Method and apparatus for controlling bottom band speed, electronic device, and storage medium

Abstract

Embodiments of the present application provide a bottom belt speed control method and device, electronic equipment and storage medium. The bottom belt speed control method comprises: collecting an image of a feeding end in a feeding bin; obtaining the volume of material in the feeding bin based on the image; calculating the current material flow in the feeding bin based on the volume of material in the feeding bin; and adjusting the speed of the bottom belt in the feeding bin based on the relationship between the current material flow and a pre-calculated standard material flow. In the embodiments of the present application, the speed of the bottom belt in the feeding bin can be adjusted based on the relationship between the current material flow and the standard material flow by combining machine vision technology, so that the material flow in the feeding bin meets the production requirements, the frequent start and stop of the bottom belt motor is reduced, and the service life of the equipment is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a bottom belt speed control method and device, electronic equipment and a storage medium. BACKGROUND

[0002] With the development of the modernization trend of industrial progress, the degree of automation of modern enterprises is getting higher and higher, gradually replacing the traditional production mode relying on manual labor, and striving for intelligent production and operation of the whole process. In the process of automatic production and operation, a feeding machine is usually used. The feeding machine is used to uniformly or quantitatively feed the material from the material storage bin or other material storage equipment to the material receiving equipment, and is an important equipment for implementing flow production automation.

[0003] At present, in the process of feeding material, the feeding machine uses photoelectric sensing equipment to identify the amount of material, and controls the start and stop of the bottom belt motor of the feeding bin on the feeding machine according to the amount of material, so as to realize intermittent step feeding of the bottom belt. However, in the intermittent step feeding mode of the bottom belt, the start and stop of the bottom belt motor is relatively frequent, which greatly damages the bottom belt motor and affects the service life of the equipment. SUMMARY

[0004] In view of the above problems, the embodiments of the present application provide a bottom belt speed control method, device, electronic equipment and storage medium, which are used to.

[0005] According to an aspect of an embodiment of the present application, a bottom belt speed control method is provided, and the method comprises:

[0006] acquiring an image of a feeding end in a feeding bin;

[0007] obtaining a material volume in the feeding bin based on the image;

[0008] calculating a current material flow in the feeding bin based on the material volume in the feeding bin;

[0009] adjusting the speed of the bottom belt in the feeding bin based on the relationship between the current material flow and a standard material flow calculated in advance.

[0010] Optionally, the obtaining the material volume in the feeding bin based on the image comprises: obtaining a material volume in a preset material observation area in the image; obtaining a material running time length between the material observation area and a material discharge end of the feeding bin; and performing integral calculation on the material volume in the material observation area in the material running time length to obtain the material volume in the feeding bin.

[0011] Optionally, the obtaining the material volume in the preset material observation region on the image comprises: calculating a material proportion in the material observation region; and taking a product of the material proportion, a height of the feeding bin, a width of the bottom belt, a current speed of the bottom belt, and a time interval of the current calculation as the material volume in the material observation region.

[0012] Optionally, the calculating the material proportion in the material observation region comprises: determining pixel points belonging to the material in the image; and calculating a ratio of a number of the pixel points belonging to the material in the material observation region to a total number of pixel points in the material observation region, and taking the ratio as the material proportion in the material observation region.

[0013] Optionally, the calculating the current material flow in the feeding bin based on the material volume in the feeding bin comprises: obtaining a running time of a bottom belt motor from the material observation region to a discharge end of the feeding bin; and determining a ratio of the material volume in the feeding bin to the running time of the bottom belt motor as the current material flow in the feeding bin.

[0014] Optionally, the adjusting the speed of the bottom belt in the feeding bin based on a relationship between the current material flow and a standard material flow calculated in advance comprises: increasing the speed of the bottom belt when the current material flow is less than the standard material flow; and decreasing the speed of the bottom belt when the current material flow is greater than the standard material flow.

[0015] Optionally, the adjusting the speed of the bottom belt in the feeding bin based on a relationship between the current material flow and a standard material flow calculated in advance comprises: calculating a ratio of the standard material flow to the current material flow; calculating a product of a current speed of the bottom belt and the ratio, and taking the product as a target speed of the bottom belt; and adjusting the speed of the bottom belt from the current speed of the bottom belt to the target speed of the bottom belt.

[0016] Optionally, after the calculating the product of the current speed of the bottom belt and the ratio, and taking the product as the target speed of the bottom belt, the method further comprises: determining whether the target speed of the bottom belt is greater than a preset maximum speed; and adjusting the target speed of the bottom belt to the maximum speed when the target speed of the bottom belt is greater than the maximum speed.

[0017] Optionally, after the multiplication of the current bottom belt speed and the ratio is calculated, and the multiplication is determined as a target bottom belt speed, the method further comprises: determining whether an absolute value of a difference between the target bottom belt speed and the current bottom belt speed is greater than a preset deviation threshold; when the absolute value is greater than the deviation threshold and the target bottom belt speed is greater than the current bottom belt speed, adjusting the target bottom belt speed to a sum of the current bottom belt speed and the deviation threshold; when the absolute value is greater than the deviation threshold and the target bottom belt speed is less than the current bottom belt speed, adjusting the target bottom belt speed to a difference between the current bottom belt speed and the deviation threshold.

