Tailings grinding processing method and system based on industrial vision

Abstract

The application relates to the field of industrial vision technology and discloses a tailing grinding treatment method and system based on industrial vision. The method obtains the motion state information of ore pulp material, determines the image acquisition timing according to the motion state information, and ensures that image acquisition is performed at a suitable time. More importantly, the method performs local light adjustment on the ore pulp surface covered by the field of view of the industrial camera within the image acquisition timing, effectively inhibits the reflection interference area formed by the liquid film on the ore pulp surface. After the local light adjustment is completed, the surface image of the ore pulp is acquired, the acquired ore pulp image is subjected to visual feature analysis, the mineral particle visual features in the ore pulp image are extracted, and finally, the visual monitoring and analysis result of the tailing grinding working condition is output according to the mineral particle visual features.

Description

Technical Field

[0001] This invention relates to the field of industrial vision technology, and more specifically, to a tailings grinding treatment method and system based on industrial vision. Background Technology

[0002] In the industrial processing of copper mine tailings, grinding the ore to the appropriate fineness is crucial to ensure the efficiency of subsequent metal recovery processes. Modern grinding systems often utilize industrial vision technology to observe the particle size of the material in real time and automatically adjust the operation of the grinding equipment accordingly. However, the unique characteristics of wet grinding environments, particularly the reflective properties of the water film on the material surface, often cause problems for these vision systems, leading to inaccuracies in their particle size judgments and consequently affecting the accurate control of the entire grinding process and production efficiency. Summary of the Invention

[0003] This invention provides a tailings grinding treatment method and system based on industrial vision, aiming to solve the problem of interference of the reflection of the liquid film on the surface of the slurry in the wet grinding environment on the particle size judgment of the industrial vision system, thereby improving the accurate control of the grinding process and production efficiency.

[0004] The technical solution of this application is as follows: In a first aspect, this application discloses a tailings grinding treatment method based on industrial vision, used for visual monitoring of slurry particles under wet tailings grinding conditions. The method includes: To obtain information on the motion state of slurry materials under wet grinding conditions; Based on the motion status information, determine the timing sequence of image acquisition of the slurry by the industrial camera; During the image acquisition sequence, local illumination adjustment is performed on the slurry surface covered by the field of view of the industrial camera to suppress the reflection interference area formed by the liquid film on the slurry surface. After completing the local illumination adjustment, acquire surface images of the slurry; Visual feature analysis was performed on the collected slurry images to extract the visual features of mineral particles in the slurry images; Based on the visual characteristics of mineral particles, the visual monitoring and analysis results of tailings grinding conditions are output.

[0005] This technical solution effectively suppresses the reflection interference generated by the liquid film on the surface of the slurry under wet grinding conditions, ensuring that the industrial camera can capture clear and accurate images of the slurry, thereby improving the accuracy of extracting the visual features of mineral particles and ultimately achieving precise visual monitoring of the tailings grinding process. This solves the problem of particle size judgment deviation caused by reflection interference in the existing technology.

[0006] Furthermore, local illumination adjustment is performed on the slurry surface area covered by the industrial camera's field of view, including: The light with specific polarization characteristics is outputted, and the light irradiates the surface of the ore pulp at a preset fixed angle; The polarization direction of the filter in front of the lens of the industrial camera is adjusted, so that the polarization direction of the filter is orthogonal to the polarization direction of the reflection area of the surface of the ore pulp, and the polarization interference of the reflection interference area formed by the liquid film on the image of the ore pulp is shielded.

[0007] Through the technical scheme, by adjusting the orthogonal polarization direction of the filter and the reflection area, the polarization interference caused by the reflection of the liquid film can be effectively filtered out, the image quality is further improved, and the characteristics of the mineral particles are more prominent.

[0008] In some preferred embodiments, local light adjustment is performed on the surface of the ore pulp covered by the field of view of the industrial camera, including: Real-time acquisition of component parameters, concentration parameters of the ore pulp and liquid film thickness parameters of the surface of the ore pulp; According to the component parameters, concentration parameters and liquid film thickness parameters of the ore pulp, the operation parameters of the local light adjustment device are matched and determined; According to the matched operation parameters, the local light adjustment device is driven to suppress the reflection interference area caused by the liquid film on the surface of the ore pulp within the image acquisition timing.

[0009] Through the technical scheme, the operation parameters of the local light adjustment device can be dynamically adjusted according to the actual physical and chemical characteristics of the ore pulp and the state of the liquid film, the reflection interference suppression is more accurate and adaptive, and the robustness and adaptability of the system are improved.

[0010] As an optional solution, local light adjustment is performed on the surface of the ore pulp covered by the field of view of the industrial camera, including: Within the image acquisition timing, a preset structured light pattern is projected onto the surface of the ore pulp in the field of view of the industrial camera; The image of the surface of the ore pulp carrying the structured light pattern is collected; The image of the surface of the ore pulp is visually analyzed, and the local geometric deformation features of the structured light pattern on the surface of the ore pulp are extracted; The extracted local geometric deformation features are compared with the preset standard reference geometric features to distinguish the real mineral particle area and the reflection interference area in the image of the surface of the ore pulp.

[0011] Through the technical scheme, by using structured light projection and geometric deformation analysis, the real mineral particles and the reflection interference area can be distinguished in the spatial dimension, and more pure image data is provided for subsequent visual feature analysis, and false judgment is effectively avoided.

[0012] In order to enhance the function, local light adjustment is performed on the surface of the ore pulp covered by the field of view of the industrial camera, including: Deploy auxiliary detection light sources so that the auxiliary detection light sources output light at a different projection angle or in a different spectrum than the main illumination adjustment device; During the operating cycle of the main illumination adjustment device, the auxiliary slurry image formed by the auxiliary detection light source and the main slurry image formed by the main illumination adjustment device are acquired simultaneously. Visual analysis of auxiliary slurry images is performed to detect the brightness, shape, and positional variations of the light spots formed by the auxiliary detection light source on the slurry surface. Based on the dynamic change characteristics of the light spot, determine whether the local illumination adjustment device has an optical performance degradation problem; If performance degradation is determined, the operating parameters of the local illumination adjustment device are adjusted compensatorily, or a device maintenance prompt signal is output.

[0013] This technical solution introduces an auxiliary detection light source, which enables real-time monitoring of the optical performance of the local illumination adjustment device, timely detection and compensation for performance degradation, ensuring the long-term stability and reliability of the illumination adjustment effect, and avoiding reduced monitoring accuracy due to equipment performance degradation.

[0014] As a technological improvement, local illumination adjustment is performed on the slurry surface covered by the field of view of the industrial camera, including: Obtain real-time motion status information of slurry materials; Based on motion status information, calculate the real-time expected position and expected dwell time of the slurry within the field of view of the industrial camera; Based on the real-time expected location and expected dwell time, the operating parameters of the local illumination adjustment device are dynamically adjusted. The operating parameters include the moving range and moving speed of the light-shielding baffle, as well as the projection area and flicker frequency of the auxiliary light source.

[0015] This technical solution enables the dynamic adjustment of the operating parameters of the local illumination adjustment device based on the real-time movement of the slurry, achieving precise and real-time local illumination control of the moving slurry surface, and further improving the suppression effect of reflection interference under dynamic working conditions.

