A quantitative discharge calibration method, device, electronic device and storage medium

Abstract

The present invention discloses a quantitative discharging calibration method, device, electronic device and storage medium. The quantitative discharging calibration method comprises: controlling the roller of the target discharging system to be calibrated to perform ramp speed increase work according to the specified speed acceleration; obtaining the change of discharging weight and the change of roller speed during the ramp speed increase work according to the preset sampling frequency; determining the speed discharging mapping relationship based on the change of discharging weight and the change of roller speed; calibrating the discharging speed of the target discharging system to be calibrated according to the speed discharging mapping relationship. The embodiment of the present invention realizes the quantitative discharging of the target discharging system to be calibrated with high precision, reduces the difficulty of quantitative discharging calibration and shortens the time of quantitative discharging calibration, improves the ability to resist external interference during the calibration process, and enhances the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a quantitative discharging calibration method, device, electronic equipment and storage medium. Background Art

[0002] With the development of science and technology, agricultural drones are applied to agricultural mechanization. Using agricultural drones equipped with working systems such as sowing systems for sowing or fertilizer spreading can reduce labor intensity and improve agricultural efficiency compared to manual operation. Working systems such as sowing systems have increasingly higher requirements for quantitative discharge accuracy. Before operation, it is necessary to quantitatively calibrate the materials required for the target discharge system such as the sowing system to be calibrated, so that the drone sowing system can discharge materials according to the amount of materials required per acre of land.

[0003] The existing calibration method usually uses a motor to drive the quantitative discharging device, and adjusts the roller speed to calibrate the target discharging system to be calibrated at the same time. A small number of speed working points are taken within the rated working speed range of the roller, and the roller is made to work at the specified speed for a period of time. The discharging weight during this period is recorded, and the discharging speed at the taken speed working point is calculated. The discharging characteristics within the entire working speed range are obtained through curve fitting to calibrate the target discharging system to be calibrated.

[0004] However, the accuracy of fitting calibration is low when taking a few points within the rated working speed range of the roller, and it is necessary to work at a specified speed for a period of time at each point. The calibration time is long and a large amount of material is required during the calibration process. Therefore, a simple and high-precision quantitative discharge calibration method has become a problem that needs to be solved urgently. Summary of the invention

[0005] The present invention provides a quantitative discharging calibration method, device, electronic equipment and storage medium, which realize accurate calibration of quantitative discharging of a target discharging system to be corrected, reduce the difficulty of quantitative discharging calibration, and improve the user experience.

[0006] According to one aspect of the present invention, a quantitative discharge calibration method is provided, wherein the method comprises:

[0007] Control the roller of the target discharging system to be calibrated to ramp up speed according to the specified speed acceleration;

[0008] Obtain the change of discharge weight and roller speed during ramp speed increase according to the preset sampling frequency;

[0009] Determine the speed discharge mapping relationship based on the change of discharge weight and roller speed;

[0010] The discharge speed of the target discharge system to be corrected is calibrated according to the speed discharge mapping relationship.

[0011] According to another aspect of the present invention, a quantitative discharging calibration device is provided, wherein the device comprises:

[0012] The ramp speed increasing module is used to control the roller of the target discharging system to be calibrated to perform ramp speed increasing work according to the specified speed acceleration;

[0013] The data acquisition module is used to obtain the change of the discharge weight and the change of the roller speed during the ramp speed increase process according to the preset sampling frequency;

[0014] A mapping relationship module is used to determine the speed discharge mapping relationship based on the change of discharge weight and the change of roller speed;

[0015] The calibration adjustment module is used to calibrate the discharge speed of the target discharge system to be corrected according to the speed discharge mapping relationship.

[0016] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by at least one processor. The computer program is executed by at least one processor so that the at least one processor can execute the quantitative discharge calibration method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the quantitative discharge calibration method of any embodiment of the present invention when executed by a processor.

