System for monitoring ore crushing mills

Abstract

The invention relates to a system for monitoring an ore crushing mill (1), which allows images and / or data to be captured to monitor discharged pulp and a restrictor ring (5) from outside the discharge area (4) of the mill (1), or inside the mill (1) through the central opening of the restrictor ring (5), the internal view being from the ore pulp discharge to the ore inlet. The system comprises a position control unit (8) from which a first end of a moveable support means (6) emerges, the second end thereof comprising vision means and / or sensors (7) for image and data acquisition. The moveable support means (6) is an articulated mechanical arm (10) or a telescopic bar (12) of a hydraulic or pneumatic cylinder (13) or a sliding bar (15) that moves on a rail (14).

Description

[0001] SYSTEM FOR MONITORING GRINDING MILLS

[0002] MINERALS

[0003] TECHNICAL FIELD OF THE INVENTION

[0004] The present invention has application in the mining industry, specifically in mineral grinding. More particularly, the present invention is applicable to mineral grinding mills in which it is difficult to monitor some variables within the mill, for example, monitoring from the output end of the mineral pulp to the input end of the material in the mineral grinding mill. Specifically, the present invention relates to a monitoring system with an image and / or data acquisition means that may be comprised of at least one camera and / or sensors of a visual, infrared, laser, sound, distance meter, or similar nature, in order to monitor the condition of the restrictor ring, the pulp discharge flow, and the interior of a mineral grinding mill even when the mill is in operation.

[0005] BACKGROUND OF THE INVENTION

[0006] In mineral grinding processes, real-time visualization of the mill interior is essential to monitor the internal condition of its lining and the ball, ore, and water charge to determine if the mill is operating correctly. It is also necessary to monitor the condition of the restrictor ring and the flow of pulp discharged from outside the mill. State-of-the-art documents disclose video cameras located at the mill inlet, allowing image capture from the inlet to the ore discharge. It would be possible to install a camera at the ore slurry discharge, pointing toward the material inlet, but given the conditions of said discharge, it is very difficult to locate a camera at the discharge, as there is no support structure to hold an image acquisition unit outside the ore slurry outlet.In the prior art, there are several documents disclosing the monitoring of mineral grinding mills, which have a vision system for monitoring the internal condition of a mill located at the inlet of the material for grinding. Thus, for example, document US2017142302 discloses a surveillance device in the form of a camera in a protective housing attached to an outlet assembly of a feed chute and, in a particular embodiment, to a flange extending outward over an outlet of the outlet assembly. The flange also supports a light, also in a protective housing. The feed chute introduces the mineral into a mill. The housings for the camera and the light contain a viewing window that is cleaned by water jets, and the window is protected by a visor that can be opened when recording the interior of the mill.The arrangement allows monitoring of the interior of the mill while it grinds the ore, with the camera positioned at the ore inlet opening or the ore and ball inlet in the case of a semi-autogenous or SAG mill.

[0007] Document US2014338474 discloses a direct visual monitoring system for detecting the interior of a rotary mineral mill comprising a monitoring unit, a main control unit, and an operation and handling unit, wherein the monitoring unit is located inside a feed hopper and is adjusted according to the physical characteristics of the feed hopper and according to the dimensions of the mill, to allow a direct view of the interior of the mill. The operating method comprises arranging inside a monitoring unit, a sensor container to detect its internal temperature; determining the acceleration in the vertical axis, on the horizontal lateral axis and on the front horizontal axis, obtaining two-dimensional images of the geometric conditions of the interior of the mill; obtaining two-dimensional thermal images of the interior of the mill and executing a distance detection in one or more planes.

