Lead brick feeding system and method based on multi-sensor sensing fusion

Abstract

The invention relates to the technical field of lead brick smelting, and provides a lead brick putting system based on multi-sensor sensing fusion, which comprises a transfer robot, a clamping assembly, an image processing assembly, a force control module and a fine adjustment assembly, the image processing assembly is installed on one side of the carrying robot to recognize the characteristics and the surface temperature of the lead bricks and generate a lead brick map. The clamping assembly is installed at the tail end of the carrying robot through the force control module so as to clamp lead bricks according to lead brick marks in a lead brick map, and the force control module senses the mass center of the lead bricks on the clamping assembly. And the fine adjustment assembly is installed on the clamping assembly and drives the fine adjustment assembly to perform fine adjustment on the position of the lead brick according to the sensing result of the force control module. According to the technical scheme, self-adaptive clamping of the lead brick can be achieved, and the situation that the lead brick deforms or falls off due to the fact that the clamping force on the lead brick is too large or too small is prevented; and the clamping stability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lead brick smelting, and particularly relates to a lead brick feeding system and method based on multi-sensor perception fusion. Background Art

[0002] In the comprehensive recovery and smelting operation of precious lead blocks, it is necessary to transport the precious lead blocks (lead bricks) to the furnace mouth of the smelting furnace, and then use tools (such as push rods) to push the precious lead blocks into the interior of the smelting furnace hearth. Since the size of a single precious lead block is about 300×200×80 mm and weighs 45-50 kg, and more than 150 blocks are charged into the furnace for single smelting. In the prior art, the handling and pushing operations of precious lead blocks are mainly carried out manually by workers. On the one hand, it will increase the labor intensity of workers, and there are also great potential safety hazards to personal safety during the handling process. On the other hand, the concentration of harmful gases generated during the smelting process of precious lead blocks is high, and the smoke and dust in the environment are heavy. Workers are easily affected by their physical health when staying in the harmful gas environment for a long time.

[0003] Based on the weight and size of precious lead blocks, current automation solutions mostly use overhead cranes in combination with grippers, as Figure 1 shown, but since it is impossible to ensure the high consistency of the size of lead blocks in the process, the accuracy and stability that can be grasped by the gripper method are very low; in view of this, the present invention is proposed. Summary of the Invention

[0004] In order to solve the problems of high labor intensity and potential personal safety during manual handling of lead bricks, the present invention provides a lead brick feeding system and method based on multi-sensor perception fusion.

[0005] In order to solve the above technical problems, the present invention provides a lead brick feeding system based on multi-sensor perception fusion. The lead brick feeding system includes a handling robot, a clamping assembly, an image processing assembly, a force control module, and a fine adjustment assembly.

[0006] The image processing assembly is installed on one side of the handling robot to identify the lead brick features and the surface temperature of the lead brick and generate a lead brick map.

[0007] The clamping assembly is installed at the end of the handling robot through the force control module to clamp the lead brick according to the lead brick mark in the lead brick map, and sense the centroid of the lead brick on the clamping assembly through the force control module.

[0008] The fine adjustment assembly is installed on the clamping assembly and drives the fine adjustment assembly to finely adjust the position of the lead brick according to the sensing result of the force control module.

[0009] In an embodiment of the present invention, the clamping assembly includes a clamping driving member, a connecting base plate, and clamping jaws symmetrically arranged on both sides of the connecting base plate. The clamping driving member is connected to both clamping jaws simultaneously to drive the two clamping jaws to move relative to each other along the connecting base plate. The clamping jaws are L-shaped, the bottom surface of the clamping jaws supports the lead bricks, and the side surface of the clamping jaws clamps the lead bricks.

[0010] In an embodiment of the present invention, the clamping jaw includes an L-shaped sliding portion and an L-shaped hinged portion. The sliding portion is slidably connected to the connecting base plate. The bottom of the hinged portion is provided with a hinge shaft hinged to the bottom of the sliding portion. The fine-tuning assembly is installed on the connecting base plate and hinged to the top of the hinged portion to drive the hinged portion to rotate around the hinge shaft, and drive the lead brick to fit with the fine-tuning assembly. The fine-tuning assembly fine-tunes the position of the lead brick according to the centroid of the lead brick sensed by the force control module.

[0011] In an embodiment of the present invention, the fine-tuning assembly includes a fine-tuning base, a fine-tuning roller, and a fine-tuning telescopic rod. The fine-tuning base is fixed to the bottom of the connecting base plate. The fine-tuning roller is rotatably connected to the bottom of the fine-tuning base. The fine-tuning telescopic rods are arranged on both sides of the fine-tuning base and are hinged to the corresponding side of the hinged portion. After the telescopic rod extends, it drives the hinged portion to rotate around the hinge shaft and makes the top surface of the lead brick fit with the fine-tuning roller. The fine-tuning roller rotates according to the centroid of the lead brick sensed by the force control module and drives the lead brick to adjust its position.

