Anti-missing picking method and system applied to mineral aggregate impurity picking robot, robot impurity picking system and medium

Abstract

The invention relates to the technical field of industrial automation, in particular to an anti-missing picking method and system applied to a mineral aggregate impurity picking robot, a robot impurity picking system and a medium. Coupling missing detection judgment is conducted on coordinate interval judgment and grabbing state signal missing, the cause of the missing detection phenomenon is further analyzed, and emergency braking is triggered for missing detection caused by grabbing failure; in addition, secondary impurity recognition is arranged to recognize impurities of mineral aggregate in the conveying belt again, and the probability of missing detection is reduced through multiple times of impurity picking and recognition. The problem of how to reduce the risk of missing detection in the impurity picking process of a robot is solved.

Description

Technical Field

[0001] The present application relates to the field of industrial automation technology, and in particular to a method for preventing leakage in a mining material picking robot, a system for preventing leakage, a robot picking system and a medium. Background Art

[0002] Traditional manual debris picking relies on the visual observation of foreign objects by the pickers and manual cleaning. The missed detection rate is easily affected by worker fatigue and distraction, and fluctuates. Therefore, the factory began to use a robot debris picking system to replace manual labor to pick up debris on the mineral conveyor belt.

[0003] However, the robot debris picking system relies on the machine vision module to identify the debris on the conveyor belt. However, machine recognition will inevitably make misjudgments during operation, resulting in missed detections, which in turn cause safety hazards and even accidents in the entire production line.

[0004] To this end, it is necessary to develop a missed detection prevention and missed detection emergency response plan for the robot picking system, so as to reduce or eliminate the damage caused by missed detection to the production line. Summary of the invention

[0005] The main purpose of the present application is to provide a method for preventing missed detection applied to a mineral material picking robot, aiming to solve the problem of how to reduce the risk of missed detection during the robot's picking process.

[0006] To achieve the above-mentioned purpose, the present application provides a method for preventing missed picking applied to a mineral material picking robot, which is applied to an missed picking system. The missed picking system includes a grasping identification module arranged on the mineral material picking robot, and a missed detection identification module arranged on the rear belt of the mineral material picking robot. The method includes the following steps:

[0007] S10, when the grabbing identification module detects that the actual coordinates corresponding to the debris in the mineral material on the conveyor belt enter the preset grabbing coordinate interval, but does not receive the grabbing success signal sent by the mineral material picking robot, it identifies whether the volume of the debris in the debris image is greater than or equal to the preset volume threshold, and if so, outputs an emergency braking command;

[0008] S20, when the missed detection identification module detects that the actual coordinates corresponding to the mineral material enter the preset secondary identification coordinate interval, it collects the image of the mineral material and performs secondary debris identification on the debris in the mineral material according to the image, wherein a coordinate compensation algorithm is introduced in the secondary debris identification process to determine the debris grabbing coordinates.

[0009] Optionally, the system for preventing missed picking further includes a debris recognition module provided on a front belt of the mining debris picking robot, and before S10, further includes:

[0010] When the debris recognition module detects that the actual coordinates corresponding to the mineral material enter the preset primary recognition coordinate interval, it collects the image of the mineral material and performs a primary debris recognition on the debris in the mineral material according to the image;

[0011] When it is identified that there are sundries in the image, the image coordinates of the sundries are converted into actual coordinates and output to the capture and recognition module.

[0012] Optionally, the mining material picking robot further includes a second manipulator disposed behind the grabbing and identifying module, and S10 further includes:

[0013] If the grasping identification module identifies that the volume of the debris is smaller than the preset volume threshold, a missed detection instruction is output to the missed detection identification module, so that the missed detection identification module outputs the actual coordinates corresponding to the debris to the second manipulator, so that the second manipulator can perform a secondary grasping of the debris when detecting that the actual coordinates of the debris enter the secondary grasping coordinate interval.

[0014] Optionally, the direction of the feeding port of the conveyor belt is the front of the mineral material picking robot, and the direction of the feeding port of the conveyor belt is the rear of the mineral material picking robot.

