A material taking speed control method and device, electronic equipment and storage medium
By using image recognition inside the hopper and dynamically adjusting the material handling speed, the problem of mismatch in material handling strategy caused by material displacement was solved, thus achieving efficient and safe operation of the material handling equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHONGQING SAIDIQIZHI ARTIFICIAL INTELLIGENCE TECH CO LTD
- Filing Date
- 2023-04-28
- Publication Date
- 2026-05-19
AI Technical Summary
After the material is displaced, the pre-set material handling path and speed strategy of the existing material handling equipment cannot meet the actual material handling requirements, resulting in insufficient efficiency and safety.
By recognizing images inside the hopper, the material height is obtained and the material handling speed is dynamically adjusted. Pixel area analysis and control algorithms are used to precisely control the material handling operation.
It achieves precise control over the material handling operation, meets material handling requirements, and improves the working efficiency and safety of the equipment.
Smart Images
Figure CN116513825B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of automation technology, and more specifically, to a material handling speed control method, device, electronic device, and storage medium. Background Technology
[0002] In recent years, with the rapid development of the national economy, the demand for bulk material handling equipment has been increasing across all industries, and the requirements for it have also become more stringent, such as improving both work efficiency and safety. Existing material handling equipment typically has pre-set handling paths and speed strategies before handling operations. However, in actual applications, the material pile itself may shift, causing the pre-set strategies to fail to meet the handling requirements. Summary of the Invention
[0003] The purpose of this application is to provide a material handling speed control method, device, electronic device, and storage medium. By performing image recognition on the material hopper in the image to be recognized, the material height inside the hopper is obtained. The material height is then dynamically adjusted to control the material handling operation accurately and meet the material handling requirements.
[0004] In a first aspect, embodiments of this application provide a material handling speed control method, comprising: obtaining a pixel region inside a hopper in an image to be identified; obtaining the material height inside the hopper based on the pixel region inside the hopper; obtaining a hopper loading offset based on the material height; and controlling the material handling speed of the hopper based on the hopper loading offset.
[0005] In the above implementation process, the material height inside the hopper is obtained by performing image analysis on the pixel area inside the hopper in the image to be identified. The material height is then used to dynamically adjust the material picking speed of the hopper, so as to achieve more precise control over the material picking operation and meet the material picking requirements.
[0006] Optionally, in this embodiment, obtaining the material height inside the hopper based on the pixel area inside the hopper includes: obtaining the brightness information of each pixel in the pixel area inside the hopper based on a preset pixel component weight; determining the brightness information inside the hopper based on the brightness information of each pixel; and matching the material height inside the hopper corresponding to the brightness information inside the hopper in a preset database based on the brightness information inside the hopper.
[0007] In the above implementation process, by acquiring the brightness information of each pixel, the brightness information inside the hopper is calculated, and the material height inside the hopper is determined by the brightness information inside the hopper. This improves the accuracy of the material height calculation inside the hopper and provides an accurate material height basis for subsequent speed control, so as to make the material picking speed control more precise.
[0008] Optionally, in this embodiment, the pixel component weights include red channel pixel component weights, green channel pixel component weights, and blue channel pixel component weights; based on the preset pixel component weights, the brightness information of each pixel in the pixel region inside the hopper is obtained, including: based on the red channel pixel component weights, green channel pixel component weights, and blue channel pixel component weights, the brightness information of each pixel in the pixel region inside the hopper is obtained through a weighted summation algorithm.
[0009] In the above implementation process, the brightness information of each pixel in the pixel area inside the hopper is obtained by using the weights corresponding to the primary color components of the pixels and the weighted summation algorithm, thereby improving the accuracy of the brightness information inside the hopper and thus improving the accuracy of the material height calculation inside the hopper.
[0010] Optionally, in this embodiment of the application, obtaining the material height inside the hopper based on the pixel area inside the hopper includes: performing binarization processing on the pixel area inside the hopper to obtain the pixel information of the loading area corresponding to the pixel inside the hopper; and obtaining the material height inside the hopper based on the pixel information of the loading area.
[0011] In the above implementation process, by performing binarization processing on the pixel area inside the hopper, the pixel information of the loading area corresponding to the pixel inside the hopper is obtained, which accurately distinguishes the non-loading area pixel area of the loading area pixel area and improves the accuracy of material height calculation inside the hopper.
