Automatic visual detection system for precious metal solution

Abstract

The utility model provides an automatic visual detection system for a noble metal solution, which solves the problems of low manual detection efficiency, strong subjectivity and high safety risk. The system comprises a sample liquid test tube grabbing module, an AGV trolley module and a camera obscura detection module, wherein the sample liquid test tube grabbing module and the AGV trolley module are fixedly mounted on an upper platform of the AGV trolley module. The sample liquid test tube grabbing module comprises a four-joint mechanical arm, a binocular depth camera fixed at the tail end of the mechanical arm and a tail end grabbing execution mechanism, and the tail end grabbing execution mechanism is provided with a grabbing fixing support, a driving rib and two arc-shaped clamping jaws which are symmetrically arranged. The camera obscura detection module comprises a display, a scanning device and a camera obscura detection device. The camera obscura detection device adopts a modularized double-layer structure box body, an infrared sensor is mounted on the upper layer, an industrial camera, an LED light source and a test tube rack are mounted on the lower layer, and a white reflective coating is arranged on the inner wall of the box body. The system realizes automatic detection of the precious metal solution, and the detection efficiency and safety are remarkably improved.

Description

Technical Field

[0001] The utility model relates to the technical field of precious metal detection, in particular to an automatic visual detection system for precious metal solutions. Background Art

[0002] Precious metal purification is the final stage of precious metal smelting, requiring the complete replacement of precious metal ions in the refining mother liquor. Currently, the replacement status of precious metal ions is primarily determined by the color information displayed after the solution develops a color reaction. This traditional method, which relies on manual visual inspection, has the following problems: First, it suffers from low efficiency and delayed feedback on test results, which hinders the real-time control of key process parameters; second, it is highly subjective, with detection accuracy significantly affected by human factors; and third, the harsh working environment, with the presence of metal dust, acid mist, and heavy metal ion contamination, poses a serious threat to the health and safety of workers.

[0003] With the deepening digital transformation of the manufacturing industry, traditional manual inspection methods are no longer able to meet the needs of modern precious metal purification production. Therefore, there is an urgent need to develop an automated inspection system that integrates industrial robots and machine vision technology to improve inspection efficiency and accuracy, enhance the working environment, and promote the intelligent upgrade of precious metal purification processes. Utility Model Content

[0004] In response to the problems of poor safety, strong subjectivity, and low efficiency caused by the reliance on manual visual judgment of the color of the reaction solution in the existing precious metal purification process, the utility model provides an automated visual inspection system for precious metal solutions, which can automatically complete the entire process of grabbing, transferring and inspecting the test tubes to be inspected, and realize the accurate identification of the ion types in the precious metal solution.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An automated visual inspection system for precious metal solutions includes a sample tube gripping module, an automated guided vehicle (AGV) module, and a darkroom inspection module. These modules are fixedly mounted on the upper platform of the AGV module. The sample tube gripping module includes a robotic arm, a binocular depth camera, and an end-of-line gripping actuator. The AGV module carries and transports the entire inspection system. The darkroom inspection module includes a display, a barcode scanner, and a darkroom inspection device.

[0007] Furthermore, the robotic arm adopts a four-joint robotic arm, which is fixedly installed on the upper platform of the AGV trolley module; the binocular depth camera is fixed to the end of the robotic arm by bolts for target recognition and positioning; the end grasping actuator is installed at the end of the robotic arm for grasping the test tube to be inspected.

[0008] Furthermore, the end-gripping actuator comprises a fixed gripping support, a drive rib, and gripping fingers. The fixed gripping support is fixedly connected to the end of the robotic arm; the drive rib is connected to the motor drive unit to transmit the driving force; the gripping fingers are two symmetrically arranged arc-shaped jaws made of aluminum alloy, with a semicircular inner surface and a non-slip rubber coating. They are particularly suitable for gripping cylindrical test tubes to ensure stable and reliable gripping.

[0009] Furthermore, the darkroom inspection device includes a darkroom body, an infrared sensor, an industrial camera, an LED light source, and a test tube rack. The industrial camera is mounted on one side of the darkroom body to capture sample images; the LED light source is fixedly mounted on both sides of the inner wall of the darkroom body to provide a standard lighting environment; the infrared sensor is fixedly mounted inside the darkroom body to detect the presence of test tubes; and the test tube rack is fixedly connected to the bottom of the darkroom body to hold the test tubes to be inspected.

