CN111921904A - Multi-mechanical-arm collaborative coal and gangue sorting system based on visual and force information fusion perception - Google Patents
Multi-mechanical-arm collaborative coal and gangue sorting system based on visual and force information fusion perception Download PDFInfo
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- CN111921904A CN111921904A CN202010780637.2A CN202010780637A CN111921904A CN 111921904 A CN111921904 A CN 111921904A CN 202010780637 A CN202010780637 A CN 202010780637A CN 111921904 A CN111921904 A CN 111921904A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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Abstract
The invention discloses a vision and force information fusion perception-based multi-mechanical-arm collaborative coal and gangue sorting system which comprises an identification and positioning subsystem, a main control subsystem, a multi-mechanical-arm sorting subsystem, a belt conveyor, a belt speed detection device and a gangue recovery adhesive tape machine. The identification result, the position information and the volume parameter of the gangue are obtained through the visual detection of the gangue, the standard quality of the gangue is calculated by combining the standard density of the gangue, the secondary identification of the gangue is completed by comparing the gangue detection quality at the moment of clamping the force-sensitive pneumatic manipulator, the sorting track of the manipulator to the gangue target task is planned, the sorting task is efficiently and accurately completed, and the gangue identification rate and the system gangue picking rate are improved.
Description
Technical Field
The invention relates to the technical field of coal and gangue identification and sorting.
Background
According to the relevant data of China coal processing and utilization Association, about 1300 million tons of ash and about 35 million tons of sulfur can be removed when 1 million tons of raw coal are washed, the emission of sulfur dioxide is reduced to 49 million tons, 1800 more than ten million tons of coal gangue are removed, and the specific gravity of gangue is relatively large. The coal and gangue separation work accounts for a relatively heavy proportion of the whole coal production, and the existing gangue separation modes mainly comprise manual gangue separation, gangue separation by a traditional separator, intelligent gangue separation and the like. The labor intensity of manual gangue selecting is high, and the efficiency is low. The traditional sorting device mainly comprises a movable screen jigging type, a crushing type, a force cylinder vibrating type, a wind power type, a heavy medium washing type and the like, and has the problems of poor sorting effect, large and complex equipment, waste of water resources and the like. The intelligent waste rock separation is usually multi-robot separation, and mainly relates to a joint type robot, a rectangular coordinate type robot and a heterogeneous robot. There is a problem of lack of a fast, accurate, reliable multi-task assignment method.
The existing coal and gangue identification mainly comprises gamma ray identification which is harmful to human health, infrared identification and image identification which have the problems of low identification efficiency and the like.
In summary, the existing coal and gangue separation technology does not have a coal and gangue separation system suitable for a coal and gangue flow belt conveyor of a coal washing plant, and does not have a separation device system aiming at multiple dynamic gangue targets, coal and gangue identification is a one-time identification method, and the identification efficiency and the accuracy are low.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a multi-mechanical-arm cooperative coal and gangue sorting system based on visual and force information fusion perception. The system is based on visual identification, the tasks are distributed and the sorting track is planned for multiple dynamic gangue targets, the sorting work is completed by the aid of the multiple mechanical arms in a coordinated, rapid and accurate mode, and the gangue sorting rate is improved.
In order to achieve the above purpose, the invention provides the following technical scheme
A multi-mechanical-arm collaborative coal and gangue sorting system based on visual and force information fusion perception is characterized by comprising an identification and positioning subsystem, a main control subsystem, a multi-mechanical-arm sorting subsystem, a belt conveyor, a belt speed detection device and a gangue recovery adhesive tape machine;
the identification positioning subsystem comprises a coal and gangue visual detection unit, a gangue volume detection unit, an identification positioning subsystem interface and a hardware device;
the hardware device comprises a frame, a fixed seat, a light source, a binocular stereo camera and a linear array laser sensor;
the coal and gangue visual detection unit: acquiring image information of the coal and gangue through a binocular stereo camera, acquiring an identification result of the coal and gangue by adopting an FCNN (fuzzy C-nearest neighbor) network, and simultaneously acquiring position information of the coal and gangue; calculating point cloud data by adopting a parallax algorithm to obtain geometrical information of the gangue;
