Intelligent multi-axis flexible machine arm coal quality detection system based on holographic imaging visual supervision and use method

Abstract

The invention relates to an intelligent multi-axis flexible robot arm coal quality detection system based on holographic imaging visual supervision and a use method, and belongs to the technical field of industrial robot application. The self-sensing bionic grabbing structure comprises a base station base, a server, a matched ash content detector, a matched moisture detector, a management and control system, a flexible arm mechanism and a plurality of self-sensing intelligent speed reducers, and a control program and an algorithm server are arranged in the base station base. The assorted ash content detectors and assorted moisture detectors of different models can be trained and learned, the flexible arm mechanism is an intelligent grabbing module for flexibly grabbing detection samples, the flexible arm mechanism is installed on the base table base, a plurality of self-sensing intelligent speed reducers are installed in the flexible arm mechanism, and the self-sensing intelligent speed reducers are arranged on the base table base. And the flexible swinging of the robot arm can be realized when the robot arm is subjected to abnormal load or external force. The device is reasonable in structural design, stable, reliable and high in automation degree, detection efficiency and operation accuracy are improved, and use requirements are met.

Description

Technical Field

[0001] The present invention relates to a detection system and a use method, and in particular to an intelligent multi-axis flexible robot arm coal quality detection system based on holographic imaging visual supervision and a use method, which belongs to the technical field of industrial robot application. Background Art

[0002] With the rapid development of intelligent industrial production, industrial robots are widely used in various production and manufacturing processes. When performing industrial operations, some multi-axis industrial robots often cause certain errors when grabbing and placing more delicate loads, which can easily cause the operation to be ineffective.

[0003] At present, the fully automatic intelligent unmanned coal quality detection system is based on the characteristics of coal quality test indicators and uses intelligent control to highly integrate the system's intelligent robot module, sample delivery and receiving module, sample weighing module, calorific value test module, industrial analysis module, total sulfur test module, CHN test module, moisture test module, oxygen bomb disassembly and cleaning module, electrical control module and system software analysis unit, and automatically complete the corresponding work in coal quality testing, and transmit the coal quality test results to the system information collection and management center for statistical analysis through a dedicated network. The entire process is based on the robot's fixed operating procedures to ensure the accuracy of the analysis; the test process can be realized without human intervention to ensure the objectivity of the analysis results. At the same time, based on the task scheduling algorithm, the analysis efficiency of the sample is improved, the seamless connection of coal mining, processing, storage and storage is achieved, the automation and intelligent management of the entire process is realized, and the risk management and control capabilities are improved.

[0004] However, when the robot is operating and is disturbed by abnormal external forces, it may cause damage to machine components and personal injury accidents due to the robot executing fixed programs. Especially in the field of coal quality testing in power generation enterprises, the industrial robots currently used are all fixed program mechanical arms. Due to the inaccurate position recognition of the robot positioning system and control program, tipping and offset errors often occur during sampling and placement, resulting in detection deviations and low efficiency. At the same time, all robots used need to be equipped with protective covers to prevent people from getting close and causing injuries.

[0005] Light field is a parameterized representation of a four-dimensional light radiation field that contains both position and direction in space. It is the sum of all light radiation functions in space. Its two main application directions are light field shooting and light field display. The first requires recording all information of the entire space, and the second requires reproducing this information completely. In layman's terms, it means that at any angle and any position in space, the real information of the entire space environment can be obtained. The image information obtained by using light field is more comprehensive and of better quality. With the rapid development of industrial manufacturing and computer technology, the existing light field acquisition systems mainly include plenoptic cameras based on microlens arrays, scanning light field imaging systems, and array cameras. Among them, the plenoptic camera based on microlens arrays is composed of a main lens, a microlens array, and a photoreceptor. It has the advantages of small size and multi-viewpoint image capture at one time. It is more portable and practical than other light field imaging systems. The light field camera can record the data of light beams in all directions, and can focus according to the software later to generate the corresponding focus picture.