[0010] Furthermore, the darkroom body adopts a modular, double-layer design. The upper layer houses an infrared sensor, and the hinged, openable top cover facilitates the placement of test tubes for inspection and equipment maintenance. The lower layer houses an industrial camera, LED light source, and test tube rack. The inner wall of the darkroom is coated with a white reflective coating, providing uniform light reflection and preventing color deviation caused by overlapping background colors.

[0011] Furthermore, the display and the code scanning device are fixedly connected to the outer wall of the darkroom body. The display is used to display the detection process information and detection results; the code scanning device is a QR code scanner, which is used to identify the QR code label on the test tube to be tested and obtain the sample attribute information.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. Significantly improved safety: Automated detection systems replace manual operations, preventing workers from direct contact with harmful environments, effectively reducing occupational health risks, and improving production safety.

[0014] 2. Significantly improved inspection efficiency: AGVs can quickly reach any inspection location, covering areas that are difficult for humans to reach; the automated grasping and inspection processes run continuously, greatly improving inspection efficiency compared to manual inspection.

[0015] 3. Significant improvement in detection accuracy: By adopting a standardized darkroom environment and advanced image processing algorithms, ambient light interference and human subjective factors are eliminated, and detection accuracy is greatly improved.

[0016] 4. High degree of intelligence: Integrates machine vision, image processing and database technologies to achieve full automation and intelligence of the detection process, and supports traceability management and statistical analysis of detection data.

[0017] 5. Strong system scalability: The modular design facilitates system upgrades and functional expansions, and can adapt to the detection needs of different types of precious metal solutions, with good versatility and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural diagram of an automated visual inspection system for precious metal solutions of the present invention;

[0019] Figure 2 This is a structural diagram of the sample liquid test tube grabbing module of the present invention;

[0020] Figure 3 It is a structural diagram of the hardware system of the dark box detection module of the utility model;

[0021] Figure 4 This is a workflow diagram of an automated visual inspection system for precious metal solutions of the utility model;

[0022] Figure 5 This is a schematic diagram of the visual interface of the dark box detection module of the present utility model;

[0023] In the figure: 1-sample liquid test tube grasping module, 2-AGV trolley module, 3-dark box detection module, 11-robotic arm, 12-binocular depth camera, 13-end grasping actuator, 131-grabbing fixed support, 132-driving rib, 133-grabbing finger, 31-display, 32-barcode scanning device, 33-dark box detection device, 331-top cover, 332-LED light source, 333-industrial camera, 334-infrared sensor, 335-test tube rack, 336-dark box body. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions, and advantages disclosed in the embodiments of the present invention more clearly understood, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the embodiments of the present invention and are not intended to limit the embodiments of the present invention.

[0025] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0026] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "set," and "connected" should be understood in a broad sense, for example, to mean fixedly connected, set, or integrally connected or set. A person of ordinary skill in the art will be able to understand the specific meanings of the above terms in this patent based on the specific circumstances.

[0027] The utility model aims to solve the problem that the color of the reaction solution in the precious metal purification process is usually judged by the human eye, that is, the reaction situation is judged by the on-site technicians, which causes strong subjectivity and poor accuracy. An automated visual detection system for precious metal purification solution is proposed.

[0028] 1. Overall system structure:

[0029] See also Figure 1-5 The utility model provides a technical solution: an automated visual inspection system for precious metal solutions, including a sample tube grabbing module 1, an AGV trolley module 2 and a dark box detection module 3.

[0030] See also Figure 1 The sample tube grabbing module 1 and dark box detection module 3 are fixedly mounted on the upper platform of the AGV vehicle module 2. The AGV vehicle module 2 serves as a mobile platform, carrying the entire detection system and transporting it to the target detection location. The sample tube grabbing module 1 is responsible for identifying, locating, and grabbing the test tube to be tested, and transferring it to the dark box detection module 3. The dark box detection module 3 uses image processing technology and ion recognition algorithms to accurately identify the ion species in the precious metal solution and visually display the detection results.

[0031] 2. Sample liquid test tube grabbing module structure:

[0032] See also Figure 2 The sample tube grabbing module 1 includes a robotic arm 11 , a binocular depth camera 12 and an end-grabbing actuator 13 .

