Control method of ore crushing mechanical arm equipment and crushing device

Abstract

The invention relates to the technical field, and provides a control method of ore crushing mechanical arm equipment and a crushing device, the control method is applied to equipment provided with at least two crushing mechanical arms, the control method comprises the steps that working areas of any two adjacent crushing mechanical arms are delimited, and a first working area and a second working area which are the same in area are obtained; and the uncrushed area values in the two areas are obtained and compared, and the first working area and the second working area are re-planned according to the comparison result, so that the working time of the two crushing mechanical arms is balanced, the overall crushing time is shortened, and the crushing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ore crushing, and in particular to a control method and a crushing device for an ore crushing mechanical arm. Background Art

[0002] The crusher is a highly efficient and heavy-duty crushing equipment used for the preliminary crushing of ore during the mining process and has a wide range of uses. The crushing robot arm is an automated mechanical equipment specially used for crushing and processing large materials or hard objects. It has a strong force that can crush ore materials of various hardness and volume, and can flexibly move and adjust its position to adapt to different working environments and needs.

[0003] CN213611523U discloses an auxiliary mechanical arm device for ore crushing, including a fixing structure, a main body structure, a connecting structure, a pressure structure and a crushing structure, wherein the fixing structure includes a fixing plate, a fixing bolt and a first nut, wherein the fixing plate is a plate-shaped structure, wherein the upper surface of the fixing plate is provided with four first rotating grooves, wherein the four fixing bolts are respectively rotatably matched with the four first rotating grooves, wherein the four first nuts are respectively rotatably matched with the four fixing bolts, wherein the main body structure includes a first rotating plate, a first rotating shaft, a first mechanical arm, a second rotating plate, a second rotating shaft and a second mechanical arm, wherein the lower surfaces of the two first rotating plates are respectively rotatably matched with the fixing plate, wherein the lower surfaces of the two first rotating plates are respectively rotatably matched with the fixing plate, wherein the lower surfaces of the two first rotating plates are respectively rotatably matched with the fixing plate, wherein the lower surfaces of the two first rotating plates are respectively rotatably matched with the fixing plate, wherein the fixing plate is provided with four first rotating grooves, wherein the fixing bolts are respectively rotatably matched with the ... The upper surface of the plate is connected, the side surfaces of the two first rotating plates and the side surfaces of the first mechanical arm are each provided with two second rotating grooves, the two first rotating axes are respectively rotatably matched with the two second rotating grooves, the lower surfaces of the two second rotating plates are welded to the upper surface of the first mechanical arm, the connecting structure includes a connecting plate and a connecting groove, one side surface of the connecting plate is connected to the upper surface of the second mechanical arm, the four connecting grooves are all arranged on one side surface of the connecting plate, the pressure structure includes a hydraulic cylinder and a telescopic rod, the side surfaces of the two hydraulic cylinders are both welded to one side surface of the connecting plate, the crushing structure includes a pressing block, and one side surface of the pressing block is welded to one side surface of the telescopic rod.

[0004] CN115501965B discloses an ore transmission device based on image processing, which specifically relates to the field of image generation and processing. The present invention comprises a visual sensor and a segmented scraper conveyor, wherein a differential scraper is arranged between at least one group of segmented scraper conveyors; when the visual sensor is used, in the image acquisition process, within a set distance, the visual sensor regularly acquires the real-time image of the ore on the scraper conveyor and the scraper conveyor boundary; according to the parameters of the matching jaw crusher, the best ore shape of the jaw crusher is set and stored as a pre-stored image boundary; based on the size of the ore shape, image processing is performed, and the image boundary feature value of the ore in the target area image is extracted with the lateral boundary of the scraper conveyor as a reference, and compared with the pre-stored image boundary, thereby effectively solving the technical problems of a large number of unloaded sections of the scraper conveyor and a large workload of the later crusher.

[0005] In the prior art, the existing crushing robot arm equipment generally demarcates an area to be crushed before crushing the ore, and different crushing robot arms correspond to one area to be crushed to perform crushing work; but since it is impossible to ensure that the amount of ore in each area is the same during the ore feeding process, under the influence of the conveying form, conveying equipment and other methods, it is easy to cause uneven accumulation of some ores. Therefore, when the ore crushing work in a certain area is not completed, other crushing robot arms are idle, which affects the overall crushing efficiency and causes waste of resources. Summary of the invention

[0006] In the prior art, the existing crushing robot arm equipment generally demarcates an area to be crushed before crushing the ore, and different crushing robot arms correspond to one area to be crushed to perform crushing work; but since it is impossible to ensure that the amount of ore in each area is the same during the ore feeding process, under the influence of the conveying form, conveying equipment and other methods, it is easy to cause uneven accumulation of some ores. Therefore, when the ore crushing work in a certain area is not completed, other crushing robot arms are idle, which affects the overall crushing efficiency and causes waste of resources.

