CN114054167B - 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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- CN114054167B CN114054167B CN202111183283.4A CN202111183283A CN114054167B CN 114054167 B CN114054167 B CN 114054167B CN 202111183283 A CN202111183283 A CN 202111183283A CN 114054167 B CN114054167 B CN 114054167B
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- grinding body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
- B02C17/18—Details
- B02C17/1805—Monitoring devices for tumbling mills
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
- B02C17/18—Details
- B02C17/20—Disintegrating members
- B02C17/205—Adding disintegrating members to the tumbling mill
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
- B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
- B02C25/00—Control arrangements specially adapted for crushing or disintegrating
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Abstract
The application is suitable for the technical field of mines and provides an automatic adding method and system of grinding bodies, wherein the system comprises the following steps: the device comprises a central control system, a mechanical arm supporting device, a mechanical arm, a grabbing device, a visual system and a grabbing empty detection device; the central control system is respectively and electrically connected with the mechanical arm, the grabbing device, the vision system and the empty grabbing detection device, the mechanical arm supporting device is used for fixing the mechanical arm and the vision system, and the grabbing device is positioned at the tail end of the mechanical arm; the vision system is controlled by the central control system to acquire a 3D vision image, then the position coordinate of the grinding body matched with the grinding body to be added is determined, the mechanical arm is controlled to move to the position coordinate, the target grinding body is grabbed by the grabbing device, the grabbing of the grinding body is detected by the grabbing detection device, the grinding body is empty or not, the grinding body can be timely supplemented when the grinding body is empty, and the problem that the grinding body cannot be timely added due to the failure of adding the grinding body caused by ball clamping or ball dropping can be avoided.
Description
Technical Field
The application belongs to the technical field of mines, and particularly relates to an automatic grinding body adding method and system and terminal equipment.
Background
The ball mill is a device for pulverizing objects in the ball mill by using grinding bodies (such as steel balls, steel bars and the like) as grinding media, and is widely applied to mineral separation, building materials and chemical industry. The grinding media of the ball mill are added intensively every day by adopting manpower at present, which requires 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, it is an inevitable option to add the grinding material continuously. However, the ball feeder appearing in the market at present often causes the problem that the grinding body can not be added in time because of the conditions of ball clamping and ball falling.
Disclosure of Invention
The embodiment of the application provides an automatic adding method and an automatic adding system for grinding bodies, which can solve the problem that grinding bodies cannot be added in time due to the fact that balls are clamped and taken off frequently in a ball adding machine appearing in the current market.
In a first aspect, embodiments of the present application provide an automatic grinding body adding system, including: the device comprises a central control system, a mechanical arm supporting device, a mechanical arm, a grabbing device, a vision system and a grabbing empty detection device;
the central control system is respectively and electrically connected with the mechanical arm, the grabbing device, the vision system and the empty grabbing detection device, the mechanical arm support device is used for fixing the mechanical arm and the vision system, and the grabbing device is positioned at the tail end of the mechanical arm;
the central control system is used for calculating the adding time of the grinding body and the size information of the grinding body to be added in the current working period according to the adding requirement of the grinding body, controlling the mechanical arm to move to a designated position, controlling the grabbing device to grab or release the grinding body, controlling the visual system to acquire a 3D visual image of the grinding body, and determining whether to grab according to the detection information of the grab detection device.
Optionally, the grabbing device comprises a detection component; and when the detecting component detects that the grinding body falls, the detecting component sends a trigger signal to the central control system.
Optionally, the specified positions include a specified grabbing position and a specified releasing position; the central control system is used for controlling the grabbing device to grab or release the grinding body, and comprises:
when the mechanical arm moves to the appointed grabbing position, the central control system sends grabbing signals to the grabbing device so that the grabbing device grabs a target grinding body;
and when the mechanical arm moves to the appointed release position, the central control system sends a release signal to the grabbing device so that the grabbing device releases the target grinding body.
