A working arm multifunctional hydraulic crushing system with image recognition and positioning

Abstract

The present invention discloses a working arm type multifunctional hydraulic crushing system with image recognition and positioning, including an industrial computer, an image recognition system, a laser 3D detection imaging positioning system and a working arm type multifunctional hydraulic crushing device, wherein the image recognition system and the laser 3D detection imaging positioning system are arranged in the upper area of ​​the working arm type multifunctional hydraulic crushing device, and the image recognition system, the laser 3D detection imaging positioning system and the working arm type multifunctional hydraulic crushing device are connected to the industrial computer through wired or wireless communication. The present invention autonomously identifies and locates specific materials on the working surface through the image recognition system and the laser 3D detection imaging positioning system, controls the fixed mechanical claw clamping mechanism and the working arm type multifunctional hydraulic crushing device to move and clamp the material and then perform crushing operations, thereby realizing an unmanned, intelligent and autonomous crushing operation process as a whole, reducing the number of staff at complex and high-risk crushing sites, and improving work efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of ore mining, and more specifically relates to a working arm type multifunctional hydraulic crushing system with image recognition and positioning. Background Art

[0002] After the ore is mined, a self-unloading mine car can carry a carload of ore to the crusher feed port or the feed port grille for dumping. Ore smaller than the grille aperture falls into the chute, while large pieces of ore larger than the grille aperture are stuck on the grille, causing blockage and affecting the subsequent dumping of ore. There are also large-blocking material removal and crushing operations in specific work scenarios (such as slag removal of metallurgical furnaces in metallurgical plants and large-blocking treatment of dock and mine loading and unloading stations). In the past, the above-mentioned process was still carried out by on-site workers operating hydraulic crushing machinery to grab, remove or break large ores. The on-site working environment was relatively complex and harsh, with poor safety (rolling and falling of ore, splashing of ore fragments during crushing), high occupational hazards (noise, dust, dim light), high labor intensity, low work efficiency, and high labor costs.

[0003] Therefore, how to provide a working arm multifunctional hydraulic crushing system with image recognition and positioning is a problem that technical personnel in this field need to solve urgently. Summary of the invention

[0004] In view of this, the present invention provides a working arm type multifunctional hydraulic crushing system with image recognition and positioning, which autonomously identifies and locates specific materials on the working surface through an image recognition system and a laser 3D detection imaging and positioning system, and then controls the working arm type multifunctional hydraulic crushing equipment to move and clamp and fix the material to perform crushing operations, thereby realizing an overall unmanned and intelligent autonomous crushing operation process, reducing the number of staff at complex and high-risk crushing sites and improving work efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A working arm type multifunctional hydraulic crushing system with image recognition and positioning, comprising: an industrial computer, an image recognition system, a laser 3D detection imaging positioning system and a working arm type multifunctional hydraulic crushing equipment, wherein the image recognition system and the laser 3D detection imaging positioning system are arranged in the upper area of ​​the entire working surface of the working arm type multifunctional hydraulic crushing equipment, and the image recognition system, the laser 3D detection imaging positioning system and the working arm type multifunctional hydraulic crushing equipment are all connected to the industrial computer through wired or wireless communication; the image recognition system and the laser 3D detection imaging positioning system quickly collect feature information and spatial position information of large pieces of ore on the working surface, and transmit them to the industrial computer through wired or wireless communication; the industrial computer converts the processed information into a control signal and then controls the working arm type multifunctional hydraulic crushing equipment to perform movement and crushing operations on the large pieces of ore.

[0007] Furthermore, it also includes a remote control workstation, which is connected to the industrial computer via wired or wireless communication, and can switch the automatic operation mode to a remote manual control mode at any time.

[0008] Furthermore, the image recognition system includes a plurality of high-definition industrial cameras and matching diffuse shadowless fill light sources, all of which are arranged directly above and above the entire working surface of the working arm-type multifunctional hydraulic crushing equipment.

