CN113310722A - Equipment and method for grid partition automatic random sampling of powder - Google Patents
Equipment and method for grid partition automatic random sampling of powder Download PDFInfo
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- 239000000843 powder Substances 0.000 title claims abstract description 147
- 238000005070 sampling Methods 0.000 title claims abstract description 99
- 238000005192 partition Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 29
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- 239000000463 material Substances 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 47
- 238000000638 solvent extraction Methods 0.000 claims description 20
- 230000008569 process Effects 0.000 abstract description 7
- 230000007704 transition Effects 0.000 abstract description 3
- 229910052500 inorganic mineral Inorganic materials 0.000 description 18
- 239000011707 mineral Substances 0.000 description 18
- 238000003723 Smelting Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 239000012141 concentrate Substances 0.000 description 2
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- 238000007689 inspection Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
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- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
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- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a device and a method for grid partition automatic random sampling of powder. The partition module can divide powder to be sampled into a plurality of areas, randomly select n areas with the number n equal to the number n to be sampled, divide the n areas into a plurality of small lattices, randomly select one small lattice in each selected area, and send the position information of the small lattices to the control module. And then the control module drives the sampling mechanism to be inserted into the powder and obtain a powder sample. The device has the advantages of stronger randomness, higher sample reliability, convenience for accurately judging the quality of the powder and the like, and avoids introducing errors. The sampling method of the invention also has the advantages of the device, simultaneously has simple steps and convenient implementation, solves the transition problem from pure manual to machine vision in the sampling process, and can be used for sampling operation of various powder materials.
Description
Technical Field
The invention relates to the technical field of mineral powder sampling, in particular to equipment and a method for automatically and randomly sampling powder in a grid partition mode.
Background
The sampling of mineral powder is a link in the metal ore smelting process, the ore is crushed and separated into concentrate powder, and the concentrate powder needs to be transported to a corresponding position for smelting and processing. During the period, the quality grade of the ore powder needs to be evaluated before the ore powder is transported and unloaded, and the value of the ore powder is directly determined by the test result of the sample; in addition, the mineral powder put in storage needs to be sampled and analyzed before smelting so as to ensure the smelting requirement. The mineral powder sampling test result directly determines the quality and cost of the products of the mining company and various product sub-companies thereof, so that the reliability of the sample needs to be ensured.
At present, the mode of mineral powder sampling is mainly manual sampling, and sampling is carried out by manually using a sampling drill rod to insert mineral powder carriages or stacking mineral powder on the ground.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a simple and practical device with strong safety, good randomness and reliable samples for grid partition automatic random sampling of powder and a method which is simple in steps and convenient to implement and is realized based on the device.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an apparatus for grid partition automatic random sampling of powder, comprising:
a partitioning module: the sampling device is used for dividing powder to be sampled into i multiplied by j areas, wherein i is more than or equal to 1, and j is more than or equal to 1; randomly selecting n areas with the number n equal to the number n to be sampled, dividing the n areas into a plurality of small lattices, randomly selecting one small lattice in each selected area, and sending the position information of the small lattices to the control module;
a control module: the sampling mechanism is used for receiving the cell position information sent by the partition module and controlling the sampling mechanism to sample according to the cell position information;
the sampling mechanism comprises: the powder sampling device is arranged above the powder to be sampled and used for being driven by the control module to be inserted into the powder along the vertical direction and obtaining a powder sample.
The device for grid partition automatic random sampling of the powder is further improved as follows:
the equipment also comprises an image processing module and a plurality of camera devices, wherein the plurality of camera devices are arranged above the powder to be sampled and are used for acquiring an original image of the powder to be sampled and sending the original image to the image processing module; the image processing module is used for splicing a plurality of original images and sending the processed images to the partitioning module, and the partitioning module is used for partitioning powder to be sampled in the processed images and obtaining cell position information.
The device also comprises a laser module, wherein the laser module is used for forming a cursor on the surface of the powder to be sampled; the image processing module is used for splicing the original images with the cursors to obtain processed images and coordinates of each pixel, and sending the coordinates to the partition module.