[0007] In view of this, the present invention aims to propose a control method for a ore crushing mechanical arm device. In the present invention, the method is applied to a device provided with at least two crushing mechanical arms, and the method comprises:

[0008] Delimiting the working areas of any two adjacent crushing mechanical arms to obtain a first working area and a second working area, wherein the first working area and the second working area have the same area;

[0009] Respectively obtain the areas of the unbroken regions in the first working area and the second working area to obtain a first area value and a second area value;

[0010] Compare the first area value and the second area value to obtain a comparison result;

[0011] Based on the comparison result, when the comparison result is greater than the corresponding threshold, determining that the area with a larger unbroken area is the first working area or the second working area, marking the area with a larger unbroken area as the first calibration area, and marking the area with a smaller unbroken area as the second calibration area; and calculating the compensation area according to the comparison result, and demarcating the compensation area in the first calibration area according to the compensation area;

[0012] The compensation area in the first calibration area is drawn into the second calibration area, and the first working area and the second working area are re-demarcated according to the first calibration area and the second calibration area.

[0013] Further, the method of respectively obtaining the unbroken area of ​​the first working area and the second working area to obtain the first area value and the second area value includes:

[0014] respectively collecting images of the first working area and the second working area, and performing image processing to obtain a first image and a second image;

[0015] Respectively identifying the ore states in the first image and the second image, determining the distribution of crushed ore and uncrushed ore in the first image and the second image, and obtaining an uncrushed area image;

[0016] According to the two unbroken region images, the unbroken region areas in the first image and the second image are calculated respectively to obtain a first area value and a second area value.

[0017] Further, the identifying the ore states in the first image and the second image respectively, determining the distribution of crushed ore and uncrushed ore in the first image and the second image, and obtaining the uncrushed area image includes:

[0018] Dividing the first image and the second image into a plurality of blocks respectively, and calculating the average particle size of the ore in each block respectively, to obtain a plurality of average particle size values;

[0019] A particle size threshold is preset, and each average particle size value is compared with the particle size threshold. When the average particle size value is greater than the particle size threshold, it indicates that the area of ​​the block is an unbroken area, and the block with the average particle size value greater than the particle size threshold is marked as a highlighted area to obtain an unbroken area image.

[0020] Furthermore, the two crushing mechanical arms start crushing work from ends away from each other and approach each other as the crushing work proceeds, and the uncrushed areas in the first working area and the second working area are connected.

[0021] Further, the compensation area is arranged in the first calibration area and is adjacent to the second calibration area.

[0022] Further, the unbroken area in the first working area and the second working area is obtained once every 2-30 minutes, and the first working area and the second working area are redefined once;

[0023] Before the ores in the working areas of the two adjacent crushing mechanical arms are completely crushed, the uncrushed area in the first working area and the second working area is obtained at least twice.

[0024] Furthermore, the method further comprises:

[0025] After completing a crushing operation, obtaining and respectively obtaining the actual working time of the two crushing mechanical arms in the first calibration area and the second calibration area to obtain a first time and a second time, and calculating the difference between the first time and the second time to obtain a first difference;

[0026] The first difference is compared with a corresponding difference threshold; when the first difference is greater than the difference threshold, the compensation area is adjusted.

[0027] Further, when the first difference is greater than the difference threshold, adjusting the compensation area includes:

[0028] After determining that the first difference is greater than the difference threshold, comparing the first time with the second time;

[0029] When the first time is greater than the second time, increasing the compensation area based on the first difference;

[0030] When the first time is less than the second time, the compensation area is reduced based on the first difference.

[0031] The present invention also discloses an ore crushing device, which is applied to a device provided with at least two crushing mechanical arms, and comprises:

[0032] A control module, used for demarcating a first working area and a second working area of ​​any two of the crushing mechanical arms, and being able to calculate a compensation area according to a comparison result, and re-demarcating the first working area and the second working area according to the compensation area;

[0033] An acquisition module, used for acquiring the unbroken working areas in the first working area and the second working area, obtaining a first area value and a second area value, and feeding back the values ​​to the comparison module;

[0034] The comparison module receives the information from the acquisition module, and is used to compare the first area value and the second area value, obtain the comparison result, and feed it back to the control module.

