Control method, controller and computer storage medium for an automatic dosing system

Abstract

The application discloses a kind of control method, controller and computer storage medium of automatic feeding system.The control method includes: obtaining infrared thermal imaging instrument collected infrared thermal radiation image and echo signal collected by radar ranging device;Temperature distribution information is obtained by image processing to infrared thermal radiation image;Signal recognition processing is carried out to echo signal, and in-furnace liquid level is obtained;Material conveying speed of feeding device is controlled according to in-furnace liquid level;In the case where it is detected that material is sent to preset position by feeding device, control clamping component clamps material;Material is dropped according to temperature distribution information and in-furnace liquid level by clamping component.The scheme of the embodiment of the application can realize automatic feeding by automatic feeding system, improve the production efficiency and production safety of smelting.

Description

Technical Field

[0001] This invention relates to the field of feeding technology, and in particular to a control method, controller, and computer storage medium for an automatic feeding system. Background Technology

[0002] Iron is an important metal in modern industry. Recycling and smelting waste steel is crucial for achieving sustainable resource development and building a resource-saving and environmentally friendly society. In related technologies, the material to be smelted is typically fed into a smelting furnace manually using clamping tools. However, manual feeding carries the risk of hot liquid splashing, posing a safety hazard. Furthermore, this method requires significant labor and has low production efficiency. Summary of the Invention

[0003] This invention provides a control method, controller, and computer storage medium for an automatic feeding system, which can achieve automatic feeding, thereby improving smelting production efficiency and safety.

[0004] In a first aspect, embodiments of the present invention provide a control method for an automatic feeding system, comprising: the automatic feeding system comprising: a feeding device, the feeding device comprising a base, a support frame, a hanging rail, and a clamping assembly; the base being fixedly disposed on one side of the feeding port of a smelting furnace; the support frame comprising a support arm and a cross arm that are perpendicular to each other and fixedly connected; the support arm being fixedly connected to the base; the cross arm being disposed above the feeding port; and the clamping assembly being slidably connected to the hanging rail disposed on the cross arm; a feeding device being fixedly disposed between the feeding port and the base; an infrared thermal imager being disposed on the cross arm; and a radar ranging device being fixedly connected to the cross arm and located directly above the feeding port.

[0005] The control method includes:

[0006] Acquire the infrared thermal radiation image collected by the infrared thermal imager and the echo signal collected by the radar ranging device;

[0007] The infrared thermal radiation image is processed to obtain temperature distribution information;

[0008] The liquid level inside the furnace is obtained by performing signal recognition processing on the echo signal;

[0009] The material conveying speed of the feeding device is controlled according to the liquid level height inside the furnace.

[0010] When the feeding device is detected to have delivered the material to the preset position, the clamping assembly is controlled to clamp the material.

[0011] The material is dispensed by the clamping assembly based on the temperature distribution information and the liquid level in the furnace.

[0012] In some embodiments, controlling the material conveying speed of the feeding device based on the liquid level in the furnace includes:

[0013] If the liquid level in the furnace is greater than a preset height threshold, the material conveying speed shall be slowed down.

[0014] When the liquid level inside the furnace is less than a preset height threshold, the material conveying speed is increased.

[0015] In some embodiments, the clamping assembly includes: a telescopic and foldable robotic arm and a gripper, the robotic arm including a connecting end and a movable end, the connecting end being slidably connected to the hanging rail, the movable end being fixedly connected to the gripper, and the gripper being used to clamp or release materials;

[0016] The step of controlling the material feeding of the clamping assembly based on the temperature distribution information and the liquid level in the furnace includes:

[0017] When the temperature distribution information indicates a uniform temperature distribution, the clamping assembly is controlled to slide a preset distance along the hanging rail to directly above the feeding port;

[0018] Obtain the first vertical height of the furnace body and the second vertical height of the clamp and the bottom surface of the furnace;

[0019] The third vertical height is obtained by adding the liquid level in the furnace to the preset safety distance. The third vertical height is used to determine the material delivery position.

[0020] The first stroke is obtained by subtracting the third vertical height from the second vertical height.

[0021] Based on the first vertical height and the third vertical height, position information is determined, which indicates the relative position of the material delivery location and the delivery port.

[0022] Based on the location information and preset acceleration, the extension of the robotic arm is controlled to move the gripper to the material delivery position;

[0023] Control the clamp to release the material at the material delivery position.

