Intelligent fuel test system and control method

Abstract

The invention discloses an intelligent fuel test system and a control method, and belongs to the technical field of fuel analysis. The intelligent fuel testing system further comprises a container cleaning unit which is arranged at a third station of the intelligent fuel testing system and used for cleaning an oxygen bomb, a moisture crucible, a water ash crucible, a volatile component crucible and / or an oxygen bomb crucible. The container transfer device comprises a robot with a clamping jaw, and the robot is used for transferring the containers of all the units to corresponding stations; the photoelectric safety protection device is arranged on the periphery of the weighing unit, the testing unit, the container cleaning unit and / or the container transferring device in a surrounding mode. The automatic transfer degree and safety of fuel analysis are improved, the cost of fuel analysis is reduced, and batch analysis of fuel is facilitated.

Description

Technical Field

[0001] This invention relates to the field of fuel analysis technology, and in particular to an intelligent fuel testing system and control method. Background Technology

[0002] In the sampling, sample preparation, and testing of materials (such as ores and coal), samples (test specimens) need to be sealed in sample bottles before storage or transportation to the next stage. Currently, when using intelligent fuel testing systems to test the calorific value of combustible samples (coal), manual operation is required to add the combustible sample to a crucible, place the crucible in an oxygen bomb, and assemble the oxygen bomb to complete the calorific value test preparation. Subsequently, manual operation is required to attach the prepared oxygen bomb to the calorimeter for calorific value testing. Existing industrial analysis not only relies on manual operation, which is inefficient, has a low degree of automation, and low safety, but also means that the used crucibles cannot be reused, increasing the cost of industrial analysis.

[0003] Therefore, there is an urgent need to provide an intelligent fuel testing system and control method to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent fuel testing system and control method, which not only improves the automation and safety of fuel analysis, but also reduces the cost of fuel analysis and facilitates the batch analysis of fuel.

[0005] To achieve the above objectives, the following technical solution is provided:

[0006] A fuel intelligent testing system includes a weighing unit and a testing unit. The weighing unit is located at a first station of the fuel intelligent testing system, and the testing unit is located at a second station of the fuel intelligent testing system. The fuel intelligent testing system also includes:

[0007] The container cleaning unit is located at the third station of the intelligent fuel testing system. The container cleaning unit is used to clean the oxygen bomb, moisture crucible, water-ash crucible, volatile matter crucible and / or oxygen bomb crucible.

[0008] A container transfer device includes a robot with grippers, which is used to transfer containers of each unit to corresponding workstations;

[0009] A photoelectric safety protection device is installed around the weighing unit, the testing unit, the container cleaning unit, and / or the container transfer device.

[0010] As an optional solution for the intelligent fuel testing system, the intelligent fuel testing system also includes an emergency stop button, which is electrically connected to the robot.

[0011] As an optional solution for the intelligent fuel testing system, the robot includes:

[0012] A six-axis robotic arm, wherein the gripper is disposed at the end of the six-axis robotic arm;

[0013] A laser scanner is mounted on the six-axis robotic arm, and the scanning range of the laser scanner covers the working area of ​​the intelligent fuel testing system.

[0014] As an optional solution for the intelligent fuel testing system, the robot also includes:

[0015] A data processing module is electrically connected to the laser scanner and is used to process the point cloud data acquired by the laser scanner.

[0016] As an optional solution for the intelligent fuel testing system, the robot also includes:

[0017] A touch feedback sensor is disposed on the contact surface of the gripper or on the fingertip, and the touch feedback sensor is used to sense the contact force.

[0018] As an optional solution for the intelligent fuel testing system, the touch feedback sensor includes a strain gauge or a piezoelectric sensor.

[0019] As an optional solution for the intelligent fuel testing system, the robot also includes:

[0020] A force signal processing module is provided, wherein the touch feedback sensor is electrically connected to the force signal processing module, and the force signal processing module is used to analyze the data from the touch feedback sensor.

[0021] As an optional solution for the intelligent fuel testing system, the robot also includes:

[0022] The control unit, the six-axis robot, the laser scanner, the data processing module, the touch feedback sensor, and the force signal processing module are all electrically connected to the control unit. The control unit is used to plan the motion path of the six-axis robot and the gripping force of the gripper.

[0023] A control method, applied to the technical solution of the intelligent fuel testing system described above, includes the following steps:

[0024] S1. Start the intelligent fuel testing system and calibrate the laser scanner and touch feedback sensor;

[0025] S2. The laser scanner acquires three-dimensional data of the working area within the intelligent fuel testing system;

[0026] S3. Based on the three-dimensional data, plan the set motion path of the six-axis robot within the intelligent fuel testing system;

[0027] S4. The six-axis robot moves along the set motion path and approaches the target object;

[0028] S5. Perform touch feedback detection, adjust the gripping force and position of the gripper based on the touch feedback data, and then perform the operation.