Setting the length direction and the width direction of the processed image as the x direction and the y direction respectively; the emitting end of the laser module is arranged perpendicular to the horizontal plane and is used for forming a cross cursor formed by two line segments parallel to the x direction and the y direction respectively on the surface of the powder to be sampled.
The laser module and any camera device are not arranged at the same point.
A method for carrying out grid partition automatic random sampling on powder is completed based on the equipment for carrying out grid partition automatic random sampling on powder, and comprises the following steps:
s1: the laser module forms a cross cursor on the surface of the powder to be sampled;
s2: the method comprises the following steps that a camera device collects an original image of powder to be sampled with a cross cursor and sends the original image to an image processing module;
s3: the image processing module splices the original images according to the cross cursor to obtain processed images, acquires coordinates of each pixel of the processed images according to the cross cursor, and sends the processed images and the coordinates to the partition module;
s4: the partitioning module divides powder to be sampled in the image into i multiplied by j areas, wherein i is more than or equal to 1, and j is more than or equal to 1; randomly selecting n areas with the number n equal to the number n to be sampled, dividing the n areas into a plurality of small lattices, randomly selecting one small lattice in each selected area, and sending the position information of the small lattices, namely the coordinates of the central points of the small lattices to the control module;
s5: the control module receives the small lattice position information sent by the partition module, controls the sampling mechanism to start according to the small lattice position information, inserts the small lattice position information into the powder along the vertical direction and obtains a powder sample;
s6: the sampling is completed.
As a further improvement of the above sampling method:
the image processing module splices the original images to obtain processed images, and the image processing module comprises the following steps:
and the image processing module identifies a cross cursor formed by the laser module in each original image, and uses the cross cursor to enable cursor coordinates of the two pictures to be superposed and delete the repeated images.
The powder to be sampled is accommodated in the accommodating device, the side wall of the accommodating device is arranged along the x direction and the y direction, the cursor projected by the laser module is a cross cursor formed by two line segments which are respectively parallel to the x direction and the y direction, and the projection range of the cross cursor covers the side wall of the accommodating device; the step of obtaining the coordinates of each pixel of the processed image by the image processing module comprises the following steps:
s1: the image processing module obtains the number of pixels on the unit length of the ground shot by the camera device according to the pre-stored ground image, wherein in the ground image: the position of the cross cursor projected on the ground is provided with line segments with set lengths distributed along the cross cursor;
s2: the image processing module obtains the ground projection position of the point according to the position of the coordinate point to be obtained on the processed image and the number of pixels on the unit length of the ground; obtaining the height of the powder surface projected by the cross cursor according to the cross cursor position projected on the powder surface on the processed image and the ground projection position of the point;
s3: the image processing module obtains a relative included angle between the point and the camera device according to the ground projection position of the coordinate point to be obtained and the height of the surface of the powder, and obtains the coordinate of the point according to the relative included angle and the height of the surface of the powder.
The image processing module further utilizes a broken line turning point formed by projecting a cross cursor on the surface of the powder and the top edge of the side wall of the accommodating device to obtain the height difference between the surface of the powder and the top edge of the side wall of the accommodating device.
When the powder to be sampled is accommodated in the accommodating device, the partition module screens out the small lattices adjacent to the side wall of the accommodating device when selecting the small lattices.
Compared with the prior art, the invention has the advantages that:
the invention relates to a device for automatically and randomly sampling powder in a grid partition mode. The partition module can divide powder to be sampled into a plurality of areas, randomly select n areas with the number n equal to the number n to be sampled, divide the n areas into a plurality of small lattices, randomly select one small lattice in each selected area, and send the position information of the small lattices to the control module. And then the control module drives the sampling mechanism to be inserted into the powder and obtain a powder sample. The equipment of the invention completely depends on automatic partition and random selection to select the sampling position, has stronger randomness compared with manual sampling, does not introduce errors caused by human factors, has higher reliability of the sampling sample, and is beneficial to accurately judging the quality of the powder. And because the powder is partitioned before the sampling position is randomly selected, and then the position is randomly selected in each region, the sampling position meets the randomness, the powder range can be basically and comprehensively covered, the consistency of the quality of the sampling sample and the powder is further ensured, and the quality judgment accuracy is improved. In addition, the sampling mode can be realized automatically, the labor input is reduced, the sampling mechanism is prevented from hurting workers, and the safety is greatly improved.
