CN114405863B - Mineral sorting method and system based on area array positioning - Google Patents
Mineral sorting method and system based on area array positioning Download PDFInfo
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- CN114405863B CN114405863B CN202210044588.5A CN202210044588A CN114405863B CN 114405863 B CN114405863 B CN 114405863B CN 202210044588 A CN202210044588 A CN 202210044588A CN 114405863 B CN114405863 B CN 114405863B
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- 229910052500 inorganic mineral Inorganic materials 0.000 title claims abstract description 34
- 239000011707 mineral Substances 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 120
- 238000007664 blowing Methods 0.000 claims abstract description 38
- 238000004891 communication Methods 0.000 claims abstract description 24
- 238000003384 imaging method Methods 0.000 claims description 30
- 238000004458 analytical method Methods 0.000 claims description 19
- 238000005070 sampling Methods 0.000 claims description 18
- 230000005855 radiation Effects 0.000 claims description 8
- 230000001502 supplementing effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 17
- 238000000926 separation method Methods 0.000 abstract description 12
- 238000005516 engineering process Methods 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 3
- 239000012779 reinforcing material Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000000007 visual effect 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
- B07C5/3416—Sorting according to other particular properties according to radiation transmissivity, e.g. for light, x-rays, particle radiation
-
- 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
-
- 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
-
- 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
-
- 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
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/187—Segmentation; Edge detection involving region growing; involving region merging; involving connected component labelling
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Analysing Materials By The Use Of Radiation (AREA)
Abstract
The application relates to the technical field of mineral separation, in particular to a mineral separation method and system based on area array positioning; the method comprises the following steps: acquiring a material image, and dividing the material image into grids consisting of a plurality of reference rectangles; establishing a plane rectangular coordinate system based on the grid, and calibrating the coordinate of each reference rectangle; processing the material image and extracting a communication area in the material image; acquiring contour information of a communication area and a central position coordinate of the communication area; generating a minimum circumscribed rectangle of the connected region in the grid according to the contour information and the central position coordinate; based on the minimum circumscribed rectangle, the starting number and the blowing strength of the nozzles are obtained. The method has the effect of helping to enhance material classification.
Description
Technical Field
The application relates to the technical field of mineral separation, in particular to a mineral separation method and system based on area array positioning.
Background
With the continuous progress of visual technology, the intelligent mineral sorting equipment is applied to the field of mineral sorting, the intelligent mineral sorting equipment is also continuously popularized, the intelligent mineral sorting equipment has two key technologies, namely, image sorting and identification processing and sorting and positioning technology, the two technologies complement each other, and one technology cannot be effectively sorted without being done.
In the related art, most of positioning technologies take 'points' as positioning, one point is used for one material, if the positioning is performed only by single positioning, the method has no problem, but if the high-speed blowing is combined, and the blown material has a certain weight, the sorting and positioning method has poor effect.
Aiming at the related technology, the inventor believes that the mineral sorting and positioning technology in the related technology mainly aims at the center of the mineral outline and can only fixedly spray a certain point, and if the calculation is inaccurate, the mistaken spraying or the missing spraying is easy to occur, so that the mineral sorting effect is influenced.
Disclosure of Invention
In order to enhance the material classification effect, the application provides a mineral separation method and a mineral separation system based on area array positioning.
An area array positioning-based mineral sorting method comprises the following steps:
acquiring a material image, and dividing the material image into grids consisting of a plurality of reference rectangles;
establishing a plane rectangular coordinate system based on the grid, and calibrating the coordinate of each reference rectangle;
processing the material image and extracting a communication area in the material image;
acquiring contour information of the communication area and a central position coordinate of the communication area;
generating a minimum circumscribed rectangle of the communication area in the grid according to the contour information and the central position coordinate;
acquiring the starting number of the nozzles based on the minimum circumscribed rectangle;
and acquiring the blowing strength based on the minimum circumscribed rectangle.
