CN107413679A - A kind of intelligent ore dressing device and method based on machine vision technique - Google Patents
A kind of intelligent ore dressing device and method based on machine vision technique Download PDFInfo
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- CN107413679A CN107413679A CN201610366841.3A CN201610366841A CN107413679A CN 107413679 A CN107413679 A CN 107413679A CN 201610366841 A CN201610366841 A CN 201610366841A CN 107413679 A CN107413679 A CN 107413679A
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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
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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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
- B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
- G01N21/64—Fluorescence; Phosphorescence
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/85—Investigating moving fluids or granular solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/845—Objects on a conveyor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/85—Investigating moving fluids or granular solids
- G01N2021/8592—Grain or other flowing solid samples
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Abstract
The invention discloses a kind of intelligent preparation equipment based on machine vision technique, the equipment includes industrial camera, industrial camera, industrial machine vision light source, belt pulley, the network switch and PC industrial computers or embedded controller.The invention also discloses a kind of intelligent beneficiation method based on machine vision technique, and based on machine vision technique, fusion soft and hardware method carries out intelligent sorting to ore.The ore sorting that the present invention is used in industrial production, with speed it is fast, contain much information, function is more, efficiency high the characteristics of, it effectively prevent the subjectivity and individual difference of artificial detection, people can be preferably substituted to carry out work or complete the work that the mankind can not complete, labor intensity is reduced, improves production quality and labor productivity.
Description
Technical field
The invention belongs to automate ore deposit selecting technology field, more particularly to a kind of intelligent ore dressing based on machine vision technique is set
Standby and method.
Background technology
Machine vision (also known as computer vision) refers to the visual performance that people is realized with computer, that is, uses computer
To realize the identification to objective three-dimensional world.Cylinder speech, machine vision is exactly to replace human eye with machine to measure and judge.
NI Vision Builder for Automated Inspection refers to that by machine vision product (i.e. image-pickup device, being divided to two kinds of CMOS and CCD) target will be ingested
Picture signal is converted into, sends special image processing system to, according to the information such as pixel distribution and brightness, color, is transformed into
Data signal；Picture system carries out various computings to these signals to extract clarification of objective, so according to the result of differentiation come
Control the device action at scene.NI Vision Builder for Automated Inspection is mainly made up of from principle point 3 parts：The acquisition of image, the processing of image
With analysis, output or display；The characteristics of NI Vision Builder for Automated Inspection is the flexibility and automaticity for improving production.Be not suitable at some
It is difficult to meet desired occasion in the dangerous work environment of manual work or artificial vision, machine in normal service vision manually regards to substitute
Feel；Simultaneously in high-volume industrial processes, manually the low mesh precision of visual inspection product quality efficiency is not high, uses machine
Visible detection method can greatly improve production efficiency and the automaticity of production.And machine vision is easily achieved information collection
Into being the basic technology for realizing computer integrated manufacturing system.
Machine vision technique includes digital image processing techniques, mechanical engineering technology, control technology, electric source lighting skill
Art, photoimaging technology, sensor technology, simulation and digital video technology, computer software hardware technology, human-machine interface technology etc.
Correlation technique.Typical NI Vision Builder for Automated Inspection generally comprises light source, optical system, video camera, image pick-up card, computer etc..
In recent years, as China is perfect with supporting infrastructure, the accumulation of technology, fund, all trades and professions are to adopting
Start to occur extensively with the industrial automation of image and machine vision technique, intelligent demand, domestic relevant institution of higher learning, research
And nearly 2 years of enterprise carried out positive thinking and bold trial in image and technical field of machine vision, progressively started work
The application at industry scene.