[0029] S6. After all fuel items have been checked, the six-axis robot returns to its initial position.

[0030] As an optional control method, step S2 includes:

[0031] S201, Scanning data acquisition: Use the laser scanner to acquire point cloud data of the environment around the robot in the intelligent fuel testing system;

[0032] S202, Point Cloud Processing: Preprocessing the collected point cloud data;

[0033] S203, 3D Reconstruction: Reconstructing a 3D model using the point cloud data;

[0034] S204. Feature Extraction: Extract preset features from the 3D model.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] The intelligent fuel testing system provided by this invention includes a container cleaning unit at the third workstation. This unit cleans the oxygen bomb, moisture crucible, water-ash crucible, volatile matter crucible, and / or oxygen bomb crucible, enabling their reuse and reducing fuel analysis costs, thus facilitating batch fuel analysis. A robot in the container transfer device can transport containers from each unit to their corresponding workstations without human intervention, improving the automation level of fuel analysis. Photoelectric safety protection devices surround the weighing unit, testing unit, container cleaning unit, and container transfer device to prevent accidental personnel intrusion and enhance the safety of fuel analysis.

[0037] The control method provided by this invention starts the intelligent fuel testing system and calibrates the laser scanner and touch feedback sensor; the laser scanner acquires three-dimensional data of the working area within the intelligent fuel testing system; based on the three-dimensional data, a set motion path is planned for the six-axis robot within the intelligent fuel testing system; the six-axis robot moves along the set motion path and approaches the target object; touch feedback detection is performed, and the gripping force and position of the gripper are adjusted according to the touch feedback data and the operation is performed; until all items of fuel testing are completed, the six-axis robot returns to the initial position. This not only improves the automation and safety of fuel analysis but also reduces the cost of fuel analysis and facilitates batch fuel analysis. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0039] Figure 1 This is a flowchart of the control method in an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0041] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0042] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0044] To improve the automation and safety of fuel analysis and reduce its cost, this embodiment provides an intelligent fuel testing system and control method, which are described below. Figure 1 The specific content of this embodiment will be described in detail.

[0045] The intelligent fuel testing system in this embodiment includes a weighing unit and a testing unit. The weighing unit is located at the first station of the intelligent fuel testing system, and the testing unit is located at the second station. The intelligent fuel testing system also includes a container cleaning unit, a container transfer device, and a photoelectric safety protection device. The container cleaning unit is located at the third station of the intelligent fuel testing system and is used to clean the oxygen bomb, moisture crucible, water-ash crucible, volatile matter crucible, and / or oxygen bomb crucible. The container transfer device includes a robot with grippers, which is used to transfer the containers from each unit to the corresponding station and automatically completes actions such as sampling, sample receiving, shaking and opening the cap, weighing, sample bottle transfer, sample bottle shaking, capping, opening the cap, oxygen bomb transfer, capping, crucible cleaning, and oxygen bomb cleaning. The photoelectric safety protection device surrounds the weighing unit, testing unit, container cleaning unit, and / or container transfer device. Exemplarily, the photoelectric safety protection device can be, but is not limited to, a safety light curtain.

[0046] In summary, the intelligent fuel testing system provided in this embodiment includes a container cleaning unit at its third workstation. This unit cleans the oxygen bomb, moisture crucible, water-ash crucible, volatile matter crucible, and / or oxygen bomb crucible, enabling their reuse and reducing fuel analysis costs, thus facilitating batch fuel analysis. A robot in the container transfer device can transport containers from each unit to their corresponding workstations without human intervention, improving the automation level of fuel analysis. Photoelectric safety protection devices are installed around the weighing unit, testing unit, container cleaning unit, and container transfer device to prevent accidental personnel intrusion and enhance the safety of fuel analysis.

[0047] Furthermore, the intelligent fuel testing system also includes an emergency stop button, which is electrically connected to the robot. In case of an emergency, maintenance personnel can press the emergency stop button to stop the robot immediately and prevent accidental damage.

[0048] Furthermore, the robot includes a six-axis manipulator and a laser scanner. Grippers are located at the end of the six-axis manipulator, and these grippers are used to grasp different containers (including sample bottles, moisture crucibles, ash crucibles, volatile matter crucibles, oxygen bomb crucibles, etc.). The laser scanner is located on the six-axis manipulator, and its scanning range covers the working area of ​​the intelligent fuel testing system. For example, in this embodiment, a high-precision 3D laser scanner can be used.

[0049] Furthermore, the robot also includes a data processing module, which is electrically connected to the laser scanner and is used to process the point cloud data acquired by the laser scanner.

[0050] Furthermore, the robot also includes a touch feedback sensor, which is set on the contact surface of the gripper or the fingertip, and the touch feedback sensor is used to sense the contact force.

