Dual-motor direction control method and system based on light intensity

Abstract

The invention discloses a double-motor direction control method and system based on light intensity, and relates to the technical field of motor control, the system comprises a control center, and the control center is connected with a data acquisition module, a motor processing module, a light intensity analysis module and an intelligent management and control module; ambient light intensity data is acquired through a data acquisition module; performing data conversion and pre-difference statistics on the environment light intensity data in a motor processing module to obtain a product difference light intensity coefficient section; matrix construction and figure transformation are carried out on the product difference light intensity coefficient segment in a light intensity analysis module, and a covariance characteristic coefficient graph is obtained; constructing a virtual regulation and control space through an intelligent management and control module, uploading the covariance characteristic coefficient graph to the virtual regulation and control space for instruction regulation and enhanced segmentation to obtain an enhanced coefficient segment, and performing detail direction regulation and control on a steering motor element according to the enhanced coefficient segment to obtain a steering regulation and control strategy; the environmental adaptability of the double motors is enhanced, the acquired ambient light data is accurately processed, and the response speed of direction control is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a dual-motor direction control method and system based on light intensity. Background Art

[0002] Dual motor direction control refers to the direction control of two motors in the control system so that they can rotate in a predetermined direction. This control mechanism ensures that the motors can work together to achieve the purpose of accurately controlling the motion trajectory and force.

[0003] Traditional dual-motor direction control often requires precise control systems and algorithms to ensure the synchronous operation of the two motors, which increases the complexity of the system; the motors may be subject to electromagnetic interference during operation, affecting the accuracy of the sensor signals and thus the accuracy of the direction control; precise control methods often require the use of expensive sensors, controllers and actuators, which increases the cost. At the same time, in situations where long-term operation or high-precision requirements are required, factors such as mechanical wear and aging of electronic components may lead to error accumulation and affect control accuracy. Therefore, by detecting and judging the ambient light intensity, the dual motors are controlled to achieve target multi-angle direction adjustment, accurately process the collected ambient light data, and control the motors in real time to achieve linkage. To this end, a dual-motor direction control method and system based on light intensity are provided. Summary of the invention

[0004] The object of the present invention is to provide a dual-motor direction control method and system based on light intensity.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A dual-motor direction control system based on light intensity, comprising a control center, wherein the control center is connected to a data acquisition module, a motor processing module, a light intensity analysis module and an intelligent management and control module;

[0007] The data acquisition module is used to collect ambient light intensity data;

[0008] The process of obtaining the scale factor segments includes:

[0009] Performing data conversion on the obtained ambient light intensity data to obtain an ambient light intensity signal;

[0010] Extract characteristics of ambient light intensity signal to obtain light intensity characteristics;

[0011] Set the synergistic transformation coefficient, flexibly adjust the synergistic transformation coefficient, and obtain the conversion factor;

[0012] According to the obtained conversion factors, the synergistic conversion coefficients are adjusted and counted to obtain the conversion interval;

[0013] The scale order is obtained according to the obtained conversion factor, conversion interval and light intensity characteristics.

[0014] The process of obtaining the product difference light intensity coefficient segment includes:

[0015] According to the scale series, the scale of the synergistic transformation coefficient is determined to obtain the scale coefficient segment;

[0016] The obtained scale coefficient segment is uploaded to the ambient light intensity signal, and the ambient light intensity signal is layered by the scale coefficient segment to obtain the light intensity layer coefficient;

[0017] The ambient light intensity signal is subjected to pre-difference statistics according to the obtained light intensity layer coefficient to obtain the product difference light intensity coefficient segment.

[0018] The process of obtaining the cosquare eigencoefficient graph includes:

[0019] Performing matrix construction on the obtained product difference light intensity coefficient segments to obtain a product difference coefficient matrix;

[0020] Perform linear transformation on the obtained product difference coefficient matrix to obtain the central averaged coefficient difference;

[0021] The product difference intensity coefficient matrix is ​​linearly updated according to the central average coefficient difference to obtain the cosquare coefficient matrix, and the obtained cosquare coefficient matrix is ​​transformed into a number-shape to obtain the cosquare characteristic coefficient diagram.

[0022] The process of linearly updating the product difference intensity coefficient matrix according to the central homogenization coefficient difference includes:

[0023] Based on the product difference intensity coefficient matrix, the central averaged coefficient difference corresponding to the product difference intensity coefficient segment is obtained, and the product difference intensity coefficient segment at the original position is replaced with the obtained central averaged coefficient difference until the product difference intensity coefficient segments at all positions are replaced to obtain a new matrix, which is recorded as the cosquare coefficient matrix.