The method for automatically and randomly sampling the powder in the grid subareas based on the equipment has the advantages of the equipment, is simple in steps and convenient to implement, solves the transition problem from pure manual to machine vision in the sampling process, can be used for sampling operation of various powders, ensures the consistency of the quality of the sampled sample and the powder, and improves the accuracy of the quality inspection result of the powder.
Drawings
FIGS. 1 and 2 are schematic views of the position of the camera and laser module in the apparatus of the present invention;
fig. 3 and 4 are schematic diagrams of images acquired by a left camera device and a right camera device respectively;
FIG. 5 is a schematic view of a processed image after stitching;
FIG. 6 is a schematic view of a partition;
fig. 7 and 8 are schematic diagrams of the coordinate calculation principle.
Illustration of the drawings: 1. a camera device; 2. a laser module.
Detailed Description
In order to facilitate understanding of the invention, the invention will be described more fully and in detail with reference to the accompanying drawings and preferred embodiments, but the scope of the invention is not limited to the specific embodiments below.
Example (b):
the device for grid partition automatic random sampling of powder of the embodiment comprises:
a partitioning module: the sampling device is used for dividing powder to be sampled into i multiplied by j areas, wherein i is more than or equal to 1, and j is more than or equal to 1; randomly selecting n areas with the number n equal to the number n to be sampled, dividing the n areas into a plurality of small lattices, randomly selecting one small lattice in each selected area, and sending the position information of the small lattices to the control module;
a control module: the sampling mechanism is used for receiving the cell position information sent by the partition module and controlling the sampling mechanism to sample according to the cell position information;
the sampling mechanism comprises: the powder sampling device is arranged above the powder to be sampled and used for being driven by the control module to be inserted into the powder along the vertical direction and obtaining a powder sample.
The equipment of this embodiment relies on automatic subregion and random selection to carry out the selection of sampling position completely, compares in manual sampling that the randomness is stronger, can not introduce the error that the human factor brought, and the reliability of sample is higher, is favorable to the quality of accurate judgement powder. And because the powder is partitioned before the sampling position is randomly selected, and then the position is randomly selected in each region, the sampling position meets the randomness, the powder range can be basically and comprehensively covered, the defects of sampling sample failure caused by small sampling area and over dense sampling possibly occurring in any sampling are avoided, the consistency of the quality of the sampling sample and the powder is further ensured, and the quality judgment accuracy is improved. In addition, the sampling mode can be realized automatically, the labor input is reduced, the sampling mechanism is prevented from hurting workers, and the safety is greatly improved.
In this embodiment, as shown in fig. 1 and fig. 2, the apparatus further includes an image processing module and a plurality of cameras 1, where the plurality of cameras 1 are installed above the powder to be sampled, and are configured to obtain an original image of the powder to be sampled and send the original image to the image processing module; the image processing module is used for splicing a plurality of original images and sending the processed images to the partitioning module, and the partitioning module is used for partitioning powder to be sampled in the processed images and obtaining cell position information.
In the embodiment, the device also comprises a laser module 2, wherein the laser module 2 is used for forming a cursor on the surface of the powder to be sampled; the cursor can be used as a marking point in the process of image splicing, and can also be used as an important reference standard in the process of calculating the coordinate position. The image processing module is used for obtaining a processed image by splicing the original images with the cursors, obtaining the coordinates of each pixel and sending the coordinates to the partitioning module.
