CN114037756A - Automatic adding method and system of grinding body and terminal equipment - Google Patents
Automatic adding method and system of grinding body and terminal equipment Download PDFInfo
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- CN114037756A CN114037756A CN202111181887.5A CN202111181887A CN114037756A CN 114037756 A CN114037756 A CN 114037756A CN 202111181887 A CN202111181887 A CN 202111181887A CN 114037756 A CN114037756 A CN 114037756A
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- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The application is suitable for the technical field of mines, and provides an automatic adding method and system of a grinding body, wherein the system comprises: the mechanical arm supporting device is used for fixing the mechanical arm and the visual system, and the grabbing device is positioned at the tail end of the mechanical arm; grabbing device includes electro-magnet and/or electric permanent magnet, acquire 3D visual image through central control system control vision system, then determine the position coordinate of target rinding body, the arm of controlling again moves to this position coordinate, snatch out the target rinding body through the grabbing device that has magnetism, can snatch the rinding body effectively, the automatic ball machine that adds that appears on the existing market, because the claw shape grabbing device who snatchs the rinding body often can't snatch out the rinding body effectively in use, lead to the problem that can't in time add the rinding body according to the technological requirement.
Description
Technical Field
The application belongs to the technical field of mines, and particularly relates to an automatic adding method and system of a grinding body and terminal equipment.
Background
A ball mill is an apparatus for pulverizing objects in the ball mill by using a grinding body (such as steel balls, steel rods, etc.) as a grinding medium, and is widely used in mineral separation, building materials, and chemical industries. At present, grinding media of the ball mill are added in a concentrated manner by manual work every day, which consumes a great deal of manpower and reduces the grinding efficiency of the ball mill.
In order to improve the grinding efficiency of the ball mill, the grinding bodies are added automatically and continuously. However, in the automatic ball feeding machine appearing in the market at present, the claw-shaped gripping device for gripping the grinding body often cannot effectively grip the grinding body in use, so that the grinding body cannot be timely added according to the process requirements.
Disclosure of Invention
The embodiment of the application provides an automatic adding method and system of a grinding body, and the problem that the grinding body cannot be timely added according to technological requirements due to the fact that a claw-shaped grabbing device for grabbing the grinding body cannot grab the grinding body effectively in use of an automatic ball adding machine appearing in the current market can be solved.
In a first aspect, an embodiment of the present application provides an automatic adding system for a grinding body, including: the system comprises a central control system, a mechanical arm supporting device, a mechanical arm, a gripping device and a vision system;
the central control system is electrically connected with the mechanical arm, the gripping device and the visual system respectively, the mechanical arm supporting device is used for fixing the mechanical arm and the visual system, and the gripping device is positioned at the tail end of the mechanical arm;
the central control system is used for controlling the mechanical arm to move to a specified position, controlling the gripping device to grip or release the grinding body, and controlling the vision system to acquire a 3D vision image of the grinding body;
the gripping device comprises an electromagnet and/or an electropermanent magnet.
Optionally, the mechanical arm is a four-axis mechanical arm or a six-axis mechanical arm
Optionally, the designated positions include a designated grasping position and a designated releasing position; the central control system is used for controlling the gripping device to grip or release the grinding body, and comprises:
when the mechanical arm moves to the designated grabbing position, the central control system sends a magnetizing signal to the grabbing device so that the grabbing device grabs the target grinding body;
when the mechanical arm moves to the appointed release position, the central control system sends a demagnetization signal to the gripping device, so that the gripping device releases the target grinding body.
Optionally, the vision system includes a 2D laser scanning camera fixed on the mechanical arm and an image data processing center;
the 2D laser scanning camera is used for shooting a 2D image;
the image data processing center is used for generating a 3D visual image according to the 2D image and the moving distance of the mechanical arm.