[0012] In an embodiment of the present invention, the fine-tuning assembly further includes a cross bar. The side surface of the hinged portion is provided with a first chute and a second chute. The cross bar is located in the second chute. The end of the fine-tuning telescopic rod is inserted into the first chute and fixedly connected to the cross bar. When the fine-tuning telescopic rod expands and contracts, it drives the cross bar to slide in the second chute and makes the hinged portion rotate around the hinge shaft.

[0013] In an embodiment of the present invention, the bottom surface of the hinged portion is provided with a first inclined surface, and balls are arranged on the first inclined surface. The height of the balls is lower than the height of the bottom surface of the hinged portion to form a gap between the lead brick and the balls when the hinged portion supports the lead brick;

[0014] The side surface of the hinged portion is provided with a second inclined surface. When the hinged portion rotates around the hinge shaft to the first position, the second inclined surface fits with the side surface of the lead brick. When the hinged portion rotates around the hinge shaft to the second position, the first inclined surface is parallel to the bottom surface of the lead brick and makes the balls fit with the bottom surface of the lead brick, and at the same time, the fine-tuning roller fits with the top surface of the lead brick.

[0015] The image processing component includes a 3D camera, an infrared thermal imager, and an image processing module. The 3D camera is configured to collect images of lead bricks in the workshop and identify the characteristics of the lead bricks. The infrared thermal imager is configured to collect the surface temperature of the lead bricks in real time according to the identified characteristics of the lead bricks. The image processing module is configured to calculate the thermal expansion size of the lead bricks by combining the characteristics of the lead bricks and the surface temperature of the lead bricks and generate a lead brick map.

[0016] To solve the problems in the prior art, the present invention also provides a method for placing lead bricks based on multi-sensor perception fusion, which is applied to the above-mentioned lead brick placing system. The method includes:

[0017] Step S1: The image processing component combines the lead brick image and the surface temperature of the lead brick to generate a lead brick map and mark the lead bricks in the lead brick map;

[0018] Step S2: The handling robot drives the fixture component to clamp the lead bricks according to the lead brick marks, and the force control module senses the centroid of the lead bricks on the clamping component;

[0019] Step S3: The fine-tuning component is installed on the clamping component and drives the fine-tuning component to fine-tune the position of the lead bricks according to the sensing result of the force control module.

[0020] In an embodiment of the present invention, in the step of the image processing component combining the lead brick image and the surface temperature of the lead brick to generate a lead brick map and mark the lead bricks in the lead brick map, it further includes:

[0021] Step S11: Collect images of lead bricks in the workshop through a 3D camera and identify the characteristics of the lead bricks;

[0022] Step S12: Collect the surface temperature of the lead bricks in real time through the infrared thermal imager according to the identified characteristics of the lead bricks;

[0023] Step S13: Take a corner point in the characteristics of the lead bricks as a reference point, and generate preliminary three-dimensional coordinates of the lead bricks at the reference point in combination with the standard lead brick size;

[0024] Step S14: Calculate the thermal expansion size of the lead bricks according to the thermal expansion coefficient and the surface temperature of the lead bricks, and construct actual three-dimensional coordinates of the lead bricks by combining the preliminary three-dimensional coordinates of the lead bricks and the thermal expansion size;

[0025] Step S15: Generate a lead brick map according to the actual three-dimensional coordinates of the lead bricks.

[0026] In an embodiment of the present invention, in the step of calculating the thermal expansion size of the lead bricks according to the expansion coefficient and the surface temperature of the lead bricks, and constructing the three-dimensional coordinates of the lead bricks by combining the three-dimensional coordinates of the corner points and the thermal expansion size, it further includes:

[0027] Step S141: Update the surface temperature of the lead brick within a preset time period, and update the thermal expansion size of the lead brick in combination with the expansion coefficient and the updated surface temperature of the lead brick.

[0028] Step S142: Update the actual three-dimensional coordinates of the lead brick in combination with the preliminary three-dimensional coordinates of the lead brick and the updated thermal expansion size.

