CN115106312A - Intelligent ore sorting device based on binocular camera laser guide - Google Patents
Intelligent ore sorting device based on binocular camera laser guide Download PDFInfo
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- CN115106312A CN115106312A CN202210659095.2A CN202210659095A CN115106312A CN 115106312 A CN115106312 A CN 115106312A CN 202210659095 A CN202210659095 A CN 202210659095A CN 115106312 A CN115106312 A CN 115106312A
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- 210000000078 claw Anatomy 0.000 claims description 23
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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
- B07C7/00—Sorting by hand only e.g. of mail
- B07C7/005—Computer assisted manual sorting, e.g. for mail
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Abstract
The invention discloses an intelligent ore sorting device based on binocular camera laser guidance, which comprises: the visual guide system is arranged above the ore conveying belt and used for indicating the position of impurities doped in the ore; the image acquisition system is arranged above the ore conveying belt and used for acquiring images of the sundries indicated by the visual guide system, and the image acquisition system is connected with an upper computer and used for transmitting data acquired by the images to the upper computer; and an actuator. The ore sorting machine is simple in structural design and convenient to use, adopts a binocular stereo camera as an image acquisition system, adopts laser as a visual guide system, adopts a mechanical arm as a sorting execution mechanism, can realize an automatic sorting effect in the ore sorting process, greatly improves the working environment of workers, reduces the labor intensity of the workers, reduces the environmental pollution, greatly improves the labor productivity, and has good social benefit and economic benefit.
Description
Technical Field
The invention belongs to the technical field of sundry sorting devices in the ore mining process, and particularly relates to an intelligent ore sorting device based on binocular camera laser guidance.
Background
At present, in the mining process, the effective output of ore directly influences the benefit of mine, often can be mixed in the ore mining process and debris, and ore and debris (stock, wire mesh piece, waste rock, barren rock etc.) letter sorting has consumed a large amount of manpower, material resources and time, mainly has two kinds of letter sorting methods among the prior art at present: the manual selection has the advantages that the labor intensity of workers is high, the production efficiency is low, the working environment is severe, and the physical and psychological health of the workers is seriously influenced; secondly, machine selection, the ore sorting system based on traditional machine learning is low in identification accuracy, the existing sundries are only the prior model and cannot effectively cover various sundries, and the model needs to be retrained by expanding the data set, so that the problems of long training time, low training efficiency and the like are caused.
Disclosure of Invention
In order to solve the technical problems, the invention provides an intelligent ore sorting device based on binocular camera laser guide, which is simple in structural design and convenient and fast to use, adopts a binocular stereo camera as an image acquisition system, adopts laser as a visual guide system, adopts a mechanical arm as a sorting execution mechanism, can realize an automatic sorting effect in the ore sorting process, greatly improves the working environment of workers, reduces the labor intensity of the workers, reduces environmental pollution, greatly improves the labor productivity, and has good social benefit and economic benefit.
The technical scheme adopted by the invention is as follows: the utility model provides an intelligence ore sorting device based on guide of binocular camera laser, includes:
the visual guide system is arranged above the ore conveying belt and used for indicating the position of impurities doped in the ore;
the image acquisition system is arranged above the ore conveying belt and used for acquiring images of the sundries indicated by the visual guide system, and the image acquisition system is connected with an upper computer and used for transmitting data acquired by the images to the upper computer;
and the actuating mechanism comprises a mechanical gripper which is arranged above the conveying belt, can move in position and grips sundries.
The executing mechanism further comprises a mechanical arm, the mechanical gripper is connected to the front end of the mechanical arm, and the rear end of the mechanical arm is connected with a driving mechanism used for driving the mechanical arm to horizontally and linearly move above the conveying belt.
The driving mechanism comprises first support frames arranged on two sides of the conveying belt, linear motors horizontally arranged are mounted at the tops of the two first support frames, and the mechanical arm is connected to a workbench of each linear motor through a bolt.
The mechanical gripper comprises an upper connecting frame connected with the mechanical arm, a lower connecting frame is installed below the upper connecting frame, power driving parts are hinged to the two end positions of the upper connecting frame, gripper parts are hinged to the two end positions of the lower connecting frame, and the lower end of the power driving part is hinged to the middle position of the outer side of the gripper parts.