the gangue volume detection unit: obtaining the geometric parameters of the gangue by combining the linear laser sensor array with the system time and the belt speed parameters obtained by the belt speed detection device; performing weighted calculation on the geometric information and the geometric parameters of the gangue by adopting a sensing fusion method to obtain corrected volume information of the gangue;
the identification positioning subsystem interface: the gangue position information, the gangue identification result and the gangue volume information which are acquired by the gangue visual detection unit and the gangue volume detection unit are used as gangue information labels and are sent to a main control subsystem interface;
the master control subsystem comprises a master control subsystem interface, an allocation strategy unit, a dynamic sorting track planning unit and a secondary identification unit;
the main control subsystem interface receives a gangue information label sent by the identification positioning subsystem interface, sends the gangue information label and mechanical arm position information and state information of the mechanical arm unit to the distribution strategy unit, and sends gangue detection quality obtained by the force-sensitive pneumatic mechanical arm to the secondary identification unit; sending the mechanical arm sorting track information and the secondary recognition result to the multi-mechanical arm sorting subsystem interface;
the allocation policy unit: receiving a gangue information label, mechanical arm position information and state information of the mechanical arm unit, and realizing the allocation of a mechanical arm to a gangue target task;
the dynamic sorting trajectory planning unit: planning a sorting track of the mechanical arm for the gangue target task according to a gangue target task allocation result of the mechanical arm, and sending the sorting track to a main control subsystem interface;
the secondary recognition unit: according to the known standard density of the waste rock and the information label of the waste rock, and simultaneously comparing the detection quality of the waste rock obtained by the force-sensitive pneumatic manipulator, carrying out secondary identification on the waste rock, namely 'being the waste rock' and 'not being the waste rock'; sending the secondary recognition result to a main control subsystem interface;
the multi-mechanical arm sorting subsystem comprises a multi-mechanical arm sorting subsystem interface and a mechanical arm unit;
the mechanical arm unit comprises a plurality of rectangular coordinate mechanical arms with the serial number A1,…,ANEach rectangular coordinate mechanical arm comprises X, Y, Z joints, the rectangular coordinate mechanical arm is arranged above the gangue recovery belt conveyor and the belt conveyor, the tail end of the rectangular coordinate mechanical arm is provided with a plurality of force-sensitive pneumatic mechanical arms with the serial number of B1,…,BN；
The multi-mechanical arm sorting subsystem interface: the method comprises the steps that mechanical arm position information and state information of a mechanical arm unit and gangue detection quality obtained by a force-sensitive pneumatic mechanical arm are sent to a main control subsystem interface, and mechanical arm sorting track information and secondary recognition results sent by the main control subsystem interface are received;
the rectangular coordinate mechanical arm receives mechanical arm sorting track information sent by the interfaces of the multi-mechanical arm sorting subsystem and drives the force-sensitive pneumatic mechanical arm to start a sorting action of target gangue; combining the secondary recognition result, if the force-sensitive pneumatic manipulator is gangue, executing normal sorting action, and if the force-sensitive pneumatic manipulator is not gangue, executing abandoning sorting action; and placing the sorted gangue on the gangue recovery rubber belt machine.
The multi-mechanical-arm collaborative coal and gangue sorting system based on visual and force information fusion sensing is characterized in that a rack is erected above a belt conveyor, a fixed seat is installed at the top of the inner side of the rack, a binocular stereo camera and a linear array laser sensor are respectively installed at two ends of the fixed seat, and light sources are arranged on two side edges of the top of the inner side of the rack.
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a multi-mechanical-arm cooperative coal and gangue sorting system based on visual and force information fusion perception. The identification result, the position information and the volume parameter of the gangue are obtained through visual detection of the gangue, the standard quality of the gangue is calculated by combining the standard density of the gangue, the secondary identification of the gangue is completed by comparing the gangue detection quality at the moment of clamping the force-sensitive pneumatic manipulator, and the gangue identification rate and the gangue picking rate of the system are improved.
The system realizes multi-task allocation and plans a sorting track according to the distribution characteristics of multiple dynamic target waste rocks on the belt conveyor.
Finally, the multiple mechanical arms cooperate to complete the quick and accurate sorting work of the waste rock flow on the belt conveyor, so that the waste rock sorting rate is improved, and the manual sorting labor force is liberated.
Drawings
Fig. 1 is a system block diagram of a system for sorting coal and gangue by cooperation of multiple mechanical arms based on visual and force information fusion perception according to an embodiment of the invention.
