Servo automatic control system of gantry truss type pneumatic crushing device based on machine vision

Abstract

The invention relates to the technical field of ore, in particular to a gantry truss type pneumatic crushing device servo automatic control system based on machine vision. The system comprises a visual identification unit, a crushing action range acquisition module, a falling information acquisition module, a crushing path planning module and a crushing control unit, wherein the visual identification unit is used for acquiring image information of ore detained on a grating; based on the image information, the crushing action range acquisition module acquires easy-to-fall ores which fall without being crushed; and determining the influence range # imgabs0 # when the ores are crushed according to the position information of the plurality of ores easy to fall off. By analyzing the influence of the ore on the surrounding ore in the crushing process, the falling information of the easy-to-fall ore is obtained through the influence, and then the crushing path is planned by using the falling information, so that the crushing of part of the easy-to-fall ore is canceled, and the overall crushing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ores, and more specifically, to a servo automatic control system for a machine vision gantry truss pneumatic crushing device. Background Art

[0002] In recent years, with the booming development of cutting-edge technologies such as artificial intelligence, the Internet of Things, and big data, the mining industry is accelerating towards intelligent and digital transformation. In this process, intelligent construction has become the core engine driving the high-quality development of the mining industry. It is not only an important tuyere for current industrial upgrading but also an inevitable direction for future development.

[0003] In mining operations, crushing refers to crushing ores, especially ores stuck on the chute grating. Among them, a chute is a roadway that uses its own weight to slide ores from top to bottom. The grating is set inside the chute and is used to screen ores, intercepting larger-volume ores. After interception, the ores can be crushed by a crushing device. The volume of the crushed ores decreases, and then they start to fall through the grating.

[0004] Intelligent crushing devices mainly identify the positions where ores are stuck on the grating, then perform path planning based on the positions of multiple ores, and finally control the crushing device to crush the ores. However, during the process of pouring ores into the chute, although the volume of some ores is smaller than the filter holes of the grating, they are also likely to come into contact with other small-volume ores, thus getting stuck in the filter holes or on the grating, which also forms a retention state. But this retention state will be broken when other ores are crushed, that is, the vibration generated during the crushing of other ores will shake the small-volume ores off the filter holes or the grating. Currently, intelligent crushing devices usually do not identify ores in this retention state. That is to say, regardless of the type of retention, the intelligent crushing device will crush the ore, thus affecting the crushing efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide a servo automatic control system for a machine vision gantry truss pneumatic crushing device, which identifies the influence state of ores during crushing and uses the vibration force generated by multiple crushings to force some ores to fall automatically, thus solving the problem raised in the above background art, that is, currently, intelligent crushing devices usually do not identify ores in this retention state. That is to say, regardless of the type of retention, the intelligent crushing device will crush the ore, thus affecting the crushing efficiency.

[0006] To achieve the above purpose, the servo automatic control system for the machine vision gantry truss pneumatic crushing device includes a visual recognition unit, a crushing action range acquisition module, a falling information acquisition module, a crushing path planning module, and a crushing control unit, where: The visual recognition unit is used to obtain the image information of the ore remaining on the grille; Based on the image information, the crushing action range acquisition module acquires the easily-dropping ore that falls without being crushed; and determines the influence range of the ore when being crushed according to the position information of multiple easily-dropping ores ; The dropping information acquisition module establishes an information acquisition platform to acquire the characteristic information and dropping information of the easily-dropping ore; The crushing path planning module plans the crushing paths of all the ores remaining on the grille according to the influence range , characteristic information and dropping information; in the paths planned by the crushing path planning module, the priority of crushing the easily-dropping ore is lower than that of crushing other ores; The crushing control unit drives and controls the crushing device according to the planned path.

