Material grinding control system with particle size detection function

Abstract

The embodiment of the present application provides a kind of material grinding control system with granularity detection function, system is at least configured to be adapted with the material conveying device, material storage container and broken grinding device arranged in field, system includes control module, particle detection module, material monitoring module and three-dimensional scanning module, control module is respectively connected with material monitoring module, three-dimensional scanning module, particle detection module and broken grinding device and establishes communication connection.The embodiment of the present application can monitor the in-out material condition of multiple batches of materials stored in material storage container by material monitoring module, three-dimensional scanning module and particle detection module.Meanwhile, the embodiment of the present application can control broken grinding device based on the real-time discharge volume of the current discharge process and the granularity data of material in the current discharge process of material storage device by data interaction and collaborative cooperation of material monitoring module, three-dimensional scanning module, particle detection module and control module, which is beneficial to improve grinding efficiency.

Description

Technical Field

[0001] This invention relates to the field of industrial measurement technology, and in particular to a material grinding control system with particle size detection function. Background Technology

[0002] Currently, the crushing and grinding process in the mining industry uses energy to squeeze, impact, and grind ore through crushing and grinding devices, causing the valuable minerals in the ore to cleave, which is beneficial for the next stage of beneficiation. However, the control logic of existing crushing and grinding devices is too rigid, easily deviating from actual on-site conditions, resulting in low crushing and grinding efficiency. Summary of the Invention

[0003] This invention provides a material grinding control system with particle size detection function to monitor the feeding and discharging of multiple batches of materials stored in a material storage container, and to control the grinding device based on the real-time discharge volume of the current discharge process and the particle size data of the material in the material storage device during the current discharge process, thereby improving grinding efficiency.

[0004] This invention provides a material grinding control system with particle size detection function, characterized in that the system is at least configured to be compatible with material conveying devices, material storage containers and grinding devices deployed on site;

[0005] The system includes a material monitoring module, a three-dimensional scanning module, a particle detection module, and a control module. The control module establishes communication connections with the material monitoring module, the three-dimensional scanning module, the particle detection module, and the grinding device, respectively.

[0006] The material monitoring module is connected to the material conveying device and is used at least to acquire the contour data of the material on the material conveying device in the second direction during at least one feeding period.

[0007] The three-dimensional scanning module is installed in the material storage container and is used at least to obtain the internal morphology of the container before the first feeding of the material storage container; and to obtain real-time morphological data of the material surface and real-time material volume during each feeding and discharging process of the material storage container.

[0008] The particle detection module is at least used to acquire particle size data of the material in each discharge process of the material storage device and upload it to the control module;

[0009] The control module is at least used to acquire and calculate the volumetric flow rate of the material in each feeding period based on the characteristic parameters of the material conveying device, the contour data, and the displacement data of the material on the material conveying device in a first direction; and to adjust the control parameters of the grinding device based at least on the particle size data of the material in each discharge process acquired by the particle detection module.

[0010] Optionally, the first direction is parallel to or at a known acute angle to the displacement direction of the material conveying device, and the second direction is perpendicular to or at a known acute angle to the displacement direction of the material conveying device.

[0011] Optionally, the material monitoring module includes a laser measurement unit;

[0012] The laser measurement unit is at least used to emit measurement signals from multiple scanning angles within a set angle range in the second direction during at least one of the feeding periods, and to receive the reflected signals formed by the material reflection on the material conveying device at each scanning angle, and then to summarize all the reflected signals to obtain contour data located in the second direction.

[0013] The displacement data of the material conveying device in the first direction during at least one of the feeding periods is configured to be known;

[0014] The control module is at least used to analyze and obtain the volumetric flow rate of the material on the material conveying device during the corresponding feeding period based on the displacement data of the material conveying device in the first direction during the corresponding feeding period, the characteristic parameters of the material conveying device, and the contour data located in the second direction.

[0015] Optionally, the displacement data of the material conveying device in the first direction during at least one of the feeding periods is configured to be measurable;

[0016] The material monitoring module includes a laser measurement unit and a velocity measurement unit;

[0017] The laser measurement unit is at least used to emit measurement signals from multiple scanning angles within a set angle range in the second direction during at least one of the feeding periods, and to receive the reflected signals formed by the material reflection on the material conveying device at each scanning angle, and then to summarize all the reflected signals to obtain contour data located in the second direction.

[0018] The speed measuring unit is used at least to acquire displacement data of the material conveying device in the first direction during at least one of the feeding periods;

[0019] The control module is at least used to analyze and obtain the volumetric flow rate of the material on the material conveying device during the corresponding feeding period based on the displacement data of the material conveying device in the first direction during the corresponding feeding period, the characteristic parameters of the material conveying device, and the contour data located in the second direction.

[0020] Optionally, the displacement data of the material conveying device in the first direction during at least one of the feeding periods is configured to be measurable;

[0021] The material monitoring module includes a laser measurement unit;

[0022] The laser measurement unit is used to emit at least two laser beams with preset angles; wherein, the first laser beam is emitted onto the material located in the first direction, and the first laser beam is reflected by the material located in the first direction to generate a first reflected beam and is received by the laser measurement unit; the second laser beam is emitted onto the material located in the second direction, and the second laser beam is reflected by the material located in the second direction to generate a second reflected beam and is received by the laser measurement unit;

[0023] The laser measurement unit is further configured to acquire displacement data of the material on the material conveying device in the first direction based on the first reflected beam; and to acquire contour data of the material on the material conveying device in the second direction during at least one feeding period based on the second reflected beam.

[0024] Optionally, the first laser beam forms a first measurement line on the material in the first direction; the laser measurement unit is specifically used to extract the initial level fluctuation pattern and the final level fluctuation pattern located on the first measurement line according to the first reflected beam corresponding to the start and end times of each feeding period; define a wave-finding width, and determine multiple peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern based on the wave-finding width. When determining the peaks and troughs, if the level of a certain feature point is greater than the level of other feature points within its wave-finding width, the laser measurement unit determines that the feature point is at a peak position; if the level of a certain feature point is less than the level of other feature points within its wave-finding width, the laser measurement unit determines that the feature point is at a trough position; the laser measurement unit determines the displacement of at least one common peak or trough within the feeding period according to the distribution of peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern, thereby determining the displacement data of the material in the first direction.

[0025] Optionally, the laser measurement unit sets a deviation threshold. After the errors before and after multiple common peaks or troughs are all lower than or equal to the deviation threshold, the displacement of at least one common peak or trough during the feeding period is determined, thereby determining the displacement data of the material in the first direction.

[0026] Optionally, the laser measurement unit is further configured to remove abnormal feature points from the final level fluctuation pattern and the initial level fluctuation pattern.