Fig. 2 is a model structure diagram of the gangue sorting system according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 and 2, a multi-arm collaborative coal and gangue sorting system based on visual and force information fusion perception is characterized by comprising an identification and positioning subsystem 14, a main control subsystem 15, a multi-arm sorting subsystem 16, a belt conveyor 11, a belt speed detection device 13 and a gangue recovery adhesive tape machine 12;
the identification positioning subsystem 14 comprises a coal and gangue visual detection unit 1, a gangue volume detection unit 2, an identification positioning subsystem interface 3 and a hardware device 4;
the hardware device 4 comprises a frame 4-1, a fixed seat 4-2, a light source 4-5, a binocular stereo camera 4-3 and a linear array laser sensor 4-4;
the coal and gangue visual detection unit 1: acquiring image information of the coal and gangue through a binocular stereo camera 4-3, acquiring an identification result of the coal and gangue by adopting an FCNN (fuzzy C-nearest neighbor) network, and simultaneously acquiring position information of the coal and gangue; calculating point cloud data by adopting a parallax algorithm to obtain geometrical information of the gangue;
the gangue volume detection unit 2: the linear array linear laser sensor 4-4 is combined with the system time and belt speed parameters obtained by the belt speed detection device 13 to obtain the geometrical parameters of the gangue; performing weighted calculation on the geometric information and the geometric parameters of the gangue by adopting a sensing fusion method to obtain corrected volume information of the gangue;
the identification and positioning subsystem interface 3: the gangue position information, the gangue identification result and the gangue volume information which are acquired by the gangue visual detection unit 1 and the gangue volume detection unit 2 are used as gangue information labels and are sent to a main control subsystem interface 5;
the master control subsystem 15 comprises a master control subsystem interface 5, an allocation strategy unit 6, a dynamic sorting track planning unit 7 and a secondary identification unit 8;
the main control subsystem interface 5 receives the gangue information label sent by the identification positioning subsystem interface 3, sends the gangue information label and the mechanical arm position information and state information of the mechanical arm unit 10 to the distribution strategy unit 6, and sends gangue detection quality obtained by the force-sensitive pneumatic mechanical arm 10-B to the secondary identification unit 8; sending the mechanical arm sorting track information and the secondary recognition result to a multi-mechanical arm sorting subsystem interface 9;
the allocation policy unit 6: receiving a gangue information label, mechanical arm position information and state information of the mechanical arm unit 10, and realizing the allocation of a mechanical arm to a gangue target task;
the dynamic sorting trajectory planning unit 7: planning a sorting track of the arm for the gangue target task according to a gangue target task allocation result of the arm, and sending the sorting track to a main control subsystem interface 5;
the secondary recognition unit 8: according to the known standard density of the waste rock and the information label of the waste rock, simultaneously comparing the detection quality of the waste rock obtained by the force-sensitive pneumatic manipulator 10-B, and carrying out secondary identification on the waste rock, namely 'being the waste rock' and 'not being the waste rock'; and sending the secondary recognition result to the main control subsystem interface 5;
the multi-mechanical arm sorting subsystem 16 comprises a multi-mechanical arm sorting subsystem interface 9 and a mechanical arm unit 10;
the robot arm unit 10 includes a plurality of rectangular coordinate robot arms 10-A, which are numbered A1,…,ANEach rectangular coordinate mechanical arm comprises X, Y, Z joints, the rectangular coordinate mechanical arm is arranged above the gangue recovery belt conveyor 12 and the belt conveyor 11, and the tail end of the rectangular coordinate mechanical arm is provided with a plurality of force-sensitive pneumatic mechanical arms 10-B with the serial number of B1,…,BN；
The multi-mechanical arm sorting subsystem interface 9: the method comprises the steps that mechanical arm position information and state information of a mechanical arm unit 10 and gangue detection quality obtained by a force-sensitive pneumatic mechanical arm 10-B are sent to a main control subsystem interface 5, and mechanical arm sorting track information and secondary recognition results sent by the main control subsystem interface 5 are received;
the rectangular coordinate mechanical arm receives mechanical arm sorting track information sent by the multi-mechanical arm sorting subsystem interface 9 and drives the force-sensitive pneumatic mechanical arm 10-B to start a sorting action of the target gangue; combining the secondary recognition result, if the force-sensitive pneumatic manipulator 10-B is the gangue, executing normal sorting action, and if the force-sensitive pneumatic manipulator 10-B is not the gangue, executing abandoning sorting action; and the sorted gangue is placed on the gangue recovery belt conveyor 12.
The frame 4-1 is erected above the belt conveyor 11, the fixed seat 4-2 is installed at the top of the inner side of the frame 4-1, the binocular stereo camera 4-3 and the linear laser sensor array 4-4 are respectively installed at two ends of the fixed seat 4-2, and the light sources 4-5 are arranged on two side edges of the top of the inner side of the frame 4-1.
