CN118287246A

CN118287246A - Material layering management and grinding control system with granularity detection function

Info

Publication number: CN118287246A
Application number: CN202410676960.3A
Authority: CN
Inventors: 呼秀山; 夏阳
Original assignee: Beijing Ruida Instrument Co ltd
Current assignee: Beijing Ruida Instrument Co ltd
Priority date: 2024-05-29
Filing date: 2024-05-29
Publication date: 2024-07-05

Abstract

The embodiment of the invention provides a material layering management and grinding control system with a granularity detection function, which is at least configured to be matched with a material conveying device, a material storage container and a grinding device which are arranged on site, and comprises a control module, a material monitoring module connected with the material conveying device and a three-dimensional scanning module mounted to the material storage container, wherein the control module is respectively in communication connection with the material monitoring module, the three-dimensional scanning module and the grinding device. According to the embodiment of the invention, the material feeding and discharging conditions of multiple batches of materials stored in the material storage container can be monitored by means of establishing the material layering model. Meanwhile, the embodiment of the invention can acquire the container discharging information of the material storage container based on the data interaction and cooperative coordination of the material monitoring module, the three-dimensional scanning module and the control module, and control the crushing and grinding device according to the container discharging information, thereby being beneficial to improving the crushing and grinding efficiency.

Description

Material layering management and grinding control system with granularity detection function

Technical Field

The embodiment of the invention relates to the technical field of industrial measurement, in particular to a material layering management and grinding control system with a granularity detection function.

Background

At present, the crushing and grinding process in the mine industry utilizes energy to extrude, impact and grind ores through a crushing and grinding device, so that useful mineral monomers in the ores are cleaved, and the process of selecting in the next stage is facilitated. However, the control logic of the conventional grinding device is too dead and easily separated from the actual site, and the grinding efficiency is low.

Disclosure of Invention

The embodiment of the invention provides a material layering management and grinding control system with a granularity detection function, which is used for monitoring the feeding and discharging conditions of multiple batches of materials stored in a material storage container, controlling a grinding device based on the discharging information of the material storage container and being beneficial to improving the grinding efficiency.

The embodiment of the invention provides a material layering management and grinding control system with a granularity detection function, which is characterized in that the system is at least configured to be matched with a material conveying device, a material storage container and a grinding device which are arranged on site;

the system comprises a material monitoring module, a three-dimensional scanning module and a control module, wherein the control module is respectively in communication connection with the material monitoring module, the three-dimensional scanning module and the grinding device;

The material monitoring module is connected with the material conveying device and is at least used for acquiring granularity data of the material on the material conveying device in at least one feeding period and profile data in a second direction;

The three-dimensional scanning module is mounted on the material storage container and is at least used for obtaining the internal shape of the container before the 1 st feeding of the material storage container; and acquiring morphological data of the surface of the material after each feeding of the material storage container, material granularity distribution and real-time material volume in the material storage container in a time span from the 1 st discharging of the material storage container to the (M-1) th discharging of the material storage container to the M th discharging of the material storage container; acquiring real-time morphological data of the material surface of each discharging process of the material storage container and real-time material volume in the material storage container;

The control module is at least used for acquiring and calculating the volume flow of the material in each feeding period according to the characteristic parameters of the material conveying device, the profile data and the displacement data of the material on the material conveying device in the first direction; the real-time material layering model is obtained and built based on the container characteristic parameters, the particle data, the container internal form and the form data, so that the control parameters of the grinding device are adjusted according to the real-time material layering model in the discharging process;

Wherein M is more than or equal to 2, and M is a positive integer.

Optionally, the first direction is parallel to or at a known acute angle with respect to the displacement direction of the material handling device, and the second direction is perpendicular to or at a known acute angle with respect to the displacement direction of the material handling device.

Optionally, the material monitoring module comprises a laser measuring unit;

The laser measuring unit is at least used for transmitting measuring signals from a plurality of scanning angles in a set angle range of the second direction in at least one feeding period, receiving reflection signals formed by the measuring signals reflected by materials on the material conveying device under each scanning angle, and further summarizing all the reflection signals to obtain profile data in the second direction; and obtaining granularity data according to the displacement data in the first direction and the profile data in the second direction;

The displacement data of the material transfer device in the first direction during at least one of the feed periods is configured to be known;

The control module is at least used for analyzing and obtaining the volume flow of the material on the material conveying device in the corresponding feeding period according to the displacement data of the material conveying device in the first direction, the characteristic parameters of the material conveying device and the profile data in the second direction in the corresponding feeding period.

Optionally, displacement data of the material transfer device in the first direction over at least one of the feed periods is configured to be measurable;

The material monitoring module comprises a laser measuring unit and a speed measuring unit;

The speed measuring unit is at least used for acquiring displacement data of the material conveying device in the first direction in at least one feeding period;

the material monitoring module comprises a laser measuring unit;

the laser measuring unit is at least used for emitting two laser beams with preset angles; the first laser beam is emitted to the material in the first direction, and is reflected by the material in the first direction to generate a first reflected beam and is received by the laser measuring unit; the second laser beam is emitted to the material in the second direction, and the second laser beam is reflected by the material in the second direction to generate a second reflected beam and is received by the laser measuring unit;

The laser measuring unit is at least used for acquiring displacement data of the material on the material conveying device in the first direction according to the first reflected beam; and acquiring profile data of the material on the material transfer device in the second direction for at least one feed period from the second reflected beam; and acquiring the granularity data of the material on the material conveying device in at least one feeding period according to the displacement data in the first direction and the profile data in the second direction.

Optionally, a first measuring line formed by the first laser beam on the material in the first direction; the laser measuring unit is specifically used for respectively extracting an initial material level fluctuation form and an ending material level fluctuation form which are positioned on the first measuring line according to the first reflection beams corresponding to the time starting point and the time ending point in each feeding period; defining a wave searching width, respectively determining a plurality of wave crests and wave troughs of the initial material level fluctuation form and the final material level fluctuation form based on the wave searching width, and when determining the wave crests and the wave troughs, determining that a material level of a certain characteristic point is larger than the material level of other characteristic points in the wave searching width, wherein the laser measuring unit determines that the characteristic point is positioned at the wave crest position; if the material level of a certain characteristic point is smaller than the material level of other characteristic points in the wave searching width, the laser measuring unit confirms that the characteristic point is positioned at the wave trough position; the laser measuring unit determines displacement of at least one common wave crest or wave trough in the feeding period according to wave crest and wave trough distribution conditions of the initial material level fluctuation form and the final material level fluctuation form, so as to determine displacement data of the material in the first direction.

Optionally, the laser measurement unit sets a deviation threshold, and after the front-to-back errors of the plurality of common peaks or troughs are all lower than or equal to the deviation threshold, determines the displacement of at least one common peak or trough in the feeding period, so as to determine displacement data of the material in the first direction.

Optionally, the laser measurement unit is at least further configured to reject abnormal feature points in the ending level fluctuation form and the initial level fluctuation form.

the material monitoring module comprises a first laser measuring unit and a second laser measuring unit;

the first laser measuring unit is at least used for emitting a first laser beam with a first preset angle; the first laser beam is emitted to the material in the first direction, and is reflected by the material in the first direction to generate a first reflected beam and is received by the first laser measuring unit;

the second laser measuring unit is at least used for emitting a second laser beam with a second preset angle; the second laser beam is emitted to the material in the second direction, and the second laser beam is reflected by the material in the second direction to generate a second reflected beam and is received by the second laser measuring unit;

The first laser measuring unit is at least used for acquiring displacement data of the material on the material conveying device in the first direction according to the first reflection beam;

the second laser measuring unit is at least used for acquiring contour data of the material on the material conveying device in the second direction in at least one feeding period according to the second reflection beam, and acquiring particle data of the material on the material conveying device according to the contour data in the second direction and the displacement data in the first direction.

Optionally, a first measuring line formed by the first laser beam on the material in the first direction; the first laser measuring unit is specifically configured to extract an initial level fluctuation form and an end level fluctuation form on the first measuring line according to the first reflected beam corresponding to a time starting point and a time ending point in each feeding period; defining a wave searching width, respectively determining a plurality of wave crests and wave troughs of the initial material level fluctuation form and the final material level fluctuation form based on the wave searching width, and when determining the wave crests and the wave troughs, determining that the material level of a certain characteristic point is larger than the material level of other characteristic points in the wave searching width, wherein the first laser measuring unit determines that the characteristic point is positioned at the wave crest position; if the material level of a certain characteristic point is smaller than the material level of other characteristic points in the wave searching width, the first laser measuring unit determines that the characteristic point is positioned at the wave trough position; the first laser measuring unit determines the displacement of at least one common wave crest or wave trough in the feeding period according to the wave crest and wave trough distribution conditions of the initial material level fluctuation form and the final material level fluctuation form, so as to determine the displacement data of the material in the first direction.

