Method and system for adjusting the rotational speed of a ball mill

Abstract

The application provides a ball mill rotating speed adjusting method and system, the method comprising: acquiring a steel ball movement state image in a ball mill drum; performing standardization on the steel ball movement state image to obtain a standard image; performing grayscale processing on the standard image to obtain a grayscale image; performing binarization processing on the grayscale image to obtain a binarization image; extracting a feature value in the binarization image to adjust the rotating speed of the ball mill drum according to the feature value. By acquiring the steel ball movement state image in the ball mill drum in real time, processing the steel ball movement state image, using the image recognition algorithm to judge the movement state information of the steel ball in the ball mill drum, and then adjusting the rotating speed of the ball mill drum according to the movement state information of the steel ball in the ball mill drum, the problem that it is difficult to control the ball mill to obtain an ideal drum rotating speed is solved.

Description

Technical Field

[0001] This application relates to the field of ball mill technology, specifically including a ball mill speed adjustment method and system. Background Technology

[0002] A ball mill is a mechanical device that uses a rotating cylinder to pulverize materials by applying impact and friction between internal grinding media (such as steel balls). A ball mill mainly consists of a feeding device, a support device, a rotating section, a discharge device, and a transmission device. The rotating section, including the cylinder and grinding media, is the core component of the ball mill. When the material to be ground enters the ball mill from the feed end, it is usually fed continuously and uniformly via a screw conveyor or bucket elevator. The ball mill contains grinding media, typically spheres made of steel balls, cast iron balls, or other hard materials. These spheres rise and fall with the rotation of the cylinder, impacting and rubbing against the material. When the ball mill starts, the internal cylinder begins to rotate. The rotational speed of the cylinder can be adjusted according to the properties of the material and the grinding requirements, generally ranging from tens to hundreds of revolutions per minute. As the cylinder rotates, the material falls freely under gravity, encountering and being impacted and crushed by the rising grinding media. During this process, the material particles gradually decrease in size until the desired particle size is achieved.

[0003] Among the various parameters of a ball mill, grinding efficiency is a crucial indicator of its operation. The key factor affecting grinding efficiency is the movement of the steel balls within the drum, which is influenced by the material filling rate and the drum rotation speed. Therefore, given a constant material filling rate, the movement of the steel balls within the ball mill is primarily affected by the drum rotation speed.

[0004] Therefore, in existing technologies, the drum speed can be obtained through industrial testing or calculated using empirical formulas. While industrial testing offers high reliability, it is labor-intensive and time-consuming. Empirical formula calculations, though simple and effective, suffer from significant limitations due to differing theoretical foundations and varying correction coefficients that are not highly adaptable or universally applicable to changes in material conditions and working environment. In practice, manufacturing enterprises often manually adjust the drum speed to achieve the ideal ball mill speed. However, this method heavily relies on the experience of production personnel and fails to enable intelligent identification and automated adjustment of the ball mill's operating status. Summary of the Invention

[0005] This application provides a method and system for adjusting the rotational speed of a ball mill to solve the problem of difficulty in controlling the ball mill to obtain the ideal drum rotational speed.

[0006] In a first aspect, this application provides a method for adjusting the speed of a ball mill, comprising:

[0007] Acquire images of the motion state of steel balls inside the ball mill drum;

[0008] The image of the steel ball's motion state is standardized to obtain a standard image;

[0009] The standard image is converted to grayscale to obtain a grayscale image;

[0010] The grayscale image is binarized to obtain a binarized image;

[0011] Feature values ​​are extracted from the binarized image to adjust the rotational speed of the ball mill drum based on the feature values.

[0012] Optionally, acquiring images of the movement state of the steel balls inside the ball mill drum includes:

[0013] Capture real-time images of the inside of the ball mill drum;

[0014] Call the judgment condition corresponding to the real-time image;

[0015] If the real-time image meets the determination condition, then the image of the steel ball's motion state is generated;

[0016] If the real-time image does not meet the determination criteria, then a new real-time image of the inside of the ball mill drum is captured.

