摇床接矿执行器物理偏移距离研究  

Study on Physical Offset Distance of Shaking Table Partition Plate

作　　者：赵玉华 杨文旺 武涛 ZHAO Yuhua;YANG Wenwang;WU Tao(BGRIMM Machinery and Automation Technology Co.,Ltd.,Beijing 100160,China;BGRIMM Technology Group,Beijing 100160,China)

机构地区：[1]北矿机电科技有限责任公司,北京100160 [2]矿冶科技集团有限公司,北京100160

出　　处：《有色金属（选矿部分）》2023年第5期139-144,共6页Nonferrous Metals（Mineral Processing Section）

摘　　要：北矿机电科技有限责任公司研发出来全球首台摇床智能巡检机器人,摇床接矿执行器偏移距离预测是巡检机器人控制系统中的关键技术,其精度直接影响着选矿指标的好坏。已知执行器指示标的像素位置,从小孔相机三角成像原理推导出执行器指示标到摇床左顶点的水平距离计算公式,在宜春钽铌矿磨重车间1~#摇床上的试验结果表明,此方法得到的数值与实际测量值偏差太大。在该计算公式的基础上,引入两个参数建立新的回归函数模型,采用平方损失函数转化为最小化问题,通过数值计算方法求取两个参数的最佳值。利用新的函数模型预测出的结果,平均误差5.660 7 mm,满足工业要求。进一步提出已知接矿执行器指示标的像素位置和接矿像素位置,求取接矿执行器的物理偏移距离的预测方法。该方法操作简单,预测精度高,连续可靠,已应用于华联锌铟公司新田选厂和宜春钽铌矿的生产过程中。BGRIMM Machinery and Automation Technology Co.,Ltd.has developed the world′s first intelligent inspection robot for shaking table.The prediction of the offset distance of the shaking table receiving actuator is a key technology in the control system of the inspection robot,and its accuracy directly affects the quality of mineral processing indexes.Knowing the pixel position of the actuator indicator,the calculation formula of the horizontal distance between the actuator indicator and the left vertex of the shaking table is derived from the triangular imaging principle of the small hole camera.The test results on the 1#shaking table in the grinding workshop of Yichun Tantalum-Niobium Mine show that the value obtained by this method deviates too much from the actual measured value.On the basis of the calculation formula,two parameters are introduced to establish a new regression function model,the square loss function is used to transform it into a minimization problem,and the optimal value of the two parameters is obtained by numerical calculation method.The results predicted by the new function model have an average error of 5.6607mm,which meets the industrial requirements.Further,aprediction method is proposed to obtain the physical offset distance of the ore receiving actuator by knowing the pixel position of the ore receiving actuator indicator and the ore receiving pixel position.The method is simple to operate,has high calculation accuracy,and is continuously and reliably applied to the production process of Hualian Zinc and Indium Company′s Xintian Concentrator and Yichun Tantalum-Niobium Mine.

关 键 词：回归模型 最小化问题 数值计算方法 摇床 巡检机器人 

分 类 号：TD455[矿业工程—矿山机电]