Through adopting above-mentioned technical scheme, carry out full coverage location to the material, and can confirm the start number of nozzle and the intensity of jetting according to the size of material, not only nimble, also help reinforcing the effect of material classification, reduce because of the too few or the not ideal condition of material classification that causes of start number of nozzle or jetting intensity.
Optionally, the specific step of obtaining the number of the started nozzles based on the minimum circumscribed rectangle includes:
acquiring the image width of the material image;
acquiring a reference rectangular width based on the image width and the column number of the material image;
obtaining the minimum external rectangular width;
and acquiring the starting number of the nozzles based on the minimum circumscribed rectangular width and the reference rectangular width.
By adopting the technical scheme, the starting number of the nozzles is calculated, the materials are covered in all directions, and more accurate sorting of the materials is facilitated.
Optionally, the specific step of obtaining the minimum circumscribed rectangle width includes:
respectively acquiring two diagonal coordinates of the minimum circumscribed rectangle;
and acquiring the minimum circumscribed rectangle width based on the two diagonal coordinates.
By adopting the technical scheme, the width of the minimum circumscribed rectangle is calculated through the two diagonal coordinates of the minimum circumscribed rectangle, the calculation method is simple, the calculation result is accurate, and the number of the started nozzles can be calculated more accurately.
Optionally, after the obtaining the minimum bounding rectangle width based on the two pairs of angular coordinates, the method further includes: acquiring the height of a minimum circumscribed rectangle based on the two diagonal coordinates;
the specific step of calculating the blowing strength based on the minimum circumscribed rectangle comprises the following steps:
acquiring a reference rectangular sampling time;
acquiring a single-row pixel sampling time;
acquiring a reference rectangle height based on the reference rectangle sampling time and the single-row pixel sampling time;
and acquiring the blowing intensity based on the minimum circumscribed rectangle height and the reference rectangle height.
By adopting the technical scheme, the blowing strength is calculated according to the size of the material, and the effect of material classification is enhanced.
Optionally, after the step of acquiring the blowing intensity based on the minimum bounding rectangle, the method further includes:
acquiring a reference rectangle coordinate covered by the communication area as a coordinate of a target rectangle;
acquiring a first rectangle number, wherein the first rectangle number is the target rectangle number marked as a preset value and contained in each column of the minimum circumscribed rectangle;
if any of the first rectangles is zero, the number of nozzles started is reduced by one.
By adopting the technical scheme, the starting number of the nozzles is further accurately controlled, so that the effect of material classification is enhanced, and resources are saved.
Optionally, after the number of the nozzles is reduced by one if any of the first rectangular numbers is zero, the method further includes:
and acquiring new blowing intensity based on the first rectangular number.
Through adopting above-mentioned technical scheme, further accurate control jetting intensity not only helps reinforcing material classification's effect, also helps resources are saved.
Optionally, the specific step of obtaining the first rectangular number includes:
acquiring a pixel value of a connecting area in a single target rectangle as a first pixel value based on the coordinates of the target rectangle;
acquiring a pixel value of a single reference rectangle as a second pixel value;
acquiring a ratio of the first pixel value to the second pixel value;
comparing the ratio with a preset duty ratio;
and if the ratio is greater than or equal to the preset duty ratio, marking the target rectangle as a preset value.
Through adopting above-mentioned technical scheme, select target rectangle mark for the default, help the start-up number and the jetting intensity of more accurate control nozzle.
A mineral sorting planar array positioning system comprising: a feeding system, a conveying system, an imaging system, an execution system and a computer analysis system;
the feeding system is used for supplementing materials;
the conveying system is used for conveying materials received in the feeding system;
the imaging system is used for scanning the material and generating a material image;
the execution system is used for blowing the materials according to the instruction issued by the computer analysis system;
the computer analysis system is used for acquiring the material image, extracting a communication area in the material image, and calculating the starting number and the blowing intensity of the nozzles based on the communication area.
Through adopting above-mentioned technical scheme, carry out full coverage location to the material, and can confirm the start number of nozzle and the intensity of jetting according to the size of material, not only nimble, also help reinforcing the effect of material classification, reduce because of the too few or the not ideal condition of material classification that causes of start number of nozzle or jetting intensity.