[0015] In addition, to achieve the above purpose, the present application also provides a system for preventing leakage and picking up, wherein the system for preventing leakage and picking up is communicatively connected with the mineral material picking up robot, and the system for preventing leakage and picking up comprises:

[0016] The grabbing and identifying module provided on the mineral material picking robot is used to collect the image of the debris and identify whether the volume of the debris is greater than or equal to the preset volume threshold when the actual coordinates corresponding to the debris in the mineral material on the conveyor belt are detected to enter the preset grabbing coordinate interval, but the grabbing success signal sent by the mineral material picking robot is not received, and output an emergency braking instruction if the volume is greater than or equal to the preset volume threshold;

[0017] The missed detection identification module arranged on the rear belt of the mineral material picking robot is used to collect the image of the mineral material and perform secondary identification of the debris in the mineral material according to the image when it is detected that the actual coordinates corresponding to the mineral material enter the preset identification coordinate interval.

[0018] Optionally, the anti-leakage detection system further includes:

[0019] The debris recognition module arranged on the front belt of the mineral picking robot is used to collect the image of the mineral and perform a debris recognition on the debris in the mineral according to the image when it is detected that the actual coordinates corresponding to the mineral enter the preset first recognition coordinate interval; when it is recognized that there are debris in the image, the image coordinates of the debris are converted into actual coordinates and output to the grasping and recognition module.

[0020] Optionally, the grabbing and identifying module further includes:

[0021] The missed detection instruction sending unit is used to output a missed detection instruction to the missed detection identification module when it is identified that the volume of the debris is smaller than the preset volume threshold, so that the missed detection identification module outputs the actual coordinates corresponding to the debris to the second manipulator, so that the second manipulator can perform a secondary grasping of the debris when it detects that the actual coordinates of the debris enter the secondary grasping coordinate interval.

[0022] In addition, to achieve the above-mentioned purpose, the present application also provides a robot picking system, the robot picking system comprising:

[0023] Mineral material picking robot;

[0024] An anti-missing detection system, the anti-missing picking system includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the anti-missing picking method applied to a mineral material picking robot as described above.

[0025] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the anti-missing picking method applied to a mineral picking robot as described in any of the above items are implemented.

[0026] This application has at least the following beneficial effects:

[0027] 1. Coordinate interval determination is coupled with the lack of grasping status signal to make missed detection judgment, and the cause of missed detection is further analyzed to trigger emergency braking for missed detection caused by failure to grasp.

[0028] 2. Set up secondary debris identification to identify the debris in the mineral material on the conveyor belt again, and reduce the probability of missed detection through multiple debris picking and identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the location of each module in the anti-leakage detection system according to the first embodiment of the present application;

[0030] Figure 2 This is a flow chart of a first embodiment of the method for preventing missed picking applied to a mining material picking robot;

[0031] Figure 3 This is a schematic diagram of the location structure of each module in the anti-leakage detection system involved in the second embodiment of the present application;

[0032] Figure 4 This is a schematic diagram of the location structure of each module in the anti-leakage detection system involved in the third embodiment of the present application;

[0033] Figure 5 This is a schematic diagram of the architecture of the hardware operating environment of the anti-leakage detection system involved in the embodiment of the present application.

[0034] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0035] In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0036] First embodiment

[0037] This embodiment provides a method for preventing leakage from picking up applied to a mineral material picking robot. The method is applied to an anti-leakage picking system. Figure 1 The schematic diagram of the arrangement position of each module in the anti-leakage picking system is shown in FIG. Figure 1 In the figure, the part completely wrapped by the solid line is an anti-missing picking system, which includes a grasping and identifying module 100 arranged on the mineral material picking robot, and a missed detection and identifying module 200 arranged on the rear belt of the mineral material picking robot.

[0038] Optionally, in this embodiment, the direction of the feeding port of the conveyor belt is the front of the mineral material picking robot, and the direction of the feeding port of the conveyor belt is the rear of the mineral material picking robot.