[0012] Optionally, in this embodiment of the application, obtaining the material height inside the hopper based on the pixel information of the loading area includes: obtaining the material height inside the hopper based on the pixel ratio between the pixel information of the loading area and the pixel area inside the hopper; or, obtaining the material height inside the hopper based on the number of pixels corresponding to the pixel information of the loading area.
[0013] In the above implementation process, the non-loading area pixel area is accurately distinguished by the ratio or quantity of pixel information in the loading area, thereby improving the accuracy of material height calculation inside the hopper.
[0014] Optionally, in this embodiment, controlling the material-retrieving speed of the hopper based on the hopper loading offset includes: controlling the material-retrieving speed according to the hopper loading offset using a control algorithm; the material-retrieving speed is the speed in the hopper's running direction; the control algorithm includes:
[0015] Vz = K p *(W+1 / T i *E1+T d *E2)
[0016] Where Vz is the material feeding speed, Kp is the proportional deviation, Ti is the integral deviation, Td is the differential deviation, W is the hopper loading offset, E1 is the integral error, and E2 is the derivative error.
[0017] In the above implementation process, the control algorithm accurately and dynamically controls the material taking speed in the direction of the hopper's movement based on the hopper loading offset, so as to control the hopper loading amount and make its material taking amount meet the user's needs.
[0018] Optionally, in this embodiment of the application, obtaining the pixel region inside the hopper in the image to be identified includes: obtaining the horizontal gradient value and the vertical gradient value of the pixels in the image to be identified; wherein, the image to be identified is acquired by an image acquisition device mounted on the material receiving head; obtaining the edge information of the image to be identified based on the horizontal gradient value and the vertical gradient value; and obtaining the pixel region inside the hopper based on the edge information.
[0019] In the above implementation process, by obtaining the horizontal and vertical gradient values of the pixels in the image to be identified, the edge information of the image to be identified is obtained, thereby improving the accuracy of the pixel area inside the hopper.
[0020] Secondly, embodiments of this application also provide a material handling speed control device, comprising: an acquisition module for acquiring a pixel area inside a hopper in an image to be identified; a material height calculation module for acquiring the material height inside the hopper based on the pixel area inside the hopper; an offset module for acquiring a hopper loading offset based on the material height; and a speed control module for controlling the material handling speed of the hopper based on the hopper loading offset.
[0021] Thirdly, embodiments of this application also provide an electronic device, including: a processor and a memory, the memory storing machine-readable instructions executable by the processor, which, when executed by the processor, perform the method described above.
[0022] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the methods described above.
[0023] The material handling speed control method, apparatus, electronic device, and storage medium provided in this application are used to analyze and process the pixel area inside the hopper in the image to be identified, obtain the material height inside the hopper, and dynamically adjust the material handling speed of the hopper based on the material height to accurately control the material handling operation and meet the material handling requirements. Attached Figure Description
[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0025] Figure 1 A flowchart illustrating a material handling speed control method provided in an embodiment of this application;
[0026] Figure 2 This is a schematic diagram of the material handling control process provided in an embodiment of this application;
[0027] Figure 3 This is a schematic diagram of the material handling speed control device provided in the embodiments of this application;
[0028] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation
[0029] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.
[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application.
[0031] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.
[0032] Please see Figure 1 The illustrated diagram shows a flowchart of a material handling speed control method provided in an embodiment of this application. The material handling speed control method provided in this embodiment can be applied to electronic devices, which may include a terminal and a server; the terminal may specifically be a smartphone, tablet computer, computer, personal digital assistant (PDA), etc.; the server may specifically be an application server or a web server. The material handling speed control method may include:
[0033] Step S110: Obtain the pixel area inside the hopper in the image to be identified.
[0034] Step S120: Obtain the material height inside the hopper based on the pixel area inside the hopper.
[0035] Step S130: Obtain the hopper loading offset based on the material height.
[0036] Step S140: Control the material handling speed of the hopper based on the hopper loading offset.
[0037] In step S110, the image to be identified includes an image of the hopper, which can be acquired by capturing the image of the hopper using an image acquisition device. The image acquisition device can be installed on the hopper lifting structure, which is connected to the material handling head. The hopper lifting structure is used to control the lifting and lowering of the hopper. Alternatively, the image acquisition device can be mounted on other structures that can acquire the image of the hopper and remain relatively fixed to the hopper.