[0035] Furthermore, the acquisition module at least includes a visual sensor capable of acquiring images of the first working area and the second working area.

[0036] The present invention discloses a control method for ore crushing mechanical arm equipment, which obtains the crushing conditions of any two adjacent crushing mechanical arms in a first working area and a second working area, obtains the uncrushed areas in the two working areas, calculates the compensation area according to the difference in the uncrushed areas in the two working areas, redefines the first working area and the second working area according to the compensation area, readjusts the working areas of the crushing mechanical arms in the two working areas, balances the working time of the two crushing mechanical arms, makes the working completion time of the two crushing mechanical arms tend to end synchronously, shortens the overall crushing time, improves the crushing efficiency, and avoids the phenomenon that other crushing mechanical arms are in an idle state when one crushing mechanical arm completes the crushing work, thereby avoiding the waste of resources.

[0037] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0039] Figure 1 A schematic diagram of a first working area and a second working area in one embodiment of the present invention;

[0040] Figure 2 A schematic diagram of a compensation area in one embodiment of the present invention;

[0041] Figure 3 A flow chart of a control method in one embodiment of the present invention;

[0042] Figure 4 A flowchart in one embodiment of the present invention;

[0043] Figure 5 It is a schematic structural diagram of an ore crushing device in one embodiment of the present invention.

[0044] Description of reference numerals:

[0045] 100, crushing robot arm; 200, first working area; 300, second working area; 400, compensation area. DETAILED DESCRIPTION

[0046] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0047] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices; "fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0049] In the prior art, the existing crushing robot arm equipment generally demarcates an area to be crushed before crushing the ore, and different crushing robot arms correspond to one area to be crushed to perform crushing work; but since it is impossible to ensure that the amount of ore in each area is the same during the ore feeding process, under the influence of the conveying form, conveying equipment and other methods, it is easy to cause uneven accumulation of some ores. Therefore, when the ore crushing work in a certain area is not completed, other crushing robot arms are idle, which affects the overall crushing efficiency and causes waste of resources.

[0050] The present invention provides a control method for a mineral crushing mechanical arm device. In this embodiment, the method is applied to a device provided with at least two mineral crushing mechanical arms, such as Figure 1 , Figure 2 and Figure 3 As shown, a gravel crushing area is provided between the two mechanical arms, and the method comprises the following steps:

[0051] Step 1: define the working areas of any two adjacent crushing mechanical arms to obtain the first working area and the second working area; the first working area and the second working area mentioned above are the working areas of the two crushing mechanical arms in this embodiment. When performing crushing work, one crushing mechanical arm corresponds to one working area, and the two crushing mechanical arms only crush the ore within their own working areas; in the initial state, the areas of the first working area and the second working area are the same, so that when the amount of crushed stone in the area is the same, the crushing completion time of the two areas is the same.

[0052] Step 2, respectively obtain the unbroken area in the first working area and the second working area to obtain the first area value and the second area value; the acquisition work is carried out after the crushing work has been carried out for a period of time, and at least part of the two working areas has been crushed, wherein the unbroken area refers to the area of ​​the area where the ore is not crushed in the working area, and the area only refers to the area in the plane direction, and the ore height or accumulation is not calculated.

[0053] Step three, comparing the first area value and the second area value to obtain a comparison result; presetting a corresponding threshold value, based on the comparison result, when the comparison result is greater than the corresponding threshold value, determining the area with a larger unbroken area as the first working area or the second working area, marking the area with a larger unbroken area as the first calibration area, and marking the area with a smaller unbroken area as the second calibration area; and calculating the compensation area according to the comparison result, and demarcating the compensation area in the first calibration area according to the compensation area;

[0054] Among them, the comparison result refers to the difference between the first area value and the second area value. The preset corresponding threshold value matched with the comparison result can be a value such as 2㎡, 5㎡, etc. The value of the threshold is set according to the actual working conditions and is not limited in this embodiment; it should be noted that when the difference between the first area value and the second area value, that is, the comparison result at this place is greater than the corresponding threshold, the subsequent step of marking the working area as a calibration area is triggered; when the comparison result of the first area value and the second area value is greater than the corresponding threshold, it means that the ore in the first working area and the second working area can no longer be crushed synchronously in the same or adjacent time. Compared with the second calibration area, the crushing completion time of the first calibration area will be longer, that is, if the compensation area is not planned, the second calibration area needs to be idle after the crushing work is completed until the ore crushing work in the first calibration area is completed.