[0021] The technical solution of the embodiment of the present invention controls the roller of the target discharging system to be calibrated to perform ramp-up speed operation according to the specified speed acceleration, obtains the change of discharging weight and the change of roller speed during the ramp-up speed operation according to the preset sampling frequency, determines the speed discharge mapping relationship based on the change of discharging weight and the change of roller speed, and calibrates the discharging speed of the target discharging system to be calibrated according to the speed discharge mapping relationship, thereby achieving high-precision calibration of the discharging speed of the target discharging system to be calibrated, reducing the difficulty of quantitative discharging calibration, shortening the time of quantitative discharging calibration, improving the ability to resist external interference such as vibration and impact during the calibration process, and enhancing the user experience.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a quantitative discharging calibration method provided according to Embodiment 1 of the present invention;

[0025] Figure 2 is a flow chart of a quantitative discharging calibration method provided according to Embodiment 2 of the present invention;

[0026] Figure 3 This is a flow chart of a method for determining a speed discharging mapping relationship according to Embodiment 3 of the present invention;

[0027] Figure 4 is a fixed speed sampling calibration curve diagram provided according to the third embodiment of the present invention;

[0028] Figure 5 is a sampling calibration fitting curve diagram of the ramp speed increase operation provided in the third embodiment of the present invention;

[0029] Figure 6 is a calibration comparison diagram of fixed speed sampling and ramp speed increase working sampling provided according to the third embodiment of the present invention;

[0030] Figure 7 is a structural schematic diagram of a quantitative discharging calibration device provided according to a fourth embodiment of the present invention;

[0031] Figure 8 It is a structural schematic diagram of an electronic device for implementing a quantitative discharging calibration method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] Figure 1 This is a flow chart of a quantitative discharging calibration method provided according to the first embodiment of the present invention. This embodiment is applicable to the case of quantitative discharging of a calibrated discharging system. The method can be performed by a quantitative discharging calibration device. The quantitative discharging calibration device can be implemented in the form of hardware and / or software. The quantitative discharging calibration device can be configured in an electronic device. Figure 1 As shown, the method includes:

[0036] S110, controlling the roller of the target discharging system to be calibrated to perform ramp speed increase according to the specified speed acceleration.

[0037] Among them, the target discharging system to be calibrated may refer to the discharging system to be calibrated, and may be a system that determines the discharging amount according to the roller speed. The specified speed acceleration may refer to the speed increment per unit time, and the specified speed acceleration may be pre-calculated and determined. In actual operation, the specified speed acceleration may be determined based on the rated working speed range of the roller, or may be set based on the experience of the calibration personnel. The ramp speed increase work may be performed according to the specified speed acceleration, and the ramp speed increase work may refer to the work of making the target discharging system to be calibrated increase the roller speed at a uniform speed according to the specified speed acceleration.

[0038] In an embodiment of the invention, the initial speed, the designated speed acceleration and the ramp-up duration of the ramp-up work of the target to-be-calibrated discharging system can be pre-set to control the roller of the target to-be-calibrated discharging system to perform the ramp-up work. In actual operation, the initial speed, the designated speed acceleration and the ramp-up duration can be determined according to the rated working range of the roller. Among them, the initial speed can be pre-set arbitrarily, as long as the initial speed is guaranteed to be within the rated working range of the roller. Exemplarily, the initial speed can be the minimum speed of the rated working range of the roller. The designated speed acceleration and the ramp-up duration can be determined according to the rated working range of the roller, and the order of determining the designated speed acceleration and the ramp-up duration can be not limited, as long as it is guaranteed that the roller of the target to-be-calibrated discharging system can work normally when the ramp-up work is performed. After determining the initial speed, the designated speed acceleration and the ramp-up duration of the ramp-up work, the roller can be controlled to perform the ramp-up work at the designated speed acceleration. In one embodiment, after the initial speed, specified speed acceleration and ramp-up working duration of the ramp-up work are determined, the initial speed, specified speed acceleration and ramp-up working duration can be input into the target discharging system to be calibrated to control the rollers of the target discharging system to be calibrated to perform the ramp-up work.