[0016] To improve the solution, local illumination adjustment is performed on the slurry surface covered by the industrial camera's field of view, including: The start-up advance of the illumination device is calculated by combining the image acquisition timing with the inherent response time of the local illumination adjustment device; The local illumination adjustment device is driven according to the start-up advance, so that the local illumination adjustment device reaches the preset standard working state at the image acquisition timing node. The actual working status of the local illumination adjustment device is monitored in real time, and the device drive signal is adjusted in a closed loop based on the deviation between the actual working status and the preset standard working status.

[0017] This technical solution takes into account the response time of the illumination adjustment device. Through advance calculation and closed-loop control, it ensures that the illumination adjustment device can accurately reach the preset working state at the image acquisition timing node, thereby improving the synchronization and accuracy of illumination adjustment.

[0018] To optimize the structure, local illumination adjustment is performed on the slurry surface covered by the field of view of the industrial camera, including: During the operation of the local illumination adjustment device, a preset standard calibration light spot is projected onto the surface of the slurry; Acquire images of the light spot formed by the standard calibration light spot on the surface of the slurry; Visual analysis of the light spot image is performed to obtain the actual geometric morphology parameters and brightness distribution parameters of the standard calibration light spot; The actual geometric shape and brightness distribution parameters are compared with the preset standard calibration light spot parameters to detect whether there are abnormal optical effects in the optical components of the local illumination adjustment device. Based on the detected level of abnormal optical effects, the light source intensity, projection angle, and beam shaping parameters of the local illumination adjustment device are adaptively adjusted to achieve optical anomaly compensation.

[0019] This technical solution introduces a standard calibration spot, which can detect in real time whether there are any abnormalities in the optical components of the local illumination adjustment device, and adaptively adjust the light source parameters according to the level of abnormality, thereby achieving compensation for optical abnormalities and ensuring the stability and consistency of illumination adjustment.

[0020] Based on this, the light source intensity, projection angle, and beam shaping parameters of the local illumination adjustment device are adaptively adjusted, including: A combined calibration spot consisting of multiple sub-spots is projected onto the surface of the slurry. Acquire an overall image of the combined calibration spot formed on the surface of the slurry; Visual analysis of the overall light spot image was performed to obtain the actual geometric shape and brightness distribution data of each sub-light spot; The actual parameters of each sub-spot are compared with the corresponding preset standard parameters one by one to identify the differential abnormal optical effects corresponding to different regions of the combined calibration spot. Based on the type and degree of anomalous optical effects in each region, the adjustment amounts for light source intensity, projection angle, and beam shaping parameters are calculated respectively. The corresponding operating parameters are independently corrected based on the adjustment amount of each parameter, and the optical anomalies of the local illumination adjustment device are compensated in zones.

[0021] This technical solution, employing a combined calibration spot, enables zoned detection and compensation for optical anomalies in local illumination adjustment devices, achieving more refined and localized optical performance optimization and further improving the accuracy and uniformity of illumination adjustment.

[0022] Secondly, this application also discloses a tailings grinding system based on industrial vision, used to implement the aforementioned tailings grinding method based on industrial vision. The system includes: The motion state acquisition module is used to acquire motion state information of slurry materials under wet grinding conditions; The timing determination module is used to determine the timing of image acquisition of the slurry by the industrial camera based on the motion state information; The illumination adjustment module is used to perform local illumination adjustment on the slurry surface covered by the field of view of the industrial camera during the image acquisition sequence, so as to suppress the reflection interference area formed by the liquid film on the slurry surface. The image acquisition module is used to acquire surface images of the slurry after local illumination adjustment is completed; The visual analysis module is used to perform visual feature analysis on the acquired slurry images and extract the visual features of mineral particles in the slurry images. The results output module is used to output visual monitoring and analysis results of tailings grinding conditions based on the visual characteristics of mineral particles.

[0023] This system integrates various functional modules to work together and achieves accurate visual monitoring of slurry particles under wet tailings grinding conditions. It effectively solves the problem of particle size judgment deviation caused by reflective interference in existing technologies and improves the automation and intelligence level of the grinding process.

[0024] Beneficial effects The tailings grinding method and system disclosed in this application, based on industrial vision, acquires the motion state information of the slurry material and determines the image acquisition sequence accordingly, ensuring that image acquisition is performed at the appropriate time. More importantly, during the image acquisition sequence, this method performs local illumination adjustment on the slurry surface covered by the industrial camera's field of view, effectively suppressing the reflection interference area formed by the liquid film on the slurry surface. After completing the local illumination adjustment, surface images of the slurry are acquired, and visual feature analysis is performed on the acquired slurry images to extract the visual features of mineral particles in the slurry images. Finally, based on the visual features of the mineral particles, visual monitoring and analysis results of the tailings grinding process are output.

[0025] Through the above technical solution, this application fundamentally solves the problem of severe interference between the reflection of the liquid film on the surface of the slurry and the particle size judgment of the industrial vision system in the wet grinding environment of the prior art. In traditional methods, reflective spots are often misidentified as fine particles, leading to incorrect judgments by the grinding control system, which in turn affects grinding efficiency and subsequent metal recovery rate. This application actively suppresses reflection interference by adjusting the local illumination before image acquisition, enabling the industrial camera to capture a true and clear image of the slurry surface, thereby ensuring the accuracy of extracting the visual features of mineral particles. Accordingly, the grinding control system can make decisions based on real data, avoiding over- or under-grinding caused by misjudgment by the vision system, significantly improving the accurate control of the grinding process and production efficiency, and ultimately increasing the recovery rate of copper concentrate. Attached Figure Description

[0026] Figure 1 This is a schematic flowchart of a tailings grinding treatment method based on industrial vision provided in an embodiment of the present invention; Figure 2 This is a flowchart of a method for performing local illumination adjustment on a slurry surface area covered by the field of view of an industrial camera, according to an embodiment of the present invention. Figure 3 This is a schematic diagram of a tailings grinding system based on industrial vision provided in an embodiment of the present invention. Detailed Implementation

[0027] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Reference Figure 1 , Figure 1 This is a schematic flowchart of a tailings grinding treatment method based on industrial vision provided by an embodiment of the present invention, used for visual monitoring of slurry particles under wet tailings grinding conditions, including: S11, Obtain the motion state information of slurry materials under wet grinding conditions; S12, based on the motion state information, determine the timing sequence of image acquisition of the slurry by the industrial camera; S13, during the image acquisition sequence, performs local illumination adjustment on the slurry surface covered by the field of view of the industrial camera to suppress the reflection interference area formed by the liquid film on the slurry surface; S14, after completing the local illumination adjustment, acquire the surface image of the slurry; S15, Perform visual feature analysis on the acquired slurry images to extract the visual features of mineral particles in the slurry images; S16, based on the visual characteristics of mineral particles, outputs the visual monitoring and analysis results of the tailings grinding process. This application effectively suppresses the reflection interference area formed by liquid film by performing local illumination adjustment on the surface of the slurry during image acquisition, thereby ensuring the accuracy of the acquired slurry image and improving the reliability of extracting visual features of mineral particles. Ultimately, it achieves accurate visual monitoring of tailings grinding conditions and solves the problem of visual system misjudgment caused by reflective interference in wet grinding environment.