[0008] Document CN111545306 discloses a method and system capable of detecting the operating state of a ball mill equipment via video surveillance. The method comprises the steps of mounting a marking unit capable of synchronous rotation at the position of the outer surface of a ball mill cylinder; mounting a camera outside the ball mill cylinder; and recording a video of the synchronous rotation of the marking unit around the cylinder axis., Image recognition processing is used for real-time recognition of brand unit in rotating video of brand, conversion into periodic related coefficient curve is achieved, the total number of rising edges of the related coefficient curve is detected in unit time, according to the total number of rising edges, the rotation speed, rotation angular velocity and rotation period of ball mill cylinder are calculated, according to the relationship between the actual value of rotation speed, rotation angular velocity and rotation period of a ball mill during work. The current working state of the ball mill is determined, and corresponding correction is carried out when the ball mill is rotating out of range.

[0009] Document CN201505545 discloses a medium motion state monitoring device for ball mills. A ball mill cylinder containing grinding medium consists of a grinding container for containing the grinding medium and a monitoring container for monitoring, a transparent partition is arranged between the grinding container and the monitoring container, the cylinder of the monitoring container is mounted on a hollow shaft into which a monitoring chamber probe can be inserted, the medium motion state monitoring device comprises a monitoring unit feeder, the monitoring chamber probe and an illuminator, the monitoring chamber probe is mounted on the end of a retractable rod of the monitoring unit feeder, and the illuminator is placed in the monitoring container. The utility model can effectively detect the motion state of the grinding medium.

[0010] Document KR20170074613 discloses a mechanical grinding system and method comprising: a grinding chamber having an interior space and a window formed in a side wall; a plurality of balls loaded in the interior space of the grinding chamber to grind the grinding material; an impeller installed in the interior space of the grinding chamber to rotate the plurality of balls; a camera for photographing the interior wall of the grinding chamber, the grinding material, the ball and the impeller during the grinding process through the window; and a computing device capable of monitoring the image captured by the camera.

[0011] All state-of-the-art documents disclose cameras located at the inlet end of the mill, which provide a view from the inlet to the mineral pulp discharge.

[0012] Therefore, one objective of the present invention is to provide a system to obtain a view from the discharge of mineral pulp to the material inlet of the mill, in such a way as to control the mill parameters from a single point of view.

[0013] A second objective of the present invention is to have at least one camera or set of cameras and / or sensors of a visual, infrared, laser, sound, distance meter nature, among others, to monitor the flow of pulp evacuated by the mill and monitor the restrictor ring to determine if it has suffered damage, for example, the breakage of one of its ribs, which generates a larger opening such that the screened material increases in size or steel balls mixed in the pulp can come out, or that represents an undesirable condition.

[0014] REVIEW OF THE INVENTION

[0015] The present invention relates to a system for monitoring mineral grinding mills by means of at least one video camera and / or sensors of a visual, infrared, laser, sound, distance meter or similar nature for capturing images and / or data, which are located in a support means for spatial translation, which is formed by a control unit for the positioning of the visual means and / or sensors which are mounted at the end of a mobile support means. In a first embodiment, the support means can be an articulated arm that allows monitoring the pulp discharged by the mill and the condition of the restrictor ring from outside the discharge area of ​​the mineral grinding mill, or from the central opening of the restrictor ring towards the interior of the mill, the visualization being from the mineral pulp discharge area towards the inlet of the material that will be subjected to grinding.

[0016] The monitoring system with visual means and / or sensors for monitoring the discharged pulp and the condition of the restrictor ring when the mill is in operation, and the interior of a mineral grinding mill when the mill is in operation at low or zero speed, is made up of a control unit for the positioning of the visual means and / or sensors which are mounted at the end of a mobile support means.

[0017] In a first embodiment, the positioning control unit is a mechanical drive control unit connected to a first end of the mobile support means, which in a first embodiment is formed by an articulated mechanical arm with the visual means and / or sensors located at its second end. The visual means and / or sensors may be in a position outside the mineral grinding mill, with a specific field of view that allows viewing the restrictor ring and the pulp evacuation. Also, the visual means and / or sensors may be in the central opening of the restrictor ring, obtaining a field of view that allows viewing the interior of the mill from the pulp discharge to the material inlet. To achieve these two positions, the positioning control unit for the visual means and / or sensors may be located on a fixed or mobile structure on the outside, on the side of the mineral pulp discharge.One of these structures may be a protective structure for pulp projection to the outside and for objects and people falling into the discharge hopper.