[0039] S120, obtaining the change of the discharge weight and the change of the roller speed during the ramp speed increase process according to the preset sampling frequency.

[0040] The preset sampling frequency may be the frequency of collecting the change of discharge weight and the change of roller speed in a preset unit time, and may be set according to the experience of the calibration personnel. The change of discharge weight may refer to the change of discharge speed during the duration of the ramp speed-up working time, which may be determined by recording the discharge weight during the duration of the ramp speed-up working time; the change of roller speed may refer to the change of roller speed during the duration of the ramp speed-up working time. In one embodiment, the roller speed may increase at a uniform speed during the duration of the ramp speed-up working time.

[0041] In one embodiment, the preset sampling frequency is at least 10 Hz.

[0042] The higher the preset sampling frequency, the shorter the sampling interval, and the more data obtained per unit time. When the preset sampling frequency is 10 Hz, the sampling is performed once every 0.1 second.

[0043] In an embodiment of the invention, a preset sampling frequency can be set, and the change of the discharge weight and the change of the roller speed during the ramp speed-up process can be obtained according to the preset sampling frequency. In actual operation, the change of the discharge weight can be determined by collecting the material weighing according to the preset sampling frequency, and the discharge speed can be determined according to the change of the material weighing, and then the change of the discharge weight can be determined. The change of the roller speed can be determined by collecting the roller speed according to the preset sampling frequency to determine the change of the roller speed. In one embodiment, after the roller performs the speed-up work according to the initial speed, the specified speed acceleration and the ramp speed-up working duration, the material weighing can be collected according to the preset sampling frequency of 10 Hz, and the discharge weight during the discharge time period can be recorded. After determining the material weighing, the relationship between the material weighing and the discharge time can be determined. In one embodiment, the relationship between the material weighing and the discharge time can be confirmed by a discrete data polynomial curve fitting method. For example, a third-order polynomial fitting can be used to determine the speed discharge mapping relationship. Among them, the discharge time can be the ramp speed-up working duration. The discharge weight can be derived with respect to the discharge time to determine the relationship between the discharge speed and the discharge time, and to determine the change in the discharge weight. In one embodiment, the logic of the derivation can be fitted by a third-order polynomial to obtain the relationship between the discharge time and the discharge speed. While collecting the material weight, the roller speed can be recorded to determine the relationship between the roller speed and the discharge time, and to determine the change in the roller speed. In one embodiment, the roller can be driven to rotate by a motor, and the roller speed can be recorded and fed back by the motor. In one embodiment, a timestamp can be marked on the time axis of the discharge time to ensure that the timestamps recording the roller speed and the discharge weight are the same.

[0044] S130, determining the speed discharge mapping relationship based on the change of discharge weight and the change of roller speed.

[0045] The speed-discharging mapping relationship may refer to the corresponding relationship between the change in discharge weight and the change in roller speed.

[0046] In an embodiment of the invention, after determining the change in discharge weight and the change in roller speed, the speed-discharging mapping relationship can be determined by fitting. Since the change in discharge weight is the relationship between the discharge speed and the discharge time, and the change in roller speed is the relationship between the roller speed and the discharge time, the relationship between the roller speed and the discharge speed can be determined based on the discharge time mapping. In one embodiment, since the timestamp can be marked on the time axis of the discharge time, it is determined that the discharge time corresponding to the roller speed is the same as the discharge speed. The roller speed with the same discharge time can be matched one-to-one with the discharge speed to determine the speed-discharging mapping relationship.

[0047] S140, calibrating the discharging speed of the target discharging system to be calibrated according to the speed discharging mapping relationship.