[0024] In some embodiments, determining the position information based on the first vertical height and the third vertical height includes:

[0025] When the first vertical height is greater than or equal to the third vertical height, first relative position information is determined. The first relative position information is used to indicate that the material delivery position is located above or flush with the delivery port.

[0026] If the first vertical height is less than the third vertical height, a second relative position information is determined, which is used to indicate that the material delivery position is located below the feeding port.

[0027] In some embodiments, when the position information is the first relative position information, controlling the extension of the robotic arm to move the gripper to the material delivery position based on the position information and a preset acceleration includes:

[0028] Based on the first relative position information, the movable end of the robotic arm is controlled to extend to the first midpoint of the first stroke in a uniform acceleration manner according to the preset acceleration.

[0029] From the first midpoint position, the movable end of the robotic arm is controlled to extend to the material delivery position in a uniformly decelerated manner according to the preset acceleration, so as to drive the clamp to move to the material delivery position.

[0030] In some embodiments, when the position information is the second relative position information, the step of controlling the extension of the robotic arm to move the gripper to the material delivery position based on the position information and a preset acceleration further includes:

[0031] Based on the second relative position information, the second vertical height is subtracted from the first vertical height to obtain the second stroke, and the second stroke is the vertical distance between the clamp and the horizontal plane where the feeding port is located;

[0032] The third stroke is obtained by subtracting the height of the liquid level in the furnace from the first vertical height. The third stroke is the height difference between the feeding port and the liquid level in the furnace.

[0033] According to the preset acceleration control, the movable end of the robotic arm extends to the second midpoint position of the second stroke in a uniform acceleration manner;

[0034] From the second midpoint position, the movable end of the robotic arm is controlled to extend to the feeding port in a uniform deceleration manner according to the preset acceleration;

[0035] From the feeding port, the movable end of the robotic arm is controlled by a preset acceleration to extend to the third midpoint of the third stroke in a uniform acceleration manner;

[0036] From the third midpoint position, the movable end of the robotic arm is controlled to extend to the material delivery position in a uniformly decelerated manner according to the preset acceleration, so as to drive the clamp to move to the material delivery position.

[0037] In some embodiments, the automatic feeding system further includes: a camera device fixedly connected to the support arm, the camera device being used to monitor the feeding port and collect images of the target area;

[0038] When the location information is the first relative location information, controlling the clamp to release the material at the material delivery location includes:

[0039] The camera device acquires an image of the target area, which is used to display the status of the feeding port.

[0040] Based on a preset reference image, the target area image is processed for image recognition. When the material is found to be aligned with the feeding port, the clamp is controlled to release the material and feed it into the smelting furnace.

[0041] In some embodiments, the automatic feeding system further includes: a weighing device disposed on the clamp;

[0042] The control method further includes:

[0043] Obtain the material weight data collected by the weighing device;

[0044] While controlling the clamp to dispense materials, a counting and timing process is performed to obtain the cumulative number of dispensing times and the dispensing time of each dispensing;

[0045] Data processing is performed based on the material weight data, the delivery time, and the cumulative delivery count to obtain material delivery record information.

[0046] In a second aspect, embodiments of the present invention provide a controller, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method of the automatic feeding system as described in the first aspect.

[0047] Thirdly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the control method of the automatic feeding system as described in the first aspect.

[0048] This invention includes an automatic feeding system comprising: a feeding device, a conveying device, an infrared thermal imager, and a radar ranging device. The feeding device includes a base, a support frame, a hanging rail, and a clamping assembly. The base is fixedly mounted on one side of the feeding port of the smelting furnace. The support frame includes a support arm and a cross arm that are perpendicular to each other and fixedly connected. The support arm is fixedly connected to the base, and the cross arm is positioned above the feeding port. The clamping assembly is slidably connected to the hanging rail mounted on the cross arm. The conveying device is fixedly mounted between the feeding port and the base. The infrared thermal imager is mounted on the cross arm. The radar ranging device is fixedly connected to the cross arm and located directly above the feeding port. Above; by utilizing this automatic feeding system, after acquiring infrared thermal radiation images collected by an infrared thermal imager and echo signals collected by a radar ranging device, image processing is performed on the infrared thermal radiation images to obtain temperature distribution information, and signal recognition processing is performed on the echo signals to obtain the liquid level height inside the furnace. Then, the material conveying speed of the feeding device is controlled according to the liquid level height inside the furnace. Next, when it is detected that the feeding device has delivered the material to the preset position, the clamping component is controlled to clamp the material. Finally, the clamping component is controlled to release the material according to the temperature distribution information and the liquid level height inside the furnace, realizing automatic feeding, reducing labor costs, and improving production safety. In other words, the embodiments of the present invention can realize automatic feeding through an automatic feeding system, improving the production efficiency and production safety of smelting.