[0038] Image analysis is performed on the image to be recognized to obtain the pixel region inside the hopper. This pixel region includes both the hopper's own pixel area and the pixel area of the material inside the hopper. The pixel region inside the hopper can be a rectangle, circle, ellipse, or irregular shape, delineating the area to be processed from the image. Specifically, the ROI (region of interest) can be obtained using operators and functions in machine vision algorithms.
[0039] In step S120, the method for obtaining the material height inside the hopper based on the pixel region inside the hopper includes: a first method, extracting the pixel region representing the loading area from the pixel region inside the hopper using a threshold segmentation method; and determining the material height inside the hopper based on the number or proportion of pixels in the pixel region of the loading area.
[0040] The second method involves obtaining the brightness information of each pixel within the hopper's internal pixel area, and then determining the material height inside the hopper based on this brightness information and a pre-set database. The pre-set database includes a brightness information lookup table, which shows the correspondence between pixel brightness information and material height, or between the brightness information of the entire pixel area within the hopper and the material height.
[0041] In step S130, the material height calculated from the image in the previous steps is compared with the preset standard material height, and the difference between the two is calculated to obtain the hopper loading offset. The standard material height represents a suitable material height in the hopper, and it is necessary to ensure that the material handling equipment will not be overloaded when setting the standard material height.
[0042] In step S140, the hopper loading offset represents the difference between the material height and the preset standard material height. Based on the hopper loading offset, the hopper's material handling speed is obtained. Specifically, proportional-integral-derivative (PID) control, PI control, or PD control can be used.
[0043] The material handling speed of the hopper includes horizontal speed, vertical speed, and direction of movement. By controlling the vertical speed of the hopper, the material handling depth can be controlled, and by controlling the direction of movement of the hopper, the material handling path can be controlled, thereby controlling the height of the material in the hopper and gradually reducing the difference between it and the preset standard material height until they are completely consistent.
[0044] In the above implementation process, the material height inside the hopper is obtained by performing image analysis on the pixel area inside the hopper in the image to be identified. The hopper excavation speed is dynamically adjusted based on the material height to accurately control the material handling operation and meet the material handling requirements.
[0045] Optionally, in this embodiment, obtaining the material height inside the hopper based on the pixel area inside the hopper includes: obtaining the brightness information of each pixel in the pixel area inside the hopper based on a preset pixel component weight; determining the brightness information inside the hopper based on the brightness information of each pixel; and matching the material height inside the hopper corresponding to the brightness information inside the hopper in a preset database based on the brightness information inside the hopper.
[0046] In the specific implementation process: the pixel component weight is the weight corresponding to the primary color component of the pixel. The pixel component weight can include the weight of the red channel pixel component, the weight of the green channel pixel component, and the weight of the blue channel pixel component. Based on the pixel component weight and the pixel value of the pixel inside the hopper in each component, the brightness information of each pixel is determined.
[0047] After determining the brightness information of each pixel, the brightness information inside the hopper is determined based on this information. The brightness information inside the hopper represents the overall brightness of the pixel area within the hopper. The calculation method can include the average value method, which calculates the average brightness information of each pixel inside the hopper as the overall brightness information. A pre-set database stores the correspondence between the brightness information inside the hopper and the material height inside the hopper.
[0048] As one implementation method, determining the brightness information inside the hopper can also be achieved by: after acquiring the brightness information of each pixel, determining the number of pixels greater than a brightness threshold; and determining the internal brightness information based on the number of pixels greater than the brightness threshold. The material height inside the hopper corresponding to each brightness level is then determined from a preset database. Specifically, for example, pixels greater than the brightness threshold can be referred to as high-brightness pixels.
[0049] The database pre-sets the internal brightness information corresponding to the number of highlighted pixels. For example, for hopper interior images with fewer than 1000 highlighted pixels, the internal brightness information is set to the first brightness; for hopper interior images with between 1000 and 5000 highlighted pixels, the internal brightness information is set to the second brightness, and so on. The material height corresponding to the first brightness is designated as the first height, and the material height corresponding to the second brightness is designated as the second height.
[0050] In the above implementation process, by acquiring the brightness information of each pixel, the brightness information inside the hopper is calculated, and the material height inside the hopper is determined by the brightness information inside the hopper. This improves the accuracy of the material height calculation inside the hopper and provides an accurate material height basis for subsequent speed control, so as to make the material picking speed control more precise.