[0029] To better understand the technical solution proposed in this application, some key terms and implementation environments are first explained. The "wet grinding condition" referred to in this application refers to an industrial environment where ore is ground in a water-containing medium, characterized by the formation of a liquid film on the slurry surface. "Information on the movement state of the slurry material" can include parameters such as the slurry's flow rate, direction, and fluctuation frequency; this information is crucial for determining the image acquisition timing and illumination adjustment strategy. An "industrial camera" is an imaging device specifically designed for industrial environments, featuring high resolution, high frame rate, and good environmental adaptability. "Image acquisition timing" refers to the time sequence or points in time during image capture by the industrial camera; its accuracy directly affects the effectiveness of subsequent image analysis. "Local illumination adjustment" refers to changing the illumination conditions in a specific way for the slurry surface area within the industrial camera's field of view to suppress reflection interference. "Reflection interference area formed by the liquid film" refers to the specular or diffuse reflection areas generated by the liquid film on the slurry surface under illumination; these areas appear overly bright or blurry in the image, obscuring the true mineral particle information. "Mineral particle visual features" refers to the visual information extracted from slurry images through image processing technology that can characterize the size, shape, color, texture, and other attributes of mineral particles.

[0030] The tailings grinding method based on industrial vision proposed in this application is based on overcoming visual interference in wet grinding environment through refined light adjustment.

[0031] Specifically, various methods can be used to acquire information on the motion state of slurry materials during wet grinding. For example, non-contact sensors, such as laser rangefinders or ultrasonic sensors, can be installed on the slurry conveyor belt or pipeline to measure the slurry's flow rate and level fluctuations in real time. These sensors can periodically send and receive reflected signals, and the instantaneous velocity and surface undulations of the slurry can be inferred by calculating changes in signal transmission time or frequency. Another approach is to deploy high-speed cameras at key locations in the slurry flow to continuously capture video footage of the slurry's motion. Image processing algorithms, such as optical flow or feature point tracking, can then be used to analyze the displacement of feature points on the slurry surface between video frames, thereby calculating the slurry's instantaneous velocity and trajectory. Furthermore, flow meters and densitometers can be installed at the outlet of the grinding equipment to indirectly acquire changes in the slurry's flow rate and concentration; these parameter changes are often closely related to the slurry's motion state.

[0032] Based on the acquired motion state information, the timing of image acquisition for the slurry by the industrial camera can be determined. For example, if the slurry flow rate is fast, the exposure time can be shortened and the acquisition frequency increased to avoid image blurring. If the slurry surface fluctuates significantly, acquisition can be performed at moments when the fluctuations are relatively calm, or multi-frame averaging can be used to reduce noise. Specifically, the time required for the slurry to pass through the field of view can be calculated based on the average flow rate of the slurry and the field of view of the industrial camera, and multiple acquisition points can be set within this time window. Alternatively, the acquisition timing can be synchronized with the fluctuation period based on the periodic fluctuation characteristics of the slurry to capture the most representative slurry surface state.

[0033] During image acquisition, localized illumination adjustment is performed on the slurry surface covered by the industrial camera's field of view to suppress reflection interference areas formed by the liquid film on the slurry surface. For example, a ring light source or strip light source can be used to illuminate the slurry surface at a specific angle, and by adjusting the intensity and position of the light source, the reflected light is deviated from the receiving angle of the industrial camera, thereby reducing reflection interference. Another approach is to install a diffuser or polarizer in front of the light source to make the light projected onto the slurry surface more uniform or have a specific polarization direction, thereby reducing the specular reflection effect of the liquid film. In addition, a programmable LED array light source can be used to dynamically adjust the illumination intensity and color of different areas according to the real-time conditions of the slurry surface to specifically suppress local reflections.

[0034] After local illumination adjustment, a surface image of the slurry is acquired. At this point, because reflection interference has been effectively suppressed, the industrial camera can capture a clear and realistic image of the slurry surface, in which the contours, size, and color of mineral particles are more clearly visible. The image acquisition module can be configured with a high-resolution, high-frame-rate industrial camera to ensure image quality and real-time performance. The acquired image data can be transmitted to the subsequent visual analysis module via a high-speed data interface.

[0035] Visual feature analysis is performed on the acquired slurry images to extract the visual features of mineral particles. For example, image segmentation algorithms, such as thresholding, edge detection, or region growing, can be used to separate mineral particles from the background. Subsequently, morphological processing, such as erosion, dilation, opening, and closing operations, is performed on the segmented particle regions to remove noise and broken particles. Next, feature parameters such as area, perimeter, aspect ratio, roundness, and color histogram of each particle can be calculated. In addition, deep learning models, such as convolutional neural networks (CNNs), can be used for end-to-end image analysis to automatically identify and extract complex visual features of mineral particles, and even directly predict particle size distribution.

[0036] Based on the visual characteristics of mineral particles, the system outputs visual monitoring and analysis results of tailings grinding conditions. For example, it can compare the extracted particle size distribution data with a preset grinding target range, and output corresponding warning information if particles are found to be too coarse or too fine. It can calculate the percentage of particles in different size ranges in the slurry and generate real-time particle size distribution curves. Furthermore, it can determine the wear condition or grinding efficiency of the grinding equipment based on particle shape characteristics. These analysis results can be output in the form of digital reports, charts, or real-time data streams for operator reference or as input signals for automated control systems to adjust the operating parameters of the grinding equipment, such as ball mill speed, feed rate, or water volume.

[0037] The tailings grinding method proposed in this application, based on industrial vision, works by first acquiring the motion state information of the slurry material to provide foundational data for subsequent image acquisition and illumination adjustment. Based on this motion state information, the timing of image acquisition by the industrial camera is precisely determined, ensuring image capture occurs when the slurry is relatively stable or at its most suitable observation point. Within this image acquisition sequence, a key step is performing local illumination adjustment on the slurry surface covered by the industrial camera's field of view. This adjustment aims to actively suppress reflection interference areas formed by the liquid film on the slurry surface, preventing these interference areas from being misidentified as mineral particles in the image, thus ensuring the authenticity and validity of the acquired images. After local illumination adjustment, the acquired slurry surface image will be clear and free of significant reflection interference. Subsequently, visual feature analysis of these high-quality slurry images accurately extracts the true visual features of the mineral particles, such as size and shape. Finally, based on these accurate visual features of the mineral particles, visual monitoring and analysis results of the tailings grinding process are output, providing a reliable basis for precise control of the grinding process. The entire process forms a closed loop, which ensures the accuracy of visual monitoring by actively suppressing interference sources, thereby effectively solving the technical problem of visual system misjudgment caused by reflection in wet grinding environment.

[0038] refer to Figure 2 , Figure 2 This is a flowchart of a method for performing local illumination adjustment on a slurry surface area covered by an industrial camera, according to an embodiment of the present invention. S13 specifically includes: S131, outputs light with specific polarization characteristics, so that the light shines on the surface of the slurry at a preset fixed angle; S132, Adjust the polarization direction of the filter in front of the lens of the industrial camera so that the polarization direction of the filter is orthogonal to the polarization direction of the reflective area on the surface of the slurry, thereby shielding the polarization interference of the reflective interference area formed by the liquid film on the slurry image.