Optionally, the vision system includes a linear module fixed on the mechanical support device, a 2D laser scanning camera fixed on the linear module, and an image data processing center;
the linear module is used for acquiring a displacement signal;
the 2D laser scanning camera is used for shooting a 2D image;
the image processing center is used for generating a 3D visual image according to the displacement information and the 2D image.
In a second aspect, an embodiment of the present application provides an automatic adding method of a grinding body, including:
acquiring a 3D visual image of a grinding body in a grinding bin;
determining position coordinates of a target abrasive body based on the 3D visual image;
determining an appointed grabbing position according to the position coordinate of the target grinding body, and controlling the mechanical arm to move to the appointed grabbing position;
controlling a gripping device to grip the target abrasive body;
and controlling the gripping device to release the target grinding body when the specified release position is reached.
Optionally, the controlling gripping device grips the target abrasive body, including:
and sending a magnetizing signal to a gripping device so that the gripping device grips the target grinding body.
Optionally, the controlling the gripping device to release the target abrasive body when the specified release position is reached comprises:
and when the specified release position is reached, a demagnetization signal is sent to the gripping device, so that the gripping device releases the target grinding body.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the automatic adding method of the grinding body according to any one of the second aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the automatic adding method of a grinding body according to any one of the second aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a server, enables the server to execute the automatic adding method of a grinding body according to any one of the second aspect.
Compared with the prior art, the embodiment of the application has the advantages that:
the embodiment of the application provides an automatic adding method and system of grinding body, terminal equipment, acquire 3D visual image through center control system control visual system, then determine the position coordinate of target grinding body, the arm of controlling again moves to this position coordinate, snatch out the target grinding body through the grabbing device that has magnetism, can snatch the grinding body effectively, the automation that appears on the existing market adds, because the claw shape grabbing device who snatchs the grinding body often can't snatch out the grinding body effectively in use, lead to the problem that can't in time add the grinding body according to the technological requirement.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an automatic adding system of a grinding body according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a gripping device in an automatic adding system of a grinding body according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a vision system of an automatic abrasive addition system according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a vision system of an automatic abrasive addition system according to another embodiment of the present disclosure;
fig. 5 is a flowchart illustrating an implementation of an automatic adding method of a polishing body according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Referring to fig. 1, an automatic feeding system for polishing bodies is provided in the present application. As shown in fig. 1, the automatic adding system 10 for polishing bodies includes a central control system 110, a mechanical support device 120, a robot arm 130, a gripping device 140, and a vision system 150.
In the embodiment of the present application, the central control system 110 is electrically connected to the robot arm 130, the gripping device 140 and the vision system 150, and is used for controlling the robot arm 130 to move to a designated position, controlling the gripping device 140 to grip or release the polishing object, and controlling the vision system 150 to obtain a 3D vision image of the polishing object.
Specifically, the central control system 110 may be connected to the vision system 150 through a communication bus or other network interface to implement data interaction. The central control system 110 may also transmit control commands to the robot 130 (specifically, a robot control system), the vision system 150, the gripper device 140, and other devices through a digital input/output interface.
The mechanical support device 120 is used to hold the mechanical arm 130 and the vision system 150. The above-mentioned mechanical support device 120 is used to fix the position between the vision system 150 and the robot arm 130, so as to ensure the accuracy of the gripping coordinates of the grinding body.
The gripping device 140 is located at the end of the robot arm 130 for gripping or releasing the abrasive body.
Specifically, the central control system 110 is used to control the robot arm 130 to move to a designated position, such as a designated grasping position and a designated releasing position. The central control system 110 controls the gripping device 140 to grip the abrasive when the robot arm 130 moves to a designated gripping position, and controls the gripping device 140 to release the abrasive when the robot arm 130 moves to a designated release position.
In an embodiment of the application, the mechanical arm 130 may be a four-axis mechanical arm, a six-axis mechanical arm, or other types of mechanical arms. The type of arm can be selected according to the appearance of rinding body, for example to the comparatively simple spherical rinding body of appearance, then can select four-axis arm, if the appearance of rinding body is comparatively complicated changeable grinding body, then can select six-axis arm.
