CN113617680A - Ore sorting device and method for density estimation based on robot - Google Patents
Ore sorting device and method for density estimation based on robot Download PDFInfo
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- CN113617680A CN113617680A CN202110928580.0A CN202110928580A CN113617680A CN 113617680 A CN113617680 A CN 113617680A CN 202110928580 A CN202110928580 A CN 202110928580A CN 113617680 A CN113617680 A CN 113617680A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000005303 weighing Methods 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000000926 separation method Methods 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 36
- 230000003750 conditioning effect Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims description 2
- 238000007599 discharging Methods 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 5
- 239000003245 coal Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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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
-
- 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
Abstract
The invention discloses an ore sorting device and method for density estimation based on a robot, and relates to the technical field of ore sorting. The size and the mass of the ore are respectively calculated through the robot integrated volume detection module and the weighing module, the density of the ore is obtained through the mass and the volume calculation, then the dry separation of the ore is carried out based on the density control mechanical gripper, independent parts of all the differences are integrated on the whole robot, the original functions of all the parts of the integrated whole can still be played while the size of the equipment is reduced, and all the parts cooperate to complete the whole density calculation, so that the convenient and low-cost ore separation is realized, and the ore separation device has higher practicability and popularization value.
Description
Technical Field
The invention relates to the technical field of ore sorting, in particular to an ore sorting device and method for density estimation based on a robot.
Background
With the development of science and technology, it is extremely important to sort ores because the quality of directly mined raw ores is difficult to meet the industrial requirements. The current ore sorting methods can be divided into two types: wet separation and dry separation. The wet separation process is based on the difference in ore density, but requires a large amount of water. The dry sorting method can be divided into a traditional manual sorting method and a machine sorting method. The dry sorting method has low manual sorting efficiency and high error rate, and the machine sorting is more efficient. And the machine sorting principle can be roughly classified into density-based, machine vision-based, and the like. The ray method equipment based on density has high cost, and even is easy to cause harm to human body if the safety protection is improper; the machine vision sorting method based on image information such as texture and gray scale has poor accuracy. In comparison with the practical, accuracy, environmental protection and sorting action modes of the different sorting modes, the density-based dry sorting method is most suitable, and the existing density-based dry sorting method such as a winnowing technology has large equipment volume and high cost, most of the sorting actions are based on air valves or high-pressure spray guns, and the stability and the real-time performance are poor.
Disclosure of Invention
In order to solve the above problems, the present invention provides an ore sorting apparatus and method for density estimation by a robot, which are capable of sorting large ores having density differences at low cost with high accuracy and small equipment volume.
The technical scheme of the invention is as follows:
an ore sorting device for density estimation based on a robot comprises a feed hopper, a conveying belt, an ore queuing guide device, a robot, a first material frame and a second material frame;
the feeding hopper is arranged above the feeding area of the conveying belt and used for containing ore materials to be sorted, and the ore materials to be sorted are released to the feeding area of the conveying belt through the feeding hopper;
the ore queuing guide device is fixed at the tail end of the feeding area of the conveying belt and is used for queuing ore piles released onto the conveying belt, so that ores pass through the ore queuing guide device one by one and run along the conveying belt in a single queuing mode;
the robot comprises a mechanical arm, a volume detection module, a weighing module, a mechanical paw and a controller; the mechanical arm is positioned on one side of the conveying belt; the volume detection module, the weighing module and the mechanical paw are all arranged at the tail end of the mechanical arm; the volume detection module comprises a first camera and a second camera, and the two cameras are symmetrically arranged on two sides of the tail end of the mechanical arm; the mechanical arm, the first camera, the second camera, the weighing module and the mechanical paw are electrically connected with the controller;
the first material frame is arranged near the robot arm and used for containing the sorted ore;
the second material frame is arranged at the discharging end of the conveying belt and used for receiving the ore conveyed by the conveying belt and reserved after sorting.
Further, according to the ore sorting device for density estimation based on the robot, the weighing module consists of a pressure weighing sensor and a corresponding signal conditioning amplifier.