However, current China mining activities, traditional artificial naked eyes beneficiation method are still used in ore primary election, it is deposited
The drawbacks of be apparent.Utilize the powerful superiority of machine vision technique：Speed is fast, contain much information, function is more, efficiency
It is high.If machine vision technique is detected applied to ore primary election, by with the incomparable advantage of artificial detection.Effective ore deposit
The unique key character of grain distribution and color of the element in ore, people can not only be excluded by being detected using machine vision
Subjective factor interference, but also these indexs can be quantitatively described, avoid the separation results to vary with each individual, subtract
Small ore primary election error, improve production efficiency and sharpness of separation.Machine vision is established on the basis of objective analysis and reasoning,
The subjectivity and individual difference of artificial detection are effectively prevent, improves accuracy of detection.NI Vision Builder for Automated Inspection uses camera
Similar artificial monitoring is completed with image procossing.The purpose of machine vision research is exactly to make machine according to the visual characteristic of the mankind
Preferably substitute people to carry out work or complete the work that the mankind can not complete, reduce labor intensity, improve constantly production matter
Amount and labor productivity.Compared with traditional detection mode, Machine Vision Detection has significant advantage and huge economic value,
And detection efficiency is high, detection has continuity and repeatability.
However, machine vision technique is used for industrial ore primary election, there is the defects of same with artificial naked eyes ore dressing, i.e.,：Only
Can be to ore quantitative and semi-quantitative.It is qualitative：Ore is classified according to the color of mineral surface, texture, gloss characteristic etc., example
Such as tungsten ore, gold mine, tin ore；Sxemiquantitative：According to mineral surface color, the distribution character of texture, ore effective element is contained
Amount carries out approximate estimation, such as one piece of tungsten ore, W content 0.2%.Machine vision technique Cleaning Principle comes from human vision
System, no matter how method optimizes, and can only also accomplish to mineral content sxemiquantitative, can with infinite approach mineral content actual value,
But it can not accomplish that mineral content is entirely quantitative.At present, mineral content is differentiated except chemical analysis method can accomplish that approximation is complete quantitative
Outside, no matter X-ray technology, or machine vision technique can only accomplish semi-quantitative analysis.
The content of the invention
For above-mentioned the deficiencies in the prior art, the invention provides a kind of intelligent preparation equipment based on machine vision technique
And method, the ore sorting that the present invention is used in industrial production, have that speed is fast, contain much information, function is more, the spy of efficiency high
Point, the subjectivity and individual difference of artificial detection are effectively prevent, can preferably substitute people and carry out work or complete the mankind not
The work that can be completed, reduces labor intensity, improves production quality and labor productivity.
To achieve these goals, the present invention is achieved through the following technical solutions：
A kind of intelligent preparation equipment based on machine vision technique, the equipment include industrial camera, industrial camera, work
Industry machine vision light source, belt pulley, the network switch and PC industrial computers or embedded controller；The industrial camera is in ore deposit
After stone is broken, when belt pulley transports, mineral surface is imaged, original image analyze data is provided for ore roughing, to ore deposit
Stone is qualitative and sub-elects barren rock；The industrial camera falls moment, to ore after ore is broken for the second time in ore
Surface is captured, and original image analyze data is provided for ore beneficiation, carries out sxemiquantitative to ore, ore is pressed into different components
Content carries out component statistical；The industrial machine vision light source is that video camera or camera shoot ore, there is provided lasting, stable
Illumination；Some industrial cameras and PC industrial computers or embedded controller are formed topological network by the network switch；Institute
State PC industrial computers or embedded controller and calculating analysis is carried out to Ore Image, determine that the species of ore and corresponding ore element are pre-
Estimation, and corresponding industrial equipment is controlled, reach the purpose of ore sorting.
Based on above-mentioned technical proposal, present invention also offers a kind of intelligent beneficiation method based on machine vision technique, bag
Include following steps：
(1) ore adjusted between industrial camera, machine vision light source and belt pulley adopts figure angle, according to different ores
Adjust light source power；
(2) regulation industrial camera, the ore of machine vision light source adopt figure angle, and light source work(is adjusted according to different ores
Rate；
(3) industrial camera on belt pulley ore carry out IMAQ, and be transmitted through the network to PC industrial computers or
Embedded controller；
(4) Ore Image that software gathers to industrial camera is analyzed, and then leads to ore label information if barren rock
Data-interface is crossed, transmits to execution and abandons the industrial machinery of barren rock, barren rock is eliminated into belt pulley, after realizing ore reduction
Roughing；
(5) it is aerial to catch from belt pulley between the belt pulley and ball mill that industrial camera is transported after second of rubble
On the image information of ore that drops, and be transmitted through the network to PC industrial computers or embedded controller；
(6) Ore Image that software gathers to industrial camera is analyzed, according to current ore production requirement, to ore
Component content does not meet production requirement, drives industrial machinery, before ore enters ball mill, is rejected, and realizes
It is selected after ore is broken for the second time.