The power driving part is an air cylinder, and the lower end of a telescopic rod of the air cylinder is connected to the middle position of the outer side of the gripper.
The gripper piece comprises a plurality of mutually parallel arranged and arc-shaped claw teeth on the inner side, the claw teeth are connected through a screw rod and a nut, a sleeve is sleeved on the screw rod between every two adjacent claw teeth, and tooth grooves are formed in the arc-shaped edge positions on the inner sides of the claw teeth.
The two claw teeth of the gripper piece positioned in the middle are respectively provided with an upper extending part extending upwards and a side extending part extending outwards, the two upper extending parts are connected to the end part of the lower connecting frame through a pin shaft, and the two side extending parts are connected to the lower end of the power driving piece through the pin shaft.
The vision guide system is laser, the image acquisition system is binocular camera, and the position department of ore conveyer belt is provided with the second support frame, and laser and binocular camera are installed in the horizontal diaphragm lower surface position of second support frame.
The intelligent ore sorting device based on the binocular camera laser guidance is characterized in that when the intelligent ore sorting device is used, mined ores move towards an inlet of a crusher below under the conveying of a conveying belt, in the conveying process, when workers find sundries to be grabbed, the sundries can be irradiated and confirmed by a visual guidance system, an image acquisition system carries out real-time shooting and sampling at the moment, acquired images are transmitted to an upper computer, the upper computer processes the acquired images to obtain position data of a laser spot, whether the data are correct or not is judged through verification, if the data are correct, the upper computer transmits the data to a controller, the controller uses the obtained data as a target position executed by a mechanical arm, under the combined action of a driving mechanism and the mechanical arm, a mechanical gripper can move to a designated position to grab the sundries, and after the grabbing is finished, the sundries are automatically placed to a sundry stacking position, the sundries are automatically released and automatically return to the standby position to prepare for the next grabbing.
The visual guide system is arranged above the ore conveying belt and used for indicating impurities doped in the ore; the purpose of this is: the vision guide system is radium-shine laser, and because site environment is complicated, debris sample work piece is too big, receives the interference easily when information acquisition, causes huge difficulty to subsequent image analysis processing work, consequently, adopts radium-shine laser complicated, the dust of environment for overcoming the workplace many, to the problem of characteristic point identification difficulty, radium-shine laser can indicate the characteristic point, can be accurate, the position of quick discernment and analysis out the characteristic point to improve the efficiency of snatching.
The image acquisition system is arranged above the ore conveying belt and used for acquiring images of the sundries indicated by the visual guide system, and the image acquisition system is connected with an upper computer and used for transmitting data acquired by the images to the upper computer; the purpose of this is to: the image acquisition system is binocular camera, specifically is binocular stereo camera for after the vision guide system shines the debris position, binocular camera can shoot the sampling to the point area that shines, and upload the image information of gathering to the host computer, and the host computer only needs to calculate the laser bright point position in the image when carrying out image analysis discernment, reachs the specific coordinate of debris position, provides the guarantee for the accurate work of snatching of follow-up mechanical tongs.
The actuating mechanism comprises a mechanical gripper which is arranged above the conveying belt, can move in position and grips sundries; the purpose of this is: after the positions of the sundries are determined by the visual guidance system and the image acquisition system, the mechanical gripper can move to the positions of the sundries to grip the sundries, and the executed operation is completed.
The invention has the beneficial effects that:
the ore sorting machine is simple in structural design and convenient and fast to use, adopts a binocular stereo camera as an image acquisition system, adopts laser as a visual guide system, adopts a mechanical arm as a sorting execution mechanism, can realize an automatic sorting effect in the ore sorting process, greatly improves the working environment of workers, reduces the labor intensity of the workers, reduces the environmental pollution, greatly improves the labor productivity, and has good social benefit and economic benefit.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a perspective view of the mechanical gripper of the present invention;
FIG. 4 is an exploded view of the mechanical grip of the present invention;
FIG. 5 is a perspective view of the pawl tooth of the present invention;
FIG. 6 is a flow chart of the operation of the present invention;
fig. 7 is a block diagram of the system of the present invention.
The labels in the figure are: 1. a first support frame; 2. a linear motor; 3. a mechanical arm; 4. a mechanical gripper; 41. an upper connecting frame; 42. a lower connecting frame; 43. a powered drive member; 44. claw teeth; 441. an upper extension; 442. a side extension; 443. a tooth socket; 45. a sleeve; 46. a screw; 5. a second support frame; 51. a transverse plate; 6. a conveyor belt; 7. a visual guidance system; 8. an image acquisition system.