[0024] The process of constructing a virtual control space by the intelligent control module includes:

[0025] Construct a virtual control space according to the motor area, perform virtual conversion on the dual motors, obtain virtual motor components, and upload the obtained virtual motor components to the virtual control space;

[0026] Upload the environment collection terminal to the virtual control space, and perform virtual conversion on the environment collection terminal through the virtual control space to obtain a virtual collection element;

[0027] A light source limiting end is set according to the obtained environment collection end, and the set light source limiting end is uploaded to the virtual control space according to the virtual collection element.

[0028] The process of obtaining the adjustment center averaging coefficient includes:

[0029] The obtained co-square characteristic coefficient map is uploaded to the virtual control space, and the co-square characteristic coefficient map is segmented into regions to obtain the variation coefficient segments;

[0030] issuing a rotation instruction to the virtual motor element according to the variation coefficient segment, and performing rotation adjustment on the virtual motor element according to the rotation instruction to obtain a steering motor element;

[0031] A light variation instruction is set according to the obtained variation coefficient segment, the obtained light variation instruction is uploaded to the light source limiting end, the light variation of the light source limiting end is adjusted according to the obtained light variation instruction, and information is collected from the light source limiting end after the light variation adjustment through a virtual collection element to obtain adjusted light intensity data;

[0032] The obtained adjusted light intensity data is adjusted in a homogeneous manner to obtain an adjustment center averaging coefficient.

[0033] The process of obtaining a steering control strategy includes:

[0034] The obtained adjustment center average coefficient is uploaded to the co-square characteristic coefficient map to obtain the light variable characteristic coefficient map;

[0035] According to the obtained variable coefficient segments, the light variable characteristic coefficient diagram is segmented to obtain the enhanced coefficient segments;

[0036] The steering motor element is steered in detail according to the obtained reinforcement coefficient segment to obtain the steering control strategy.

[0037] Based on the above-mentioned dual-motor direction control system based on light intensity, the present invention also provides a dual-motor direction control method based on light intensity, comprising the following steps:

[0038] Step 1: Collect ambient light intensity data;

[0039] Step 2: Perform data conversion on the ambient light intensity data to obtain the ambient light intensity signal, set the synergistic transformation coefficient for elastic adjustment and adjustment statistics, obtain the scale series, perform scale determination on the synergistic transformation coefficient according to the scale series, obtain the scale coefficient segment, perform signal stratification and pre-difference statistics on the ambient light intensity signal through the scale coefficient segment, and obtain the product difference light intensity coefficient segment;

[0040] Step 3: construct a matrix for the product difference intensity coefficient segment to obtain the product difference coefficient matrix, perform linear transformation on the product difference coefficient matrix to obtain the central average coefficient difference, perform linear update on the product difference intensity coefficient matrix according to the central average coefficient difference to obtain the cosquare coefficient matrix, perform number-shape transformation on the cosquare coefficient matrix to obtain the cosquare characteristic coefficient diagram;

[0041] Step 4: Construct a virtual control space, upload the co-square characteristic coefficient map to the virtual control space and perform regional segmentation to obtain variable coefficient segments, set the light variable instruction through the variable coefficient segment to perform light variable adjustment and homomorphic adjustment on the limited end of the light source, obtain the adjustment center averaging coefficient, upload the adjustment center averaging coefficient to the co-square characteristic coefficient map and perform enhanced segmentation to obtain enhanced coefficient segments, perform detailed direction control on the steering motor elements according to the enhanced coefficient segments, and obtain the steering control strategy.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The collected ambient light intensity data is converted and pre-differenced to obtain the product difference light intensity coefficient segment, and the product difference light intensity coefficient segment is matrix constructed and transformed into a number and shape to obtain the co-square characteristic coefficient diagram; the collected ambient light intensity data is standardized and feature extracted, which is conducive to quickly detecting the change of light intensity and increasing the response speed of the dual motor;