[0048] In the embodiment of the invention, after the speed discharge mapping relationship is determined, the roller speed corresponding to the discharge speed can be determined according to the speed discharge mapping relationship. When the discharge speed of the target discharge system to be calibrated needs to be calibrated, the discharge speed can be determined first, the roller speed corresponding to the discharge speed can be determined in the speed discharge mapping relationship, and the roller speed of the target discharge system to be calibrated can be adjusted to the roller speed corresponding to the discharge speed.

[0049] According to the embodiment of the present invention, the rollers of the target discharging system to be calibrated are controlled to perform ramp-up speed operation according to the specified speed acceleration, the material weight is obtained according to the preset sampling frequency, the discharging speed is determined, and then the change of the discharging weight during the ramp-up speed operation is determined, and the change of the roller speed is determined at the same time. The speed-discharging mapping relationship is determined based on the change of the discharging weight and the change of the roller speed, and the discharging speed of the target discharging system to be calibrated according to the speed-discharging mapping relationship, thereby realizing high-precision calibration of the discharging speed of the target discharging system to be calibrated, reducing the difficulty of quantitative discharging calibration, shortening the time of quantitative discharging calibration, and improving the user experience.

[0050] Embodiment 2

[0051] Figure 2 1 is a flow chart of a quantitative discharging calibration method provided according to the second embodiment of the present invention. This embodiment is a further description of a quantitative discharging calibration method based on the above embodiment. Figure 2 As shown, the method includes:

[0052] S210, determining a specified speed acceleration according to a rated operating speed range of the roller.

[0053] The rated operating speed range may refer to a speed range that satisfies the normal operation of the roller, and the maximum operating speed and the minimum operating speed may be determined through the rated operating speed range.

[0054] In an embodiment of the invention, the specified speed acceleration can be determined based on the rated working range of the roller to ensure that the roller speed remains within the rated working speed range during the ramp speed increase process. In actual operation, the discharge time and the preset initial speed can be set in advance, and the specified speed acceleration can be determined based on the discharge time, the preset initial speed and the rated working range of the roller. In one embodiment, when the rated working range of the roller is [30-270] rpm, the preset initial speed can be set to 30 rpm, the discharge time is 30 seconds, and the specified speed acceleration is calculated to ensure that the roller increases at a uniform speed within the [30-270] rpm range within 30 seconds, and the final roller speed is 270 rpm.

[0055] S220, controlling the roller to perform ramp speed increase at a preset initial speed and a specified speed acceleration.

[0056] The preset initial rotation speed may refer to a preset initial rotation speed of the roller. In actual operation, the preset initial rotation speed may be the minimum rotation speed of the roller in a rated working range.

[0057] In an embodiment of the invention, after determining the preset initial rotation speed and the specified rotation speed acceleration of the roller, the roller can be controlled to start working at the preset initial rotation speed, and the rotation speed of the shaft can be uniformly increased at the specified rotation speed acceleration to perform ramp speed increase work.

[0058] S230: Extract a pre-configured preset sampling frequency.

[0059] In an embodiment of the invention, the preset sampling frequency may be pre-configured and stored locally in the electronic device. The field information corresponding to the pre-configured preset sampling frequency may be searched locally in the electronic device to extract the pre-configured sampling frequency for collecting system data of the ramp-up process.

[0060] S240. Collect system data of the ramp speed-up process based on a preset sampling frequency, wherein the system data includes a timestamp, a roller speed, a cumulative number of roller revolutions, and a material weight.

[0061] The system data may refer to the data collected during the ramp speed increase process. The timestamp may be used to identify the time when the roller is working; the roller speed may refer to the rotation speed of the roller; the cumulative number of roller revolutions may refer to the cumulative number of revolutions of the roller during the ramp speed increase process; and the material weighing may record the weight of the material within the discharge time period.

