CN111359898A - Online ore sorting equipment and sorting method - Google Patents

Abstract

The invention discloses an ore on-line sorting equipment, comprising a fuselage frame, on which are installed an unloading chute, a belt-type transport device, a ray source assembly, a ray detector, a pneumatic executive component, a material receiving bin and a control The control device is electrically connected with the belt-type transport device, the ray source assembly, the ray detector and the pneumatic actuator assembly respectively; A belt and a motor that drives a belt shaft to rotate, the belt passes between the radiation source assembly and the radiation detector; the unloading chute is located above one end of the belt, and the pneumatic actuator is set close to the other end of the belt. Also provided is a sorting method for an ore online sorting device. The invention has higher resolution accuracy and ray utilization rate, strong material identification ability, can better replace manual operation, improve labor production efficiency, and better complete the intelligent identification and selection of ore.

Description

A kind of ore online sorting equipment and sorting method

technical field

The invention relates to the technical field of ore machine visual recognition analysis and sorting, in particular to an ore online sorting device and a sorting method.

Background technique

Currently, in the field of ore online sorting, the main detection technologies include visible light detection, near infrared detection, laser detection, XRF (X-ray fluorescence spectroscopy), and XRT (X-ray transmission). Among them, only XRT can detect the internal composition of the ore, and other technologies can only detect the surface of the ore, so XRT has unique advantages in the accuracy of identification, and therefore has become the current mainstream ore sorting and detection technology. In the field of XRT detection, since Jacobson first proposed DEXRT (dual energy X-ray transmission) imaging technology in 1953, DEXRT has been widely used in medical and industrial CT, airport and passenger terminal security inspection, non-destructive testing and other fields. The sorting field has gradually become the mainstream detection technology. DEXRT uses two different scintillators to detect the intensity of X-ray energy in different energy intervals to obtain the information of the two channels, so as to overcome the influence of the thickness of the measured object on the identification. However, the scintillator itself has the characteristics of low photoelectric conversion efficiency and sensitivity, and is easily affected by scattering, which greatly limits the contrast and clarity of the image, and the photosensitive areas between different scintillators also have great overlap. , causing the information of the two channels to interfere greatly with each other, which are the bottlenecks for the DEXRT technology to achieve better performance in the field of ore online sorting.

TDI (Time Delay and Integration) time extension integral imaging technology is a scanning technology. Under the premise that the frame transmission equipment and the movement of the acquisition target are aligned and synchronized, the same acquisition target is subjected to multi-line multiple exposures and accumulated charges to generate response. higher image signal. Multiple exposures essentially improve the photosensitivity during scanning, and multi-level charge accumulation can also effectively solve the problem that scanning is insensitive to light response inhomogeneity. Therefore, compared with traditional line scan technology, TDI technology can provide higher resolution accuracy, contrast and signal-to-noise ratio at lower light levels. The basic mechanism of TDI technology is shown in Figure 1.

TDI technology was first used in visible ray scanning cameras to solve the problem of poor image quality of cameras at very high resolution. It is an ideal solution to solve the problem of low photoelectric conversion efficiency and sensitivity of scintillator itself, and it is gradually applied to the fields of food testing, medical CT and non-destructive testing.

Multi-spectral detectors mainly refer to X-ray detectors made of two semiconductor detection materials, CdTe (cadmium telluride) and CZT (cadmium zinc telluride). The imaging principle is to collect electron-hole pairs generated by direct interaction between incident photons and detection materials by means of a voltage (bias) applied across the detector to generate ionized current signals. The working principle of the X-ray detector is shown in Figure 2.

Comparison of scintillator detectors and multispectral detectors:

From the comparison of the above table, we can see that compared with the scintillator detector, the multi-energy spectrum detector not only has higher ray sensitivity and higher signal-to-noise ratio, but also can do more energy range resolution without overlapping. The ability to identify materials is a qualitative leap.

To sum up: DEXRT technology, as the mainstream technology in the field of ore online sorting, has a major bottleneck in achieving better performance, and the technical characteristics of TDI and multi-energy spectrum X-ray detection technology detectors can just break through this bottleneck.

SUMMARY OF THE INVENTION

The object of the present invention is to provide an on-line ore sorting device which solves at least part of the above-mentioned problems.