[0044] Construct a virtual control space to perform command adjustment and enhancement segmentation, obtain the enhancement coefficient segment, and perform detailed direction control on the steering motor element according to the enhancement coefficient segment to obtain the steering control strategy; by performing graphic conversion on the analyzed light intensity characteristic data and constructing a virtual space for simulation adjustment, the light intensity change is changed to control the direction of the dual motors, which is beneficial to improving environmental adaptability and overall work stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 It is a schematic diagram of the present invention. DETAILED DESCRIPTION

[0047] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] like Figure 1 As shown, a dual-motor direction control system based on light intensity includes a control center, and the control center is connected to a data acquisition module, a motor processing module, a light intensity analysis module and an intelligent management and control module;

[0049] The data acquisition module is used to collect ambient light intensity data, and the specific process includes:

[0050] Set up an environment collection terminal to collect information about the motor area and obtain ambient light intensity data;

[0051] Furthermore, the motor area represents the activity range of the dual motors, and the set environment collection end can radiate the entire range of the motor area;

[0052] The obtained ambient light intensity data is associated with the corresponding environment acquisition terminal.

[0053] The motor processing module is used to perform data conversion and pre-difference statistics on the ambient light intensity data to obtain the product difference light intensity coefficient segment. The specific process includes:

[0054] Performing data conversion on the obtained ambient light intensity data to obtain an ambient light intensity signal;

[0055] Furthermore, the data conversion means converting the obtained ambient light intensity data into data in the form of a signal, namely, an ambient light intensity signal;

[0056] Extracting characteristics of the obtained ambient light intensity signal to obtain light intensity characteristics, wherein the light intensity characteristics include signal period, signal frequency, and signal bandwidth;

[0057] Setting a collaborative transformation coefficient, wherein the collaborative transformation coefficient is expressed in a function form;

[0058] The obtained synergistic transformation coefficient is flexibly adjusted to obtain the conversion factor;

[0059] Furthermore, the elastic mobilization means controlling the scaling and translation transformation of the synergistic transformation coefficients in the time dimension and the frequency dimension, and performing statistics on the distances of the scaling and translation transformations to obtain the conversion factor;

[0060] According to the obtained conversion factors, the synergistic conversion coefficients are adjusted and counted to obtain the conversion interval;

[0061] Furthermore, the conversion distance represents the conversion distance obtained by performing statistics on the distance between two adjacent conversion factors in the collaborative transformation coefficient;

[0062] The scale order is obtained according to the obtained conversion factor, conversion interval and light intensity characteristics, and the obtained scale order is marked as ΔJ, where: , N represents the signal length of the ambient light intensity signal, z represents the conversion interval, a represents the number of conversion intervals in the coordinated transformation coefficient, h represents the conversion factor, B represents the signal bandwidth in the light intensity characteristic, T represents the signal period in the light intensity characteristic, The minimum frequency of the signal frequency in the light intensity characteristics, Indicates calculation of " and round down;

[0063] According to the obtained scale series, the scale of the synergistic transformation coefficient is determined to obtain the scale coefficient segment;

[0064] Further, the scale determination means that the coordinated transformation coefficients are equally truncated according to the number of scale levels obtained to obtain scale coefficient segments of equal length;

[0065] The obtained scale coefficient segment is uploaded to the ambient light intensity signal, and the ambient light intensity signal is layered by the scale coefficient segment to obtain the light intensity layer coefficient;

[0066] It should be further explained that, in a specific implementation process, the signal layering process includes:

[0067] According to the order of scale determination, the obtained scale coefficient segment is uploaded to the ambient light intensity signal, and the ambient light intensity signal is segmentally convolved through the scale coefficient segment to obtain the light intensity layer coefficient, and the next scale coefficient segment is uploaded to the ambient light intensity signal and segmentally convolved with the ambient light intensity signal until all the obtained scale coefficient segments are segmentally convolved with the ambient light intensity signal, wherein the segmental convolution means convolving the scale coefficient segment with the elements in the ambient light intensity signal;

[0068] Perform pre-difference statistics on the ambient light intensity signal according to the obtained light intensity layer coefficient to obtain a product difference light intensity coefficient segment;

[0069] Furthermore, the pre-difference statistics represent that, according to the order of scale determination, the obtained light intensity layer coefficient and the corresponding ambient light intensity coefficient are differenced to obtain a product difference light intensity coefficient segment, wherein "light intensity layer coefficient and corresponding ambient light intensity coefficient" represents the corresponding ambient light intensity signal in the light intensity layer coefficient obtained by performing layer convolution on the ambient light intensity signal by the scale coefficient segment.