In an embodiment of the present invention, the robot 130 is further electrically connected to a robot control system, the robot control system is electrically connected to the central control system 110, and the robot control system is a control device of the robot and can receive an industrial control signal sent by the central control system 110 to control the robot to perform corresponding operations.
In an embodiment of the present application, the grasping device 140 may include an electromagnet and/or an electropermanent magnet. After receiving the magnetizing signal, the electromagnet or the electropermanent magnet has an attraction force, so that the grinding body (metal medium, such as a steel ball) is grabbed (attracted), the mechanical arm control system controls the mechanical arm 130 to drive the electromagnet or the electropermanent magnet, to which the grinding body is adsorbed, to move to a specified release position, and a feedback signal (a feedback signal that the grinding body reaches the specified release position) is sent to the central control system 110, and after receiving the feedback signal, the central control system 110 sends a demagnetization signal to the electromagnet or the electropermanent magnet, so that the grinding body is released.
Snatch the rinding body through electro-magnet and/or electric permanent magnet, can guarantee that the rinding body is snatched successfully, avoid snatching the failure and lead to the rinding body to add the failure.
It should be noted that the gripping device provided in the embodiments of the present application mainly grips an abrasive body having magnetism (e.g., metal, magnet, etc.). It is understood that it is also possible to coat the surface of the abrasive body with a substance having magnetic properties, so that the abrasive body can be gripped by the electromagnet and/or the electropermanent magnet.
In the embodiment of the present application, referring to fig. 2, the lower surface (the surface contacting with the grinding body, the R surface in the figure) of the electropermanent magnet of the above-mentioned gripping device 140 may be in a shape fitting with the grinding body, such as a circular arc shape (when the grinding body is spherical) in fig. 2, and the radius of the circular arc may be determined according to the size of the grinding body (e.g. equal to the diameter of the spherical grinding body). Can make grabbing device and rinding body laminate as far as possible like this, reduce the magnetic leakage effectively, avoid the magnetic leakage and lead to grabbing the condition of other rinding bodies.
In an embodiment of the present application, the vision system 150 is mainly used for acquiring a 3D vision image of the grinding bodies in the grinding bin storing the grinding bodies. And then, performing image matching through the 3D visual image to determine the coordinate position of the target grinding body to be grabbed, sending the coordinate position to the central control system 110, and controlling the mechanical arm 130 to drive the grabbing device 140 to reach the appointed grabbing position by the central control system 110 so as to grab the target grinding body.
Referring to fig. 3, in an embodiment of the present application, the vision system 150 may include a 2D laser scanning camera and an image data processing center fixed to the robot 130. The image data processing center generates a corresponding 3D visual image according to the 2D image captured by the 2D laser scanning camera and the moving distance of the robot arm 130.
Referring to fig. 4, in an embodiment of the present application, the vision system 150 may include a line module fixed to a vision frame of the mechanical support device 120, a 2D laser scanning camera fixed to the line module, and an image data processing center. The image data processing center can generate a corresponding 3D visual image by using a 2D image shot by the 2D laser scanning camera and a displacement signal obtained by the linear module which reflects the displacement of the 2D laser scanning camera.
An automatic adding method corresponding to the automatic adding system of the polishing body shown in fig. 1 will be described below with reference to fig. 5. As shown in fig. 5, an automatic adding method of a grinding body provided by an embodiment of the present application may include the following steps:
s11: a 3D visual image of the grinding bodies in the grinding bin is acquired.
In a specific application, the vision system can be controlled by the central control system, and the vision system acquires a 3D vision image of the grinding bodies in the grinding bin. The grinding bin is used for storing grinding bodies.
In the embodiment of the present application, a visual system shown in fig. 3 is taken as an example for explanation. The central control system can send a control signal to a linear module of the visual system, the linear module can drive the 2D laser scanning camera to move on the visual frame after receiving the control signal, so as to scan the grinding body in the grinding bin arranged below the linear module, and further obtain an image of the grinding body, and the embedded image data processing center generates a corresponding 3D visual image (namely the 3D visual image of the grinding body in the grinding bin) based on the scanned image obtained by 2D laser scanning and the displacement signal obtained by the linear module.
