Automatic coal sample bucket unloading machine based on visual detection

Abstract

The application discloses a kind of coal sample barrel automatic unloading machine based on visual detection, it is related to coal sample collection technical field, to solve the technical problems that existing coal sample automatic unloading equipment is difficult to adapt to deformation coal sample barrel, barrel mouth alignment deviation is big, simply increase force intensifies the wear and tear of bucket, including visual perception unit.The application realizes the dynamic accurate alignment effect of barrel mouth and hopper feeding center in the whole stroke of overturning by designing barrel mouth overturning trajectory eccentricity compensation algorithm, solves the problems that current coal sample automatic unloading equipment relies on mechanical positioning and is difficult to compensate barrel mouth independent eccentricity deviation, barrel mouth alignment is inaccurate in overturning process, coal sample is spilled and the risk of cross contamination between batches is high.The algorithm breaks through the technical limitations of traditional static centering, can correct the radial and vertical offset of barrel mouth in real time with the change of overturning angle, greatly improves the alignment accuracy of unloading whole stage, reduces sample loss and sample mixing hazard from the source, fully guarantees the authenticity and representativeness of coal sample detection result.

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