[0070] The light intensity analysis module is used to perform matrix construction and number-shape transformation on the product difference light intensity coefficient segment to obtain a cosquare characteristic coefficient diagram. The specific process includes:

[0071] Performing matrix construction on the obtained product difference light intensity coefficient segments to obtain a product difference coefficient matrix;

[0072] Further, the matrix construction represents combining the obtained product difference intensity coefficient segments to form a matrix, wherein each element in the constructed matrix corresponds to a product difference intensity coefficient segment, and since the product difference intensity coefficient segment is obtained according to the intensity layer coefficient, the number of product difference intensity coefficient segments is the same as the number of scale series, and the number of elements in the constructed matrix is ​​the same as the number of scale series, and the obtained product difference coefficient matrix is ​​marked as a matrix with i rows and k columns, wherein i=1, 2, 3, ..., v1, v1 is a positive integer, and k=1, 2, 3, ..., v2, v2 is a positive integer;

[0073] In particular, if all product-difference coefficient matrices cannot be combined into a complete matrix of i rows and k columns according to the number of scale series, if there are vacant element positions inside the matrix and there are no remaining product-difference intensity coefficient segments to fill them, then the vacant element positions are filled with 0 to form a complete matrix of i rows and k columns, which is the product-difference coefficient matrix;

[0074] Perform linear transformation on the obtained product difference coefficient matrix to obtain the central averaged coefficient difference;

[0075] It should be further explained that, in the specific implementation process, the linear transformation process includes:

[0076] Obtain the kth column of the product difference light intensity coefficient matrix, and obtain the light intensity coefficient difference according to the obtained product difference light intensity coefficient segment of the kth column, wherein the light intensity coefficient difference represents the average value of all product difference light intensity coefficient segments constituting the kth column, that is, the light intensity coefficient difference, until the light intensity coefficient difference of the k=v2 column is calculated;

[0077] Obtain the product difference light intensity coefficient segment of the kth column, perform difference averaging on the obtained product difference light intensity coefficient segment and the light intensity coefficient difference, and obtain the central averaged coefficient difference;

[0078] Furthermore, the difference averaging means that each product difference intensity coefficient segment of the kth column is subtracted from the light intensity coefficient difference of the kth column to obtain the central averaged coefficient difference, until the k columns of product difference intensity coefficient segments in the product difference intensity coefficient matrix are all subtracted from the light intensity coefficient difference of the corresponding column to obtain the central averaged coefficient difference;

[0079] In particular, according to "If there is a vacant element position inside the matrix and there is no remaining product difference intensity coefficient segment to fill it, the vacant element position is filled with 0", the absolute value of the central average coefficient difference at position 0 is taken, so that the value minus the intensity coefficient difference when the vacant element position is 0 is a positive number;

[0080] According to the obtained central homogenization coefficient difference, the product difference light intensity coefficient matrix is ​​linearly updated to obtain the cosquare coefficient matrix;

[0081] It should be further explained that, in the specific implementation process, the linear update process includes:

[0082] Based on the product difference light intensity coefficient matrix, the central average coefficient difference corresponding to the product difference light intensity coefficient segment is obtained, and the product difference light intensity coefficient segment at the original position is replaced by the obtained central average coefficient difference until the product difference light intensity coefficient segments at all positions are replaced, and a new matrix is ​​obtained, which is recorded as a cosquare coefficient matrix;

[0083] Performing a digital-to-graphic transformation on the obtained co-square coefficient matrix to obtain a co-square characteristic coefficient diagram, and associating the obtained co-square characteristic coefficients with the corresponding dual motors;

[0084] Furthermore, the digital-to-graphic transformation represents the construction of a two-dimensional rectangular coordinate system of time with respect to the central averaging coefficient difference, and the order of obtaining the product difference coefficient matrix according to the matrix construction is used to upload the elements in the cosquare coefficient matrix to the two-dimensional rectangular coordinate system in sequence to generate a light intensity coefficient curve, and the two-dimensional rectangular coordinate system containing the light intensity coefficient curve is marked as a cosquare characteristic coefficient diagram, wherein the horizontal axis of the cosquare characteristic coefficient diagram represents time, and the vertical axis represents the central averaging coefficient difference.