[0039] Specifically, outputting light with specific polarization characteristics refers to using a polarized light source or adding a polarizer in front of a regular light source, so that the light projected onto the surface of the slurry has a single or specific polarization direction. This light illuminates the slurry surface at a preset fixed angle to optimize the polarization characteristics of the reflected light, making the reflected light more polarized at a specific angle, facilitating subsequent polarization filtering. The preset fixed angle can be determined experimentally or through simulation based on factors such as the physical properties of the slurry, the thickness of the liquid film, and the installation position of the industrial camera, to achieve the best effect in suppressing reflection interference.

[0040] Furthermore, adjusting the polarization direction of the filter in front of the industrial camera lens refers to installing a rotatable polarizing filter in front of the camera lens. The polarization direction of this filter can be adjusted according to the actual situation. When the polarization direction of the filter is orthogonal to the polarization direction of the reflective area on the slurry surface, most of the reflected light from the liquid film will be blocked by the filter, thus achieving shielding against reflective interference areas. This orthogonal setting can attenuate reflected light to the maximum extent while allowing light from non-reflective areas (i.e., the mineral particles themselves) to pass through, thereby improving the contrast and clarity of the slurry image.

[0041] This application addresses the problem of liquid film reflection interference by utilizing the polarization characteristics of light. When light with specific polarization characteristics illuminates the surface of a mineral slurry at a preset fixed angle, the specular reflection generated on the liquid film surface exhibits a specific polarization direction. By placing a polarizing filter in front of the industrial camera lens and adjusting its polarization direction to be orthogonal to the polarization direction of the liquid film reflected light, these reflected lights can be effectively blocked from entering the camera. Simultaneously, the diffuse reflection light from mineral particles in the slurry is typically unpolarized or weakly polarized, and therefore enters the camera with relatively less influence from the polarizing filter. Thus, this solution selectively suppresses liquid film reflection interference, enabling the industrial camera to capture clearer and more realistic images of mineral particles.

[0042] This application further proposes a more refined local illumination adjustment method, which adaptively adjusts the operation of the illumination adjustment device by acquiring key parameters of the slurry in real time, so as to achieve more effective suppression of reflection interference.

[0043] In response, the aforementioned tailings grinding method based on industrial vision, wherein the local illumination adjustment of the slurry surface covered by the field of view of the industrial camera includes: The composition parameters, concentration parameters, and liquid film thickness parameters of the slurry surface are acquired in real time. Based on the slurry composition parameters, the concentration parameters, and the liquid film thickness parameters, the operating parameters of the local illumination adjustment device are determined. The local illumination adjustment device is driven according to the matched operating parameters to suppress the reflection interference area generated by the liquid film on the surface of the slurry during the image acquisition sequence.

[0044] Specifically, real-time acquisition of the slurry's composition parameters, concentration parameters, and liquid film thickness parameters refers to the continuous or periodic monitoring of the slurry's physicochemical properties using sensors or analytical equipment integrated into the grinding process, such as spectrometers, densitometers, and ultrasonic level gauges. The composition parameters can be understood as the proportion of different mineral components in the slurry, the concentration parameters refer to the content of solid particles in the slurry, and the liquid film thickness parameter reflects the actual thickness of the liquid film on the slurry surface. These parameters are crucial for understanding the optical properties of the slurry surface, aiming to provide accurate input data for subsequent illumination adjustments.

[0045] Furthermore, based on the acquired slurry composition parameters, concentration parameters, and liquid film thickness parameters, the operating parameters of the local illumination adjustment device are determined. This typically involves a pre-established database or model that stores the optimal operating parameters of the local illumination adjustment device under different combinations of slurry parameters. Operating parameters may include the light source intensity, projection angle, light spot shape, polarization direction, scintillation frequency, etc. By comparing the real-time acquired slurry parameters with the data in the database or by calculating using the model, the illumination adjustment strategy that most effectively suppresses liquid film reflection interference under the current operating conditions can be determined.

[0046] Therefore, the local illumination adjustment device is driven by the matched operating parameters to suppress the reflection interference area caused by the liquid film on the slurry surface during the image acquisition sequence. This means that the local illumination adjustment device (e.g., adjustable light source, polarizing filter, structured light projector, etc.) will dynamically adjust according to the real-time determined operating parameters to ensure that the reflection interference of the liquid film on the slurry surface is reduced to the greatest extent within the precise timing of image acquisition by the industrial camera, thereby exposing clear visual features of mineral particles.

[0047] The proposed solution dynamically senses changes in the optical properties of the slurry surface by real-time monitoring of its composition, concentration, and film thickness parameters. Since these slurry parameters directly affect the formation and reflectivity of the film, the system can accurately match or calculate the optimal operating parameters for the local illumination adjustment device under current conditions by using these real-time parameters as input. This adaptive adjustment mechanism allows the illumination device to precisely compensate according to the actual state of the slurry, thus avoiding the problems of poor suppression or over-adjustment that may result from fixed parameter settings. This ensures that reflective interference areas are efficiently and accurately suppressed during the image acquisition sequence.

[0048] In some embodiments described above, while local illumination adjustment can suppress reflective interference areas formed by the liquid film on the slurry surface, under actual complex wet grinding conditions, the liquid film on the slurry surface may exhibit irregular dynamic changes, making it difficult to completely eliminate reflective interference. Furthermore, during visual analysis, some reflective areas may still be misidentified as mineral particles, affecting the accuracy of monitoring. Therefore, this application further proposes a local illumination adjustment method that uses projected structured light patterns to more accurately distinguish between areas containing actual mineral particles and areas experiencing reflective interference.

[0049] The aforementioned local illumination adjustment of the slurry surface covered by the field of view of the industrial camera includes: During the image acquisition sequence, a preset structured light pattern is projected onto the surface of the slurry within the field of view of the industrial camera; Acquire images of the slurry surface carrying the structured light pattern; Visual analysis is performed on the surface image of the slurry to extract the local geometric deformation features of the structured light pattern on the slurry surface; The extracted local geometric deformation features are compared with preset standard reference geometric features to distinguish the real mineral particle area and the reflection interference area in the slurry surface image.

[0050] Specifically, a structured light pattern refers to an optical pattern with specific spatial coding information, such as a stripe pattern, grid pattern, dot matrix pattern, or random speckle pattern. This structured light pattern is projected onto the surface of the slurry using a structured light projection device. Its purpose is to obtain the three-dimensional geometric information of the object by observing the deformation of light on the surface. During image acquisition, an industrial camera simultaneously acquires images of the slurry surface illuminated by the structured light pattern. Subsequently, visual analysis is performed on the acquired slurry surface images. This analysis involves analyzing the local changes in the structured light pattern within the image to extract its geometric deformation features. For example, for a stripe pattern, the bending, displacement, or phase change of the stripes can be analyzed; for a dot matrix pattern, the relative position changes of the dots can be analyzed. These geometric deformation features reflect the microscopic undulations and three-dimensional morphology of the slurry surface. The extracted local geometric deformation features are then compared with pre-stored, preset standard reference geometric features formed on a standard plane or known geometry. This comparison allows for the precise differentiation between areas of deformation caused by actual mineral particles and areas of non-deformation or regular deformation caused by liquid film reflection or flat surfaces in slurry surface images, thus effectively distinguishing between areas of actual mineral particles and areas of reflection interference.