S12: determining position coordinates of a target grinding body based on the 3D visual image, wherein the target grinding body is a grinding body corresponding to size information of a preset grinding body.
In the embodiment of the present application, the size information of the preset grinding body can be determined according to the addition requirement, and specifically can be determined by the central control system and then sent to the image data processing center.
The size information of the preset abrasive may include shape information and size information, for example, a sphere having a diameter of 2 CM.
In a specific application, the corresponding grinding body (i.e. the target grinding body) can be identified from the resulting 3D visual image by an image data processing center in the vision system, and then the position of the grinding body in the grinding bin (expressed in terms of coordinates) is further determined.
After the image data processing center determines the position coordinates, the position coordinates of the target grinding body are sent to a central control system.
S13: and determining an appointed grabbing position according to the position coordinate of the target grinding body, and controlling the mechanical arm to move to the appointed grabbing position.
In the embodiment of the application, after the central control system obtains the position coordinates of the target grinding body sent by the image data processing center, the position coordinates are determined as the designated grabbing position, and then the central control system sends an industrial control signal to the mechanical arm so that the mechanical arm moves to the designated grabbing position. After the mechanical arm moves to the designated grabbing position, a feedback signal (an electric signal that the mechanical arm reaches the designated position) is sent to the central control system, so that the central control system can know that the mechanical arm (and the grabbing device) is in place.
S14: and controlling a gripping device to grip out the target grinding body.
In this application embodiment, because grabbing device is driven by the arm, also removes to this appointed grabbing position, after reaching this appointed grabbing position, central control system sends the signal of magnetizing to grabbing device, and then makes grabbing device grab out this target abrasive body.
In this application embodiment, can make grabbing device stop the preset time at appointed grabbing position to make grabbing device can grab out the target abrasive body effectively. The preset time can be set according to actual conditions, and the application is not limited herein.
S15: and controlling the gripping device to release the target grinding body when the specified release position is reached.
The designated release position is the position for releasing the grinding body, and for the central control system, the position is determined, so that after the target grinding body is grabbed by the grabbing device, information can be fed back to the central control system, the central control system can control the mechanical arm to move to the designated release position at the moment, and after the mechanical arm moves to the designated release position, the central control system can send a demagnetization signal to the grabbing device, so that the grabbing device releases the target grinding body, and automatic addition of the grinding body is completed.
Above can find out that the method of automatic interpolation of rinding body that this embodiment provided acquires 3D visual image through center control system control visual system, then determines the position coordinate of target rinding body, and the arm of the second control moves to this position coordinate, snatchs out the target rinding body through grabbing device, can snatch the rinding body effectively, the automatic ball machine that adds that appears in the existing market, because the claw grabbing device who snatchs the rinding body often can't snatch out the rinding body effectively in use, lead to the problem that can't add the rinding body in time according to the technological requirement.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 6, the terminal device 6 of this embodiment includes: at least one processor 60 (only one shown in fig. 6), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, the processor 60 implementing the steps in any of the above-described embodiments of the method for automatic addition of abrasive bodies when executing the computer program 62.
Those skilled in the art will appreciate that fig. 6 is only an example of the terminal device 6, and does not constitute a limitation to the terminal device 6, and may include more or less components than those shown, or combine some components, or different components, such as an input/output device, a network access device, and the like.
The Processor 60 may be a Central Processing Unit (CPU), and the Processor 60 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may in some embodiments be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the terminal device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 6. The memory 61 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.
Embodiments of the present application further provide a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program can implement the steps in any of the above-mentioned embodiments of the automatic adding method of the grinding body.