Detailed Description
The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings.
As shown in the figure, an intelligence ore sorting device based on binocular camera laser guide includes:
the visual guide system 7 is arranged above the ore conveying belt 6 and used for indicating the position of impurities doped in the ore; specifically, the visual guidance system 7 is a laser, and during the working process, the staff finds the impurities and controls the laser emitted by the laser to irradiate the impurities, so as to prepare for the subsequent image acquisition work.
The image acquisition system 8 is arranged above the ore conveying belt 6 and used for acquiring images of the sundries indicated by the visual guide system 7, and the image acquisition system 8 is connected with an upper computer and used for transmitting image acquisition data to the upper computer; specifically, the image acquisition system 8 is a binocular camera, performs shooting and sampling of images according to the irradiation position of the laser, uploads image data to an upper computer after image acquisition, and calculates the position of the laser point in the images by using the upper computer, thereby determining the coordinate value of the impurities.
And the actuating mechanism comprises a mechanical gripper 4 which is arranged above the conveying belt 6, can move in position and grips sundries.
Specifically, the executing mechanism further comprises a mechanical arm 3, a mechanical gripper 4 is connected to the front end of the mechanical arm 3, and the rear end of the mechanical arm 3 is connected with a driving mechanism for driving the mechanical arm 3 to horizontally and linearly move above the conveying belt 6; the driving mechanism comprises first support frames 1 arranged on two sides of the conveying belt 6, a linear motor 2 horizontally arranged is mounted at the top of each first support frame 1, and the mechanical arm 3 is connected to a workbench of the linear motor 2 through a bolt;
the mechanical arm 3 is a multi-axis mechanical arm 3 for realizing free movement of the mechanical gripper 4, and the multi-axis mechanical arm 3 is a conventional technical means in the prior art, and the structure and principle thereof are not described in detail herein.
In addition, a mode of replacing the linear motor 2 with a servo motor can be used as a power source for the motion of the mechanical arm 3, the shaft end of the servo motor is connected with a lead screw, the lead screw is connected with a workbench in a threaded manner, the mechanical arm 3 is installed on the workbench and can also play a role in driving the mechanical arm 3 to horizontally move, the structure and the principle of the part belong to conventional technical means in the prior art, and redundant description is not repeated herein; the purpose that linear electric motor 2 or servo motor driven is in order to realize that arm 3 stacks up the accurate removal in department and letter sorting district at debris, improves the work accuracy.
Specifically, the mechanical gripper 4 comprises an upper connecting frame 41 connected with the mechanical arm 3, a lower connecting frame 42 is installed below the upper connecting frame 41, two end positions of the upper connecting frame 41 are hinged with power driving parts 43, two end positions of the lower connecting frame 42 are hinged with gripper parts, and the lower end of the power driving part 43 is hinged with the middle position of the outer side of the gripper part; when the mechanical gripper 4 works, the power driving piece 43 is used for driving the gripper pieces below to be mutually folded or unfolded, sundries can be gripped when the gripper pieces are folded, and the sundries can be placed when the gripper pieces are unfolded.
More specifically, the power driving part 43 is a cylinder, and the lower end of a telescopic rod of the cylinder is connected to the middle position of the outer side of the gripper; or, the power driving member 43 may also be a hydraulic cylinder, and the lower end of the telescopic rod of the hydraulic cylinder is connected with the gripping member so as to control the opening and closing of the gripping member.
The gripper comprises a plurality of claw teeth 44 which are arranged in parallel and have arc-shaped inner sides, the claw teeth 44 are connected with a nut through a screw 46, a sleeve 45 is sleeved on the screw 46 between every two adjacent claw teeth 44, and a tooth groove 443 is formed in the arc-shaped edge position of the inner side of each claw tooth 44; the inner side is provided with the claw teeth 44 with an arc structure, and the claw teeth 44 are used for placing sundries in a space formed between the two claw teeth 44; the number of the claw teeth 44 is multiple, the width size of the claw piece can be adjusted according to actual working requirements, and the application range is wide; the size of setting is used for when snatching debris, can increase the frictional force between debris and the claw tooth 44, has the characteristics of snatching firmly.