[0062] In an embodiment of the invention, system data of the ramp speed-up process can be collected according to a preset sampling frequency. The preset sampling frequency can be at least 10 Hz to ensure the number of samples. In actual operation, the timestamp can be collected by an electronic device; the roller speed and the cumulative number of roller turns can be collected by a motor that drives the roller to rotate; and the material weighing can be collected by a weighing system. Exemplarily, the weighing system can include but is not limited to a weight sensor, which can be installed on a container carrying materials to sense changes in the weight of the container carrying materials, and then determine changes in the weight of the materials.

[0063] S250, determining a roller speed change according to the roller rotation speed and the timestamp as a roller speed change.

[0064] In the embodiment of the invention, the roller speed change can be determined according to the roller speed and the timestamp, and then the roller speed change can be used as the roller speed change. Since the roller speed is collected according to the preset sampling frequency, the relationship between the roller speed and the material discharging time can be determined according to the roller speed and the timestamp, and the relationship between the roller speed and the material discharging time can be fitted to determine the roller speed change, and the roller speed change can be used as the roller speed change.

[0065] S260, determining the change of the material discharge rate according to the material weighing and the timestamp as the change of the discharge weight.

[0066] In an embodiment of the invention, the weight-time variation can be determined based on the material weighing and timestamp, and then the discharge rate variation can be determined based on the material weight-time variation, and the material weighing variation can be used as the discharge weight variation. In actual operation, since the roller speed is collected according to the preset sampling frequency, the relationship between the material weighing and the discharge time can be determined based on the material weighing and timestamp, and the relationship between the material weighing and the discharge time can be fitted to determine the weight-time variation, and then the discharge rate can be determined based on the material weighing and the discharge time, and the rate variation can be determined based on the discharge rate and timestamp, and the rate variation can be used as the discharge weight variation. In one embodiment, the relationship between the material weighing and the discharge time can be confirmed by a discrete data polynomial curve fitting method. For example, a third-order polynomial fitting can be used to determine the speed-discharge mapping relationship.

[0067] In one embodiment, the change in the material discharge rate is determined according to the material weighing and the timestamp, including:

[0068] Determine the weight-time mapping relationship based on the material weighing and the timestamp corresponding to the material weighing;

[0069] The derivative of the weight-time mapping relationship with respect to time is taken as the change in discharge rate.

[0070] In an embodiment of the invention, since the material weighing is collected according to a preset sampling frequency, the mapping relationship between weight and time can be determined according to the material weighing and the timestamp corresponding to the material weighing, and each material weighing can correspond to a timestamp. The weight-time mapping relationship generates a mapping relationship between the discharge rate and the timestamp for time derivation, and the mapping relationship between the discharge rate and the timestamp can be used as the change in the discharge rate. In one embodiment, the logic of derivation can be used using a third-order polynomial fitting, and the relationship between the rotation speed and the discharge rate can be obtained according to the mapping relationship between the material weighing and time.

[0071] S270, fitting the roller speed change and the material discharging speed change as the speed discharging mapping relationship.

[0072] In the embodiment of the invention, since the roller speed change is based on the correlation between the roller speed and time, and the discharge speed change is based on the correlation between the discharge speed and time, the roller speed change and the discharge speed change can be fitted to generate a speed discharge mapping relationship. The roller speed change can be matched with the discharge speed change according to the timestamp, and the roller speed can be matched with the discharge speed one by one to generate a speed discharge mapping relationship.

[0073] S280, determining a target roller speed corresponding to a discharge speed according to a speed-discharge mapping relationship.

[0074] In the embodiment of the invention, after the speed-discharging mapping relationship is determined, the target roller speed can be obtained according to the discharge speed. The roller speed corresponding to the discharge speed can be found in the speed-discharging mapping relationship according to the discharge speed as the target roller speed.

[0075] S290, adjusting the rotation speed of the roller of the target discharging system to be corrected to the target roller rotation speed.

[0076] In an embodiment of the invention, after the target roller speed is determined, the roller speed of the target discharging system to be corrected can be adjusted to the target roller speed to achieve quantitative discharging calibration of the target discharging system to be corrected.

