold value V_maxCompare, more than V_maxFor coarse coal Spoil；

Step 11: obtain the coordinate of gangue on conveyer belt by target location, and by coordinate Information sends industrial robot to by Ethernet；Gangue is grabbed appointment by industrial robot Region, other raw coal are transported to coal by conveyer belt and specify region.

One the most according to claim 1 utilizes digital image processing techniques to sort bulk The method of gangue, it is characterised in that described V_maxFor 100cm³。

3. one based on method described in claim 1 utilizes digital image processing techniques to sort The device of coarse coal spoil, including transport gangue, the conveyer belt of raw coal, upper at conveyer belt Side is provided with top camera, and the two ends, left and right of conveyer belt are provided with left camera and right camera, It is fixed on the industrial robot of conveyer belt side；Place faced by left camera and right camera camera lens, Be each attached to conveyer belt edge and with on the same vertical of top camera, industrial robot with Left camera is at homonymy, and is arranged on left camera front along conveyer belt direction；A described left side Side camera, right camera are connected with the input of industrial robot with the outfan of top camera.