[0029] Step S143: Update the lead brick map according to the updated actual three-dimensional coordinates of the lead brick.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] By using the image processing component to identify all the lead brick features and the surface temperature of the lead bricks in the workshop and generate a lead brick map, and at the same time mark each lead brick in the map, so that the handling robot can drive the clamping component to grab the lead brick according to the lead brick mark, without the need for a separate lead brick identification step every time the lead brick is grabbed, improving the handling efficiency of the lead brick. When the image processing component identifies the lead brick, it takes the change in the thermal expansion size of the lead brick as one of the factors during the lead brick handling, so that the handling robot can drive the clamping component to perform adaptive clamping according to the change in the thermal expansion size of different lead bricks. On the one hand, it can prevent excessive clamping force on the lead brick from causing deformation of the lead brick, and on the other hand, it can also improve the clamping stability of the lead brick.

[0032] By setting the force control module between the clamping component and the end of the handling robot, after the clamping component clamps the lead brick, the force control module senses the centroid of the lead brick, and the fine-tuning component fine-tunes the position of the lead brick according to the centroid of the lead brick, thereby further improving the clamping stability of the clamping component to the lead brick.

[0033] Other features and advantages of the embodiments of the present invention will be described in the subsequent specific implementation embodiments section. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation manners of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific implementation manners or the prior art. Obviously, the following drawings are some implementation manners of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is a schematic diagram of the on-site of lead brick handling showing the prior art as indicated in the present application;

[0036] Figure 2 It is a schematic three-dimensional structure diagram of the lead brick feeding system provided by the embodiment of the present application in the smelting workshop;

[0037] Figure 3For Figure 1 The enlarged view of part A in

[0038] Figure 4 The first state structural schematic diagram of the clamping component and the fine-tuning component in the lead brick feeding system provided by the embodiment of the present application;

[0039] Figure 5 The second state structural schematic diagram of the clamping component and the fine-tuning component in the lead brick feeding system provided by the embodiment of the present application;

[0040] Figure 6 The step flow chart of the lead brick feeding method provided by the embodiment of the present application;

[0041] Figure 7 The further step flow chart of step S1 in the lead brick feeding method provided by the embodiment of the present application;

[0042] Figure 8 The further step flow chart of step S14 in the lead brick feeding method provided by the embodiment of the present application.

[0043] Among them, the reference numerals are explained as follows:

[0044] 1. Lead brick feeding system; 2. Lead brick; 11. Handling robot; 12. Clamping component; 13. Image processing component; 14. Force control module; 15. Fine-tuning component; 121. Clamping driving member; 122. Connecting bottom plate; 123. Jaw; 1231. Sliding part; 1232. Hinge part; 1233. Hinge shaft; 1234. First chute; 1345. Second chute; 151. Fine-tuning base; 152. Fine-tuning roller; 153. Fine-tuning telescopic rod; 154. Cross bar; 155. First inclined surface; 156. Second inclined surface; 157. Ball. Detailed implementation manners

[0045] For the descriptions of the terms "second direction", "first direction", "third direction", "inner", "outer", etc. indicating the orientation or positional relationship that appear below, without special instructions, they are understood as based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so they cannot be understood as a limitation to the present application.

[0046] In addition, for the features limited by "first" and "second" only for descriptive purposes, they cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. The features limited by "first" and "second" may explicitly or implicitly include at least one of the limited features. For the description of "multiple", generally it means at least including two, such as two, three, etc., unless otherwise clearly and specifically limited.

[0047] In this application, unless otherwise clearly specified and defined, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection, it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] In the description of this specification, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0049] In the prior art, due to the problems of high labor intensity and potential impact on personal safety when manually handling lead bricks, with the development of industrial intelligent technology, some manufacturers have considered using industrial robots to replace manual labor in lead brick handling operations. Since the placement positions of lead bricks in the smelting workshop are relatively disorderly, ordinary industrial robots need to be equipped with industrial cameras to identify the positions of lead bricks in order to perform automated grasping and automated handling operations on lead bricks. However, the high-temperature environment in the smelting workshop and the relatively high coefficient of thermal expansion of lead bricks compared to other metals, which is 29.3×10^-6 / ℃, means that for every 1℃ increase in temperature, the length of lead will increase by 0.00293% of its original length. And the placement positions of lead bricks in the workshop will also cause differences in the surface temperatures of lead bricks. That is, the surface temperature of lead bricks near the smelting furnace mouth is relatively high, while the surface temperature of lead bricks far from the smelting furnace mouth is relatively low. As a result, different degrees of thermal expansion changes will occur in lead bricks at different positions.