Optionally, the vision system comprises a 2D laser scanning camera and an image data processing center fixed on a mechanical arm;
the 2D laser scanning camera is used for shooting 2D images;
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 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 obtaining a displacement signal;
the 2D laser scanning camera is used for shooting 2D images;
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 a method for automatically adding an abrasive body, including:
acquiring a 3D visual image of a grinding body in a grinding bin;
determining position coordinates of a target grinding body based on the 3D visual image;
determining a designated grabbing position according to the position coordinates of the target grinding body, and controlling the mechanical arm to move to the designated grabbing position;
controlling a grabbing device to grab the target grinding body;
when reaching a designated release position, controlling a gripping device to release the target grinding body;
and when the grabbing space is detected, controlling the grabbing device to grab the target grinding body again.
Optionally, before acquiring the 3D visual image of the grinding body in the grinding bin, the method further comprises:
and calculating the adding time of the grinding body and the size information of the grinding body to be added in the current working period according to the adding requirement of the grinding body.
Optionally, before the gripping device is controlled to grip the target grinding body again when the gripping space is detected, the method further comprises:
and determining whether to grab the empty or not according to the detection information of the grab empty detection device.
In a third aspect, an embodiment of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the steps of the method for automatically adding a polishing body according to any one of the second aspects are implemented when the processor executes the computer program.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method for automatically adding an abrasive body according to any one of the second aspects above.
In a fifth aspect, embodiments of the present application provide a computer program product that, when run on a server, enables the server to perform the method of automatic addition of abrasive bodies of any one of the second aspects above.
Compared with the prior art, the embodiment of the application has the beneficial effects that:
according to the automatic adding method and system for the grinding bodies and the terminal equipment, the adding time of the grinding bodies and the size information of the grinding bodies to be added in the current working period are calculated automatically through the central control system according to the adding requirement of the grinding bodies, when the adding time of the grinding bodies is reached, the visual system is controlled to obtain 3D visual images, then the position coordinates of the grinding bodies matched with the grinding bodies to be added are determined, the mechanical arm is controlled to move to the position coordinates, the target grinding bodies are grabbed through the grabbing device, whether the grinding bodies are grabbed to be empty or not is detected through the empty grabbing detection device, timely supplementation during empty grabbing can be achieved, and the problem that the grinding bodies cannot be added timely due to grinding body adding failure caused by ball clamping or ball dropping can be avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an automatic polishing body adding system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a vision system of an automatic polishing body addition system according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a vision system of an automatic addition system for abrasive bodies according to another embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a grab-space detecting device according to an embodiment of the present application;
FIG. 5 is a flowchart of an automatic polishing body adding method 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 configurations, 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 should 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 any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the 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 application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Referring to fig. 1, an embodiment of the present application provides an automatic polishing body adding system. As shown in fig. 1, the automatic grinding body adding system 10 includes a central control system 110, a mechanical support device 120, a mechanical arm 130, a gripping device 140, a vision system 150, and a gripping empty detection device 160.
In this embodiment of the present application, the central control system 110 is electrically connected to the mechanical arm 130, the gripping device 140, the vision system 150, and the empty grabbing detection device 160, and is configured to control the mechanical arm 130 to move to a specified position, control the gripping device 140 to grab or release the grinding body, control the vision system 150 to obtain a 3D visual image of the grinding body, and determine whether to grab the empty according to the detection information of the empty grabbing detection device 160.
In this embodiment of the present application, the above-mentioned central control system 110 may calculate the adding time of the grinding body and the size information of the grinding body to be added in the current working cycle according to the adding requirement of the grinding body. Then when reaching the grinding body adding time, the control vision system 150 acquires a 3D vision image of the grinding body in the grinding bin, controls the mechanical arm 130 to move according to the 3D vision image, controls the grabbing device 140 to grab the grinding body, when reaching a specified release position (which can be above the grabbing blank detection device 160 in the application), controls the grabbing device 140 to release the grinding body, and then sends a trigger signal to the central control system 110 when detecting that the grinding body falls through the grabbing blank detection device 160. The central control system 110 judges that the grabbing device 140 grabs empty if the trigger signal sent by the grabbing empty detection device 160 is not received within a period of time after the grabbing device 140 is controlled to release the grinding body, and at this time, the central control system 110 sends a control instruction to the mechanical arm and the grabbing device again to grab the grinding body again; if the central control system 110 receives the trigger signal sent by the scratch detection device 160 within a period of time after the control gripping device 140 releases the abrasive, it indicates that the abrasive is not scratched, that is, it indicates that the abrasive has been successfully added.