[0027] Optionally, the displacement data of the material conveying device in the first direction during at least one of the feeding periods is configured to be measurable;

[0028] The material monitoring module includes a first laser measurement unit and a second laser measurement unit;

[0029] The first laser measurement unit is at least used to emit a first laser beam with a first preset angle; the first laser beam is emitted onto the material located in the first direction, and the first laser beam is reflected by the material located in the first direction to generate a first reflected beam, which is received by the first laser measurement unit.

[0030] The second laser measurement unit is at least used to emit a second laser beam with a second preset angle; the second laser beam is emitted onto the material located in the second direction, and the second laser beam is reflected by the material located in the second direction to generate a second reflected beam, which is received by the second laser measurement unit;

[0031] The first laser measurement unit is at least further configured to acquire displacement data of the material on the material conveying device in the first direction based on the first reflected beam;

[0032] The second laser measurement unit is also used to acquire, at least according to the second reflected beam, the contour data of the material on the material conveying device in the second direction during at least one feeding period.

[0033] Optionally, the first laser beam forms a first measurement line on the material in the first direction; the first laser measurement unit is specifically used to extract the initial level fluctuation pattern and the final level fluctuation pattern located on the first measurement line according to the first reflected beam corresponding to the start and end times of each feeding period; define a wave-finding width, and determine multiple peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern based on the wave-finding width. When determining the peaks and troughs, if the level of a certain feature point is greater than the level of other feature points within its wave-finding width, the first laser measurement unit determines that the feature point is at a peak position; if the level of a certain feature point is less than the level of other feature points within its wave-finding width, the first laser measurement unit determines that the feature point is at a trough position; the first laser measurement unit determines the displacement of at least one common peak or trough within the feeding period according to the distribution of peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern, thereby determining the displacement data of the material in the first direction.

[0034] Optionally, the first laser measurement unit sets a deviation threshold. After the errors before and after multiple common peaks or troughs are all lower than or equal to the deviation threshold, the displacement of at least one common peak or trough during the feeding period is determined, thereby determining the displacement data of the material in the first direction.

[0035] Optionally, the first laser measurement unit is further configured to remove abnormal feature points from the final level fluctuation pattern and the initial level fluctuation pattern.

[0036] Optionally, the material monitoring module includes a laser measurement unit and an image recognition unit;

[0037] The laser measurement unit is used to emit at least two laser beams with preset measurement angles, wherein the first laser beam is emitted onto the material located in the first direction, and the second laser beam is emitted onto the material located in the second direction.

[0038] The image recognition unit is at least used to acquire initial image information and end image information of the start and end of time in each feeding period, so as to acquire displacement data of the material in the first direction and contour data in the second direction in the corresponding feeding period based on the initial image information and the end image information.

[0039] Optionally, the image recognition unit is at least configured to determine the starting position and ending position of the material in the first direction based on the initial image information and the ending image information, and to determine the displacement data of the material in the first direction based on the starting position and the ending position.

[0040] Optionally, the image recognition unit is at least configured to determine, based on the initial image information and the end image information, the start position and end position of one or more preset feature points of the material in the first direction, respectively, and to determine the displacement data of the material in the first direction based on the difference between the start position and the end position.

[0041] Optionally, the image recognition unit at least covers the first measurement line formed by the material monitoring module in the first direction; the image recognition unit is specifically used to extract the initial level fluctuation pattern located on the first measurement line in the initial image information and the final level fluctuation pattern located on the first measurement line in the final image information; define a wave-finding width, and determine multiple peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern based on the wave-finding width. When determining peaks and troughs, if the level of a certain feature point is greater than the level of other feature points within its wave-finding width, the image recognition unit determines that the feature point is at a peak position; if the level of a certain feature point is less than the level of other feature points within its wave-finding width, the image recognition unit determines that the pixel is at a trough position; the image recognition unit determines the displacement of at least one common peak or trough during the feeding period based on the distribution of peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern, thereby determining the displacement data of the material in the first direction.

[0042] Optionally, the image recognition unit sets a deviation threshold. After the errors before and after multiple common peaks or troughs are all lower than or equal to the deviation threshold, it determines the displacement of at least one common peak or trough during the feeding period, thereby determining the displacement data of the material in the first direction.

[0043] Optionally, the image recognition unit is further configured to remove abnormal feature points from the final level fluctuation pattern and the initial level fluctuation pattern.

[0044] Optionally, the control parameters of the grinding device include at least one of grinding power, operating current, and opening degree.

[0045] Optionally, the number of the three-dimensional scanning modules is at least one.

[0046] Optionally, the three-dimensional scanning module includes at least an antenna array that can be used for digital beamforming.

[0047] Optionally, the three-dimensional scanning module includes at least a mechanical motion structure and a scanning probe. The mechanical motion structure drives the scanning probe to rotate, so that the scanning probe has multiple emission points in multiple directions and correspondingly forms multiple outgoing beams.

[0048] Optionally, the scanning probe is an antenna array that can be used for digital beamforming.

[0049] Optionally, the three-dimensional scanning module consists of at least a plurality of independent single-point measurement sub-modules;

[0050] Different single-point measurement submodules are installed at different locations on the material storage container;

[0051] The single-point measurement submodule has a single-direction wave emission point and forms a single-direction outgoing beam accordingly.

[0052] Optionally, the three-dimensional scanning module includes at least a main module and multiple single-point measurement sub-modules;

[0053] The single-point measurement submodules are all installed inside the main body of the module;

[0054] The single-point measurement submodule has a single-direction wave emission point and forms a single-direction outgoing beam accordingly.

[0055] Optionally, the control module is at least specifically used to integrate the volumetric flow rates corresponding to each feeding period between the previous discharge process and the current discharge process, and to calculate the real-time discharge volume of the current discharge process in combination with the real-time material volume; and to adjust the control parameters of the grinding device based on the real-time discharge volume of the current discharge process and the particle size data of the material in the material storage device during the current discharge process.

[0056] The technical solution provided in this invention obtains the internal morphology of the material storage container through a material monitoring module before the first feeding. After the material storage container begins feeding and discharging, the material monitoring module acquires the contour data of the material on the material conveying device in a second direction during at least one feeding period. The control module acquires and calculates the volumetric flow rate of the material in each feeding period based on the characteristic parameters of the material conveying device, the contour data, and the displacement data of the material on the material conveying device in a first direction. The three-dimensional scanning module acquires the real-time morphological data of the material surface and the real-time material volume of the material storage device during each feeding and discharging process. The particle detection module acquires the particle size data of the material during each discharging process and uploads it to the control module. In any discharging process, the control module adjusts the control parameters of the grinding device at least based on the particle size data of the material acquired by the particle detection module for each discharging process.