[0017] Optionally, after invoking the determination condition corresponding to the real-time image, the method further includes:

[0018] The sampling parameters of the real-time image are detected, including contrast, brightness, color reproduction, and resolution.

[0019] The parameter range is analyzed in the determination conditions, and the parameter range includes the contrast rate range, the brightness range, the color reproduction range, and the resolution range;

[0020] If all of the sampling parameters are within the corresponding parameter range, the real-time image is determined to meet the judgment condition.

[0021] If any of the sampling parameters is not within the corresponding parameter range, the real-time image is determined to not meet the judgment condition.

[0022] Optionally, normalizing the image of the steel ball's motion state to obtain a standard image includes:

[0023] Obtain the coordinates of the center point of the image showing the motion state of the steel ball;

[0024] Obtain the equation for moving the center point coordinates to the origin coordinates;

[0025] According to the motion equation, the image of the steel ball's motion state is moved to obtain a first image;

[0026] The first image is divided into four quadrants—the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant—with the origin as the reference point to obtain the standard image.

[0027] Optionally, performing grayscale processing on the standard image to obtain a grayscale image includes:

[0028] Obtain the RGB color features from the standard image;

[0029] A grayscale image is generated based on the RGB color features.

[0030] Optionally, performing binarization processing on the grayscale image to obtain a binarized image includes:

[0031] Set the image binarization threshold;

[0032] Iterate through each pixel in the grayscale image to obtain the grayscale value corresponding to the pixel;

[0033] The gray values ​​of pixels whose gray values ​​are greater than the image binarization threshold are set to 255, and the gray values ​​of pixels whose gray values ​​are greater than the image binarization threshold are set to 0, so as to obtain a binarized image.

[0034] Optionally, extracting feature values ​​from the binarized image includes:

[0035] The first quadrant of the binarized image is divided into a first region and a second region;

[0036] Obtain the pixel value of each pixel in the first region to obtain several first pixel values;

[0037] Obtain the pixel value of each pixel in the second region to obtain several second pixel values;

[0038] Perform a summation calculation on the first pixel value to obtain the first feature value;

[0039] The second pixel value is summed to obtain the second feature value.

[0040] Optionally, adjusting the rotational speed of the ball mill drum based on the characteristic value includes:

[0041] If the first feature value and the second feature value are within a first preset range, then the rotational speed of the ball mill drum is increased.

[0042] If the first feature value is within the second preset range and the second feature value is within the first preset range, then the rotational speed of the ball mill drum is controlled to remain unchanged.

[0043] If the first feature value is within the first preset range and the second feature value is within the third preset range, then the rotational speed of the ball mill drum is reduced.

[0044] Secondly, this application provides a ball mill speed adjustment system, applied to the ball mill speed adjustment method described in the first aspect, comprising: a camera and a controller; the camera is disposed at one end of the ball mill drum; the camera is disposed on the central axis of the ball mill drum; the camera is connected to the controller;

[0045] The camera is configured to acquire images of the movement state of the steel balls inside the ball mill drum;

[0046] The controller is configured to:

[0047] The image of the steel ball's motion state is standardized to obtain a standard image;

[0048] The standard image is converted to grayscale to obtain a grayscale image;

[0049] The grayscale image is binarized to obtain a binarized image;

[0050] Feature values ​​are extracted from the binarized image to adjust the rotational speed of the ball mill drum based on the feature values.

[0051] Optionally, an auxiliary light source is also included, which is disposed at the end of the ball mill drum away from the camera and is located on the central axis of the ball mill drum.