[0018] According to another aspect of embodiments of the present application, there is provided a bottom belt speed control device, the device comprising:

[0019] An acquisition module is configured to acquire an image of a feeding end in a feeding bin;

[0020] An obtaining module is configured to obtain a material volume in the feeding bin based on the image;

[0021] A calculation module is configured to calculate a current material flow in the feeding bin based on the material volume in the feeding bin;

[0022] An adjustment module is configured to adjust a speed of a bottom belt in the feeding bin based on a relationship between the current material flow and a pre-calculated standard material flow.

[0023] Optionally, the obtaining module comprises: a first volume obtaining unit configured to obtain a material volume in a preset material observation region in the image; a first time length obtaining unit configured to obtain a material running time length between the material observation region and a discharging end of the feeding bin; and a second volume obtaining unit configured to perform integral calculation on the material volume in the material observation region in the material running time length to obtain the material volume in the feeding bin.

[0024] Optionally, the first volume obtaining unit comprises: a proportion calculation sub-unit configured to calculate a material proportion in the material observation region; and a volume calculation sub-unit configured to take a product of the material proportion, an in-bin height of the feeding bin, a width of the bottom belt, a current speed of the bottom belt and a time interval of the current calculation as the material volume in the material observation region.

[0025] Optionally, the proportion calculation sub-unit is specifically configured to determine pixel points belonging to material in the image; calculate a ratio of a number of the pixel points belonging to material in the material observation region to a total number of pixel points in the material observation region; and take the ratio as the material proportion in the material observation region.

[0026] Optionally, the computing module comprises: a second time length obtaining unit, configured to obtain a time length of operation of a bottom belt motor from the material observation area to the discharge end of the feeding bin; and a flow calculating unit, configured to determine a ratio of a volume of the material in the feeding bin to the time length of operation of the bottom belt motor as a current material flow in the feeding bin.

[0027] Optionally, the adjusting module comprises: a first speed adjusting unit, configured to increase the speed of the bottom belt when the current material flow is less than the standard material flow; and a second speed adjusting unit, configured to decrease the speed of the bottom belt when the current material flow is greater than the standard material flow.

[0028] Optionally, the adjusting module comprises: a speed calculating unit, configured to calculate a ratio of the standard material flow to the current material flow, calculate a product of the current bottom belt speed and the ratio, and determine the product as a target bottom belt speed; and a third speed adjusting unit, configured to adjust the speed of the bottom belt from the current bottom belt speed to the target bottom belt speed.

[0029] Optionally, the adjusting module further comprises: a first judging unit, configured to judge whether the target bottom belt speed is greater than a preset maximum speed; and a fourth speed adjusting unit, configured to adjust the target bottom belt speed to the maximum speed when the target bottom belt speed is greater than the maximum speed.

[0030] Optionally, the adjusting module further comprises: a second judging unit, configured to judge whether an absolute value of a difference between the target bottom belt speed and the current bottom belt speed is greater than a preset deviation threshold; and a fifth speed adjusting unit, configured to adjust the target bottom belt speed to a sum of the current bottom belt speed and the deviation threshold when the absolute value is greater than the deviation threshold and the target bottom belt speed is greater than the current bottom belt speed, and adjust the target bottom belt speed to a difference between the current bottom belt speed and the deviation threshold when the absolute value is greater than the deviation threshold and the target bottom belt speed is less than the current bottom belt speed.

[0031] According to another aspect of embodiments of the present application, an electronic device is provided, comprising: one or more processors; and one or more computer readable storage media having stored thereon instructions which, when executed by the one or more processors, cause the processors to perform the bottom belt speed control method according to any one of the preceding aspects.

[0032] According to another aspect of embodiments of the present application, a computer readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, causes the processor to perform the bottom belt speed control method according to any one of the preceding aspects.

[0033] In the embodiment of the present application, the image of the feeding end in the feeding bin is collected in real time, the material volume in the feeding bin is obtained based on the image, the current material flow in the feeding bin is calculated based on the material volume in the feeding bin, and the speed of the bottom belt in the feeding bin is adjusted based on the relationship between the current material flow and the standard material flow. Therefore, in the embodiment of the present application, the speed of the bottom belt in the feeding bin can be adjusted based on the relationship between the current material flow and the standard material flow by combining the machine vision technology, so that the material flow in the feeding bin meets the production requirements, the frequent start and stop of the bottom belt motor is reduced, and the service life of the equipment is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some of the drawings of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0035] Figure 1 is a structural schematic diagram of a feeding machine according to an embodiment of the present application.

[0036] Figure 2 is a step flow chart of a bottom belt speed control method according to an embodiment of the present application.

[0037] Figure 3 is a schematic diagram of a material observation area according to an embodiment of the present application.

[0038] Figure 4 is a step flow chart of another bottom belt speed control method according to an embodiment of the present application.

[0039] Figure 5 is a step flow chart of still another bottom belt speed control method according to an embodiment of the present application.

[0040] Figure 6 is a structural block diagram of a bottom belt speed control device according to an embodiment of the present application.

[0041] Figure 7 is a structural schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0043] The embodiments in the present application can be widely applied to the intelligent control of the bottom belt speed of a feeder in industrial production lines such as tobacco, coal, mine, port, metallurgy, electric power, and chemical industry.

[0044] With reference to Figure 1 , a structural schematic diagram of a feeder is shown. As shown in Figure 1 , the feeder comprises a feeding bin 1, an abrupt-angle conveyor 2, an abrupt-angle conveyor speed reducer motor M1, a material-distributing roller speed reducer motor M2, a feeding bin bottom belt speed reducer motor M3 (also referred to as a bottom belt motor), a feeding bin tail low material level detection photoelectric switch N1, a feeding bin tail high material level detection photoelectric switch N2, a feeding bin full / empty material detection photoelectric switch N3, and an abrupt-angle conveyor anti-material-breakage detection photoelectric switch N4.