Specifically, the central control system 110 may be connected to the vision system 150 through a communication bus or other network interfaces to implement data interaction. In addition, the central control system 110 may also implement transmission of control commands with the mechanical arm 130 (specifically, the mechanical arm control system), the vision system 150, the gripping device 140, and other devices through a digital input/output interface.
The mechanical support 120 is used to secure the robotic arm 130 and vision system 150. The mechanical support device 120 is used for fixing the position between the vision system 150 and the mechanical arm 130, so as to ensure the accuracy of the grabbing coordinates of the grinding body.
The gripping device 140 is located at the end of the mechanical arm 130, and is used for gripping or releasing the grinding body.
Specifically, the central control system 110 is configured to control the movement of the mechanical arm 130 to a specified position, such as a specified gripping position and a specified releasing position. The central control system 110 sends a grabbing signal to the grabbing device 140 to control the grabbing device 140 to grab the grinding bodies when the mechanical arm 130 moves to the designated grabbing position, and sends a releasing signal to the grabbing device 140 to control the grabbing device 140 to release the grinding bodies when the mechanical arm 130 moves to the designated releasing position.
In an embodiment of the present 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 the mechanical arm can be selected according to the shape of the grinding body, for example, for a spherical grinding body with a simpler shape, a four-axis mechanical arm can be selected, and if the shape of the grinding body is a more complex multi-variable grinding body, a six-axis mechanical arm can be selected.
In an embodiment of the present application, the mechanical arm 130 is further electrically connected to a mechanical arm control system, where the mechanical arm control system is electrically connected to the central control system 110, and the mechanical arm control system is a control device of the mechanical arm, and may receive an industrial control signal sent by the central control system 110, so as to control the mechanical arm to perform a corresponding operation.
In an embodiment of the present application, the gripping device 140 may include a claw-shaped gripping portion, the central control system 110 may control the claw-shaped gripping portion to grip or release, the gripping device 140 may be capable of gripping the grinding body when controlling the claw-shaped gripping portion to grip, and the gripping device may be capable of releasing the grinding body when controlling the claw-shaped gripping portion to release.
In an embodiment of the present application, the gripping device 140 may include an electromagnet and/or an electro-permanent magnet. After receiving the magnetizing signal, the electromagnet or the electro-permanent magnet has a suction force, so that the grinding body (metal medium, such as steel ball, etc.) is grabbed (sucked) and taken, the mechanical arm 130 is controlled by the mechanical arm control system to drive the electromagnet or the electro-permanent magnet with the grinding body to move to a specified release position, a feedback signal (a signal that the grinding body reaches the specified release position is fed back) is fed back to the central control system 110, and after receiving the signal, the central control system 110 sends a demagnetizing signal to the electromagnet or the electro-permanent magnet, so that the grinding body is released.
In one embodiment of the present application, the vision system 150 is mainly used to obtain a 3D visual image of the polishing body in the polishing bin in which the polishing body is stored. Then, image matching is performed through the 3D visual image, the coordinate position of the target grinding body to be grabbed is determined, the coordinate position is sent to the central control system 110, the central control system 110 controls the mechanical arm 130 to drive the grabbing device 140 to reach the designated grabbing position, and then the target grinding body is grabbed.
Referring to fig. 2, in one embodiment of the present application, the vision system 150 may include a 2D laser scanning camera and an image data processing center mounted on the robotic arm 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 mechanical arm 130.
Referring to fig. 3, in an embodiment of the present application, the vision system 150 may include a linear module fixed on the vision frame of the mechanical support device 120, a 2D laser scanning camera fixed on the linear module, and an image data processing center. The image data processing center can generate a corresponding 3D visual image from a 2D image shot by the 2D laser scanning camera and a displacement signal obtained by reflecting the unique linear module of the 2D laser scanning camera.
In this embodiment, the above-mentioned grab-space detecting device 160 may be connected to an inlet of a ball feeding channel of the ball mill. The above-mentioned scratch detection device 160 may include a detection component, and the detection component may send a trigger signal to the central control system when detecting that the grinding body falls.
The detection component is a light curtain component or annular proximity switch light.
Illustratively, as shown in fig. 4, a light curtain detection pair 161 and 162 is provided in the scratch detection device 160. The light curtain detects 161 and 162 and is arranged in the grab detection device, can detect whether the grinding body falls from the top of the grab detection device, and when the grinding body is released, the grinding body can freely fall to move due to gravity, falls into the ball adding channel of the ball mill after passing through the light curtain detection pair, and further completes the adding flow of the grinding body.