[0052] As can be seen from the above technical solutions, this application provides a method and system for adjusting the rotational speed of a ball mill. The method includes: acquiring an image of the motion state of steel balls inside the ball mill drum; standardizing the image of the motion state of the steel balls to obtain a standard image; performing grayscale processing on the standard image to obtain a grayscale image; performing binarization processing on the grayscale image to obtain a binarized image; and extracting feature values ​​from the binarized image to adjust the rotational speed of the ball mill drum according to the feature values. By acquiring the image of the motion state of steel balls inside the ball mill drum in real time, processing the image, using an image recognition algorithm to determine the motion state information of the steel balls inside the ball mill drum, and then adjusting the rotational speed of the ball mill drum according to the motion state information of the steel balls inside the ball mill drum, the problem of difficulty in obtaining the ideal drum rotational speed of the ball mill is solved. Attached Figure Description

[0053] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a flowchart of a ball mill speed adjustment method provided in an embodiment of this application;

[0055] Figure 2 This is a schematic diagram of the steel ball's falling motion provided in an embodiment of this application;

[0056] Figure 3 This is a schematic diagram of the steel ball's falling motion provided in an embodiment of this application;

[0057] Figure 4 This is a schematic diagram of the circular motion of a steel ball provided in an embodiment of this application;

[0058] Figure 5 Standard image schematic diagrams provided for embodiments of this application;

[0059] Figure 6 Schematic diagrams of the first and second regions provided in the embodiments of this application;

[0060] Figure 7 This is a schematic diagram of a ball mill speed adjustment system provided in an embodiment of this application.

[0061] Figure label:

[0062] Among them, 1-controller; 2-ball mill drum; 3-camera; 4-auxiliary light source. Detailed Implementation

[0063] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims.

[0064] A ball mill is a mechanical device that uses a rotating cylinder to pulverize materials by applying impact and friction between internal grinding media (such as steel balls). A ball mill mainly consists of a feeding device, a support device, a rotating section, a discharge device, and a transmission device. The rotating section, including the cylinder and grinding media, is the core component of the ball mill. When the material to be ground enters the ball mill from the feed end, it is usually fed continuously and uniformly via a screw conveyor or bucket elevator. The ball mill contains grinding media, typically spheres made of steel balls, cast iron balls, or other hard materials. These spheres rise and fall with the rotation of the cylinder, impacting and rubbing against the material. When the ball mill starts, the internal cylinder begins to rotate. The rotational speed of the cylinder can be adjusted according to the properties of the material and the grinding requirements, generally ranging from tens to hundreds of revolutions per minute. As the cylinder rotates, the material falls freely under gravity, encountering and being impacted and crushed by the rising grinding media. During this process, the material particles gradually decrease in size until the desired particle size is achieved.

[0065] Among the various parameters of a ball mill, grinding efficiency is a crucial indicator of its operation. The key factor affecting grinding efficiency is the movement of the steel balls within the drum, which is influenced by the material filling rate and the drum rotation speed. Therefore, given a constant material filling rate, the movement of the steel balls within the ball mill is primarily affected by the drum rotation speed.

[0066] When the rolling speed is low, the steel balls undergo a dropping motion inside the drum, and their motion pattern is as follows: Figure 2 As shown, at this point, the grinding efficiency of the ball mill is relatively low. As the drum speed increases, when the speed reaches a certain suitable range, the steel balls will undergo a throwing motion within the drum, and their motion pattern is as follows... Figure 3 As shown, at this point, the grinding efficiency of the ball mill is relatively high. As the drum speed continues to increase, when the speed exceeds the range required for the previous motion pattern, the steel balls and material will undergo uniform circular motion within the drum due to centrifugal force, as shown in the diagram. Figure 4 As shown, the grinding efficiency of the ball mill is relatively low at this time.

[0067] In actual production, to achieve higher grinding efficiency, the ball mill's drum speed needs to be adjusted to an ideal speed so that the steel balls inside the drum undergo a throwing motion. However, the material filling rate inside the drum is not constant due to different operating conditions, thus the ideal drum speed of the ball mill also varies. The ideal drum speed can be obtained through industrial time experiments or calculated using empirical formulas. While industrial experiments offer higher reliability, they are labor-intensive and time-consuming. Empirical formula calculations, although simple and effective, have different theoretical foundations, resulting in significantly different calculation results. Furthermore, the correction coefficients of empirical formulas lack adaptability and versatility to changes in material conditions and the working environment, thus having significant limitations. In practice, production enterprises often manually adjust the ball mill to operate at the ideal drum speed. The disadvantage of this method is its heavy reliance on the experience of production personnel, making it impossible to achieve intelligent identification and automated adjustment of the ball mill's operating status.