[0006] If a light field camera is used to record the experimental process, the problem of ordinary cameras being difficult to focus and easy to lose focus can be overcome, the steps of mechanical focusing can be reduced, and the real-time imaging can be improved. At the same time, digital refocusing using light field information can be performed to obtain pictures of experimental instruments at different focal lengths, which can retain the original image details, expand the training samples, enhance the robustness and universality of the algorithm, and improve the accuracy of experimental equipment recognition. Summary of the invention

[0007] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide an intelligent multi-axis flexible robotic arm coal quality detection system and a method of use which has a safe and reasonable structural design, is stable and reliable, has a high degree of automation, and improves detection efficiency and operation accuracy.

[0008] The technical solution adopted by the present invention to solve the above-mentioned problem is: the intelligent multi-axis flexible robot arm coal quality detection system based on holographic imaging visual supervision includes a base base, a server, a matching ash detector, a matching moisture detector and a management and control system. The base base has a built-in control program and an algorithm server, which can perform machine training and learning on the self-sensing bionic grasping structure, and can carry out training and learning on matching ash detectors and matching moisture detectors of different models. It is characterized in that it also includes a flexible arm mechanism and multiple self-sensing intelligent reducers. The flexible arm mechanism is an intelligent grasping module for flexible grasping and detection samples. The flexible arm mechanism is installed on the base base. The flexible arm mechanism It is equipped with multiple self-sensing intelligent reducers, which can realize flexible swing of the robot arm when subjected to abnormal loads or external forces; the flexible arm mechanism includes a self-sensing bionic grasping structure, a bionic anti-slip surface, an end sensor arm and a four-dimensional light field holographic imaging system. The self-sensing bionic grasping structure, with the assistance of the four-dimensional light field holographic imaging system, automatically identifies the position of the test sample to be grasped and placed through the built-in light field holographic image and intelligent algorithm calculation of the four-dimensional light field holographic imaging system; the bionic anti-slip surface has a built-in pressure sensor to intelligently control the grasping force to realize flexible grasping of objects; the end sensor arm controls the contact of the self-sensing bionic grasping structure and the bionic anti-slip surface to realize the gentle handling of test samples.

[0009] Preferably, the present invention further comprises a supporting robot arm, and the flexible arm mechanism is fixed to the base base via the supporting robot arm.

[0010] Preferably, the end sensing arm of the present invention has a built-in weight sensor to automatically sense the weight of the grasped object and automatically adjust the force with which the object is grasped.

[0011] Preferably, the end sensor arm of the present invention reads the test results of the matching ash detector and the matching moisture detector online through a four-dimensional light field holographic imaging system and stores or obtains relevant test data through a network connection.

[0012] Preferably, the four-dimensional light field holographic imaging system of the present invention is a key system for visual recognition, which can identify the surrounding environment and the position and status of the equipment, and send action instructions to the flexible arm mechanism through the server, guide the flexible arm mechanism to carry out coal quality detection services, and conduct real-time monitoring of the surrounding environment of the coal quality detection system.

[0013] The present invention also provides a method for using an intelligent multi-axis flexible robotic arm coal quality detection system based on holographic imaging visual supervision, which is characterized by the following specific steps: the flexible arm mechanism realizes automatic identification, picking up and placing of detection samples through light field holographic imaging and built-in algorithms; first, the flexible arm mechanism controls the three-level adaptive robotic arm to self-identify and open the detection instrument cabinet door, then picks up the sample from the sample platform, and realizes the self-identification and flexible movement of the sample from the sample platform to the detection instrument through the coordinated actions of the supporting robotic arm, the adaptive robotic arm and the rotating joint mechanism, and places each sample in turn, self-identifies and closes the detection instrument cabinet door, and controls the detection instrument to start working through touch keys or network communication, and completes the control of all detection samples and detection instruments in turn; after the detection is completed and the relevant data is read, the detection instrument cabinet door is opened, all samples are taken out for weighing process, and then the sample is placed on the sample platform again and the cabinet door is closed, which is a working cycle; in the secondary cycle, if the detection instrument is displaced or human interference occurs, the adaptive robotic arm can sense the relevant interference load and realize flexible movement. In this process, the built-in sensor of the flexible arm mechanism is sensed to ensure the horizontal balance of the end sensor arm, so that the sample does not fall over or spill.