[0057] In summary, the material grinding control system with particle size detection function proposed in this embodiment of the invention can monitor the feeding and discharging of multiple batches of materials stored in the material storage container through a material monitoring module, a three-dimensional scanning module, and a particle detection module. Furthermore, during any discharging process, through data interaction and coordination among the material monitoring module, the three-dimensional scanning module, the particle detection module, and the control module, this embodiment of the invention can also control the grinding device based on the real-time discharging volume and the particle size data of the material in the material storage device during that discharging process, thereby improving grinding efficiency.

[0058] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a schematic diagram of a material grinding control system with particle size detection function provided in an embodiment of the present invention;

[0061] Figure 2 This is a projection orientation diagram of the first direction and the second direction on a set plane provided in an embodiment of the present invention. Detailed Implementation

[0062] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0063] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0064] Figure 1 This is a schematic diagram of a material grinding control system with particle size detection function provided in an embodiment of the present invention. Figure 1 As shown, the system is configured to be compatible with material conveying devices, material storage containers and grinding devices deployed on site.

[0065] The system includes a material monitoring module 110, a three-dimensional scanning module 130, a particle detection module 140, and a control module 120. The control module 120 establishes communication connections with the material monitoring module 110, the three-dimensional scanning module 130, the particle detection module 140, and the grinding device, respectively.

[0066] The material monitoring module 110 is connected to the material conveying device and is used to acquire contour data of the material on the material conveying device in a second direction during at least one feeding period.

[0067] The 3D scanning module 130 is installed in the material storage container and is used at least to obtain the internal shape of the container before the first feeding of the material storage container; and to obtain real-time shape data of the material surface and real-time material volume during each feeding and discharging process of the material storage container.

[0068] The particle detection module 140 is used to acquire particle size data of the material in each feeding process of the material storage device and upload it to the control module 120.

[0069] The control module 120 is at least used to acquire and calculate the volumetric flow rate of the material in each feeding period based on the characteristic parameters, contour data and displacement data of the material on the material conveying device in the first direction; and to adjust the control parameters of the grinding device based at least on the particle size data of the material in each discharge process acquired by the particle detection module.

[0070] The material conveying device can be, for example, based on a belt conveyor; the material is preferably in a solid state; the material storage container can be a silo, tank, etc.; the 3D scanning module 130 can be, but is not limited to, a 3D radar; the grinding device can be any type of mill, such as a ball mill, column mill, rod mill, tube mill, vortex roller mill, vertical roller mill, disc mill, etc. The material conveying device can be installed at the inlet of the material storage container and is at least used to convey material to the material storage container, and the grinding device can be installed at the outlet of the material storage device to crush and grind the material output from the material storage device.

[0071] Depending on the application scenario (e.g., ore grinding in the mining industry mentioned in the background, or dehulling and grinding of various grains in the grain industry), the material storage container may be used to store only one type of material or to store multiple types of materials. Optionally, the control parameters of the grinding device include at least one of grinding power, operating current, and opening degree. Real-time morphological data of the material surface may include a three-dimensional morphological map of the material, the highest material level, the lowest material level, and the average material level.

[0072] The material monitoring module 110 can use any type of profilometer. The profilometer data can be, for example, the height data of each measurement point on the material surface, the width data of the material, the three-dimensional profile of the material, or a profile line on the material surface. In addition, the feeding time period can be adaptively adjusted according to the actual application conditions of the material conveying device. The feeding time period can be at the second or millisecond level, etc. This application does not impose any restrictions on this. Of course, the more refined the feeding time period, the higher the accuracy of the measurement by the material monitoring module 110.

[0073] The control module 120 can be, for example, a microcontroller, a system-on-a-chip, an industrial computer, or a server. The characteristic parameters of the material conveying device can be configured to be known or measurable; the characteristic parameters of the material conveying device can at least refer to the shape data of the conveying structure carrying the material (e.g., conveyor belt, belt, etc.). In cases where the system performs high-precision measurements, the deformation of the conveying structure needs to be considered. This is because the support structure at the bottom of the conveyor belt in some material conveying devices can only support a portion of the conveyor belt. In most cases, the conveyor belt needs to carry the material itself, which leads to deformation of the conveyor belt. This deformation affects the shape parameters of the actual material (e.g., the aforementioned contour data), resulting in inaccurate measurement of the actual material. Specifically, the characteristic parameters of the material conveying device can be the shape of the surface of the conveyor belt away from the material. The control module 120 can acquire the characteristic parameters of the material conveying device through an image acquisition device. In this case, the shape deformation of the surface of the conveyor belt away from the material can be the offset of pixels. The principle by which the control module 120 acquires the characteristic parameters of the material conveying device can also be the ranging principle of microwaves, lasers, etc., in which case the shape deformation of the surface of the conveyor belt away from the material can be the change in point cloud data (microwaves, lasers, etc.). It is understood that the control module 120 can acquire the characteristic parameters of the material conveying device based on any device capable of measuring deformation, and this application does not limit this.

[0074] It is understandable that if the material storage container is large and only one 3D scanning module 130 is installed on the material storage container, the single 3D scanning module 130 may be affected by the signal obstruction of obstacles such as ladders, pipes, and support structures inside the material storage container, resulting in low measurement accuracy, or it may be limited by the angle of repose generated by the material filling level inside the material storage container, and can only obtain local material morphology data.

[0075] Based on this, in order to reduce the impact of the above situation on the system, the number of three-dimensional scanning modules 130 in the system can be multiple (that is, in some embodiments, the number of three-dimensional scanning modules 130 can optionally be at least one), and before the system works, the parameters of each three-dimensional scanning module 130 can be calibrated in advance to improve the accuracy of the container's internal shape, real-time shape data, etc.

[0076] In one specific implementation, optionally, the particle detection module 150 is used to capture material images during each discharge process of the material storage device, and to detect the particle size information of the material in the images using deep learning; for example, a model-based material image segmentation method can be used to reduce the requirements for image clarity. For example, after the image to be segmented is processed by grayscale conversion, median filtering, and adaptive histogram equalization, the image contour is extracted using a pre-trained model; then, the image contour is binarized, and contour optimization is performed using the pre-trained model; finally, the segmentation result is obtained using OpenCV, ultimately achieving accurate segmentation of the material image and automatically calculating the material size.

[0077] In a specific example, the first step is to acquire images to create a training set. After preprocessing the training set, the U-Net network is used to train the network on the preprocessed images. The second step involves using the preprocessed training set images with the trained network. The testing phase involves using the trained model to extract contour regions from the test images to obtain contour maps. Figure 2 After quantization, the material outline is optimized using the trained model. Finally, OpenCV is used to statistically analyze the material size distribution to achieve material image segmentation.