In this embodiment, the length direction and the width direction of the processed image are set to be the x direction and the y direction, respectively; the emitting end of the laser module 2 is arranged vertically to the horizontal plane and is used for forming a cross cursor formed by two line segments which are respectively parallel to the x direction and the y direction on the surface of the powder to be sampled; meanwhile, the size of the cross cursor projected to the ground is stored in the image processing module. The cross cursor is used as a mark point for image splicing and is also used for comparing the size of the cross cursor stored in the image processing module in the subsequent coordinate position calculation to obtain the height of the powder surface.
In the present embodiment, as shown in fig. 1 and 2, the laser module 2 is not mounted at the same position as any of the image pickup devices 1. The camera device 1 of this embodiment is two cameras that arrange along length direction, and laser module 2 sets up on the perpendicular bisector of two cameras, and the three is on same height, nevertheless is isosceles triangle and distributes. In this arrangement, the cross-shaped cursor projected by the laser module 2 has a height difference between the surface of the powder and the surface of another object with different height, and the laser module 2 and the camera device 1 are not at the same point, and the offset of the two causes the camera module to capture a fold line-shaped light ray formed by the cross-shaped cursor at the height difference, as shown in fig. 3 and 4, the image processing device can obtain the limit of the powder, i.e. the size of the sampling range, through the fold line-shaped light ray.
The method for grid partition automatic random sampling of powder in the embodiment is completed based on the equipment for grid partition automatic random sampling of powder, and comprises the following steps:
s1: the laser module 2 forms a cross cursor on the surface of the powder to be sampled;
s2: the camera device 1 collects an original image of powder to be sampled with a cross cursor and sends the original image to the image processing module;
s3: the image processing module splices the original images according to the cross cursor to obtain processed images, acquires coordinates of each pixel of the processed images according to the cross cursor, and sends the processed images and the coordinates to the partition module;
s4: as shown in FIG. 6, the partition module divides the powder to be sampled in the image into i × j areas, i is greater than or equal to 1, and j is greater than or equal to 1; randomly selecting n areas with the number n equal to the number n to be sampled, dividing the n areas into a plurality of small lattices, randomly selecting one small lattice in each selected area, and sending the position information of the small lattices, namely the coordinates of the central points of the small lattices to the control module;
because of random sampling, the standard in the copper smelting industry is to divide the compartment into 24 areas with 6 rows and 4 columns. In the embodiment, after the area range and the coordinates of the mineral powder are determined, the computer automatically divides the mineral powder into 24 areas, calculates by using a random function, randomly selects 16 areas, and requires that the number of sampling points in each row is not less than 1, namely 1-4 points, and at least one sampling point in each column must be obtained. In the determined area, the computer automatically divides the area into 3 × 3 or 5 × 5 cells and the like as selected cells.
The number of rows and columns of the cells is not necessarily equal, and areas where interference is likely to occur may also be more densely partitioned.
S5: the control module receives the small lattice position information sent by the partition module, controls the sampling mechanism to start according to the small lattice position information, inserts the small lattice position information into the powder along the vertical direction and obtains a powder sample;
s6: the sampling is completed.
The method of the embodiment also has the advantages of the equipment, meanwhile, the steps are simple, the implementation is convenient, the transition problem from pure manual to machine vision in the sampling process is solved, the method can be used for sampling operation of various powder materials, the consistency of the quality of the sampled sample and the powder materials is ensured, and the accuracy of the quality inspection result of the powder materials is improved.
In this embodiment, the step of the image processing module performing stitching processing on the original image to obtain the processed image includes:
the image processing module identifies a cross cursor formed by the laser module 2 in each original image, and the cross cursor is used for enabling cursor coordinates of the two pictures to be superposed and deleting the repeated images. As shown in fig. 5, the system in which the plurality of imaging devices 1 perform imaging and stitching can effectively reduce image distortion compared to the system in which a large-view-angle camera is used. Meanwhile, the camera device 1 may also be corrected by using the existing camera correction means before shooting, which is not described herein again.