[0077] According to an embodiment of the present invention, the specified speed acceleration is determined according to the rated working speed range of the roller, the roller is controlled to perform ramp-up operation at a preset initial speed and a specified speed acceleration, a pre-configured preset sampling frequency is extracted, and system data of the ramp-up process is collected based on the preset sampling frequency. The roller speed change is determined according to the roller speed and timestamp as the roller speed change, the discharge rate change is determined according to the material weighing and timestamp as the discharge weight change, and the roller speed change and the discharge rate change are fitted as a speed discharge mapping relationship, so as to achieve a one-to-one correspondence between the roller speed and the discharge speed. According to the speed discharge mapping relationship, the target roller speed corresponding to the discharge speed is determined, and the speed of the roller of the target discharge system to be calibrated is adjusted to the target roller speed, so as to achieve rapid calibration of the speed of the roller of the target discharge system to be calibrated according to the discharge speed and speed discharge mapping relationship, thereby improving the efficiency of quantitative discharge calibration, and improving the ability to resist external interference during the calibration process, thereby improving the user experience.

[0078] Embodiment 3

[0079] Figure 3 1 is a flow chart of a method for determining a speed discharge mapping relationship according to a third embodiment of the present invention. This embodiment is based on the above embodiment and takes the target discharge system to be corrected as a dispersing system as an example to further illustrate a method for determining a speed discharge mapping relationship. Figure 3As shown, the method includes:

[0080] S310. Add an appropriate amount of material into the material box of the spreading system.

[0081] The spreading system may include a material box, a quantitative discharging device and a feeding device, wherein the quantitative discharging device receives the material in the material box and is used to control and adjust the material dosage and flow rate to achieve precise quantitative spreading. The feeding device is used to discharge the material dropped by the quantitative discharging device from the air outlet of the feeding device under the action of high-speed airflow to achieve material spreading.

[0082] S320, within the rated working speed range of the roller, the roller is made to perform ramp speed increase operation, and at the same time, the weighing system records the material weighing within the discharge time period at a preset sampling frequency.

[0083] In an embodiment, the roller speed can be set to increase uniformly within the range of [30-270] rpm within 30 seconds, and the system data of the ramp speed increase process can be collected based on the preset sampling frequency. The system data may include timestamp, discharge wheel speed, cumulative number of revolutions, and material weight. In an embodiment, the preset sampling frequency can be preset to be at least 10 Hz.

[0084] S330. Determine a weight-time mapping relationship based on material weighing and a timestamp corresponding to the material weighing, use the derivative of the weight-time mapping relationship with respect to time as a change in the discharge speed, and obtain a relationship between the discharge speed and the discharge time.

[0085] S340, determining the relationship between the roller speed and the discharge time according to the roller speed and the timestamp.

[0086] S350, according to the relationship between the roller rotation speed and the discharge time and the relationship between the discharge speed and the discharge time, fit the relationship between the discharge speed and the roller rotation speed, that is, the rotation speed discharge mapping relationship.

[0087] In one embodiment, it is assumed that the discharge time is t, in seconds; the material weight is S, in kilograms; the discharge speed is V, in kilograms per minute; and the roller speed is W, in revolutions per minute. The functional relationship between the roller speed and the discharge time is: W = f 1 (t), Then the relationship between material weight and time is: S = f 2 (t,W),S=f 2 (t,f 1 (t)), the material weight is derived with respect to time to get the discharge speed: The functional relationship between the discharge speed and the roller speed is:

[0088] In one embodiment, Figure 4 : is a fixed speed sampling calibration curve diagram provided by the third embodiment of the present invention. Figure 4 As shown in the figure, the fixed speed sampling calibration curve is sampled at a series of fixed speeds. Figure 4 Comparison between the fixed speed sampling calibration curve and the fixed speed sampling points.

[0089] In one embodiment, Figure 5 It is a sampling calibration fitting curve diagram of the ramp speed increase operation provided according to the third embodiment of the present invention. Figure 5 A fitting diagram for determining material weight and discharge time for ramping operation.