Due to different ores, after long-term geologic process, the physical characteristic presented is different, industrial camera or industry
The use of camera will select color RGB image model or gray level image model according to different ore characteristics.
After ore first break, volume is still larger, industrial camera need to be arranged on pulley centerline just on
Side, distance 1m~1.5m height, using formula focal length industrial lens are focused, lens plane is parallel with belt pulley plane, and shooting is most
The mineral surface of large area.
Because belt pulley need to meet certain industrial production speed requirement, industrial camera need to select to change frame per second 90
Frame/second above speed, for preferably retain mineral surface grain details information, industrial camera need to select pixel 2,000,000 with
On.
After ore is broken for the second time, ore enters ball mill by being slid on belt pulley, because belt pulley has necessarily
Initial velocity, ore drop the not pure movement of falling object, and industrial camera need to select the electronic shutter exposure time as Microsecond grade, as
Element more than 2,000,000, the stronger industrial camera of photoperceptivity.
When being fallen due to ore, the air line distance of industrial camera and ore is nearer, using the wide-angle work for focusing short focus
The center line heart line of industry camera lens, optical center and ore, as vertical as possible, the guarantee shooting maximum of plane when being fallen with ore
The mineral surface of area.
Machine vision light source, according to the ore for not possessing fluorescent effect, the cool white light light of selection 6500K~7000K colour temperatures
Source, prevent that light source power can be according to different ore elements to illumination because light source color temperature influences to make sampled images introduce noise
Absorption is adjusted with degree of reflection.
Machine vision light source, according to the ore for possessing fluorescent effect, 254nm ultraviolet source is selected, excites ore glimmering
Light characteristic, light source power the fluorescence bright degree excited after the absorption of ultraviolet can be adjusted according to different ores.
The beneficial effects of the invention are as follows：
1. the ore sorting that the present invention is used in industrial production, have that speed is fast, contain much information, function is more, efficiency high
Feature, the subjectivity and individual difference of artificial detection are effectively prevent, can preferably substitute people and carry out work or complete the mankind
The work that can not be completed, labor intensity is reduced, improve production quality and labor productivity.
2. of the invention compared with external X ray ore deposit choosing method, energy-saving and environmental protection, and human body will not be caused irreversible
Injury.
3. the perception of present invention simulation human visual system, can complete all working that manually visually can be done,
High speed, stability, repeatability etc. powerful machines vision system considerably beyond human visual system.
4. the present invention largely solves the unconventional situation ore deposit of unusual, the difficult differentiation of industrial site feature distribution
The sorting problem of stone.
5. in the present invention, during ore first break roughing, discardable 70% barren rock, useless product are carried beneficial to throwing.
6. in the present invention, when second of ore is broken selected, discardable 80% barren rock, ore semi-quantitative analysis and ore
Content actual value difference 0.1%.
7. in the present invention, cover the noble metals of all distinguishable pre-selections of human eye visual system, non-ferrous metal and rare
The ores such as metal.
Embodiment
With reference to embodiment, the present invention is further described, and following embodiments are illustrative, be not it is limited,
Protection scope of the present invention can not be limited with following embodiments.
A kind of intelligent preparation equipment based on machine vision technique, the equipment include industrial camera, industrial camera, work
Industry machine vision light source, belt pulley, the network switch and PC industrial computers or embedded controller；Industrial camera is broken in ore
After broken, when belt pulley transports, mineral surface imaged, original image analyze data is provided for ore roughing, ore is determined
Property and sub-elect barren rock；Industrial camera is fallen moment after ore is broken for the second time in ore, and mineral surface is carried out
Capture, original image analyze data is provided for ore beneficiation, sxemiquantitative is carried out to ore, ore is carried out by different components content
Component statistical；Industrial machine vision light source is that video camera or camera shoot ore, there is provided is continued, stable illumination；Network is handed over
Change planes some industrial cameras and PC industrial computers or embedded controller composition topological network；PC industrial computers are embedded
Controller carries out calculating analysis to Ore Image, and the species and corresponding ore element for determining ore are estimated in advance, and controls corresponding
Industrial equipment, reach the purpose of ore sorting.