The above-mentioned technical purpose of the present invention is achieved through the following technical solutions:

An on-line sorting equipment for ore, comprising a fuselage frame, on which a discharge chute located on the right side, a belt-type transport device located at the bottom, and a ray source assembly located at the top of the middle are installed on the fuselage rack , a ray detector located in the middle and opposite to the ray source assembly, a pneumatic actuator located at the top of its left side, a material receiving bin located at the bottom of its left side, and a control device located on its left side, said The control device is respectively electrically connected with the belt-type conveying device, the ray source assembly, the ray detector and the pneumatic actuator assembly; the belt-type conveying device includes two belt shafts, which are tensioned on the two belts. A belt between the belt shafts and a motor that drives the belt shaft to rotate, the belt passes between the radiation source assembly and the radiation detector; the unloading chute is located at one end of the belt Above the pneumatic actuator, the pneumatic actuator is arranged close to the other end of the belt; the receiving bin includes a first bin and a second bin, and the second bin is located below the pneumatic actuator, The first silo is disposed adjacent to the left side of the second silo.

Further preferably, the ray source assembly includes an industrial X-ray source and a collimation protection device located below the industrial X-ray source.

It is further preferred that: the fuselage frame is further provided with a pallet assembly, and the pallet assembly is arranged under the belt.

It is further preferred that: the support plate assembly includes a plurality of support blocks and strip holes, a plurality of the support blocks are in contact with the belt, the setting direction of the strip holes is perpendicular to the rotation direction of the belt, and the ray A detector is located below the strip hole.

It is further preferred that a dust-sealing plate located above the belt is further provided on the fuselage frame, the dust-sealing plate is close to the unloading chute, and a dust-collecting hole is arranged on the dust-sealing plate.

It is further preferred that: the fuselage rack is further provided with a cooling air conditioner electrically connected to the control device.

It is further preferred that the pneumatic actuating component is an air nozzle.

It is further preferred that the equipment parameters of the industrial X-ray source are that the maximum voltage is 225KV and the power is below 4.5KW/h.

Further preferably, the control device is a PC computer or an embedded control calculator; the ray detector is an X-ray TDI detector or a multi-energy spectrum detector.

The present invention also provides a sorting method for ore online sorting equipment, comprising the following steps

S1: According to the chemical composition and phase analysis of the ore to be sorted, select the corresponding type of ray detector, industrial X-ray source and the number of use;

S2: Debug and align the optical path of the industrial X-ray source, the collimation protection device and the ray detector;

S3: Adjust the setting parameters of the industrial X-ray source and the ray detector according to the imaging quality of the ore to be sorted;

S4: the ray detector collects the image of the ore to be sorted, and transmits it to the control device;

S5: The control device performs intelligent identification and analysis on the collected ore images, and estimates the grade of the ore to be sorted according to the set conditions, and judges whether the ore to be sorted is qualified;

S6: If the ore is unqualified, the control device controls the pneumatic actuator to jet air, so as to sort and separate the unqualified ore.

Compared with the prior art, the beneficial effects of the present invention are: the intelligent identification and sorting of ore used in industrial production has the characteristics of high speed, large amount of information, high accuracy and high efficiency, which is in line with the current mainstream DEXRT (Dual). Compared with Energy X-Ray Transmission) dual-energy ray transmission technology, it not only has higher resolution accuracy and ray utilization rate, but also has a qualitative improvement in material identification ability, which can better replace manual work, reduce labor intensity, and complete the The work that cannot be done by human beings can improve the quality of product production and the efficiency of labor production. The invention is energy-saving, environmentally friendly, and will not cause irreversible damage to the human body; using the X-ray penetration technology, the information inside the ore can be detected, and the ability in terms of high speed, stability, repeatability, detection depth and the like is far Far more than the human visual system; to a large extent, it has solved the problem of unconventional ore sorting in industrial production sites where the distribution of ore characteristics is singular and difficult to distinguish based on the ore surface; it is used for ore identification, analysis and sorting in industrial production, and the ore identification rate is ≥90 %, the waste rock throwing rate is ≥15%, and the production capacity is ≥60t/h; in the present invention, it covers all precious metals, non-ferrous metals, rare metals, non-metals and other ores with imaging effects that can be distinguished, identified, and preselected by XRT detection technology; Through the setting of the collimation protection device and the tray assembly, it can ensure that the ore can get a good detection effect during the belt conveying process, and provide a good premise for sorting.