An automatic addition method corresponding to the automatic addition system of the polishing body shown in fig. 1 will be described below with reference to fig. 5. As shown in fig. 5, the method for automatically adding the polishing body according to the embodiment of the present application may include the following steps:
s11: and calculating the adding time of the grinding body and the size information of the grinding body to be added in the current working period according to the adding requirement of the grinding body.
In this embodiment of the present application, the central control system may calculate, according to the addition requirement of the polishing body, the polishing body addition time interval of the current working period (may be different periods of 4 hours, 8 hours, 12 hours, one day, one week, one month, etc., and may be set as required) and what kind of polishing body is added.
S12: a 3D visual image of the abrasive body in the grinding bin is acquired.
Under the condition that the adding time is reached, the central control system triggers the visual system to acquire a 3D visual image of the grinding body in the grinding bin, then the coordinate position of the grinding body with the corresponding specification is matched from the 3D visual image, the mechanical arm is controlled to drive the grabbing device to reach the coordinate position, and the grabbing device is controlled to grab the corresponding grinding body.
In a specific application, the vision system may be controlled by a central control system, which acquires a 3D visual image of the abrasive body in the grinding bin.
In the embodiment of the present application, a vision system shown in fig. 3 is taken as an example for illustration. The central control system can send a control signal to the linear module of the vision system, the linear module can drive the 2D laser scanning camera to move on the vision frame after receiving the control signal, the grinding body in the grinding bin arranged below the central control system scans the grinding body, so that an image of the grinding body is obtained, and the embedded image data processing center generates a corresponding 3D vision image (namely, a 3D vision image of the grinding body in the grinding bin) based on the scanning image obtained by the 2D laser scanning and the displacement signal obtained by the linear module.
S13: and determining the position coordinates of a target grinding body based on the 3D visual image, wherein the target grinding body is a grinding body corresponding to the size information of the grinding body to be added.
In this embodiment of the present application, the size information of the grinding body to be added may be determined according to an addition requirement, and may specifically be determined by the central control system and then sent to the image data processing center.
The above-mentioned dimension information of the abrasive body to be added may include shape information and dimension size, such as a sphere having a diameter of 2CM or a cylinder having a length of 3CM, a diameter of 1CM in cross section, and the like.
In a specific application, the corresponding abrasive body (i.e. the target abrasive body) may be identified from the resulting 3D visual image by an image data processing center in the visual system, and then the position of the abrasive 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.
S14: and determining a designated grabbing position according to the position coordinates of the target grinding body, and controlling the mechanical arm to move to the designated grabbing position.
In this embodiment of the present application, after the central control system acquires the position coordinate of the target grinding body sent by the image data processing center, the central control system determines the position coordinate as the specified 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 specified grabbing position. After the robotic arm moves to the specified gripping position, a feedback signal (an electrical signal that the robotic arm has reached the specified position) is provided to the central control system to make the central control system aware that the robotic arm (and gripping device) is in place.
S15: and controlling a grabbing device to grab and take out the target grinding body.
In this embodiment of the present application, since the gripping device is driven by the mechanical arm and also moves to the specified gripping position, after reaching the specified gripping position, the central control system sends a gripping signal to the gripping device, so that the gripping device grips out the target grinding body.
In the embodiment of the application, the grabbing device can stay at the designated grabbing position for a preset time, so that the grabbing device can effectively grab the target grinding body. The preset time may be set according to actual conditions, and is not limited herein.
S16: and releasing the target grinding body when the designated release position is reached.
The designated release position is a position for releasing the grinding body, and is determined for the central control system, so that after the grabbing device grabs the target grinding body, information is fed back to the central control system, the central control system controls the mechanical arm to move to the designated release position, and after the mechanical arm moves to the designated release position, the central control system sends a demagnetizing signal to the grabbing device, so that the grabbing device releases the target grinding body.
S17: and determining whether to grab the empty or not according to the detection information of the grab empty detection device.