[0018] BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are included to provide a greater understanding of the invention and constitute part of this description and show preferred embodiments.

[0020] Figure 1 shows a perspective view of a mineral grinding mill.

[0021] Figure 2 shows a top plan view of a mineral grinding mill.

[0022] Figure 3 shows a side view of a mineral grinding mill.

[0023] Figure 4 shows a front view of a mineral grinding mill, viewed from its discharge to its infeed. Figure 5 shows a perspective view of the discharge end of a mineral grinding mill, showing in detail a possible design of a restrictor ring for the material outlet.

[0024] Figure 6 shows a first schematic of a mineral grinding mill, in which the monitoring system of the present invention is installed in a position outside the mill to monitor the restrictor ring and the pulp discharge.

[0025] Figure 7 shows a second schematic of a mineral grinding mill, in which the monitoring system of the present invention is installed in a position inside the mill to monitor its interior.

[0026] Figure 8 shows a third schematic of a mineral grinding mill, in which the monitoring system of the present invention is installed in a position outside the mill to monitor the restrictor ring and the pulp discharge.

[0027] Figure 9 shows a quarter diagram of a mineral grinding mill, in which the monitoring system of the present invention is installed in a position inside the mill to monitor its interior.

[0028] Figure 10 shows a plan view of the discharge end of a mineral grinding mill, in which a first embodiment of the monitoring system of the present invention is installed in a position outside the mill.

[0029] Figure 11 shows a side view of the discharge end of a mineral grinding mill, in which a first embodiment of the monitoring system of the present invention is installed in a position outside the mill.

[0030] Figure 12 shows a front view of the discharge end of a mineral grinding mill, in which a first embodiment of the monitoring system of the present invention is installed in a position outside the mill.

[0031] Figure 13 shows a plan view of the discharge end of a mineral grinding mill, in which a first embodiment of the monitoring system of the present invention is installed in a position inside the mill.

[0032] Figure 14 shows a side view of the discharge end of a mineral grinding mill, in which a first embodiment of the monitoring system of the present invention is installed in a position inside the mill.

[0033] Figure 15 shows a front view of the discharge end of a mineral grinding mill, in which a first embodiment of the monitoring system of the present invention is installed in a position inside the mill.

[0034] Figure 16 shows a perspective view of the discharge end of a mineral grinding mill, in which a first embodiment of the monitoring system of the present invention is installed in a position inside the mill.

[0035] Figure 17 shows a perspective view of the discharge end of a mineral grinding mill, in which a second embodiment of the monitoring system of the present invention is installed in a position outside the mill.

[0036] Figure 18 shows a perspective view of the discharge end of a mineral grinding mill, in which a second embodiment of the monitoring system of the present invention is installed in a position inside the mill.

[0037] Figure 19 shows a perspective view of the discharge end of a mineral grinding mill, in which a second embodiment of the monitoring system of the present invention is installed in a position outside the mill, said system being installed in a protection structure outside the mill.

[0038] Figure 20 shows a perspective view of the discharge end of a mineral grinding mill, in which a second embodiment of the monitoring system of the present invention is installed in a position inside the mill, said system being installed in a protection structure on the outside of the mill.

[0039] Figure 21 shows a perspective view of the discharge end of a mineral grinding mill, in which a third embodiment of the monitoring system of the present invention is installed in a position outside the mill.

[0040] Figure 22 shows a perspective view of the discharge end of a mineral grinding mill, in which a third embodiment of the monitoring system of the present invention is installed in a position inside the mill. Figure 23 shows a perspective view of the discharge end of a mineral grinding mill, in which a third embodiment of the monitoring system of the present invention is installed in a position outside the mill, said system being installed in a protective structure outside the mill.