[0051] This application's solution addresses the challenge of thoroughly distinguishing between real mineral particles and reflective interference in complex liquid film environments by introducing structured light projection and geometric deformation analysis. The working principle is that when a preset structured light pattern is projected onto the slurry surface, if the light illuminates mineral particles with three-dimensional morphology, the structured light pattern will undergo measurable local geometric deformation due to the particle's shape and height, such as stripe bending, misalignment, or phase shift. Conversely, if the light illuminates a reflective area formed by the liquid film, particularly a specular reflection area, the structured light pattern may only be reflected without significant geometric deformation, or the deformation pattern may differ significantly from the particle deformation. By accurately visually analyzing these local geometric deformation features and comparing them with standard reference features, the system can identify the unique three-dimensional deformation caused by mineral particles, thus clearly distinguishing them from interference areas caused by liquid film reflection. This differentiation method based on three-dimensional morphological differences significantly improves the accuracy and robustness of mineral particle identification under complex wet grinding conditions.

[0052] The above-mentioned local illumination adjustment of the slurry surface covered by the field of view of the industrial camera includes: Deploy an auxiliary detection light source, and make the auxiliary detection light source output light at a different projection angle or spectrum than the main illumination adjustment device; During the operating cycle of the main illumination adjustment device, the auxiliary slurry image formed by the auxiliary detection light source and the main slurry image formed by the main illumination adjustment device are acquired simultaneously. Visual analysis is performed on the auxiliary slurry image to detect the brightness, shape, and positional variations of the light spot formed by the auxiliary detection light source on the slurry surface; Based on the dynamic change characteristics of the light spot, determine whether the local illumination adjustment device has an optical performance degradation problem; If performance degradation is determined, the operating parameters of the local illumination adjustment device are adjusted compensatorily, or a device maintenance prompt signal is output.

[0053] Specifically, deploying an auxiliary detection light source refers to setting up one or more additional light sources outside the main illumination adjustment device. The purpose is to provide an independent and controllable reference illumination. This auxiliary detection light source is designed to operate with a projection angle or spectral output light different from that of the main illumination adjustment device. For example, the auxiliary detection light source can use a narrow-band spectral light source, while the main illumination adjustment device uses a broadband light source; or the auxiliary detection light source illuminates the slurry surface at a smaller incident angle, while the main illumination adjustment device projects light at a larger incident angle. This differentiated setup aims to avoid interference between the light from the auxiliary detection light source and the light from the main illumination adjustment device, while ensuring that the auxiliary detection light source can independently form a recognizable spot on the slurry surface for subsequent detection.

[0054] During the operating cycle of the main illumination adjustment device, the auxiliary slurry image formed by the auxiliary detection light source and the main slurry image formed by the main illumination adjustment device are simultaneously acquired. This can be understood as ensuring that both the auxiliary detection light source and the main illumination adjustment device are in working order while the industrial camera acquires images according to the image acquisition sequence, and that the industrial camera simultaneously captures the illumination effects they create on the slurry surface. The purpose of simultaneous acquisition is to obtain the light spot information formed by the auxiliary detection light source in real time under the actual operating conditions of the main illumination adjustment device, thereby accurately reflecting the impact of the main illumination adjustment device's operating status on the overall illumination environment.

[0055] In practical applications, visual analysis of the auxiliary slurry image to detect the brightness, shape, and positional variations of the light spot formed by the auxiliary detection light source on the slurry surface involves using image processing algorithms to identify and extract the light spot region formed by the auxiliary detection light source on the slurry surface from the auxiliary slurry image, and quantify its brightness, shape (e.g., area, aspect ratio, roundness, etc.), and position (e.g., coordinates of the light spot center). Changes in these characteristic parameters can serve as indirect indicators for evaluating the optical performance of the local illumination adjustment device. For example, if the optical components (such as lenses and mirrors) of the main illumination adjustment device become contaminated or aged, it may lead to increased scattering or absorption of light from the auxiliary detection light source, thereby affecting the brightness or shape of the auxiliary light spot.

[0056] Furthermore, determining whether the local illumination adjustment device has an optical performance degradation problem based on the dynamic change characteristics of the light spot involves comparing the real-time detected light spot characteristic parameters with the preset standard light spot characteristic parameters under normal operating conditions. If the detected light spot characteristic parameters (such as brightness reduction, shape distortion, and position drift) exceed the preset threshold range, it can be determined that the local illumination adjustment device has an optical performance degradation problem.

[0057] If performance degradation is detected, the operating parameters of the local illumination adjustment device are adjusted compensatorily, or a device maintenance reminder signal is output. Specifically, compensatory adjustments may include, but are not limited to, increasing the light source intensity, fine-tuning the projection angle, and adjusting beam shaping parameters to offset the negative impact of performance degradation and restore the local illumination adjustment device to its expected operating state. Alternatively or supplementarily, the system may also output a device maintenance reminder signal, such as through audible and visual alarms, interface prompts, or remote notifications, to remind operators to inspect, clean, or replace the local illumination adjustment device to ensure the long-term stable operation of the system.

[0058] This application's solution effectively solves the performance degradation problem that may exist in local illumination adjustment devices by introducing an auxiliary detection light source and monitoring and analyzing the light spot formed on the slurry surface in real time. Through the above technical solution, this application can effectively solve the performance degradation problem that may exist in existing local illumination adjustment devices, significantly improving the robustness and reliability of the tailings grinding treatment method based on industrial vision.

[0059] This application further proposes the above-mentioned method of performing local illumination adjustment on the slurry surface covered by the field of view of the industrial camera, including: Obtain the real-time motion status information of the slurry material; Based on the motion state information, calculate the real-time expected position and expected dwell time of the slurry within the field of view of the industrial camera; Based on the real-time expected position and the expected dwell time, the operating parameters of the local illumination adjustment device are dynamically adjusted. The operating parameters include the moving range and moving speed of the light-shielding baffle, as well as the projection area and flicker frequency of the auxiliary light source.

[0060] Specifically, acquiring real-time motion status information of the slurry material refers to monitoring dynamic parameters such as speed, direction, and acceleration of the slurry during grinding or conveying in real time using various sensors or vision systems. For example, laser rangefinders, ultrasonic sensors, or additional auxiliary visual tracking cameras can be used to acquire this information. Calculating the real-time expected position and expected dwell time of the slurry within the field of view of the industrial camera based on the motion status information can be understood as using kinematic models or prediction algorithms to predict the specific coordinates of the slurry at a future point in time within the industrial camera's field of view, and estimating the length of time it will remain at that position or within a specific area. This helps to achieve accurate tracking of the slurry's trajectory.

[0061] In practical applications, the operating parameters of the local illumination adjustment device are dynamically adjusted based on the real-time expected position and the expected dwell time. The purpose is to ensure that the illumination adjustment is synchronized with the dynamic changes of the slurry. The operating parameters include the moving range and speed of the shading baffle, as well as the projection area and flicker frequency of the auxiliary light source.

[0062] Specifically, the movement range and speed of the light-shielding baffle can be precisely controlled to ensure that only the target slurry surface area is effectively shielded or exposed to specific lighting, thereby avoiding interference with non-target areas. The projection area of ​​the auxiliary light source can be adjusted according to the real-time position of the slurry to ensure that the light is always focused on the area where reflection needs to be suppressed; while the flicker frequency can be optimized according to the movement speed of the slurry and the image acquisition sequence to provide the best instantaneous illumination effect in the shortest time while avoiding overexposure or underexposure.