[0009] Furthermore, the laser 3D detection imaging positioning system includes multiple sets of laser imaging radars and laser rangefinders, all of which are arranged directly above and above the entire working surface of the working arm-type multifunctional hydraulic crushing equipment.

[0010] Furthermore, the working arm type multifunctional hydraulic crushing equipment includes a rotatable base, a multi-section hydraulic mechanical arm, a crushing device and a communication control module. The rotatable base, the multi-section hydraulic mechanical arm and the crushing device are all communicatively connected to the industrial computer through the communication control module. The multi-section hydraulic mechanical arm is installed on the rotatable base, and the crushing device is connected to the end of the multi-section hydraulic mechanical arm.

[0011] Furthermore, the crushing device comprises a mechanical claw clamping mechanism and a crushing mechanism, the mechanical claw clamping mechanism is installed at the end of the multi-section hydraulic mechanical arm, and the crushing mechanism is fixed at the center position of the mechanical claw clamping mechanism.

[0012] Furthermore, the multi-section hydraulic mechanical arm includes a lifting boom, a lifting arm, a pitch arm, a lifting mechanical arm cylinder and a pitch mechanical arm cylinder, wherein the lifting boom is hinged on the rotatable base, one end of the lifting arm is connected to the lifting boom, and the other end is hingedly connected to the pitch arm; one end of the lifting mechanical arm cylinder is hingedly connected to the rotatable base, and the other end is hingedly connected to the lifting arm; one end of the pitch mechanical arm cylinder is hingedly connected to the lifting arm, and the other end is hingedly connected to the pitch arm.

[0013] Furthermore, the mechanical claw clamping mechanism includes a fixed base, a mechanical claw hydraulic cylinder and a mechanical claw, the fixed base is installed at the end of the pitch arm, the mechanical claw is hinged at the bottom end of the fixed base, one end of the mechanical claw hydraulic cylinder is hingedly connected to the fixed base, and the other end is hingedly connected to the mechanical claw.

[0014] Furthermore, the crushing mechanism includes a crushing motor, a crushing hydraulic cylinder and a crushing hammer. The top of the crushing hydraulic cylinder is connected to the center position of the bottom of the fixed base, and the bottom is connected to the crushing motor. The crushing hammer is connected to the output end of the crushing motor.

[0015] Furthermore, a crushing shell is arranged on the outside of the crushing device, and the crushing shell includes a top plate and a plurality of arc-shaped plates; the top plate is fixed on the fixed base, and the plurality of arc-shaped plates are hingedly connected to the top plate, and the plurality of arc-shaped plates are arranged in a circular ring shape, horizontally surrounding the outside of the crushing device.

[0016] The beneficial effects of the present invention are:

[0017] The present invention uses an image recognition system and a laser 3D detection imaging positioning system to autonomously identify and locate large pieces of ore on the working surface, and then controls a multi-section hydraulic mechanical arm and a crushing device to move and clamp the large piece of ore to perform crushing operations, thereby realizing an overall unmanned and intelligent autonomous crushing operation process, reducing the number of staff at complex and high-risk crushing sites and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 The accompanying drawing is a schematic structural diagram of the present invention.

[0020] Figure 2 The accompanying drawing is a structural block diagram of the present invention.

[0021] Figure 3 The accompanying drawing is a schematic structural diagram of the working arm type multifunctional hydraulic crushing equipment of the present invention.

[0022] Figure 4 The accompanying drawing is a schematic diagram of the mechanical arm of the present invention.

[0023] Figure 5 The accompanying drawing is a schematic structural diagram of a crushing device of the present invention.

[0024] Figure 6 The accompanying drawing is another structural schematic diagram of the crushing device of the present invention.