Optionally, the first laser measurement unit sets a deviation threshold, and after the front-to-back errors of the plurality of common peaks or troughs are all lower than or equal to the deviation threshold, determines the displacement of at least one common peak or trough in the feeding period, so as to determine displacement data of the material in the first direction.

Optionally, the first laser measurement unit is at least further configured to reject abnormal feature points in the ending level fluctuation form and the initial level fluctuation form.

Optionally, the material monitoring module comprises a laser measuring unit and an image identifying unit;

The laser measuring unit is at least used for emitting two laser beams with preset measuring angles, wherein a first laser beam is emitted to a material positioned in the first direction, and a second laser beam is emitted to a material positioned in the second direction;

The image recognition unit is at least used for acquiring initial image information and end image information of a time starting point and a time ending point in each feeding period, so as to acquire the granularity data, the displacement data in the first direction and the profile data in the second direction of the material in the corresponding feeding period according to the initial image information and the end image information.

Optionally, the image recognition unit is at least configured to determine a start position and an end position of the material in the first direction according to the initial image information and the end image information, and determine displacement data of the material in the first direction according to the start position and the end position.

Optionally, the image recognition unit is configured to determine a start position and an end position of one or a plurality of preset feature points of the material in the first direction according to at least the initial image information and the end image information, and determine displacement data of the material in the first direction according to a difference between the start position and the end position.

Optionally, the image recognition unit covers at least a first measuring line formed by the material monitoring module in the first direction; the image recognition unit is specifically configured to extract an initial level fluctuation form located on the first measurement line in the initial image information and an end level fluctuation form located on the first measurement line in the end image information; defining a wave searching width, respectively determining a plurality of wave crests and wave troughs of the initial material level fluctuation form and the final material level fluctuation form based on the wave searching width, and when determining the wave crests and the wave troughs, determining that the material level of a certain characteristic point is larger than the material level of other characteristic points in the wave searching width, wherein the image recognition unit recognizes that the characteristic point is positioned at the wave crest position; if the object level of a certain characteristic point is smaller than the object level of other characteristic points in the wave searching width, the image recognition unit recognizes that the pixel point is positioned at the wave trough position; the image recognition unit determines displacement of at least one common wave crest or wave trough in the feeding period according to wave crest and wave trough distribution conditions of the initial material level fluctuation form and the final material level fluctuation form, so as to determine displacement data of the material in the first direction.

Optionally, the image recognition unit sets a deviation threshold, and after the front-to-back errors of the plurality of common peaks or troughs are lower than or equal to the deviation threshold, determines displacement of at least one common peak or trough in the feeding period, so as to determine displacement data of the material in the first direction.

Optionally, the image recognition unit is at least further configured to reject abnormal feature points in the ending level fluctuation form and the initial level fluctuation form.

Optionally, the control module is at least specifically configured to acquire and establish an initial material layering model of the material storage container before the 1 st discharge according to the internal form of the container, the particle data, the material particle size distribution and all the material form data of the material storage container before the 1 st discharge; and establishing an initial material layering model of the material storage container before the Mth discharging based on the material layering model of the material storage container after the (M-1) th discharging and all the material morphology data in a time span from the material storage container after the (M-1) th discharging to the material storage container before the Mth discharging; determining a real-time discharging form of the initial material layering model according to the container characteristic parameters and the material characteristic parameters of each layer of materials in the initial material layering model; and in any discharging process of the material storage container, adjusting the distribution condition of each layer of material in the initial material layering model based on the real-time discharging form to obtain a real-time material layering model, so that the control parameters of the crushing and grinding device are adjusted according to the real-time material layering model in the discharging process;

wherein, the control parameters of the grinding device at least comprise at least one of grinding power, working current and opening degree.

Optionally, the three-dimensional scanning module is at least further configured to determine an acquisition time of the material morphology data after each feeding of the material storage container, and upload the acquisition time to the control module;

the control module is at least used for corresponding the acquisition time of the material form data after each feeding of the material storage container and the volume flow and the particle data of the material in each feeding period to each layer of material in the material layering model so as to generate management information of the material layering model;

wherein the management information includes at least one of time management information, volume flow management information, and granularity management information.

Optionally, the system further comprises:

The front-end analysis module is connected with the control module, and is at least used for acquiring the material characteristic parameters of each layer of material in the initial material layering model and uploading the material characteristic parameters to the control module;

The control module is at least further configured to correspond the material characteristic parameters of each layer of material to the material layering model, so as to generate other management information of the material layering model.

Optionally, the container characteristic parameter at least comprises one of a container structural parameter, a container material parameter and a degree of opening and closing of a discharge hole in a container discharging process.

Optionally, the material characteristic parameter of each layer of material at least comprises one of particle morphology of each layer of material, friction coefficient between each layer of material and the material storage container, friction coefficient between each layer of material, particle density of each layer of material, particle shear modulus of each layer of material, recovery coefficient of each layer of material particles, humidity of each layer of material and surface adhesion parameter of each layer of material.

Optionally, the number of the three-dimensional scanning modules is at least one.

Optionally, the three-dimensional scanning module includes at least an antenna array usable for digital beamforming.

Optionally, the three-dimensional scanning module at least comprises a mechanical movement structure and a scanning probe, wherein the mechanical movement structure drives the scanning probe to rotate, so that the scanning probe at least has wave-emitting points in multiple directions, and outgoing beams in multiple directions are correspondingly formed.

Optionally, the scanning probe is an antenna array usable for digital beamforming.

Optionally, the three-dimensional scanning module is at least composed of a plurality of independent single-point measurement sub-modules;

different single-point measuring submodules are arranged at different positions of the material storage container;

The single-point measurement submodule is provided with a single-direction wave-emitting point and correspondingly forms a single-direction emergent wave beam.

Optionally, the three-dimensional scanning module at least comprises a module main body and a plurality of single-point measurement sub-modules;

The single-point measurement sub-modules are all arranged in the module main body;

According to the technical scheme provided by the embodiment of the invention, the material monitoring module is used for acquiring the granularity data and the contour data positioned in the second direction of the material on the material conveying device in at least one feeding period before the 1 st feeding of the material storage container; the three-dimensional scanning module obtains the internal form of the container before the 1 st feeding of the material storage container, and obtains the form data of the material surface, the particle size distribution of the material and the real-time material volume in the material storage container after each feeding of the material storage container before the 1 st discharging. The control module obtains and calculates the volume flow of the material in each feeding period before the 1 st discharging according to the displacement data and the profile data of the material on the material conveying device in the first direction and the characteristic parameters of the material conveying device, obtains and establishes an initial material layering model of the material storage container before the 1 st discharging according to the granularity data, the material granularity distribution, the container internal form and all the material form data of the material storage container before the 1 st discharging (wherein the granularity data and/or the material granularity distribution of a plurality of feeding periods can be used as the material characteristic parameters of the multi-layer materials in the initial material layering model, the granularity data of each feeding period can correspond to each layer of the materials in the initial material layering model, and the material granularity distribution can correspond to one layer or a plurality of layers of the materials in the initial material layering model). Furthermore, the control module can determine the real-time discharging form of the initial material layering model before the 1 st discharging of the material storage container according to the characteristic parameters of the container and the characteristic parameters of the materials of each layer in the initial material layering model before the 1 st discharging of the material storage container. In the 1 st discharging process of the material storage container, the three-dimensional scanning module acquires real-time morphological data of the material (such as three-dimensional point cloud data of the surface of the material, material height data and the like); meanwhile, the control module 120 adjusts the distribution situation of each layer of material in the initial material layering model before the 1 st discharging of the container based on the real-time discharging form of the initial material layering model before the 1 st discharging of the container, so as to obtain the real-time material layering model for the 1 st discharging of the material storage container, so as to adjust the control parameters of the grinding device according to the real-time material layering model in the discharging process of the material storage container (specifically, exemplarily, the control module can obtain the average granularity of the material storage container which is lowered to the grinding device in the 1 st discharging process according to the real-time material layering model, calculate the total feeding volume according to the duration of each feeding period before the 1 st discharging and the volume flowmeter in each feeding period, and obtain the real-time discharging volume based on the total feeding volume and the real-time material volume in the 1 st discharging process, and further control the grinding power, the working current and the opening degree of the grinding device according to the real-time discharging volume and average granularity, so as to optimize the grinding efficiency).