[0063] This application's solution addresses the limitations of traditional static or preset illumination adjustment schemes when dealing with dynamic slurry surfaces by introducing the acquisition and analysis of real-time motion status information of the slurry material. Through this technical solution, the application achieves more precise and adaptive suppression of liquid film reflection interference on the slurry surface during wet grinding. Compared to static or preset illumination adjustment methods, this solution dynamically adjusts the operating parameters of the local illumination adjustment device based on the real-time motion state of the slurry, ensuring that the illumination adjustment remains synchronized with the slurry's movement trajectory. Therefore, even under high-speed or irregular movement of the slurry material, it effectively avoids the problem of incomplete suppression of reflection interference areas due to untimely or inaccurate illumination adjustment, significantly improving the quality of acquired images and the accuracy of subsequent visual feature analysis of mineral particles, thereby enhancing the overall reliability and effectiveness of visual monitoring of tailings grinding conditions.

[0064] This application further proposes the above-mentioned method of performing local illumination adjustment on the slurry surface covered by the field of view of the industrial camera, including: By combining the image acquisition timing with the inherent response time of the local illumination adjustment device, the start-up advance of the illumination device is calculated; The local illumination adjustment device is driven according to the aforementioned start-up advance, so that the local illumination adjustment device reaches the preset standard working state at the image acquisition timing node. The actual working status of the local illumination adjustment device is monitored in real time, and the device drive signal is adjusted in a closed loop according to the deviation between the actual working status and the preset standard working status.

[0065] Specifically, the image acquisition timing refers to the precise time window or series of time points set for the industrial camera to capture images of the slurry surface. The inherent response time of the local illumination adjustment device can be understood as the time delay required from receiving the start command to its illumination output reaching a stable or preset intensity. This response time may be affected by various factors such as device type, power, and optical component characteristics. The start-up advance of the illumination device refers to the length of time required to start the device in advance so that the local illumination adjustment device can accurately reach its preset standard operating state at the start of the image acquisition timing. This advance is calculated by combining the image acquisition timing with the inherent response time of the device. For example, if the image acquisition timing is T and the inherent response time of the device is Δt, then the start-up advance can be calculated as T - Δt.

[0066] The preset standard operating state refers to the ideal optical output state that the local illumination adjustment device should achieve during image acquisition, such as specific illumination intensity, spectral distribution, projection angle, or polarization characteristics, to effectively suppress liquid film reflection interference. The actual operating state refers to the illumination output parameters detected in real time by the local illumination adjustment device during operation. The deviation value refers to the difference between the actual operating state and the preset standard operating state. To ensure the accuracy and stability of illumination adjustment, this application also includes real-time monitoring of the actual operating state of the local illumination adjustment device and closed-loop adjustment of the device drive signal based on the deviation value between the actual operating state and the preset standard operating state. For example, if the actual illumination intensity is lower than the preset value, the drive current can be increased; if the illumination projection angle deviates, the drive mechanism can be adjusted to correct the angle.

[0067] The solution proposed in this application effectively solves the problem of asynchronous local illumination adjustment and image acquisition that may exist in traditional solutions by introducing precise control and real-time feedback mechanism for the start-up timing of the local illumination adjustment device.

[0068] This application further proposes a tailings grinding method based on industrial vision. When performing local illumination adjustment on the slurry surface covered by the field of view of an industrial camera, it can ensure the continuous effectiveness of local illumination adjustment by monitoring the optical performance of the local illumination adjustment device in real time and performing adaptive compensation. The method includes: During the operation of the local illumination adjustment device, a preset standard calibration light spot is projected onto the surface of the slurry; Acquire images of the light spot formed by the standard calibration light spot on the surface of the slurry; Visual analysis of the light spot image is performed to obtain the actual geometric morphology parameters and brightness distribution parameters of the standard calibration light spot; The actual geometric shape and brightness distribution parameters are compared with the preset standard calibration light spot parameters to detect whether there are abnormal optical effects in the optical components of the local illumination adjustment device. Based on the detected level of abnormal optical effects, the light source intensity, projection angle, and beam shaping parameters of the local illumination adjustment device are adaptively adjusted to achieve optical anomaly compensation.

[0069] Specifically, during the operation of the local illumination adjustment device, a preset calibration spot with a known geometric shape and brightness distribution can be projected onto the slurry surface periodically or under specific triggering conditions by the local illumination adjustment device itself or an independent auxiliary light source. This calibration spot can be a point, a line, a rectangle, or any other regular pattern, and its parameters are preset as "standard calibration spot parameters" during system design.

[0070] Subsequently, an industrial camera or a dedicated auxiliary camera is used to acquire images of the standard calibration spot formed on the slurry surface. This image reflects the spot's behavior under actual working conditions. Visual analysis of the acquired spot image involves using image processing algorithms (such as edge detection, region segmentation, and brightness analysis) to extract the spot's actual geometric parameters (e.g., center position, size, shape, and contour) and brightness distribution parameters (e.g., average brightness, maximum brightness, brightness uniformity, and gradient variation).

[0071] In practical applications, comparing the acquired actual geometric parameters and brightness distribution parameters with preset standard calibration spot parameters can detect whether there are abnormal optical effects in the optical components of the local illumination adjustment device. For example, if the shape of the actual spot is distorted, its size changes, its position shifts, or its brightness distribution is uneven, with dark or overly bright areas appearing, it indicates that the optical components of the local illumination adjustment device (such as lenses, mirrors, and the light source itself) may have problems such as aging, contamination, damage, or calibration deviations, thus producing abnormal optical effects.

[0072] Furthermore, based on the type and degree of the detected abnormal optical effects, an "abnormal optical effect level" can be determined. For example, slight distortion may correspond to a lower level, while severe distortion or significant brightness attenuation corresponds to a higher level. Based on this level, the system can adaptively adjust the operating parameters of the local illumination adjustment device, including light source intensity (adjusting LED drive current or laser power), projection angle (adjusting the mechanical tilt angle of the light source or beam deflector), and beam shaping parameters (adjusting the zoom lens, aperture, or diffractive optical elements). By adjusting these parameters, optical anomalies of the local illumination adjustment device can be compensated for, restoring its output illumination effect to the standard state as much as possible, thereby ensuring continuous and effective suppression of interference from liquid film reflection on the slurry surface.

[0073] This application's solution constructs a real-time optical performance monitoring and adaptive compensation closed loop by introducing a standard calibration spot projection and analysis mechanism during the operation of the local illumination adjustment device. Through this technical solution, the application effectively addresses potential performance degradation or anomalies in the optical components of the local illumination adjustment device, significantly improving the accuracy and stability of local illumination adjustment. This solution, through real-time monitoring and adaptive compensation, ensures that the system can continuously and effectively suppress liquid film reflection interference on the slurry surface even under long-term operation or environmental changes, thereby guaranteeing the image quality and reliability of the visual monitoring results for slurry particles. Furthermore, this solution helps extend the service life of the local illumination adjustment device, reduces maintenance costs, and improves the robustness and adaptability of the entire tailings grinding treatment method.