[0049] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. Attached Figure Description

[0050] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0051] Figure 1 This is a schematic diagram of the structure of an automatic feeding system provided in one embodiment of the present invention;

[0052] Figure 2 This is a flowchart illustrating the control method of an automatic feeding system provided in one embodiment of the present invention;

[0053] Figure 3 yes Figure 2 A flowchart illustrating the specific method of step S160;

[0054] Figure 4 yes Figure 3 A flowchart illustrating the specific method of step S270;

[0055] Figure 5 This is a schematic diagram of the hardware structure of a controller provided in one embodiment of the present invention. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0057] It should be noted that although a logical order is shown in the flowcharts in the description of this invention, in some cases, the steps shown or described may be performed in a different order than that shown in the flowcharts. In the description of this invention, "several" means one or more, and "more" means two or more. The terms "first" and "second" are used only to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0058] This invention provides a control method, controller, and computer storage medium for an automatic feeding system. By utilizing this automatic feeding system, after acquiring infrared thermal radiation images from an infrared thermal imager and echo signals from a radar ranging device, image processing is performed on the infrared thermal radiation images to obtain temperature distribution information, and signal recognition processing is performed on the echo signals to obtain the liquid level height inside the furnace. Then, the material conveying speed of the feeding device is controlled based on the liquid level height inside the furnace. Next, when the feeding device detects that the material has been delivered to a preset position, the clamping component is controlled to pick up the material. Finally, the clamping component is controlled to release the material based on the temperature distribution information and the liquid level height inside the furnace, achieving automatic feeding, reducing labor costs, and improving production safety. Therefore, this invention can achieve automatic feeding through an automatic feeding system, improving smelting production efficiency and safety.

[0059] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0060] like Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of an automatic feeding system provided in one embodiment of the present invention. Figure 1 In the example, the automatic feeding system is set on the side of the smelting furnace 200 and is used to feed materials into the smelting furnace 200 through the feeding port 210. The automatic feeding system includes, but is not limited to, a feeding device 110, a feeding device 120, an infrared thermal imager 130, a radar ranging device 140, a camera device 150, and a weighing device 160.

[0061] Among them, reference Figure 1The feeding device 110 includes a base 111, a support frame 112, a hanging rail 113, and a clamping assembly 114. The base 111 is fixedly installed on one side of the feeding port 210 of the smelting furnace 200. The support frame 112 includes a support arm 1121 and a cross arm 1122 that are perpendicular to each other and fixedly connected. The support arm 1121 is fixedly connected to the base 111. The cross arm 1122 is installed above the feeding port 210. The clamping assembly 114 is slidably connected to the hanging rail 113 installed on the cross arm 1122.

[0062] The clamping assembly 114 includes a telescopic and foldable robotic arm 1141 and a clamp 1142. The robotic arm 1141 includes a connecting end and a movable end. The connecting end is slidably connected to the hanging rail 113, and the movable end is fixedly connected to the clamp 1142. The clamp 1142 is used to clamp or release materials. The robotic arm 1141 is used to move the clamp 1142 connected to the movable end up and down by extending or retracting. The robotic arm 1141 can also slide within a distance range defined by the horizontal arm 1122 via the hanging rail 113 to move the clamp 1142 left and right. The clamp 1142 can change position under the action of the robotic arm 1141 to facilitate clamping and dispensing materials.

[0063] Specifically, the clamp can be a mechanically movable three-legged or four-legged clamp, a suction cup clamp that uses magnetic attraction to pick up materials, or an openable material tray. Those skilled in the art can select a suitable clamp based on the type and physical form of the material to be melted, in order to facilitate the clamping and feeding of materials. Therefore, this invention does not specifically limit the style of the clamp.

[0064] A feeding device 120 is fixedly installed between the feeding port 210 and the base 111. The feeding device 120 is used to convey materials to a preset position so that the clamp can pick them up. It is understood that the material conveying speed of the feeding device 120 can be adjusted and controlled.

[0065] Specifically, the feeding device 120 can be a belt conveyor, a plate chain conveyor, a powered roller conveyor, etc. Therefore, the present invention does not specifically limit the type of feeding device used.