The material monitoring module obtains the granularity data and the profile data positioned in the second direction in at least one feeding period of the material on the material conveying device in a time span from the 1 st discharging to the 2 nd discharging of the material storage container (when M is equal to 2); the three-dimensional scanning module is used for carrying out morphology data, material granularity distribution and real-time material volume in the material storage container on the surface of the material after each feeding in the time span from the 1 st discharging to the 2 nd discharging of the material storage container. The control module obtains and calculates the volume flow of the material in each feeding period in the time span from the 1 st discharging to the 2 nd discharging according to the displacement data, the profile data and the characteristic parameters of the material on the material conveying device in the first direction, obtains and establishes an initial material layering model in the time span from the 1 st discharging to the 2 nd discharging according to the granularity data, the material granularity distribution, the internal form of the container and all the material form data in the time span from the 1 st discharging to the 2 nd discharging of the material storage container. And the control module determines the real-time discharging form of the initial material layering model in the time span from the 1 st discharging to the 2 nd discharging of the material storage container according to the characteristic parameters of the container and the characteristic parameters of the materials of each layer of materials in the initial material layering model in the time span from the 1 st discharging to the 2 nd discharging of the material storage container. In the 2 nd discharging process of the material storage container, the three-dimensional scanning module acquires real-time morphological data of the material; meanwhile, the control module 120 adjusts the distribution condition of each layer of material in the initial material layering model in the time span from the 1 st discharging to the 2 nd discharging of the material storage container based on the real-time discharging form of the initial material layering model in the time span from the 1 st discharging to the 2 nd discharging of the material storage container, so as to obtain the real-time material layering model of the 2 nd discharging of the material storage container, so that the control parameters of the grinding device are adjusted according to the real-time material layering model in the discharging process of the material storage container.

The material monitoring module obtains the granularity data and the profile data positioned in the second direction in at least one feeding period of the material on the material conveying device in a time span from the 2 nd discharging to the 3 rd discharging of the material storage container (when M is equal to 3); the three-dimensional scanning module is used for carrying out morphology data, material granularity distribution and real-time material volume in the material storage container on the surface of the material after each feeding in the time span from the 2 nd discharging to the 3 rd discharging of the material storage container. The control module obtains and calculates the volume flow of the material in each feeding period in the time span from the 2 nd discharging to the 3 rd discharging according to the displacement data, the profile data and the characteristic parameters of the material on the material conveying device in the first direction, obtains and establishes an initial material layering model in the time span from the 2 nd discharging to the 3 rd discharging according to the granularity data, the material granularity distribution, the internal form of the container and all the material form data in the time span from the 2 nd discharging to the 3 rd discharging of the material storage container. And the control module determines the real-time discharging form of the initial material layering model in the time span from the 2 nd discharging to the 3 rd discharging of the material storage container according to the characteristic parameters of the container and the characteristic parameters of the materials of each layer in the initial material layering model in the time span from the 2 nd discharging to the 3 rd discharging of the material storage container. In the 3 rd discharging process of the material storage container, the three-dimensional scanning module acquires real-time morphological data of the material; meanwhile, the control module adjusts the distribution condition of each layer of material in the initial material layering model in the time span from the 2 nd discharging to the 3 rd discharging of the material storage container based on the real-time discharging form of the initial material layering model in the time span from the 2 nd discharging to the 3 rd discharging of the material storage container, and the real-time material layering model of the 3 rd discharging of the material storage container is obtained, so that the control parameters of the grinding device are adjusted according to the real-time material layering model in the discharging process of the material storage container. And so on, will not be described in detail.

In summary, the material layering management and grinding control system with the granularity detection function provided by the embodiment of the invention can monitor the material feeding and discharging conditions of multiple batches of materials stored in the material storage container by means of establishing the material layering model. Meanwhile, the embodiment of the invention can acquire the container discharging information of the material storage container based on the data interaction and cooperative coordination of the material monitoring module, the three-dimensional scanning module and the control module, and control the crushing and grinding device according to the container discharging information, thereby being beneficial to improving the crushing and grinding efficiency.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and 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 a system for layered management and grinding control of materials with particle size detection according to an embodiment of the present invention;

FIG. 2 is a schematic view of a discharging state of a material storage container according to an embodiment of the present invention;

FIG. 3 is a schematic view of another material storage container discharge state according to an embodiment of the present invention;

FIG. 4 is a schematic view of a discharge state of a material storage container according to another embodiment of the present invention;

FIG. 5 is a schematic diagram of another embodiment of a system for layered management and polishing control of materials with particle size detection;

fig. 6 is a projection azimuth setting diagram of a first direction and a second direction on a setting plane according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Fig. 1 is a schematic structural diagram of a material layered management and polishing control system with a granularity detection function according to an embodiment of the present invention. As shown in fig. 1, the system is at least configured to fit a material handling device, a material storage container, and a milling device deployed in the field.

The system comprises a material monitoring module 110, a three-dimensional scanning module 130 and a control module 120, wherein the control module 120 is respectively in communication connection with the material monitoring module 110, the three-dimensional scanning module 130 and the grinding device.

The material monitoring module 110 is connected to the material conveying device, and is at least used for acquiring the granularity data and the contour data located in the second direction of the material on the material conveying device in at least one feeding period.

A three-dimensional scanning module 130 mounted to the material storage container for obtaining a container internal morphology at least prior to the 1 st feed of the material storage container; and acquiring morphology data of the material surface, material granularity distribution and real-time material volume in the material storage container after each feeding of the material storage container in a time span from the 1 st discharging time to the (M-1) th discharging time to the M th discharging time of the material storage container; and acquiring real-time morphological data of the material surface of each discharging process of the material storage container and real-time material volume in the material storage container.

The control module 120 is at least used for acquiring and calculating the volume flow of the material in each feeding period according to the characteristic parameters, the profile data and the displacement data of the material on the material conveying device in the first direction; and acquiring and establishing a real-time material layering model based on the container characteristic parameters, the granularity data and the container internal form and form data, so as to adjust the control parameters of the crushing and grinding device according to the real-time material layering model in the discharging process.

Wherein M is more than or equal to 2, and M is a positive integer.

As can be appreciated, the material transfer device may perform material transfer based on, for example, a belt; the state of the material is preferably set to be solid; the material storage container can be a storage bin, a storage tank and the like; the three-dimensional scanning module 130 may be, but is not limited to, 3D radar; the pulverizing mill may be any type of mill, such as a ball mill, a column mill, a rod mill, a tube mill, a rotary mortar roller mill, a vertical roller mill, a disc mill, or the like. The material conveying device can be arranged at the feed inlet of the material storage container and at least used for conveying materials for the material storage container, and the crushing and grinding device can be arranged at the discharge outlet of the material storage device so as to crush and grind the materials output by the material storage device.

According to different application scenes (such as ore crushing and grinding scenes in mine industry, or peeling and crushing and grinding scenes of various grains in grain industry, and the like), the material storage container can be used for storing only one material or can be used for storing various materials.

The material monitoring module 110 may be any profiler, and the profile data may be, for example, height data of each measurement point on the surface of the material, width data of the material, three-dimensional profile of the material, a profile line of the surface of the material, etc. In addition, the feeding period can be adaptively adjusted according to the actual application condition of the material conveying device, and the level of the feeding period can be, for example, second level, millisecond level, etc., which is not limited by the application, and of course, the finer the feeding period is, the higher the accuracy of the measurement of the material monitoring module 110 is. The particle size data may refer to data that characterizes the non-uniformity of particles in a unit volume of material conveyed by the material conveying device. The material particle size distribution may refer to an objective measure that characterizes the non-uniformity of one or more layers of material particle distribution in a material storage container.

The control module 120 may be, for example, a single chip microcomputer, a system on a chip, an industrial personal computer, a server, etc. The characteristic parameters of the material transfer device may be configured to be known or measurable; the characteristic parameters of the material handling device may at least refer to shape data of a conveying structure (e.g. conveyor belt, etc.) carrying the material, etc. In the case of high precision measurements by the system, the factor of transport structure deformation needs to be taken into account. This is because some material conveying devices have a supporting structure at the bottom of the conveyor belt, which can only support a part of the conveyor belt, and in most cases, the conveyor belt needs to bear the material by itself, which leads to deformation of the conveyor belt, and such deformation affects morphological parameters (such as the aforementioned profile data) of the actual material, so that the measurement of the actual material is not accurate enough. The characteristic parameter of the material conveying device can be specifically the shape of the surface of the conveyor belt away from one side of the material; the characteristic parameters of the material conveying device can be obtained by the control module 120 through the image acquisition device, and at this time, the shape deformation amount of the surface of the conveyor belt, which is far away from the material, can be the offset of the pixel points; the principle of the control module 120 for obtaining the characteristic parameters of the material conveying device may be a distance measurement principle such as microwaves and lasers, and then the shape deformation quantity of the surface of the conveying belt far away from the material side may be the change of (microwaves, lasers and the like) point cloud data. It will be appreciated that the control module 120 may obtain the characteristic parameters of the material handling apparatus based on any device that enables measurement of the deformation amount, as the application is not limited in this regard.