The ore sorting method for density estimation based on the robot, which adopts the ore sorting device for density estimation based on the robot, comprises the following steps:
step 1: starting the conveyer belt;
step 2: controlling the feed hopper to release the ore materials to be sorted contained in the feed hopper to a feeding area of the conveying belt;
and step 3: processing ore stockpiles released from the feed hoppers onto the conveyor belt into single ore queuing operation through an ore queuing guide device;
and 4, step 4: the controller identifies and tracks the current single ore through the first camera;
and 5: the controller controls the first camera and the second camera to photograph the tracked ore at the same time to obtain ore images at different angles;
step 6: according to the ore images collected by the two cameras from different angles, the controller calculates the volume of the ore by using a binocular stereo vision matching algorithm;
and 7: the controller controls the mechanical gripper to grab the currently tracked ore;
and 8: weighing the ore grabbed by the mechanical gripper through a weighing module to obtain the weight of the ore;
and step 9: the controller calculates the density value of the ore according to the volume and the weight of the ore, compares the density value of the ore with a preset density threshold value, judges that the ore is the ore needing to be sorted if the density value of the ore is greater than the preset density threshold value, and executes the step 10; if the density value of the ore is less than or equal to the preset density threshold value, judging the ore to be the ore needing to be reserved, and executing the step 11;
step 10: the controller controls the mechanical arm to place the ore grabbed by the mechanical gripper into the first material frame;
step 11: the controller controls the mechanical arm to put the ore grabbed by the mechanical claw back to the conveying belt, and the ore slides along the conveying belt into the second material frame;
step 12: and (5) repeating the step 4 to the step 11 until the separation of all the ore materials to be separated is completed.
The invention has the following beneficial effects: in view of the fact that the density difference is the most obvious difference between coal and gangue, the ore with the same volume has the mass difference, and therefore the ore sorting identification rate based on density is high, and accuracy is good, wherein the dry sorting based on density is low in cost and high in accuracy, and different from a density wet sorting method in practical application, the dry sorting based on density has small water requirement, and is beneficial to environmental protection. The invention relates to an ore sorting device and method for density estimation based on a robot, which respectively calculates the volume and the mass of an ore by integrating a volume detection module and a weighing module through the robot, calculates the density of the ore according to the mass and the volume, controls a mechanical paw to perform dry sorting of the ore based on the density, integrates different independent parts on the whole robot, reduces the volume of equipment, ensures that all parts of the integrated whole can still perform original functions, and coordinately cooperates with each part to complete the calculation of the whole density, realizes convenient and low-cost ore sorting, and has higher practicability and popularization value.
Drawings
Fig. 1 is a schematic structural view of an ore sorting apparatus for density estimation by a robot according to the present embodiment;
fig. 2 is a schematic structural view of a ore queuing guide apparatus in the present embodiment;
fig. 3 is a schematic structural view of the robot in the present embodiment;
fig. 4 is a schematic diagram illustrating a connection relationship between the controller and other components in the present embodiment;
fig. 5 is a schematic flowchart of the ore sorting method for density estimation by a robot according to the present embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
All the electric parts in the scheme are connected with the adaptive power supply thereof through leads, and a proper controller and a proper encoder are selected according to actual conditions to meet control requirements, and specific connection and control sequences are realized.
Fig. 1 is a schematic structural diagram of an ore sorting apparatus for density estimation by a robot according to the present embodiment, and as shown in fig. 1, the ore sorting apparatus for density estimation by a robot includes a feed hopper 1, a conveyor belt 2, an ore queuing guide 3, a robot 4, a first material frame 5, and a second material frame 6.
The ore queuing guide 3 is fixed at the end of the feeding area of the conveyor belt 2 and is used for queuing and guiding ore piles released onto the conveyor belt 2, so that the ores pass through the ore queuing guide 3 one by one and then run on the conveyor belt 2 in a single queuing mode. The ore queuing guide device 3 of the embodiment is composed of two elastic doors as shown in fig. 2, when ore runs, the ore hits the doors, the doors are knocked open by a bit, and the ore is pushed by the conveyor belt, so that the ore is queued.