[0025] Among them, in the figure,

[0026] 1 is an industrial computer, 2 is a high-definition industrial camera, 3 is a laser 3D detection imaging positioning system, 4 is a diffuse shadowless fill light source, 5 is a working arm type multifunctional hydraulic crushing equipment, 5-1 is a multi-section hydraulic mechanical arm, 5-1-1 is a lifting arm, 5-1-2 is a lifting arm, 5-1-3 is a pitch arm, 5-2 is a mechanical claw clamping mechanism, 5-2-1 is a fixed base, 5-2-2 is a mechanical claw hydraulic cylinder, 5-2-3 is a mechanical claw, 5- 3 is a breaker hammer, 5-3-1 is a crushing hydraulic cylinder, 5-3-2 is a crushing motor, 5-4 is a communication control module, 5-5 is a rotatable base, 5-6 is a hydraulic motor, 5-7 is an oil pump, 5-8 is a hydraulic oil tank, 5-9 is an oil pipe, 5-10 is a lifting arm cylinder, 5-11 is a pitching arm cylinder, 6 is a large piece of ore, 7 is a large-aperture steel structure grille, 8 is a remote control workstation, 9 is a top plate, and 10 is an arc plate. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Please refer to the attached Figure 1-2The present invention provides a working arm type multifunctional hydraulic crushing system with image recognition and positioning, comprising: an industrial computer 1, an image recognition system, a laser 3D detection imaging positioning system 3 and a working arm type multifunctional hydraulic crushing equipment 5, wherein the image recognition system and the laser 3D detection imaging positioning system 3 are arranged in the upper area of ​​the entire working surface of the working arm type multifunctional hydraulic crushing equipment 5, and the image recognition system, the laser 3D detection imaging positioning system 3 and the working arm type multifunctional hydraulic crushing equipment 5 are all connected to the industrial computer 1 through wired or wireless communication; the image recognition system and the laser 3D detection imaging positioning system 3 quickly collect feature information and spatial position information of large pieces of ore 6 on a large-aperture steel structure grid 7, and transmit the information to the industrial computer 1 through wired or wireless communication; the industrial computer 1 converts the processed information into a control signal and then controls the working arm type multifunctional hydraulic crushing equipment 5 to perform movement and crushing operations on the large pieces of ore 6, and the industrial computer 1 is a high-performance programmable industrial computer 1 with a communication module.

[0029] In another embodiment, a permanent magnet is installed at the bottom of the large-aperture steel structure grid 7 to absorb iron products mixed in the ore, so that the iron products can be collected to avoid energy waste.

[0030] The present invention also includes a remote control workstation 8, which is provided with a display screen, a universal proportional joystick, control buttons, etc., and is connected to the industrial computer 1 by wired or wireless means. Under normal conditions, the multifunctional hydraulic crushing system automatically performs identification, positioning, and crushing operations. In special circumstances, the automatic operation mode can be switched to a manual remote control working arm type multifunctional hydraulic crushing system mode.

[0031] The image recognition system includes multiple high-definition industrial cameras 2 and matching diffuse shadowless fill light sources 4, all of which are arranged directly above and above the entire working surface of the working arm-type multifunctional hydraulic crushing equipment 5, and the recognition area can completely cover the entire working surface.

[0032] The laser 3D detection imaging positioning system 3 includes multiple sets of laser imaging radars and laser rangefinders, all of which are arranged directly above and above the entire working surface of the working arm-type multifunctional hydraulic crushing equipment 5, and the identification area can completely cover the entire working surface.

[0033] See attached Figure 3The working arm type multifunctional hydraulic crushing equipment 5 includes a rotatable base 5-5, a multi-section hydraulic mechanical arm 5-1, a crushing device and a communication control module 5-4. The rotatable base 5-5, the multi-section hydraulic mechanical arm 5-1 and the crushing device are all communicated with the industrial computer 1 through the communication control module 5-4. The multi-section hydraulic mechanical arm 5-1 is installed on the rotatable base 5-5, and the crushing device is connected to the end of the multi-section hydraulic mechanical arm 5-1; the rotatable base 5-5 can realize the in-situ large-angle rotation function of the working arm type multifunctional hydraulic crushing system, which is convenient for multi-directional steering operations with the rotatable base 5-5 as the center.

