A light intensity-based dual-motor direction control method and system

Abstract

The application discloses a kind of based on light intensity dual-motor direction control method and system, it is related to motor control technical field, including control center, the control center is connected with data acquisition module, motor processing module, light intensity analysis module and intelligent management and control module;Through data acquisition module, environmental light intensity data are collected;In motor processing module, environmental light intensity data are carried out data conversion and pre-difference statistics, obtain the integral difference light intensity coefficient section;In light intensity analysis module, the integral difference light intensity coefficient section is carried out matrix construction and number shape transformation, obtains the coprime characteristic coefficient graph;Through intelligent management and control module, virtual regulation and control space is constructed, the coprime characteristic coefficient graph is uploaded to virtual regulation and control space to carry out instruction adjustment and reinforcement segmentation, obtains reinforcement coefficient section, according to reinforcement coefficient section, steering motor element is carried out detailed direction regulation and control, obtains steering regulation and control strategy;Enhance the environmental adaptability of dual-motor, accurately process the environmental light data collected, improve the response speed of direction control.

Description

Technical Field

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

[0002] Dual-motor direction control refers to controlling the directions of two motors in a 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 precisely 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, increasing the complexity of the system; during the operation of the motors, they may be affected by electromagnetic interference, which affects the accuracy of the sensor signals and thus the accuracy of direction control; precise control methods often require the use of expensive sensors, controllers, and actuators, increasing the cost. At the same time, in the case of long-term operation or high-precision requirements, factors such as mechanical wear and electronic component aging may cause error accumulation and affect the control accuracy. Therefore, by detecting and judging the ambient light intensity, the dual motors are controlled to achieve target multi-angle direction adjustment, the collected ambient light data is precisely processed, and the motors are controlled in real time to achieve linkage. For this reason, a dual-motor direction control method and system based on light intensity are provided herein. Summary of the Invention

[0004] The purpose 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 includes a control center, which 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 coefficient segment includes:

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

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

[0011] Set a collaborative transformation coefficient, perform elastic adjustment on the collaborative transformation coefficient to obtain a conversion factor;

[0012] Perform mobilization statistics on the collaborative transformation coefficient according to the obtained conversion factor to obtain a conversion interval;

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

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

[0015] The scale of the cooperative transformation coefficients is determined based on the scale series to obtain the scale coefficient segment.

[0016] The obtained scale coefficient segments are uploaded to the ambient light intensity signal. The ambient light intensity signal is then layered using the scale coefficient segments to obtain the light intensity layer coefficients.

[0017] Based on the obtained light intensity layer coefficient, the ambient light intensity signal is pre-differentially statistically analyzed to obtain the product difference light intensity coefficient segment.

[0018] The process of obtaining the covariance coefficient map includes:

[0019] The obtained product difference light intensity coefficient segments are matrixed to obtain the product difference coefficient matrix;

[0020] Perform a linear transformation on the obtained product difference coefficient matrix to obtain the centrally equalized coefficient difference;

[0021] The product difference light intensity coefficient matrix is ​​linearly updated based on the difference in the central homogenization coefficients to obtain the covariance coefficient matrix. The obtained covariance coefficient matrix is ​​then subjected to a graphical transformation to obtain the covariance characteristic coefficient map.

[0022] The process of linearly updating the product difference light intensity coefficient matrix based on the difference in central homogenization coefficients includes:

[0023] Based on the product difference light intensity coefficient matrix, obtain the center homogenization coefficient difference corresponding to the product difference light intensity coefficient segment. Replace the product difference light intensity coefficient segment at the original position with the obtained center homogenization coefficient difference until the product difference light intensity coefficient segments at all positions have been replaced, and obtain a new matrix, denoted as the covariance coefficient matrix.

[0024] The process by which the intelligent control module constructs the virtual control space includes:

[0025] A virtual control space is constructed based on the motor region, the dual motors are virtually converted to obtain virtual motor components, and the obtained virtual motor components are uploaded to the virtual control space.

[0026] The environmental data acquisition device is uploaded to the virtual control space, and then the virtual control space is used to virtually transform the environmental data acquisition device to obtain a virtual acquisition element.

[0027] Based on the obtained environmental data acquisition, a light source limiting device is set, and the set light source limiting device is uploaded to the virtual control space according to the virtual acquisition element.

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

[0029] The obtained covariance characteristic coefficient map is uploaded to the virtual control space, and the covariance characteristic coefficient map is segmented into regions to obtain the variable coefficient segments.

[0030] A rotation command is issued to the virtual motor element based on the variation coefficient range, and the virtual motor element is rotated and adjusted according to the rotation command to obtain the steering motor element;

[0031] Set the light variation command according to the obtained variation coefficient range, upload the obtained light variation command to the light source limiting end, adjust the light variation of the light source limiting end according to the obtained light variation command, and collect information from the light source limiting end after light variation adjustment through the virtual acquisition element to obtain the adjusted light intensity data.