[0055] Step 4: Draw the compensation area in the first calibration area into the second calibration area, redefine the first working area and the second working area according to the first calibration area and the second calibration area, expand the area of ​​the second calibration area, reduce the area of ​​the first calibration area, balance the working time of the two crushing robotic arms, and make the work completion time of the two crushing robotic arms tend to end synchronously.

[0056] Among them, the working paths of the two crushing mechanical arms change with the changes of the designated working areas, that is, one crushing mechanical arm always works in the first working area, and the other crushing mechanical arm always works in the second working area, and the working paths change with the changes of the working areas.

[0057] The present invention obtains the crushing conditions of any two adjacent crushing mechanical arms in the first working area and the second working area, obtains the uncrushed area in the two working areas, calculates the compensation area according to the difference in the uncrushed area in the two working areas, redefines the first working area and the second working area according to the compensation area, readjusts the working areas of the crushing mechanical arms in the two working areas, balances the working time of the two crushing mechanical arms, makes the work completion time of the two crushing mechanical arms tend to end synchronously, shortens the overall crushing time, improves the crushing efficiency, and avoids the phenomenon that other crushing mechanical arms are idle when one crushing mechanical arm completes the crushing work, thereby avoiding waste of resources.

[0058] In order to obtain the first area value and the second area value conveniently and accurately; Figure 4 As shown, the unbroken area in the first working area and the second working area is obtained respectively, including:

[0059] The images of the first working area and the second working area are collected respectively, and image processing is performed, the image processing includes grayscale processing, image enhancement, image denoising, image segmentation, etc., after which the first image and the second image are obtained, the first image corresponds to the ore crushing situation in the first working area, and the second image corresponds to the ore crushing situation in the second working area;

[0060] The ore states in the first image and the second image are respectively identified, where the ore states are broken and unbroken. According to the obtained ore states, the distribution of broken ores and unbroken ores in the first image and the second image is determined to obtain an unbroken area image; and according to the two unbroken area images, the unbroken area in the first image and the second image is respectively calculated to obtain a first area value and a second area value.

[0061] Among them, a visual sensor is set at the upper end of the first working area and the second working area to collect the visual image of the bird's-eye view, and adopts a one-way view collection to facilitate the subsequent calculation of the area of ​​the unbroken area; the collection of the cut figure will also change the size of the area with the change of the first working area and the second working area;

[0062] In order to accurately obtain the unbroken area images in the first image and the second image to avoid errors; wherein, the ore states in the first image and the second image are respectively identified, the distribution of the broken ore and the unbroken ore in the first image and the second image is determined, and the unbroken area image is obtained, including:

[0063] The first image and the second image are respectively divided into a plurality of blocks, in this embodiment, into 36 blocks, and the average particle size of the ore in each block is calculated to obtain a plurality of average particle size values;

[0064] A particle size threshold is preset, and each average particle size value is compared with the particle size threshold. When the average particle size value is greater than the particle size threshold, it indicates that the area of ​​the block is an unbroken area. After comparing each block with the particle size threshold one by one, all blocks with average particle size values ​​greater than the particle size threshold are marked and displayed as highlighted areas. All highlighted areas are integrated to obtain the unbroken area image.

[0065] In order to further improve the accuracy of division, in other embodiments, it can be divided into 81 or more blocks for identification and comparison, and the specific number of divided blocks can be adjusted according to actual conditions; the average particle size value refers to the average particle size of all identifiable ores in a block, which is used to determine whether the block area is in an unbroken area; wherein the particle size threshold can be set to 3 mm, 5 mm, etc., which can be specifically set according to actual requirements;

[0066] In order to facilitate the setting of the compensation area, the crushing robot arm should not move back and forth to perform crushing work; Figure 2 As shown, the two crushing mechanical arms start crushing work from ends far away from each other and approach each other as the crushing work proceeds, and the uncrushed areas in the first working area and the second working area are connected, that is, the compensation area is set in the first calibration area and adjacent to the second calibration area; the compensation area is set adjacent to the two calibration areas, and when the first working area and the second working area are replanned, the two crushing mechanical arms only need to continue working along the original path, and only need to shorten or extend the original working path, and there is no need to stop working after completing the original crushing work and then move to the compensation area to work, which makes work convenient.