Present invention also offers a kind of intelligent beneficiation method based on machine vision technique, comprise the following steps：
(1) ore adjusted between industrial camera, machine vision light source and belt pulley adopts figure angle, according to different ores
Adjust light source power；
(2) regulation industrial camera, the ore of machine vision light source adopt figure angle, and light source work(is adjusted according to different ores
Rate；
(3) industrial camera on belt pulley ore carry out IMAQ, and be transmitted through the network to PC industrial computers or
Embedded controller；
(4) Ore Image that software gathers to industrial camera is analyzed, and then leads to ore label information if barren rock
Data-interface is crossed, transmits to execution and abandons the industrial machinery of barren rock, barren rock is eliminated into belt pulley, after realizing ore reduction
Roughing；
(5) it is aerial to catch from belt pulley between the belt pulley and ball mill that industrial camera is transported after second of rubble
On the image information of ore that drops, and be transmitted through the network to PC industrial computers or embedded controller；
(6) Ore Image that software gathers to industrial camera is analyzed, according to current ore production requirement, to ore
Component content does not meet production requirement, drives industrial machinery, before ore enters ball mill, is rejected, and realizes
It is selected after ore is broken for the second time.
Ore between regulation industrial camera, machine vision light source and belt pulley adopts figure angle, industrial camera installation
In the surface of pulley centerline, the 1m height above belt pulley, using focusing formula focal length industrial lens, lens plane
It is parallel with belt pulley plane, and machine vision light source is adjusted to 30W power, it can clearly shoot ore on belt pulley
Maximum surface area, the industrial camera of 2,300,000 pixels are enough to describe mineral surface grain details information.
Regulation industrial camera, the ore of machine vision light source adopt figure angle, regulation light source power to 15W, using focusing
The center line heart line of the wide-angle industrial lens of short focus, optical center and ore, plane when being fallen with ore are hung down as far as possible
Directly, camera distance whereabouts ore 20cm~60cm air line distance scope, camera electronic shutter exposure time are set to 10us once,
Camera pixel 2,300,000, it can clearly capture the maximum area surface of ore whereabouts moment.
Using colour temperature 6500K cool white radiant, the not Ore Image collection only under dark surrounds provides illumination, and
And lighting color noise will not be introduced as the white light source of low colour temperature, alleviate burden for Ore Image analysis.Tool at present
The ore for having fluorescent effect has as many as 12 kinds, such as scheelite, topac mine, phosphorus ash ore deposit etc., utilizes the colour effect of fluorescence, ore deposit
Stone qualitative analysis is more direct, accurate and speed is fast, will more preferably be estimated using features such as the distribution of fluorescence area, density, fluorescence degree
Calculate the content of ore effective element.
Software processing, merged using the feature of multiple color spaces, grader is classified, sets up new model to be learned
Storehouse, more accurately and actual value is pressed close to the qualitative and semi-quantitative analysis of ore, new model library to be learned is set up, similar to half
The on-line study model of supervision, original model library can be supplemented, constantly adjustment and improve software ore assay ability and
Accuracy.
Due to different ores, after long-term geologic process, the physical characteristic presented is different, industrial camera or industry
The use of camera will select color RGB image model or gray level image model according to different ore characteristics.Ore first
It is secondary it is broken after, volume is still larger, and industrial camera need to be arranged on the surface of pulley centerline, distance 1m~1.5m's
Highly, using formula focal length industrial lens are focused, lens plane is parallel with belt pulley plane, shoots the mineral surface of maximum area.
Because belt pulley need to meet certain industrial production speed requirement, industrial camera need to select to change frame per second in the 90 frames/more than second
Speed, preferably to retain the grain details information of mineral surface, industrial camera need to select pixel more than 2,000,000.Ore
After second-time breakage, ore enters ball mill by being slid on belt pulley, and because belt pulley has certain initial velocity, ore drops
The not pure movement of falling object, industrial camera need to select the electronic shutter exposure time as Microsecond grade, pixel more than 2,000,000, sense
The stronger industrial camera of light ability.When being fallen due to ore, the air line distance of industrial camera and ore is nearer, using focusing
The center line heart line of the wide-angle industrial lens of short focus, optical center and ore, plane when being fallen with ore are hung down as far as possible
Directly, the mineral surface of shooting maximum area is ensured.