Optionally, the imaging system comprises a radiation imaging system and a camera imaging system, wherein the radiation imaging system is used for scanning the material and generating a material image; the camera imaging system is used for collecting the material image and sending the material image to the computer analysis system.
By adopting the technical scheme, the material is scanned and imaged, the material image is collected and then sent to the computer analysis system, and the computer analysis system is helped to reasonably determine the quantity of the starting nozzles and the blowing intensity according to the material image.
In summary, the present application includes at least one of the following beneficial technical effects:
the material is subjected to full-coverage positioning, the starting number of the nozzles and the blowing intensity can be determined according to the size of the material, the material classification effect is improved flexibly, and the situations of unsatisfactory material classification caused by too few starting numbers of the nozzles or insufficient blowing intensity are reduced.
Drawings
FIG. 1 is a main flow chart of a mineral sorting method based on area array positioning according to an embodiment of the present application;
FIG. 2 is a flowchart showing the specific steps of S600 in FIG. 1 of example 1 of the present application;
FIG. 3 is a flowchart showing the specific steps of S630 in FIG. 2 of embodiment 1 of the present application;
FIG. 4 is a flowchart showing the specific steps of S700 in FIG. 1 of example 1 of the present application;
FIG. 5 is a flow chart of the method for mineral separation based on area array positioning to obtain the number of nozzles started and the blowing strength in embodiment 2 of the present application;
FIG. 6 is a flowchart showing the specific steps of S760 in FIG. 5 of example 2 of the present application;
fig. 7 is a schematic overall structure of a mineral separation area array positioning system according to an embodiment of the present application.
Reference numerals illustrate:
1. a feed system; 2. a conveying system; 3. an imaging system; 4. an execution system; 5. a computer analysis system; 6. a radiation imaging system; 7. a camera imaging system.
Detailed Description
The embodiment of the application discloses a mineral sorting method based on area array positioning.
Example 1
Referring to fig. 1, a mineral sorting method based on area array positioning includes S100 to S700:
s100: and acquiring a material image, and dividing the material image into grids consisting of a plurality of reference rectangles.
Specifically, in this embodiment, the material image may be obtained by an X-ray scanning method or an infrared scanning method; in the embodiment, the material image is divided into a plurality of columns, and the number of the columns of the divided material image is equal to the number of the nozzles; and dividing the material image into a plurality of rows, thereby forming a grid consisting of a plurality of reference rectangles.
S200: and establishing a plane rectangular coordinate system based on the grid, and calibrating the coordinate of each reference rectangle.
Specifically, in this embodiment, the rectangular plane coordinate system uses the left vertex angle of the grid as the origin of coordinates.
S300: and processing the material image and extracting a communication area in the material image.
Specifically, in this embodiment, the processing of the material image is performed according to different densities of the materials, after the materials with different densities are processed by the material image, the color of the material image is inconsistent, and after the materials with high density (for example, 3.0 KG/L) are scanned and imaged, and the color of the picture is light; the color of the picture is dark after scanning imaging and material image processing of the material with small density (for example, 1.3-1.70 KG/L).
Specifically, in this embodiment, the connected region is extracted by a material image threshold segmentation method; the connected region analysis is to extract and mark the connected region of the binary material image after foreground/background separation;
s400: and acquiring contour information of the communication area and a central position coordinate of the communication area.
Specifically, in this embodiment, the center position coordinates of the connected region are calculated by an area_center algorithm, the area_center is used for calculating the area and the center coordinates of the region, the area is defined as the number of pixels of the region, and the center coordinates are calculated by calculating the average value of the row coordinates and the column coordinates of all the pixels.
S500: and generating a minimum circumscribed rectangle of the connected region in the grid according to the contour information and the central position coordinate.
Specifically, the profile information in this embodiment includes the distance between the edge of the connected region and the center position coordinates.