[0050] When using an industrial camera to identify the position of lead bricks, the accurate identification of the lead brick position is often directly proportional to the identification time. When there are a large number of lead bricks in the workshop, the identification efficiency of the lead bricks will be lower, which will in turn affect the handling efficiency of the industrial robot. To improve the handling efficiency, most manufacturers will simply ignore the thermal expansion coefficient of the lead bricks and perform lead brick grasping and handling operations after simply identifying the position of the lead bricks using an industrial camera. When the industrial robot grasps the lead bricks, for lead bricks with a large thermal expansion size, their hardness will also soften, resulting in deformation of the lead bricks during grasping and affecting the smelting effect of the lead bricks. For lead bricks with a small thermal expansion size or no thermal expansion, the grasping stability of the lead bricks will deteriorate, making it easy for the industrial robot to drop the lead bricks during the process of handling the lead bricks.

[0051] Referring to Figure 2 and Figure 5 , the present invention provides a lead brick 2 placement system based on multi-sensor perception fusion to solve the problems in the prior art. The placement system includes a handling robot 11, a clamping component 12, an image processing component 13, a force control module 14, and a fine-tuning component 15.

[0052] The image processing component 13 is installed on one side of the handling robot 11 to identify the lead brick features and the surface temperature of the lead bricks and generate a lead brick map.

[0053] The clamping component 12 is installed at the end of the handling robot 11 through the force control module 14 to clamp the lead brick 2 according to the lead brick mark in the lead brick map, and the centroid of the lead brick on the clamping component 12 is sensed through the force control module 14.

[0054] The fine-tuning component 15 is installed on the clamping component 12 and drives the fine-tuning component 15 to finely adjust the position of the lead brick 2 according to the sensing result of the force control module 14.

[0055] When performing the lead brick 2 handling operation, first, the image processing component 13 collects the lead brick 2 image and identifies the lead brick features from the lead brick 2 image, and then collects the surface temperature of the lead brick according to the lead brick features, so as to calculate the thermal expansion size of the lead brick 2 by combining the lead brick features and the surface temperature of the lead brick. The change in the thermal expansion size of the lead brick 2 is used as one of the factors during the handling of the lead brick 2, so that the handling robot 11 can drive the clamping component 12 to perform adaptive clamping according to the change in the thermal expansion size of different lead bricks 2. On the one hand, it can prevent excessive clamping force on the lead brick 2 from causing deformation of the lead brick 2, and on the other hand, it can also improve the clamping stability of the lead brick 2. After the image processing component 13 identifies all the lead brick features and the surface temperature in the workshop, it generates a lead brick map according to the position of the lead brick features and marks each lead brick 2 in the map, so that the handling robot 11 can drive the clamping component 12 to grasp the lead brick 2 according to the lead brick mark, without the need to perform a separate lead brick 2 identification step every time the lead brick 2 is grasped, improving the handling efficiency of the lead brick 2.

[0056] By arranging the force control module 14 at the position between the clamping assembly 12 and the end of the handling robot 11, after the clamping assembly 12 clamps the lead brick 2, the force control module 14 senses the centroid of the lead brick 2, and the fine adjustment assembly 15 fine-adjusts the position of the lead brick 2 according to the centroid of the lead brick 2, thereby further improving the clamping stability of the clamping assembly 12 for the lead brick 2.

[0057] Referring to Figure 3 , in the embodiment of the present invention, the clamping assembly 12 includes a clamping drive member 121, a connecting bottom plate 122, and clamping jaws 123 symmetrically arranged on both sides of the connecting bottom plate 122. The clamping drive member 121 is simultaneously connected to the two clamping jaws 123 to drive the two clamping jaws 123 to move relative to each other along the connecting bottom plate 122. The clamping jaws 123 are L-shaped, the bottom surface of the clamping jaws 123 supports the lead brick 2, and the clamping side clamps the lead brick 2.

[0058] Among them, the clamping drive member 121 can adopt a double-headed cylinder. The output ends on both sides of the double-headed cylinder are respectively connected to the clamping jaws 123 on both sides to drive the clamping jaws 123 on both sides to perform relative movement along the connecting bottom plate 122, so that the two clamping jaws 123 cooperate with each other to achieve the clamping effect on the lead brick 2. Since the clamping jaws 123 are L-shaped, when the clamping jaws 123 clamp the lead brick 2, the bottom surface of the clamping jaws 123 can be used to support the lead brick 2, and the clamping side clamps the lead brick 2, which can not only avoid excessive clamping force on the lead brick 2 resulting in deformation of the lead brick 2, but also prevent the lead brick 2 from falling during the handling of the lead brick 2, improving the clamping stability of the lead brick 2.