[0014] Compared with the prior art, the present invention has the following advantages and effects: the overall structural design is safe and reasonable, the flexible arm mechanism works continuously, stably and reliably, and has the advantages of improving detection efficiency and operation accuracy, etc. It can replace manual operation and achieve unmanned operation, less people on duty, and machine replacement for coal combustion detection. Data results are automatically collected and managed, which reduces corruption risk points and transforms human defense into technical defense. It completely eliminates interference from human factors, making the quality inspection data of coal products objective, true and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a side view schematic diagram of an implementation example of the present invention in use.

[0016] Figure 2 It is a partial detail diagram of an implementation example of the present invention in use.

[0017] Figure 3 It is a top view schematic diagram of an implementation example of the present invention in use.

[0018] Figure 4 It is a flow chart of the method of using the implementation case of the present invention.

[0019] In the figure: flexible arm mechanism Z, base base 1, supporting robotic arm 2, self-sensing intelligent reducer 3, self-sensing bionic grasping structure 4, bionic anti-slip surface 5, end sensing arm 6, four-dimensional light field holographic imaging system 7, server 8, supporting ash content detector 9, supporting moisture detector 10, management and control system 11; sample platform 12, sample 13, electronic balance 14. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and by way of examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0021] Example

[0022] See also Figures 1 to 4 In this embodiment, the intelligent multi-axis flexible robotic arm coal quality detection system based on holographic imaging visual supervision includes a base 1, a supporting robotic arm 2, a server 8, a matching ash detector 9, a matching moisture detector 10, a management and control system 11, a flexible arm mechanism Z and multiple self-sensing intelligent reducers 3.

[0023] In this embodiment, the base base 1 is fixed or autonomously movable, and the base base 1 has a built-in control program and algorithm server, which can perform machine training and learning on the self-sensing bionic grasping structure 4, and can carry out training and learning on different models of matching ash detectors 9 and matching moisture detectors 10.

[0024] In this embodiment, the flexible arm mechanism Z is an intelligent grasping module for flexible grasping and testing samples. The flexible arm mechanism Z is installed on the base. Multiple self-sensing intelligent reducers 3 are installed in the flexible arm mechanism Z, which can realize flexible swing of the robot arm when subjected to abnormal loads or external forces.

[0025] In this embodiment, the flexible arm mechanism Z includes a self-sensing bionic grasping structure 4, a bionic anti-slip surface 5, an end sensing arm 6 and a four-dimensional light field holographic imaging system 7. The above structures are connected in an orderly manner to form a flexible intelligent robotic arm sample coal quality detection system.

[0026] In this embodiment, the self-sensing bionic grasping structure 4, with the assistance of the four-dimensional light field holographic imaging system 7, automatically identifies the position of the test sample to be grasped and placed through the built-in light field holographic image and intelligent algorithm calculation of the four-dimensional light field holographic imaging system 7, which is completely different from the traditional positioning grasping method and effectively prevents tipping and positioning deviation during sample grasping and placement.

[0027] In this embodiment, the bionic anti-slip surface layer 5 has a built-in pressure sensor to intelligently control the grasping force, achieve flexible grasping of objects, meet the detection requirements of sample transfer and weighing, and make the detection results more accurate and reliable.

[0028] In this embodiment, the end sensing arm 6 controls the contact between the self-sensing bionic grasping structure 4 and the bionic anti-slip surface layer (5) to achieve gentle handling of the detected sample; the end sensing arm 6 has a built-in weight sensor to automatically sense the weight of the grasped object and automatically adjust the force of grasping the object.

[0029] In this embodiment, the terminal sensing arm 6 can read the detection results of the matching ash detector 9 and the matching moisture detector 10 online through the four-dimensional light field holographic imaging system 7 and store or obtain relevant detection data through a network connection.