[0045] In the prior art, the working principle of the feeder is as follows:

[0046] The upstream equipment delivers material to the bottom belt at the tail of the feeding bin. When the material is accumulated at the tail of the feeding bin and the feeding bin tail high material level detection photoelectric switch N2 is blocked by the material, the feeding bin bottom belt speed reducer motor M3 is started, and the feeding bin bottom belt moves forward step by step until the feeding bin tail low material level detection photoelectric switch N1 is not blocked by the material, at which time the feeding bin bottom belt speed reducer motor M3 is stopped, and the feeding bin bottom belt stops running. The upstream equipment needs to continue feeding. When the feeding bin tail high material level detection photoelectric switch N2 is blocked by the material again, the feeding bin bottom belt speed reducer motor M3 is started again. This cycle continues until the feeding bin full / empty material detection photoelectric switch N3 is blocked by the material, and the pre-filling of the material in the feeding bin is completed.

[0047] When the feeding bin full / empty material detection photoelectric switch N3 is blocked by the material, the abrupt-angle conveyor speed reducer motor M1 and the material-distributing roller speed reducer motor M2 are started, and the abrupt-angle conveyor starts to lift the material. Then, the feeding bin bottom belt speed reducer motor M3 is started, and the feeding bin bottom belt supplies material to the abrupt-angle conveyor until the abrupt-angle conveyor anti-material-breakage detection photoelectric switch N4 is blocked by the material, at which time the feeding bin bottom belt speed reducer motor M3 is stopped, and the feeding bin bottom belt pauses to supply material. Until the abrupt-angle conveyor anti-material-breakage detection photoelectric switch N4 is not blocked by the material (when the material is empty), the feeding bin bottom belt speed reducer motor M3 is started again, and the feeding bin bottom belt supplies material to the abrupt-angle conveyor. This cycle makes the feeding bin bottom belt supply material intermittently and step by step, and ensures that the abrupt-angle conveyor is not broken.

[0048] However, in the above-mentioned intermittent step-by-step feeding mode of the feeding bin bottom belt, the bottom belt motor (i.e., the feeding bin bottom belt speed reducer motor M3) is started and stopped frequently, which greatly damages the motor and affects the service life.

[0049] In the embodiment of the present application, machine vision technology is adopted to monitor the material flow, and through the design of a clever calculation model, the material flow in the feeding bin is judged in real time to control the speed of the bottom belt of the feeding bin, so that the material flow meets the production requirements of the main machine, and the frequent start and stop of the bottom belt motor is reduced, prolonging the service life of the equipment.

[0050] Machine vision technology is a cross-disciplinary subject involving artificial intelligence, neurobiology, psychophysics, computer science, image processing, pattern recognition and many other fields. Machine vision mainly uses computers to simulate human visual functions, extracts information from images of objective things, processes and understands them, and ultimately for actual detection, measurement and control. The biggest feature of machine vision technology is fast speed, large amount of information and multiple functions, which plays a significant role in improving the intelligent level of production and operation.

[0051] Next, the bottom belt speed control method in the present application will be described in detail in conjunction with the drawings.

[0052] Referring to Figure 2 , a step flowchart of a bottom belt speed control method according to an embodiment of the present application is shown.

[0053] As shown in Figure 2 , the bottom belt speed control method can include the following steps:

[0054] Step 201, an image of the feeding end in the feeding bin is collected.

[0055] Exemplarily, considering that the material enters the feeding bin from the feeding end of the feeding bin, a visual information collection device can be arranged at a suitable position on the observation window of the feeding end of the feeding bin, and the visual information collection device is used to collect the image of the feeding end in the feeding bin.

[0056] The feeding end observation window can be the observation window on the left side of the positions of the low material level detection photoelectric switch N1 and the high material level detection photoelectric switch N2 of the tail of the feeding bin in Figure 1 The visual information collection device can use any applicable camera device.

[0057] Exemplarily, the visual information collection device can collect the image of the feeding end in the feeding bin according to a preset collection time interval. For the specific value of the collection time interval, any applicable value can be used, and the present embodiment does not limit this. For example, the collection time interval can be set to 0.1 seconds, 0.5 seconds, 1 second, etc.

[0058] Step 202, the volume of the material in the feeding bin is obtained based on the image.

[0059] After collecting the image of the feeding end in the feeding bin once, the volume of the material in the feeding bin can be obtained once.

[0060] In the embodiments of the present application, any applicable calculation model, sensor, etc. can be selected to obtain the volume of the material in the feeding bin, and the embodiments are not limited in this regard.

[0061] Exemplarily, for the selected calculation model, in the design of the calculation model, considering that the conveyed material changes over time, in order to accurately estimate the volume of the material in the feeding bin and the speed of the bottom belt within a period of time, an integral calculation model is introduced to perform integral calculation on the time variable, thereby improving the accuracy of the calculation result.

[0062] In an alternative embodiment, the process of obtaining the volume of the material in the feeding bin based on the image can include the following steps A1-A3:

[0063] Step A1: obtaining the volume of the material in a preset material observation area on the image.

[0064] After each image of the feeding end of the feeding bin is collected, the volume of the material in the preset material observation area on the image can be calculated based on the collected image.