[0066] An infrared thermal imager 130 is mounted on the cross arm 1122. The infrared thermal imager 130 is used to emit infrared light into the area where the smelting furnace is located, and after receiving the reflected light and performing imaging processing, it acquires an infrared thermal radiation image of the smelting furnace.

[0067] Specifically, at least one infrared thermal imager 130 is installed on the cross arm to acquire infrared thermal radiation images of the smelting furnace. When one infrared thermal imager 130 is installed, it can be used as follows: Figure 1As shown, the infrared thermal imager 130 is fixed at the midpoint of the horizontal arm 1122, allowing for a larger scanning range and better image acquisition. Alternatively, the infrared thermal imager 130 can be slidably connected to the horizontal arm 1122, allowing engineers to adjust its position on the horizontal arm 1122 according to the requirements for acquiring infrared thermal radiation images. Alternatively, multiple infrared thermal imagers 130 can be simultaneously installed on the horizontal arm 1122 at equal intervals to simultaneously acquire infrared thermal radiation images of the smelting furnace 200 from multiple angles, facilitating a more accurate assessment of the smelting process within the furnace 200. Therefore, this invention does not specifically limit the number or arrangement of the infrared thermal imagers 130.

[0068] A radar ranging device 140 is fixedly connected to the cross arm 1122 and located directly above the feeding port 210. This radar ranging device 140 is used to emit electromagnetic waves into the feeding port 210. Due to the reflection from the liquid surface inside the furnace, the radar ranging device receives the echo signal. The echo signal contains rich level information, which is beneficial for obtaining the liquid level height inside the furnace through signal recognition processing based on the echo signal.

[0069] The camera device 150 is fixedly connected to the support arm 1121 and is used to monitor the feed port 210 to collect images of the target area. The images of the target area are used to display the status of the feed port, i.e. whether the clamp 1142 is holding material and moving it to the feed port 210.

[0070] Weighing device 160 is installed on clamp 1142 to measure the weight of the material picked up by clamp 1142 each time and collect material weight data.

[0071] Specifically, the weighing device 160 includes at least one pressure sensor. The pressure sensor can be configured according to the specific shape of the clamp. When the clamp is claw-shaped, a pressure sensor can be installed on each foot of the claw to acquire multiple pressure values, and the average of these multiple pressure values ​​can be calculated to obtain the material weight data. When the clamp is an openable material tray, at least one pressure sensor can be installed on the bottom of the material tray to acquire the material weight data. Therefore, this application does not specifically limit the implementation form of the weighing device.

[0072] The automatic feeding system provided in this embodiment of the invention also includes a controller 170, which is communicatively connected to the feeding device 110, the feeding device 120, the infrared thermal imager 130, the radar ranging device 140, the camera device 150, and the weighing device 160. The controller 170 can be installed in the mounting cavity reserved in the base 111, or it can be installed independently. Figure 1 Outside of the physical device shown.

[0073] The controller 170, after acquiring infrared thermal radiation images from an infrared thermal imager and echo signals from a radar ranging device, processes the infrared thermal radiation images to obtain temperature distribution information and processes the echo signals to obtain the liquid level height inside the furnace. It then controls the material conveying speed of the feeding device based on the liquid level height. Next, when the feeding device detects that the material has reached a preset position, it controls the clamping assembly to pick up the material. Finally, based on the temperature distribution information and the liquid level height inside the furnace, it controls the clamping assembly to release the material, achieving automatic feeding, reducing labor costs, and improving production safety. In other words, through the cooperation of the feeding device, the infrared thermal imager, the radar ranging device, the camera device, the weighing device, and the controller, the automatic feeding system can achieve automatic feeding, improving smelting production efficiency and safety.

[0074] Additionally, it should be noted that in practical applications, the smelting furnaces used in factories are very tall. Therefore, it is usually necessary to build a second floor around the furnace's feeding port and set up the automatic feeding system on the second floor to facilitate material feeding. Figure 1 The images shown are for illustrative purposes only and represent real-world scenarios.

[0075] It will be understood by those skilled in the art that Figure 1 The system architecture shown does not constitute a limitation on the embodiments of the present invention and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0076] It will be understood by those skilled in the art that the system architecture and application scenarios described in the embodiments of the present invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided in the embodiments of the present invention. It is known by those skilled in the art that with the evolution of system architecture and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present invention are also applicable to similar technical problems.

[0077] Based on the above system structure, various embodiments of the control method of the automatic feeding system of the present invention are proposed below.