S600: based on the minimum circumscribed rectangle, the starting number of the nozzles is obtained.
S700: based on the minimum circumscribed rectangle, the blowing strength is obtained.
Specifically, the blowing strength in this embodiment refers to the blowing duration of a single nozzle.
Through scanning the material, carry out full coverage location to the material, and can confirm the start-up number of nozzle and the intensity of jetting according to the size of material, help reinforcing the categorised effect of material.
Referring to fig. 2, specific steps of S600 include S610 to S640:
s610: and acquiring the image width of the material image.
Specifically, in this embodiment, the material image width is calculated in pixels.
S620: and acquiring the reference rectangular width based on the image width and the column number of the material image.
S630: and obtaining the minimum circumscribed rectangular width.
S640: and acquiring the starting number of the nozzles based on the minimum circumscribed rectangular width and the reference rectangular width.
Specifically, the number of nozzles to be started in this embodiment is the ratio of the width of the minimum circumscribed rectangle to the width of the reference rectangle.
Referring to fig. 3, the specific steps of S630 include S631 to S632:
s631: and respectively acquiring two opposite angle coordinates of the minimum circumscribed rectangle.
Specifically, the two diagonal coordinates may be any two diagonal coordinates of the smallest bounding rectangle.
S632: based on the two diagonal coordinates, the minimum circumscribed rectangle width is obtained.
Specifically, in this embodiment, the width of the minimum bounding rectangle is the difference between the ordinate and the ordinate of the two diagonal coordinates of the minimum bounding rectangle.
After S632, S633:
s633: and acquiring the minimum circumscribed rectangle height based on the two pairs of angle coordinates.
Specifically, in this embodiment, the height of the minimum bounding rectangle is the difference between the abscissa of the two diagonal coordinates of the minimum bounding rectangle.
Referring to fig. 4, specific steps of S700 include S710 to S740:
s710: and acquiring a reference rectangular sampling time.
Specifically, the reference rectangle sampling time in this embodiment is the time required for sampling a single reference rectangle, and the single reference rectangle includes a plurality of rows of pixels.
S720: a single line of pixel sample times is acquired.
Specifically, the single-row pixel sampling time in this embodiment is the time required for sampling each row of pixels, and is not changed by external factors.
S730: the reference rectangle height is obtained based on the reference rectangle sampling time and the single line pixel sampling time.
Specifically, the height of the reference rectangle in this embodiment is the ratio of the sampling time of the reference rectangle to the sampling time of a single row of pixels.
S740: and acquiring the blowing strength based on the minimum circumscribed rectangle height and the reference rectangle height.
Specifically, in this embodiment, the blowing strength is the product of the minimum circumscribed rectangle height divided by the reference rectangle height and the reference rectangle sampling time.
In this embodiment, when the material is blown, the material with qualified quality (i.e. the material with higher density) may be selected for blowing, and the material with unqualified quality (i.e. the material with lower density) may be selected for blowing.
The implementation principle of the mineral sorting method based on area array positioning in the embodiment 1 of the application is as follows: the method comprises the steps of obtaining a material image, dividing the material image into grids formed by a plurality of reference rectangles, establishing a plane rectangular coordinate system based on the grids, calibrating the coordinates of each reference rectangle, processing the material image, extracting a communicating region in the material image, obtaining contour information of the communicating region and the central position coordinates of the communicating region, generating a minimum circumscribed rectangle of the communicating region in the grids according to the contour information and the central position coordinates, and obtaining the starting number and the blowing strength of the nozzles based on the minimum circumscribed rectangle. The minimum external rectangle is generated according to the size of the communication area, and the positioning full coverage is realized on the materials according to the external rectangle, so that the starting number and the blowing strength of the nozzles are calculated and determined, and the effect of material classification is enhanced.
Example 2
The difference between this embodiment and embodiment 1 is that:
referring to fig. 5, S700 further includes S750 to S770:
s750: the coordinates of the reference rectangle covered by the communication area are acquired as the coordinates of the target rectangle.