[0051] For example, a touch feedback sensor may also be called a force sensor, and a touch feedback sensor may include a strain gauge or a piezoelectric sensor.

[0052] Furthermore, the robot also includes a force signal processing module, and the touch feedback sensor is electrically connected to the force signal processing module, which is used to analyze the data from the touch feedback sensor.

[0053] Furthermore, the robot also includes a control unit. The six-axis manipulator, laser scanner, data processing module, touch feedback sensor, and force signal processing module are all electrically connected to the control unit. The control unit is used to plan the motion path of the six-axis manipulator and the gripping force of the gripper. The control unit can combine laser scanning data to plan the motion path of the six-axis manipulator and use data from the touch feedback sensor to control the force of the gripper on the six-axis manipulator.

[0054] like Figure 1 As shown, this embodiment also provides a control method applied to the aforementioned intelligent fuel testing system. The control method includes the following steps: S1, starting the intelligent fuel testing system and calibrating the laser scanner and touch feedback sensor; S2, the laser scanner acquires three-dimensional data of the working area within the intelligent fuel testing system; S3, based on the three-dimensional data, planning a set motion path for the six-axis robot within the intelligent fuel testing system; S4, the six-axis robot moves along the set motion path and approaches the target object; S5, performing touch feedback detection, adjusting the gripping force and position of the grippers based on the touch feedback data, and performing operations (such as: sampling, receiving samples, shaking and opening the cap, weighing, sample bottle circulation, shaking the sample bottle, capping, opening the cap, oxygen bomb circulation, capping, crucible cleaning, oxygen bomb cleaning, etc.); S6, until all fuel tests are completed, the six-axis robot returns to the initial position, achieving closed-loop control. The S5 step includes: S501: Force data acquisition: using a touch feedback sensor to detect the contact between the gripper and the object, and acquiring force sensor data in real time, including the magnitude and direction of the contact force; S502: Force threshold judgment: setting a threshold for the contact force, and triggering corresponding actions or feedback when the force exceeds the threshold; S503: Tactile information processing: processing tactile information to identify the surface characteristics of the object (such as hardness, texture, etc.); S504: Adaptive control: adjusting the movement of the six-axis robot based on the touch feedback, for example, when sensing excessive force, the six-axis robot can automatically decelerate or change direction.

[0055] Further, step S2 includes: S201, scanning data acquisition: using a laser scanner to acquire point cloud data of the environment surrounding the robot within the intelligent fuel testing system; S202, point cloud processing: preprocessing the acquired point cloud data, including denoising, filtering, and sampling; S203, 3D reconstruction: reconstructing a 3D model using the point cloud data so that the robot can understand the spatial structure of the environment; S204, feature extraction: extracting preset features from the 3D model, including edges, corners, and planes, which are crucial for path planning and obstacle avoidance.

[0056] In practical applications, many factors need to be considered, such as sensor noise, the dynamic characteristics of the six-axis robot, and environmental uncertainties. Optimization can be achieved through extensive experiments and simulations to ensure the robot operates reliably under various conditions. During the experiments, the laser scanner and touch feedback sensor are functionally tested to ensure the laser scanning and touch feedback systems function properly. The performance of the six-axis robot is tested, evaluating its accuracy, speed, and stability. Simulation or scenario testing involves operational tests in real-world application scenarios to verify the feasibility of the solution. This invention, using a six-axis robot in a container transfer device of a fuel intelligent testing system, combines laser scanning and touch feedback technologies to achieve high-precision, highly flexible, and precise operation.

[0057] In summary, (1) this embodiment combines laser scanning and touch feedback technology, which enables the robot's six-axis manipulator to have higher operational capabilities and autonomy in complex environments. In the intelligent fuel testing system, the six-axis manipulator and gripper are rationally divided and multi-tasking is carried out in parallel with high efficiency. Positioning is achieved through laser scanning and touch feedback. The robot moves freely in the intelligent fuel testing system and automatically completes actions such as sample bottle transfer and capping, sample shaking and sampling, oxygen bomb transfer and capping, and crucible transfer and weighing. This replaces the hands of laboratory technicians, which helps to improve production efficiency and reduce labor costs.

[0058] (2) In this embodiment, the three-dimensional data of laser scanning and the force data of touch feedback are fused together to obtain a more comprehensive environmental perception.

[0059] (3) In this embodiment, the control unit can make decisions using the fused data, instructing the six-axis robot to continue approaching the target, whether the path needs to be adjusted, and the movement and force of the gripper of the six-axis robot. Furthermore, the control unit implements closed-loop control, using touch feedback data to adjust the movement of the six-axis robot to ensure precise contact force and position. The control unit can also dynamically adjust the movement of the six-axis robot based on real-time laser scanning and touch feedback data to cope with environmental changes.