[0085] The intelligent control module is used to construct a virtual control space, upload the co-square characteristic coefficient map to the virtual control space for command adjustment and reinforcement segmentation, obtain the reinforcement coefficient segment, perform detailed direction control on the steering motor element according to the reinforcement coefficient segment, and obtain the steering control strategy. The specific process includes:

[0086] Constructing a virtual control space according to the obtained motor area, performing virtual conversion on the obtained dual motors to obtain virtual motor elements, and uploading the obtained virtual motor elements to the virtual control space;

[0087] Furthermore, the virtual control space is a virtual space generated according to the motor area and is completely identical to the real motor area environment, and the virtual conversion represents a three-dimensional conversion of the real dual motors, and the obtained virtual motor elements are virtual three-dimensional elements, and are completely identical to the real dual motors in structure and function;

[0088] The obtained environment collection terminal is uploaded to the virtual control space, and the environment collection terminal is virtually converted through the virtual control space to obtain a virtual collection element;

[0089] Setting a light source limiting end according to the obtained environment collection end;

[0090] Uploading the set light source limiting end to the virtual control space according to the obtained virtual collection element;

[0091] Furthermore, the light source limiting end is a virtual light source set according to the light source corresponding to the light source when the environment collection end collects in the motor area, and is uploaded to the corresponding position of the virtual control space according to the light source position collected by the environment collection end;

[0092] The obtained co-square characteristic coefficient map is uploaded to the virtual control space and associated with the virtual motor elements corresponding to the associated dual motors;

[0093] Performing regional segmentation on the obtained covariance characteristic coefficient diagram to obtain variation coefficient segments, wherein the variation coefficient segments include an increase coefficient segment and a decrease coefficient segment;

[0094] Further, the region segmentation means setting a time interval in the co-square characteristic coefficient diagram, dividing the light intensity coefficient curve according to the obtained time interval, and obtaining light intensity curve segments, wherein the time interval is a time period of a fixed length, and the length of the obtained light intensity curve segment is the same as the length of the time interval;

[0095] The obtained light intensity curve segment is derived to obtain the light intensity segment derivative. If the light intensity segment derivative is positive within the time interval, the light intensity curve segment within the time interval is monotonically increasing, which is recorded as an increasing coefficient segment. If the light intensity segment derivative is negative within the time interval, the light intensity curve segment within the time interval is monotonically decreasing, which is recorded as a decreasing coefficient segment.

[0096] In particular, the increasing curve indicates that the ambient light intensity is increasing within a time interval, and the decreasing curve indicates that the ambient light intensity is decreasing within a time interval, and the ambient light intensity is decreasing;

[0097] issuing a rotation instruction to the virtual motor element according to the obtained variation coefficient segment, and performing rotation adjustment on the virtual motor element according to the obtained rotation instruction to obtain a steering motor element;

[0098] It should be further explained that, in the specific implementation process, the rotation instruction indicates that a rotation instruction is issued to the virtual motor element according to the change of the increase coefficient segment and the decrease coefficient segment, and the virtual motor element after executing the rotation instruction is marked as a steering motor element;

[0099] Further, when the ambient light intensity data is in the increasing coefficient segment, a rotation instruction is issued to the virtual motor element through a rotation instruction, and the rotation instruction indicates that the virtual motor element is controlled to approach the light source limit end according to the change of the increasing coefficient segment, that is, it moves according to the derivative change; when the ambient light intensity data is in the decreasing coefficient segment, a rotation instruction is issued to the virtual motor element through a rotation instruction, and the rotation instruction indicates that the virtual motor element is controlled to move away from the light source limit end according to the change of the decreasing coefficient segment;

[0100] A light variation instruction is set according to the obtained variation coefficient segment, the obtained light variation instruction is uploaded to the light source limiting end, the light variation of the light source limiting end is adjusted according to the obtained light variation instruction, and information is collected from the light source limiting end after the light variation adjustment through a virtual collection element to obtain adjusted light intensity data;

[0101] Further, the light variable instruction indicates adjusting the light intensity at the light source defined end, which is recorded as the light variable instruction, and each time the adjustment is made, only one variable is changed, and the amplitude of each adjustment is as small as possible, so that the light variable instruction can cover all light intensity ranges at the light source defined end, and according to the increase coefficient segment and the decrease coefficient segment included in the variable coefficient segment, the light variable instruction adjusted in each cycle is an increase or a decrease, wherein each cycle represents the maximum light intensity range that the light source defined end can increase to, or the minimum light intensity range that it can decrease to;

[0102] The information in the virtual control space after each light variable instruction is collected by the virtual collection element to obtain the adjusted light intensity data. The collected adjusted light intensity data is the ambient light intensity data corresponding to each adjusted light variable instruction.