[0034] The working arm multifunctional hydraulic crushing equipment 5 also includes a fixed platform or a wheeled / crawler movable chassis, a hydraulic motor 5-6, an oil pump 5-7, an oil pipe 5-9 and a hydraulic oil tank 5-8. When the system intends to use a fixed platform, the scope of the working surface area is calculated in advance, the appropriate installation position is determined, and a fixed platform is constructed. The system is fixed with bolts or welded to a cement / steel platform; the crawler movable chassis can install the system on a crawler or wheeled movable chassis to carry out mobile operations in different working areas, and the identification and positioning equipment can be installed on the movable bracket as needed to cover the corresponding working area.

[0035] See attached Figure 5 The crushing device includes a mechanical claw clamping mechanism 5-2 and a crushing mechanism. The mechanical claw clamping mechanism 5-2 is installed at the end of the multi-section hydraulic mechanical arm 5-1, and the crushing mechanism is fixed at the center position of the mechanical claw clamping mechanism 5-2.

[0036] See attached Figure 4 The multi-section hydraulic mechanical arm 5-1 includes a lifting boom 5-1-1, a lifting arm 5-1-2, a pitching arm 5-1-3, a lifting mechanical arm cylinder 5-10 and a pitching mechanical arm cylinder 5-11, wherein the lifting boom 5-1-1 is hinged on a rotatable base 5-5, one end of the lifting arm 5-1-2 is connected to the lifting boom 5-1-1, and the other end is hinged to the pitching arm 5-1-3; one end of the lifting mechanical arm cylinder 5-10 is hinged to the rotatable base 5-5, and the other end is hinged to the lifting arm 5-1-2; one end of the pitching mechanical arm cylinder 5-11 is hinged to the lifting arm 5-1-2, and the other end is hinged to the pitching arm 5-1-3. The oil pump 5-7 is connected to the lifting arm cylinder 5-10 and the tilt arm cylinder on the multi-section hydraulic arm 5-1 through the oil pipe 5-9. By controlling the start and stop of the hydraulic motor 5-6, the hydraulic oil in the oil pump 5-7 is pumped into and out of the lifting arm cylinder 5-10 and the tilt arm cylinder to achieve the extension and retraction of the hydraulic cylinder, thereby driving the working arm to rise and fall.

[0037] The mechanical claw clamping mechanism 5-2 includes a fixed base 5-2-1, a mechanical claw 5-2-3 hydraulic cylinder 5-2-2 and a mechanical claw 5-2-3. The fixed base 5-2-1 is installed at the end of the pitch arm 5-1-3. The mechanical claw 5-2-3 is hinged at the bottom end of the fixed base 5-2-1. One end of the mechanical claw 5-2-3 hydraulic cylinder 5-2-2 is hingedly connected to the fixed base 5-2-1, and the other end is hingedly connected to the mechanical claw 5-2-3.

[0038] The crushing mechanism includes a crushing motor 5-3-2, a crushing hydraulic cylinder 5-3-1 and a crushing hammer 5-3. The top of the crushing hydraulic cylinder 5-3-1 is connected to the center of the bottom of the fixed base 5-2-1, and the bottom is connected to the crushing motor 5-3-2. The crushing hammer 5-3 is connected to the output end of the crushing motor 5-3-2. The oil pump 5-7 is connected to the crushing hydraulic cylinder 5-3-1 through the oil pipe 5-9. By controlling the start and stop of the hydraulic motor 5-6, the hydraulic oil in the oil pump 5-7 is pumped into and out of the crushing hydraulic cylinder 5-3-1 to achieve the expansion and contraction of the crushing hydraulic cylinder 5-3-1, and the crushing hammer 5-3 is driven to generate a vertical impact force; under the joint action of the crushing motor 5-3-2, the crushing hammer 5-3 quickly rotates downward into the large block of ore 6 to complete the crushing of the large block of ore 6. Among them, the crushing hammer 5-3 is made of high-strength material that is impact-resistant.