In this embodiment, the powder to be sampled is accommodated in the accommodating device, and the side wall of the accommodating device is arranged along the x direction and the y direction, so as to form a polygonal line-shaped light ray conveniently. The cursor projected by the laser module 2 is a cross cursor formed by two line segments which are respectively parallel to the x direction and the y direction, and the projection range of the cross cursor covers the side wall of the accommodating device; the step of obtaining the coordinates of each pixel of the processed image by the image processing module comprises the following steps:
s1: the image processing module obtains the number of pixels on the unit length of the ground shot by the camera device 1 according to a pre-stored ground image, wherein the ground image is an image of the ground shot by the camera device 1 at the current position, and in the image: the position of the cross cursor projected on the ground is provided with line segments with set lengths distributed along the cross cursor;
as shown in fig. 7, before shooting, the height of the imaging device 1, i.e., the camera, from the ground is constant, 8m, and the laser module 2 and the camera are disposed in the same plane. The accommodating device in the embodiment is a material trolley, the trolley body is long, two cameras are adopted, the two cameras are arranged along the length direction of the trolley body, namely the x direction, the laser module 2 is arranged on the perpendicular bisector of the two cameras and is in an isosceles triangle with the two cameras, and the positions of the cameras and the laser module 2 are known data.
Since the focal length of the camera is fixed. Firstly, marking a 2m long line segment (two line segments are perpendicular bisectors) along the projection position of the cross cursor on the horizontal ground (namely, the wagon balance), and taking a picture by using a camera. Taking the x direction as an example, the length of the x-direction line segment is measured from a photo and the number of points arrayed on the line segment in the direction is compared, so that the number fx of pixels in the x direction of the ground unit length can be obtained, and then the focal length f of the camera can be obtained by utilizing the pixel and length measured by 2m length and the aperture imaging principle.
S2: the image processing module obtains the ground projection position of the point according to the position of the coordinate point to be obtained on the processed image and the number of pixels on the unit length of the ground; obtaining the height of the powder surface projected by the cross cursor according to the cross cursor position projected on the powder surface on the processed image and the ground projection position of the point;
namely: after the vehicle-mounted mineral powder is photographed, as shown in the figure, the coordinates of the surface of the powder at the intersection point of the cross-shaped light marks and the groundThe plane coordinates coincide. The photograph shows the angle of view or length of the intersection coordinate measurement and the point 0 projected on the ground1The x-direction position of the point projected on the ground can be obtained by using the point number of the x-direction pixel of the point and the fx product, and the included angle alpha can be obtained by using the position of the point on the ground in the x-direction as compared with the vertical height from the ground to the camerax. Similarly, the y direction can be used to calculate the αy. The angles of the other points are also determined according to the process.
Since both the cross-cursor and the camera are projected vertically, i.e. the coordinates of the camera to the position of the cross-cursor on any horizontal plane are unchanged, the x-direction distance l of the cross-cursor from the position of the center of the camera on the picture is measured. Using l/(tan. alpha.)x) The distance H from the camera to the mineral powder surface can be obtained, and the surface height of the powder can be calculated; h can also be determined using the y-direction data in the same manner.
S3: the image processing module obtains a relative included angle between the point and the camera device 1 according to the ground projection position of the coordinate point to be obtained and the height of the surface of the powder, and obtains the coordinate of the point according to the relative included angle and the height of the surface of the powder. I.e. using the angle alpha of the point to be determinedx、αyAnd obtaining the coordinates (x, y) of the required point by the height H of the mineral powder surface from the lens.
When the total mineral powder range is obtained, a broken line is formed on the surface of the powder and the top edge of the side wall of the containing device by using a cross-shaped cursor, turning points on the mineral powder in the broken line are edge points of the mineral powder, coordinates of two edge points in the x direction can be obtained according to the method, the total distribution length of the mineral powder can be obtained according to the coordinates of the two edge points, the total distribution width can be obtained in the y direction in the same way, and the distribution range of the mineral powder can be obtained by combining the two edge points.
The above method for obtaining the coordinate position of the ore powder may also be replaced by other realizable methods, which are not described herein again.