[0051] Optionally, in this embodiment, the pixel component weights include red channel pixel component weights, green channel pixel component weights, and blue channel pixel component weights; based on the preset pixel component weights, the brightness information of each pixel in the pixel region inside the hopper is obtained, including: based on the red channel pixel component weights, green channel pixel component weights, and blue channel pixel component weights, the brightness information of each pixel in the pixel region inside the hopper is obtained through a weighted summation algorithm.
[0052] In the specific implementation process, the weighted summation algorithm includes:
[0053] L=W r R+W g G+W b B
[0054] Among them, the brightness information of pixel L, W r Here, R represents the red channel pixel component weights, and W represents the red channel pixel value. g Here, G represents the green channel pixel component weight, and W represents the green channel pixel value. b B represents the pixel component weight of the blue channel, and B represents the pixel value of the blue channel.
[0055] The pixel component weights of the red channel, green channel, and blue channel can be set according to actual needs.
[0056] In the above implementation process, the brightness information of each pixel in the pixel area inside the hopper is obtained by using the weights corresponding to the primary color components of the pixels and the weighted summation algorithm, thereby improving the accuracy of the brightness information inside the hopper and thus improving the accuracy of the material height calculation inside the hopper.
[0057] Optionally, in this embodiment of the application, obtaining the material height inside the hopper based on the pixel area inside the hopper includes: performing binarization processing on the pixel area inside the hopper to obtain the pixel information of the loading area corresponding to the pixel inside the hopper; and obtaining the material height inside the hopper based on the pixel information of the loading area.
[0058] In the specific implementation process: Image binarization involves setting the grayscale value of each pixel in the image to either 0 or 255, thus presenting the entire image as a distinct black and white visual effect. Binarization of the pixel region inside the hopper can be achieved by setting the grayscale value of each pixel to either 0 or 255. Specifically, based on a threshold, the pixel values in the non-loading area are set to 0, and the pixel values in the loading area are set to 255. This results in a black and white image for both the loading and non-loading areas.
[0059] For example, an image might include the target object, the background, and noise. The pixel region of the loading area represents the target object. To directly extract the pixel region of the loading area from the multi-valued pixel region inside the hopper, binarization can be used. By setting a global threshold, the image data is divided into two parts: a group of pixels with values greater than the threshold and a group of pixels with values less than the threshold. Pixel values greater than the threshold are set to white (or black), and pixel values less than the threshold are set to black (or white).
[0060] The threshold can be obtained by setting it based on the local features of the pixel region inside the hopper; the local features include the average pixel value, the squared difference between pixels, or the root mean square value between pixels, etc.
[0061] After distinguishing between the pixels in the loading area and the pixels in the non-loading area inside the hopper, the material height inside the hopper is obtained based on the pixel information in the loading area. Specifically, for example, the material height inside the hopper is obtained based on the number or proportion of pixels in the loading area.
[0062] In the above implementation process, by performing binarization processing on the pixel area inside the hopper, the pixel information of the loading area corresponding to the pixel inside the hopper is obtained, which accurately distinguishes the non-loading area pixel area of the loading area pixel area and improves the accuracy of material height calculation inside the hopper.
[0063] Optionally, in this embodiment of the application, obtaining the material height inside the hopper based on the pixel information of the loading area includes: obtaining the material height inside the hopper based on the pixel ratio between the pixel information of the loading area and the pixel area inside the hopper; or, obtaining the material height inside the hopper based on the number of pixels corresponding to the pixel information of the loading area.
[0064] In the specific implementation process: the method for obtaining the material height inside the hopper based on the pixel information of the loading area includes: Firstly, after binarizing the pixel area inside the hopper, the pixel areas of the loading area and the non-loading area become black and white images. The number of pixels inside the hopper is the sum of the number of pixels in the loading area and the non-loading area. The ratio of the number of pixels in the loading area to the number of pixels inside the hopper is calculated, and the corresponding material height inside the hopper is matched according to a preset database based on this ratio.
[0065] The second method involves obtaining the number of pixels in the loading area and then matching that number with the corresponding material height inside the hopper in a pre-defined database. For example, the database may have pre-defined numbers of pixels in the loading area corresponding to the material height inside multiple hopper levels. By querying the database based on these numbers, the corresponding material height can be obtained.