[0039] When crushing is required, after the image recognition system and the laser 3D detection imaging positioning system 3 recognize and locate the position of a large piece of ore 6 on the grid screen, the information is transmitted to the industrial computer 1, and the industrial computer 1 sends the processed information instructions to the working arm type multifunctional hydraulic crushing equipment 5, which rotates to the corresponding position, drives the multi-section hydraulic mechanical arm 5-1 to extend to the position of the large piece of ore 6, and the mechanical claws 5-2-3 at the front and surrounding positions of the multi-section hydraulic mechanical arm 5-1 clamp the large piece of ore 6 to prevent the large piece of ore 6 from being crushed during the crushing process. The multi-section hydraulic mechanical arm 5-1 moves back and forth during the process, and the breaker 5-3 in the middle of the front end of the multi-section hydraulic mechanical arm 5-1 performs impact crushing operations to break large ore into multiple small pieces of ore, which fall through the sieve; when only a specific large piece of ore 6 needs to be moved, the breaker 5-3 can be removed, and only the mechanical claw clamping mechanism 5-2 is retained. After the image recognition system and the laser 3D detection imaging positioning system 3 image recognition and positioning of the ore position, the multi-section driven hydraulic mechanical arm 5-1 and the mechanical claw clamping mechanism 5-2 grab and move the ore to another spatial position.

[0040] See attached Figure 6 In another embodiment, a crushing shell is provided on the outside of the crushing device, and the crushing shell includes a top plate 9 and a plurality of arc plates 10; the top plate 9 is fixed on the fixed base 5-2-1, and the plurality of arc plates 10 are hingedly connected to the top plate 9, and the plurality of arc plates 10 are arranged in a circular ring, horizontally surrounding the outside of the crushing device.

[0041] The present invention uses an image recognition system and a laser 3D detection imaging positioning system 3 to autonomously identify and locate large pieces of ore 6 on the working surface, and then controls the multi-section hydraulic mechanical arm 5-1 and the crushing device to move and clamp the large piece of ore 6 to perform crushing operations, thereby realizing an overall unmanned and intelligent autonomous crushing operation process, reducing the number of staff at complex and high-risk crushing sites and improving work efficiency.

[0042] The high-definition industrial camera 2, the diffuse shadowless supplementary light source 4 and the laser 3D detection imaging positioning system 3 of the present invention collect and identify the size, position, distance and other information of the large block ore 6 on the large-aperture steel structure grid 7 in the working face area, and transmit it to the industrial control computer 1. The industrial control computer 1 comprehensively processes the relevant information and sends the action instruction to the working arm type multifunctional hydraulic crushing equipment 5 through the wired or wireless communication mode. The working arm type multifunctional hydraulic crushing equipment 5 is set to crush or move the large block ore 6 on the large-aperture steel structure grid 7 according to the actual production needs. The operation procedure is as follows: when the crushing operation is set, the image recognition After locating the position of the large block of ore 6, the rotatable base 5-5 turns to the position of the large block of ore 6, the multi-section hydraulic mechanical arm 5-1 is lifted and extended, the mechanical claw clamping mechanism 5-2 is started to clamp and fix the large block of ore 6, and then the crushing mechanism is started to perform the crushing operation procedure; when setting the mobile operation, the crushing hammer 5-3 is selected to be removed, and only the mechanical claw clamping mechanism 5-2 is retained. After locating the position of the large block of ore 6 through image recognition, the rotatable base 5-5 is driven to turn to the position of the large block of ore 6, and the multi-section hydraulic mechanical arm 5-1 and the mechanical claw clamping mechanism 5-2 grab and move the large block of ore 6 to the specified position. The remote control workstation 8 and the industrial computer 1 are connected by wired or wireless communication. In special circumstances, the automatic operation mode can be switched to remote manual control of the entire system at any time.