[0078] Specifically, firstly, images of material discharge are captured during each discharge process of the material storage device. These images are manually labeled, and the images processed by grayscale conversion, median filtering, and adaptive histogram equalization, along with their corresponding manually labeled images, are used as the training set. Secondly, the network is trained using the training set, and the model with the optimal parameters is selected. The trained model is then used to validate the training set. The validation results are binarized and used as a new training set to train the network, saving the model with the optimal parameters. Simultaneously, the test images are used to perform contour detection using the trained network to obtain contour images. Since the contour images contain undersegmentation and small holes, which are inconvenient for statistical processing and subsequent operations, the contours are... Figure 2 After value-based processing, the contour is optimized using the trained model. Finally, OpenCV is used to statistically analyze the area, perimeter, and total number of material particles, and a material segmentation result map is plotted. This reduces the requirements for image sharpness and the impact of image noise, eliminates interference from parameter adjustments, and demonstrates good detection performance in complex environments.

[0079] Optionally, the control module is at least specifically used to integrate the volumetric flow rates corresponding to each feeding period between the previous discharge process and the current discharge process, and to calculate the real-time discharge volume of the current discharge process by combining the real-time material volume; and to adjust the control parameters of the grinding device based on the real-time discharge volume of the current discharge process and the particle size data of the material in the material storage device during the current discharge process. Based on this, by example, the working principle of a material grinding control system with particle size detection function can be specifically as follows:

[0080] Before the first feeding of the material storage container, the material monitoring module 110 obtains the internal morphology of the container. After the material storage container begins feeding and discharging, the material monitoring module 110 acquires the contour data of the material on the material conveying device in the second direction during at least one feeding period. The control module 120 acquires and calculates the volumetric flow rate of the material in each feeding period based on the characteristic parameters of the material conveying device, the contour data, and the displacement data of the material on the material conveying device in the first direction. The three-dimensional scanning module 130 acquires the real-time morphological data of the material surface and the real-time material volume of the material storage device during each feeding and discharging process. The particle detection module 140 acquires the particle size data of the material in each discharging process of the material storage device and uploads it to the control module 120. In any discharging process, the control module 120 integrates the volumetric flow rates corresponding to each feeding period between the previous discharging process and the current discharging process, and calculates the real-time discharging volume of the current discharging process based on the real-time discharging volume of the current discharging process and the particle size data of the material in the material storage device during the current discharging process.

[0081] In summary, the material grinding control system with particle size detection function proposed in this embodiment of the invention can monitor the feeding and discharging of multiple batches of materials stored in the material storage container through a material monitoring module, a three-dimensional scanning module, and a particle detection module. Furthermore, during any discharging process, through data interaction and coordination among the material monitoring module, the three-dimensional scanning module, the particle detection module, and the control module, this embodiment of the invention can also control the grinding device based on the real-time discharging volume and the particle size data of the material in the material storage device during that discharging process, thereby improving grinding efficiency.

[0082] It should be noted that, depending on the type of signal transmitted and received, the 3D scanning module 130 can be specifically a 3D microwave radar, a 3D lidar, etc. For example, the 3D scanning module 130 can analyze the real-time morphological data of the container's internal structure and the material surface based on the microwave point cloud, lidar point cloud, and other point cloud data obtained by its own scanning. Furthermore, based on the real-time morphological data of the container's internal structure and the material surface, it can analyze the real-time material volume in the material storage container. It is understandable that when materials are loaded or unloaded from the material storage container, especially when easily crushable solid materials are poured into it, the material level and the 3D morphology of the material surface will fluctuate constantly, and a large amount of dust and smoke will be generated. Under such harsh measurement conditions, the laser signals transmitted and received by the 3D lidar are easily blocked by dust and smoke, making reliable measurement difficult. However, the 3D microwave radar, which operates based on the principle of microwave measurement, is almost unaffected by dust and smoke. Therefore, to ensure that the 3D scanning module 130 can achieve good detection and guarantee measurement accuracy during the loading and unloading of materials from the material storage container, a 3D microwave radar is preferred.

[0083] Furthermore, based on various module measurement principles, the three-dimensional scanning module 130 can be, for example, a 3D scanning radar, a 3D multi-point radar, etc. In one embodiment provided by this invention, the three-dimensional scanning module 130 can be a phased array 3D scanning radar; optionally, the three-dimensional scanning module 130 includes at least an antenna array that can be used for digital beamforming. The antenna array can include multiple transmitting elements and / or receiving elements, which can be implemented within a single antenna or distributed across multiple independent antennas.

[0084] In another embodiment of the present invention, the three-dimensional scanning module 130 can be a purely mechanical 3D scanning radar. Optionally, the three-dimensional scanning module 130 includes at least a mechanical motion structure and a scanning probe. The mechanical motion structure drives the scanning probe to rotate, so that the scanning probe has multiple emission points in multiple directions and correspondingly forms multiple outgoing beams in multiple directions. The mechanical motion structure can have multiple motion dimensions in multiple directions (e.g., horizontal, pitch, vertical, etc.), the scanning probe can be a microwave sensor, a laser sensor, etc., and the outgoing beam can be a microwave signal, a laser signal, etc.

[0085] In another embodiment of the present invention, the three-dimensional scanning module 130 can be a composite 3D scanning radar (combining phased array and mechanical); optionally, the three-dimensional scanning module 130 includes at least a mechanical motion structure and a scanning probe. The mechanical motion structure drives the scanning probe to rotate, so that the scanning probe has multiple emitting points in multiple directions and correspondingly forms multiple outgoing beams. The scanning probe is an antenna array that can be used for digital beamforming.

[0086] In another embodiment of the present invention, the three-dimensional scanning module 130 may be composed of multiple radars based on the single-point measurement principle; optionally, the three-dimensional scanning module 130 may be composed of at least multiple independent single-point measurement sub-modules (e.g., single-point lidar, single-point microwave radar, etc.), with different single-point measurement sub-modules installed at different positions on the material storage container. Each single-point measurement sub-module has a single-direction emission point and correspondingly forms a single-direction emission beam.

[0087] In another embodiment of the present invention, the three-dimensional scanning module 130 may be a 3D multi-point radar; optionally, the three-dimensional scanning module 130 may include at least a module body (e.g., it may be composed of a housing and a cover) and multiple single-point measurement sub-modules (e.g., laser sensors, microwave sensors, etc.); the single-point measurement sub-modules are all installed inside the module body; the single-point measurement sub-module has a single-direction emission point and correspondingly forms a single-direction emission beam.

[0088] Based on the above embodiments or implementation methods, the displacement data of the material conveying device in the first direction during at least one feeding period can be configured to be known or measurable. Depending on the different ways of obtaining the speed change information of the material conveying device during at least one feeding period, the structure of the material monitoring module is not the same. The specific structure of the material monitoring module is described below.

[0089] In one specific embodiment, the material monitoring module 110 optionally includes a laser measurement unit and an image recognition unit.

[0090] The laser measurement unit is used to emit at least two laser beams with preset measurement angles, wherein the first laser beam is emitted onto the material located in a first direction, and the second laser beam is emitted onto the material located in a second direction.