[0068] To address the difficulty in obtaining the ideal drum speed in a ball mill, this application provides a method for adjusting the ball mill speed, see [link to relevant documentation]. Figure 1 Specifically, it includes:

[0069] S100: Acquire an image of the movement state of the steel balls inside the ball mill drum.

[0070] Acquiring images of the movement of steel balls inside the ball mill drum includes capturing real-time images of the ball mill drum.

[0071] Specifically, by setting up a camera to capture real-time images of the ball mill drum at certain intervals, for example, by setting the camera at the opening of the ball mill drum and starting the camera every 1 minute, images of the steel ball's movement can be obtained. After obtaining the images of the steel ball's movement, it is necessary to determine whether the real-time images captured by the camera meet the requirements.

[0072] Therefore, the judgment conditions corresponding to the real-time image can be invoked.

[0073] If the real-time image meets the judgment criteria, an image of the steel ball's motion state is generated.

[0074] If the real-time image does not meet the judgment criteria, a new real-time image of the inside of the ball mill drum will be captured.

[0075] The specific criteria for calling the real-time image include:

[0076] The sampling parameters of the real-time image are detected, including contrast, brightness, color reproduction, and resolution.

[0077] The judgment criteria analyze the parameter range, which includes the contrast rate range, brightness range, color reproduction range, and resolution range.

[0078] If all the parameters in the sampling parameters are within their corresponding ranges, the real-time image is determined to meet the criteria.

[0079] If any of the sampling parameters is not within the corresponding parameter range, the real-time image is determined to be non-compliant with the judgment criteria.

[0080] For example, if the captured real-time image is completely black, and its parameters such as contrast, brightness, color reproduction, and resolution do not meet the judgment conditions, then the real-time image is unqualified and needs to be recaptured. If the parameters of the captured real-time image meet the judgment conditions, then the real-time image is qualified and can continue to be processed.

[0081] S200: Standardize the image of the steel ball's motion state to obtain a standard image.

[0082] After acquiring the image of the steel ball's motion state, it is necessary to standardize the image to facilitate processing and analysis. The standardization process for obtaining a standard image specifically includes:

[0083] S210: Obtain the coordinates of the center point of the image of the steel ball's motion state.

[0084] S220: Obtain the equation for moving the center point coordinates to the origin coordinates.

[0085] S230: According to the motion equation, move the image of the steel ball's motion state to obtain the first image.

[0086] S240: Divide the first image into the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant with the origin to obtain a standard image.

[0087] Since the cross-section of the roller is circular, the circular area is the effective information area during the capture of the steel ball's motion state image. Therefore, to facilitate image processing, it is necessary to obtain the coordinates of the center point of the steel ball's motion state image, and then move the center point coordinates to the origin. After obtaining the movement equation, the circular area can be moved as a whole according to the movement equation, so that the circular area in the steel ball's motion state image is moved to the center point. For example, if the center point coordinates of the steel ball's motion state image are (4, 5) and the origin coordinates are (0, 0), then the movement equation is (x-4, y-5); then the X coordinates of all pixels in the circular area are reduced by 4, and the Y coordinates are reduced by 5, causing the image to be translated as a whole. After obtaining the first image, such as... Figure 5 As shown, the first image is divided into four regions: the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant, to obtain a standard image.

[0088] S300: Perform grayscale processing on a standard image to obtain a grayscale image.

[0089] One of the main purposes of grayscale processing is to simplify image information. Grayscale images contain only brightness information, which is much simpler than the red, green, and blue color information of standard images, reducing the amount of data that needs to be processed. This reduces computational and storage requirements, improving processing speed. Secondly, removing redundant information is another important reason for grayscale. In image recognition, color information is not critical; the focus is on the image's contours and structure. Grayscale removes interference from color information, highlighting the image's contours and details, thus improving feature extraction and recognition. Furthermore, improving computational efficiency is another crucial reason for grayscale. Compared to color images, grayscale images require less computation and are processed faster. For large-scale image recognition tasks, grayscale can improve algorithm efficiency and reduce computation time and resource consumption.