It will be appreciated that if the volume of the material storage container is large and only one three-dimensional scanning module 130 is mounted on the material storage container, the single three-dimensional scanning module 130 may be affected by obstruction signals such as a ladder, a pipeline, a supporting structure, etc. in the material storage container, and the measurement accuracy is low, or the measurement accuracy is limited by a repose angle generated by the filling level of the material in the material storage container, so that only the form data of the local material can be obtained.

Based on this, in order to reduce the influence degree of the above situation on the system, the number of the three-dimensional scanning modules 130 in the system may be plural (i.e., in some embodiments, optionally, the number of the three-dimensional scanning modules 130 is at least one), and before the system works, parameter calibration may be performed on each three-dimensional scanning module 130 in advance to improve the accuracy of the internal form of the container, the material form data, the real-time form data, and the like.

The real-time material layering model may be, but is not limited to, built by the control module 120 based on any existing simulation software, such as EDEM software, etc.

In a specific embodiment, optionally, the control module 120 is at least specifically configured to acquire and establish an initial material layering model of the material storage container before the 1 st discharge according to the internal form of the container, the granularity data, the material granularity distribution, and all the material form data of the material storage container before the 1 st discharge; and establishing an initial material layering model of the material storage container before the Mth discharging based on the material layering model of the material storage container after the (M-1) th discharging and all material form data in a time span from the material storage container after the (M-1) th discharging to the material storage container before the Mth discharging; determining a real-time discharging form of the initial material layering model according to the container characteristic parameters and the material characteristic parameters of each layer of materials in the initial material layering model; and in any discharging process of the material storage container, adjusting the distribution condition of each layer of material in the initial material layering model based on a real-time discharging form to obtain a real-time material layering model, so that the control parameters of the grinding device are adjusted according to the real-time material layering model in the discharging process; wherein, the control parameters of the grinding device at least comprise at least one of grinding power, working current and opening degree.

Based on this, the working principle of the material layering management and grinding control system with the granularity detection function can be specifically as follows:

The material monitoring module 110 acquires the granularity data and the profile data positioned in the second direction of the material on the material conveying device in at least one feeding period before the 1 st feeding of the material storage container; the three-dimensional scanning module 130 obtains the internal shape of the material storage container before the 1 st feeding, and obtains the shape data of the material surface, the particle size distribution of the material and the real-time material volume in the material storage container after each feeding before the 1 st discharging. The control module 120 obtains and calculates the volume flow of the material in each feeding period before the 1 st discharge according to the displacement data, the profile data and the characteristic parameters of the material on the material conveying device in the first direction, obtains and builds an initial material layering model of the material storage container before the 1 st discharge according to the granularity data, the material granularity distribution, the container internal form and all the material form data before the 1 st discharge of the material storage container (wherein the granularity data and/or the material granularity distribution of a plurality of feeding periods can be used as the material characteristic parameters of the multi-layer materials in the initial material layering model, the granularity data of each feeding period can correspond to each layer of materials in the initial material layering model, and the material granularity distribution can correspond to one layer or a plurality of layers of materials in the initial material layering model). Furthermore, the control module 120 may determine a real-time discharging form of the initial material layering model before the 1 st discharge of the material storage container according to the container characteristic parameter and the material characteristic parameter of each layer of material in the initial material layering model before the 1 st discharge of the material storage container. In the 1 st discharging process of the material storage container, the three-dimensional scanning module 130 acquires real-time morphological data of the material (for example, three-dimensional point cloud data of the surface of the material, material height data and the like); meanwhile, the control module 120120 adjusts the distribution condition of each layer of material in the initial material layering model before the 1 st discharge of the container based on the real-time discharge form of the initial material layering model before the 1 st discharge of the container, so as to obtain the real-time material layering model for the 1 st discharge of the material storage container, so as to adjust the control parameters of the grinding device according to the real-time material layering model in the discharge process of the material storage container (specifically, exemplarily, the control module 120 can obtain the average granularity of the material which is discharged to the grinding device by the material storage container in the 1 st discharge process according to the real-time material layering model, calculate the total feed volume according to the time length of each feed period before the 1 st discharge and the volume flow meter in each feed period, obtain the real-time discharge volume based on the total feed volume and the real-time material volume in the 1 st discharge process, and further control the grinding power, the working current and the opening degree of the grinding device according to the real-time discharge volume and average granularity, so as to optimize the grinding efficiency).

The material monitoring module 110 obtains (when M equals 2) the particle size data and the profile data in the second direction for at least one of the feed periods of the material on the material transfer device over the time span from after the 1 st discharge to before the 2 nd discharge of the material storage container; the three-dimensional scanning module 130 is used for carrying out morphology data, material granularity distribution and real-time material volume in the material storage container on the surface of the material after each feeding in the time span from the 1 st discharging to the 2 nd discharging of the material storage container. The control module 120 obtains and calculates the volume flow rate of the material in each feeding period in the time span from the 1 st discharging to the 2 nd discharging according to the displacement data, the profile data and the characteristic parameters of the material on the material conveying device in the first direction, obtains and establishes an initial material layering model in the time span from the 1 st discharging to the 2 nd discharging according to the granularity data, the material granularity distribution, the internal shape of the container and all the material shape data in the time span from the 1 st discharging to the 2 nd discharging of the material storage container. Further, the control module 120 determines a real-time discharging form of the initial material layering model in a time span from the 1 st discharging to the 2 nd discharging of the material storage container according to the container characteristic parameters and the material characteristic parameters of each layer of material in the initial material layering model in the time span from the 1 st discharging to the 2 nd discharging of the material storage container. In the 2 nd discharging process of the material storage container, the three-dimensional scanning module 130 acquires real-time morphological data of the material; meanwhile, the control module 120120 adjusts the distribution condition of each layer of material in the initial material layering model in the time span from the 1 st discharging to the 2 nd discharging of the material storage container based on the real-time discharging form of the initial material layering model in the time span from the 1 st discharging to the 2 nd discharging of the material storage container, so as to obtain the real-time material layering model of the 2 nd discharging of the material storage container, and adjust the control parameters of the grinding device according to the real-time material layering model in the discharging process of the material storage container.

The material monitoring module 110 obtains (when M equals 3) the particle size data and the profile data in the second direction for at least one of the feed periods of the material on the material transfer device over the time span from the 2 nd discharge to the 3rd discharge of the material storage container; the three-dimensional scanning module 130 is used for carrying out morphology data, material granularity distribution and real-time material volume in the material storage container on the surface of the material after each feeding in the time span from the 2 nd discharging to the 3rd discharging of the material storage container. The control module 120 obtains and calculates the volume flow rate of the material in each feeding period in the time span from the 2 nd discharging to the 3rd discharging according to the displacement data, the profile data and the characteristic parameters of the material on the material conveying device in the first direction, obtains and establishes an initial material layering model in the time span from the 2 nd discharging to the 3rd discharging according to the granularity data, the material granularity distribution, the internal shape of the container and all the material shape data in the time span from the 2 nd discharging to the 3rd discharging of the material storage container. Further, the control module 120 determines a real-time discharging form of the initial material layering model in a time span from the 2 nd discharging to the 3rd discharging of the material storage container according to the container characteristic parameters and the material characteristic parameters of each layer of material in the initial material layering model in the time span from the 2 nd discharging to the 3rd discharging of the material storage container. In the 3rd discharging process of the material storage container, the three-dimensional scanning module 130 acquires real-time morphological data of the material; meanwhile, the control module 120 adjusts the distribution condition of each layer of material in the initial material layering model in the time span from the 2 nd discharging to the 3rd discharging of the material storage container based on the real-time discharging form of the initial material layering model in the time span from the 2 nd discharging to the 3rd discharging of the material storage container, so as to obtain the real-time material layering model of the 3rd discharging of the material storage container, so that the control parameters of the grinding device are adjusted according to the real-time material layering model in the discharging process of the material storage container. And so on, will not be described in detail.