[0059] Referring to Figures 4 to 5 , in the embodiment of the present invention, the clamping jaw 123 includes an L-shaped sliding portion 1231 and an L-shaped hinged portion 1232. The sliding portion 1231 is slidably connected to the connecting bottom plate 122. The bottom of the hinged portion 1232 is provided with a hinge shaft 1233 hingedly connected to the bottom of the sliding portion 1231. The fine adjustment assembly 15 is installed on the connecting bottom plate 122 and is hingedly connected to the top of the hinged portion 1232 to drive the hinged portion 1232 to rotate around the hinge shaft 1233, and drive the lead brick 2 to fit with the fine adjustment assembly 15. The fine adjustment assembly 15 fine-adjusts the position of the lead brick 2 according to the centroid of the lead brick sensed by the force control module 14.

[0060] After the force control module 14 senses the centroid offset of the lead brick 2, the articulated part 1232 is rotated to lift the supported lead brick 2 until the top surface of the lead brick 2 fits against the fine adjustment component 15. Subsequently, the fine adjustment component 15 adjusts the position of the lead brick 2 according to the centroid offset amount of the lead brick 2 to correct the centroid of the lead brick 2. Finally, the articulated part 1232 is reset, and the side surface of the articulated part 1232 clamps the lead brick 2 to prevent the lead brick 2 from shifting or falling during the handling process, thereby improving the clamping stability of the clamping component 12 on the lead brick 2.

[0061] In an embodiment of the present invention, the fine adjustment component 15 includes a fine adjustment base 151, a fine adjustment roller 152, and a fine adjustment telescopic rod 153. The fine adjustment base 151 is fixed to the bottom of the connecting base plate 122. The fine adjustment roller 152 is rotatably connected to the bottom of the fine adjustment base 151. The fine adjustment telescopic rod 153 is disposed on both sides of the fine adjustment base 151 and is hingedly connected to the corresponding side of the articulated part 1232. After the telescopic rod extends, it drives the articulated part 1232 to rotate around the hinge shaft 1233 and makes the top surface of the lead brick 2 fit against the fine adjustment roller 152. The fine adjustment roller 152 rotates according to the centroid of the lead brick sensed by the force control module 14 and drives the lead brick 2 to adjust its position.

[0062] By connecting the fine adjustment telescopic rod 153 to the top of the articulated part 1232, when the fine adjustment telescopic rod 153 expands and contracts, it drives the articulated base to rotate around the hinge shaft 1233. Then, the rotated articulated base drives the lead brick 2 to rise until the lead brick 2 fits against the fine adjustment roller 152. Subsequently, by controlling the rotation of the fine adjustment roller 152, the surface of the fine adjustment roller 152 rubs against the surface of the lead brick 2 and drives the position of the lead brick 2 to be finely adjusted, thereby realizing the adjustment of the position of the lead brick 2 to correct the centroid of the lead brick 2 on the clamping component 12 and improving the clamping stability of the lead brick 2.

[0063] In an embodiment of the present invention, the fine adjustment component 15 further includes a cross bar 154. The side surface of the articulated part 1232 is provided with a first chute 1234 and a second chute 1345. The cross bar 154 is located in the second chute 1345. The end of the fine adjustment telescopic rod 153 is inserted into the first chute 1234 and fixedly connected to the cross bar 154. When the fine adjustment telescopic rod 153 expands and contracts, it drives the cross bar 154 to slide in the second chute 1345 and makes the articulated part 1232 rotate around the hinge shaft 1233.

[0064] When the fine-tuning telescopic rod 153 extends, it drives the cross bar 154 to slide from the bottom of the second chute 1345 to the top of the second chute 1345, and pushes the hinge part 1232 to rotate around the hinge shaft 1233. As a result, the rotated hinge part 1232 drives the lead brick 2 to increase in height until the top surface of the lead brick 2 fits against the fine-tuning roller 152. Conversely, when the fine-tuning telescopic rod 153 contracts, it drives the cross bar to slide from the top of the second chute 1345 to the bottom of the second chute 1345, and pulls the hinge part 1232 to rotate in the opposite direction around the hinge shaft 1233. Thereby, the rotated hinge part 1232 drives the lead brick 2 to decrease in height, so that the side surface of the hinge part 1232 can clamp the lead brick 2, improving the clamping stability of the lead brick 2.

[0065] In the above embodiment, the size of the first chute 1234 is larger than the end size of the fine-tuning telescopic rod 153, so that the fine-tuning telescopic rod 153 can slide within the first chute 1234 to adapt to the rotation of the hinge part 1232.