[0039] Reference Figure 2 , the method comprises the following steps:

[0040] S10, when the grabbing identification module detects that the actual coordinates corresponding to the debris in the mineral material on the conveyor belt enter the preset grabbing coordinate interval, but does not receive the grabbing success signal sent by the mineral material picking robot, it identifies whether the volume of the debris in the debris image is greater than or equal to the preset volume threshold, and if so, outputs an emergency braking command;

[0041] In this embodiment, the grabbing identification module is used to determine whether the mineral material picking robot successfully grabs the debris in the mineral material.

[0042] It is worth noting that the grabbing and identifying module does not participate in the identification of debris in the ore. When the manipulator completes the picking action, the ore picking robot will send a grab success signal to the grabbing and identifying module, indicating that the debris has been grabbed, and the grabbing and identifying module will no longer perform subsequent actions.

[0043] Optionally, the actual coordinates of the debris are obtained by converting the image coordinates through a visual nine-point calibration. The specific calibration steps are as follows:

[0044] Step 1: Create 9 points so that the camera can capture all of them.

[0045] Step 2: Keep the 9 dots still, use the robot's working tool to align the center of the 9 circles, and save the robot's coordinates. Then generate a one-dimensional array variable based on the sequence number of the circle. (The sequence number must be correct, that is, the sequence number sorted in the first step corresponds to the array element one by one)

[0046] Step 3: Generate a matrix relationship using the center points of the image rows and columns and the one-dimensional array variables of the robot.

[0047] Step 4: Use matrix operations to perform coordinate transformation, for example:

[0048] (1,X,Y,Z,A)→(0,X,Y,Z,A)

[0049] In this embodiment, after the grasping and identification module obtains the actual coordinates of the debris, the position change of the debris can be calculated based on the fixed transportation rate of the conveyor belt. When the actual coordinates fall within the preset grasping coordinate range, it means that the debris has entered the robot's graspable range. Under normal circumstances, the module should receive a successful grasping signal. Failure to receive the signal means that a missed detection has occurred.

[0050] When the grasping and recognition module determines that there is a missed detection phenomenon, it further analyzes whether the missed detection phenomenon is caused by the large volume of the debris, which makes the robot unable to grasp it or drops it after grasping. Based on this, it identifies whether the volume of the debris in the debris image is greater than or equal to the preset volume threshold. If so, an emergency braking command is output to stop the operation of the entire mineral material picking production line. At this time, consider using manual intervention to remove debris that is too large to avoid damage to the production line caused by excessive debris.

[0051] In this embodiment, if it is determined that the volume of the debris is not too large, the missed detection phenomenon may be caused by the robot itself not recognizing it or failing to grasp it after recognition. Therefore, in this embodiment, a missed detection recognition module is provided on the belt behind the mining debris picking robot. The module performs the following actions in S20:

[0052] S20, when the missed detection identification module detects that the actual coordinates corresponding to the mineral material enter the preset secondary identification coordinate interval, it collects the image of the mineral material and performs secondary debris identification on the debris in the mineral material according to the image, wherein a coordinate compensation algorithm is introduced in the secondary debris identification process to determine the debris grabbing coordinates.

[0053] The missed detection identification module performs secondary debris identification on the mineral materials entering the secondary identification coordinate interval. The execution of this identification action is independent of whether missed detection occurs in S10, that is, regardless of whether there is missed detection in the previous primary debris identification, secondary debris identification is performed in this step.

[0054] It is worth noting that compared with the grasping and recognition module, the missed detection recognition module includes image acquisition in addition to recognition. It is equivalent to giving the image acquisition and debris recognition functions of the visual module in the mineral picking robot to the missed detection recognition module of the anti-missing detection system. The purpose of this is to reduce the computing power overhead of the mineral picking robot itself.

[0055] In addition, for objects that are difficult to grasp near the grooved belt, the missed detection identification module will perform algorithm compensation and calculations in the PLC to provide the correct coordinates for grasping the debris.