In the embodiment of the present application, the central control system determines that the gripping device grips the blank if the trigger signal sent by the blank-gripping detection device is not received within a period of time after the gripping device 140 is controlled to release the grinding body; if the central control system receives the trigger signal sent by the grab detection device within a period of time after the grabbing device is controlled to release the grinding body, the situation that the grinding body is not grabbed is indicated.
It should be noted that, the duration of the period of time after the polishing body is released may be determined according to the actual situation, which is not limited in this application.
S18: and when the grabbing space is detected, controlling the grabbing device to grab the target grinding body again.
In the embodiment of the application, when the grab is detected, it is indicated that the target grinding body is not successfully added, so that the grabbing device needs to be controlled to grab the target grinding body again.
Specifically, the central control system may control the mechanical arm to move to the position coordinates of the target grinding body again, and then control the grabbing device to grab the target grinding body again.
Specifically, since the last capturing may cause the position change of the target grinding body, the central control system may control the vision system to acquire the 3D vision image of the grinding body in the grinding bin again, determine the position coordinate of the target grinding body based on the 3D vision image, control the mechanical arm to move to the position coordinate of the target grinding body, and control the capturing device to capture the target grinding body again.
S19: and when the lack of the grabbing space is detected, determining that the grinding body is added successfully, and circularly executing S12 to S17 until all grinding bodies to be added in the current working cycle are added.
When a scratch is detected, it is indicated that the released grinding bodies have been successfully added to the ball mill. At this time, it is only necessary to wait for the next time of adding the abrasive, and then repeat the operations of S12 to S17 described above, completing the process of automatically adding the abrasive.
As can be seen from the above, according to the method provided in this embodiment, the adding time of the grinding body and the size information of the grinding body to be added in the current working period are calculated automatically by the central control system according to the adding requirement of the grinding body, when the adding time of the grinding body is reached, the vision system is controlled to obtain the 3D visual image, then the position coordinates of the grinding body matched with the grinding body to be added are determined, the mechanical arm is controlled to move to the position coordinates, the target grinding body is grabbed by the grabbing device, whether the grinding body is grabbed to be empty is detected by the grabbing device, and timely replenishment can be performed when the grinding body is grabbed, so that the problem that the grinding body cannot be added timely due to the grinding body adding failure caused by ball clamping or ball dropping can be avoided.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
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 is 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 automatically adding abrasive bodies when executing the computer program 62.
It will be appreciated by those skilled in the art that fig. 6 is merely an example of the terminal device 6 and is not meant to be limiting as to the terminal device 6, and may include more or fewer components than shown, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.
The processor 60 may be a central processing unit (Central Processing Unit, CPU), the processor 60 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. 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 in other embodiments also be an external storage device of the terminal device 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided 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, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 61 may also be used for temporarily storing data that has been output or is to be output.
Embodiments of the present application also provide a computer readable storage medium storing a computer program that, when executed by a processor, performs the steps of any of the foregoing embodiments of the method for automatically adding a polishing body.
The present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute steps in an embodiment of an automatic addition method of any one of the above-mentioned grinding bodies.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a 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 process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
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 solution. 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 method for automatically adding the polishing body may be implemented in other manners. For example, the above-described apparatus/server embodiments are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (9)
1. An automatic grinding body adding system, comprising: the device comprises a central control system, a mechanical arm supporting device, a mechanical arm, a grabbing device, a visual system and a grabbing empty detection device;
the central control system is respectively and electrically connected with the mechanical arm, the grabbing device, the vision system and the empty grabbing detection device, the mechanical arm support device is used for fixing the mechanical arm and the vision system, and the grabbing device is positioned at the tail end of the mechanical arm;
the central control system is used for calculating the adding time of the grinding body and the size information of the grinding body to be added in the current working period according to the adding requirement of the grinding body, controlling the mechanical arm to move to a designated position, controlling the grabbing device to grab or release the grinding body, controlling the visual system to acquire a 3D visual image of the grinding body, and determining whether to grab according to the detection information of the grab detection device;
the catching detecting device is connected with an inlet of a ball feeding channel of the ball mill;
the light curtain detection pair is arranged in the grab detection device, the light curtain detection pair detects whether the grinding body falls from the upper side of the grab detection device, when the grinding body is released, the grinding body can freely fall to move due to gravity, falls into a ball adding channel of the ball mill after passing through the light curtain detection pair, and then completes the adding flow of the grinding body.