It should be noted that, according to different types of the receiving and transmitting signals, the three-dimensional scanning module 130 may be specifically a 3D microwave radar, a 3D laser radar, or the like; for example, the three-dimensional scanning module 130 may correspondingly analyze the internal shape of the container, the shape data of the surface of the material, and the particle size distribution of the material based on the point cloud data such as the microwave point cloud and the laser point cloud obtained by self-scanning, and further analyze the real-time material volume in the material storage container based on the internal shape of the container and the shape data of the surface of the material. It can be understood that when the material storage container is fed and discharged, especially when the easily-crushed solid materials are poured into the material storage container, the material level of the materials in the material storage container and the three-dimensional form of the surfaces of the materials can be fluctuated constantly, and a large amount of dust and smoke can be generated, under the severe measurement working condition, the laser signals sent and received by the 3D laser radar are easily shielded by dust and smoke so as to be difficult to realize reliable measurement, but the 3D microwave radar working based on the microwave measurement principle is hardly influenced by the dust and smoke. Therefore, in order to ensure that the three-dimensional scanning module 130 can realize good detection when the material storage container is fed and discharged, and ensure the measurement accuracy, the 3D microwave radar can be optimized.

In addition, based on various module measurement principles, the three-dimensional scanning module 130 may be, for example, a 3D scanning radar, a 3D multi-point radar, or the like. In one implementation provided by an embodiment of the present invention, the three-dimensional scanning module 130 may be a phased array type 3D scanning radar; optionally, the three-dimensional scanning module 130 includes at least an antenna array that can be used for digital beamforming. The antenna array may include a plurality of transmitting elements and/or receiving elements, which may be implemented within a single antenna or may be distributed over a plurality of individual antennas.

In another implementation provided by embodiments of the present invention, the three-dimensional scanning module 130 may be a purely mechanical 3D scanning radar; optionally, the three-dimensional scanning module 130 includes at least a mechanical moving structure and a scanning probe, where the mechanical moving structure drives the scanning probe to rotate, at least so that the scanning probe has wave-emitting points in multiple directions, and correspondingly forms outgoing beams in multiple directions. The mechanical motion structure may have motion dimensions (e.g., horizontal, pitch, vertical, etc.) in multiple directions, the scanning probe may be a microwave sensor, a laser sensor, etc., and the outgoing beam may be a microwave signal, a laser signal, etc.

In yet another implementation provided by embodiments of the present invention, the three-dimensional scanning module 130 may be a composite 3D scanning radar (of phased array combined with machinery); optionally, the three-dimensional scanning module 130 includes at least a mechanical moving structure and a scanning probe, the mechanical moving structure drives the scanning probe to rotate, at least the scanning probe has wave-emitting points in multiple directions, and correspondingly forms outgoing beams in multiple directions, and the scanning probe is an antenna array that can be used for digital beam forming.

In yet another implementation provided by an embodiment of the present invention, the three-dimensional scanning module 130 may be composed of, for example, a plurality of radars of the single-point measurement principle; optionally, the three-dimensional scanning module 130 is at least composed of a plurality of independent single-point measurement sub-modules (for example, single-point laser radar, single-point microwave radar, etc.), and different single-point measurement sub-modules are installed at different positions of the material storage container, and each single-point measurement sub-module has a single-direction wave-generating point and correspondingly forms a single-direction emergent beam.

In yet another implementation provided by an embodiment of the present invention, the three-dimensional scanning module 130 may be a 3D multi-point radar; optionally, the three-dimensional scanning module 130 includes at least a module body (e.g., may be composed of a housing and a cover) and a plurality of single-point measurement sub-modules (e.g., may be laser sensors, microwave sensors, etc.); the single-point measurement sub-modules are all arranged in the module main body; the single-point measurement sub-module is provided with a single-direction wave-emitting point and correspondingly forms a single-direction emergent wave beam.

It should be further noted that in the actual discharging process of the materials in the material storage container, under the action of self gravity, friction force between the materials and the material storage container, etc., each layer of materials is affected by factors such as the geometric structure of the material storage container, the particle shape and size of each layer of materials, etc., and the discharging processes of different material storage containers are different. Specifically, the real-time discharge form includes at least one of a funnel flow, a bulk flow, or a mixed flow (discharge form including both a funnel flow and a bulk flow).

Fig. 2 is a schematic view of a discharging state of a material storage container according to an embodiment of the present invention, fig. 3 is a schematic view of a discharging state of another material storage container according to an embodiment of the present invention, and fig. 4 is a schematic view of a discharging state of yet another material storage container according to an embodiment of the present invention. Referring to fig. 2, for a single-port material storage container, the discharge process can be generally divided into two stages; in the initial discharging stage, the discharging form of the material positioned at the partial bottom of the material storage container is in a funnel shape, and the shape of the whole material surface of the material close to the top of the material storage container is basically unchanged, so that the whole material surface is wholly lowered; in the later discharging period, along with the continuous expansion of the influence range of the funnel, a funnel-shaped discharging channel appears in the axial direction of the discharging hole of the material storage container, all layers of materials on the two sides of the discharging channel are almost static, and the materials close to the top of the material storage container flow out of the container through the discharging channel. As shown in fig. 3 and 4, unlike a single-port material storage container, a multi-port material storage container (2 ports are shown in fig. 3 and 4 by way of example) has a port open/closed state. With continued reference to fig. 3, when the open and closed states of the discharge ports are consistent, the material storage container can basically realize balanced discharge, i.e. layering of the materials in each layer of the material storage container is almost unchanged, and the material storage container is wholly lowered. With continued reference to fig. 4, when the open and closed states of the discharge ports are inconsistent, the material falling speed of the discharge port close to the side with the larger opening is faster.

Thus, in some embodiments, optionally, the container characteristic parameter includes at least one of a container structural parameter, a container material parameter, and a degree of opening and closing of the discharge port during discharge of the container; the material characteristic parameters of the materials at least comprise one of particle morphology of the materials at each layer, friction coefficient between the materials at each layer and a container, friction coefficient between the materials at each layer, particle density of the materials at each layer, particle shear modulus of the materials at each layer, recovery coefficient of the particles of the materials at each layer, humidity of the materials at each layer and surface adhesion parameters of the materials at each layer. The container structure parameter may be, for example, a cone angle parameter of a container having a cone structure, a discharge port size parameter, a container body size parameter, or the like; the opening and closing degree of the discharge hole in the discharging process of the container can be full-opening, half-opening, closing and the like.

Based on the above embodiments, fig. 5 is a schematic structural diagram of another material layered management and polishing control system with granularity detection function according to an embodiment of the present invention. As shown in fig. 5, the three-dimensional scanning module 130 is optionally further configured to determine at least a time for acquiring the material morphology data after each feeding of the material storage container and upload the material morphology data to the control module 120; the control module 120 is further configured to at least correspond the acquisition time of the material morphology data of the material storage container after each feeding, and the volume flow and the particle data of the material in each feeding period to each layer of material in the material layering model, so as to generate management information of the material layering model; wherein the management information includes at least one of time management information, volume flow management information, and granularity management information.

Optionally, the system further comprises: the pre-analysis module 140 is connected with the control module 120, and is at least used for acquiring material characteristic parameters of each layer of materials in the initial material layering model and uploading the material characteristic parameters to the control module 120; the control module 120 is further configured to at least correspond the material characteristic parameters of each layer of material to the material layering model, so as to generate other management information of the material layering model.

The material morphology data may include a three-dimensional material morphology map, a highest level, a lowest level, an average level, a material volume, a material quality, and the like.

The pre-analysis module 140 may include an assay platform, belt scale, densitometer, hygrometer, or the like. For example, acquiring the humidity of each layer of material by a hygrometer; the particle morphology of each layer of material, the friction coefficient between each layer of material and the container, the friction coefficient between each layer of material, the particle density of each layer of material, the particle shear modulus of each layer of material, the recovery coefficient of each layer of material particles, the surface adhesion parameters of each layer of material and the like are obtained through an assay platform. The control module 120 may specifically generate material type management information according to the material layering model and the types of the materials of each layer; or the material component content management information and the like can be generated according to the material layering model and the component content of each layer of material.

Therefore, the material layering management and grinding control system with the granularity detection function provided by the embodiment of the invention can monitor the material feeding and discharging conditions of multiple batches of materials stored in the material storage container by means of establishing a material layering model; on the other hand, the system can be matched with a pre-analysis module such as an assay platform, a belt scale, a densimeter, a hygrometer and the like to adaptively obtain parameters such as the type, the component content, the component, the production place, the quality, the density, the humidity and the like of each layer of material, and the parameters are correspondingly endowed to each layer in the material layering model, so that the man-machine interaction performance and the monitoring precision of the material layering management and grinding control system are improved.