[0066] Refer to Figure 4 , in the embodiment of the present invention, a first inclined surface 155 is provided on the bottom surface of the hinge part 1232, and a ball 157 is provided on the first inclined surface 155. The height of the ball 157 is lower than the height of the bottom surface of the hinge part 1232 to form a gap between the lead brick 2 and the ball 157 when the hinge part 1232 supports the lead brick 2. When the hinge part 1232 clamps the lead brick 2, the side surface of the lead brick 2 fits against the side surface of the hinge part 1232, and at the same time the bottom surface of the lead brick 2 fits against the bottom surface of the hinge part 1232, preventing the lead brick 2 from shifting on the clamping assembly 12.

[0067] A second inclined surface 156 is provided on the side surface of the hinge part 1232. When the hinge part 1232 rotates around the hinge shaft 1233 to the first position, that is, Figure 3 the position shown, the second inclined surface 156 fits against the side surface of the lead brick 2, so that the second inclined surface 156 adapts to the shape of the lead brick 2 and increases the contact area with the lead brick 2, improving the clamping stability of the lead brick 2. When the hinge part 1232 rotates around the hinge shaft 1233 to the second position, that is, Figure 4 the position shown, the first inclined surface 155 is parallel to the bottom surface of the lead brick 2 and the ball 157 fits against the bottom surface of the lead brick 2. The side surface of the hinge part 1232 moves away from the side surface of the lead brick 2, and at the same time the fine-tuning roller 152 fits against the top surface of the lead brick 2. At this time, the position of the lead brick 2 can be adjusted by controlling the rotation of the fine-tuning roller 152. At the same time, under the support of the ball 157 for the lead brick 2, the friction between the lead brick 2 and the hinge part 1232 is reduced, making it easier for the fine-tuning roller 152 to adjust the position of the lead brick 2.

[0068] In an embodiment of the present invention, a turntable is provided at the bottom of the fine-tuning base 151, and the fine-tuning roller 152 is arranged on the turntable, so that the fine-tuning roller 152 can adjust the angle of the fine-tuning roller 152 according to the centroid of the lead brick sensed by the force control module 14, and control the rotation of the fine-tuning roller 152 after adjusting the angle, so that the fine-tuning roller 152 drives the lead brick 2 to adjust its position. For example, when the centroid of the lead brick sensed by the force control module 14 shifts in the length direction (i.e., the Y-axis direction), the direction of the fine-tuning roller 152 can be adjusted to the longitudinal direction (i.e., the X-axis direction) through the turntable, and then by controlling the rotation of the fine-tuning roller 152, the lead brick 2 can be driven to adjust its position in the length direction. Similarly, when the centroid of the lead brick sensed by the force control module 14 shifts in the width direction (i.e., the X-axis direction), the direction of the fine-tuning roller 152 can be adjusted to the transverse direction (i.e., the Y-axis direction) through the turntable, and then by controlling the rotation of the fine-tuning roller 152, the lead brick 2 can be driven to adjust its position in the width direction, improving the fine-tuning range of the position of the lead brick 2.

[0069] In an embodiment of the present invention, the image processing component 13 includes a 3D camera, an infrared thermal imager, and an image processing module. The 3D camera is configured to collect images of the lead brick 2 in the workshop and identify the lead brick features. The infrared thermal imager is configured to collect the surface temperature of the lead brick in real time according to the identified lead brick features. The image processing module is configured to calculate the thermal expansion size of the lead brick 2 by combining the lead brick features and the lead brick surface temperature and generate a lead brick map. Refer to Figure 6 To solve the problems in the prior art, the present invention also provides a lead brick placement method based on multi-sensor perception fusion, which is applied to the above-mentioned lead brick placement system. The method includes:

[0070] Step S1: The image processing component combines the lead brick image and the lead brick surface temperature to generate a lead brick map and mark the lead brick in the lead brick map;

[0071] Step S2: The handling robot drives the clamping component to clamp the lead brick according to the lead brick mark, and the force control module senses the centroid of the lead brick on the clamping component;

[0072] Step S3: The fine-tuning component is installed on the clamping component and drives the fine-tuning component to finely adjust the position of the lead brick according to the sensing result of the force control module.

[0073] Refer to Figure 7 In an embodiment of the present invention, in the step of the image processing component combining the lead brick image and the lead brick surface temperature to generate a lead brick map and mark the lead brick in the lead brick map, it further includes:

[0074] Step S11: Collect the lead brick image in the workshop through the 3D camera and identify the lead brick features;

[0075] Step S12: Collect the surface temperature of the lead brick in real time through the infrared thermal imager according to the identified lead brick features;

[0076] Step S13: Take a corner point of the lead brick feature as a reference point, and generate preliminary three-dimensional coordinates of the lead brick at the reference point in combination with the standard lead brick size;

[0077] Step S14: Calculate the thermal expansion size of the lead brick according to the thermal expansion coefficient and surface temperature of the lead brick, and construct the actual three-dimensional coordinates of the lead brick in combination with the preliminary three-dimensional coordinates of the lead brick and the thermal expansion size;

[0078] Step S15: Generate a lead brick map according to the actual three-dimensional coordinates of the lead brick.