[0041] Figure 24 shows a perspective view of the discharge end of a mineral grinding mill, in which a third embodiment of the monitoring system of the present invention is installed in a position inside the mill, said system being installed in a protection structure on the outside of the mill.

[0042] Figure 25 shows a block diagram of the positioning unit, image and / or data processing units, user interaction units or automatic units and automatic monitoring units.

[0043] DESCRIPTION OF THE INVENTION

[0044] The present invention relates to a system for monitoring mineral grinding mills by means of visual means and / or sensors for image and / or data acquisition, wherein said visual means and / or sensors for image and / or data acquisition may be a video camera and / or sensors of a visual, infrared, laser, sound, distance meter or similar nature located in a support means that allows monitoring the discharge of pulp and the restrictor ring from outside the discharge area of ​​the mineral grinding mill, or from the center of the central opening of the restrictor ring, the visualization inside the mill being from the discharge of mineral pulp towards the material inlet.As shown in Figures 1 to 5, the mill monitoring system of the present invention is designed to operate in a mill (1) for grinding minerals that has a cylindrical mantle (2) that at one of its ends has a feed opening (3) for the material that will be subjected to grinding, water and steel balls. The mineral is ground inside the mill (1) and is discharged by a discharge (4) towards a restrictor ring (5) that has a central opening (5a).

[0045] The monitoring system with visual means and / or sensors to monitor the pulp discharge and the condition of the restrictor ring (5) with the mill in nominal operation, and the interior of the mineral grinding mill when the mill is in operation at low or zero speed, is made up of a positioning control unit (8) from which the first end of a support means (6) emerges, at its second end of which visual means and / or sensors (7) are located for the acquisition of images and / or data. The visual means and / or sensors consist of a camera or set of cameras and / or sensors of a visual, infrared, laser, sound, distance meter or similar nature. The positioning control unit (8) may have a control unit for processing, display and communication between the different components of the system. This allows capturing images and data to process them, all as shown in schematic figures 6 and 7.

[0046] The control and positioning unit (8) can be separated into two modules, as shown in Figures 8 and 9. A first module (8a) containing a control unit for processing, display and communication; and a second module (8b) containing the electromechanical elements that allow movement of the support means (6). This allows the first module (8a) to be arranged far from the components that move the support means (6), for example, to carry out remote control commands of said support means (6).

[0047] The positioning control unit (8) is located on one side of the mineral pulp discharge (4) and therefore requires a fixed or mobile structure to support it during monitoring. Likewise, the positioning control unit (8) can be located in a protection structure (16) for pulp projection to the outside and for objects and people to fall into the discharge hopper that is located at the discharge (4) of the mill (1).

[0048] The positioning control unit (8) can be operated manually from its location on the outer structure, or by remote control. This allows the position of the visual means and / or sensors (7) to be regulated in order to monitor the discharged pulp and the restrictor ring (5) or the interior of the mill. The positioning control unit (8) is also automatically actuated when it receives preset values ​​of operating parameters from the mill, for example, the rotation speed in preset ranges.

[0049] Figures 10 to 16 show a first embodiment of the present invention. Specifically, in Figures 10 to 12, the visual means and / or sensors (7) for image and / or data acquisition are in a position outside the mill (1) with a field of view (9) that allows viewing the discharged pulp and the restrictor ring (5). Likewise, as can be seen in Figures 13 to 16, the visual means and / or sensors (7) are located in the central opening (5a) of the restrictor ring (5) with a field of view (9) that allows viewing the interior of the mill.

[0050] In this embodiment, the positioning control unit (8) is a mechanical drive control unit (11) that is located on one side of the mineral pulp discharge (4) and therefore requires a fixed or mobile structure to support it during monitoring. Likewise, in this embodiment, the mobile support means (6) is an articulated mechanical arm (10).