[0090] Therefore, since standard images contain a large amount of information, and image recognition requires grayscale processing to improve recognition speed, the steps for performing grayscale processing on standard images to obtain grayscale images include:

[0091] S310: RGB color features in a standard image.

[0092] S320: Generates grayscale images based on RGB color features.

[0093] The RGB color features consist of three components: R, G, and B, found in a standard image. Grayscale images can be generated based on these RGB color features using three methods: the maximum value method, the average value method, and the weighted average method. The maximum value method takes the largest value among the R, G, and B components, with the formula R = G = B = max(R, G, B). The average value method takes the average of the R, G, and B components, with the formula R = G = B = (R + G + B) / 3. The weighted average method calculates a weighted average of the three components. Since the human eye is more sensitive to green and least sensitive to blue, the R, G, and B components can be weighted, with the formula Gray(i, j) = 0.299 × R(i, j) + 0.578 × G(i, j) + 0.114 × B(i, j), where i represents the row position of the pixel in the image, and j represents the column position. Using the RGB color features, a standard image can be converted into a grayscale image.

[0094] S400: Perform binarization processing on the grayscale image to obtain a binarized image.

[0095] The specific steps for binarizing a grayscale image include:

[0096] Set the image binarization threshold.

[0097] Iterate through each pixel in the grayscale image to obtain the grayscale value corresponding to that pixel.

[0098] The gray values ​​of pixels with gray values ​​greater than the image binarization threshold are set to 255, and the gray values ​​of pixels with gray values ​​greater than the image binarization threshold are set to 0, in order to obtain a binarized image.

[0099] The binarization threshold can be determined experimentally during the debugging process to find an optimal threshold. This threshold helps remove interfering structures from the image after binarization. Essentially, setting the grayscale value of pixels with a value greater than the binarization threshold to 255 will turn those pixels black, while setting the grayscale value of pixels with a value less than the threshold to 0 will turn them white.

[0100] S500: Extract feature values ​​from the binarized image to adjust the rotational speed of the ball mill drum based on the feature values.

[0101] The specific steps for extracting feature values ​​from a binarized image include:

[0102] S510: Divide the first quadrant of the binarized image into a first region and a second region.

[0103] S520: Obtain the pixel value of each pixel in the first region to obtain several first pixel values.

[0104] S530: Obtain the pixel value of each pixel in the second region to obtain several second pixel values.

[0105] S540: Perform a summation calculation on the first pixel value to obtain the first feature value.

[0106] S550: Perform a summation calculation on the second pixel value to obtain the second feature value.

[0107] Specifically, when the steel balls are in a cascading motion within the drum, fewer steel balls will pass through the first quadrant; when the steel balls are in a tossing motion, more steel balls will pass through the first region of the first quadrant; and when the steel balls are in a circular motion, more steel balls will pass through the second region of the first quadrant. Therefore, if... Figure 6As shown, the area where A is located in the first quadrant is the first region, and the area where B is located is the second region. By obtaining the pixel values ​​of the pixels in the first region and the second region, the first pixel value and the second pixel value are obtained respectively. For example, by traversing the pixel values ​​of the pixels in the first region and the second region respectively, when the pixel value of the pixel in the first region is 255, the first pixel value is recorded as 1, and when the pixel value of the pixel in the second region is 255, the second pixel value is recorded as 1. The first pixel value and the second pixel value can represent the number of steel balls in the first region and the second region respectively. Then, the first pixel value in the first region is summed to obtain the first feature value, and the second pixel value in the second region is summed to obtain the second feature value. Then, the movement of the steel balls in the drum can be determined by the first feature value and the second feature value.

[0108] Specifically, determining the movement of the steel ball within the drum using the first and second characteristic values ​​includes:

[0109] If the first characteristic value and the second characteristic value are within the first preset range, then the rotational speed of the ball mill drum is increased.