[0074] This application further proposes the following steps for adaptively adjusting the light source intensity, projection angle, and beam shaping parameters of the aforementioned local illumination adjustment device: A combined calibration spot consisting of multiple sub-spots is projected onto the surface of the slurry; Acquire an image of the overall spot formed by the combined calibration spot on the surface of the slurry; Visual analysis is performed on the overall light spot image to obtain the actual geometric shape and brightness distribution data of each sub-light spot; The actual parameters of each sub-spot are compared with the corresponding preset standard parameters one by one to identify the differential abnormal optical effects corresponding to different regions of the combined calibration spot. Based on the type and degree of anomalous optical effects in each region, the adjustment amounts for light source intensity, projection angle, and beam shaping parameters are calculated respectively. The corresponding operating parameters are independently corrected according to the adjustment amount of each parameter, and the optical anomalies of the local illumination adjustment device are compensated in zones.

[0075] Specifically, the projection of a combined calibration spot consisting of multiple sub-spots onto the slurry surface refers to the local illumination adjustment device projecting a pattern composed of multiple independent or adjacent sub-spots instead of a single calibration spot during operation. These sub-spots can be designed to be regularly arranged (e.g., grid-like, matrix-like) or irregularly distributed to cover the entire effective projection area of ​​the local illumination adjustment device. Each sub-spot can have a preset geometry (e.g., circular, square) and brightness characteristics. The purpose is to more precisely detect the optical performance of the local illumination adjustment device in different areas by setting independent calibration points in different regions.

[0076] The acquisition of the overall spot image formed by the combined calibration spot on the slurry surface refers to the capture of an image of the slurry surface containing all sub-spots by an industrial camera after projecting the combined calibration spot. This image will serve as the basis for subsequent visual analysis.

[0077] In practical applications, the visual analysis of the overall light spot image to obtain the actual geometric shape and brightness distribution data of each sub-spot can be understood as identifying and separating each sub-spot from the overall light spot image using image processing algorithms (such as edge detection, region segmentation, grayscale analysis, etc.), and performing independent parameter measurements on each sub-spot. The geometric shape parameters may include the area, perimeter, shape factor, and center coordinates of the sub-spot; the brightness distribution parameters may include the average brightness, maximum brightness, brightness uniformity, and brightness gradient of the sub-spot. The purpose is to provide refined regional data for subsequent anomaly effect identification.

[0078] Furthermore, the step of comparing the actual parameters of each sub-spot with the corresponding preset standard parameters to identify the differential abnormal optical effects corresponding to different regions of the combined calibration spot refers to comparing the actual measured geometric shape and brightness distribution data of each sub-spot with the pre-stored standard parameters corresponding to the ideal working state. Through comparison, the optical deviation of each sub-spot region can be quantified; for example, the brightness of a certain sub-spot may be significantly lower than the standard value, or its shape may be distorted. Thus, the specific abnormality types (e.g., brightness attenuation, projection angle shift, beam distortion) and their degree exhibited by the local illumination adjustment device in different regions can be identified.

[0079] Based on this, the step of calculating the adjustment amounts of light source intensity, projection angle, and beam shaping parameters according to the type and degree of abnormal optical effects in each region means that, for the abnormal effects identified in each sub-spot region, the system will independently calculate the required correction values ​​for the light source intensity, projection angle, and beam shaping parameters for that region based on a preset compensation model or algorithm. For example, if the brightness of a certain sub-spot region is too low, the system will calculate the adjustment amount required to increase the light source intensity of that region; if a certain sub-spot region exhibits spot distortion, the system will calculate the adjustment amount required to adjust the beam shaping parameters.

[0080] Finally, the step of independently correcting the corresponding operating parameters based on the adjustment amounts of each parameter to complete the zonal compensation for optical anomalies in the local illumination adjustment device refers to applying the calculated adjustment amounts for each region to the light source, projection mechanism, and beam shaping component of the corresponding region within the local illumination adjustment device. For example, if the local illumination adjustment device uses a zone-controllable LED array light source, the driving current of each LED region can be independently adjusted to change the intensity; if a micro-mirror array is used, the tilt angle of each mirror can be independently adjusted to change the projection angle. Through this zonal and independent adjustment, refined and regional compensation for optical anomalies in the local illumination adjustment device can be achieved.

[0081] This application's solution replaces a single standard calibration spot with a combined calibration spot composed of multiple sub-spots, and performs independent visual analysis and parameter comparison on each sub-spot. This allows for the precise identification of differential optical anomalies in different areas of the local illumination adjustment device. It is precisely this regional anomaly identification that enables the system to specifically calculate and independently correct the light source intensity, projection angle, and beam shaping parameters for each area. This zoned compensation mechanism avoids the overcompensation or undercompensation problems that may occur with traditional overall compensation, ensuring that the local illumination adjustment device provides uniform and accurate illumination conditions across the entire field of view, thus providing high-quality input for subsequent slurry image acquisition and visual feature analysis.

[0082] refer to Figure 3 , Figure 3 This is a schematic diagram of a tailings grinding system based on industrial vision provided in an embodiment of the present invention, used to implement the above-mentioned tailings grinding method based on industrial vision. The system includes: The motion state acquisition module is used to acquire motion state information of slurry materials under wet grinding conditions; The timing determination module is used to determine the timing of image acquisition of the slurry by the industrial camera based on the motion state information. The illumination adjustment module is used to perform local illumination adjustment on the slurry surface covered by the field of view of the industrial camera during the image acquisition sequence, so as to suppress the reflection interference area formed by the liquid film on the slurry surface. An image acquisition module is used to acquire a surface image of the slurry after the local illumination adjustment is completed; The visual analysis module is used to perform visual feature analysis on the acquired slurry images and extract the visual features of mineral particles in the slurry images. The results output module is used to output visual monitoring and analysis results of tailings grinding conditions based on the visual characteristics of the mineral particles.

[0083] This system effectively integrates key functions for visual monitoring of mineral slurry particles under wet grinding conditions through a modular design. The motion acquisition module senses the dynamics of the slurry in real time, providing precise data for the timing determination module, enabling the image acquisition module to capture slurry images at the optimal time. Crucially, the illumination adjustment module proactively intervenes before image acquisition, suppressing reflection interference from the liquid film on the slurry surface through local illumination adjustment technology, ensuring the quality of image acquisition. Subsequently, the visual analysis module performs in-depth processing on the high-quality images, extracting reliable visual features of mineral particles. Finally, the results output module provides accurate monitoring and analysis results for the grinding process. This systematic solution aims to overcome the problem of reflection interference in wet grinding environments, significantly improving the accuracy and reliability of monitoring and providing a solid technical foundation for intelligent control of the grinding process.

[0084] The system of this application forms a closed-loop intelligent monitoring system through the collaborative work of a motion state acquisition module, a timing determination module, an illumination adjustment module, an image acquisition module, a visual analysis module, and a result output module. In particular, the introduction of the illumination adjustment module enables the system to effectively suppress reflection interference at the physical level before image acquisition through refined local illumination control, thereby ensuring that the image acquisition module can acquire high-quality, interference-free images of the slurry surface. This "suppression first, acquisition second, analysis third" strategy significantly improves the accuracy and reliability of the visual analysis module in extracting the visual features of mineral particles, ultimately enabling the result output module to provide more realistic and accurate monitoring and analysis results of tailings grinding conditions. Therefore, the system of this application not only solves the problem of visual system misjudgment caused by reflective interference in wet grinding environments, but also provides more advanced and reliable technical support for improving mineral processing efficiency and metal recovery rates through its integrated and proactive interference suppression capabilities.