[0007] In the above technical solution, since some ores are prone to dropping, the easily-dropping ore is identified by crushing other ores, so as to optimize the crushing path. When crushing is required, by first crushing the reference ore with a large volume, the vibration force generated by the crushing acts on the easily-dropping ore. After such path planning, some easily-dropping ores directly drop under the vibration action, thus reducing the number of crushing times.

[0008] On this basis, the method steps for the crushing action range acquisition module to acquire the easily-dropping ore are as follows: S200A. Obtain all the ores remaining on the grille through the image information; S200B. Mark the ore to be crushed as the reference ore, and observe the state information of other ores remaining on the grille during the crushing process of the reference ore; S200C. When other ores drop from the grille, mark the dropped ores as easily-dropping ores.

[0009] The method steps for the crushing action range acquisition module to determine the influence range are as follows: S200D. Obtain the distance between the reference ore and the easily-dropping ore during the crushing process of the reference ore; S200E. Repeatedly execute S200D according to the preset number of times to obtain multiple distances; S200F. Mark the maximum distance among the multiple distances as the influence range when the reference ore is crushed .

[0010] The method steps for the dropping information acquisition module to acquire the characteristic information are as follows: S300A. Obtain the image information of the easily-dropping ore before dropping; S300B. Repeatedly execute S300A to obtain multiple pieces of image information; S300C. Identify the states of the easily fallen ores in the multiple pieces of image information to obtain the range of the number of ores that make up the easily fallen ores and the range of the ore area.

[0011] The method steps for the falling information acquisition module to acquire falling information are as follows: S300D. Acquire the number of vibrations received by the easily fallen ores in the image information; S300E. Obtain the range of the number of vibrations received through the multiple pieces of image information .

[0012] The method steps for the crushing path planning module to plan the path are as follows: S400A. Identify all the ores on the grille based on the characteristic information of the easily fallen ores stored historically to obtain the distribution positions of the easily fallen ores ; S400B. Obtain the influence range when the reference ore is crushed , when the influence range covers the distribution position , it indicates that there is an association between the easily fallen ore and the reference ore; S400C. Calculate the number of reference ores associated with the easily fallen ores ; when the number is greater than or equal to the range of the number of vibrations received , cancel the crushing of the easily fallen ores; when the number is less than the range of the number of vibrations received , adjust the priority of crushing the easily fallen ores to be less than the priority of crushing the reference ores.

[0013] The above content details the marking of the reference ores, the identification of the easily fallen ores, and the planning of the path. Through the content recorded above, the crushing of some easily fallen ores can be cancelled, which can improve the crushing efficiency on the one hand and reduce the working duration of the crushing device on the other hand.

[0014] In another technical solution, the crushing path planning module also executes the following method steps: S400D. Obtain the stacking state between the easily fallen ores and the reference ores; S400E. When stacking occurs between the easily fallen ores and the reference ores, adjust the crushing priority of the stacked reference ores to be less than the crushing priority of other reference ores.

[0015] In this technical solution, when crushing other reference ores, by lowering the crushing priority of the ores that generate stacking, the easily falling ores stacked on the top are likely to break away from the top of the reference ores under the action of vibration, realizing the crushing operation of the stacked ores at a single height state.

[0016] Furthermore, the crushing device includes a gantry truss, a driving mechanism, and a pneumatic breaker. Among them, the driving mechanism is connected to the gantry truss and the pneumatic breaker, and the driving mechanism receives the control instructions of the crushing control unit to control the position and working state of the pneumatic breaker.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In the servo-automatic control system of the gantry truss type pneumatic crushing device based on machine vision, by analyzing the influence of the ore on the surrounding ores during the crushing process, obtaining the falling information of the easily falling ores through this influence, and then using the falling information to plan the crushing path, thereby canceling the crushing of some easily falling ores and improving the overall crushing efficiency.