[0078] Firstly, referring to Figure 2 , Figure 2 This is a flowchart illustrating a control method for an automatic feeding system according to an embodiment of the present invention. This control method can be applied to, for example... Figure 1The automatic feeding system shown includes, but is not limited to, a feeding device, a conveying device, an infrared thermal imager, and a radar ranging device. The feeding device includes a base, a support frame, a hanging rail, and a clamping assembly. The base is fixedly installed on one side of the feeding port of the smelting furnace. The support frame includes a support arm and a cross arm that are perpendicular to each other and fixedly connected. The support arm is fixedly connected to the base, and the cross arm is located above the feeding port. The clamping assembly is slidably connected to the hanging rail located on the cross arm. The conveying device is fixedly installed between the feeding port and the base. The infrared thermal imager is installed on the cross arm. The radar ranging device is fixedly connected to the cross arm and located directly above the feeding port. The control method of the automatic feeding system may include, but is not limited to, steps S110 to S160.

[0079] Step S110: Acquire the infrared thermal radiation image collected by the infrared thermal imager and the echo signal collected by the radar ranging device.

[0080] In this step, the infrared imager acquires an infrared thermal radiation image of the furnace tube based on its infrared radiation characteristics using an optical imaging system suitable for colorimetric temperature measurement. Acquiring the infrared thermal radiation image and echo signal provides a reliable data foundation for subsequent image processing and signal recognition.

[0081] Step S120: Perform image processing on the infrared thermal radiation image to obtain temperature distribution information.

[0082] In this step, the temperature distribution information can reflect the melting situation inside the furnace to a certain extent. Specifically, when the temperature distribution is uneven, it indicates that there is still a lot of solid material inside the furnace that has not been melted, and the material is in a solid-liquid mixed state; when the temperature distribution is uniform, it indicates that the material inside the furnace has been fully melted, and the material is in a liquid state.

[0083] Specifically, temperature data of temperature measuring points on the furnace wall of the bottom section, hearth section, and belly section of the smelting furnace can be obtained based on infrared thermal radiation images. The collected temperature data is preprocessed by data cleaning and data completion. Using the preprocessed temperature data, cubic spline interpolation and linear interpolation are performed to establish a three-dimensional temperature field distribution model of the entire smelting furnace wall. The temperature distribution information of the smelting furnace is then displayed in real time using OpenGL.

[0084] Step S130: Perform signal recognition processing on the echo signal to obtain the liquid level height inside the furnace.

[0085] In this step, the echo information includes rich level information. The received echo signal is filtered to remove echo signals generated by environmental noise and multiple reflections, as well as echo signals generated at the furnace bottom. The comprehensive confidence level of each peak in the echo signal to be determined is calculated according to the intensity, peak area, and detection distance. The peak with the highest comprehensive confidence level is determined from the echo signal to be determined as the level echo signal. The liquid level height in the furnace is obtained by identifying the level echo signal.

[0086] Step S140: Control the material conveying speed of the feeding device according to the liquid level in the furnace.

[0087] In this step, when the liquid level inside the furnace is greater than the preset height threshold, the material conveying speed is slowed down; when the liquid level inside the furnace is less than the preset height threshold, the material conveying speed is accelerated.

[0088] It is understandable that when the liquid level in the furnace is higher than the preset height threshold, continuous material feeding will cause the high-temperature liquid to splash or overflow, thus requiring a reduction in the material feeding speed. When the liquid level in the furnace is lower than the preset height threshold, it indicates that the reaction in the furnace is sufficient and there is still enough space to melt new material, so the material feeding speed can be appropriately increased. In this invention, the clamping component is only controlled to pick up the material when the feeding device delivers the material to the preset position. Therefore, the material feeding speed can be adjusted by adjusting the material conveying speed. The preset height threshold can be set according to the specifications of the smelting furnace; this invention does not specifically limit the value of the preset height threshold.

[0089] Step S150: When the feeding device is detected to have delivered the material to the preset position, the clamping component is controlled to clamp the material.

[0090] In this step, the material is conveyed to a preset position before the clamping component is controlled to pick up the material, improving the efficiency of the clamping component. The preset position is located on the conveyor belt of the feeding device, directly below the horizontal arm. Upon detecting that the feeding device has delivered material to the preset position, the clamping component is moved to directly above the preset position and controlled to pick up the material.

[0091] Step S160: Control the material feeding of the clamping component according to the temperature distribution information and the liquid level in the furnace.

[0092] The embodiments of the present invention achieve automatic feeding through steps S110 to S160, thereby improving production efficiency and production safety.