[0090] In one embodiment, Figure 6 This is a calibration comparison diagram of fixed speed sampling and ramp speed increase sampling provided according to the third embodiment of the present invention. The ramp speed increase sampling is compared with the benchmark reference data, and the consistency can reach more than 99%, that is, the speed discharge mapping relationship obtained by the ramp speed increase work can achieve accurate calibration of quantitative discharge.

[0091] Embodiment 4

[0092] Figure 7 Schematic diagram of the structure of a quantitative discharging calibration device provided according to the fourth embodiment of the present invention. Figure 7 As shown, the device includes: a ramp speed increase module 41, a data acquisition module 42, a mapping relationship module 43 and a calibration adjustment module 44.

[0093] The ramp speed increasing module 41 is used to control the roller of the target discharging system to be calibrated to perform ramp speed increasing work according to the specified rotation speed acceleration.

[0094] The data acquisition module 42 is used to obtain the change of the discharge weight and the change of the roller speed during the ramp speed increase process according to a preset sampling frequency.

[0095] The mapping relationship module 43 is used to determine the speed discharge mapping relationship based on the change of discharge weight and the change of roller speed.

[0096] The calibration adjustment module 44 is used to calibrate the discharge speed of the target discharge system to be calibrated according to the speed discharge mapping relationship.

[0097] In the embodiment of the present invention, a ramp speed-up module is used to control the roller of the target discharging system to be calibrated to perform ramp speed-up work according to a specified speed acceleration. The data acquisition module obtains the material weight according to a preset sampling frequency to determine the discharging speed, and then determines the change of the discharging weight during the ramp speed-up work, and at the same time determines the change of the roller speed. The mapping relationship module determines the speed discharge mapping relationship based on the change of the discharging weight and the change of the roller speed. The calibration adjustment module calibrates the discharging speed of the target discharging system to be calibrated according to the speed discharge mapping relationship, thereby achieving high-precision calibration of the discharging speed of the target discharging system to be calibrated, reducing the difficulty of quantitative discharging calibration, shortening the time of quantitative discharging calibration, and improving the user experience.

[0098] In one embodiment, the ramp speed increasing module 41 includes:

[0099] The acceleration determination unit is used to determine the specified rotational speed acceleration according to the rated working rotational speed range of the roller.

[0100] The ramp speed increasing unit is used to control the roller to perform ramp speed increasing work at a preset initial speed and a specified speed acceleration.

[0101] In one embodiment, the data acquisition module 42 includes:

[0102] The sampling frequency configuration unit is used to extract a pre-configured preset sampling frequency.

[0103] The data acquisition unit is used to collect system data of the ramp speed increase process based on a preset sampling frequency, wherein the system data includes timestamp, roller speed, cumulative number of roller revolutions, and material weighing.

[0104] The first change confirmation unit is used to determine the roller speed change as the roller speed change according to the roller rotation speed and the timestamp.

[0105] The second change confirmation unit is used to determine the change of the discharge rate as the change of the discharge weight according to the material weighing and the timestamp.

[0106] In one embodiment, the mapping relationship module 43 includes:

[0107] The mapping relationship unit is used to fit the change of roller speed and the change of material discharging speed as the speed discharging mapping relationship.

[0108] In one embodiment, the calibration adjustment module 44 includes:

[0109] The rotation speed determination unit is used to determine the target roller rotation speed corresponding to the discharge speed according to the rotation speed discharge mapping relationship.

[0110] The rotation speed adjustment unit is used to adjust the rotation speed of the roller of the target discharging system to be corrected to the target roller rotation speed.

[0111] In one embodiment, the preset sampling frequency in the data acquisition module 42 is at least 10 Hz.

[0112] In one embodiment, the second situation confirmation unit includes:

[0113] The mapping relationship determination unit is used to determine the weight-time mapping relationship based on the material weighing and the timestamp corresponding to the material weighing.