[0018] 2. In the servo-automatic control system of the gantry truss type pneumatic crushing device based on machine vision, when facing ores with a stacking phenomenon, by adjusting the crushing order of the reference ores, the easily falling ores stacked on the top are caused to fall, so that the crushing device can complete the crushing operation of the stacked ores at a single height state, thereby further improving the crushing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a block diagram of the overall module of the present invention; Figure 2 It is a schematic diagram of the state of the ore of the present invention Figure 1 ; Figure 3 It is a schematic diagram of the state of the ore of the present invention Figure 2 ; Figure 4 It is a schematic diagram of the state of the ore of the present invention Figure 3 ; Figure 5 It is a schematic diagram of the state of the ore of the present invention Figure 4 ; Figure 6 It is a schematic structural diagram of the crushing device of the present invention.

[0020] The meanings of the various reference numerals in the figure are as follows: 100, visual recognition unit; 200, crushing action range acquisition module; 300, falling information acquisition module; 400, crushing path planning module; 500, crushing control unit; 600, gantry truss; 601, pneumatic breaker. DETAILED DESCRIPTION OF THE INVENTION

[0021] Next, in combination with the accompanying drawings in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0022] In view of the problem that the current intelligent crushing device crushes the retained ore indiscriminately, thus affecting the crushing efficiency, the present invention provides a servo automatic control system for a machine vision gantry truss pneumatic crushing device, as Figure 1 shown, which includes a visual recognition unit 100, a crushing action range acquisition module 200, a falling information acquisition module 300, a crushing path planning module 400, and a crushing control unit 500, where: The visual recognition unit 100 is used to obtain the image information of the ore retained on the grille; Based on the image information, the crushing action range acquisition module 200 acquires the easily falling ore that has not been crushed and fallen; and determines the influence range of the ore when it is crushed according to the position information of multiple easily falling ores ; The falling information acquisition module 300 establishes an information acquisition platform to acquire the characteristic information and falling information of the easily falling ore; The crushing path planning module 400 plans the crushing paths of all the ores retained on the grille according to the influence range , characteristic information, and falling information; in the planned paths, the priority of crushing the easily falling ore is lower than the priority of crushing other ores; The crushing control unit 500 drives and controls the crushing device according to the planned path.

[0023] Specifically, the method steps for the crushing action range acquisition module 200 to acquire the easily falling ore and determine the influence range are as follows: S200A. Obtain all the ores retained on the grille through the image information; S200B. Mark the ore to be crushed as the reference ore, and observe the state information of other ores retained on the grille during the crushing process of the reference ore; S200C. When other ores fall from the grille, mark the fallen ores as easily falling ores; Specifically, as Figure 2As shown in the figure, there are two ores with volumes larger than the grid filter holes and four ores with volumes smaller than the grid filter holes in the figure. It can be found that the four small-volume ores are squeezed and piled up together, thus staying on the grid. Then, when the visual recognition unit 100 obtains the picture information on the grid, first, the large-volume ore, i.e., the reference ore, is crushed; then, when the crushing device crushes the reference ore, the vibration generated by the crushing will be transmitted through the grid to the other large-volume ore and the four small-volume ores. When the four small-volume ores move outward and become dispersed, at this time, the four small-volume ores will drop. Therefore, when these four small-volume ores drop, mark these four small-volume ores as easily dropped ores; then: S200D. Obtain the distance between the reference ore and the easily dropped ore during the crushing process of the reference ore; S200E. Repeatedly execute S200D according to a preset number of times to obtain multiple distances; S200F. Mark the farthest distance among the multiple distances as the influence range when the reference ore is crushed .

[0024] Here, refer to Figure 3 shown Figure 3 In the upper half of the figure in Figure 3 , when the reference ore is crushed, the distance between the easily dropped ore and the reference ore is L1; in the lower half of the figure in Figure 3 , the distance between the easily dropped ore and the reference ore is L2; it can be found that in these two sets of sample data, the distance L2 in sample 2 is greater than the distance L2 in sample 1. Therefore, mark the farthest distance L2 as the influence range when the reference ore is crushed , which also means that when the easily dropped ore is within the influence range of the reference ore (i.e., the distance between the easily dropped ore and the reference ore is less than the distance L2), the vibration when the reference ore is crushed will cause the easily dropped ore to drop.