I.e. the target rectangle is the reference rectangle covered by the connected region.
S760: a first number of rectangles is obtained.
Specifically, the first rectangle number in this embodiment is the target rectangle number marked as a preset value contained in each column in the single minimum circumscribed rectangle, and the preset value is set to 1 in this embodiment.
S770: if the number of any first rectangles is zero, the number of nozzles started is reduced by one.
Namely: if all the target rectangle marks in any row of the single minimum rectangle are 0, the nozzle corresponding to the row is closed.
The blowing position is further positioned, and the starting number of the nozzles is further accurately controlled, so that the effect of material classification is enhanced, and resources are saved.
S770 is followed by S780:
s780: based on the first number of rectangles, a new blowing intensity is obtained.
Further accurate control jetting intensity not only helps reinforcing material classification's effect, also helps resources are saved.
Referring to FIG. 6, the specific steps of S760 include S761-S765:
s761: and acquiring the pixel value of the connected region in the single target rectangle as a first pixel value based on the coordinates of the target rectangle.
S762: a pixel value of a single reference rectangle is acquired as a second pixel value.
S763: a ratio of the first pixel value to the second pixel value is obtained.
S764: comparing the ratio with a preset ratio.
Specifically, the preset duty ratio in this embodiment may be 0.1, 0.2, 0.3, etc.
S765: if the ratio is greater than or equal to the preset duty cycle, the target rectangle is marked as a preset value.
Specifically, in this embodiment, if the ratio is greater than or equal to the preset duty ratio, the target rectangle is marked as 1, and if the ratio is less than the preset duty ratio, the target rectangle is marked as 0. If the ratio is 0.3 and the preset duty ratio is 0.2, the target rectangle is marked as 1; when the ratio is 0.2 and the preset duty ratio is 0.3, the target rectangle is 0.
In addition, in other embodiments than the present embodiment, the number of columns into which the image is divided may be two times, three times, or the like of the number of nozzles, that is, a plurality of columns of the image are corresponding to each nozzle.
The implementation principle of the mineral sorting method based on area array positioning in the embodiment 2 of the application is as follows: and acquiring the first rectangular quantity, calculating to obtain new blowing strength based on the first rectangular quantity, and subtracting one from the starting quantity of the nozzles if any first rectangular quantity is zero. The start number of the further accurate control nozzles is more accurate in the blowing locating points, the blowing strength is further accurately controlled, the material classification effect is enhanced, and the resource saving is facilitated.
Based on an area array positioning-based mineral separation method, the application also discloses a mineral separation area array positioning system.
Referring to fig. 7, a mineral sorting planar array positioning system comprising: a feeding system 1, a conveying system 2, an imaging system 3, an execution system 4 and a computer analysis system 5; the feeding system 1 is used for supplementing materials; the conveying system 2 is used for conveying materials received in the feeding system 1; the imaging system 3 is used for scanning the materials and generating a material image; the execution system 4 is used for blowing the materials according to the instruction issued by the computer analysis system 5; the computer analysis system 5 is used for acquiring a material image, extracting a communication area in the material image, and calculating the starting number and the blowing intensity of the nozzles based on the communication area.
Specifically, the imaging system 3 in this embodiment includes a radiation imaging system 6 and a camera imaging system 7, where the radiation imaging system 6 is used to scan a material and generate an image of the material, and the radiation imaging system 6 may be an X-ray imaging system 6; the camera imaging system 7 is used to acquire images of the material and send the images of the material to the computer analysis system 5.