[0032] The obtained modulated light intensity data is homomorphically modulated to obtain the modulated center homogenization coefficient.

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

[0034] The obtained adjustment center homogenization coefficients are uploaded to the covariance characteristic coefficient map to obtain the light variation characteristic coefficient map;

[0035] The optical characteristic coefficient map is segmented for enhancement based on the obtained variation coefficient segments to obtain enhancement coefficient segments;

[0036] Based on the obtained reinforcement coefficient range, the steering motor components are adjusted in detail to obtain a steering control strategy.

[0037] Based on the above-mentioned light intensity-based dual-motor directional control system, the present invention also provides a light intensity-based dual-motor directional control method, 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 cooperative transformation coefficients for flexible adjustment and adjustment statistics to obtain the scale level, determine the scale of the cooperative transformation coefficients based on the scale level to obtain the scale coefficient segment, and perform signal layering and pre-difference statistics on the ambient light intensity signal through the scale coefficient segment to obtain the product difference light intensity coefficient segment.

[0040] Step 3: Construct a matrix for the product difference light intensity coefficient segment to obtain the product difference coefficient matrix. Perform a linear transformation on the product difference coefficient matrix to obtain the central equalization coefficient difference. Update the product difference light intensity coefficient matrix linearly based on the central equalization coefficient difference to obtain the covariance coefficient matrix. Perform a graphical transformation on the covariance coefficient matrix to obtain the covariance characteristic coefficient map.

[0041] Step 4: Construct a virtual control space, upload the covariance characteristic coefficient map to the virtual control space and perform regional segmentation to obtain variable coefficient segments. Set light variation commands through the variable coefficient segments to perform light variation adjustment and homomorphic adjustment on the light source limiting end to obtain the adjustment center homogenization coefficient. Upload the adjustment center homogenization coefficient to the covariance characteristic coefficient map and perform enhanced segmentation to obtain enhanced coefficient segments. Perform detailed directional control on the steering motor components according to the enhanced coefficient segments to obtain the steering control strategy.

[0042] Compared with the prior art, the beneficial effects of the present invention are:

[0043] The collected ambient light intensity data is converted and pre-differenced to obtain the product difference light intensity coefficient segment. The product difference light intensity coefficient segment is then subjected to matrix construction and geometric transformation to obtain the covariance feature coefficient map. The collected ambient light intensity data is standardized and features are extracted, which helps to quickly detect changes in light intensity and increase the response speed of the dual motors.

[0044] A virtual control space is constructed for command adjustment and enhancement segmentation to obtain enhancement coefficient segments. Based on the enhancement coefficient segments, the steering motor components are adjusted in detail to obtain the steering control strategy. By performing graphical transformation on the analyzed light intensity characteristic data and constructing a virtual space for simulation adjustment, the direction of the dual motors is controlled by changing the light intensity, which helps to improve environmental adaptability and overall working stability. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the present invention. Detailed Implementation

[0047] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] like Figure 1 As shown, a dual-motor directional control system based on light intensity includes a control center, which 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 environmental acquisition terminal to collect information from the motor area and obtain ambient light intensity data;

[0051] Furthermore, the motor area refers to the activity range of the dual motors, and the environmental acquisition terminal can cover the entire range of the motor area.

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

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

[0054] The obtained ambient light intensity data is converted to obtain the ambient light intensity signal;

[0055] Furthermore, the data conversion refers to converting the obtained ambient light intensity data into signal form, namely, the ambient light intensity signal;

[0056] The acquired ambient light intensity signal is subjected to characteristic extraction to obtain light intensity characteristics, which include signal period, signal frequency, and signal bandwidth.

[0057] Set the cooperative transformation coefficients, which are expressed in functional form;

[0058] The obtained cooperative transformation coefficients are flexibly adjusted to obtain the transformation factor;

[0059] Furthermore, the elastic adjustment represents the scaling and translation transformation of the control cooperative transformation coefficients in the time and frequency dimensions, and the distance of the scaling and translation transformation is statistically analyzed to obtain the transformation factor;

[0060] The transformation interval is obtained by adjusting the cooperative transformation coefficients based on the obtained transformation factor;

[0061] Furthermore, the transformation interval represents the distance between two adjacent transformation factors obtained by statistically analyzing the distance in the cooperative transformation coefficients;

[0062] The scale order is obtained based on the conversion factor, conversion interval, and light intensity characteristics. This scale order is denoted 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 cooperative transformation coefficients, h represents the conversion factor, B represents the signal bandwidth in the light intensity characteristics, and T represents the signal period in the light intensity characteristics. The minimum frequency representing the signal frequency in the light intensity characteristics. Indicates the calculation of " Then round down;

[0063] The scale of the cooperative transformation coefficients is determined based on the obtained scale series to obtain the scale coefficient segment;

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

[0065] The obtained scale coefficient segments are uploaded to the ambient light intensity signal. The ambient light intensity signal is then layered using the scale coefficient segments to obtain the light intensity layer coefficients.