In this embodiment, the image processing module further obtains a height difference between the surface of the powder and the top edge of the side wall of the accommodating device by using a turning point of a broken line formed by projecting the cross-shaped cursor on the surface of the powder and the top edge of the side wall of the accommodating device.
Taking the x direction as an example, from the above, the distance H between the height of the ore powder and the lens is known, and the coordinates of the turning point a of the x direction cursor line on the surface of the powder can be determined by using the above. As shown in fig. 8, the turning point of the x-direction cursor line on the top edge of the side wall of the accommodating device is B, the coordinate and the relative angle α 1 of the projection B 'point of the point B on the powder surface can be obtained by using the above contents, and if the x-direction coordinate of the point a is x2, the x-direction coordinate of the actual point B is also x2, and if the x-direction coordinate of the point B' is x1, the height difference C is (x1-x2) · (90 ° - α 1). Other directional sidewalls may be calculated. According to the height difference and the height of the powder surface, the height of the side wall of the containing device relative to the ground can be known, the sampling mechanism can be adjusted conveniently after the height is known, and the dangerous accidents caused by the interference between the sampling mechanism and the side wall of the containing device are avoided.
In this embodiment, as shown in fig. 6, when the powder to be sampled is accommodated in the accommodating device, the partitioning module screens out the small cells adjacent to the sidewall of the accommodating device when selecting the small cells, so as to avoid collision between the sampling mechanism and the sidewall. And a grid which is more densely divided in an area close to the side wall of the accommodating device can be adopted so as to meet the requirement of side sampling. The principle of grid division density is to ensure that a mechanism does not collide with a carriage, a sampling point is positioned in the center of a grid, and the width y direction of a vehicle head part is required, each small lattice is not less than 400mm, and the small lattice in the length x direction is not less than 600mm (because a side plate is too high); for the rear part of the car, if the height difference between the car powder surface and the side plate of the car is less than 100mm, the length and width of the small grid is not less than 150mm (preventing the influence of image error, slight parking deflection, diameter of sampling drill rod, etc.). If the height difference between the side plate of the carriage and the mineral powder surface is more than 100mm, the sampling mechanism can enter the carriage, and the length value and the width value of the small lattices at the tail part and the two sides of the carriage are not less than 150mm and not less than 400 mm.
At present, in order to ensure absolute safety, an image processing module firstly sends a sampling point on a display picture to a display device, and a controller confirms the sampling point, and if no problem exists, the sampling point is stored for record; then the sampling mechanism executes the sampling work. This step can be eliminated from the actual production of a half year.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. It should be apparent to those skilled in the art that modifications and variations can be made without departing from the technical spirit of the present invention.
Claims (10)
1. The utility model provides an equipment that automatic random sampling of grid subregion is carried out powder which characterized in that, including:
a partitioning module: the sampling device is used for dividing powder to be sampled into i multiplied by j areas, wherein i is more than or equal to 1, and j is more than or equal to 1; randomly selecting n areas with the number n equal to the number n to be sampled, dividing the n areas into a plurality of small lattices, randomly selecting one small lattice in each selected area, and sending the position information of the small lattices to the control module;
a control module: the sampling mechanism is used for receiving the cell position information sent by the partition module and controlling the sampling mechanism to sample according to the cell position information;
the sampling mechanism comprises: the powder sampling device is arranged above the powder to be sampled and used for being driven by the control module to be inserted into the powder along the vertical direction and obtaining a powder sample.
2. The apparatus for grid partition automatic random sampling of powder lot of claim 1, wherein: the powder sampling device comprises an image processing module and a plurality of camera devices, wherein the plurality of camera devices are arranged above the powder to be sampled and are used for acquiring an original image of the powder to be sampled and sending the original image to the image processing module; the image processing module is used for splicing a plurality of original images and sending the processed images to the partitioning module, and the partitioning module is used for partitioning powder to be sampled in the processed images and obtaining cell position information.