[0079] By taking one of the corner points of the lead brick feature as a reference point and generating preliminary three-dimensional coordinates of the lead brick at the reference point in combination with the standard lead brick size, it is unnecessary to identify each corner point of the lead brick, reducing the computational load of the image processing module and improving the recognition speed of the lead brick. By calculating the thermal expansion size of the lead brick in combination with the surface temperature and thermal expansion coefficient of the lead brick, the three-dimensional coordinates of the lead brick can be updated using the thermal expansion size in the preliminary three-dimensional coordinates of the lead brick, and the actual three-dimensional coordinates of the lead brick can be obtained. Furthermore, the handling robot can perform lead brick grasping actions in the lead brick map according to the lead brick markings and the actual three-dimensional coordinates of the lead brick, improving the grasping accuracy of the lead brick and avoiding the situation where the lead brick is deformed or dropped due to excessive or insufficient clamping force on the lead brick.

[0080] Refer to Figure 8 , in the embodiment of the present invention, in the step of calculating the thermal expansion size of the lead brick according to the expansion coefficient and surface temperature of the lead brick and constructing the three-dimensional coordinates of the lead brick in combination with the three-dimensional coordinates of the corner point and the thermal expansion size, it further includes:

[0081] Step S141: Update the surface temperature of the lead brick within a preset time period, and update the thermal expansion size of the lead brick in combination with the expansion coefficient and the updated surface temperature of the lead brick,

[0082] Step S142: Update the actual three-dimensional coordinates of the lead brick in combination with the preliminary three-dimensional coordinates of the lead brick and the updated thermal expansion size;

[0083] Step S143: Update the lead brick map according to the updated actual three-dimensional coordinates of the lead brick.

[0084] Since the temperature in the workshop is relatively high, when the lead bricks are in a high-temperature environment for a long time, the surface temperature of the lead bricks will also change over time, which will further cause different degrees of thermal expansion changes in the lead bricks. Therefore, by detecting and updating the surface temperature of the lead bricks in the lead brick map within a preset time period, recalculating the thermal expansion size of the lead bricks, and finally updating the actual three-dimensional coordinates of the lead bricks according to the updated thermal expansion size, it is convenient for the handling robot to drive the fixture to clamp in combination with the updated actual three-dimensional coordinates of the lead bricks, further improving the adaptive clamping effect on the lead bricks, avoiding the deformation of the lead bricks caused by excessive clamping force, and at the same time improving the clamping stability of the lead bricks.

[0085] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification as long as such a combination does not exist in contradiction.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still adjust the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these adjustments or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A lead brick placing system based on multi-sensor perception fusion, characterized in that The lead brick feeding system includes a handling robot, a clamping component, an image processing component, a force control module, and a fine-tuning component. The image processing component is installed on one side of the handling robot to identify the lead brick features and the surface temperature of the lead brick and generate a lead brick map. The clamping component is installed at the end of the handling robot through the force control module to clamp the lead brick according to the lead brick mark in the lead brick map, and sense the centroid of the lead brick on the clamping component through the force control module. The fine-tuning component is installed on the clamping component and drives the fine-tuning component to finely adjust the position of the lead brick according to the sensing result of the force control module.

2. The lead brick feeding system according to claim 1, wherein The clamping component includes a clamping driving member, a connecting bottom plate, and clamping jaws symmetrically arranged on both sides of the connecting bottom plate. The clamping driving member is connected to both clamping jaws at the same time to drive the two clamping jaws to move relatively along the connecting bottom plate. The clamping jaws are L-shaped. The bottom surface of the clamping jaw supports the lead brick, and the side surface of the clamping jaw clamps the lead brick.

3. The lead brick feeding system according to claim 2, characterized in that, The clamping jaw includes an L-shaped sliding part and an L-shaped hinged part. The sliding part is slidably connected to the connecting bottom plate. The bottom of the hinged part is provided with a hinge shaft hingedly connected to the bottom of the sliding part. The fine-tuning component is installed on the connecting bottom plate and hingedly connected to the top of the hinged part to drive the hinged part to rotate around the hinge shaft, and drive the lead brick to fit with the fine-tuning component. The fine-tuning component finely adjusts the position of the lead brick according to the centroid of the lead brick sensed by the force control module.