[0114] The change determination unit is used to use the derivative of the weight-time mapping relationship with respect to time as the change of the discharge rate.

[0115] A quantitative discharging calibration device provided in an embodiment of the present invention can execute a quantitative discharging calibration method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method.

[0116] Embodiment 5

[0117] Figure 8 1 is a schematic diagram of the structure of an electronic device 10 for implementing a quantitative discharge calibration method of an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0118] like Figure 8 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0119] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0120] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as a quantitative discharge calibration method.

[0121] In some embodiments, a quantitative discharge calibration method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the quantitative discharge calibration method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform a quantitative discharge calibration method in any other appropriate manner (e.g., by means of firmware).

[0122] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general programmable processor, which may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0124] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0125] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0126] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0127] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0128] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0129] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A quantitative discharge calibration method, It is characterized in that include: Control the roller of the target discharging system to be calibrated to ramp up speed according to the specified speed acceleration; Obtaining the change in discharge weight and roller speed during the ramp speed increase process according to a preset sampling frequency; Determine a speed discharge mapping relationship based on the change in the discharge weight and the change in the roller speed; The discharge speed of the target discharge system to be calibrated is calibrated according to the speed discharge mapping relationship.

2. The method according to claim 1, It is characterized in that The roller of the control target discharge system to be calibrated performs ramp speed increase according to the specified speed acceleration, including: Determining the specified speed acceleration according to the rated operating speed range of the roller; The roller is controlled to perform the ramp speed increase operation at a preset initial speed and the specified speed acceleration.

3. The method according to claim 1, It is characterized in that The method of obtaining the change of the discharge weight and the change of the roller speed during the ramp speed increase process according to the preset sampling frequency includes: Extracting the pre-configured preset sampling frequency; Based on the preset sampling frequency, the system data of the ramp speed-up working process is collected, wherein the system data includes a timestamp, a roller speed, a cumulative number of roller turns, and a material weighing; Determine the roller speed change according to the roller rotation speed and the timestamp as the roller speed change; The change in discharge rate is determined according to the material weighing and the timestamp as the change in discharge weight.

4. The method according to claim 3, It is characterized in that The determining of the speed discharge mapping relationship based on the change of the discharge weight and the change of the roller speed includes: The roller speed change and the discharge speed change are fitted as the speed-discharge mapping relationship.

5. The method according to claim 1, It is characterized in that The step of calibrating the discharge speed of the target discharge system to be calibrated according to the speed discharge mapping relationship includes: Determine the target roller speed corresponding to the discharge speed according to the speed discharge mapping relationship; The rotation speed of the roller of the target discharging system to be calibrated is adjusted to the target roller rotation speed.

6. The method according to claim 1 or 3, It is characterized in that The preset sampling frequency is at least 10 Hz.

7. The method according to claim 3, It is characterized in that The determining of the change of the discharge rate according to the material weighing and the timestamp includes: Determining a weight-time mapping relationship according to the material weighing and the timestamp corresponding to the material weighing; The time derivative of the weight-time mapping relationship is used as the change in the discharge rate.

8. A quantitative discharge calibration device, It is characterized in that include: The ramp speed increasing module is used to control the roller of the target discharging system to be calibrated to perform ramp speed increasing work according to the specified speed acceleration; A data acquisition module, used for acquiring the change of the discharge weight and the change of the roller speed during the ramp speed increase operation according to a preset sampling frequency; A mapping relationship module, used to determine a speed discharge mapping relationship based on the change of the discharge weight and the change of the roller speed; The calibration adjustment module is used to calibrate the discharge speed of the target discharge system to be calibrated according to the speed discharge mapping relationship.

9. An electronic device, It is characterized in that The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the quantitative discharge calibration method according to any one of claims 1 to 7.

10. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the quantitative discharge calibration method according to any one of claims 1 to 7 when executed.

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