[0085] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A tailings grinding treatment method based on industrial vision, used for visual monitoring of slurry particles under wet tailings grinding conditions, characterized in that, include: To obtain information on the motion state of slurry materials under wet grinding conditions; Based on the motion state information, determine the timing sequence of image acquisition of the slurry by the industrial camera; During the image acquisition sequence, local illumination adjustment is performed on the slurry surface covered by the field of view of the industrial camera to suppress the reflection interference area formed by the liquid film on the slurry surface; After completing the local illumination adjustment, a surface image of the slurry is acquired; Visual feature analysis is performed on the acquired slurry images to extract the visual features of mineral particles in the slurry images; Based on the visual characteristics of the mineral particles, output the visual monitoring and analysis results of the tailings grinding process.

2. The tailings grinding treatment method based on industrial vision according to claim 1, characterized in that, The local illumination adjustment of the slurry surface area covered by the field of view of the industrial camera includes: The output light with specific polarization characteristics is used to illuminate the surface of the slurry at a preset fixed angle. Adjust the polarization direction of the filter in front of the lens of the industrial camera so that the polarization direction of the filter is orthogonal to the polarization direction of the reflective area on the surface of the slurry, thereby shielding the polarization interference of the reflective interference area formed by the liquid film on the slurry image.

3. The tailings grinding treatment method based on industrial vision according to claim 1, characterized in that, The local illumination adjustment of the slurry surface covered by the field of view of the industrial camera includes: The composition parameters, concentration parameters, and liquid film thickness parameters of the slurry surface are acquired in real time. Based on the slurry composition parameters, the concentration parameters, and the liquid film thickness parameters, the operating parameters of the local illumination adjustment device are determined. The local illumination adjustment device is driven according to the matched operating parameters to suppress the reflection interference area generated by the liquid film on the surface of the slurry during the image acquisition sequence.

4. The tailings grinding treatment method based on industrial vision according to claim 1, characterized in that, The local illumination adjustment of the slurry surface covered by the field of view of the industrial camera includes: During the image acquisition sequence, a preset structured light pattern is projected onto the surface of the slurry within the field of view of the industrial camera; Acquire images of the slurry surface carrying the structured light pattern; Visual analysis is performed on the surface image of the slurry to extract the local geometric deformation features of the structured light pattern on the slurry surface; The extracted local geometric deformation features are compared with preset standard reference geometric features to distinguish the real mineral particle area and the reflection interference area in the slurry surface image.

5. The tailings grinding treatment method based on industrial vision according to claim 1, characterized in that, The process of performing local illumination adjustment on the slurry surface covered by the field of view of the industrial camera includes: Deploy an auxiliary detection light source, and make the auxiliary detection light source output light at a different projection angle or spectrum than the main illumination adjustment device; During the operating cycle of the main illumination adjustment device, the auxiliary slurry image formed by the auxiliary detection light source and the main slurry image formed by the main illumination adjustment device are acquired simultaneously. Visual analysis is performed on the auxiliary slurry image to detect the brightness, shape, and positional variation characteristics of the light spot formed by the auxiliary detection light source on the slurry surface; Based on the dynamic change characteristics of the light spot, determine whether the local illumination adjustment device has an optical performance degradation problem; If performance degradation is determined, the operating parameters of the local illumination adjustment device are adjusted compensatorily, or a device maintenance prompt signal is output.

6. The tailings grinding treatment method based on industrial vision according to claim 1, characterized in that, The local illumination adjustment of the slurry surface covered by the field of view of the industrial camera includes: Obtain the real-time motion status information of the slurry material; Based on the motion state information, calculate the real-time expected position and expected dwell time of the slurry within the field of view of the industrial camera; Based on the real-time expected position and the expected dwell time, the operating parameters of the local illumination adjustment device are dynamically adjusted. The operating parameters include the moving range and moving speed of the light-shielding baffle, as well as the projection area and flicker frequency of the auxiliary light source.

7. The tailings grinding treatment method based on industrial vision according to claim 1, characterized in that, The local illumination adjustment of the slurry surface covered by the field of view of the industrial camera includes: By combining the image acquisition timing with the inherent response time of the local illumination adjustment device, the start-up advance of the illumination device is calculated; The local illumination adjustment device is driven according to the aforementioned start-up advance, so that the local illumination adjustment device reaches the preset standard working state at the image acquisition timing node. The actual working status of the local illumination adjustment device is monitored in real time, and the device drive signal is adjusted in a closed loop according to the deviation between the actual working status and the preset standard working status.

8. The tailings grinding treatment method based on industrial vision according to claim 1, characterized in that, The process of performing local illumination adjustment on the slurry surface covered by the field of view of the industrial camera includes: During the operation of the local illumination adjustment device, a preset standard calibration light spot is projected onto the surface of the slurry; Acquire images of the light spot formed by the standard calibration light spot on the surface of the slurry; Visual analysis is performed on the light spot image to obtain the actual geometric morphology parameters and brightness distribution parameters of the standard calibration light spot; The actual geometric shape and the brightness distribution parameters are compared with the preset standard calibration light spot parameters to detect whether there are abnormal optical effects in the optical components of the local illumination adjustment device; Based on the detected level of abnormal optical effects, the light source intensity, projection angle, and beam shaping parameters of the local illumination adjustment device are adaptively adjusted to achieve optical anomaly compensation.

9. The tailings grinding treatment method based on industrial vision according to claim 8, characterized in that, The adaptive adjustment of the local illumination adjustment device includes the following parameters: light source intensity, projection angle, and beam shaping parameters: A combined calibration spot consisting of multiple sub-spots is projected onto the surface of the slurry; Acquire an image of the overall spot formed by the combined calibration spot on the surface of the slurry; Visual analysis is performed on the overall light spot image to obtain the actual geometric shape and brightness distribution data of each sub-light spot; The actual parameters of each sub-spot are compared with the corresponding preset standard parameters one by one to identify the differential abnormal optical effects corresponding to different regions of the combined calibration spot; Based on the type and degree of anomalous optical effects in each region, the adjustment amounts for light source intensity, projection angle, and beam shaping parameters are calculated respectively. The corresponding operating parameters are independently corrected according to the adjustment amount of each parameter, and the optical anomalies of the local illumination adjustment device are compensated in zones.

10. A tailings grinding system based on industrial vision, characterized in that, The system for implementing the tailings grinding method based on industrial vision as described in any one of claims 1-9, the system comprising: The motion state acquisition module is used to acquire motion state information of slurry materials under wet grinding conditions; The timing determination module is used to determine the timing of image acquisition of the slurry by the industrial camera based on the motion state information. The illumination adjustment module is used to perform local illumination adjustment on the slurry surface covered by the field of view of the industrial camera during the image acquisition sequence, so as to suppress the reflection interference area formed by the liquid film on the slurry surface. An image acquisition module is used to acquire a surface image of the slurry after the local illumination adjustment is completed; The visual analysis module is used to perform visual feature analysis on the acquired slurry images and extract the visual features of mineral particles in the slurry images. The results output module is used to output visual monitoring and analysis results of tailings grinding conditions based on the visual characteristics of the mineral particles.

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