Coal mine belt conveyor sorting robot foreign object identification and positioning system As an important equipment for coal mine production, the safe operation of coal mine belt conveyor is an important foundation to ensure the normal production of coal mine. However, in the process of coal production and transportation, coal mine conveyor belts can be affected by foreign objects mined out by comprehensive mining or comprehensive excavation, etc., which can lead to serious accidents such as torn belt and broken belt. Traditional foreign object detection methods such as manual detection, radar detection and metal detectors are inefficient, costly, difficult to deploy and maintain, and have safety hazards. With the continuous development of machine vision technology, domestic and foreign institutions and scholars have conducted a lot of research on the application of machine vision technology in coal mine belt conveyor condition monitoring and target detection. Although machine vision has a certain theoretical basis in coal mine belt conveyor target detection and identification, the current coal mine belt conveyor sorting robot target identification is mainly for gangue identification, and there is less research on foreign object target identification that causes belt penetration, tearing, etc., and there is less research on precise positioning of target foreign objects.   Hereby, MingDe designed a coal mine belt conveyor sorting robot foreign object identification and positioning system, which can identify and locate different types and shapes of foreign objects on the conveyor belt.   Through a multi angle, multi-dimensional stereo high-precision camera, the intelligent robot sorter quickly scans the ore on the conveyor belt. The self-developed CRM-CNN foreign object recognition algorithm accurately locates the 3D position of the debris, controls the robot to grab  the foreign object, and puts it into the foreign object collection box. Product characteristics   1: Based on deep learning technology ,combined with a large database of ore foreign objects, The intelligent robot sorter has a high foreign object recognition rate. 2: Using multi-angle and multi-dimensional industrial stereo camera and geometric 3D recognition algorithm, the intelligent robot sorting machine can accurately measure and position the depth, direction and position of foreign objects. 3: Highly flexible control, for the newly emerged foreign objects can be added at any time. 4: Specially developed high protection levels robot arm, faster and more flexible, can effectively adapt to various conveying speeds and harsh industrial environments 5: Highly intelligent, unattended and optional remote monitoring   Experimental Verification  The reliability of the coal mine belt conveyor sorting robot foreign object recognition and localization system and its algorithm is verified by the experimental prototype with rod-shaped foreign objects as the experimental object. The experimental results of the system prototype show that the foreign object recognition rate of the coal mine belt conveyor sorting robot foreign object recognition and positioning system is not affected by the size, material and color, etc., and it can realize the acquisition, processing, feature extraction, recognition and position positioning of the target foreign object image of the conveyor belt, and the recognition rate is more than 99.5%, and the average error of target foreign object position positioning is about 1%.