On the basis of the above embodiments or implementations, the displacement data of the material conveying device in the first direction in at least one feeding period may be configured to be known or measurable, and the mechanism of the material monitoring module is different according to different obtaining manners of the speed change information of the material conveying device in at least one feeding period, and a specific structure of the material monitoring module is described below.

In a specific embodiment, the material monitoring module 110 optionally includes a laser measurement unit and an image recognition unit.

The laser measuring unit is at least used for emitting two laser beams (with preset measuring angles), wherein a first laser beam is emitted to a material positioned in a first direction, and a second laser beam is emitted to a material positioned in a second direction.

The image recognition unit is at least used for acquiring initial image information and end image information of a time starting point and a time ending point in each feeding period, and acquiring granularity data, displacement data in a first direction and profile data in a second direction of the material in the corresponding feeding period according to the initial image information and the end image information.

The first direction may refer to a direction in which the material is located in a set plane (e.g., a horizontal plane) and points to a movement of the material conveying device, and the first laser beam is emitted to the material located in the first direction and forms a first measuring line on a surface of the material. Correspondingly, the second direction can point to another direction forming a certain included angle with the first direction, and the second laser beam is emitted to the material positioned in the second direction and forms a second measuring line on the surface of the material. Fig. 6 is a view of a projection azimuth setting of a first direction and a second direction on a setting plane, referring to fig. 6, which exemplarily illustrates that projections of the first direction and the second direction on the setting plane are set to form an included angle of 90 °, that is, an included angle of projection of a first measurement line and a second measurement line on the setting plane is 90 °; at the same time, the belt conveying direction is also set. In a specific embodiment, optionally, the first direction is parallel or at a known acute angle to the displacement direction of the material transfer device and the second direction is perpendicular or at a known acute angle to the displacement direction of the material transfer device.

It should be noted that, the measuring line and the preset measuring angle may be adaptively adjusted according to actual requirements of the site, which is not limited by the embodiment of the present application.

In a specific embodiment, optionally, the image recognition unit is at least configured to determine a start position and an end position of the material in the first direction according to the initial image information and the end image information, and determine displacement data of the material in the first direction according to the start position and the end position.

In another specific embodiment, optionally, the image recognition unit is at least configured to determine a start position and an end position of one or a plurality of preset feature points of the material in the first direction according to the initial image information and the end image information, and determine displacement data of the material in the first direction according to a difference between the start position and the end position.

In yet another specific embodiment, optionally, the image recognition unit covers at least a first measurement line formed by the material monitoring module 110 in a first direction; the image recognition unit is specifically used for extracting an initial material level fluctuation form positioned on the first measuring line in the initial image information and an ending material level fluctuation form positioned on the first measuring line in the ending image information; defining a wave searching width, respectively determining a plurality of wave crests and wave troughs of an initial material level fluctuation form and an end material level fluctuation form based on the wave searching width, and when determining the wave crests and the wave troughs, determining that the material level of a certain characteristic point is greater than the material level of other characteristic points in the wave searching width, wherein the image recognition unit recognizes that the characteristic point is positioned at the wave crest position; if the material level of one characteristic point is smaller than the material level of other characteristic points in the wave searching width, the image recognition unit recognizes that the pixel point is positioned at the wave trough position; the image recognition unit determines the displacement of at least one common wave crest or wave trough in the feeding period according to the wave crest and wave trough distribution conditions of the initial material level fluctuation form and the final material level fluctuation form, so as to determine the displacement data of the material in the first direction.

Optionally, the image recognition unit sets a deviation threshold, and after the front-to-back errors of the plurality of common peaks or troughs are all lower than or equal to the deviation threshold, determines displacement of at least one common peak or trough in the feeding period, so as to determine displacement data of the material in the first direction.

Optionally, the image recognition unit is further configured to reject at least abnormal feature points in the ending level fluctuation form and the initial level fluctuation form.

In summary, the image recognition unit is set offset from the laser measurement unit at least for acquiring image information of the material or the material and the material transfer device within a preset range (which may be adaptively set according to the structure of the material transfer device) at a preset initial time and a preset end time (a preset start time, i.e., a time start point within the feeding period, and a preset end time, i.e., a time end point within the feeding period), respectively, and acquiring displacement data of the material in the feeding period in the first direction according to a difference between the initial image information (which may refer to the image information of the material or the material and the material transfer device within the preset range acquired by the image recognition unit at the preset initial time) and the end image information (which may refer to the image information of the material or the material and the material transfer device within the preset end time acquired by the image recognition unit).

It should be noted that the preset range does not cover the first measurement line and/or the second measurement line, or the preset range covers part or all of the first measurement line and/or part or all of the second measurement line.

The image recognition unit determines preset feature points (the preset feature points can be materials or material conveying devices, the preset feature points can be on a measuring line or deviate from the measuring line, the preset feature points can be, for example, form change points of the materials at the edge of a conveyor belt, or can be position features of certain abrasion or deformation of the conveyor belt, or can be a region or space point where the materials with the highest material level in a preset range are located, and the like) in the initial image information and the end image information, and amplifies and maps pixel displacement of the preset feature points into displacement data of the materials in a first direction (for example, a proportionality coefficient of the pixel displacement and the displacement data can be obtained through a pre-experiment, namely, how far the material displacement is reflected by one pixel displacement in the image under the actual working condition).

The preset range at least covers a first measuring line; the image recognition unit is specifically configured to extract an initial level fluctuation form located on the first measurement line in the initial image information (i.e., a change curve of material fluctuation located on the first measurement line in the initial image information), and an end level fluctuation form located on the first measurement line in the end image information (i.e., a change curve of material fluctuation located on the first measurement line in the end image information); defining a seek width (seek width may refer to a pixel width, for example, may be a width represented by 15 pixel points); determining a plurality of peaks and troughs of an initial level fluctuation form and an end level fluctuation form based on the wave finding width (taking the wave finding width as an example for describing the width represented by 10 pixel points as an illustration, when determining the peaks and the troughs, the image recognition unit determines that a pixel point is at a peak position if the level of the pixel point is greater than the level of 10 other pixel points around the pixel point; determining a pixel displacement of at least one common peak or trough (for example, a peak with a maximum peak value, a trough with a minimum trough value, or a trough with a maximum peak value, a trough with a minimum trough value, or the like) in the feeding period according to the peak and trough distribution conditions of the initial material level fluctuation form and the final material level fluctuation form (because the material may have slight deformation during the conveying process of the material conveying device, the material level of the common peak or trough may have slight differences between the initial material level fluctuation form and the final material level fluctuation form), and for this case, in a specific embodiment, the image recognition unit may reduce the differences by setting a deviation threshold, namely, determining the pixel displacement of at least one common peak or trough in the feeding period after confirming that the front-back errors of a plurality of common peaks or troughs are all lower than or equal to the deviation threshold; and mapping pixel displacement of at least one common peak or trough over the feed period into displacement data of the material in the first direction.

The preset range at least covers a first measuring line; the image recognition unit is specifically used for extracting an initial material level fluctuation form positioned on the first measuring line in the initial image information and an ending material level fluctuation form positioned on the first measuring line in the ending image information; calculating the difference between the end material level fluctuation form and the initial material level fluctuation form after different pixels are moved forward; when the average value of the absolute value of the difference between the end level fluctuation form and the initial level fluctuation form after a certain pixel is advanced is minimum (indicating that the common wave crest and the wave trough are coincident), determining the pixel displacement of at least one common wave crest or wave trough in the feeding period; and mapping pixel displacement of at least one common peak or trough over the feed period into displacement data of the material in the first direction.

And the image recognition unit is at least used for eliminating abnormal pixel points in the ending material level fluctuation form and the initial material level waveform form. For example, when the average value of the absolute value of the difference between the end level fluctuation pattern and the initial level fluctuation pattern after the certain pixel has moved forward is the smallest, but the front-to-back deviation of a certain pixel point in the level fluctuation pattern is far greater than that of other pixel points, the pixel point is directly defined as an abnormal pixel point, and the abnormal pixel point is adaptively removed.

In addition, the image recognition unit is also used for calculating the first conveying speed of the material conveying device according to the displacement data of the material in the first direction and the feeding period. The first conveying speed can be mutually calibrated with the second conveying speed measured by the speed sensor of the material conveying device, so that the accuracy of the material layering management and grinding control system with the granularity detection function is improved.