[0110] If the first characteristic value is within the second preset range and the second characteristic value is within the first preset range, then the rotational speed of the ball mill drum is controlled to remain constant.

[0111] If the first characteristic value is within a first preset range and the second characteristic value is within a third preset range, then the rotational speed of the ball mill drum is reduced.

[0112] The first, second, and third preset ranges can be adjusted during debugging. The maximum value of the first preset range is less than the minimum value of the second preset range, and the maximum value of the second preset range is less than the minimum value of the third preset range. For example, the first preset range is 0-3, the second preset range is 10-20, and the third preset range is 50-60. That is, when both the first and second characteristic values ​​are within the first preset range, it indicates that there are fewer steel balls in the first quadrant, and the current image reflects the running state of steel balls falling inside the drum, requiring an increase in drum speed. When both the first and second characteristic values ​​are within the second preset range, it indicates that there are a moderate number of steel balls in the first region and fewer steel balls in the second region, and the current image reflects the running state of steel balls falling inside the drum, with the drum speed being the ideal speed. When both the first and second characteristic values ​​are within the first and third preset ranges, it indicates that there are fewer steel balls in the first region and more steel balls in the second region, and the current image reflects the running state of steel balls moving in a circular motion inside the drum, with a higher drum speed, requiring a decrease in speed. By analyzing the characteristic values ​​of the first and second regions, the roller speed can be determined quickly and easily. Furthermore, it's understood that the area ratio of the first and second regions can be adjusted to suit different application scenarios.

[0113] In some embodiments, such as Figure 7 As shown, this application embodiment also provides a ball mill speed adjustment system, applied to the ball mill speed adjustment method provided in the above embodiment, including: a camera 3 and a controller 1; the camera 3 is disposed at one end of the ball mill drum 2; the camera 3 is disposed on the central axis of the ball mill drum 2; the camera 3 is connected to the controller 1.

[0114] Camera 3 is configured to acquire images of the movement of steel balls inside the ball mill drum 2.

[0115] Controller 1 is configured as follows:

[0116] The image of the steel ball's motion state is normalized to obtain a standard image.

[0117] Perform grayscale conversion on the standard image to obtain a grayscale image.

[0118] Perform binarization on the grayscale image to obtain a binarized image.

[0119] Feature values ​​are extracted from the binarized image to adjust the rotational speed of the ball mill drum based on these feature values.

[0120] In some embodiments, an auxiliary light source 4 is also included. The auxiliary light source 4 is disposed at the end of the ball mill drum 2 away from the camera 3 and is disposed on the central axis of the ball mill drum 2.

[0121] As can be seen from the above technical solutions, this application provides a method and system for adjusting the rotational speed of a ball mill. The method includes: acquiring an image of the motion state of steel balls inside the ball mill drum; standardizing the image of the motion state of the steel balls to obtain a standard image; performing grayscale processing on the standard image to obtain a grayscale image; performing binarization processing on the grayscale image to obtain a binarized image; and extracting feature values ​​from the binarized image to adjust the rotational speed of the ball mill drum based on the feature values. By acquiring the image of the motion state of steel balls inside the ball mill drum in real time, processing the image of the motion state of the steel balls, using an image recognition algorithm to determine the motion state information of the steel balls inside the ball mill drum, and then adjusting the rotational speed of the ball mill drum based on the motion state information of the steel balls inside the ball mill drum, the problem of difficulty in obtaining the ideal drum rotational speed of the ball mill is solved.

[0122] Similar parts between the embodiments provided in this application can be referred to mutually. The specific implementation methods provided above are only a few examples under the overall concept of this application and do not constitute a limitation on the scope of protection of this application. For those skilled in the art, any other implementation methods extended from the solution of this application without creative effort shall fall within the scope of protection of this application.