[0056] In the technical solution provided in this embodiment, the coordinate interval determination is coupled with the lack of the grasping status signal to perform missed detection judgment, and the cause of the missed detection phenomenon is further analyzed, and emergency braking is triggered for missed detection caused by failure to grasp; in addition, a secondary debris recognition is set to re-identify the debris in the mineral material in the conveyor belt, and the probability of missed detection is reduced through multiple debris picking and recognition.

[0057] Second embodiment

[0058] Based on the first embodiment, refer to Figure 3 The anti-missing picking system also includes a debris recognition module arranged on the front belt of the mineral material picking robot.

[0059] Before S10, it also includes:

[0060] S30, when the debris recognition module detects that the actual coordinates corresponding to the mineral material enter the preset primary recognition coordinate interval, it collects an image of the mineral material and performs a primary recognition of the debris in the mineral material according to the image;

[0061] S40, when it is identified that there are sundries in the image, convert the image coordinates of the sundries into actual coordinates and output them to the capture and recognition module.

[0062] In this embodiment, the collection of mineral material images and the identification of debris in the mineral material are realized by the debris identification module of the anti-missing detection system. After the nine-point coordinate conversion, the image pixel coordinates of the debris are converted into the actual coordinates of the debris on the belt and transmitted to the mineral material picking robot through the wired communication protocol TCP / IP. After the robot parses the coordinates, it establishes a tracking coordinate system according to the nine-point calibration coordinate format, and establishes a storage area in the background. The parsed debris coordinates are arranged in order. After the debris reaches the grasping interval, the robot accurately grasps the object according to the tracking parameters and coordinates.

[0063] Optionally, the types of debris include wood, plastic paper, plastic bottles and iron blocks.

[0064] Third embodiment

[0065] Based on the first embodiment, refer to Figure 4 The mining material picking robot further includes a second manipulator disposed behind the grabbing and identifying module, and the S10 further includes:

[0066] If the grasping identification module identifies that the volume of the debris is smaller than the preset volume threshold, a missed detection instruction is output to the missed detection identification module, so that the missed detection identification module outputs the actual coordinates corresponding to the debris to the second manipulator, so that the second manipulator can perform a secondary grasping of the debris when detecting that the actual coordinates of the debris enter the secondary grasping coordinate interval.

[0067] In this embodiment, if the grasping and identification module identifies that the volume of the debris is smaller than the preset volume threshold, it means that a missed detection is caused by non-structural factors in the first debris identification. The missed detection identification module omits one collection and identification action and directly outputs the actual coordinates corresponding to the debris to the second manipulator, so that the second manipulator can perform a second grasping of the debris when it detects that the actual coordinates of the debris enter the secondary grasping coordinate interval, thereby reducing the computing power overhead of the debris picking process.

[0068] In addition, as an implementation scheme, the embodiment of the present application further provides a system for preventing leakage and picking up, wherein the system for preventing leakage and picking up is communicatively connected with the mineral material picking robot, and the system for preventing leakage and picking up comprises:

[0069] The grabbing and identifying module provided on the mineral material picking robot is used to collect the image of the debris and identify whether the volume of the debris is greater than or equal to the preset volume threshold when the actual coordinates corresponding to the debris in the mineral material on the conveyor belt are detected to enter the preset grabbing coordinate interval, but the grabbing success signal sent by the mineral material picking robot is not received, and output an emergency braking instruction if the volume is greater than or equal to the preset volume threshold;

[0070] The missed detection identification module arranged on the rear belt of the mineral material picking robot is used to collect the image of the mineral material and perform secondary identification of the debris in the mineral material according to the image when it is detected that the actual coordinates corresponding to the mineral material enter the preset identification coordinate interval.

[0071] Optionally, the anti-leakage detection system further includes:

[0072] The debris recognition module arranged on the front belt of the mineral picking robot is used to collect the image of the mineral and perform a debris recognition on the debris in the mineral according to the image when it is detected that the actual coordinates corresponding to the mineral enter the preset first recognition coordinate interval; when it is recognized that there are debris in the image, the image coordinates of the debris are converted into actual coordinates and output to the grasping and recognition module.