The two claw teeth 44 of the gripper member located in the middle are provided with an upper extension 441 extending upwards and a side extension 442 extending outwards, the two upper extensions 441 are connected to the end of the lower connecting frame 42 through a pin, that is, the claw teeth 44 can rotate around the hinge point at the position of the upper extension 441; the two side extensions 442 are pivotally connected to the lower end of the power driving member 43, so that the gripping member can be opened and closed smoothly.
The position department of ore conveyer belt 6 is provided with second support frame 5, and laser-induced laser and binocular camera are installed in the horizontal diaphragm 51 lower surface position of second support frame 5, and laser-induced laser and binocular camera set up the top position at ore conveyer belt 6 promptly, and the two cooperates in order to realize image acquisition.
In addition, the ore sorting device further comprises a controller, the controller is respectively connected with an upper computer and a motor of the actuating mechanism, the sundry coordinate value calculated by the upper computer transmits data to the controller through TCP/IP communication, and the controller controls the mechanical arm 3 to move the mechanical hand 4 to the position where the sundry is located so as to grab the sundry; the connection method and principle of the part of the circuit also belong to the conventional means in the prior art, and are not described in detail herein.
In the embodiment, compatibility with a binocular camera, expansibility of hardware, usability of software and compatibility of algorithm speed and a video camera need to be considered when selecting the vision software.
And (4) binocular calibration, namely, using two cameras fixed at different positions to shoot an object image for a characteristic point on the object, and respectively obtaining coordinates of the point on image planes of the two cameras. As long as the precise relative positions of the two cameras are known, the coordinates of the feature point in the coordinate system for fixing one camera can be obtained in a geometric method, namely, the position of the feature point is determined. In the embodiment, because the application scene environment is complex, dust is more and the feature point identification is difficult, the laser is used for indicating the feature point so as to accurately and quickly identify and analyze the position of the feature point.
When the binocular industrial camera is used for carrying out binocular calibration on the feature points to determine the three-dimensional space positions of the feature points, the setting of parameters of the binocular camera is particularly important, and the parameters to be calibrated of the binocular camera comprise an intra-camera parameter matrix, a distortion coefficient matrix, an intrinsic matrix, a basic matrix, a rotation matrix and a translation matrix. The rotation matrix R and the translation matrix T illustrate that the relative positional relationship between any two coordinate systems can be described by two matrices, specifically, the coordinates under the left camera { camera } are converted to the coordinates under the right camera { camera }. The eigen matrix is usually expressed by letter E, the physical meaning of the eigen matrix is a matrix of mutual conversion of left and right { picture } coordinate systems, and the relationship between corresponding points on left and right camera image planes can be described. In a binocular system, the coordinate sense under the { pixel } coordinate system is usually only influenced, so that the relation that the same physical point does not affect under the { pixel } on the left and right camera image planes can be obtained by adding the intrinsic matrix E and the related information of the parameter matrix M in the camera.
The intelligent ore sundry sorting device control system based on binocular camera laser guide is mainly used for processing laser image acquisition information of a binocular camera, calculating to obtain the position of sundries, grabbing sundries by a mechanical gripper 4 and controlling a mechanical arm 3 in the moving process, and control objects are a mechanical arm 3 walking mechanism, a multi-shaft mechanical arm 3 and a multifunctional execution mechanism. The design scheme adopts a multi-axis motion controller, the controller supports 6 paths of 200KHz operation control output (Pulse/Dir), supports special TCP/IP communication, supports a multi-axis interpolation function, and completely meets the control requirement.
The intelligent ore sorting device based on the binocular camera laser guide is characterized in that when the intelligent ore sorting device is used, mined ores are conveyed by a conveying belt 6 and move towards an inlet of a crusher below the conveying belt, in the conveying process, when workers find sundries to be grabbed, the conveying belt 6 stops working, the sundries can be irradiated and confirmed by a visual guide system 7, an image acquisition system 8 carries out real-time shooting and sampling at the moment, acquired images are transmitted to an upper computer, the upper computer processes the acquired images to obtain position data of a laser point, whether the data are correct or not is judged through verification, if the data are correct, the upper computer transmits the data to a controller, the controller uses the obtained data as a target position executed by a mechanical arm 3, and a mechanical hand grip 4 moves to a specified position under the combined action of a driving mechanism and the mechanical arm 3 to grab the sundries, and after the grabbing is finished, automatically placing the sundries to a sundry stacking position, automatically releasing the sundries, and automatically returning to a standby position to prepare for the next grabbing.