[0103] Performing homomorphic adjustment on the obtained adjustment light intensity data to obtain an adjustment center homogenization coefficient;

[0104] It should be further explained that, in the specific implementation process, the isomorphic regulation process includes:

[0105] Performing data conversion on the obtained light intensity adjustment data to obtain a light intensity adjustment signal;

[0106] According to the obtained light intensity layer coefficient, the adjusted light intensity signal is subjected to pre-difference statistics to obtain a product difference adjustment coefficient segment;

[0107] Performing matrix construction on the obtained product difference light intensity coefficient segments to obtain a product difference coefficient adjustment matrix;

[0108] Performing linear transformation on the obtained product difference coefficient adjustment matrix to obtain the adjustment center averaging coefficient;

[0109] In particular, the homomorphic regulation means converting the ambient light intensity data in the virtual control space after executing a light change instruction into the central average coefficient difference in the same data form. Since the co-square characteristic coefficient map is transformed from the co-square coefficient matrix, after obtaining the central average coefficient difference in the same data form, it can also be uploaded to the co-square characteristic coefficient map;

[0110] The obtained adjustment center averaging coefficient is uploaded to the co-square characteristic coefficient map to obtain the light variable characteristic coefficient map, and an adjustment averaging curve is generated according to the adjustment center averaging coefficient;

[0111] According to the obtained variable coefficient segment, the light variable characteristic coefficient diagram is segmented to obtain the enhanced coefficient segment, wherein the enhanced coefficient segment includes an enhanced efficiency-increasing coefficient segment and an enhanced efficiency-reducing coefficient segment;

[0112] Furthermore, the enhanced segmentation means that the time interval of the light-variable characteristic coefficient diagram is changed to the original time interval. , where 1<w, and recorded as the strengthening interval, then the strengthening interval = * Time interval;

[0113] According to the obtained strengthening interval, the adjustment average curve is divided and differentiated to obtain the derivative of the adjustment curve. If the derivative of the adjustment curve is positive, the adjustment average curve in the strengthening interval is monotonically increasing, which is recorded as the strengthening efficiency coefficient segment. If the derivative of the adjustment curve is negative, the adjustment average curve in the strengthening interval is monotonically decreasing, which is recorded as the strengthening efficiency reduction coefficient segment.

[0114] Perform detailed direction control on the steering motor element according to the obtained reinforcement coefficient segment to obtain a steering control strategy;

[0115] It should be further explained that, in the specific implementation process, the process of detail direction regulation includes:

[0116] According to the steering motor element approaching the light source limit end when the ambient light intensity data is in the enhancement coefficient section, when the enhancement coefficient section is the enhancement efficiency coefficient section, the steering motor element is controlled to approach the adjustment light intensity data corresponding to the enhancement efficiency coefficient section, and the adjustment light intensity data is marked as close to the adjustment light intensity; when the steering motor element moves away from the light source limit end when the ambient light intensity data is in the reduction coefficient section, when the enhancement coefficient section is the enhancement reduction efficiency coefficient section, the steering motor element is controlled to move away from the adjustment light intensity data corresponding to the enhancement reduction efficiency coefficient section, and the adjustment light intensity data is marked as away from the adjustment light intensity, wherein, according to the enhancement interval being reduced by the time interval, the corresponding light source change is also a reduced interval, and the adjustment of the light intensity change amplitude of the steering motor element is also reduced;

[0117] The approaching controlled light intensity and the far-away controlled light intensity are recorded as the steering control strategy, and the steering control strategy is to control the rotation direction of the dual motor according to the change of light intensity, that is, to control the direction of the dual motor corresponding to the steering motor element according to the corresponding approaching controlled light intensity and far-away controlled light intensity, so as to realize the direction rotation of the dual motor through the change of light intensity;

[0118] In particular, the virtual motor element is controlled to rotationally move the defined end of the light source according to the obtained steering control strategy.