[0065] In the embodiments of the present application, the material observation area in the feeding bin can be pre-divided. Since the observation window of the feeding end of the feeding bin is located below the material drop port, the material drops unevenly, but the material near the middle section of the feeding bin is uniform and stable, and thus a part of the area near the middle section of the feeding bin on the observation window of the feeding end of the feeding bin can be used as the material observation area. By selecting a suitable material observation area on the observation window of the feeding end of the feeding bin and setting the visual information collection device, more accurate material information can be collected.

[0066] Exemplarily, the process of obtaining the volume of the material in the preset material observation area on the image can include the following steps A11-A12:

[0067] Step A11: calculating the material proportion in the material observation area.

[0068] First, the pixel points belonging to the material in the image are determined.

[0069] Exemplarily, the image segmentation algorithm can be used to determine the pixel points belonging to the material and the pixel points not belonging to the material in the image. Using the image segmentation algorithm, the pixel points belonging to the material and the pixel points not belonging to the material in the image and the positions of the pixel points in the image can be identified, and then the position of the material in the image is obtained.

[0070] Image segmentation is a technique and process of dividing an image into several specific regions with unique properties and presenting the target of interest. It is a key step from image processing to image analysis. From a mathematical point of view, image segmentation is a process of dividing a digital image into mutually exclusive regions. The process of image segmentation is also a labeling process, that is, pixels belonging to the same region are assigned the same number.

[0071] Exemplarily, the image segmentation in the embodiments of the present application can adopt a threshold-based segmentation method, a region-based segmentation method, an edge-based segmentation method, a segmentation method based on a specific theory, a multi-scale segmentation method based on wavelet analysis and transformation, a clustering-based segmentation method, a segmentation method based on artificial neural network, a segmentation method based on genetic algorithm, a segmentation method based on fuzzy theory, a segmentation method based on random field theory, etc. For the specific image segmentation process, the embodiments will not be discussed in detail here.

[0072] Then, the ratio of the number of pixel points belonging to the material in the material observation area to the total number of pixel points in the material observation area is calculated, and the ratio is taken as the material proportion in the material observation area.

[0073] Exemplarily, the material proportion in the material observation area can be calculated by Formula One as follows:

[0074]

[0075] wherein s i represents the material proportion in the material observation area in the image collected this time, n represents the number of pixel points belonging to the material in the material observation area, and N represents the total number of pixel points in the material observation area.

[0076] Referring to Figure 3 , a schematic diagram of a material observation area in an embodiment of the present application is shown. As Figure 3 shown, the material observation area (i.e. the observation area in Figure 3 ) is located on the feeding bin inlet end observation window close to the middle section of the feeding bin. The pixel points belonging to the material in the material observation area are located in the inner lower end part of the material observation area, and the complete inner part of the material observation area is the pixel points in the material observation area.

[0077] Step A12, the product of the material proportion, the in-bin height of the feeding bin, the width of the bottom belt, the current speed of the bottom belt and the time interval calculated this time is taken as the material volume in the material observation area.

[0078] Exemplarily, the material volume in the material observation area can be calculated by Formula Two as follows:

[0079] vt i Formula two: Δt x v x L x H

[0080] wherein, v t represents the volume of the material in the material observation area corresponding to the image collected this time, s i represents the proportion of the material in the material observation area in the image collected this time, Δt as an infinitesimal, represents the time interval of this calculation (that is, the time difference between this calculation and the last calculation, which can be the image collection time interval, etc.), v represents the current speed of the bottom belt, H represents the height of the feeding bin, and L represents the width of the bottom belt. The current speed of the bottom belt can be obtained by the PLC (Programmable Logic Controller) of the bottom belt motor.

[0081] Step A2, obtaining the material running time length from the material observation area to the discharge end of the feeding bin.

[0082] After collecting the image of the feeding bin inlet every time, the material running time length from the material observation area to the discharge end of the feeding bin can be obtained.

[0083] The distance D from the material observation area to the discharge end of the feeding bin (which can be the observation window of the discharge end of the feeding bin) is measured by a measuring device. Starting from the image of the feeding bin inlet collected this time, the product of the bottom belt speed and the calculation time interval between each two calculations (or each two collections) is calculated, and the calculated products are added. When the sum after addition is greater than or equal to the distance D from the material observation area to the discharge end of the feeding bin, the time interval between the earliest time in the calculation process and the time of this calculation is taken as the material running time length from the material observation area to the discharge end of the feeding bin after collecting the image of the feeding bin inlet this time.

[0084] For example, the image of the feeding bin inlet is collected every 1s, and the time of this collection is the 10th second, so the product of the bottom belt speed and the calculation time interval (10s-9s=1s) between the 9th second and the 10th second, the product of the bottom belt speed and the calculation time interval (9s-8s=1s) between the 8th second and the 9th second, and the product of the bottom belt speed and the calculation time interval (8s-7s=1s) between the 7th second and the 8th second are calculated. At this time, the sum of the above three products is equal to the distance D from the material observation area to the discharge end of the feeding bin, and the time interval between the 7th second and the 10th second, that is, 3s, is taken as the material running time length from the material observation area to the discharge end of the feeding bin.

[0085] ​Step A3, integrating the material volume in the material observation area within the material running time interval to obtain the material volume in the feeding bin.

[0086] After each time an image of the feeding end in the feeding bin is collected, the material volume in the feeding bin can be obtained.

[0087] Exemplarily, the material volume in the feeding bin can be calculated by Formula Three as follows:

[0088]

[0089] wherein V t represents the material volume in the feeding bin after the image of the feeding end in the feeding bin is collected this time, v t represents the material volume in each material observation area within the material running time interval.