[0093] like Figure 3 As shown, Figure 3 yes Figure 2A flowchart illustrating the specific method of step S160. In some embodiments, the clamping assembly includes, but is not limited to, a telescopic and foldable robotic arm and a gripper. The robotic arm includes a connecting end and a movable end. The connecting end is slidably connected to a hanging rail, and the movable end is fixedly connected to the gripper. The gripper is used to clamp or release materials. Step S160 may include, but is not limited to, steps S210 to S270.

[0094] Step S210: When the temperature distribution information is uniform, control the clamping component to slide along the hanging rail a preset distance to directly above the feeding port.

[0095] In this step, if the temperature distribution is uniform, it indicates that the material reaction in the melting furnace is sufficient, and more material can be added for melting. Therefore, the clamping assembly is controlled to slide a preset distance along the hanging rail to directly above the feeding port to prepare for feeding.

[0096] Step S220: Obtain the first vertical height of the furnace body and the second vertical height between the clamp and the bottom surface of the furnace.

[0097] In this step, the first and second vertical heights were determined at the initial design stage of the smelting furnace and automatic feeding system, and these two parameters can be directly obtained for subsequent calculations.

[0098] Step S230: Add the liquid level in the furnace to the preset safety distance to obtain the third vertical height, which is used to determine the material delivery position.

[0099] In this step, the material delivery position is determined by the liquid level in the furnace and the preset safety distance. The third vertical height is the numerical distance between the material delivery position and the bottom surface of the smelting furnace.

[0100] It is understandable that if the material is placed too high, high-temperature liquid splashing may occur, affecting production safety; if the material is placed too low, the clamps may be damaged. Therefore, the material placement position needs to be determined based on a preset safety distance. This invention does not specifically limit the value of the preset safety distance, which can be determined according to the actual scale of the smelting furnace.

[0101] Step S240: Subtract the third vertical height from the second vertical height to obtain the first stroke.

[0102] In this step, the first stroke is the extension of the movable end of the robotic arm, which is the distance the gripper descends.

[0103] Step S250: Determine the position information based on the first vertical height and the third vertical height. The position information is used to indicate the relative position of the material delivery position and the feeding port.

[0104] In this step, to minimize damage to the feeding port during material feeding, the descent speed needs to be slowed down as the clamp approaches the feeding port. Therefore, it is necessary to determine the relative position of the material feeding location and the feeding port.

[0105] Specifically, when the first vertical height is greater than or equal to the third vertical height, the first relative position information is determined, which is used to indicate that the material delivery position is above or level with the delivery port; when the first vertical height is less than the third vertical height, the second relative position information is determined, which is used to indicate that the material delivery position is below the delivery port.

[0106] Step S260: Based on the position information and preset acceleration, control the extension of the robotic arm to move the gripper to the material delivery position.

[0107] In this step, the present invention does not specifically set the value of the preset acceleration, but can set it manually according to the actual scale of the smelting furnace and the scale of the automatic feeding system.

[0108] In some embodiments, when the position information is first relative position information, the movable end of the robotic arm is controlled to extend to the first midpoint position of the first stroke in a uniformly accelerated manner according to the first relative position information and a preset acceleration; from the first midpoint position, the movable end of the robotic arm is controlled to extend to the material delivery position in a uniformly decelerated manner according to the preset acceleration, so as to drive the clamp to move to the material delivery position.

[0109] In some embodiments, when the position information is second relative position information, the second vertical height is subtracted from the first vertical height to obtain the second stroke, which is the vertical distance between the clamp and the horizontal plane where the feeding port is located; the first vertical height is subtracted from the liquid level in the furnace to obtain the third stroke, which is the height difference between the feeding port and the liquid level in the furnace; the movable end of the robotic arm is controlled to extend to the second midpoint of the second stroke in a uniform acceleration manner according to a preset acceleration; from the second midpoint, the movable end of the robotic arm is controlled to extend to the feeding port in a uniform deceleration manner according to a preset acceleration; from the feeding port, the movable end of the robotic arm is controlled to extend to the third midpoint of the third stroke in a uniform acceleration manner according to a preset acceleration; from the third midpoint, the movable end of the robotic arm is controlled to extend to the material feeding position in a uniform deceleration manner according to a preset acceleration, thereby moving the clamp to the material feeding position. The segmented control of the extension of the robotic arm, i.e., the segmented control of the descent of the clamp, reduces the probability of friction and impact between the material and the feeding port, thus protecting the feeding port.