Machine vision light source, according to the ore for not possessing fluorescent effect, the cool white light light of selection 6500K~7000K colour temperatures
Source, prevent that light source power can be according to different ore elements to illumination because light source color temperature influences to make sampled images introduce noise
Absorption is adjusted with degree of reflection.
Machine vision light source, according to the ore for possessing fluorescent effect, 254nm ultraviolet source is selected, excites ore glimmering
Light characteristic, light source power the fluorescence bright degree excited after the absorption of ultraviolet can be adjusted according to different ores.
For described above, it should be appreciated that without departing from the scope of the invention, can in detail make and change
Become.Specification and the embodiment described are intended to be considered as only to be exemplary, and the true scope and spirit of the invention is by weighing
The wide in range implication that profit requires represents.
Claims (2)
1. a kind of intelligent preparation equipment based on machine vision technique, it is characterised in that the equipment includes industrial camera, industry
Camera, industrial machine vision light source, belt pulley, the network switch and PC industrial computers or embedded controller；
The industrial camera when belt pulley transports, is imaged to mineral surface, provided for ore roughing after ore reduction
Original image analyze data, it is qualitative to ore and sub-elect barren rock；
The industrial camera falls moment in ore after ore is broken for the second time, mineral surface is captured, is ore deposit
Stone is selected to provide original image analyze data, and sxemiquantitative is carried out to ore, and ore is carried out into component statistical by different components content；
The industrial machine vision light source is that video camera or camera shoot ore, there is provided is continued, stable illumination；
Some industrial cameras and PC industrial computers or embedded controller are formed topological network by the network switch；
The PC industrial computers or embedded controller carry out calculating analysis to Ore Image, determine the species of ore and corresponding ore
Element is estimated in advance, and controls corresponding industrial equipment, reaches the purpose of ore sorting.
2. a kind of intelligent beneficiation method based on machine vision technique based on claim 1, it is characterised in that including following step
Suddenly：
(1) ore adjusted between industrial camera, machine vision light source and belt pulley adopts figure angle, is adjusted according to different ores
Light source power；
(2) regulation industrial camera, the ore of machine vision light source adopt figure angle, and light source power is adjusted according to different ores；
(3) industrial camera carries out IMAQ to ore on belt pulley, and is transmitted through the network to PC industrial computers；
(4) Ore Image that software gathers to industrial camera is analyzed, and ore label information then is passed through into number if barren rock
According to interface, transmit to the industrial machinery of abandoning barren rock is performed, barren rock is eliminated into belt pulley, realize thick after ore reduction
Choosing；
(5) it is aerial to catch to fall from belt pulley between the belt pulley and ball mill that industrial camera is transported after second of rubble
The image information of the ore fallen, and it is transmitted through the network to PC industrial computers or embedded controller；
(6) Ore Image that software gathers to industrial camera is analyzed, according to current ore production requirement, to ore composition
Content does not meet production requirement, drives industrial machinery, before ore enters ball mill, is rejected, realizes ore
It is selected after broken for the second time.
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| CN114226271A (en) * | 2021-11-24 | 2022-03-25 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Raw ore throwing method, device, terminal equipment and medium |
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| CN109781622B (en) * | 2019-03-11 | 2024-02-02 | 南京信息工程大学 | Portable intelligent metal ore type quick distinguishing instrument |
| CN110038827A (en) * | 2019-05-27 | 2019-07-23 | 四川发展天瑞矿业有限公司 | Phosphorus ore color sorting system |
| CN114226271A (en) * | 2021-11-24 | 2022-03-25 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Raw ore throwing method, device, terminal equipment and medium |
| CN114226271B (en) * | 2021-11-24 | 2023-11-07 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Raw ore throwing and separating method and device, terminal equipment and medium |
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Application publication date: 20171201 |