[0073] Optionally, the grabbing and identifying module further includes:

[0074] The missed detection instruction sending unit is used to output a missed detection instruction to the missed detection identification module when it is identified that the volume of the debris is smaller than the preset volume threshold, so that the missed detection identification module outputs the actual coordinates corresponding to the debris to the second manipulator, so that the second manipulator can perform a secondary grasping of the debris when it detects that the actual coordinates of the debris enter the secondary grasping coordinate interval.

[0075] As an implementation scheme, an embodiment of the present application further provides a robot debris picking system, wherein the robot debris picking system includes: a mineral debris picking robot and an anti-missing picking system.

[0076] Figure 5 This is a schematic diagram of the architecture of the hardware operating environment of the anti-leakage detection system involved in the embodiment of the present application.

[0077] like Figure 5 As shown, the anti-leakage detection system includes a processor 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0078] Those skilled in the art will understand that Figure 5 The anti-missing detection system architecture shown in the figure does not constitute a limitation on the anti-missing detection system, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0079] like Figure 5 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module and a computer program. The operating system is a program for managing and controlling the hardware and software resources of the anti-leakage detection system, the operation of the computer program and other software or programs.

[0080] exist Figure 5 In the anti-missing detection system shown, the user interface 1003 is mainly used to connect to the terminal and communicate data with the terminal; the network interface 1004 is mainly used for the background server and communicates data with the background server; the processor 1001 can be used to call the computer program stored in the memory 1005.

[0081] In this embodiment, the system for preventing missed detection includes: a memory 1005, a processor 1001, and a computer program stored in the memory and executable on the processor, wherein:

[0082] When the processor 1001 calls the computer program stored in the memory 1005, it performs the following operations:

[0083] S10, when the grabbing identification module detects that the actual coordinates corresponding to the debris in the mineral material on the conveyor belt enter the preset grabbing coordinate interval, but does not receive the grabbing success signal sent by the mineral material picking robot, it identifies whether the volume of the debris in the debris image is greater than or equal to the preset volume threshold, and if so, outputs an emergency braking command;

[0084] S20, when the missed detection identification module detects that the actual coordinates corresponding to the mineral material enter the preset secondary identification coordinate interval, it collects the image of the mineral material and performs secondary debris identification on the debris in the mineral material according to the image, wherein a coordinate compensation algorithm is introduced in the secondary debris identification process to determine the debris grabbing coordinates.

[0085] When the processor 1001 calls the computer program stored in the memory 1005, it performs the following operations:

[0086] When the debris recognition module detects that the actual coordinates corresponding to the mineral material enter the preset primary recognition coordinate interval, it collects the image of the mineral material and performs a primary debris recognition on the debris in the mineral material according to the image;

[0087] When it is identified that there are sundries in the image, the image coordinates of the sundries are converted into actual coordinates and output to the capture and recognition module.

[0088] When the processor 1001 calls the computer program stored in the memory 1005, it performs the following operations:

[0089] If the grasping identification module identifies that the volume of the debris is smaller than the preset volume threshold, a missed detection instruction is output to the missed detection identification module, so that the missed detection identification module outputs the actual coordinates corresponding to the debris to the second manipulator, so that the second manipulator can perform a secondary grasping of the debris when detecting that the actual coordinates of the debris enter the secondary grasping coordinate interval.

[0090] In addition, it can be understood by a person skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the robot picking system to implement the process steps of the embodiment of the above method.

[0091] Therefore, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the various steps of the anti-missing picking method applied to the mineral material picking robot as described in the above embodiment.

[0092] The computer-readable storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0093] It should be noted that since the storage medium provided in the embodiment of the present application is the storage medium used to implement the method of the embodiment of the present application, based on the method introduced in the embodiment of the present application, the person skilled in the art can understand the specific structure and deformation of the storage medium, so it is not repeated here. All storage media used in the method of the embodiment of the present application belong to the scope of protection of this application.

