摘要
为了有效的将煤矸石从原煤中分拣出来,提出了煤矸石智能分拣机器人视觉伺服自抗扰控制方法。同时为了避免外界环境对煤矸石检测过程产生干扰,采用同态滤波算法对采集的煤矸石图像展开增强处理;在YOLO网络中输入增强后的煤矸石图像,完成煤矸石的检测与定位;通过PID算法实现煤矸石智能分拣机器人控制,从而稳定地完成了煤矸石分拣。实验结果表明,所提方法采集的图像质量高,煤矸石检测精度高,煤矸石智能分拣机器人控制稳定性好。
In order to effectively sort coal gangue from raw coal,a visual servo auto disturbance rejection control method for intelligent coal gangue sorting robot is proposed.In order to avoid the interference of the external environment on the coal gangue detection process,the homomorphic filtering algorithm is used to enhance the collected coal gangue images.The enhanced coal gangue image is input in YOLO network to complete the detection and location of coal gangue.The intelligent sorting robot of coal gangue is controlled by PID algorithm,and the sorting of coal gangue is completed stably.The experimental results show that the image quality of the proposed method is high,the detection accuracy of gangue is high,and the control stability of the intelligent gangue sorting robot is favorable.
作者
王子玉
WANG Zi-yu(Ordos Guoyuan Mining Development Co.,Ltd.,Ordos 010300,China)
出处
《煤炭工程》
北大核心
2022年第S01期143-147,共5页
Coal Engineering
作者简介
王子玉(1987—),男,内蒙古巴彦淖尔人,高级工程师,现从事煤矿机电管理、智能化转型等方面工作,E-mail:361199453@qq.com。