The embodiment of the application provides a computer program product, when the computer program product runs on a terminal device, the terminal device is enabled to execute the computer program product to realize the steps in any one of the automatic adding method embodiments of the grinding body.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed automatic adding method of the grinding body can be realized by other methods. For example, the above-described apparatus/server embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An automatic addition system of a grinding body, comprising: the system comprises a central control system, a mechanical arm supporting device, a mechanical arm, a gripping device and a vision system;
the central control system is electrically connected with the mechanical arm, the gripping device and the visual system respectively, the mechanical arm supporting device is used for fixing the mechanical arm and the visual system, and the gripping device is positioned at the tail end of the mechanical arm;
the central control system is used for controlling the mechanical arm to move to a specified position, controlling the gripping device to grip or release the grinding body, and controlling the vision system to acquire a 3D vision image of the grinding body;
the gripping device comprises an electromagnet and/or an electropermanent magnet.
2. An automated abrasive body addition system according to claim 1, wherein the robotic arm is a four-axis robotic arm or a six-axis robotic arm.
3. The automatic addition system of a grinding body of claim 1, wherein the designated position comprises a designated grasping position and a designated releasing position; the central control system is used for controlling the gripping device to grip or release the grinding body, and comprises:
when the mechanical arm moves to the designated grabbing position, the central control system sends a magnetizing signal to the grabbing device so that the grabbing device grabs the target grinding body;
when the mechanical arm moves to the appointed release position, the central control system sends a demagnetization signal to the gripping device, so that the gripping device releases the target grinding body.
4. An automatic addition system of abrasive bodies according to claim 1, characterized in that said vision system comprises a 2D laser scanning camera and an image data processing center fixed on a robot arm;
the 2D laser scanning camera is used for shooting a 2D image;
the image data processing center is used for generating a 3D visual image according to the 2D image and the moving distance of the mechanical arm.
5. The automatic addition system of abrasive bodies according to claim 1, wherein the vision system comprises a linear module fixed on a mechanical support device, a 2D laser scanning camera fixed on the linear module, and an image data processing center;
the linear module is used for acquiring a displacement signal;
the 2D laser scanning camera is used for shooting a 2D image;
the image processing center is used for generating a 3D visual image according to the displacement information and the 2D image.
6. An automatic adding method of a grinding body is characterized by comprising the following steps:
acquiring a 3D visual image of a grinding body in a grinding bin;
determining position coordinates of a target abrasive body based on the 3D visual image;
determining an appointed grabbing position according to the position coordinate of the target grinding body, and controlling the mechanical arm to move to the appointed grabbing position;
controlling a gripping device to grip the target abrasive body;
and controlling the gripping device to release the target grinding body when the specified release position is reached.
7. The automatic adding method of a grinding body as claimed in claim 6, wherein said controlling gripping means grips said target grinding body, comprising:
and sending a magnetizing signal to a gripping device so that the gripping device grips the target grinding body.
8. The automatic adding method of a grinding body as claimed in claim 7, wherein said controlling the gripping device to release the target grinding body upon reaching a specified release position comprises:
and when the specified release position is reached, a demagnetization signal is sent to the gripping device, so that the gripping device releases the target grinding body.
9. Terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the method for automatic addition of an abrasive body according to any one of claims 6 to 8.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for automatic addition of a grinding body according to any one of claims 6 to 8.
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| CN118567295A (en) * | 2024-08-05 | 2024-08-30 | 山东鑫海矿业技术装备股份有限公司 | Automatic ball feeder control system based on image recognition |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117834836A (en) * | 2022-09-29 | 2024-04-05 | 长广溪智能制造(无锡)有限公司 | Material grabbing system, method, computing equipment and medium |
| CN118567295A (en) * | 2024-08-05 | 2024-08-30 | 山东鑫海矿业技术装备股份有限公司 | Automatic ball feeder control system based on image recognition |
| CN118567295B (en) * | 2024-08-05 | 2024-10-29 | 山东鑫海矿业技术装备股份有限公司 | Automatic ball feeder control system based on image recognition |
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