[0090] For example, according to the above example, the time interval between the 7th second and the 10th second, i.e. 3 seconds, is taken as the material running time interval between the material observation area and the discharging end of the feeding bin, thus the material volume in each material observation area obtained between the 7th second and the 10th second is integrated to obtain the material volume in the feeding bin after the image of the feeding end in the feeding bin is collected this time.

[0091] Step 203, calculating the current material flow in the feeding bin based on the material volume in the feeding bin.

[0092] In the embodiments of the present application, after the image of the feeding end in the feeding bin is collected each time and the material volume in the feeding bin is calculated, the current material flow in the feeding bin can be calculated based on the current material volume in the feeding bin, and the speed of the bottom belt can be adjusted according to the current material flow in the feeding bin.

[0093] In the embodiments of the present application, an adjustment time interval (i.e. adjustment period) can also be set, and the current material flow in the feeding bin can be calculated based on the current material volume in the feeding bin according to the adjustment time interval, and the speed of the bottom belt can be adjusted according to the current material flow in the feeding bin.

[0094] In an optional embodiment, the process of calculating the current material flow in the feeding bin based on the material volume in the feeding bin can include the following steps B1-B3:

[0095] Step B1, obtaining the running time interval of the bottom belt motor from the material observation area to the discharging end of the feeding bin.

[0096] The current bottom belt motor running time from the material observation area to the discharge end of the feeding bin is related to the material running time from the material observation area to the discharge end of the feeding bin corresponding to the current material volume in the feeding bin during the calculation.

[0097] The current bottom belt motor running time from the material observation area to the discharge end of the feeding bin is calculated by subtracting the bottom belt motor pause time in the material running time from the material observation area to the discharge end of the feeding bin corresponding to the current material volume in the feeding bin during the calculation, to obtain the current bottom belt motor running time from the material observation area to the discharge end of the feeding bin.

[0098] During the operation of the feeding machine, the running and pause states of the bottom belt motor and the running and pause time can be recorded in real time. Through these recorded parameters, the above-mentioned bottom belt motor pause time in the material from the material observation area to the discharge end of the feeding bin corresponding to the current material volume in the feeding bin during the calculation can be obtained.

[0099] Step B2, the ratio of the material volume in the feeding bin to the bottom belt motor running time is determined as the current material flow in the feeding bin.

[0100] Exemplarily, the current material flow in the feeding bin can be calculated by the following formula four:

[0101]

[0102] Wherein, W t represents the current material flow in the feeding bin, and T1 represents the bottom belt motor running time from the material observation area to the discharge end of the feeding bin.

[0103] Step 204, based on the relationship between the current material flow and the pre-calculated standard material flow, the speed of the bottom belt in the feeding bin is adjusted.

[0104] In the embodiment of the application, considering that after the feeding machine starts to transport material for a period of time, the production of each link tends to be stable, the standard material flow of the feeding bin can be calculated based on the data after the production of each link tends to be stable.

[0105] The calculation method of the standard material flow is the same as the calculation method of the current material flow, except that the data used in the calculation process is different.

[0106] Exemplarily, the standard material flow in the feeding bin can be calculated by the following formula five:

[0107]

[0108] wherein, represents the standard material flow in the feeding bin, and T2 represents the time from the start to the end of the calculation of the standard material flow (for example, the running time of the bottom belt motor in the running time of the material corresponding to the standard material flow), and specific information can be referred to in the calculation of the current material flow, which will not be discussed in detail in the embodiment.

[0109] After the current material flow in the feeding bin is calculated, the speed of the bottom belt in the feeding bin can be adjusted based on the relationship between the current material flow and the pre-calculated standard material flow. By adjusting the speed of the bottom belt, the material flow in the feeding bin is indirectly affected, so that the material flow can meet the production requirements. The specific process of adjusting the speed of the bottom belt in the feeding bin based on the relationship between the current material flow and the pre-calculated standard material flow will be discussed in detail in the following embodiments.

[0110] In the embodiments of the present application, the machine vision technology is combined to adjust the speed of the bottom belt in the feeding bin based on the relationship between the current material flow and the standard material flow in the feeding bin, so as to control the material flow in the feeding bin to meet the production requirements, reduce the frequent start and stop of the bottom belt motor, and prolong the service life of the equipment.

[0111] Referring to Figure 4 , a step flowchart of another bottom belt speed control method of the embodiments of the present application is shown.

[0112] As shown in Figure 4 , the bottom belt speed control method can include the following steps:

[0113] Step 401, an image of the feeding end in the feeding bin is collected.

[0114] Step 402, the volume of the material in the feeding bin is obtained based on the image.

[0115] Step 403, the current material flow in the feeding bin is calculated based on the volume of the material in the feeding bin.

[0116] Step 404, the current material flow is compared with the pre-calculated standard material flow. When the current material flow is less than the standard material flow, step 405 is performed; when the current material flow is greater than the standard material flow, step 406 is performed.

[0117] Step 405, when the current material flow is less than the standard material flow, the speed of the bottom belt is increased.

[0118] When the current material flow is less than the standard material flow, it indicates that the current material flow is small, and the material flow in the feeding bin needs to be increased, so the speed of the bottom belt can be increased to indirectly increase the material flow in the feeding bin. In implementation, an increasing speed instruction can be sent to the PLC of the bottom belt motor, so that the speed of the bottom belt is increased by the PLC control.

[0119] Exemplarily, a suitable speed increment can be preset, and the speed of the bottom belt is increased according to the preset speed increment.