The gangue recovering belt conveyor 12 is arranged on one side of the belt conveyor 11.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A multi-mechanical-arm collaborative coal and gangue sorting system based on visual and force information fusion perception is characterized by comprising an identification and positioning subsystem (14), a main control subsystem (15), a multi-mechanical-arm sorting subsystem (16), a belt conveyor (11), a belt speed detection device (13) and a gangue recovery adhesive tape machine (12);
the identification and positioning subsystem (14) comprises a coal and gangue visual detection unit (1), a gangue volume detection unit (2), an identification and positioning subsystem interface (3) and a hardware device (4);
the hardware device (4) comprises a rack (4-1), a fixed seat (4-2), a light source (4-5), a binocular stereo camera (4-3) and a linear array linear laser sensor (4-4);
the coal and gangue visual detection unit (1): acquiring image information of the coal and gangue through a binocular stereo camera (4-3), acquiring an identification result of the coal and gangue by adopting an FCNN (fuzzy C-nearest neighbor) network, and simultaneously acquiring position information of the gangue; calculating point cloud data by adopting a parallax algorithm to obtain geometrical information of the gangue;
the gangue volume detection unit (2): the linear array linear laser sensor (4-4) is combined with the belt speed parameters obtained by the system time and belt speed detection device (13) to obtain the geometrical parameters of the gangue; performing weighted calculation on the geometric information and the geometric parameters of the gangue by adopting a sensing fusion method to obtain corrected volume information of the gangue;
the identification and positioning subsystem interface (3): the gangue position information, the gangue identification result and the gangue volume information which are acquired by the gangue visual detection unit (1) and the gangue volume detection unit (2) are used as gangue information labels and are sent to a main control subsystem interface (5);
the master control subsystem (15) comprises a master control subsystem interface (5), an allocation strategy unit (6), a dynamic sorting track planning unit (7) and a secondary identification unit (8);
the main control subsystem interface (5) receives the gangue information label sent by the identification positioning subsystem interface (3), sends the gangue information label and mechanical arm position information and state information of the mechanical arm unit (10) to the distribution strategy unit (6), and sends gangue detection quality obtained by the force-sensitive pneumatic mechanical arm (10-B) to the secondary identification unit (8); sending the mechanical arm sorting track information and the secondary recognition result to a multi-mechanical arm sorting subsystem interface (9);
the allocation policy unit (6): receiving a gangue information label, mechanical arm position information and state information of a mechanical arm unit (10), and realizing the task allocation of a mechanical arm to gangue targets;
the dynamic sorting trajectory planning unit (7): planning a sorting track of the mechanical arm for the gangue target task according to a gangue target task allocation result of the mechanical arm, and sending the sorting track to a main control subsystem interface (5);
the secondary recognition unit (8): according to the known standard density of the waste rock and the information label of the waste rock, and simultaneously comparing the detection quality of the waste rock obtained by the force-sensitive pneumatic manipulator (10-B), carrying out secondary identification on the waste rock, namely 'being the waste rock' and 'not being the waste rock'; and sending the secondary recognition result to a main control subsystem interface (5);
the multi-mechanical-arm sorting subsystem (16) comprises a multi-mechanical-arm sorting subsystem interface (9) and a mechanical arm unit (10);
the mechanical arm unit (10) comprises a plurality of rectangular coordinate mechanical arms (10-A) with the serial number A1,…,ANEach rectangular coordinate mechanical arm comprises X, Y, Z joints, the rectangular coordinate mechanical arm is arranged above the gangue recovery belt conveyor (12) and the belt conveyor (11), the tail end of the rectangular coordinate mechanical arm is provided with a plurality of force-sensitive pneumatic mechanical arms (10-B), and the serial number of the force-sensitive pneumatic mechanical arms is B1,…,BN；
The multi-robotic arm sorting subsystem interface (9): the method comprises the steps that mechanical arm position information and state information of a mechanical arm unit (10) and gangue detection quality obtained by a force-sensitive pneumatic mechanical arm (10-B) are sent to a main control subsystem interface (5), and mechanical arm sorting track information and secondary recognition results sent by the main control subsystem interface (5) are received;
the rectangular coordinate mechanical arm receives mechanical arm sorting track information sent by the multi-mechanical arm sorting subsystem interface (9) and drives the force-sensitive pneumatic mechanical arm (10-B) to start a sorting action of the target gangue; combining the secondary recognition result, if the force-sensitive pneumatic manipulator (10-B) is the gangue, executing a normal sorting action, and if the force-sensitive pneumatic manipulator (10-B) is not the gangue, executing a abandoning sorting action; and placing the sorted gangue on the gangue recovery rubber belt machine (12).
2. The visual and force information fusion sensing-based multi-mechanical-arm cooperative gangue sorting system according to claim 1, wherein a rack (4-1) is erected above the belt conveyor (11), a fixed seat (4-2) is installed at the top of the inner side of the rack (4-1), a binocular stereo camera (4-3) and a linear laser sensor array (4-4) are respectively installed at two ends of the fixed seat (4-2), and light sources (4-5) are arranged on two side edges of the top of the inner side of the rack (4-1).
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