Description of drawings

Fig. 1 is the basic mechanism diagram of TDI technology in the background technology of the present invention;

Fig. 2 is the function principle diagram of the X-ray detector in the background technology of the present invention;

FIG. 3 is a schematic three-dimensional structure diagram of an ore online sorting equipment in an embodiment of the present invention;

4 is a cross-sectional view of an ore online sorting device in an embodiment of the present invention;

Fig. 5 is a partial three-dimensional schematic diagram of an ore online sorting equipment in an embodiment of the present invention;

6 is a partial three-dimensional schematic diagram of an ore online sorting equipment in an embodiment of the present invention;

7 is a block diagram of steps of a sorting method of an ore on-line sorting equipment in an embodiment of the present invention;

In the figure, 1, the fuselage frame; 2, the belt transport device; 3, the ray source assembly; 4, the feeding chute; 5, the ray detector; 6, the pneumatic actuator; 7, the control device; 8, Cooling air conditioner; 9. Receiving bin; 11. Pallet assembly; 12. Dust collecting hole; 13. Dust sealing plate; 21. Belt; 22. Belt shaft; 23. Motor; 31. Industrial X-ray source; 32. Quasi Straight protective device; 91, first silo; 92, second silo; 111, strip hole; 112, support block.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings.

In an embodiment of the present invention, referring to FIGS. 3 to 6 , an ore on-line sorting equipment is provided, including a fuselage frame 1 , and a discharge chute 4 located on the right side of the fuselage frame 1 is installed on the fuselage frame 1 , the belt conveyor 2 at the bottom, the ray source assembly 3 at the top of the middle, the ray detector 5 located in the middle and opposite to the ray source assembly 3, the pneumatic actuator at the top of its left side 6. The material receiving bin 9 located at the bottom of the left side and the control device 7 located on the left side. The control device 7 is electrically connected to the belt conveyor 2, the radiation source assembly 3, the radiation detector 5 and the pneumatic actuator 6 respectively. connect;

Specifically, the belt conveyor 2 includes two belt shafts 22, a belt 21 tensioned between the two belt shafts 22, and a motor 23 that drives one belt shaft 22 to rotate. The belt 21 passes through the radiation source assembly 3 and the between the ray detectors 5; the unloading chute 4 is located above one end of the belt 21, and the pneumatic actuator 6 is disposed close to the other end of the belt 21; the receiving bin 9 includes a first bin 91 and a second bin 92, the second The silo 92 is located below the pneumatic actuator assembly 6 , and the first silo 91 is disposed adjacent to the left side of the second silo 92 . The radiation source assembly 3 includes an industrial X-ray source 31 and a collimation protection device 32 located below the industrial X-ray source 31 . The collimation protection device 32 is used for shielding the rays scattered by the industrial X-ray source 31 , and can be emitted vertically to the belt 21 . The fuselage frame 1 is also provided with a pallet assembly 11, and the pallet assembly 11 is arranged under the belt 21, so that the horizontal plane of the belt 21 is kept perpendicular to the ray direction. Preferably: the pallet assembly 11 includes a plurality of support blocks 112 and strip holes 111, and the plurality of support blocks 112 are in contact with the belt 21, so that the entire surface of the belt 21 is kept on the same plane as much as possible, and there is no depression, and the strip holes 111 The setting direction of the X-rays is perpendicular to the rotation direction of the belt 21, so that the rays emitted by the industrial X-ray source 31 pass through the belt and pass through the strip hole 111, and the ray detector 5 is located under the strip hole 111 to receive the rays. The ore enters the belt 21 from the unloading chute 4. Driven by the motor 23, the belt 21 transports the ore from right to left. When the ore passes under the ray source assembly 3, the rays emitted by the industrial X-ray source 31 pass through the The direct protection device 32 shoots onto the belt 21, and is then detected by the ray detector 5. When encountering ore, a blind spot will be left on the ray detector 5, and the analysis is performed according to the situation of the blind spot, that is, the ore is in the Imaging information is left on the radiation detector 5 . Specifically, since the belt 21 needs to meet a certain industrial production speed requirement, the ray detector 5 needs to meet: the scanning frequency is greater than or equal to 2.5 Hz. In order to better retain the imaging information of the ore, the pixel size selected according to the ore situation is in the range of 0.1-1.5 mm; the industrial X-ray source 31 needs to meet: the highest voltage is 225KV, and the power is below 4.5KW/h; the control device 7 judges whether the ore meets the requirements after processing according to the information on the ray detector 5, and if it meets the requirements If the requirements are met, the pneumatic actuator 6 is controlled to not work. At this time, the ore is at the exit on the left side of the belt 21, and the inertia falls into the first silo 91; The belt 21 then falls into the second silo 92 under the action of the air jet from above, thus realizing the sorting of the ore.