[0091] The image recognition unit is used to acquire initial image information and end image information of the time start and end point within each feeding period, and to acquire particle size data, displacement data in the first direction and contour data in the second direction of the material within the corresponding feeding period based on the initial image information and end image information.

[0092] In this scenario, assuming the material conveying device transports material on a predetermined plane (e.g., a horizontal plane), the first direction can refer to the direction of movement of the material conveying device located on the predetermined plane where the material is located. A first laser beam is emitted onto the material located in the first direction and forms a first measuring line on the material surface. Correspondingly, the second direction can point to another direction at a certain angle to the first direction, and a second laser beam is emitted onto the material located in the second direction and forms a second measuring line on the material surface. Figure 2This is a projection orientation diagram of the first and second directions on a set plane provided in an embodiment of the present invention. See [link / reference]. Figure 2 The example illustrates that the projections of the first and second directions onto the set plane are set at a 90° angle, that is, the angle between the projections of the first and second measuring lines onto the set plane is 90°; a belt conveying direction is also set. In one specific embodiment, optionally, the first direction is parallel to or at a known acute angle to the displacement direction of the material conveying device, and the second direction is perpendicular to or at a known acute angle to the displacement direction of the material conveying device.

[0093] It should be noted that the measuring line and preset measuring angle can be adaptively adjusted according to the actual needs on site, and this application embodiment does not limit this.

[0094] In one specific implementation, optionally, the image recognition unit is at least used to determine the starting position and ending position of the material in the first direction based on the initial image information and the ending image information, and to determine the displacement data of the material in the first direction based on the starting position and the ending position.

[0095] In another specific implementation, optionally, the image recognition unit is at least used to determine the start position and end position of one or more preset feature points of the material in the first direction based on the initial image information and the end image information, and to determine the displacement data of the material in the first direction based on the difference between the start position and the end position.

[0096] In another specific implementation, optionally, the image recognition unit at least covers the first measurement line formed by the material monitoring module 110 in the first direction; the image recognition unit is specifically used to extract the initial level fluctuation pattern located on the first measurement line in the initial image information and the final level fluctuation pattern located on the first measurement line in the final image information; define the wave-finding width, and determine multiple peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern based on the wave-finding width. When determining the peaks and troughs, if the level of a certain feature point is greater than the level of other feature points within its wave-finding width, the image recognition unit determines that the feature point is at the peak position; if the level of a certain feature point is less than the level of other feature points within its wave-finding width, the image recognition unit determines that the pixel is at the trough position; the image recognition unit determines the displacement of at least one common peak or trough during the feeding period according to the distribution of peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern, thereby determining the displacement data of the material in the first direction.

[0097] Optionally, the image recognition unit sets a deviation threshold. After the errors before and after multiple common peaks or troughs are all lower than or equal to the deviation threshold, the displacement of at least one common peak or trough during the feeding period is determined, thereby determining the displacement data of the material in the first direction.

[0098] Optionally, the image recognition unit is also used to remove abnormal feature points in the final level fluctuation pattern and the initial level fluctuation pattern.

[0099] In summary, the image recognition unit is set off from the laser measurement unit to acquire image information of the material, or the material and the material conveying device, within a preset range (which can be set according to the structural adaptability of the material conveying device) at at least a preset initial time and a preset end time (the preset start time is the time start point within the feeding period, and the preset end time is the time end point within the feeding period). Based on the difference between the initial image information (which can refer to the image information of the material, or the material and the material conveying device, acquired by the image recognition unit at the preset initial time within the preset range) and the end image information (which can refer to the image information of the material, or the material and the material conveying device, acquired by the image recognition unit at the preset end time within the preset range) and the end image information (which can refer to the image information of the material, or the material and the material conveying device, acquired by the image recognition unit at the preset end time within the preset range), the displacement data of the material in the first direction within the feeding period is acquired.

[0100] It should be noted that the preset range does not cover the first measurement line and / or the second measurement line, or the preset range covers some or all of the first measurement line and / or some or all of the second measurement line.

[0101] The image recognition unit determines preset feature points in the initial and final image information (the preset feature points can be material or material conveying device; the preset feature points can be on the measurement line or off the measurement line; the preset feature points can be, for example, a certain shape change point of the material at the edge of the conveyor belt, or a certain wear or deformation position feature of the conveyor belt, or the area or spatial point where the material with the highest level is located within a preset range, etc.), and magnifies and maps the pixel displacement of the preset feature points to the displacement data of the material in the first direction (for example, it can be the ratio coefficient of pixel displacement to displacement data obtained through prior experiments, that is, how far the material displacement is reflected by a pixel displacement in the image under actual working conditions).

[0102] The preset range at least covers the first measurement line; the image recognition unit is specifically used to extract the initial level fluctuation pattern (i.e., the material fluctuation curve on the first measurement line in the initial image information) located on the first measurement line, and the final level fluctuation pattern (i.e., the material fluctuation curve on the first measurement line in the final image information) located on the first measurement line in the final image information; define the wave-finding width (the wave-finding width can refer to the pixel width, for example, the width represented by 15 pixels); determine multiple peaks and troughs of the initial and final level fluctuation patterns based on the wave-finding width (taking the wave-finding width represented by 10 pixels as an example, when determining the peaks and troughs, if the level of a certain pixel is greater than the level of the surrounding 10 other pixels, the image recognition unit determines that the pixel is at the peak position; if the level of a certain pixel is less than the level of the surrounding 10 other pixels, the image recognition unit...). The image recognition unit determines the pixel position of the common peak or valley during the feeding period based on the distribution of peaks and valleys in the initial and final level fluctuation patterns. This includes identifying the peak with the largest peak value, the valley with the smallest valley value, or the peak with the largest peak value and the valley with the smallest valley value. (Since the material may undergo slight deformation during transport by the material conveying device, the level of the common peak or valley may differ slightly between the initial and final level fluctuation patterns. In one specific implementation, the image recognition unit can reduce this difference by setting a deviation threshold. That is, after confirming that the errors of multiple common peaks or valleys are all below or equal to the deviation threshold, the pixel displacement of at least one common peak or valley during the feeding period is determined.) The pixel displacement of at least one common peak or valley during the feeding period is then amplified and mapped to the displacement data of the material in the first direction.

[0103] The preset range at least covers the first measurement line; the image recognition unit is specifically used to extract the initial level fluctuation pattern located on the first measurement line in the initial image information, and the final level fluctuation pattern located on the first measurement line in the final image information; calculate the difference between the final level fluctuation pattern after moving forward by different pixels and the initial level fluctuation pattern; when the average value of the absolute value of the difference between the final level fluctuation pattern after moving forward by a certain pixel and the initial level fluctuation pattern is the smallest (indicating that the common peak and valley have overlapped), determine the pixel displacement of at least one common peak or valley during the feeding period; and amplify and map the pixel displacement of at least one common peak or valley during the feeding period into the displacement data of the material in the first direction.