[0066] In the above implementation process, the non-loading area pixel area is accurately distinguished by the ratio or quantity of pixel information in the loading area, thereby improving the accuracy of material height calculation inside the hopper.
[0067] Optionally, in this embodiment, controlling the material-retrieving speed of the hopper based on the hopper loading offset includes: controlling the material-retrieving speed according to the hopper loading offset using a control algorithm; the material-retrieving speed is the speed in the hopper's running direction; the control algorithm includes:
[0068] Vz = K p *(W+1 / T i *E1+T d *E2)
[0069] Where Vz is the material feeding speed, Kp is the proportional deviation, Ti is the integral deviation, Td is the differential deviation, W is the hopper loading offset, E1 is the integral error, and E2 is the derivative error.
[0070] In the specific implementation process: proportional deviation, integral deviation, and derivative deviation are the basic parameters of PID (proportional-integral-derivative) control. The control quantity of the controlled object is generated by the output values of the three controllers: proportional control, integral control, and derivative control. The controlled object is the material picking speed.
[0071] Proportional control regulates the material handling speed according to the proportional relationship with the deviation. Once a deviation occurs, the controller immediately takes action to reduce it. The larger the proportional deviation, the stronger the proportional action, the faster the dynamic response, and the stronger the error elimination capability. Integral control's output is directly proportional to the input error signal. Integral control is mainly used to eliminate static errors. The output of proportional control is proportional to the magnitude of the error; the larger the error, the larger the output; the smaller the error, the smaller the output; when the error is zero, the output is zero. To eliminate static errors, integral control is introduced. The integral action can eliminate static errors, ensuring that the current material handling speed matches the target value.
[0072] Both proportional and integral control eliminate errors after they occur; these errors are negligible in steady state but present in dynamic states. Derivative control, on the other hand, is a preventative measure. If it detects a tendency for the hopper loading offset to increase or decrease, it outputs a control signal to prevent overshoot or other issues.
[0073] In an optional embodiment, the material handling speed is the synthesis speed, which includes horizontal and vertical speeds. The sum of the squares of the horizontal and vertical speeds is the material handling speed. After obtaining the material handling speed, it can be divided into horizontal and vertical speeds to control the material handling head.
[0074] In the above implementation process, the control algorithm accurately and dynamically controls the material taking speed in the direction of the hopper's movement based on the hopper loading offset, so as to control the hopper loading amount and make its material taking amount meet the user's needs.
[0075] Optionally, in this embodiment of the application, obtaining the pixel region inside the hopper in the image to be identified includes: obtaining the horizontal gradient value and the vertical gradient value of the pixels in the image to be identified; wherein, the image to be identified is acquired by an image acquisition device mounted on the material receiving head; obtaining the edge information of the image to be identified based on the horizontal gradient value and the vertical gradient value; and obtaining the pixel region inside the hopper based on the edge information.
[0076] In the specific implementation process: the image gradient can be viewed as a two-dimensional discrete function, and the image gradient is actually the derivative of this two-dimensional discrete function. Specifically, the Sobel algorithm can be used to calculate the gradient value of each pixel. The Sobel operator calculates the weighted difference of the gray values of the four neighborhoods above, below, left, and right of each pixel in the image, reaching an extreme value at the edge to detect edges.
[0077] For example, when calculating gradients, the Sobel algorithm uses two 3×3 Sobel kernel functions to calculate the rate of change of pixel values in the horizontal and vertical directions, respectively. That is, two kernel functions are used to calculate the gradient values of pixel values in the horizontal and vertical directions, respectively.
[0078] For any pixel in the image, its horizontal gradient value G_x can be calculated using the following formula:
[0079]
[0080] Where G_x is the horizontal gradient value, I_{i,j} represents the gray value of pixel (i,j), and h_{x_{i,j}} represents the value at position (i,j) in the Sobel kernel function h_x. i and j are the values of the Sobel kernel function.
[0081]
[0082] Where G_y is the vertical gradient value, I_{i,j} represents the gray value of pixel (i,j), and h_{y_{i,j}} represents the value at position (i,j) in the Sobel kernel function h_y. i and j are the values of the Sobel kernel function.