Claims

1. A method for adjusting the speed of a ball mill, characterized in that, include: Acquire images of the motion state of steel balls inside the ball mill drum; The image of the steel ball's motion state is standardized to obtain a standard image; The standard image is converted to grayscale to obtain a grayscale image; The grayscale image is binarized to obtain a binarized image; Feature values ​​are extracted from the binarized image to adjust the rotational speed of the ball mill drum based on the feature values; Performing binarization processing on the grayscale image to obtain a binarized image includes: Set the image binarization threshold; Iterate through each pixel in the grayscale image to obtain the grayscale value corresponding to the pixel; The gray values ​​of pixels whose gray values ​​are greater than the image binarization threshold are set to 255, and the gray values ​​of pixels whose gray values ​​are greater than the image binarization threshold are set to 0, so as to obtain a binarized image. Extracting feature values ​​from the binarized image includes: The first quadrant of the binarized image is divided into a first region and a second region; Obtain the pixel value of each pixel in the first region to obtain several first pixel values; Obtain the pixel value of each pixel in the second region to obtain several second pixel values; Perform a summation calculation on the first pixel value to obtain the first feature value; Perform a summation calculation on the second pixel value to obtain the second feature value; Adjusting the rotational speed of the ball mill drum based on the aforementioned characteristic value includes: If the first feature value and the second feature value are within a first preset range, then the rotational speed of the ball mill drum is increased. If the first feature value is within a second preset range and the second feature value is within the first preset range, then the rotational speed of the ball mill drum is controlled to remain unchanged. If the first feature value is within the first preset range and the second feature value is within the third preset range, then the rotational speed of the ball mill drum is reduced.

2. The ball mill speed adjustment method according to claim 1, characterized in that, Acquiring images of the motion state of steel balls inside the ball mill drum includes: Capture real-time images of the inside of the ball mill drum; Call the judgment condition corresponding to the real-time image; If the real-time image meets the determination condition, then the image of the steel ball's motion state is generated; If the real-time image does not meet the determination criteria, then a new real-time image of the inside of the ball mill drum is captured.

3. The ball mill speed adjustment method according to claim 2, characterized in that, After the step of invoking the determination condition corresponding to the real-time image, the method further includes: The sampling parameters of the real-time image are detected, including contrast, brightness, color reproduction, and resolution. The parameter range is analyzed in the determination conditions, and the parameter range includes the contrast rate range, the brightness range, the color reproduction range, and the resolution range; If all of the sampling parameters are within the corresponding parameter range, the real-time image is determined to meet the judgment condition. If any of the sampling parameters is not within the corresponding parameter range, the real-time image is determined to not meet the judgment condition.

4. The ball mill speed adjustment method according to claim 1, characterized in that, The standardization of the steel ball motion state image to obtain a standard image includes: Obtain the coordinates of the center point of the image showing the motion state of the steel ball; Obtain the equation for moving the center point coordinates to the origin coordinates; According to the motion equation, the image of the steel ball's motion state is moved to obtain a first image; The first image is divided into four quadrants—the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant—with the origin as the reference point to obtain the standard image.

5. The ball mill speed adjustment method according to claim 1, characterized in that, Performing grayscale processing on the standard image to obtain a grayscale image includes: Obtain the RGB color features from the standard image; A grayscale image is generated based on the RGB color features.

6. A ball mill speed adjustment system, applied to the ball mill speed adjustment method according to any one of claims 1-5, characterized in that, include: A camera and a controller; the camera is mounted at one end of the ball mill drum; the camera is mounted on the central axis of the ball mill drum; The camera is connected to the controller; The camera is configured to acquire images of the movement state of the steel balls inside the ball mill drum; The controller is configured to: The image of the steel ball's motion state is standardized to obtain a standard image; The standard image is converted to grayscale to obtain a grayscale image; The grayscale image is binarized to obtain a binarized image; Feature values ​​are extracted from the binarized image to adjust the rotational speed of the ball mill drum based on the feature values.

7. The ball mill speed adjustment system according to claim 6, characterized in that, It also includes an auxiliary light source, which is located at the end of the ball mill drum away from the camera and is positioned on the central axis of the ball mill drum.

Images