[0104] Simultaneously, the image recognition unit is also used to remove abnormal pixels in the final level fluctuation pattern and the initial level waveform pattern. For example, when the average absolute value of the difference between the final level fluctuation pattern and the initial level fluctuation pattern after a certain pixel has been moved forward is the smallest, but the deviation of a certain pixel in the level fluctuation pattern is much greater than that of other pixels, this pixel is directly defined as an abnormal pixel and adaptively removed.

[0105] In addition, the image recognition unit is also used to calculate the first conveying speed of the material conveying device based on the displacement data of the material in the first direction and the feeding period. The first conveying speed can be mutually calibrated with the second conveying speed measured by the speed sensor built into the material conveying device, which helps to improve the accuracy of the material grinding control system with particle size detection function.

[0106] In another specific embodiment, the material monitoring module may optionally include a laser measurement unit;

[0107] The laser measurement unit is used to emit measurement signals from multiple scanning angles within a set angle range in the second direction at least during at least one feeding period, and to receive the reflected signals formed by the material reflection on the material conveying device at each scanning angle, and then to summarize all the reflected signals to obtain contour data in the second direction.

[0108] The displacement data of the material conveying device in the first direction during at least one feeding period is configured to be known;

[0109] The control module is at least used to analyze and obtain the volumetric flow rate of the material on the material conveying device during the corresponding feeding period based on the displacement data of the material conveying device in the first direction during the corresponding feeding period, the characteristic parameters of the material conveying device, and the contour data located in the second direction.

[0110] In this application, both the measurement signal and the reflected signal are laser signals. The set angle range can be adaptively selected according to the actual field requirements of the material grinding control system, and this application does not limit it. For example, the laser measurement unit can be installed directly above the conveyor belt in the material conveying device, and the set angle range can cover the entire conveyor belt in the second direction. The size of the set angle range (i.e., the size of the range of changes in the scanning angle) can be 20°, 30°, 45°, etc.

[0111] For example, the laser measurement unit can be a laser rangefinder sensor with signal transmission and processing functions; the laser measurement unit can know the distance between each reflection point of the material on the material conveying device and the laser measurement unit based on the transmission time of each measurement signal and the reception time of the corresponding reflection signal, and then obtain the contour data of the material in the second direction based on the distance between each reflection point and the laser measurement unit.

[0112] Understandably, the material conveying device itself can be equipped with a speed sensor. During each feeding period, the control module can obtain the speed change information of the material conveying device within the corresponding feeding period based on the speed sensor. When the control module knows the speed change information of the material conveying device within the corresponding feeding period and the time span of the corresponding feeding period, it can obtain the displacement data of the material on the material conveying device in the first direction by calculating the integral of the speed change information within the time span of the corresponding feeding period.

[0113] In yet another specific embodiment, optionally, the displacement data of the material conveying device in a first direction during at least one feeding period is configured to be measurable;

[0114] The material monitoring module includes a laser measurement unit and a velocity measurement unit;

[0115] The laser measurement unit is used to emit measurement signals from multiple scanning angles within a set angle range in the second direction at least during at least one feeding period, and to receive the reflected signals formed by the material reflection on the material conveying device at each scanning angle, and then to summarize all the reflected signals to obtain contour data in the second direction.

[0116] The speed measurement unit is used at least to acquire displacement data of the material conveying device in a first direction during at least one feeding period;

[0117] The control module is at least used to analyze and obtain the volumetric flow rate of the material on the material conveying device during the corresponding feeding period based on the displacement data of the material conveying device in the first direction during the corresponding feeding period, the characteristic parameters of the material conveying device, and the contour data located in the second direction.

[0118] The laser measurement unit can also be positioned offset from directly above the conveyor belt in the material conveying device. The set angle range can cover a portion of the conveyor belt located in the second direction. The speed measurement unit can include any type of speed sensor, such as a photoelectric encoder or a pulse encoder. In addition to the speed sensor, the speed measurement unit can also include a processor. The speed sensor can measure the speed change information of the material conveying device during the corresponding feeding period, thereby enabling the processor to obtain the displacement data of the material on the material conveying device in the first direction by calculating the integral of the speed change information over the time span of the corresponding feeding period.

[0119] In yet another specific embodiment, optionally, the displacement data of the material conveying device in a first direction during at least one feeding period is configured to be measurable;

[0120] The material monitoring module includes a laser measurement unit;

[0121] The laser measurement unit is used to emit at least two laser beams with preset angles (the laser beams themselves can have a certain beam angle, which is the preset angle; the beam angles of the first laser beam and the second laser beam can be the same or different); wherein, the first laser beam is emitted onto the material located in the first direction, and the first laser beam is reflected by the material located in the first direction to generate a first reflected beam, which is received by the laser measurement unit; the second laser beam is emitted onto the material located in the second direction, and the second laser beam is reflected by the material located in the second direction to generate a second reflected beam, which is received by the laser measurement unit;

[0122] The laser measurement unit is also configured to acquire displacement data of the material on the material conveying device in a first direction based on the first reflected beam; and to acquire contour data of the material on the material conveying device in a second direction during at least one feeding period based on the second reflected beam.

[0123] Optionally, the first laser beam forms a first measurement line on the material in the first direction; the laser measurement unit is specifically used to extract the initial level fluctuation pattern and the final level fluctuation pattern located on the first measurement line based on the first reflected beam corresponding to the time start and time end points within each feeding period (the initial level fluctuation pattern and the final level fluctuation pattern can be laser point cloud data); define the wave-finding width (the wave-finding width can be set according to the accuracy of the laser point cloud data, which is not limited in this application), and determine multiple initial level fluctuation patterns and final level fluctuation patterns based on the wave-finding width. Peaks and troughs (i.e., the highest and lowest points of material surface fluctuations) are determined by the laser measurement unit. When the level of a certain feature point is greater than the level of other feature points within its wave-finding width, the laser measurement unit identifies the feature point as being at a peak. If the level of a certain feature point is less than the level of other feature points within its wave-finding width, the laser measurement unit identifies the feature point as being at a trough. Based on the distribution of peaks and troughs in the initial and final level fluctuation patterns, the laser measurement unit determines the displacement of at least one common peak or trough during the feeding period, thereby determining the displacement data of the material in the first direction.

[0124] Optionally, the laser measurement unit sets a deviation threshold. After the errors before and after multiple common peaks or troughs are all lower than or equal to the deviation threshold, the displacement of at least one common peak or trough during the feeding period is determined, thereby determining the displacement data of the material in the first direction.

[0125] Optionally, the laser measurement unit is also used to remove abnormal feature points in the final level fluctuation pattern and the initial level fluctuation pattern.