[0083] Thresholding yields a binary image. Brighter areas in the image represent edges, thus obtaining edge information of the image to be identified. The image within the edges represents the pixel area inside the hopper.
[0084] In the above implementation process, by obtaining the horizontal and vertical gradient values of the pixels in the image to be identified, the edge information of the image to be identified is obtained, thereby improving the accuracy of the pixel area inside the hopper.
[0085] Please see Figure 2 The diagram shown is a schematic diagram of the material handling control process provided in the embodiment of this application.
[0086] When the hopper is in the process of retrieving material or is about to begin retrieving material, a camera captures an image of the hopper and transmits it to electronic equipment, including a computer. The image is then processed to extract pixel information from inside the hopper. Edge detection and morphological processing are performed on the hopper to obtain its edge information. This allows the size and shape of the hopper to be determined.
[0087] The computer performs grayscale processing on the area inside the hopper to obtain brightness information. Based on this brightness information, each pixel inside the hopper is analyzed to determine the material height. The material height is compared with a preset full-load height to obtain the hopper loading offset. The material handling speed is then calculated based on this loading offset.
[0088] Please see Figure 3 The diagram shown is a structural schematic of the material handling speed control device provided in an embodiment of this application; this application provides a material handling speed control device 200, including:
[0089] The acquisition module 210 is used to obtain the pixel area inside the hopper in the image to be identified;
[0090] The material height calculation module 220 is used to obtain the material height inside the hopper based on the pixel area inside the hopper;
[0091] Offset module 230 is used to obtain the hopper loading offset based on the material height;
[0092] The speed control module 240 is used to control the material handling speed of the hopper based on the hopper loading offset.
[0093] Optionally, in this embodiment of the application, the material height calculation module 220 of the material handling speed control device is further configured to obtain the brightness information of each pixel in the pixel area inside the hopper based on a preset pixel component weight; determine the brightness information inside the hopper based on the brightness information of each pixel; and match the material height inside the hopper corresponding to the brightness information inside the hopper in a preset database based on the brightness information inside the hopper.
[0094] Optionally, in this embodiment of the material handling speed control device, the pixel component weights include red channel pixel component weights, green channel pixel component weights, and blue channel pixel component weights; the material height calculation module 220 is further used to obtain the brightness information of each pixel in the pixel region inside the hopper based on the red channel pixel component weights, green channel pixel component weights, and blue channel pixel component weights through a weighted summation algorithm.
[0095] Optionally, in this embodiment of the application, the material height calculation module 220 of the material handling speed control device is further configured to perform binarization processing on the pixel area inside the hopper to obtain the pixel information of the loading area corresponding to the pixel inside the hopper; and to obtain the material height inside the hopper based on the pixel information of the loading area.
[0096] Optionally, in this embodiment of the application, the material height calculation module 220 of the material handling speed control device is further configured to obtain the material height inside the hopper based on the pixel ratio between the pixel information of the loading area and the pixel area inside the hopper; or, to obtain the material height inside the hopper based on the number of pixels corresponding to the pixel information of the loading area.
[0097] Optionally, in this embodiment of the application, the material handling speed control device, the speed control module 240, is used to control the material handling speed according to the hopper loading offset through a control algorithm; the material handling speed is the speed in the hopper's running direction; the control algorithm includes:
[0098] Vz = K p *(W+1 / T i *E1+T d *E2)
[0099] Wherein, Vz is the material feeding speed, Kp is the proportional deviation, Ti is the integral deviation, Td is the differential deviation, W is the hopper loading offset, E1 is the integral error, and E2 is the derivative error.
[0100] Optionally, in this embodiment of the application, the material handling speed control device, the acquisition module 210, is used to obtain the horizontal gradient value and the vertical gradient value of the pixels in the image to be identified; wherein, the image to be identified is acquired by an image acquisition device mounted on the material handling head; based on the horizontal gradient value and the vertical gradient value, the edge information of the image to be identified is obtained; and based on the edge information, the pixel area inside the hopper is obtained.
[0101] It should be understood that this device corresponds to the above-described material handling speed control method embodiment and is capable of executing the various steps involved in the above method embodiment. The specific functions of this device can be found in the description above, and detailed descriptions are omitted here to avoid repetition. The device includes at least one software functional module that can be stored in memory or embedded in the device's operating system (OS) in the form of software or firmware.