In another specific embodiment, optionally, the material monitoring module comprises a laser measurement unit;

The laser measuring unit is at least used for transmitting measuring signals from a plurality of scanning angles in a set angle range of a second direction in at least one feeding period, receiving reflection signals formed by reflecting the measuring signals by materials on the material conveying device under each scanning angle, and further summarizing all the reflection signals to obtain profile data in the second direction; obtaining granularity data according to the displacement data in the first direction and the profile data in the second direction;

the displacement data of the material transfer device in the first direction over at least one feed period is configured to be known;

The control module is at least used for analyzing and obtaining the volume flow of the material on the material conveying device in the corresponding feeding period according to the displacement data of the material conveying device in the first direction in the corresponding feeding period, the characteristic parameters of the material conveying device and the profile data in the second direction.

The measuring signals and the reflecting signals are laser signals, and the set angle range can be adaptively selected according to the actual field requirements of the material layered management and grinding control system, so that the application is not limited. For example, the laser measuring unit may be installed directly above the conveyor belt in the material conveying device, the set angle range may cover all the conveyor belts located in the second direction, and the size of the set angle range (i.e., the size of the variation range of the scanning angle) may be 20 °, 30 °, 45 °, or the like.

The laser measuring unit may be a laser ranging sensor having signal transceiving and processing functions; the laser measurement unit may learn the distance between each reflection point of the material on the material conveying device and the laser measurement unit based on the emission time of each measurement signal and the receiving time of the corresponding reflection signal, so as to obtain the profile data of the material located in the second direction according to the distance between each reflection point and the laser measurement unit, and finally learn the granularity data according to the displacement data in the first direction and the profile data in the second direction (for example, the overall profile point cloud of the surface of the material conveyed by the material conveying device in a certain feeding period can be obtained by integrating the material profile point cloud of each section in the material conveying device in the first direction in the feeding period, and then the overall granularity of the material conveyed by the material conveying device in the feeding period is analyzed according to the overall profile point cloud).

It will be appreciated that the material transfer device itself may be equipped with a speed sensor, and that the control module may obtain information on the change in speed of the material transfer device during the respective feed period based on the speed sensor with which the material transfer device itself is equipped. When the control module knows the speed change information of the material conveying device in the corresponding feeding period and the time span of the corresponding feeding period, the displacement data of the material on the material conveying device in the first direction can be obtained by calculating the integral of the speed change information in the corresponding feeding period in the time span of the corresponding feeding period.

In yet another specific embodiment, optionally, displacement data of the material transfer device in a first direction over at least one feeding period is configured to be measurable;

The speed measuring unit is at least used for acquiring displacement data of the material conveying device in a first direction in at least one feeding period;

The laser measuring unit can also be arranged right above the conveyor belt in the material conveying device. The set angular range may cover a portion of the conveyor belt located in the second direction. The speed measurement unit may comprise any kind of speed sensor, such as a photoelectric encoder, a pulse encoder, etc.; in addition to the speed sensor, the speed measuring unit may further include a processor, and the speed sensor may measure speed change information of the material conveying device in the corresponding feeding period, so that the processor may obtain displacement data of the material on the material conveying device in the first direction by calculating an integral of the speed change information in the corresponding feeding period in a time span of the corresponding feeding period.

The material monitoring module comprises a laser measuring unit;

The laser measuring unit is at least used for transmitting two laser beams with preset angles (the laser beams can have certain beam angles, namely the preset angles, and the beam angles of the first laser beam and the second laser beam can be the same or different in size); the first laser beam is emitted to the material in the first direction, and is reflected by the material in the first direction to generate a first reflected beam and is received by the laser measuring unit; the second laser beam is emitted to the material in the second direction, and the second laser beam is reflected by the material in the second direction to generate a second reflected beam and is received by the laser measuring unit;

The laser measuring unit is at least used for acquiring displacement data of the material on the material conveying device in a first direction according to the first reflected beam; acquiring profile data of the material on the material conveying device in a second direction in at least one feeding period according to the second reflection beam; and acquiring granularity data of the material on the material conveying device in at least one feeding period according to the displacement data in the first direction and the profile data in the second direction.

Wherein, optionally, a first laser beam forms a first measuring line on the material in a first direction; the laser measuring unit is specifically configured to extract an initial level fluctuation form and an end level fluctuation form (the initial level fluctuation form and the end level fluctuation form may be laser point cloud data) located on the first measuring line according to first reflected beams corresponding to a time start point and a time end point in each feeding period; defining a wave searching width (the wave searching width can be correspondingly set according to the precision of laser point cloud data, the application is not limited), respectively determining a plurality of wave crests and wave troughs (namely the highest point and the lowest point of material surface fluctuation) of an initial material level fluctuation form and a final material level fluctuation form based on the wave searching width, when determining the wave crests and the wave troughs, determining that the material level of a certain characteristic point is greater than the material level of other characteristic points in the wave searching width, and determining that the characteristic point is at the wave crest position by a laser measurement unit; if the material level of a certain characteristic point is smaller than the material level of other characteristic points in the wave searching width, the laser measuring unit confirms that the characteristic point is positioned at the wave trough position; the laser measuring unit determines the displacement of at least one common wave crest or wave trough in the feeding period according to the wave crest and wave trough distribution conditions of the initial material level fluctuation form and the final material level fluctuation form, so as to determine the displacement data of the material in the first direction.

Wherein optionally, the laser measurement unit sets a deviation threshold, and after the front-to-back errors of the plurality of common peaks or troughs are all lower than or equal to the deviation threshold, determines the displacement of at least one common peak or trough in the feeding period, so as to determine displacement data of the material in the first direction.

Wherein, optionally, the laser measurement unit is at least further used for eliminating abnormal characteristic points in the ending material level fluctuation form and the initial material level fluctuation form.

The first laser measuring unit is at least used for emitting a first laser beam with a first preset angle; the first laser beam is emitted to a material positioned in a first direction, and is reflected by the material positioned in the first direction to generate a first reflected beam and is received by the first laser measuring unit;

the first laser measuring unit is at least used for acquiring displacement data of the material on the material conveying device in a first direction according to the first reflected beam;

The second laser measuring unit is at least used for acquiring contour data of the material on the material conveying device in a second direction in at least one feeding period according to the second reflected beam, and acquiring granularity data of the material on the material conveying device according to the contour data in the second direction and the displacement data in the first direction.

Wherein, optionally, a first laser beam forms a first measuring line on the material in a first direction; the first laser measuring unit is specifically used for respectively extracting an initial material level fluctuation form and an ending material level fluctuation form which are positioned on a first measuring line according to first reflection beams corresponding to a time starting point and a time ending point in each feeding period; defining a wave searching width, respectively determining a plurality of wave crests and wave troughs of an initial material level fluctuation form and an end material level fluctuation form based on the wave searching width, and when determining the wave crests and the wave troughs, determining that the material level of a certain characteristic point is greater than the material level of other characteristic points in the wave searching width, wherein the first laser measuring unit determines that the characteristic point is positioned at the wave crest position; if the material level of a certain characteristic point is smaller than the material level of other characteristic points in the wave searching width, the first laser measuring unit considers that the characteristic point is positioned at the wave trough position; the first laser measuring unit determines displacement of at least one common wave crest or wave trough in a feeding period according to wave crest and wave trough distribution conditions of an initial material level fluctuation form and an ending material level fluctuation form, so as to determine displacement data of materials in a first direction.

Wherein optionally, the first laser measurement unit sets a deviation threshold, and after the front-to-back errors of the plurality of common peaks or troughs are all lower than or equal to the deviation threshold, determines the displacement of at least one common peak or trough in the feeding period, so as to determine displacement data of the material in the first direction.

Wherein, optionally, the first laser measurement unit is at least further used for eliminating abnormal characteristic points in the ending material level fluctuation form and the initial material level fluctuation form.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A material layering management and grinding control system with granularity detection function, characterized in that the system is at least configured to be matched with a material conveying device, a material storage container and a grinding device which are arranged on site;

Wherein M is more than or equal to 2, and M is a positive integer.

2. The system of claim 1, wherein the first direction is parallel to or at a known acute angle with respect to the direction of displacement of the material transfer device and the second direction is perpendicular to or at a known acute angle with respect to the direction of displacement of the material transfer device.