[0119] Based on the above-mentioned dual-motor direction control system based on light intensity, the present invention also provides a dual-motor direction control method based on light intensity, comprising the following steps:

[0120] Step 1: Collect ambient light intensity data;

[0121] Step 2: Perform data conversion on the ambient light intensity data to obtain the ambient light intensity signal, set the synergistic transformation coefficient for elastic adjustment and adjustment statistics, obtain the scale series, perform scale determination on the synergistic transformation coefficient according to the scale series, obtain the scale coefficient segment, perform signal stratification and pre-difference statistics on the ambient light intensity signal through the scale coefficient segment, and obtain the product difference light intensity coefficient segment;

[0122] Step 3: construct a matrix for the product difference intensity coefficient segment to obtain the product difference coefficient matrix, perform linear transformation on the product difference coefficient matrix to obtain the central average coefficient difference, perform linear update on the product difference intensity coefficient matrix according to the central average coefficient difference to obtain the cosquare coefficient matrix, perform number-shape transformation on the cosquare coefficient matrix to obtain the cosquare characteristic coefficient diagram;

[0123] Step 4: Construct a virtual control space, upload the co-square characteristic coefficient map to the virtual control space and perform regional segmentation to obtain variable coefficient segments, set the light variable instruction through the variable coefficient segment to perform light variable adjustment and homomorphic adjustment on the limited end of the light source, obtain the adjustment center averaging coefficient, upload the adjustment center averaging coefficient to the co-square characteristic coefficient map and perform enhanced segmentation to obtain enhanced coefficient segments, perform detailed direction control on the steering motor elements according to the enhanced coefficient segments, and obtain the steering control strategy.

[0124] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A dual-motor direction control system based on light intensity, comprising a control center, characterized in that: The control center is connected to a data acquisition module, a motor processing module, a light intensity analysis module and an intelligent management and control module; The data acquisition module is used to collect ambient light intensity data; The motor processing module is used to perform data conversion on the ambient light intensity data to obtain the ambient light intensity signal, set the coordinated transformation coefficient to perform elastic adjustment and adjustment statistics, obtain the scale series, perform scale determination on the coordinated transformation coefficient according to the scale series, obtain the scale coefficient segment, perform signal stratification and pre-difference statistics on the ambient light intensity signal through the scale coefficient segment, and obtain the product difference light intensity coefficient segment; The light intensity analysis module is used to construct a matrix of product difference light intensity coefficient segments to obtain a product difference coefficient matrix, perform linear transformation on the product difference coefficient matrix to obtain a central average coefficient difference, perform linear update on the product difference light intensity coefficient matrix according to the central average coefficient difference to obtain a cosquare coefficient matrix, perform number-shape transformation on the cosquare coefficient matrix to obtain a cosquare characteristic coefficient diagram; The intelligent control module is used to construct a virtual control space, upload the co-square characteristic coefficient map to the virtual control space and perform regional segmentation to obtain variable coefficient segments, set light variable instructions through the variable coefficient segments to perform light variable adjustment and homomorphic adjustment on the limited end of the light source, obtain the adjustment center average coefficient, upload the adjustment center average coefficient to the co-square characteristic coefficient map and perform enhanced segmentation to obtain enhanced coefficient segments, perform detailed direction control on the steering motor element according to the enhanced coefficient segments, and obtain the steering control strategy.

2. A dual-motor direction control system based on light intensity according to claim 1, characterized in that: The process of obtaining the scale factor segments includes: Performing data conversion on the obtained ambient light intensity data to obtain an ambient light intensity signal; Extract characteristics of ambient light intensity signal to obtain light intensity characteristics; Set the synergistic transformation coefficient, flexibly adjust the synergistic transformation coefficient, and obtain the conversion factor; According to the obtained conversion factors, the synergistic conversion coefficients are adjusted and counted to obtain the conversion interval; The scale order is obtained according to the obtained conversion factor, conversion interval and light intensity characteristics.

3. A dual-motor direction control system based on light intensity according to claim 2, characterized in that: The process of obtaining the product difference light intensity coefficient segment includes: According to the scale series, the scale of the synergistic transformation coefficient is determined to obtain the scale coefficient segment; The obtained scale coefficient segment is uploaded to the ambient light intensity signal, and the ambient light intensity signal is layered by the scale coefficient segment to obtain the light intensity layer coefficient; The ambient light intensity signal is subjected to pre-difference statistics according to the obtained light intensity layer coefficient to obtain the product difference light intensity coefficient segment.