[0030] In this embodiment, the four-dimensional light field holographic imaging system 7 serves as a key visual recognition system, which can identify the surrounding environment and the location and status of the equipment, and send action instructions to the flexible arm mechanism Z through the server 8, guide the multi-axis flexible robotic arm to carry out coal quality detection services, and conduct real-time monitoring of the surrounding environment of the coal quality detection system.

[0031] The flexible arm mechanism Z of this embodiment applies four-dimensional light field holographic imaging technology to the robot grasping and positioning system to achieve precise positioning of the test sample. At the same time, it realizes flexible movement through the self-sensing robotic arm to prevent damage to the robotic arm components and personal injury.

[0032] In the flexible arm mechanism Z of this embodiment, the self-sensing bionic grasping structure 4 is provided with a grasping force sensor and a flexible non-slip bionic surface material. The rotating assembly drives the robot arm to realize the three-dimensional movement of the bionic grasping device to grasp the coal quality sample. The terminal sensor arm 6 is provided with a four-dimensional light field holographic imaging device. Under the action of the four-dimensional light field holographic imaging system 7, different visual depth supervision is realized, the surrounding working environment is holographically presented, and the door panel of the detection equipment is automatically opened and closed. The operation control device has a built-in intelligent algorithm, and the adaptive robot arm automatically senses and adjusts the placement position of the detection sample through intelligent training. The robot arm rotating assembly is provided with an adaptive sensor device and stops the action when the robot arm is subjected to abnormal interference and follows the load flexibly adjustment. Based on the light field technology, it is a "smart human eye system" that has all the information of the interaction between the human eye and the natural world, and guides the multi-axis flexible robot arm to carry out coal quality detection work in the process of interacting with the surrounding natural world.

[0033] The intelligent robotic arm sample coal quality detection system of this embodiment is characterized in that it imitates human hand operation. The flexible arm mechanism Z itself does not have the coal quality detection function. It is designed to realize full-process automation of sample detection through training and learning with various types of detection equipment currently sold on the market, completely replace manual operation, reduce human participation links, and improve detection efficiency and operation accuracy.

[0034] See also Figure 4 , the specific implementation process is as follows: the flexible arm mechanism Z realizes automatic identification, picking up and placing of the test samples through light field holographic imaging and built-in algorithms. First, the flexible arm mechanism Z controls the three-level adaptive mechanical arm to open the door of the test instrument by self-identification, and then takes the sample 13 from the sample platform 12. Through the coordinated action of the supporting mechanical arm 2, the adaptive mechanical arm and the rotating joint mechanism, the self-identification flexible movement of the sample 13 from the sample platform 12 to the test instrument is realized, and each sample is placed in turn, and the door of the test instrument is closed by self-identification. The test instrument starts working by touching the key or controlling the test instrument through network communication, and the control of all test samples and test instruments is completed in turn. After the test is completed and the relevant data is read, the door of the test instrument is opened, all samples are taken out for weighing (electronic balance 14) and other processes, and the sample is placed on the sample platform again and the door is closed. This is a working cycle. In the secondary cycle, if the test instrument is displaced or human interference occurs, the adaptive mechanical arm can sense the relevant interference load and realize flexible movement. In this process, the built-in sensor of the flexible arm mechanism Z is sensed to ensure that the end sensor arm 6 is horizontally balanced, so that the sample does not fall or spill.

[0035] Through the above description, those skilled in the art can already implement it.