[0120] Exemplarily, the target bottom belt speed can be calculated according to the standard material flow, the current material flow and the current bottom belt speed, and the current speed increment can be calculated according to the target bottom belt speed and the current bottom belt speed, and the speed of the bottom belt is increased according to the current speed increment.

[0121] In implementation, the target bottom belt speed in the current state can be calculated according to the logic relationship that the speed of the bottom belt is proportional to the material flow. Specifically, the ratio of the standard material flow to the current material flow is calculated, and the product of the current bottom belt speed and the ratio is calculated, and the product is determined as the target bottom belt speed.

[0122] The target bottom belt speed can be calculated by the following formula six:

[0123]

[0124] Wherein, v' represents the target bottom belt speed, v represents the current bottom belt speed, W represents the standard material flow, W t represents the current material flow.

[0125] After the target bottom belt speed is calculated, the difference between the target bottom belt speed and the current bottom belt speed is determined as the current speed increment.

[0126] Step 406, when the current material flow is greater than the standard material flow, the speed of the bottom belt is reduced.

[0127] When the current material flow is greater than the standard material flow, it indicates that the current material flow is large, and the material flow in the feeding bin needs to be reduced, so the speed of the bottom belt in the feeding bin can be reduced to indirectly reduce the material flow in the feeding bin. In implementation, a speed reduction instruction can be sent to the PLC of the bottom belt motor, so that the speed of the bottom belt is reduced by the PLC control.

[0128] Exemplarily, a suitable speed decrement can be preset, and the speed of the bottom belt is reduced according to the preset speed decrement.

[0129] Exemplarily, the target bottom belt speed can be calculated according to the standard material flow, the current material flow and the current bottom belt speed, and then the current speed decrement can be calculated according to the target bottom belt speed and the current bottom belt speed, and the speed of the bottom belt is reduced according to the current speed decrement.

[0130] For the calculation of the target bottom belt speed, refer to the relevant description above.

[0131] After the target bottom belt speed is calculated, the difference between the current bottom belt speed and the target bottom belt speed is determined as the current speed decrement.

[0132] Referring to Figure 5 , another step flow chart of the bottom belt speed control method is shown.

[0133] As shown in Figure 5 , the bottom belt speed control method can include the following steps:

[0134] Step 501, an image of the feeding end in the feeding bin is collected.

[0135] Step 502, the material volume in the feeding bin is obtained based on the image.

[0136] Step 503, the current material flow in the feeding bin is calculated based on the material volume in the feeding bin.

[0137] Step 504, the target bottom belt speed is calculated based on the current material flow, the pre-calculated standard material flow and the current bottom belt speed.

[0138] The ratio of the standard material flow to the current material flow is calculated, and the product of the current bottom belt speed and the ratio is calculated, and the product is determined as the target bottom belt speed. For the specific calculation process of the target bottom belt speed, refer to the relevant description above.

[0139] Step 505, the speed of the bottom belt is adjusted from the current bottom belt speed to the target bottom belt speed.

[0140] In implementation, a speed regulation instruction can be sent to the PLC of the bottom belt motor, so that the speed of the bottom belt is adjusted from the current bottom belt speed to the target bottom belt speed through the PLC control.

[0141] In an optional embodiment, after the target bottom belt speed is calculated, it can also be judged whether the target bottom belt speed is greater than a preset maximum speed; when the target bottom belt speed is greater than the maximum speed, the target bottom belt speed is adjusted to the maximum speed.

[0142] In the embodiments of the present application, the target bottom belt speed is set to be greater than or equal to 0 and less than the theoretical maximum speed, that is, 0≤v ′ ≤F, where F represents the theoretical maximum speed. The maximum speed can be set to any applicable value according to actual conditions, and the embodiments do not limit this. For example, the maximum speed can be set to 5 m / s, etc.

[0143] In an optional embodiment, after the target bottom belt speed is calculated, it can also be judged whether the absolute value of the difference between the target bottom belt speed and the current bottom belt speed is greater than a preset deviation threshold value; when the absolute value is greater than the deviation threshold value and the target bottom belt speed is greater than the current bottom belt speed, the target bottom belt speed is adjusted to the sum of the current bottom belt speed and the deviation threshold value; when the absolute value is greater than the deviation threshold value and the target bottom belt speed is less than the current bottom belt speed, the target bottom belt speed is adjusted to the difference between the current bottom belt speed and the deviation threshold value.

[0144] In the embodiments of the present application, the fluctuation of the bottom belt speed is controlled within a certain deviation threshold, that is, |v ′ -|-≤δ, where δ represents the deviation threshold. The deviation threshold can be set to any applicable value according to actual conditions, and the embodiments do not limit this. For example, the deviation threshold can be set to 0.1 m / s, etc.

[0145] In this case, the target bottom belt speed is determined as follows:

[0146]

[0147] In the embodiments of the present application, by introducing a material flow detection method based on machine vision technology, the real-time material flow in the feeding bin is judged in real time, the appropriate bottom belt speed is inferred, the running speed of the feeding bin bottom belt is adjusted in real time, and the discharge flow meets the main machine production flow, thereby reducing the frequent start and stop of the equipment and prolonging the service life of the equipment.

[0148] Referring to Figure 6 , a structural block diagram of a bottom belt speed control device in an embodiment of the present application is shown.

[0149] As shown in Figure 6 , the bottom belt speed control device can include the following modules:

[0150] The acquisition module 601 is configured to acquire an image of the feeding end in the feeding bin.