4. A dual-motor direction control system based on light intensity according to claim 3, characterized in that: The process of obtaining the cosquare eigencoefficient graph includes: Performing matrix construction on the obtained product difference light intensity coefficient segments to obtain a product difference coefficient matrix; Perform linear transformation on the obtained product difference coefficient matrix to obtain the central averaged coefficient difference; The product difference intensity coefficient matrix is ​​linearly updated according to the central average coefficient difference to obtain the cosquare coefficient matrix, and the obtained cosquare coefficient matrix is ​​transformed into a number-shape to obtain the cosquare characteristic coefficient diagram.

5. A dual-motor direction control system based on light intensity according to claim 4, characterized in that: The process of linearly updating the product difference intensity coefficient matrix according to the central homogenization coefficient difference includes: Based on the product difference intensity coefficient matrix, the central averaged coefficient difference corresponding to the product difference intensity coefficient segment is obtained, and the product difference intensity coefficient segment at the original position is replaced with the obtained central averaged coefficient difference until the product difference intensity coefficient segments at all positions are replaced to obtain a new matrix, which is recorded as the cosquare coefficient matrix.

6. A dual-motor direction control system based on light intensity according to claim 5, characterized in that: The process of constructing a virtual control space by the intelligent control module includes: Construct a virtual control space according to the motor area, perform virtual conversion on the dual motors, obtain virtual motor components, and upload the obtained virtual motor components to the virtual control space; Upload the environment collection terminal to the virtual control space, and perform virtual conversion on the environment collection terminal through the virtual control space to obtain a virtual collection element; A light source limiting end is set according to the obtained environment collection end, and the set light source limiting end is uploaded to the virtual control space according to the virtual collection element.

7. A dual-motor direction control system based on light intensity according to claim 6, characterized in that: The process of obtaining the adjustment center averaging coefficient includes: The obtained co-square characteristic coefficient map is uploaded to the virtual control space, and the co-square characteristic coefficient map is segmented into regions to obtain the variation coefficient segments; issuing a rotation instruction to the virtual motor element according to the variation coefficient segment, and performing rotation adjustment on the virtual motor element according to the rotation instruction to obtain a steering motor element; A light variation instruction is set according to the obtained variation coefficient segment, the obtained light variation instruction is uploaded to the light source limiting end, the light variation of the light source limiting end is adjusted according to the obtained light variation instruction, and information is collected from the light source limiting end after the light variation adjustment through a virtual collection element to obtain adjusted light intensity data; The obtained adjusted light intensity data is adjusted in a homogeneous manner to obtain an adjustment center averaging coefficient.

8. The dual-motor direction control system based on light intensity according to claim 7, characterized in that: The process of obtaining a steering control strategy includes: The obtained adjustment center average coefficient is uploaded to the co-square characteristic coefficient map to obtain the light variable characteristic coefficient map; According to the obtained variable coefficient segments, the light variable characteristic coefficient diagram is segmented to obtain the enhanced coefficient segments; The steering motor element is steered in detail according to the obtained reinforcement coefficient segment to obtain the steering control strategy.

9. A dual-motor control method of a dual-motor direction control system based on light intensity according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Collect ambient light intensity data; Step 2: Perform data conversion on the ambient light intensity data to obtain the ambient light intensity signal, set the synergistic transformation coefficient for elastic adjustment and adjustment statistics, obtain the scale series, perform scale determination on the synergistic transformation coefficient according to the scale series, obtain the scale coefficient segment, perform signal stratification and pre-difference statistics on the ambient light intensity signal through the scale coefficient segment, and obtain the product difference light intensity coefficient segment; Step 3: construct a matrix for the product difference intensity coefficient segment to obtain the product difference coefficient matrix, perform linear transformation on the product difference coefficient matrix to obtain the central average coefficient difference, perform linear update on the product difference intensity coefficient matrix according to the central average coefficient difference to obtain the cosquare coefficient matrix, perform number-shape transformation on the cosquare coefficient matrix to obtain the cosquare characteristic coefficient diagram; Step 4: Construct a virtual control space, upload the co-square characteristic coefficient map to the virtual control space and perform regional segmentation to obtain variable coefficient segments, set the light variable instruction through the variable coefficient segment to perform light variable adjustment and homomorphic adjustment on the limited end of the light source, obtain the adjustment center averaging coefficient, upload the adjustment center averaging coefficient to the co-square characteristic coefficient map and perform enhanced segmentation to obtain enhanced coefficient segments, perform detailed direction control on the steering motor elements according to the enhanced coefficient segments, and obtain the steering control strategy.

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