Research On Coal And Gangue Smart Sorting System Base On X-Ray And Structured Light Camera

With the increasing attention of the country to environmental protection,and the increasing demand of the market for the quality of coal products,the separation technology of highly efficient and environmental protection coal and gangue is imminent.In order to realize the effective separation of coal and gangue,the coal gangue separation system and material identification algorithm based on dual-energy X-ray transmission technology and structured light camera are studied and analyzed in this paper.The main work of this paper is as follows:1.Built the hardware environment of gangue sorting system,including distribution transmission system,acquisition,identification and control system,sorting execution system,auxiliary system,etc.,and added the structured light camera to overcome the influence of thickness on materials,improve the accuracy of sorting and expand the detection range of gangue.At the same time,the noise and void of the camera image are processed by morphology-median filtering method,and the effectiveness of this method is proved by experiments.2.This paper introduces the basic theory of X-ray transmission technology,and analyzes the R-value algorithm and curve fitting algorithm.Aiming at the small recognition range and low recognition accuracy of the above algorithms,a coal gangue identification method based on the combination of dual energy R value identification and thickness information was proposed.In this paper,the depth images of coal and gangue are obtained by using a structured light camera,and the noise and void in the depth images are processed.By collecting a large number of coal and gangue radiographic images and establishing the sample characteristic database,the recognition conditions and thickness threshold of coal and gangue are obtained,and the separation of coal and gangue with a wide range of thickness is successfully realized.Then,the centroid position of the material object is determined by the method of threshold segmentation and region marking,and the material location is realized.3.According to the functional requirements of the system,C++ was used to complete the development of supporting software on the Visual Studio 2012 platform,and realized the functions of hardware control,image acquisition and recognition,PLC communication,database recording and management,etc.The experimental results show that the separation system developed in this paper can meet the needs of rapid and accurate identification and separation of coal and gangue.The system is simple to operate and requires less equipment,so it has a prospect of further optimization research and promotion.