[0126] In yet another specific embodiment, optionally, the displacement data of the material conveying device in a first direction during at least one feeding period is configured to be measurable;

[0127] The material monitoring module includes a first laser measurement unit and a second laser measurement unit;

[0128] The first laser measurement unit is used to emit a first laser beam with a first preset angle; the first laser beam is emitted onto the material located in the first direction, and the first laser beam is reflected by the material located in the first direction to generate a first reflected beam, which is received by the first laser measurement unit.

[0129] The second laser measurement unit is used to emit a second laser beam with a second preset angle; the second laser beam is emitted onto the material located in the second direction, and the second laser beam is reflected by the material located in the second direction to generate a second reflected beam, which is received by the second laser measurement unit.

[0130] The first laser measurement unit is also used at least to acquire displacement data of the material on the material conveying device in a first direction based on the first reflected beam;

[0131] The second laser measurement unit is also used to acquire, at least according to the second reflected beam, the contour data of the material on the material conveying device in a second direction during at least one feeding period.

[0132] Optionally, a first measurement line is formed on the material in the first direction by a first laser beam. Specifically, the first laser measurement unit is used to extract the initial and final level fluctuation patterns located on the first measurement line based on the first reflected beams corresponding to the start and end times of each feeding period. It defines a wave-seeking width and determines multiple peaks and troughs of the initial and final level fluctuation patterns based on this width. When determining peaks and troughs, if the level of a certain feature point is greater than the levels of other feature points within its wave-seeking width, the first laser measurement unit identifies that feature point as being at a peak. If the level of a certain feature point is less than the levels of other feature points within its wave-seeking width, the first laser measurement unit identifies that feature point as being at a trough. Based on the distribution of peaks and troughs in the initial and final level fluctuation patterns, the first laser measurement unit determines the displacement of at least one common peak or trough during the feeding period, thereby determining the displacement data of the material in the first direction.

[0133] Optionally, the first laser measurement unit sets a deviation threshold. After the errors before and after multiple common peaks or troughs are all lower than or equal to the deviation threshold, the displacement of at least one common peak or trough during the feeding period is determined, thereby determining the displacement data of the material in the first direction.

[0134] Optionally, the first laser measurement unit is also used to remove abnormal feature points in the final level fluctuation pattern and the initial level fluctuation pattern.

[0135] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and no limitation is imposed herein.

[0136] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A material grinding control system with particle size detection function, characterized in that, The system is configured to be compatible with material conveying devices, material storage containers and grinding devices deployed on site. The system includes a material monitoring module, a three-dimensional scanning module, a particle detection module, and a control module. The control module establishes communication connections with the material monitoring module, the three-dimensional scanning module, the particle detection module, and the grinding device, respectively. The material monitoring module is connected to the material conveying device and is used at least to acquire the contour data of the material on the material conveying device in the second direction during at least one feeding period. The three-dimensional scanning module is installed in the material storage container and is used at least to obtain the internal morphology of the container before the first feeding of the material storage container; and to obtain real-time morphological data of the material surface and real-time material volume during each feeding and discharging process of the material storage container. The particle detection module is at least used to acquire particle size data of the material in each discharge process of the material storage container and upload it to the control module. The control module is at least used to acquire and calculate the volumetric flow rate of the material in each feeding period based on the characteristic parameters of the material conveying device, the contour data, and the displacement data of the material on the material conveying device in a first direction; and to adjust the control parameters of the grinding device based at least on the particle size data of the material in each discharge process acquired by the particle detection module.

2. The system according to claim 1, characterized in that, The first direction is parallel to or at a known acute angle to the displacement direction of the material conveying device, and the second direction is perpendicular to or at a known acute angle to the displacement direction of the material conveying device.

3. The system according to claim 1, characterized in that, The material monitoring module includes a laser measurement unit; The laser measurement unit is at least used to emit measurement signals from multiple scanning angles within a set angle range in the second direction during at least one of the feeding periods, and to receive the reflected signals formed by the material reflection on the material conveying device at each scanning angle, and then to summarize all the reflected signals to obtain contour data located in the second direction. The displacement data of the material conveying device in the first direction during at least one of the feeding periods is configured to be known; The control module is at least used to analyze and obtain the volumetric flow rate of the material on the material conveying device during the corresponding feeding period based on the displacement data of the material conveying device in the first direction during the corresponding feeding period, the characteristic parameters of the material conveying device, and the contour data located in the second direction.

4. The system according to claim 1, characterized in that, The displacement data of the material conveying device in the first direction during at least one of the feeding periods is configured to be measurable; The material monitoring module includes a laser measurement unit and a velocity measurement unit; The laser measurement unit is at least used to emit measurement signals from multiple scanning angles within a set angle range in the second direction during at least one of the feeding periods, and to receive the reflected signals formed by the material reflection on the material conveying device at each scanning angle, and then to summarize all the reflected signals to obtain contour data located in the second direction. The speed measuring unit is used at least to acquire displacement data of the material conveying device in the first direction during at least one of the feeding periods; The control module is at least used to analyze and obtain the volumetric flow rate of the material on the material conveying device during the corresponding feeding period based on the displacement data of the material conveying device in the first direction during the corresponding feeding period, the characteristic parameters of the material conveying device, and the contour data located in the second direction.

5. The system according to claim 1, characterized in that, The displacement data of the material conveying device in the first direction during at least one of the feeding periods is configured to be measurable; The material monitoring module includes a laser measurement unit; The laser measurement unit is used to emit at least two laser beams with preset angles; wherein, the first laser beam is emitted onto the material located in the first direction, and the first laser beam is reflected by the material located in the first direction to generate a first reflected beam and is received by the laser measurement unit; the second laser beam is emitted onto the material located in the second direction, and the second laser beam is reflected by the material located in the second direction to generate a second reflected beam and is received by the laser measurement unit; The laser measurement unit is further configured to acquire displacement data of the material on the material conveying device in the first direction based on the first reflected beam; and to acquire contour data of the material on the material conveying device in the second direction during at least one feeding period based on the second reflected beam.

6. The system according to claim 5, characterized in that, The first laser beam forms a first measurement line on the material in the first direction; the laser measurement unit is specifically used to extract the initial level fluctuation pattern and the final level fluctuation pattern located on the first measurement line according to the first reflected beam corresponding to the start and end times of each feeding period; define a wave-finding width, and determine multiple peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern based on the wave-finding width. When determining the peaks and troughs, if the level of a certain feature point is greater than the level of other feature points within its wave-finding width, the laser measurement unit determines that the feature point is at a peak position; if the level of a certain feature point is less than the level of other feature points within its wave-finding width, the laser measurement unit determines that the feature point is at a trough position; the laser measurement unit determines the displacement of at least one common peak or trough within the feeding period according to the distribution of peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern, thereby determining the displacement data of the material in the first direction.