2. The automated abrasive body addition system of claim 1, wherein the grip detection device comprises a detection assembly;
and when the detecting component detects that the grinding body falls, the detecting component sends a trigger signal to the central control system.
3. The automated abrasive body addition system of claim 1, wherein the designated locations comprise a designated grasp location and a designated release location; the central control system is used for controlling the grabbing device to grab or release the grinding body, and comprises:
when the mechanical arm moves to the appointed grabbing position, the central control system sends grabbing signals to the grabbing device so that the grabbing device grabs a target grinding body;
and when the mechanical arm moves to the appointed release position, the central control system sends a release signal to the grabbing device so that the grabbing device releases the target grinding body.
4. The automated abrasive body addition system of claim 1, wherein the vision system comprises a 2D laser scanning camera and an image data processing center secured to a robotic arm;
the 2D laser scanning camera is used for shooting 2D images;
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 automated abrasive body addition system of claim 1, wherein the vision system comprises a linear module secured to a robotic arm support, a 2D laser scanning camera secured to the linear module, and an image data processing center;
the linear module is used for obtaining a displacement signal;
the 2D laser scanning camera is used for shooting 2D images;
the image data processing center is used for generating a 3D visual image according to the displacement signal and the 2D image.
6. An automatic polishing body adding method, comprising:
acquiring a 3D visual image of a grinding body in a grinding bin;
determining position coordinates of a target grinding body based on the 3D visual image;
determining a designated grabbing position according to the position coordinates of the target grinding body, and controlling the mechanical arm to move to the designated grabbing position;
controlling a grabbing device to grab the target grinding body;
when reaching a designated release position, controlling a gripping device to release the target grinding body;
when the grabbing space is detected, controlling the grabbing device to grab the target grinding body again;
when the grabbing space is detected, before the grabbing device is controlled to grab the target grinding body again, the method further comprises the following steps:
determining whether to grab the empty according to the detection information of the grab empty detection device;
the catching detecting device is connected with an inlet of a ball feeding channel of the ball mill;
the light curtain detection pair is arranged in the grab detection device, the light curtain detection pair detects whether the grinding body falls from the upper side of the grab detection device, when the grinding body is released, the grinding body can freely fall to move due to gravity, falls into a ball adding channel of the ball mill after passing through the light curtain detection pair, and then completes the adding flow of the grinding body.
7. The method of automated addition of abrasive bodies according to claim 6, further comprising, prior to acquiring the 3D visual image of the abrasive bodies in the grinding bin:
and calculating the adding time of the grinding body and the size information of the grinding body to be added in the current working period according to the adding requirement of the grinding body.
8. A 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 implements the steps of the method for automatically adding grinding bodies according to claim 6 or 7 when the computer program is executed by the processor.
9. A computer-readable storage medium storing a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method for automatically adding grinding bodies according to claim 6 or 7.
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| CN202111183283.4A CN114054167B (en) | 2021-10-11 | 2021-10-11 | Automatic adding method and system of grinding body and terminal equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2003211381A (en) * | 2002-01-16 | 2003-07-29 | Denso Wave Inc | Robot control device |
| CN107243900B (en) * | 2017-08-09 | 2020-05-05 | 苏州阿甘机器人有限公司 | Automatic small part feeding method based on indoor navigation |
| CN107537639A (en) * | 2017-08-25 | 2018-01-05 | 金川集团股份有限公司 | A kind of steel ball for ball mill adds control device automatically |
| CN107597306B (en) * | 2017-11-08 | 2019-05-17 | 铜陵市明诚铸造有限责任公司 | A kind of abrading-ball crushing automatic control system based on image analysis |
| CN108115688B (en) * | 2017-12-29 | 2020-12-25 | 深圳市越疆科技有限公司 | Grabbing control method and system of mechanical arm and mechanical arm |
| CN108453743B (en) * | 2018-05-14 | 2020-06-19 | 清华大学深圳研究生院 | Mechanical arm grabbing method |
| CN109754421A (en) * | 2018-12-31 | 2019-05-14 | 深圳市越疆科技有限公司 | A kind of vision calibration method, device and robot controller |
| CN113084808B (en) * | 2021-04-02 | 2023-09-22 | 上海智能制造功能平台有限公司 | Monocular vision-based 2D plane grabbing method for mobile mechanical arm |
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