3. The system of claim 1, wherein the material monitoring module comprises a laser measurement unit;

4. The system of claim 1, wherein displacement data of the material transfer device in the first direction over at least one of the feed periods is configured to be measurable;

5. The system of claim 1, wherein displacement data of the material transfer device in the first direction over at least one of the feed periods is configured to be measurable;

the material monitoring module comprises a laser measuring unit;

The laser measuring unit is at least used for acquiring displacement data of the material on the material conveying device in the first direction according to the first reflected beam; and acquiring profile data of the material on the material transfer device in the second direction for at least one feed period from the second reflected beam; acquiring the granularity data of the material on the material conveying device in at least one feeding period according to the displacement data in the first direction and the profile data in the second direction;

Preferably, the first laser beam forms a first measuring line on the material in the first direction; the laser measuring unit is specifically used for respectively extracting an initial material level fluctuation form and an ending material level fluctuation form which are positioned on the first measuring line according to the first reflection beams corresponding to the time starting point and the time ending point in each feeding period; defining a wave searching width, respectively determining a plurality of wave crests and wave troughs of the initial material level fluctuation form and the final material level fluctuation form based on the wave searching width, and when determining the wave crests and the wave troughs, determining that a material level of a certain characteristic point is larger than the material level of other characteristic points in the wave searching width, wherein the laser measuring unit determines that the characteristic point is positioned at the wave crest position; if the material level of a certain characteristic point is smaller than the material level of other characteristic points in the wave searching width, the laser measuring unit confirms that the characteristic point is positioned at the wave trough position; the laser measuring unit determines the displacement of at least one common wave crest or wave trough in the feeding period according to the wave crest and wave trough distribution conditions of the initial material level fluctuation form and the final material level fluctuation form, so as to determine the displacement data of the material in the first direction;

preferably, the laser measurement unit sets a deviation threshold, and after all the front-to-back errors of the plurality of common peaks or troughs are lower than or equal to the deviation threshold, the displacement of at least one common peak or trough in the feeding period is determined, so that the displacement data of the material in the first direction is determined;

preferably, the laser measurement unit is further configured to reject abnormal feature points in the ending level fluctuation mode and the initial level fluctuation mode.

6. The system of claim 1, wherein displacement data of the material transfer device in the first direction over at least one of the feed periods is configured to be measurable;

The second laser measuring unit is at least used for acquiring contour data of the material on the material conveying device in the second direction in at least one feeding period according to the second reflection beam, and acquiring particle data of the material on the material conveying device according to the contour data in the second direction and the displacement data in the first direction;

Preferably, the first laser beam forms a first measuring line on the material in the first direction; the first laser measuring unit is specifically configured to extract an initial level fluctuation form and an end level fluctuation form on the first measuring line according to the first reflected beam corresponding to a time starting point and a time ending point in each feeding period; defining a wave searching width, respectively determining a plurality of wave crests and wave troughs of the initial material level fluctuation form and the final material level fluctuation form based on the wave searching width, and when determining the wave crests and the wave troughs, determining that the material level of a certain characteristic point is larger than the material level of other characteristic points in the wave searching width, wherein the first laser measuring unit determines that the characteristic point is positioned at the wave crest position; if the material level of a certain characteristic point is smaller than the material level of other characteristic points in the wave searching width, the first laser measuring unit determines that the characteristic point is positioned at the wave trough position; the first laser measuring unit determines the displacement of at least one common wave crest or wave trough in the feeding period according to the wave crest and wave trough distribution conditions of the initial material level fluctuation form and the final material level fluctuation form, so as to determine the displacement data of the material in the first direction;

Preferably, the first laser measurement unit sets a deviation threshold, and after all the front-back errors of the plurality of common peaks or troughs are lower than or equal to the deviation threshold, the displacement of at least one common peak or trough in the feeding period is determined, so that the displacement data of the material in the first direction is determined;

Preferably, the first laser measurement unit is at least further configured to reject abnormal feature points in the ending level fluctuation mode and the initial level fluctuation mode.

7. The system of claim 1, wherein the material monitoring module comprises a laser measurement unit and an image recognition unit;

the image recognition unit is at least used for acquiring initial image information and end image information of a time starting point and a time ending point in each feeding period, so as to acquire the granularity data, the displacement data in the first direction and the profile data in the second direction of the material in the corresponding feeding period according to the initial image information and the end image information;

Preferably, the image recognition unit is at least used for respectively determining a starting point position and an end point position of the material in the first direction according to the initial image information and the end image information, and determining displacement data of the material in the first direction according to the starting point position and the end point position;

Preferably, the image recognition unit is at least used for respectively determining a starting point position and an end point position of one or a plurality of preset characteristic points of the material in the first direction according to the initial image information and the end image information, and determining displacement data of the material in the first direction according to the difference between the starting point position and the end point position;

Preferably, the image recognition unit covers at least a first measuring line formed by the material monitoring module in the first direction; the image recognition unit is specifically configured to extract an initial level fluctuation form located on the first measurement line in the initial image information and an end level fluctuation form located on the first measurement line in the end image information; defining a wave searching width, respectively determining a plurality of wave crests and wave troughs of the initial material level fluctuation form and the final material level fluctuation form based on the wave searching width, and when determining the wave crests and the wave troughs, determining that the material level of a certain characteristic point is larger than the material level of other characteristic points in the wave searching width, wherein the image recognition unit recognizes that the characteristic point is positioned at the wave crest position; if the object level of a certain characteristic point is smaller than the object level of other characteristic points in the wave searching width, the image recognition unit recognizes that the pixel point is positioned at the wave trough position; the image recognition unit determines the displacement of at least one common wave crest or wave trough in the feeding period according to the wave crest and wave trough distribution conditions of the initial material level fluctuation form and the final material level fluctuation form, so as to determine the displacement data of the material in the first direction;

Preferably, the image recognition unit sets a deviation threshold, and after all the front-to-back errors of the plurality of common peaks or troughs are lower than or equal to the deviation threshold, the displacement of at least one common peak or trough in the feeding period is determined, so that the displacement data of the material in the first direction is determined;

preferably, the image recognition unit is further configured to reject abnormal feature points in at least the ending level fluctuation form and the initial level fluctuation form.

8. The system of claim 1, wherein the control module is at least specifically configured to acquire and establish an initial material stratification model of the material storage container prior to the 1 st discharge based on the container internal morphology, the particle data, the material particle size distribution, and all of the material morphology data prior to the 1 st discharge of the material storage container; and establishing an initial material layering model of the material storage container before the Mth discharging based on the material layering model of the material storage container after the (M-1) th discharging and all the material morphology data in a time span from the material storage container after the (M-1) th discharging to the material storage container before the Mth discharging; determining a real-time discharging form of the initial material layering model according to the container characteristic parameters and the material characteristic parameters of each layer of materials in the initial material layering model; and in any discharging process of the material storage container, adjusting the distribution condition of each layer of material in the initial material layering model based on the real-time discharging form to obtain a real-time material layering model, so that the control parameters of the crushing and grinding device are adjusted according to the real-time material layering model in the discharging process;

wherein, the control parameters of the crushing and grinding device at least comprise at least one of grinding power, working current and opening degree;

preferably, the three-dimensional scanning module is at least further used for determining the acquisition time of the material form data after each feeding of the material storage container and uploading the material form data to the control module;

Wherein the management information at least comprises one of time management information, volume flow management information and granularity management information;

preferably, the system further comprises:

The control module is at least further used for corresponding the material characteristic parameters of each layer of material to the material layering model so as to generate other management information of the material layering model;

Preferably, the container characteristic parameter at least comprises one of a container structural parameter, a container material parameter and a degree of opening and closing of a discharge hole in a container discharging process;

preferably, the material characteristic parameter of each layer of material at least comprises one of particle morphology of each layer of material, friction coefficient between each layer of material and the material storage container, friction coefficient between each layer of material, particle density of each layer of material, particle shear modulus of each layer of material, recovery coefficient of each layer of material particles, humidity of each layer of material and surface adhesion parameter of each layer of material.

9. The system of claim 1, wherein the number of three-dimensional scanning modules is at least one;

or preferably, the three-dimensional scanning module comprises at least an antenna array usable for digital beamforming;

Or preferably, the three-dimensional scanning module is at least composed of a plurality of independent single-point measurement sub-modules; different single-point measuring submodules are arranged at different positions of the material storage container; the single-point measurement submodule is provided with a single-direction wave-generating point and correspondingly forms a single-direction emergent wave beam;

Or preferably, the three-dimensional scanning module at least comprises a module main body and a plurality of single-point measurement sub-modules; the single-point measurement sub-modules are all arranged in the module main body; the single-point measurement submodule is provided with a single-direction wave-emitting point and correspondingly forms a single-direction emergent wave beam.

10. The system of claim 1, wherein the three-dimensional scanning module comprises at least a mechanical motion structure and a scanning probe, the mechanical motion structure drives the scanning probe to rotate, at least the scanning probe has wave-emitting points in a plurality of directions, and outgoing beams in a plurality of directions are correspondingly formed;

preferably, the scanning probe is an antenna array that can be used for digital beamforming.