[0110] Step S270: Control the clamp to release the material at the material delivery position.

[0111] In this step, when it is detected that the clamp has moved to the material feeding position under the drive of the robotic arm, the clamp is controlled to release the material, thus completing the automatic feeding.

[0112] like Figure 4 As shown, Figure 4 yes Figure 3 A flowchart illustrating the specific method of step S270 is provided. In some embodiments, the automatic feeding system may include, but is not limited to, a camera device fixedly connected to the support arm, which is used to monitor the feeding port and collect images of the target area; when the position information is the first relative position information, step S270 may include, but is not limited to, steps S310 to S320.

[0113] Step S310: Acquire the target area image captured by the camera device. The acquired target area image is used to display the feeding port status.

[0114] Step S320: Perform image recognition processing on the target area image based on the preset reference image. When the material is identified as aligned with the feeding port, control the clamp to release the material and feed it into the smelting furnace.

[0115] Through steps S310 to S320, when the material is identified as aligned with the feeding port, the clamp is controlled to release the material into the smelting furnace, reducing the probability of friction and impact between the material and the feeding port, thus protecting the feeding port. It is understood that if the material is identified as misaligned with the feeding port, the clamp position can be adjusted until the material is aligned before feeding.

[0116] In some embodiments, the automatic feeding system may include, but is not limited to, a weighing device mounted on a fixture; the control method of the automatic feeding system may also include, but is not limited to, the following steps: first, acquiring material weight data collected by the weighing device; then, while controlling the fixture to feed material, performing counting and timing processing to obtain the cumulative number of feedings and the feeding time of each feeding; finally, processing the data based on the material weight data, feeding time, and cumulative number of feedings to obtain material feeding record information. The obtained material feeding record information is helpful for engineers to verify production progress, predict production schedules, and better plan production.

[0117] Secondly, referring to Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of a controller provided in one embodiment of the present invention. The controller 170 includes: a memory 172, a processor 171, and a computer program stored in the memory 172 and executable on the processor. When the processor 171 executes the computer program, it implements the control method of the automatic feeding system as described in the first aspect.

[0118] The processor 171 and the memory 172 can be connected via a bus or other means.

[0119] The processor 171 can be implemented using a general-purpose central processing unit, microprocessor, application-specific integrated circuit, or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention.

[0120] Memory 172, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 172 may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0121] The non-transient software program and instructions required to implement the control method of the automatic feeding system in the above embodiments are stored in memory. When executed by a processor, the control method of the automatic feeding system in the above embodiments is executed, for example, the method described above is executed. Figure 2 , Figure 3 and Figure 4 The method steps are shown.

[0122] The controller or system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] Thirdly, an embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or controller, for example, by a processor in the above-described device embodiment, causing the processor to execute the control method of the automatic feeding system in the above-described embodiment, for example, to execute the above-described... Figure 2 , Figure 3 and Figure 4 The method steps are shown.

[0124] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0125] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the present invention.

Claims

1. A control method for an automatic feeding system, characterized in that, The automatic feeding system includes: a feeding device comprising a base, a support frame, a hanging rail, and a clamping assembly; the base being fixedly disposed on one side of the feeding port of the smelting furnace; the support frame comprising a support arm and a cross arm that are perpendicular to each other and fixedly connected; the support arm being fixedly connected to the base; the cross arm being disposed above the feeding port; and the clamping assembly being slidably connected to the hanging rail disposed on the cross arm; a feeding device fixedly disposed between the feeding port and the base; an infrared thermal imager disposed on the cross arm; and a radar ranging device fixedly connected to the cross arm and located directly above the feeding port. The control method includes: Acquire the infrared thermal radiation image collected by the infrared thermal imager and the echo signal collected by the radar ranging device; The infrared thermal radiation image is processed to obtain temperature distribution information; The liquid level inside the furnace is obtained by performing signal recognition processing on the echo signal; The material conveying speed of the feeding device is controlled according to the liquid level height inside the furnace. When the feeding device is detected to have delivered the material to the preset position, the clamping assembly is controlled to clamp the material. The material is dispensed by the clamping assembly based on the temperature distribution information and the liquid level in the furnace.

2. The control method for the automatic feeding system according to claim 1, characterized in that, The method of controlling the material conveying speed of the feeding device based on the liquid level in the furnace includes: If the liquid level in the furnace is greater than a preset height threshold, the material conveying speed shall be slowed down. When the liquid level inside the furnace is less than a preset height threshold, the material conveying speed is increased.