4. The lead brick feeding system according to claim 3, characterized in that, The fine-tuning component includes a fine-tuning base, a fine-tuning roller, and a fine-tuning telescopic rod. The fine-tuning base is fixed to the bottom of the connecting bottom plate. The fine-tuning roller is rotatably connected to the bottom of the fine-tuning base. The fine-tuning telescopic rods are arranged on both sides of the fine-tuning base and are hingedly connected to the corresponding side of the hinged part. After the telescopic rod extends, it drives the hinged part to rotate around the hinge shaft and makes the top surface of the lead brick fit with the fine-tuning roller. The fine-tuning roller rotates according to the centroid of the lead brick sensed by the force control module and drives the lead brick to adjust its position.

5. The lead brick feeding system according to claim 4, characterized in that, The fine-tuning component further includes a cross bar. The side surface of the hinged part is provided with a first chute and a second chute. The cross bar is located in the second chute. The end of the fine-tuning telescopic rod is inserted into the first chute and fixedly connected to the cross bar. When the fine-tuning telescopic rod expands and contracts, it drives the cross bar to slide in the second chute and makes the hinged part rotate around the hinge shaft.

6. The lead brick feeding system according to claim 5, characterized in that, The bottom surface of the hinged part is provided with a first inclined surface, and balls are arranged on the first inclined surface. The height of the balls is lower than the height of the bottom surface of the hinged part to form a gap between the lead brick and the balls when the hinged part supports the lead brick. The side surface of the hinged part is provided with a second inclined surface. When the hinged part rotates around the hinge shaft to the first position, the second inclined surface fits with the side surface of the lead brick. When the hinged part rotates around the hinge shaft to the second position, the first inclined surface is parallel to the bottom surface of the lead brick and makes the balls fit with the bottom surface of the lead brick. At the same time, the fine-tuning roller fits with the top surface of the lead brick.

7. The lead brick feeding system according to any one of claims 1-6, characterized in that, The image processing component includes a 3D camera, an infrared thermal imager, and an image processing module. The 3D camera is configured to collect images of lead bricks in the workshop and identify the features of the lead bricks. The infrared thermal imager is configured to collect the surface temperature of the lead bricks in real time according to the identified features of the lead bricks. The image processing module is configured to calculate the thermal expansion size of the lead bricks by combining the features of the lead bricks and the surface temperature of the lead bricks and generate a lead brick map.

8. A lead brick placing method based on multi-sensor perception fusion, which is applied to the lead brick placing system according to any one of claims 1-7, and is characterized in that, The method includes: The image processing component combines the lead brick image and the surface temperature of the lead brick to generate a lead brick map and marks the lead bricks in the lead brick map; The handling robot drives the fixture component to clamp the lead bricks according to the lead brick marks, and the force control module senses the centroid of the lead bricks on the clamping component; The fine-tuning component is installed on the clamping component and drives the fine-tuning component to fine-tune the position of the lead bricks according to the sensing result of the force control module.

9. The method for placing lead bricks according to claim 7, wherein, In the step where the image processing component combines the lead brick image and the surface temperature of the lead brick to generate a lead brick map and marks the lead bricks in the lead brick map, it further includes: Collecting the images of the lead bricks in the workshop by the 3D camera and identifying the features of the lead bricks; Collecting the surface temperature of the lead bricks in real time by the infrared thermal imager according to the identified features of the lead bricks; Taking a corner point in the features of the lead bricks as a reference point, and generating preliminary three-dimensional coordinates of the lead bricks at the reference point in combination with the standard size of the lead bricks; Calculating the thermal expansion size of the lead bricks according to the thermal expansion coefficient and the surface temperature of the lead bricks, and constructing the actual three-dimensional coordinates of the lead bricks by combining the preliminary three-dimensional coordinates of the lead bricks and the thermal expansion size; Generating a lead brick map according to the actual three-dimensional coordinates of the lead bricks.

10. The method for placing lead bricks according to claim 9, characterized in that, In the step of calculating the thermal expansion size of the lead bricks according to the expansion coefficient and the surface temperature of the lead bricks, and constructing the three-dimensional coordinates of the lead bricks by combining the three-dimensional coordinates of the corner points and the thermal expansion size, it further includes: Updating the surface temperature of the lead bricks within a preset time period, and updating the thermal expansion size of the lead bricks by combining the expansion coefficient and the updated surface temperature of the lead bricks; Updating the actual three-dimensional coordinates of the lead bricks by combining the preliminary three-dimensional coordinates of the lead bricks and the updated thermal expansion size; Updating the lead brick map according to the updated actual three-dimensional coordinates of the lead bricks.

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