[0043] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0044] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A working arm multifunctional hydraulic crushing system with image recognition and positioning, characterized in that: include: An industrial computer, an image recognition system, a laser 3D detection imaging positioning system and a working arm type multifunctional hydraulic crushing equipment, wherein the image recognition system and the laser 3D detection imaging positioning system are arranged in the upper area of ​​the entire working surface of the working arm type multifunctional hydraulic crushing equipment, and the image recognition system, the laser 3D detection imaging positioning system and the working arm type multifunctional hydraulic crushing equipment are connected to the industrial computer through wired or wireless communication methods; the image recognition system and the laser 3D detection imaging positioning system quickly collect feature information and spatial position information of large pieces of ore on the working surface, and transmit them to the industrial computer through wired or wireless communication methods; the industrial computer converts the processed information into a control signal and then controls the working arm type multifunctional hydraulic crushing equipment to perform movement and crushing operations on the large pieces of ore; The crushing device comprises a mechanical claw clamping mechanism and a crushing mechanism, wherein the mechanical claw clamping mechanism is installed at the end of a multi-section hydraulic mechanical arm, and the crushing mechanism is fixed at the center position of the mechanical claw clamping mechanism; The laser 3D detection imaging positioning system includes multiple sets of laser imaging radars and laser rangefinders, all of which are arranged directly above and above the entire working surface of the working arm type multifunctional hydraulic crushing equipment; The mechanical claw clamping mechanism comprises a fixed base, a mechanical claw hydraulic cylinder and a mechanical claw, wherein the fixed base is installed at the end of the pitch arm, the mechanical claw is hinged to the bottom end of the fixed base, one end of the mechanical claw hydraulic cylinder is hingedly connected to the fixed base, and the other end is hingedly connected to the mechanical claw; The crushing mechanism comprises a crushing motor, a crushing hydraulic cylinder and a crushing hammer, wherein the top of the crushing hydraulic cylinder is connected to the center position of the bottom of the fixed base, and the bottom is connected to the crushing motor, and the crushing hammer is connected to the output end of the crushing motor.

2. The working arm type multifunctional hydraulic crushing system with image recognition and positioning according to claim 1 is characterized in that: It also includes a remote control workstation, which is connected to the industrial computer via wired or wireless communication, and can switch the automatic operation mode to a remote manual control mode at any time.

3. A working arm type multifunctional hydraulic crushing system with image recognition and positioning according to claim 1 or 2, characterized in that: The image recognition system includes a plurality of high-definition industrial cameras and matching diffuse shadowless fill light sources, all of which are arranged directly above and above the entire working surface of the working arm-type multifunctional hydraulic crushing equipment.

4. The working arm multifunctional hydraulic crushing system with image recognition and positioning according to claim 1 is characterized in that: The working arm type multifunctional hydraulic crushing equipment includes a rotatable base, a multi-section hydraulic mechanical arm, a crushing device and a communication control module. The rotatable base, the multi-section hydraulic mechanical arm and the crushing device are all communicatively connected with the industrial computer through the communication control module. The multi-section hydraulic mechanical arm is installed on the rotatable base, and the crushing device is connected to the end of the multi-section hydraulic mechanical arm.

5. The working arm multifunctional hydraulic crushing system with image recognition and positioning according to claim 4 is characterized in that: The multi-section hydraulic mechanical arm includes a lifting boom, a lifting arm, a pitch arm, a lifting mechanical arm cylinder and a pitch mechanical arm cylinder, wherein the lifting boom is hinged on the rotatable base, one end of the lifting arm is connected to the lifting boom, and the other end is hingedly connected to the pitch arm; one end of the lifting mechanical arm cylinder is hingedly connected to the rotatable base, and the other end is hingedly connected to the lifting arm; one end of the pitch mechanical arm cylinder is hingedly connected to the lifting arm, and the other end is hingedly connected to the pitch arm.

6. The working arm type multifunctional hydraulic breaking system with image recognition and positioning according to claim 1 is characterized in that: The crushing device also includes a crushing shell, which includes a top plate and a plurality of arc-shaped plates; the top plate is fixed on the fixed base, the plurality of arc-shaped plates are hingedly connected to the top plate, and the plurality of arc-shaped plates are arranged in a circular ring and horizontally surround the outside of the crushing device.

Images