Optionally: the fuselage frame 1 is further provided with a dust sealing plate 13 located above the belt 21 , the dust sealing plate 13 is close to the unloading chute 4 , and the dust sealing plate 13 is provided with a dust collecting hole 12 . The dust sealing plate 13 can effectively cover the dust brought by the ore entering the belt 21 in the fuselage frame 1, and at the same time, the dust is taken away from the dust collecting hole 12 by the fan, ensuring a good working environment.

Optionally: the fuselage rack 1 is further provided with a cooling air conditioner 8 electrically connected to the control device 7 to dissipate heat for the entire equipment and ensure the operating life and work safety of the equipment. In one embodiment of the present invention, the pneumatic actuator 6 is an air jet; the control device 7 is a PC computer, which can also be an embedded control calculator; the ray detector 5 is an X-ray TDI detector, which can also be of course is a multispectral detector.

The present invention provides a sorting method for ore online sorting equipment, comprising the following steps

S1: According to the chemical composition and phase analysis of the ore to be sorted, select the corresponding type of ray detector 5, industrial X-ray 31 and the number of use;

S2: debug and align the optical path of the industrial X-ray source 31, the collimation protection device 32 and the ray detector 5;

S3: Adjust the setting parameters of the industrial X-ray source 31 and the ray detector 5 according to the imaging quality of the ore to be sorted;

S4: the ray detector 5 collects the image of the ore to be sorted, and transmits it to the control device 7;

S5: The control device 7 performs intelligent identification and analysis on the collected ore images, and estimates the grade of the ore to be sorted according to the set conditions, and judges whether the ore to be sorted is qualified;

S6: If the ore is unqualified, the control device 7 controls the pneumatic actuator assembly 6 to spray air to sort and separate the unqualified ore.

In one embodiment of the present invention, an industrial X-ray source 31 and an X-ray TDI detector are selected, the rays come down from the collimation guard, pass through the belt 21 and are received by the X-ray TDI detector detector, and encounter the ore. When the ore cannot pass through due to the presence of metal components in the ore, the X-ray TDI detector detects the blind spot, takes an image, transmits it to the control device 7 through image acquisition, and the control device 7 performs intelligent identification and analysis on the collected ore image, and According to the set conditions, the grade of the ore to be sorted is estimated to determine whether the ore to be sorted is qualified; the qualified and unqualified ores enter the two receiving bins 9 respectively to realize separation. Specifically, the identification process by the control device 7 is as follows: using mathematical means to obtain dual-energy X-ray separation curves for easy-to-separate ores with distinct mining wastes, and perform classification and identification; If the separation error rate is high, such as crack filling and veinlet type, deep learning CNN technology is used for classification and identification.

For the dual-energy X-ray transmission images of refractory ores, the use of deep learning technology is mainly divided into two steps. First, the dual-energy X-ray transmission images of the refractory ores are segmented and sharpened; secondly, the image samples are manually divided into two sample sets of ore and waste rock according to the required metal element grades, that is, manual labeling; thirdly, using PCA principal component analysis is used to reduce the dimension of the mine and waste data sample sets; finally, the mine and waste sample sets after dimension reduction are input into the CNN convolutional neural network for training, that is, the process of machine learning; after the training is completed , the output model file. This training process is called a supervised trained model.

It is very simple to use the model for prediction application. First, segment and sharpen the newly collected dual-energy X-ray transmission images of refractory ores; secondly, perform PCA dimensionality reduction processing on the images; thirdly, input the data after dimensionality reduction has been In the trained CNN model; finally, the CNN model outputs the calculation result, and the calculation result is the probability that the current prediction target is ore.

Comprehensive discrimination calculation of mine waste: the dual-energy X-ray separation curve obtains the ratio of different substances in the detection target, and the output of the CNN model is the probability that the detection target is a certain type of ore; fitting the two parameters of ratio P and probability F to obtain a unified The mathematical model corresponding to a single output, namely Z=aP+bF, a and b are fitting mathematical parameters. A threshold is set for Z, if it is greater than or equal to Z, it is judged as ore, and if it is less than Z, it is judged as waste rock. Industrial production can be dynamically adjusted according to actual needs.

Industrial ore identification, analysis and sorting production. After the ore is crushed, vibrating screen particle size classification and washing, raw ores of various particle size levels enter the belt conveyor 2. The industrial X-ray source 31 needs to be installed above the belt 21. When the height of the belt 21 is 300mm-1000m, the central plane of the radiation area of the tube head of the industrial X-ray source 31 is perpendicular to the plane of the belt 21; The photosensitive plane of the detector 5 is parallel to the plane of the belt 21 .