[0067] In order to avoid the situation that there is still some accumulated ore in the unbroken area obtained for the first time, resulting in the final crushing time of the two crushing robot arms still being inconsistent; the unbroken area in the first working area and the second working area is obtained every 2-30 minutes, and the first working area and the second working area are redefined; before the ores in the working areas of the two adjacent crushing robot arms are completely crushed, the unbroken area in the first working area and the second working area is obtained at least twice; according to the change in the unbroken area, the areas of the first working area and the second working area are adjusted multiple times, and the second calibration area is compensated multiple times to balance the working time of the two crushing robot arms.

[0068] The control method also includes: after completing a crushing operation, obtaining and respectively obtaining the actual working time of the two crushing mechanical arms in the first calibration area and the second calibration area to obtain the first time and the second time, and calculating the difference between the first time and the second time to obtain the first difference; then comparing the obtained first difference with the corresponding difference threshold; when the first difference is greater than the difference threshold, adjusting the compensation area.

[0069] Among them, the first difference can be zero, that is, the working time of the two crushing mechanical arms is the same, and both complete the work at the same time. When the first difference is not zero, it means that the two crushing mechanical arms did not finish the crushing work at the same time. Although the two finish at nearly the same time, one of the crushing mechanical arms still has a longer working time; the difference threshold is pre-set, generally set to within 3 minutes, and can be adjusted according to actual conditions. When the first difference obtained is greater than the difference threshold, it means that the compensation area is too large or too small, and the adjustment of the last two working areas is not perfect, resulting in the two crushing mechanical arms not completing the crushing work at the same time; in order to further optimize, the compensation area is appropriately adjusted during the next crushing work.

[0070] When the first difference is greater than the difference threshold, the compensation area is adjusted. Specifically, the adjustment includes: after determining that the first difference is greater than the difference threshold, comparing the first time with the second time to determine which crushing robot arm has a longer working time;

[0071] When the first time is greater than the second time, it means that the compensation area demarcated from the first calibration area is smaller, so that the crushing mechanical arm in the area works for a longer time; therefore, according to the first difference value obtained, the compensation area is increased, the area of ​​the first calibration area is further reduced, and the area of ​​the second calibration area is increased, so as to balance the working time of the two crushing mechanical arms;

[0072] When the first time is less than the second time, it means that the compensation area demarcated from the first calibration area is larger, so that the working time of the crushing robot arm in this area is shorter; therefore, according to the first difference obtained, the compensation area is reduced, the area of ​​the first calibration area is expanded, and the area of ​​the second calibration area is reduced to balance the working time of the two crushing robot arms.

[0073] After each crushing operation, the compensation area calculated by the first area value and the second area value is increased or decreased by a certain value in the above manner to obtain the final compensation area, so as to make compensation adjustment for the next crushing.

[0074] The present invention also discloses an ore crushing device, which is used in Figure 1 The device shown is provided with at least two crushing mechanical arms, the ore piled between the two crushing mechanical arms is set as the ore crushing area, the ore crushing area is set on the ore conveying device, the two crushing mechanical arms are respectively set on both sides of the ore conveying device, the ore conveying device stops conveying when conveying to the ore crushing area, and the crushing mechanical arm starts crushing work; a sliding track for the crushing mechanical arm to move is set at the bottom of the crushing mechanical arm;

[0075] like Figure 5 As shown, the ore crushing device comprises:

[0076] A control module, used to define a first working area 200 and a second working area 300 of any two crushing mechanical arms 100, and to calculate a compensation area 400 according to the comparison result, and to re-define the first working area 200 and the second working area 300 according to the compensation area 400;

[0077] An acquisition module, used for acquiring the unbroken working areas in the first working area 200 and the second working area 300, obtaining the first area value and the second area value, and feeding back the values ​​to the comparison module;

[0078] The comparison module receives the information from the acquisition module, and is used to compare the first area value and the second area value, obtain a comparison result, and feed it back to the control module.

[0079] The acquisition module at least includes a visual sensor capable of acquiring images of the first working area 200 and the second working area 300 , and the visual sensor may be configured as an industrial camera.

[0080] The comparison module is also used for comparing the average particle size value with the particle size threshold, the first difference with the difference threshold, and the first time with the second time; the comparison module also has a difference determination unit for determining the difference calculations at various locations in the present invention.

[0081] Optionally, a timing module is also included to count the actual working time of the crushing robot arm.

