Method for identifying and grabbing gangue by means of intelligent robot for mining
A kind of intelligent robot and robot technology, applied in the field of robots, can solve the problems of high labor intensity, robot pollution of the environment, and injury to people's bodies, etc., and achieve the effects of reducing personnel expenses, improving operating efficiency, and enhancing intelligence
Pending Publication Date: 2020-06-19
王文胜
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Problems solved by technology
[0003] In order to solve the above problems, the present invention discloses a method for identifying and grasping gangue by an intelligent robot for mining, aiming to solve the problems of high labor intensity and low efficiency in picking up gangue in coal mines, and the problems of existing robots polluting the environment and harming people's bodies.
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[0031] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.
[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the embodiment of the application. Obviously, the described embodiment is only a part of the application Examples, but not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.
[0033] Such as figure 1 , Figure 4 and Figure 5 As shown, the mining intelligent robot recognizes gangue and grasps gangue methods, followed by the following steps:
[0034] Step 1. Selection and installation of intelligent rob...
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The invention discloses a method for identifying and grabbing gangue by means of an intelligent robot for mining. The method comprises the steps of selection and installation of the intelligent robot,zero correction of the intelligent robot, start preparation, safety detection, image acquisition, gangue identification, robot pick-up calculation, trajectory pose calculation, robot grasping gangueand robot resetting. According to the method, the intelligent robot which meets the coal mine use is developed in combination with the actual situation of a coal mine to replace manual strong physicallabor activities such as gangue selection, material grabbing and material mounting, gaps at home and abroad are filled, and the international leading level is reached through the original technology;and meanwhile, the life and the physical health of employees are protected, the employees are far away from the production working environment with high danger, high-concentration dust and high noise, the machine is used to liberate people, more complicated and repeated work is undertaken by the intelligent robot in an environment endangering life safety and health, and the operation efficiency and the accuracy rate are improved.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a method for identifying and grasping gangue by an intelligent robot for mining. Background technique [0002] Gangue is the associated waste of coal mining, accounting for 10% - 15% of the mining volume. Separation of coal and gangue is a necessary process in the production process of coal mines. First of all, after sorting gangue, it can reduce the cost of washing, improve the grade of finished coal, and improve the economic benefits of coal enterprises. Secondly, sorting gangue is an important part of clean coal production, and reducing gangue particle emissions can reduce pm2.5 unit emissions. If the crushing operation is performed directly, the power consumption is too large, and the loss of accessories is large, which greatly increases the cost of washing. The current gangue picking is almost done manually, which is labor-intensive, difficult to employ, low in efficiency,...
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IPC IPC(8): B25J9/16G06K9/00G06K9/34G06K9/46
CPCB25J9/1679B25J9/1664G06V20/10G06V10/26G06V10/44
Inventor 王文胜彭东林白璐马隽侯晓飞王璟耀郑云龙赵曦明王强连师
Owner 王文胜