The implementation principle of the mineral separation area array positioning system in the embodiment of the application is as follows: the material is transmitted to the X-ray imaging system 6 from the feeding system 1 through the conveying system 2, the X-ray imaging system 6 scans the material and generates a material image, the camera imaging system 7 collects the material image and sends the material image to the computer analysis system 5, the computer analysis system 5 processes, classifies and positions the material image and calculates the starting number and the blowing intensity of the nozzles, and the execution system 4 blows the material according to the instruction issued by the computer analysis system 5, so that the effect of material classification is enhanced, and the condition that the material classification is not ideal due to the fact that the starting number of the nozzles is too small or the blowing intensity is insufficient is reduced.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (6)
1. The mineral sorting method based on area array positioning is characterized by comprising the following steps:
acquiring a material image, and dividing the material image into grids consisting of a plurality of reference rectangles;
establishing a plane rectangular coordinate system based on the grid, and calibrating the coordinate of each reference rectangle;
processing the material image and extracting a communication area in the material image;
acquiring contour information of the communication area and a central position coordinate of the communication area;
generating a minimum circumscribed rectangle of the communication area in the grid according to the contour information and the central position coordinate;
acquiring the starting number of the nozzles based on the minimum circumscribed rectangle;
acquiring a reference rectangular sampling time;
acquiring a single-row pixel sampling time;
acquiring a reference rectangle height based on the reference rectangle sampling time and the single-row pixel sampling time;
acquiring the height of a minimum circumscribed rectangle based on two pairs of angular coordinates;
based on the minimum circumscribed rectangle height and the reference rectangle height, acquiring the blowing strength, wherein the blowing strength refers to the blowing duration of a single nozzle;
acquiring a reference rectangle coordinate covered by the communication area as a coordinate of a target rectangle;
acquiring a first rectangle number, wherein the first rectangle number is the target rectangle number marked as a preset value and contained in each column of the minimum circumscribed rectangle;
if any first rectangle number is zero, the starting number of the nozzles is reduced by one;
the step of marking the target rectangle as a preset value comprises the following steps:
acquiring a pixel value of a connecting area in a single target rectangle as a first pixel value based on the coordinates of the target rectangle;
acquiring a pixel value of a single reference rectangle as a second pixel value;
acquiring a ratio of the first pixel value to the second pixel value;
comparing the ratio with a preset duty ratio;
and if the ratio is greater than or equal to the preset duty ratio, marking the target rectangle as a preset value.
2. The mineral sorting method based on area array positioning according to claim 1, wherein the specific step of obtaining the number of nozzles started based on the minimum bounding rectangle comprises:
acquiring the image width of the material image;
acquiring a reference rectangular width based on the image width and the column number of the material image;
obtaining the minimum external rectangular width;
and acquiring the starting number of the nozzles based on the minimum circumscribed rectangular width and the reference rectangular width.
3. The method for sorting minerals based on area array positioning according to claim 2, wherein the specific step of obtaining the minimum bounding rectangle width comprises:
respectively acquiring two diagonal coordinates of the minimum circumscribed rectangle;
and acquiring the minimum circumscribed rectangle width based on the two diagonal coordinates.
4. The method according to claim 1, further comprising, after the number of nozzles started is reduced by one if any of the first rectangles is zero:
and acquiring new blowing intensity based on the first rectangular number.
5. A mineral sorting planar array positioning system for performing a mineral sorting method based on planar array positioning according to any one of claims 1 to 4, comprising: a feeding system (1), a conveying system (2), an imaging system (3), an execution system (4) and a computer analysis system (5);
the feeding system (1) is used for supplementing materials;
the conveying system (2) is used for conveying materials received in the feeding system (1);
the imaging system (3) is used for scanning materials and generating a material image;
the execution system (4) is used for blowing the materials according to the instruction issued by the computer analysis system (5);
the computer analysis system (5) is used for acquiring the material image, extracting the communication area in the material image, and acquiring the starting number and the blowing intensity of the nozzles based on the communication area.
6. A mineral sorting planar array positioning system according to claim 5, characterized in that the imaging system (3) comprises a radiation imaging system (6) and a camera imaging system (7), the radiation imaging system (6) being adapted to scan material and to generate an image of the material; the camera imaging system (7) is used for acquiring the material image and sending the material image to the computer analysis system (5).
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| CN116140243B (en) * | 2023-04-18 | 2023-08-15 | 北京霍里思特科技有限公司 | Mining blowing sorting method, sorting system, equipment and storage medium |
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