The robot 4, as shown in fig. 3, includes a robot arm 401, a volume detection module 402, a weighing module 403, a gripper 404, and a controller 405; the mechanical arm 401 is positioned at one side of the conveying belt; the volume detection module 402, the weighing module 403 and the gripper robot 404 are all mounted at the end of the robot arm 401; the volume detection module 402 comprises a first camera 4021 and a second camera 4022, which are symmetrically arranged at two sides of the tail end of the mechanical arm 401; the mechanical arm 401, the first camera 4021, the second camera 4022, the weighing module 403 and the mechanical gripper 404 are all electrically connected with a controller 405, as shown in fig. 4; in this embodiment, the controller 405 is an embedded microprocessor of XC7Z015-2CLG485I from XILINX, and the weighing module 403 is composed of a column type tension-pressure weighing sensor and a signal conditioning amplifier, which are ARIZON 1059.
Continuing back to fig. 1, the first material frame 5 is arranged adjacent to the robot arm 401 for receiving sorted ore.
A second material frame 6 is provided at the discharge end of the conveyor belt 2 for receiving the sorted ore material conveyed by the conveyor belt 2.
Fig. 5 is a robot-based density estimation ore sorting method using the above robot-based density estimation ore sorting apparatus, which includes, as shown in fig. 2, the steps of:
step 1: starting the conveyer belt 2;
step 2: controlling the feed hopper 1 to release ore materials to be sorted contained in the feed hopper to a feeding area of the conveying belt 2;
the ore material released from the feed hopper 1 will fall in a pile onto the conveyor belt 2 and follow the conveyor belt 2, as will be readily known to the skilled person.
And step 3: the ore pile released from the feed hopper 1 to the conveyor belt 2 is processed into single ore queue operation by the ore queue guide 3;
a plurality of ores are close together in the ore stacking material and can cause that the ore can not be identified and tracked and the ore volume is calculated, therefore, an ore queuing guide device 3 is designed, the ore queuing guide device 3 is installed at the middle front end of a conveying belt, namely the tail end of a feeding area, the ore materials are released to the conveying belt 2 by a feeding hopper 1, and the ore is singly queued by the ore queuing guide device 3 when the current ore stacking material moves along the conveying belt, so that the subsequent steps can be carried out.
And 4, step 4: the controller 405 identifies and tracks the current single ore through the first camera 4021;
in this embodiment, the controller 405 first identifies the occurrence of ore through the first camera 4021 which is always on, that is, when no ore passes through, the first camera 4021 receives an original background image, and when an ore passes through, a different image, that is, an ore image is received, and then the controller 405 performs graying, filtering, binarization and other processing on the ore image shot by the first camera 4021 to obtain an ore profile, and then tracks the ore through the ore profile based on an edge detection algorithm.
And 5: the controller 405 controls the first camera 4021 and the second camera 4022 to acquire images of the tracked ore at the same time, and acquires images of the tracked ore from different angles through the first camera 4021 and the second camera 4022 at different positions.
Step 6: according to the ore images collected by the two cameras from different angles, the controller 405 calculates the volume of the tracked ore by using a binocular stereo vision matching algorithm;
after the images received from the two cameras are subjected to denoising and other processing, the controller 405 calculates the volume of the currently tracked ore by using a binocular stereo vision matching algorithm according to the processed images.
And 7: the controller 405 controls the gripper 404 to grab the tracked ore;
and 8: the weighing module 403 weighs the ore grabbed by the mechanical gripper 404 to obtain the weight of the ore;
and step 9: the controller 405 calculates a density value of the ore according to the tracked volume and weight of the ore, compares the density value of the ore with a preset density threshold, and if the density value of the ore is greater than the preset density threshold, determines that the ore is an ore to be sorted, such as coal gangue, and performs step 10; if the density value of the ore is less than or equal to the preset density threshold value, determining that the ore is an ore to be reserved, such as coal, and executing step 11;
step 10: the controller 405 controls the mechanical arm 401 to place the ore grabbed by the mechanical gripper 404 into a first material frame 5, namely a gangue basket;
step 11: the controller 405 controls the robot arm 401 to return the ore gripped by the gripper 404 to the conveyor belt 2, and the ore slides along the conveyor belt 2 to the second material frame 6, i.e. the coal material frame.