[0082] Optionally, a status monitoring module is also included to monitor the status of the crushing robot arm, so as to facilitate timely maintenance when a failure occurs.

[0083] Optionally, a storage module is also included to store all the above-mentioned data of the crushing work.

[0084] Optionally, an image processing module is also included, which is used to receive images from the visual sensor and perform image processing.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for a ore crushing mechanical arm device, characterized in that: The method is applied to a device provided with at least two crushing mechanical arms, and the method comprises: Delimiting the working areas of any two adjacent crushing mechanical arms to obtain a first working area and a second working area, wherein the first working area and the second working area have the same area; Respectively obtain the areas of the unbroken regions in the first working area and the second working area to obtain a first area value and a second area value; Compare the first area value and the second area value to obtain a comparison result; Based on the comparison result, when the comparison result is greater than the corresponding threshold, determining that the area with a larger unbroken area is the first working area or the second working area, marking the area with a larger unbroken area as the first calibration area, and marking the area with a smaller unbroken area as the second calibration area; and calculating the compensation area according to the comparison result, and demarcating the compensation area in the first calibration area according to the compensation area; The compensation area in the first calibration area is drawn into the second calibration area, and the first working area and the second working area are re-demarcated according to the first calibration area and the second calibration area.

2. The method according to claim 1, characterized in that The method of respectively obtaining the unbroken area in the first working area and the second working area to obtain the first area value and the second area value comprises: respectively collecting images of the first working area and the second working area, and performing image processing to obtain a first image and a second image; Respectively identifying the ore states in the first image and the second image, determining the distribution of crushed ore and uncrushed ore in the first image and the second image, and obtaining an uncrushed area image; According to the two unbroken region images, the unbroken region areas in the first image and the second image are calculated respectively to obtain a first area value and a second area value.

3. The method according to claim 2, characterized in that The step of respectively identifying the ore states in the first image and the second image, determining the distribution of crushed ore and uncrushed ore in the first image and the second image, and obtaining an uncrushed area image includes: Dividing the first image and the second image into a plurality of blocks respectively, and calculating the average particle size of the ore in each block respectively, to obtain a plurality of average particle size values; A particle size threshold is preset, and each average particle size value is compared with the particle size threshold. When the average particle size value is greater than the particle size threshold, it indicates that the area of ​​the block is an unbroken area, and the block with the average particle size value greater than the particle size threshold is marked as a highlighted area to obtain an unbroken area image.

4. The method according to any one of claims 1 to 3, characterized in that: The two crushing mechanical arms start crushing work from ends that are far away from each other and approach each other as the crushing work proceeds, and the first working area is connected to the uncrushed area in the second working area.

5. The method according to claim 4, characterized in that The compensation area is disposed within the first calibration area and is adjacent to the second calibration area.

6. The method according to any one of claims 1 to 3, characterized in that: Acquire the unbroken area in the first working area and the second working area every 2-30 minutes, and re-delineate the first working area and the second working area; Before the ores in the working areas of the two adjacent crushing mechanical arms are completely crushed, the uncrushed area in the first working area and the second working area is obtained at least twice.

7. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: After completing a crushing operation, obtaining and respectively obtaining the actual working time of the two crushing mechanical arms in the first calibration area and the second calibration area to obtain a first time and a second time, and calculating the difference between the first time and the second time to obtain a first difference; The first difference is compared with a corresponding difference threshold; when the first difference is greater than the difference threshold, the compensation area is adjusted.

8. The method according to claim 7, characterized in that When the first difference is greater than the difference threshold, adjusting the compensation area includes: After determining that the first difference is greater than the difference threshold, comparing the first time with the second time; When the first time is greater than the second time, increasing the compensation area based on the first difference; When the first time is less than the second time, the compensation area is reduced based on the first difference.

9. An ore crushing device, characterized in that: The device is applied to a device provided with at least two crushing mechanical arms, and the device comprises: A control module, used for demarcating a first working area and a second working area of ​​any two of the crushing mechanical arms, and being able to calculate a compensation area according to a comparison result, and re-demarcating the first working area and the second working area according to the compensation area; An acquisition module, used for acquiring the unbroken working areas in the first working area and the second working area, obtaining a first area value and a second area value, and feeding back the values ​​to the comparison module; The comparison module receives the information from the acquisition module, and is used to compare the first area value and the second area value, obtain the comparison result, and feed it back to the control module.

10. The device according to claim 9, characterized in that The acquisition module at least includes a visual sensor capable of acquiring images of the first working area and the second working area.

Images