[0051] As shown in figure 16, the mechanical drive control unit (11) is located in a protection structure (16) to prevent the projection of pulp to the outside and to prevent objects and people from falling into the discharge hopper, which is located in the discharge area (4) of the mill (1). The mechanical drive control unit (11) can be operated manually from its location in the outer structure or by remote control. This allows the position of the image acquisition means and / or sensors (7) to be regulated in order to monitor the discharged pulp and the restrictor ring (5) or the inside of the mill.

[0052] The configuration of the mechanical drive unit (11) can take different forms and locations depending on the characteristics of the installation site and regulations of the end user of the system of the present invention. As seen in Figures 17 to 20, in a second embodiment, the visual means and / or sensors (7) are mounted at the end of a support means formed by a telescopic bar (12) of a hydraulic or pneumatic cylinder (13). The movement of the telescopic bar (12) of the hydraulic or pneumatic cylinder (13) is controlled by the positioning control unit (8).

[0053] Furthermore, in figures 21 to 24 a third embodiment can be seen in which the visual means and / or sensors (7) are mounted at the end of a support half formed by a sliding bar (15) that moves on a rail (14). The movement of the sliding bar (15) that moves along the rail (14) is controlled by the positioning control unit (8).

[0054] In any of the embodiments of the present invention, it is possible to include protection and / or cleaning means consisting of visors and / or air and / or water.

[0055] The control and positioning unit (8) may comprise the elements shown in Figure 25. A first group of physical elements comprising a positioning and protection unit (17) within which is located a connection unit to the mobile support means (18), which has a mechanical drive unit (19) and air and / or water cleaning units and / or visors (20). Within this same positioning and protection unit (17) is located a mechanically driven positioning control unit (21).

[0056] The control and positioning unit (8) also comprises logical units in computer support which can all be incorporated in a physical unit or distributed at the convenience of the end user. The logical units in computer support are constituted by image and data processing units (22) which comprise a connection unit to the visual media and / or sensors (23) which are controlled by a visual media and / or sensor control unit (23) which have an image and / or data capture unit (24) which are stored in an image and / or data storage unit (25), wherein said images and / or data are processed in an image and / or data processing unit (27).

[0057] The control and positioning unit (8) also comprises human or automatic user interaction units (28). These interaction units comprise an image and / or data and / or processed information display unit (29); an image and / or data and / or processed information and / or mill process data communication unit (30); a local manual unit control unit (31), a remote unit control unit (32); and an automatic unit control unit (33). In the latter case, the control and positioning unit (8) can be programmed to act, for example, according to the rotation speed of the mill. If the mill is rotating in its grinding state, then automatically the support means (6) will be in a retracted position so that the visual means and / or sensors (7) monitor the pulp output and the restrictor ring (5).If the mill is stopped or rotating at a low speed, the support means (6) will be in an extended position located in the central opening (5a) of the restrictor ring (5) in such a way that the visual means and / or sensors (7) monitor the interior of the mill (1).

[0058] The control and positioning unit (8) further comprises an automatic monitoring unit (34) having a control unit for triggering the coordinated action of the system units (35).