[0060] (4) This embodiment utilizes laser scanning technology: A laser scanner is used in the six-axis manipulator of the robot to scan the target object using a laser beam, acquiring the object's three-dimensional shape, size, and surface features. The laser scanner can perform environmental perception, precise positioning, and quality inspection. Environmental perception: Through laser scanning, the six-axis manipulator can acquire real-time three-dimensional information of the surrounding environment, providing data support for path planning and obstacle avoidance. Precise positioning: Laser scanning helps the six-axis manipulator accurately identify the position of the target object, improving the accuracy of grasping and placement. Container surface inspection: By analyzing the scanning data, defects or cleanliness of the container surface can be detected (e.g., whether the sample bottle surface is damaged, the cleanliness of the sample bottle or crucible's inner surface), so that the container can be cleaned and reused, avoiding contamination of the test results of the next sample.

[0061] (5) This embodiment applies tactile feedback technology. By installing a force sensor at the end of the six-axis robot, the robot gains tactile functionality. Applications of tactile feedback in six-axis robots include: Precision operation: Tactile feedback enables the six-axis robot to sense the force applied when in contact with an object, thereby enabling precise operations such as capping, opening, shaking sample bottles, cleaning sample bottles, and cleaning crucibles. Improved safety: When the six-axis robot grasps an object, tactile feedback can prevent damage due to excessive force. Enhanced adaptability: The six-axis robot can adjust its grasping force based on tactile feedback to adapt to objects of different shapes and hardness.

[0062] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A fuel intelligent testing system, comprising a weighing unit and a testing unit, wherein the weighing unit is disposed at a first station of the fuel intelligent testing system, and the testing unit is disposed at a second station of the fuel intelligent testing system, characterized in that, The intelligent fuel testing system also includes: The container cleaning unit is located at the third station of the intelligent fuel testing system. The container cleaning unit is used to clean the oxygen bomb, moisture crucible, water-ash crucible, volatile matter crucible and / or oxygen bomb crucible. A container transfer device includes a robot with grippers, which is used to transfer containers of each unit to corresponding workstations; A photoelectric safety protection device is installed around the weighing unit, the testing unit, the container cleaning unit, and / or the container transfer device.

2. The intelligent fuel testing system according to claim 1, characterized in that, The intelligent fuel testing system also includes an emergency stop button, which is electrically connected to the robot.

3. The intelligent fuel testing system according to claim 1 or 2, characterized in that, The robot includes: A six-axis robotic arm, wherein the gripper is disposed at the end of the six-axis robotic arm; A laser scanner is mounted on the six-axis robotic arm, and the scanning range of the laser scanner covers the working area of ​​the intelligent fuel testing system.

4. The intelligent fuel testing system according to claim 3, characterized in that, The robot also includes: A data processing module is electrically connected to the laser scanner and is used to process the point cloud data acquired by the laser scanner.

5. The intelligent fuel testing system according to claim 4, characterized in that, The robot also includes: A touch feedback sensor is disposed on the contact surface of the gripper or on the fingertip, and the touch feedback sensor is used to sense the contact force.

6. The intelligent fuel testing system according to claim 5, characterized in that, The touch feedback sensor includes a strain gauge or a piezoelectric sensor.

7. The intelligent fuel testing system according to claim 5, characterized in that, The robot also includes: A force signal processing module is provided, wherein the touch feedback sensor is electrically connected to the force signal processing module, and the force signal processing module is used to analyze the data from the touch feedback sensor.

8. The intelligent fuel testing system according to claim 7, characterized in that, The robot also includes: The control unit, the six-axis robot, the laser scanner, the data processing module, the touch feedback sensor, and the force signal processing module are all electrically connected to the control unit. The control unit is used to plan the motion path of the six-axis robot and the gripping force of the gripper.

9. A control method, characterized in that, The control method, applied to the intelligent fuel testing system as described in claim 7, includes the following steps: S1. Start the intelligent fuel testing system and calibrate the laser scanner and touch feedback sensor; S2. The laser scanner acquires three-dimensional data of the working area within the intelligent fuel testing system; S3. Based on the three-dimensional data, plan the set motion path of the six-axis robot within the intelligent fuel testing system; S4. The six-axis robot moves along the set motion path and approaches the target object; S5. Perform touch feedback detection, adjust the gripping force and position of the gripper based on the touch feedback data, and then perform the operation. S6. After all fuel items have been checked, the six-axis robot returns to its initial position.

10. The control method according to claim 9, characterized in that, Step S2 includes: S201, Scanning data acquisition: Use the laser scanner to acquire point cloud data of the environment around the robot in the intelligent fuel testing system; S202, Point Cloud Processing: Preprocessing the collected point cloud data; S203, 3D Reconstruction: Reconstructing a 3D model using the point cloud data; S204. Feature extraction: Extract preset features from the three-dimensional model.

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