[0033] The robotic arm 11 is a four-joint robotic arm, which is fixedly mounted on the upper platform of the AGV trolley module 2 through a base. It can move flexibly in the workspace to achieve multi-angle and multi-position grasping operations.

[0034] The binocular depth camera 12 is bolted to the end of the robotic arm 11 for target recognition and three-dimensional positioning. The binocular depth camera 12 is calibrated to accurately identify and obtain the spatial position of the test tube to be inspected.

[0035] The end-gripping actuator 13 is mounted at the end of the robotic arm 11 and comprises a fixed gripping support 131, drive ribs 132, and gripping fingers 133. The fixed gripping support 131 is fixedly connected to the end of the robotic arm 11 via a flange; the drive ribs 132 are connected to the motor drive unit to transmit the driving force; the gripping fingers 133 are two symmetrically arranged arc-shaped jaws made of aluminum alloy, with a semicircular inner surface and a non-slip rubber coating. They are particularly suitable for gripping cylindrical test tubes to ensure stable and reliable gripping.

[0036] During operation, the binocular depth camera 12 identifies the position of the test tube to be inspected, the robotic arm 11 drives the end grasping actuator 13 to move above the test tube to be inspected, and the motor drives the grasping fingers 133 to open by driving the ribs 132. The robotic arm 11 descends so that the grasping fingers 133 clamp the test tube to be inspected, completing the grasping operation.

[0037] 3. Dark box detection module structure:

[0038] See also Figure 3 The dark box detection module 3 includes a display 31 , a code scanning device 32 and a dark box detection device 33 .

[0039] The dark box detection device 33 includes a dark box body 336 , an infrared sensor 334 , an industrial camera 333 , an LED light source 332 and a test tube rack 335 .

[0040] Industrial camera 333, mounted on one side of darkroom housing 336 and employing a high-resolution CMOS sensor, is used to capture sample images. LED light source 332, fixedly attached to both sides of the inner wall of darkroom housing 336, utilizes a cold light source design to provide a stable, uniform, standard lighting environment. Infrared sensor 334, mounted on the upper level of darkroom housing 336, detects the presence of test tubes and triggers the test sequence. Test tube rack 335, fixedly attached to the bottom of darkroom housing 336 and featuring a U-shaped groove, can stably accommodate test tubes of varying diameters.

[0041] The darkroom box body 336 adopts a modular double-layer structure design: the upper layer is equipped with an infrared sensor 334, and the top cover 331 is connected by a hinge and can be opened upward to facilitate the placement of test tubes to be inspected and equipment maintenance; the lower layer is equipped with an industrial camera 333, an LED light source 332 and a test tube rack 335, forming a closed inspection space; the inner wall of the darkroom box body 336 is provided with a white reflective coating, and the white background has uniform light reflection characteristics, which can effectively avoid color deviation caused by background color superposition and improve detection accuracy.

[0042] The display 31 and barcode scanning device 32 are fixedly mounted on the outer wall of the darkroom housing 336. The display 31 uses an industrial-grade touch screen to display information about the test process, the parameter setting interface, and test results. The barcode scanning device 32 is a QR code scanner that recognizes the QR code label on the test tube to automatically obtain attribute information such as the sample number, batch, and sampling time.

[0043] The display 31, code scanner 32, and dark box detection device 33 interact with each other through a software system. The code scanner 32 identifies the QR code on the test tube to be inspected, obtains sample attribute information, and transmits it to the control system. The display 31 displays the inspection process and results in real time. The dark box detection device 33 completes the sample inspection, including sensor triggering, image acquisition, feature extraction, data comparison, and result output.

[0044] 4. Testing methods and procedures:

[0045] See also Figure 4 The specific implementation steps of the detection process of this embodiment are as follows:

[0046] Step 1) System startup and self-test;

[0047] Start the AGV module 2, robotic arm 11, binocular depth camera 12, end-grasping actuator 13, display 31, barcode scanning device 32, dark box detection device 33 and other equipment. Each subsystem completes self-test and enters standby state.

[0048] Step 2), AGV autonomous navigation;

[0049] The operator inputs the target position coordinates through the control terminal. After receiving the instructions, the AGV car module 2 calculates the optimal path according to the path planning algorithm and autonomously navigates to the target position with the detection system.