[0025] It should be noted that Figure 3 only two sets of samples are shown, and the number of samples in actual use is preset by the staff. It is understood that the more the number of samples, the more accurate the influence range .

[0026] Considering that the distribution of ores is random during the process of pouring the ores into the ore pass, therefore, the composition state of the easily dropped ores will change during each pouring process, and such changes will also affect the subsequent recognition. For this reason, the method steps for the dropping information acquisition module 300 to collect characteristic information are as follows: S300A. Obtain the image information of the easily-falling ore before it falls; S300B. Repeatedly execute S300A to obtain multiple pieces of image information; S300C. Identify the state of the easily-falling ore in the multiple pieces of image information to obtain the range of the number of ores that make up the easily-falling ore and the range of the ore area.

[0027] Continue to refer to Figure 3 , the first image obtained through S300A is sample 1, and the second image obtained is sample 2. It can be found that the number of ores and the ore area that make up the easily-falling ore in these two images are different, but both types of easily-falling ores will fall under the action of vibration. Assume that the number of ores that make up the easily-falling ore in sample 1 is 4 and the ore area is 110 square centimeters; assume that the number of ores that make up the easily-falling ore in sample 2 is 3 and the ore area is 80 square centimeters. At this time, the range of the number of ores is between 3 and 4 (including 3 and 4), and the range of the ore area is between 80 square centimeters and 110 square centimeters (including 80 square centimeters and 110 square centimeters).

[0028] In this way, as long as the subsequent ore state meets the above range, the ore can be marked as an easily-falling ore.

[0029] At the same time, the falling of the easily-falling ore is also related to the duration of the vibration effect. For this reason, the method steps for the falling information acquisition module 300 to collect the falling information are as follows: S300D. Collect the number of vibrations of the easily-falling ore in the image information; S300E. Obtain the range of the number of vibrations through multiple pieces of image information .

[0030] Still refer to Figure 3 , when breaking a reference ore, record the number of vibrations of the easily-falling ore as 1. Assume that in sample 1, the easily-falling ore falls after breaking two reference ores, then the number of vibrations of the easily-falling ore in sample 1 is 2; assume that in sample 2, the easily-falling ore falls after breaking one reference ore, then the number of vibrations of the easily-falling ore in sample 2 is 1. At this time, the range of the number of vibrations of the easily-falling ore is between 1 and 2 (including 1 and 2).

[0031] That is to say, when new ores are poured onto the grille, if there are easily-falling ores on the grille, at this time, as long as the number of reference ores on the grille is greater than or equal to 2, it also indicates that under the vibration effect of breaking two reference ores, the easily-falling ore will fall automatically, so there is no need to break the easily-falling ore anymore.

[0032] In addition, the method steps of the crushing path planning module 400 for path planning are as follows: S400A. Identify all the ores on the grille based on the characteristic information of the easily-falling ores stored historically, and obtain the distribution positions of the easily-falling ores ; S400B. Obtain the influence range when the reference ore is crushed , when the influence range covers the distribution position , it indicates that there is an association between the easily-falling ore and the reference ore; S400C. Calculate the number of reference ores associated with the easily-falling ore ; when the number is greater than or equal to the interval range of the number of vibrations received , it indicates that multiple vibrations during the crushing of the reference ore can cause the easily-falling ore to fall. At this time, the crushing of the easily-falling ore is cancelled; when the number is less than the interval range of the number of vibrations received , it indicates that the number of vibrations during the crushing of the reference ore cannot cause the easily-falling ore to fall. At this time, the priority of crushing the easily-falling ore is adjusted to be less than the priority of crushing the reference ore.