3. The apparatus for grid partition automatic random sampling of powder lot of claim 2, wherein: the laser module is used for forming a cursor on the surface of the powder to be sampled; the image processing module is used for splicing the original images with the cursors to obtain processed images and coordinates of each pixel, and sending the coordinates to the partition module.
4. The apparatus for grid partition automatic random sampling of powder lot of claim 3, wherein: setting the length direction and the width direction of the processed image as the x direction and the y direction respectively; the emitting end of the laser module is arranged perpendicular to the horizontal plane and is used for forming a cross cursor formed by two line segments parallel to the x direction and the y direction respectively on the surface of the powder to be sampled.
5. The apparatus for grid partition automatic random sampling of powder lot of claim 4, wherein: the laser module and any camera device are not arranged at the same point.
6. A method for grid partition automatic random sampling of powder is characterized in that: the device for grid-partitioned automatic random sampling of pulverized material according to any one of claims 3 to 5, comprising the steps of:
s1: the laser module forms a cross cursor on the surface of the powder to be sampled;
s2: the method comprises the following steps that a camera device collects an original image of powder to be sampled with a cross cursor and sends the original image to an image processing module;
s3: the image processing module splices the original images according to the cross cursor to obtain processed images, acquires coordinates of each pixel of the processed images according to the cross cursor, and sends the processed images and the coordinates to the partition module;
s4: the partitioning module divides powder to be sampled in the image into i multiplied by j areas, wherein i is more than or equal to 1, and j is more than or equal to 1; randomly selecting n areas with the number n equal to the number n to be sampled, dividing the n areas into a plurality of small lattices, randomly selecting one small lattice in each selected area, and sending the position information of the small lattices, namely the coordinates of the central points of the small lattices to the control module;
s5: the control module receives the small lattice position information sent by the partition module, controls the sampling mechanism to start according to the small lattice position information, inserts the small lattice position information into the powder along the vertical direction and obtains a powder sample;
s6: the sampling is completed.
7. The method of claim 6, wherein the grid partitioning automatic random sampling comprises: the image processing module splices the original images to obtain processed images, and the image processing module comprises the following steps:
and the image processing module identifies a cross cursor formed by the laser module in each original image, and uses the cross cursor to enable cursor coordinates of the two pictures to be superposed and delete the repeated images.
8. The method of claim 6, wherein the grid partitioning automatic random sampling comprises: the powder to be sampled is accommodated in the accommodating device, the side wall of the accommodating device is arranged along the x direction and the y direction, the cursor projected by the laser module is a cross cursor formed by two line segments which are respectively parallel to the x direction and the y direction, and the projection range of the cross cursor covers the side wall of the accommodating device; the step of obtaining the coordinates of each pixel of the processed image by the image processing module comprises the following steps:
s1: the image processing module obtains the number of pixels on the unit length of the ground shot by the camera device according to the pre-stored ground image, wherein in the ground image: the position of the cross cursor projected on the ground is provided with line segments with set lengths distributed along the cross cursor;
s2: the image processing module obtains the ground projection position of the point according to the position of the coordinate point to be obtained on the processed image and the number of pixels on the unit length of the ground; obtaining the height of the powder surface projected by the cross cursor according to the cross cursor position projected on the powder surface on the processed image and the ground projection position of the point;
s3: the image processing module obtains a relative included angle between the point and the camera device according to the ground projection position of the coordinate point to be obtained and the height of the surface of the powder, and obtains the coordinate of the point according to the relative included angle and the height of the surface of the powder.
9. The method of claim 8, wherein the grid partitioning automatic random sampling comprises: the image processing module further utilizes a broken line turning point formed by projecting a cross cursor on the surface of the powder and the top edge of the side wall of the accommodating device to obtain the height difference between the surface of the powder and the top edge of the side wall of the accommodating device.
10. The method of claim 6, wherein the grid partitioning automatic random sampling comprises: when the powder to be sampled is accommodated in the accommodating device, the partition module screens out the small lattices adjacent to the side wall of the accommodating device when selecting the small lattices.
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