7. The system according to claim 6, characterized in that, The laser measurement unit sets a deviation threshold. After the errors before and after multiple common peaks or troughs are all lower than or equal to the deviation threshold, it determines the displacement of at least one common peak or trough during the feeding period, thereby determining the displacement data of the material in the first direction.

8. The system according to claim 6, characterized in that, The laser measurement unit is also used to remove abnormal feature points from the final level fluctuation pattern and the initial level fluctuation pattern.

9. The system according to claim 1, characterized in that, The displacement data of the material conveying device in the first direction during at least one of the feeding periods is configured to be measurable; The material monitoring module includes a first laser measurement unit and a second laser measurement unit; The first laser measurement unit is at least used to emit a first laser beam with a first preset angle; the first laser beam is emitted onto the material located in the first direction, and the first laser beam is reflected by the material located in the first direction to generate a first reflected beam, which is received by the first laser measurement unit. The second laser measurement unit is at least used to emit a second laser beam with a second preset angle; the second laser beam is emitted onto the material located in the second direction, and the second laser beam is reflected by the material located in the second direction to generate a second reflected beam, which is received by the second laser measurement unit; The first laser measurement unit is at least further configured to acquire displacement data of the material on the material conveying device in the first direction based on the first reflected beam; The second laser measurement unit is also used to acquire, at least according to the second reflected beam, the contour data of the material on the material conveying device in the second direction during at least one feeding period.

10. The system according to claim 9, characterized in that, The first laser beam forms a first measurement line on the material in the first direction. Specifically, the first laser measurement unit is used to extract the initial and final level fluctuation patterns located on the first measurement line based on the first reflected beam corresponding to the start and end times of each feeding period. It defines a wave-finding width and determines multiple peaks and troughs of the initial and final level fluctuation patterns based on the wave-finding width. When determining peaks and troughs, if the level of a certain feature point is greater than the levels of other feature points within its wave-finding width, the first laser measurement unit identifies that feature point as being at a peak position. If the level of a certain feature point is less than the levels of other feature points within its wave-finding width, the first laser measurement unit identifies that feature point as being at a trough position. Based on the distribution of peaks and troughs of the initial and final level fluctuation patterns, the first laser measurement unit determines the displacement of at least one common peak or trough within the feeding period, thereby determining the displacement data of the material in the first direction.

11. The system according to claim 10, characterized in that, The first laser measurement unit sets a deviation threshold. After the errors before and after multiple common peaks or troughs are all lower than or equal to the deviation threshold, the displacement of at least one common peak or trough during the feeding period is determined, thereby determining the displacement data of the material in the first direction.

12. The system according to claim 10, characterized in that, The first laser measurement unit is also used to remove abnormal feature points in the final level fluctuation pattern and the initial level fluctuation pattern.

13. The system according to claim 1, characterized in that, The material monitoring module includes a laser measurement unit and an image recognition unit; The laser measurement unit is used to emit at least two laser beams with preset measurement angles, wherein the first laser beam is emitted onto the material located in the first direction, and the second laser beam is emitted onto the material located in the second direction. The image recognition unit is at least used to acquire initial image information and end image information of the start and end of time in each feeding period, so as to acquire displacement data of the material in the first direction and contour data in the second direction in the corresponding feeding period based on the initial image information and the end image information.

14. The system according to claim 13, characterized in that, The image recognition unit is at least used to determine the starting position and ending position of the material in the first direction based on the initial image information and the ending image information, and to determine the displacement data of the material in the first direction based on the starting position and the ending position.

15. The system according to claim 14, characterized in that, The image recognition unit is at least used to determine, based on the initial image information and the end image information, the start position and end position of one or more preset feature points of the material in the first direction, respectively, and to determine the displacement data of the material in the first direction based on the difference between the start position and the end position.

16. The system according to claim 14, characterized in that, The image recognition unit at least covers the first measurement line formed by the material monitoring module in the first direction; the image recognition unit is specifically used to extract the initial level fluctuation pattern located on the first measurement line in the initial image information and the final level fluctuation pattern located on the first measurement line in the final image information; define a wave-finding width, and determine multiple peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern based on the wave-finding width. When determining peaks and troughs, if the level of a certain feature point is greater than the level of other feature points within its wave-finding width, the image recognition unit determines that the feature point is at a peak position; if the level of a certain feature point is less than the level of other feature points within its wave-finding width, the image recognition unit determines that the feature point is at a trough position; the image recognition unit determines the displacement of at least one common peak or trough during the feeding period based on the distribution of peaks and troughs of the initial level fluctuation pattern and the final level fluctuation pattern, thereby determining the displacement data of the material in the first direction.

17. The system according to claim 16, characterized in that, The image recognition unit sets a deviation threshold. After the errors before and after multiple common peaks or troughs are all lower than or equal to the deviation threshold, it determines the displacement of at least one common peak or trough during the feeding period, thereby determining the displacement data of the material in the first direction.

18. The system according to claim 16, characterized in that, The image recognition unit is also used to remove abnormal feature points from the final level fluctuation pattern and the initial level fluctuation pattern.

19. The system according to claim 1, characterized in that, The control parameters of the grinding device include at least one of grinding power, operating current and opening degree.

20. The system according to claim 1, characterized in that, The number of the three-dimensional scanning modules is at least one.

21. The system according to claim 1, characterized in that, The three-dimensional scanning module includes at least an antenna array that can be used for digital beamforming.

22. The system according to claim 1, characterized in that, The three-dimensional scanning module consists of at least a plurality of independent single-point measurement sub-modules; Different single-point measurement submodules are installed at different locations on the material storage container; The single-point measurement submodule has a single-direction wave emission point and forms a single-direction outgoing beam accordingly.

23. The system according to claim 1, characterized in that, The three-dimensional scanning module includes at least a main module and multiple single-point measurement sub-modules; The single-point measurement submodules are all installed inside the main body of the module; The single-point measurement submodule has a single-direction wave emission point and forms a single-direction outgoing beam accordingly.

24. The system according to claim 1, characterized in that, The three-dimensional scanning module includes at least a mechanical motion structure and a scanning probe. The mechanical motion structure drives the scanning probe to rotate, so that the scanning probe has multiple emission points in multiple directions and correspondingly forms multiple outgoing beams.

25. The system according to claim 24, characterized in that, The scanning probe is an antenna array that can be used for digital beamforming.

26. The system according to claim 1, characterized in that, The control module is specifically used at least to integrate the volumetric flow rates corresponding to each feeding period between the previous discharge process and the current discharge process, and to calculate the real-time discharge volume of the current discharge process in combination with the real-time material volume; and to adjust the control parameters of the grinding device based on the real-time discharge volume of the current discharge process and the particle size data of the material in the material storage container during the current discharge process.

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