[0036] In addition, it should be noted that the shapes and names of the parts and components of the specific embodiments described in this specification may be different, and the above content described in this specification is only an example of the structure of the present invention. All equivalent changes or simple changes made based on the structure, features and principles described in the patent concept of the present invention are included in the protection scope of the patent of the present invention. Technicians in the technical field to which the present invention belongs can make various modifications or supplements to the specific embodiments described or replace them in a similar manner, as long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An intelligent multi-axis flexible robot arm coal quality detection system based on holographic imaging visual supervision, comprising a base base (1), a server (8), a matching ash detector (9), a matching moisture detector (10) and a control system (11), wherein the base base (1) has a built-in control program and an algorithm server, can perform machine training and learning on a self-sensing bionic grasping structure (4), can carry out training and learning on matching ash detectors (9) and matching moisture detectors (10) of different models, and is characterized in that: The invention also comprises a flexible arm mechanism (Z) and a plurality of self-sensing intelligent reducers (3). The flexible arm mechanism (Z) is an intelligent grasping module for flexibly grasping and testing samples. The flexible arm mechanism (Z) is installed on a base base (1). The flexible arm mechanism (Z) is equipped with a plurality of self-sensing intelligent reducers (3). When subjected to an abnormal load or external force, the flexible arm can swing flexibly. The flexible arm mechanism (Z) comprises a self-sensing bionic grasping structure (4), a bionic anti-slip surface layer (5), an end sensor arm (6) and a four-dimensional optical The self-sensing bionic grasping structure (4) is assisted by the four-dimensional light field holographic imaging system (7), and the position of the test sample to be grasped and placed is automatically identified through the built-in light field holographic image and intelligent algorithm calculation of the four-dimensional light field holographic imaging system (7); the bionic anti-slip surface layer (5) has a built-in pressure sensor to intelligently control the grasping force to achieve flexible grasping of the object; the end sensor arm (6) controls the contact between the self-sensing bionic grasping structure (4) and the bionic anti-slip surface layer (5) to achieve gentle handling and placement of the test sample.

2. According to claim 1, the intelligent multi-axis flexible robotic arm coal quality detection system based on holographic imaging visual supervision is characterized by: It also comprises a supporting mechanical arm (2), and the flexible arm mechanism (Z) is fixed to the base platform (1) via the supporting mechanical arm (2).

3. The intelligent multi-axis flexible robotic arm coal quality detection system based on holographic imaging visual supervision according to claim 1 is characterized by: The end sensing arm (6) has a built-in weight sensor, which automatically senses the weight of the grasped object and automatically adjusts the force used to grasp the object.

4. The intelligent multi-axis flexible robotic arm coal quality detection system based on holographic imaging visual supervision according to claim 1 or 3 is characterized in that: The terminal sensing arm (6) reads the test results of the matching ash detector (9) and the matching moisture detector (10) online through the four-dimensional light field holographic imaging system (7) and stores or obtains relevant test data through a network connection.

5. According to claim 1, the intelligent multi-axis flexible robotic arm coal quality detection system based on holographic imaging visual supervision is characterized by: The four-dimensional light field holographic imaging system (7) is a key visual recognition system, which is capable of identifying the surrounding environment and the position and status of the equipment, and sending action instructions to the flexible arm mechanism (Z) through the server (8), guiding the flexible arm mechanism (Z) to carry out coal quality detection services, and performing real-time monitoring of the surrounding environment of the coal quality detection system.

6. A method for using an intelligent multi-axis flexible robotic arm coal quality detection system based on holographic imaging visual supervision, using the intelligent multi-axis flexible robotic arm coal quality detection system based on holographic imaging visual supervision as claimed in any one of claims 1 to 5, characterized in that: The specific steps are as follows: The flexible arm mechanism (Z) uses light field holographic imaging and built-in algorithms to automatically identify, pick up, and place test samples; First, the flexible arm mechanism (Z) controls the three-level adaptive mechanical arm to open the door of the testing instrument by self-identification, then takes the sample from the sample platform, and realizes the self-identification flexible movement of the sample from the sample platform to the testing instrument through the coordinated action of the supporting mechanical arm (2), the adaptive mechanical arm and the rotating joint mechanism, and places each sample in sequence, closes the door of the testing instrument by self-identification, and controls the testing instrument to start working by touching a key or through network communication, thus completing the control of all the testing samples and the testing instrument in sequence; After the test is completed and the relevant data is read, the door of the testing instrument is opened, all samples are taken out for weighing, and the samples are placed on the sample platform again and the door is closed. This is a working cycle; In the secondary cycle, if the detection instrument is displaced or human interference occurs, the adaptive robotic arm can sense the relevant interference load and achieve flexible movement. During this process, the built-in sensor of the flexible arm mechanism (Z) is sensed to ensure the horizontal balance of the end sensor arm (6) to prevent the sample from tipping over or spilling.

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