3. The control method for the automatic feeding system according to claim 1, characterized in that, The clamping assembly includes: a telescopic and foldable robotic arm and a clamp. The robotic arm includes a connecting end and a movable end. The connecting end is slidably connected to the hanging rail, and the movable end is fixedly connected to the clamp. The clamp is used to clamp or release materials. The step of controlling the material feeding of the clamping assembly based on the temperature distribution information and the liquid level in the furnace includes: When the temperature distribution information indicates a uniform temperature distribution, the clamping assembly is controlled to slide a preset distance along the hanging rail to directly above the feeding port; Obtain the first vertical height of the furnace body and the second vertical height of the clamp and the bottom surface of the furnace; The third vertical height is obtained by adding the liquid level in the furnace to the preset safety distance. The third vertical height is used to determine the material delivery position. The first stroke is obtained by subtracting the third vertical height from the second vertical height. Based on the first vertical height and the third vertical height, position information is determined, which indicates the relative position of the material delivery location and the delivery port. Based on the location information and preset acceleration, the extension of the robotic arm is controlled to move the gripper to the material delivery position; Control the clamp to release the material at the material delivery position.

4. The control method for the automatic feeding system according to claim 3, characterized in that, The step of determining the position information based on the first vertical height and the third vertical height includes: When the first vertical height is greater than or equal to the third vertical height, first relative position information is determined. The first relative position information is used to indicate that the material delivery position is located above or flush with the delivery port. If the first vertical height is less than the third vertical height, a second relative position information is determined, which is used to indicate that the material delivery position is located below the feeding port.

5. The control method for the automatic feeding system according to claim 4, characterized in that, When the position information is the first relative position information, the step of controlling the extension of the robotic arm to move the gripper to the material delivery position based on the position information and a preset acceleration includes: Based on the first relative position information, the movable end of the robotic arm is controlled to extend to the first midpoint of the first stroke in a uniform acceleration manner according to the preset acceleration. From the first midpoint position, the movable end of the robotic arm is controlled to extend to the material delivery position in a uniformly decelerated manner according to the preset acceleration, so as to drive the clamp to move to the material delivery position.

6. The control method for the automatic feeding system according to claim 4, characterized in that, When the position information is the second relative position information, the step of controlling the extension of the robotic arm to move the gripper to the material delivery position based on the position information and a preset acceleration further includes: Based on the second relative position information, the second vertical height is subtracted from the first vertical height to obtain the second stroke, which is the vertical distance between the clamp and the horizontal plane where the feeding port is located; The third stroke is obtained by subtracting the height of the liquid level in the furnace from the first vertical height. The third stroke is the height difference between the feeding port and the liquid level in the furnace. According to the preset acceleration control, the movable end of the robotic arm extends to the second midpoint position of the second stroke in a uniform acceleration manner; From the second midpoint position, the movable end of the robotic arm is controlled to extend to the feeding port in a uniform deceleration manner according to the preset acceleration; From the feeding port, the movable end of the robotic arm is controlled by a preset acceleration to extend to the third midpoint of the third stroke in a uniform acceleration manner; From the third midpoint position, the movable end of the robotic arm is controlled to extend to the material delivery position in a uniformly decelerated manner according to the preset acceleration, so as to drive the clamp to move to the material delivery position.

7. The control method for the automatic feeding system according to claim 5, characterized in that, The automatic feeding system further includes: a camera device fixedly connected to the support arm, the camera device being used to monitor the feeding port and collect images of the target area; When the location information is the first relative location information, controlling the clamp to release the material at the material delivery location includes: The camera device acquires an image of the target area, which is used to display the status of the feeding port. Based on a preset reference image, the target area image is processed for image recognition. When the material is found to be aligned with the feeding port, the clamp is controlled to release the material and feed it into the smelting furnace.

8. The control method for the automatic feeding system according to claim 3, characterized in that, The automatic feeding system further includes: a weighing device disposed on the clamp; The control method further includes: Obtain the material weight data collected by the weighing device; While controlling the clamp to dispense materials, a counting and timing process is performed to obtain the cumulative number of dispensing times and the dispensing time of each dispensing; Data processing is performed based on the material weight data, the delivery time, and the cumulative delivery count to obtain material delivery record information.

9. A controller, characterized in that, include: The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the control method for the automatic feeding system as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The system stores computer-executable instructions, which, when executed by a processor, implement the control method of the automatic feeding system as described in any one of claims 1 to 8.

Images