[0094] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0095] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0096] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0097] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0098] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present application may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0099] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0100] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for preventing leakage of mineral material picking robots, characterized in that: Applied to the system for preventing missed picking, the system comprises a grasping identification module arranged on the ore picking robot, and a missed detection identification module arranged on the rear belt of the ore picking robot. The method comprises the following steps: S10, when the grabbing identification module detects that the actual coordinates corresponding to the debris in the mineral material on the conveyor belt enter the preset grabbing coordinate interval, but does not receive the grabbing success signal sent by the mineral material picking robot, it identifies whether the volume of the debris in the debris image is greater than or equal to the preset volume threshold, and if so, outputs an emergency braking command; S20, when the missed detection identification module detects that the actual coordinates corresponding to the mineral material enter the preset secondary identification coordinate interval, it collects the image of the mineral material and performs secondary debris identification on the debris in the mineral material according to the image, wherein a coordinate compensation algorithm is introduced in the secondary debris identification process to determine the debris grabbing coordinates.

2. The method according to claim 1, characterized in that The anti-missing picking system further includes a debris recognition module disposed on the front belt of the mineral material picking robot, and before S10, further includes: When the debris recognition module detects that the actual coordinates corresponding to the mineral material enter the preset primary recognition coordinate interval, it collects the image of the mineral material and performs a primary debris recognition on the debris in the mineral material according to the image; When it is identified that there are sundries in the image, the image coordinates of the sundries are converted into actual coordinates and output to the capture and recognition module.

3. The method according to claim 1, characterized in that The mining material picking robot further includes a second manipulator disposed behind the grabbing and identifying module, and S10 further includes: If the grasping identification module identifies that the volume of the debris is smaller than the preset volume threshold, a missed detection instruction is output to the missed detection identification module, so that the missed detection identification module outputs the actual coordinates corresponding to the debris to the second manipulator, so that the second manipulator can perform a secondary grasping of the debris when detecting that the actual coordinates of the debris enter the secondary grasping coordinate interval.

4. The method according to claim 1, characterized in that The direction of the feeding port of the conveyor belt is the front of the mineral material picking robot, and the direction of the feeding port of the conveyor belt is the rear of the mineral material picking robot.

5. A system for preventing leakage and picking, wherein the system is connected to a robot for picking up ore debris through communication, and wherein: The anti-leakage picking system comprises: The grabbing and identifying module provided on the mineral material picking robot is used to collect the image of the debris and identify whether the volume of the debris is greater than or equal to the preset volume threshold when the actual coordinates corresponding to the debris in the mineral material on the conveyor belt are detected to enter the preset grabbing coordinate interval, but the grabbing success signal sent by the mineral material picking robot is not received, and output an emergency braking instruction if the volume is greater than or equal to the preset volume threshold; The missed detection identification module arranged on the rear belt of the mineral material picking robot is used to collect the image of the mineral material and perform secondary identification of the debris in the mineral material according to the image when it is detected that the actual coordinates corresponding to the mineral material enter the preset identification coordinate interval.

6. The leak-proof picking system according to claim 5, characterized in that: The anti-leakage detection system also includes: The debris recognition module arranged on the front belt of the mineral picking robot is used to collect the image of the mineral and perform a debris recognition on the debris in the mineral according to the image when it is detected that the actual coordinates corresponding to the mineral enter the preset first recognition coordinate interval; when it is recognized that there are debris in the image, the image coordinates of the debris are converted into actual coordinates and output to the grasping and recognition module.

7. The anti-leakage detection system according to claim 5, characterized in that: The capture and identification module also includes: The missed detection instruction sending unit is used to output a missed detection instruction to the missed detection identification module when it is identified that the volume of the debris is smaller than the preset volume threshold, so that the missed detection identification module outputs the actual coordinates corresponding to the debris to the second manipulator, so that the second manipulator can perform a secondary grasping of the debris when it detects that the actual coordinates of the debris enter the secondary grasping coordinate interval.

8. A robot picking system, characterized in that: The robot picking system comprises: Mineral material picking robot; An anti-missing detection system, the anti-missing picking system comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the anti-missing picking method applied to a mineral material picking robot as described in any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for preventing missed picking applied to a mineral material picking robot as described in any one of claims 1 to 4 are implemented.

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