[0102] Please see Figure 4 The diagram shows a structural schematic of an electronic device provided in an embodiment of this application. An electronic device 300 provided in this application includes a processor 310 and a memory 320. The memory 320 stores machine-readable instructions executable by the processor 310. When the machine-readable instructions are executed by the processor 310, the method described above is performed.
[0103] This application also provides a storage medium storing a computer program, which is executed by a processor to perform the above-described method.
[0104] The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.
[0105] It should be understood that the disclosed apparatus and methods can also be implemented in other ways, given the several embodiments provided in this application. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.
[0106] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0107] The above description is only an optional implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application.
Claims
1. A method for controlling material handling speed, characterized in that, include: Obtain the pixel region inside the hopper in the image to be identified; The material height inside the hopper is obtained based on the pixel area inside the hopper; Based on the material height, the hopper loading offset is obtained; The material handling speed of the hopper is controlled based on the hopper loading offset. The step of obtaining the material height inside the hopper based on the pixel area inside the hopper includes: Based on preset pixel component weights, the brightness information of each pixel in the pixel region inside the hopper is obtained; The brightness information inside the hopper is determined based on the brightness information of each pixel. Based on the brightness information inside the hopper, the material height inside the hopper corresponding to the brightness information inside the hopper is matched in a preset database; The material taking speed is a composite speed, which includes horizontal speed and vertical speed; the material taking speed is the sum of the squares of the horizontal speed and the vertical speed.
2. The method according to claim 1, characterized in that, The pixel component weights include red channel pixel component weights, green channel pixel component weights, and blue channel pixel component weights; obtaining the brightness information of each pixel in the pixel region inside the hopper based on the preset pixel component weights includes: Based on the pixel component weights of the red channel, green channel, and blue channel, the brightness information of each pixel in the pixel region inside the hopper is obtained through a weighted summation algorithm.
3. The method according to claim 1, characterized in that, The step of obtaining the material height inside the hopper based on the pixel area inside the hopper includes: The pixel area inside the hopper is binarized to obtain the pixel information of the loading area corresponding to the pixel inside the hopper; The material height inside the hopper is obtained based on the pixel information of the loading area.
4. The method according to claim 3, characterized in that, The step of obtaining the material height inside the hopper based on the pixel information of the loading area includes: The material height inside the hopper is obtained based on the pixel ratio between the pixel information in the loading area and the pixel area inside the hopper; or, the material height inside the hopper is obtained based on the number of pixels corresponding to the pixel information in the loading area.
5. The method according to claim 1, characterized in that, The control of the material handling speed of the hopper based on the hopper loading offset includes: The material handling speed is controlled by a control algorithm based on the hopper loading offset; the material handling speed is the speed in the hopper's running direction; the control algorithm includes: in, The material taking speed, For proportional deviation, For integral deviation, For differential deviation, The hopper loading offset is the amount of material being loaded. For integration error, This represents the derivative error.
6. The method according to any one of claims 1-5, characterized in that, The process of obtaining the pixel region inside the hopper in the image to be identified includes: The horizontal and vertical gradient values of pixels in the image to be identified are obtained; wherein the image to be identified is acquired by an image acquisition device mounted on the material handling head. Based on the horizontal and vertical gradient values, the edge information of the image to be identified is obtained; The pixel region inside the hopper is obtained based on the edge information.
7. A material handling speed control device, characterized in that, include: The acquisition module is used to obtain the pixel area inside the hopper in the image to be identified; The material height calculation module is used to obtain the material height inside the hopper based on the pixel area inside the hopper; The offset module is used to obtain the hopper loading offset based on the material height; A speed control module is used to control the material taking speed of the hopper based on the hopper loading offset. The material height calculation module is further configured to obtain the brightness information of each pixel in the pixel region inside the hopper based on a preset pixel component weight; determine the brightness information inside the hopper based on the brightness information of each pixel; and match the material height inside the hopper corresponding to the brightness information inside the hopper in a preset database based on the brightness information inside the hopper. The material taking speed is a composite speed, which includes horizontal speed and vertical speed; the material taking speed is the sum of the squares of the horizontal speed and the vertical speed.
8. An electronic device, characterized in that, include: A processor and a memory, the memory storing machine-readable instructions executable by the processor, which, when executed by the processor, perform the method as described in any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the method as described in any one of claims 1 to 6.