Step 12: and (5) repeatedly executing the step 4 to the step 11 until the separation process of all the ore materials to be separated is completed.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. An ore sorting device for density estimation based on a robot is characterized by comprising a feed hopper, a conveying belt, an ore queuing guide device, a robot, a first material frame and a second material frame;
the feeding hopper is arranged above the feeding area of the conveying belt and used for containing ore materials to be sorted, and the ore materials to be sorted are released to the feeding area of the conveying belt through the feeding hopper;
the ore queuing guide device is fixed at the tail end of the feeding area of the conveying belt and is used for queuing ore piles released onto the conveying belt, so that ores pass through the ore queuing guide device one by one and run along the conveying belt in a single queuing mode;
the robot comprises a mechanical arm, a volume detection module, a weighing module, a mechanical paw and a controller; the mechanical arm is positioned on one side of the conveying belt; the volume detection module, the weighing module and the mechanical paw are all arranged at the tail end of the mechanical arm; the volume detection module comprises a first camera and a second camera, and the two cameras are symmetrically arranged on two sides of the tail end of the mechanical arm; the mechanical arm, the first camera, the second camera, the weighing module and the mechanical paw are electrically connected with the controller;
the first material frame is arranged near the robot arm and used for containing the sorted ore;
the second material frame is arranged at the discharging end of the conveying belt and used for receiving the ore conveyed by the conveying belt and reserved after sorting.
2. The robotic-based ore sorting device for density estimation according to claim 1, wherein the weighing module is comprised of a pressure load cell and a corresponding signal conditioning amplifier.
3. A method for robot-based ore sorting for density estimation using the robot-based ore sorting device for density estimation according to claim 1, comprising the steps of:
step 1: starting the conveyer belt;
step 2: controlling the feed hopper to release the ore materials to be sorted contained in the feed hopper to a feeding area of the conveying belt;
and step 3: processing ore stockpiles released from the feed hoppers onto the conveyor belt into single ore queuing operation through an ore queuing guide device;
and 4, step 4: the controller identifies and tracks the current single ore through the first camera;
and 5: the controller controls the first camera and the second camera to photograph the tracked ore at the same time to obtain ore images at different angles;
step 6: according to the ore images collected by the two cameras from different angles, the controller calculates the volume of the ore by using a binocular stereo vision matching algorithm;
and 7: the controller controls the mechanical gripper to grab the currently tracked ore;
and 8: weighing the ore grabbed by the mechanical gripper through a weighing module to obtain the weight of the ore;
and step 9: the controller calculates the density value of the ore according to the volume and the weight of the ore, compares the density value of the ore with a preset density threshold value, judges that the ore is the ore needing to be sorted if the density value of the ore is greater than the preset density threshold value, and executes the step 10; if the density value of the ore is less than or equal to the preset density threshold value, judging the ore to be the ore needing to be reserved, and executing the step 11;
step 10: the controller controls the mechanical arm to place the ore grabbed by the mechanical gripper into the first material frame;
step 11: the controller controls the mechanical arm to put the ore grabbed by the mechanical claw back to the conveying belt, and the ore slides along the conveying belt into the second material frame;
step 12: and (5) repeating the step 4 to the step 11 until the separation of all the ore materials to be separated is completed.
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| CN202110928580.0A CN113617680A (en) | 2021-08-13 | 2021-08-13 | Ore sorting device and method for density estimation based on robot |
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| CN202110928580.0A CN113617680A (en) | 2021-08-13 | 2021-08-13 | Ore sorting device and method for density estimation based on robot |
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Application publication date: 20211109 |