The embodiment aims at the problems of the existing ore impurity sorting method, and the intelligent ore impurity sorting device based on binocular camera laser guide is designed by combining an automatic control technology, a computer analysis technology and a machine vision technology. The device can carry out laser positioning, visual identification to the miscellaneous debris of ore mix in the ore industry to snatch the letter sorting operation. According to the device, the grabbing mode is determined by an operator in the early stage, the manipulator carries out grabbing, all recognition databases are perfected in the later stage, the automatic grabbing mode can be selected, and manual operation is not needed. The ore sorting device determines the ore identification, positioning and distribution strategies and the sorting method, can realize quick and intelligent sorting, and solves the problems of poor environment, high labor intensity, high danger and the like of the existing manual sorting.
Claims (8)
1. The utility model provides an intelligence ore sorting device based on guide of binocular camera laser which characterized in that: the method comprises the following steps:
the visual guide system is arranged above the ore conveying belt and used for indicating the position of impurities doped in the ore;
the image acquisition system is arranged above the ore conveying belt and used for acquiring images of the sundries indicated by the visual guide system, and the image acquisition system is connected with an upper computer and used for transmitting data acquired by the images to the upper computer;
and the actuating mechanism comprises a mechanical gripper which is arranged above the conveying belt, can move in position and grips sundries.
2. The intelligent ore sorting device based on binocular camera laser guidance according to claim 1, characterized in that: the executing mechanism further comprises a mechanical arm, the mechanical gripper is connected to the front end of the mechanical arm, and the rear end of the mechanical arm is connected with a driving mechanism used for driving the mechanical arm to horizontally and linearly move above the conveying belt.
3. The intelligent ore sorting device based on binocular camera laser guidance according to claim 2, characterized in that: the driving mechanism comprises first support frames arranged on two sides of the conveying belt, linear motors horizontally arranged are mounted at the tops of the two first support frames, and the mechanical arm is connected to a workbench of each linear motor through a bolt.
4. The intelligent ore sorting device based on binocular camera laser guidance according to claim 1, characterized in that: the mechanical gripper comprises an upper connecting frame connected with the mechanical arm, a lower connecting frame is installed below the upper connecting frame, power driving parts are hinged to the two end positions of the upper connecting frame, gripper parts are hinged to the two end positions of the lower connecting frame, and the lower end of the power driving part is hinged to the middle position of the outer side of the gripper parts.
5. The intelligent ore sorting device based on binocular camera laser guidance according to claim 4, wherein: the power driving piece is a cylinder, and the lower end of a telescopic rod of the cylinder is connected to the middle position of the outer side of the gripper piece.
6. The intelligent ore sorting device based on binocular camera laser guidance according to claim 4, wherein: the gripper comprises a plurality of mutually parallel arranged and arc-shaped claw teeth on the inner side, the claw teeth are connected through a screw rod and a nut, a sleeve is sleeved on the screw rod between every two adjacent claw teeth, and tooth grooves are formed in the arc-shaped edge positions on the inner sides of the claw teeth.
7. The intelligent ore sorting device based on binocular camera laser guidance according to claim 6, wherein: the two claw teeth of the gripper piece positioned in the middle are respectively provided with an upper extending part extending upwards and a side extending part extending outwards, the two upper extending parts are connected to the end part of the lower connecting frame through pin shafts, and the two side extending parts are connected to the lower end of the power driving piece through the pin shafts.
8. The intelligent ore sorting device based on binocular camera laser guidance according to claim 1, characterized in that: the vision guide system is radium-shine laser, and image acquisition system is two mesh cameras, and the position department of ore conveyer belt is provided with the second support frame, and radium-shine laser and two mesh cameras are installed in the horizontal diaphragm lower surface position of second support frame.
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| CN202210659095.2A CN115106312A (en) | 2022-06-13 | 2022-06-13 | Intelligent ore sorting device based on binocular camera laser guide |
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| CN202210659095.2A CN115106312A (en) | 2022-06-13 | 2022-06-13 | Intelligent ore sorting device based on binocular camera laser guide |
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