[0050] Step 3), test tube identification and grabbing;

[0051] Once the AGV is in place, the binocular depth camera 12 performs a three-dimensional scan of the target area, identifying the spatial position of the test tubes to be inspected. Based on this positional information, the control system plans the motion trajectory of the robotic arm 11. The end-grip actuator 13 precisely grasps the test tubes to be inspected and safely transfers them to the test tube rack 335 of the darkroom inspection device 33.

[0052] Step 4), sample testing and analysis;

[0053] After the test tube to be inspected is placed in the darkroom, the infrared sensor 334 detects a position signal, triggering the inspection process. The industrial camera 333 captures sample images under the standard illumination of the LED light source 332. The software system uses the K-Means clustering algorithm to segment the test tube area to be inspected and obtains the RGB average value (R=136.4, G=134.7, B=55.5) through color histogram statistics. The system calculates the Euclidean distance between the RGB feature values ​​and the data in the standard database in the RGB coordinate system and selects the data point with the smallest distance (gold ion solution: R=133, G=146, B=55) as the recognition result. Figure 5 ,The detection results are displayed in real time through a visual interface.

[0054] This embodiment integrates an AGV mobile platform, a robotic gripping system, and a visual inspection system to achieve full automation of precious metal solution testing. The system boasts high flexibility, accuracy, and security, effectively enhancing the intelligent level of precious metal purification production, reducing labor costs, and improving the working environment, providing reliable technical support for the digital transformation of the precious metal smelting industry.

[0055] This embodiment describes the implementation of the present invention in detail, but this patent is not limited to the above implementation. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the purpose of this patent.

Claims

1. An automated visual inspection system for precious metal solutions, characterized by: include: Sample liquid test tube grabbing module (1), AGV trolley module (2) and dark box detection module (3); The sample liquid test tube grabbing module (1) and the dark box detection module (3) are fixedly installed on the upper platform of the AGV trolley module (2); The sample liquid test tube grabbing module (1) comprises a mechanical arm (11), a binocular depth camera (12) and an end grabbing actuator (13); The dark box detection module (3) comprises a display (31), a code scanning device (32) and a dark box detection device (33).

2. The automated visual inspection system for precious metal solutions according to claim 1, characterized in that: The robotic arm (11) is a four-joint robotic arm; the binocular depth camera (12) is fixed to the end of the robotic arm (11) by bolts; and the end grasping actuator (13) is installed at the end of the robotic arm (11).

3. The automated visual inspection system for precious metal solutions according to claim 2, wherein: The end-gripping actuator (13) comprises a gripping fixed support (131), a driving rib (132) and a gripping finger (133); The grabbing fixed support (131) is fixedly connected to the end of the mechanical arm (11); The driving rib (132) is connected to the motor driving device; The gripping fingers (133) are two symmetrically arranged arc-shaped clamping claws, the inner sides of which are designed to be semicircular arc-shaped and the surfaces of which are covered with a non-slip rubber layer, and are suitable for gripping cylindrical test tubes to be inspected.

4. The automated visual inspection system for precious metal solutions according to claim 1, wherein: The dark box detection device (33) includes a dark box body (336), an infrared sensor (334), an industrial camera (333), an LED light source (332) and a test tube rack (335); The industrial camera (333) is installed on one side of the dark box body (336); The LED light source (332) is fixedly mounted on both sides of the inner wall of the dark box body (336); The infrared sensor (334) is fixedly installed in the dark box body (336); The test tube rack (335) is fixedly connected to the bottom of the dark box body (336) and is used for placing test tubes to be tested.

5. The automated visual inspection system for precious metal solutions according to claim 4, characterized in that: The dark box body (336) adopts a modular double-layer structure: The upper layer is equipped with an infrared sensor (334), and the top cover (331) is connected by a hinge and can be opened; The lower layer is equipped with an industrial camera (333), an LED light source (332) and a test tube rack (335); The inner wall of the dark box body (336) is coated with a white reflective coating.

6. The automated visual inspection system for precious metal solutions according to claim 4, characterized in that: The display (31) and the code scanning device (32) are fixedly connected to the outer side wall of the dark box body (336); The code scanning device (32) is a two-dimensional code scanner.

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