[0151] The acquisition module 602 is configured to acquire the volume of the material in the feeding bin based on the image.

[0152] The computing module 603 is configured to calculate a current material flow in the feeding bin based on a material volume in the feeding bin.

[0153] The adjusting module 604 is configured to adjust a speed of the bottom belt in the feeding bin based on a relationship between the current material flow and a pre-calculated standard material flow.

[0154] Optionally, the acquisition module 602 comprises: a first volume acquisition unit configured to acquire a material volume in a preset material observation region on the image; a first time length acquisition unit configured to acquire a material running time length from the material observation region to a discharge end of the feeding bin; and a second volume acquisition unit configured to perform integral calculation on the material volume in the material observation region in the material running time length to obtain the material volume in the feeding bin.

[0155] Optionally, the first volume acquisition unit comprises: a proportion calculation sub-unit configured to calculate a material proportion in the material observation region; and a volume calculation sub-unit configured to take a product of the material proportion, a bin height of the feeding bin, a width of the bottom belt, a current speed of the bottom belt and a time interval of the current calculation as the material volume in the material observation region.

[0156] Optionally, the proportion calculation sub-unit is specifically configured to determine pixel points belonging to material in the image; calculate a ratio of a number of the pixel points belonging to material in the material observation region to a total number of pixel points in the material observation region; and take the ratio as the material proportion in the material observation region.

[0157] Optionally, the computing module 603 comprises: a second time length acquisition unit configured to acquire a bottom belt motor running time length from the material observation region to the discharge end of the feeding bin; and a flow calculation unit configured to determine a ratio of the material volume in the feeding bin to the bottom belt motor running time length as the current material flow in the feeding bin.

[0158] Optionally, the adjusting module 604 comprises: a first speed adjusting unit configured to increase the speed of the bottom belt when the current material flow is less than the standard material flow; and a second speed adjusting unit configured to decrease the speed of the bottom belt when the current material flow is greater than the standard material flow.

[0159] Optionally, the adjusting module 604 comprises: a speed calculation unit configured to calculate a ratio of the standard material flow to the current material flow, calculate a product of a current bottom belt speed and the ratio, and determine the product as a target bottom belt speed; and a third speed adjusting unit configured to adjust the speed of the bottom belt from the current bottom belt speed to the target bottom belt speed.

[0160] Optionally, the adjusting module 604 further comprises: a first judging unit, configured to judge whether the target bottom belt speed is greater than a preset maximum speed; and a fourth speed adjusting unit, configured to adjust the target bottom belt speed to the maximum speed when the target bottom belt speed is greater than the maximum speed.

[0161] Optionally, the adjusting module 604 further comprises: a second judging unit, configured to judge whether an absolute value of a difference between the target bottom belt speed and the current bottom belt speed is greater than a preset deviation threshold; and a fifth speed adjusting unit, configured to adjust the target bottom belt speed to a sum of the current bottom belt speed and the deviation threshold when the absolute value is greater than the deviation threshold and the target bottom belt speed is greater than the current bottom belt speed, and adjust the target bottom belt speed to a difference between the current bottom belt speed and the deviation threshold when the absolute value is greater than the deviation threshold and the target bottom belt speed is less than the current bottom belt speed.

[0162] In the embodiments of the present application, the machine vision technology is combined, the speed of the bottom belt in the feeding bin can be adjusted based on the relationship between the current material flow and the standard material flow in the feeding bin, and thus the material flow in the feeding bin can meet the production requirements, the frequent start and stop of the bottom belt motor is reduced, and the service life of the equipment is prolonged.

[0163] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts refer to the part of the method embodiments.

[0164] In the embodiments of the present application, an electronic device is also provided. The electronic device can include one or more processors, and one or more computer readable storage media having stored thereon instructions, such as an application program. When the instructions are executed by the one or more processors, the processors perform the bottom belt speed control method of any of the above embodiments.

[0165] Reference Figure 7 is a schematic diagram of an electronic device structure according to an embodiment of the present application. As shown in Figure 7 , the electronic device includes a processor 701, a communication interface 702, a memory 703, and a communication bus 704. The processor 701, the communication interface 702, and the memory 703 communicate with each other through the communication bus 704.

[0166] The memory 703 is configured to store a computer program.

[0167] The processor 701 is configured to execute the program stored in the memory 703, and implement the bottom belt speed control method of any of the above embodiments.

[0168] The communication interface 702 is configured to communicate between the electronic device and other devices.

[0169] The communication bus 704 mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0170] The processor 701 mentioned above can include, but is not limited to, a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processing (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc.

[0171] The memory 703 mentioned above can include, but is not limited to, a Read Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read Only Memory (CD-ROM), an Electronic Erasable Programmable Read Only Memory (EEPROM), a hard disk, a floppy disk, a flash memory, etc.

[0172] In the embodiments of the present application, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program executable by a processor of an electronic device. When the computer program is executed by the processor, the processor executes the bottom speed control method according to any one of the above embodiments.

[0173] Each of the embodiments in the specification is related to each other, and each of the embodiments is described in a progressive manner, and each of the embodiments mainly describes the difference from other embodiments, and the same and similar parts between each of the embodiments can be referred to each other.

[0174] It is indicated that, in this article, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Moreover, the term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or terminal device. Without more limitation, the element defined by the statement "including a" does not exclude the presence of another same element in the process, method, article or terminal device including the element.

[0175] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk) and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner or network device) execute the method described in each embodiment of the present application.