[0033] Specifically, referring to Figure 4 , assume that the number of vibrations received by the easily-falling ores 1 and 2 is 1. That is to say, the easily-falling ores 1 and 2 will fall when receiving one vibration; assume that the easily-falling ore 1 is within the influence range of the reference ores 1 and 2. At this time, the vibration generated when crushing the reference ore 1 or 2 is sufficient to force the easily-falling ore 1 to fall; assume that the easily-falling ore 2 is not within the influence range of the reference ores 1 and 2. At this time, the vibration generated when crushing the reference ore 1 or 2 cannot cause the easily-falling ore 2 to fall. Therefore, when performing path planning, there is no need to crush the easily-falling ore 1. At this time, only need to crush the reference ores 1 and 2 first, and then crush the easily-falling ore 2. The schematic diagram of the planned path refers to the dashed arrows in Figure 4 .

[0034] Of course, path planning may not be carried out according to the priority, or the optimal route can be selected through the position of the crushing device to plan the crushing path.

[0035] It can be seen that by analyzing the influence of the ore on the surrounding ores during the crushing process, obtaining the falling information of the easily-falling ore through this influence, and then using the falling information to plan the crushing path, so as to cancel the crushing of some easily-falling ores and improve the overall crushing efficiency.

[0036] Moreover, a phenomenon often occurs during the crushing process, specifically as Figure 5 shown. The easily-falling ore is stacked above the reference ore, and the height of the superposition of these two ores is relatively high. For the conventional crushing method, it is necessary to first crush the easily-falling ore at height a, and then crush the reference ore at height b. However, the problem is that the easily-falling ore is basically composed of multiple small ores. When the crushing device contacts the easily-falling ore, the external force generated by the contact easily causes the easily-falling ore to fall from the reference ore. Then, the crushing operation of the crushing device at height a at this time is a waste, thus affecting the crushing efficiency. Therefore, the crushing path planning module 400 also executes the following method steps: S400D. Obtain the stacking state between the easily-falling ore and the reference ore; S400E. When stacking occurs between the easily-falling ore and the reference ore, adjust the crushing priority of the stacked reference ore to be lower than that of other reference ores.

[0037] When the ore is stacked into Figure 5 such a state, the crushing priority of this ore is adjusted to be behind other reference ores. In this way, when other reference ores are crushed, the easily-falling ore stacked on the top is easily separated from the top of the reference ore under the action of vibration. At this time, then crush the Figure 5 reference ore in it.

[0038] Therefore, when facing ores with a stacking phenomenon, by adjusting the crushing order of the reference ores, the easily-falling ore stacked on the top is caused to fall, so that the crushing device can complete the crushing operation of the stacked ores in a single height state, thereby further improving the crushing efficiency.

[0039] Next, the crushing device involved in the present invention will be described in detail. As Figure 6 shown, the crushing device includes a gantry truss 600, a driving mechanism, and a pneumatic breaker 601. Among them, the driving mechanism is connected to the gantry truss 600 and the pneumatic breaker 601, and the driving mechanism receives the control instruction of the crushing control unit 500 to control the position and working state of the pneumatic breaker 601.

[0040] The structure of the gantry truss 600 is as Figure 6 shown. Specifically during work, first adjust the position of the pneumatic breaker 601, then control the pneumatic breaker 601 to move down to contact the ore, and finally control the pneumatic breaker 601 to crush the ore on the grille.

[0041] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A servo automatic control system for a machine vision gantry truss pneumatic crushing device, characterized in that: It includes a visual recognition unit (100), a crushing action range acquisition module (200), a falling information acquisition module (300), a crushing path planning module (400), and a crushing control unit (500), where: The visual recognition unit (100) is used to obtain the image information of the ore remaining on the grille. Based on the image information, the breaking action range acquisition module (200) acquires the easily-falling ores that fall without being broken; and determines the influence range of the ores when being broken according to the position information of multiple easily-falling ores ; The falling information acquisition module (300) establishes an information acquisition platform to acquire the characteristic information and falling information of the easily falling ore. The crushing path planning module (400) plans the crushing paths of all the ores remaining on the grille according to the influence range , characteristic information, and dropping information; The crushing control unit (500) drives and controls the crushing device according to the planned path.