Claims

CLAIMS 1.- A system for monitoring a mineral grinding mill (1) that allows capturing images and / or data to monitor the discharged pulp and the restrictor ring (5), or the interior of the mill (1) from the discharge of mineral pulp towards the material inlet, CHARACTERIZED in that it comprises: a positioning control unit (8) from which emerges a first end of a mobile support means (6) that at its second end are located visual means and / or sensors (7). 2.- A system for monitoring a mineral grinding mill (1), according to claim 1, CHARACTERIZED in that said visual means and / or sensors (7) for capturing images and data are made up of at least one camera and / or sensors of a visual, infrared, laser, sound, distance meter or similar nature. 3.- A system for monitoring a mineral grinding mill (1), according to claim 1 or claim 2, CHARACTERIZED in that the mobile support means (6) is an articulated mechanical arm (10). 4.- A system for monitoring a mineral grinding mill (1), according to claim 1 or claim 2, CHARACTERIZED in that the mobile support means (6) is a telescopic bar (12) of a hydraulic or pneumatic cylinder (13). 5.- A system for monitoring a mineral grinding mill (1), according to claim 1 or claim 2, CHARACTERIZED because the mobile support means (6) is a sliding bar (15) that moves on a rail (14). 6.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 5, CHARACTERIZED in that the positioning control unit (8) has a control unit for processing, deployment and communication between the different components of the system. 7.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 6, CHARACTERIZED in that the positioning control unit (8) is a mechanical drive control unit (11). 8.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 7, CHARACTERIZED in that said visual means and / or sensors (7) are located in a position outside the mill (1) with a visual field (9) that allows viewing the discharged pulp and the restrictor ring (5). 9.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 7, CHARACTERIZED in that said visual means and / or sensors (7) are located in the central opening (5a) of the restrictor ring (5) with a visual field (9) that allows viewing the interior of the mill from the discharge (4) towards the inlet (5). 10.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 9, CHARACTERIZED in that the positioning control unit (8) of the visual and / or mechanical means sensors are located on one side of the mineral pulp discharge (4) supported on a fixed structure. 1.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 9, CHARACTERIZED in that the positioning control unit (8) of the visual means and / or sensors (7) is located on one side of the mineral pulp discharge (4) supported on a mobile structure. 12.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 9, CHARACTERIZED in that the positioning control unit (8) of the visual means and / or sensors is located in the protection structure (16) for pulp projection to the outside and for objects and people to fall into the discharge hopper that is located at the discharge (4) of the mill (1). 13.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 12, CHARACTERIZED in that the positioning control unit (8) is operated manually from its location in the external structure. 14.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 12, CHARACTERIZED in that the positioning control unit (8) is operated by remote control. 15.- A system for monitoring a mineral grinding mill (1), according to any of claims 1 to 12, CHARACTERIZED in that the positioning control unit (8) is automatically actuated. when it receives preset values ​​of operating parameters from the mill, such as rotation speed in preset ranges. 16.- A system for monitoring a mineral grinding mill (1), according to any of the preceding claims, CHARACTERIZED in that it also includes means for cleaning by air and / or water and / or visors. 17.- A system for monitoring a mineral grinding mill (1), according to any of the preceding claims, CHARACTERIZED in that said control and positioning unit (8) is separated into two modules: a first module (8a) containing a control unit for processing, display and communication; and a second module (8b) containing the electromechanical elements that allow the movement of the support medium (6). 18.- A system for monitoring a mineral grinding mill (1), according to any of the preceding claims, CHARACTERIZED in that the control and positioning unit (8) comprises a positioning and protection unit (17) within which there is a connection unit (18) to the mobile support means (6), which has a mechanical drive unit (19) and air and / or water cleaning units and / or visors (20), also having a mechanically driven positioning control unit (21). 19.- A system for monitoring a mineral grinding mill (1), according to any of the preceding claims, CHARACTERIZED in that the control and positioning unit (8) also It comprises logical units in computational support that are constituted by image and data processing units (22) which comprise a connection unit (23) to the visual media and / or sensors (7) which are controlled by a control unit of visual media and / or sensors (23) that have an image and / or data capture unit (24) which are stored in an image and / or data storage unit (25), wherein said images and / or data are processed in an image and / or data processing unit (27). 20.- A system for monitoring a mineral grinding mill (1), according to any of the preceding claims, CHARACTERIZED in that the control and positioning unit (8) also comprises human or automatic user interaction units (28) which comprise an image and / or data and / or processed information display unit (29); an image and / or data and / or processed information and / or mill process data communication unit (30); a local manual unit control unit (31), a remote unit control unit (32); and an automatic unit control unit (33).

21. - A system for monitoring a mineral grinding mill (1), according to any of the preceding claims, CHARACTERIZED in that said control and positioning unit (8) also comprises an automatic supervision unit (34) that has a control unit to trigger the coordinated action of the units of the system.

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