Since the belt 21 needs to meet a certain industrial production speed requirement, the ray detector 5 needs to meet: the scanning frequency ≥ 2.5Hz, in order to better retain the imaging information of the ore, the pixel size selected according to the ore situation is in the range of 0.1-1.5mm ; The industrial X-ray source 31 needs to meet: the highest voltage is 225KV, the power is below 4.5KW; the air nozzle is used as the execution device, and the highest frequency of air injection is 1000Hz.

This specific embodiment is only an explanation of the present invention, and it does not limit the present invention. Those skilled in the art can make modifications without creative contribution to the present embodiment as required after reading this specification, but as long as the rights of the present invention are used All claims are protected by patent law.

Claims (10)

1. The utility model provides an online letter sorting equipment of ore, includes the fuselage frame, its characterized in that: the machine body frame is provided with a feeding chute positioned on the right side of the machine body frame, a belt type conveying device positioned at the bottom of the machine body frame, a radiation source assembly positioned at the top of the middle of the machine body frame, a ray detector positioned in the middle of the machine body frame and arranged opposite to the radiation source assembly, a pneumatic execution component positioned at the top of the left side of the machine body frame, a material receiving bin positioned at the bottom of the left side of the machine body frame and a control device positioned on the left side of the machine body frame, wherein the control device is electrically connected with the belt type conveying device, the radiation source assembly, the; the belt type conveying device comprises two belt shafts, a belt tensioned between the two belt shafts and a motor driving one belt shaft to rotate, and the belt penetrates through the space between the ray source assembly and the ray detector; the feeding chute is positioned above one end of the belt, and the pneumatic execution assembly is arranged at the other end of the belt in a close manner; connect the material storehouse to include first feed bin and second feed bin, the second feed bin is located pneumatic type executive component's below, first feed bin is close to the setting and is in the left side of second feed bin.

2. The ore on-line sorting equipment according to claim 1, characterized in that: the ray source assembly comprises an industrial X-ray source and a collimation protection device positioned below the industrial X-ray source.

3. The ore on-line sorting equipment according to claim 1, characterized in that: the machine body frame is further provided with a supporting plate assembly, and the supporting plate assembly is arranged below the belt.

4. An ore on-line sorting apparatus according to claim 3, wherein: the supporting plate assembly comprises a plurality of supporting blocks and strip holes, the supporting blocks are abutted to the belt, the arrangement direction of the strip holes is perpendicular to the rotation direction of the belt, and the ray detector is located below the strip holes.

5. The ore on-line sorting equipment according to claim 1, characterized in that: still be equipped with in the fuselage frame and be located the dust board of the top of belt, the dust board is close to the unloading chute, just be provided with the dust collecting hole on the dust board.

6. The ore on-line sorting equipment according to claim 1, characterized in that: and the machine body frame is also provided with a heat dissipation air conditioner electrically connected with the control device.

7. The ore on-line sorting equipment according to claim 1, characterized in that: the pneumatic execution assembly is an air injection nozzle.

8. The ore on-line sorting equipment according to claim 1, characterized in that: the equipment parameters of the industrial X-ray source are that the highest voltage is 225KV, and the power is below 4.5 KW/h.

9. The ore on-line sorting equipment according to claim 1, characterized in that: the control device is a PC computer or an embedded control calculator; the ray detector is an X-ray TDI detector or a multi-energy spectrum detector.

10. A sorting method of ore on-line sorting equipment is characterized in that: comprises the following steps

S1: selecting ray detectors of corresponding models, industrial X-ray sources and the number of the used ray detectors and industrial X-ray sources according to the chemical composition and phase analysis of the ores to be sorted;

s2: carrying out light path debugging alignment on the industrial X-ray source, the collimation protection device and the ray detector;

s3: adjusting the set parameters of the industrial X-ray source and the ray detector according to the imaging quality of the ore to be sorted;

s4: the ray detector is used for collecting images of the ores to be sorted and transmitting the images to the control device;

s5: the control device intelligently identifies and analyzes the acquired ore image, estimates the grade of the ore to be sorted according to set conditions and judges whether the ore to be sorted is qualified or not;

s6: if the ores are unqualified, the control device controls the pneumatic execution assembly to jet air so as to sort and separate the unqualified ores.

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