2. The servo automatic control system of the machine vision gantry truss pneumatic crushing device according to claim 1, characterized in that: In the path planned by the crushing path planning module (400), the priority of crushing the easily falling ore is lower than the priority of crushing other ores.

3. The servo automatic control system of the machine vision gantry truss pneumatic crushing device according to claim 1, characterized in that: The method steps for the crushing action range acquisition module (200) to acquire the easily falling ore are as follows: S200A. Obtain all the ores remaining on the grille through the image information. S200B. Mark the ore to be crushed as the reference ore, and observe the state information of other ores remaining on the grille during the crushing process of the reference ore. S200C. When other ores fall from the grille, mark the fallen ores as easily falling ores.

4. The servo automatic control system of the machine vision gantry truss pneumatic crushing device according to claim 3, wherein: The fragmentation effect range acquisition module (200) determines the influence range The method steps are as follows: S200D. Obtain the distance between the reference ore and the easily falling ore during the crushing process. S200E. Repeatedly execute S200D according to the preset number of times to obtain multiple distances. S200F. Mark the farthest distance among multiple distances as the influence range when the reference ore is broken. .

5. The servo automatic control system of the machine vision gantry truss pneumatic crushing device according to claim 4, characterized in that: The method steps for the falling information acquisition module (300) to acquire the characteristic information are as follows: S300A. Obtain the image information of the easily falling ore before it falls. S300B. Repeatedly execute S300A to obtain multiple pieces of image information. S300C. Identify the state of the easily falling ore in the multiple pieces of image information to obtain the interval range of the number of ores and the interval range of the ore area that make up the easily falling ore.

6. The servo automatic control system of the machine vision gantry truss pneumatic crushing device according to claim 5, characterized in that: The method steps for the falling information acquisition module (300) to acquire the falling information are as follows: S300D. Acquire the number of vibrations received by the easily falling ore in the image information. S300E. Obtaining the range of the number of vibrations from multiple image information .

7. The servo automatic control system of the machine vision gantry truss pneumatic crushing device according to claim 6, characterized in that: The method steps for the crushing path planning module (400) to plan the path are as follows: S400A. Identify all the ores on the grille based on the characteristic information of the easily fallen ores stored historically, and obtain the distribution positions of the easily fallen ores ; S400B. Obtain the influence range when the reference ore is broken , when the influence range covers the distribution location , it indicates that there is a correlation between the easily fallen ore and the reference ore; S400C, calculate the number of reference ores associated with the easily fallen ores ; When the quantity is greater than or equal to the interval range of the number of times of receiving vibration cancel the crushing of the easily fallen ores; When the quantity is less than the interval range of the number of vibrations the priority of the broken and easily fallen ore is adjusted to be lower than that of the reference broken ore.

8. The servo automatic control system of the machine vision gantry truss pneumatic crushing device according to claim 7, characterized in that: The crushing path planning module (400) also executes the following method steps: S400D. Obtain the stacking state between the easily falling ore and the reference ore. S400E. When stacking occurs between the easily falling ore and the reference ore, adjust the crushing priority of the stacked reference ore to be less than the crushing priority of other reference ores.

9. The servo automatic control system of the machine vision gantry truss pneumatic crushing device according to claim 1, wherein: The crushing device includes a gantry truss (600), a driving mechanism, and a pneumatic breaker (601). Among them, the driving mechanism is connected to the gantry truss (600) and the pneumatic breaker (601), and the driving mechanism receives the control instruction of the crushing control unit (500) to control the position and working state of the pneumatic breaker (601).

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