[0176] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, not limiting, and those skilled in the art can make many forms without departing from the scope of the present application and the scope of protection of the claims under the inspiration of the present application, which all belong to the protection of the present application.

[0177] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the embodiments of the present application can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solutions. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0178] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0179] In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the described embodiments of the apparatus are merely schematic. For example, the division of the units is only a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0180] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0181] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0182] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, and various other media that can store program codes.

[0183] The above describes only the specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. In summary, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A method of controlling the speed of a baseband, characterized by, The method comprises: collecting an image of the feeding end in the feeding bin; acquiring the material volume in the feeding bin based on the image; calculating the current material flow in the feeding bin based on the material volume in the feeding bin; adjusting the speed of the bottom belt in the feeding bin based on the relationship between the current material flow and the pre-calculated standard material flow; the acquiring the material volume in the feeding bin based on the image comprises: acquiring the material volume in the preset material observation area on the image; acquiring the material running time length between the material observation area and the discharge end of the feeding bin; integrating the material volume in the material observation area in the material running time length to obtain the material volume in the feeding bin; the acquiring the material volume in the preset material observation area on the image comprises: calculating the material proportion in the material observation area; taking the product of the material proportion, the in-bin height of the feeding bin, the width of the bottom belt, the current speed of the bottom belt and the time interval of the current calculation as the material volume in the material observation area; the calculating the material proportion in the material observation area comprises: determining the pixel points belonging to the material in the image; calculating the ratio of the number of pixel points belonging to the material in the material observation area to the total number of pixel points in the material observation area, and taking the ratio as the material proportion in the material observation area; the calculating the current material flow in the feeding bin based on the material volume in the feeding bin comprises: acquiring the bottom belt motor running time length from the material observation area to the discharge end of the feeding bin; determining the current material flow in the feeding bin as the ratio of the material volume in the feeding bin to the bottom belt motor running time length.

2. The method of claim 1, wherein, the adjusting the speed of the bottom belt in the feeding bin based on the relationship between the current material flow and the pre-calculated standard material flow comprises: when the current material flow is less than the standard material flow, increasing the speed of the bottom belt; when the current material flow is greater than the standard material flow, decreasing the speed of the bottom belt.

3. The method of claim 1, wherein, the adjusting the speed of the bottom belt in the feeding bin based on the relationship between the current material flow and the pre-calculated standard material flow comprises: calculating the ratio of the standard material flow to the current material flow; calculating the product of the current bottom belt speed and the ratio, and taking the product as the target bottom belt speed; adjusting the speed of the bottom belt from the current bottom belt speed to the target bottom belt speed.

4. The method of claim 3, wherein, after the calculating the product of the current bottom belt speed and the ratio, and taking the product as the target bottom belt speed, further comprising: judging whether the target bottom belt speed is greater than a preset maximum speed; when the target bottom belt speed is greater than the maximum speed, adjusting the target bottom belt speed to the maximum speed.

5. The method of claim 3, wherein, after the calculating the product of the current bottom belt speed and the ratio, and taking the product as the target bottom belt speed, further comprising: judging whether the absolute value of the difference between the target bottom belt speed and the current bottom belt speed is greater than a preset deviation threshold; adjusting the target bottom belt speed to a sum of the current bottom belt speed and the deviation threshold value when the absolute value is greater than the deviation threshold value and the target bottom belt speed is greater than the current bottom belt speed; adjusting the target bottom belt speed to a difference between the current bottom belt speed and the deviation threshold value when the absolute value is greater than the deviation threshold value and the target bottom belt speed is less than the current bottom belt speed.

6. A bottom band speed control device characterized by, The device comprises: a collection module configured to collect an image of an inlet end of a feeding bin; an acquisition module configured to acquire a material volume in the feeding bin based on the image; a calculation module configured to calculate a current material flow in the feeding bin based on the material volume in the feeding bin; and an adjustment module configured to adjust a speed of a bottom belt in the feeding bin based on a relationship between the current material flow and a pre-calculated standard material flow. The acquisition module comprises: a first volume acquisition unit configured to acquire a material volume in a preset material observation region on the image; a first time length acquisition unit configured to acquire a material running time length from the material observation region to a discharge end of the feeding bin; a second volume acquisition unit configured to perform integral calculation on the material volume in the material observation region in the material running time length to obtain the material volume in the feeding bin. The first volume acquisition unit comprises: a proportion calculation subunit configured to calculate a material proportion in the material observation region; and a volume calculation subunit configured to take a product of the material proportion, an in-bin height of the feeding bin, a width of the bottom belt, a current speed of the bottom belt, and a time interval of the current calculation as the material volume in the material observation region. The proportion calculation subunit is specifically configured to determine pixel points belonging to material in the image, calculate a ratio of a number of the pixel points belonging to material in the material observation region to a total number of pixel points in the material observation region, and take the ratio as the material proportion in the material observation region. The calculation module comprises: a second time length acquisition unit configured to acquire a bottom belt motor running time length from the material observation region to the discharge end of the feeding bin; and a flow calculation unit configured to determine a current material flow in the feeding bin as a ratio of the material volume in the feeding bin to the bottom belt motor running time length.

7. An electronic device, comprising: comprise: one or more processors; and one or more computer readable storage media having stored thereon instructions; when the instructions are executed by the one or more processors, cause the processors to perform the bottom belt speed control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, a computer program stored on one or more computer readable storage media, when executed by a processor, cause the processor to perform the bottom belt speed control method according to any one of claims 1 to 5.

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