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

[0067] According to the order of scale determination, the obtained scale coefficient segments are uploaded to the ambient light intensity signal. The ambient light intensity signal is then convolved with the scale coefficient segments to obtain the light intensity layer coefficients. The next scale coefficient segment is then uploaded to the ambient light intensity signal and convolved with the ambient light intensity signal. This process continues until all obtained scale coefficient segments are convolved with the ambient light intensity signal. Here, convolution means convolving the scale coefficient segments with elements in the ambient light intensity signal.

[0068] Based on the obtained light intensity layer coefficient, the ambient light intensity signal is pre-differentially statistically analyzed to obtain the product difference light intensity coefficient segment;

[0069] Furthermore, the pre-difference statistics refer to calculating the difference between the obtained light intensity layer coefficient and the corresponding ambient light intensity coefficient according to the scale determination order to obtain the product difference light intensity coefficient segment. Here, "light intensity layer coefficient and corresponding ambient light intensity coefficient" refers to the ambient light intensity signal corresponding to the light intensity layer coefficient obtained by performing segment convolution on the ambient light intensity signal by the scale coefficient segment.

[0070] The light intensity analysis module is used to construct matrices and perform graphical transformations on the product difference light intensity coefficient segments to obtain the covariance characteristic coefficient map. The specific process includes:

[0071] The obtained product difference light intensity coefficient segments are matrixed to obtain the product difference coefficient matrix;

[0072] Furthermore, the matrix construction refers to combining the obtained product difference light intensity coefficient segments to form a matrix, where each element inside the matrix corresponds to a product difference light intensity coefficient segment. Since the product difference light intensity coefficient segments are obtained based on the light intensity layer coefficients, the number of product difference light intensity coefficient segments is the same as the number of scale levels. Therefore, the number of elements inside the matrix is ​​the same as the number of scale levels. The obtained product difference coefficient matrix is ​​marked as an i-row k-column matrix, where 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 the number of scale series cannot combine all the product difference coefficient matrices into a complete i-row k-column matrix, and if there are empty element positions inside the matrix and there are no remaining product difference light intensity coefficient segments to fill them, then fill the empty element positions with 0 to form a complete i-row k-column matrix, which is the product difference coefficient matrix.

[0074] Perform a linear transformation on the obtained product difference coefficient matrix to obtain the centrally equalized 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. Based on the product difference light intensity coefficient segment of the obtained kth column, obtain the light intensity coefficient difference. The light intensity coefficient difference represents the average value of all product difference light intensity coefficient segments constituting the kth column, which is the light intensity coefficient difference. Continue to calculate the light intensity coefficient difference of the k=v2 column.

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

[0078] Furthermore, the difference averaging means subtracting the light intensity coefficient difference of the kth column from each product difference light intensity coefficient segment in the kth column to obtain the center averaging coefficient difference, until the product difference light intensity coefficient segments in the k columns of the product difference light intensity coefficient matrix are all compared with the light intensity coefficient difference of the corresponding column to obtain the center averaging coefficient difference.

[0079] Specifically, according to the rule that "if there are empty element positions inside the matrix and there is no remaining product difference light intensity coefficient segment to fill them, then the empty element positions are filled with 0", the absolute value of the center equalization coefficient difference at position 0 is taken so that the value of subtracting the light intensity coefficient difference when the empty element position is 0 is a positive number.

[0080] The product difference light intensity coefficient matrix is ​​linearly updated based on the obtained center homogenization coefficient difference 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, obtain the center equalization coefficient difference corresponding to the product difference light intensity coefficient segment, replace the product difference light intensity coefficient segment at the original position with the obtained center equalization coefficient difference, until the product difference light intensity coefficient segments at all positions are replaced, and obtain a new matrix, denoted as the cosquare coefficient matrix.

[0083] The obtained cosine coefficient matrix is ​​subjected to a graphical transformation to obtain the cosine characteristic coefficient map, and the obtained cosine characteristic coefficients are associated with the corresponding dual motors.

[0084] Furthermore, the graphical transformation represents the construction of a two-dimensional rectangular coordinate system with respect to the difference in the central equalization coefficients. According to the order of obtaining the product difference coefficient matrix through matrix construction, the elements in the covariance coefficient matrix are sequentially uploaded to the two-dimensional rectangular coordinate system to generate the light intensity coefficient curve. The two-dimensional rectangular coordinate system containing the light intensity coefficient curve is marked as the covariance characteristic coefficient map, where the horizontal axis of the covariance characteristic coefficient map represents time and the vertical axis represents the difference in the central equalization coefficients.

[0085] The intelligent control module is used to construct a virtual control space, upload the covariance characteristic coefficient map to the virtual control space for instruction adjustment and enhanced segmentation to obtain enhanced coefficient segments, and perform detailed directional control on the steering motor components based on the enhanced coefficient segments to obtain a steering control strategy. The specific process includes:

[0086] A virtual control space is constructed based on the obtained motor region. The obtained dual motors are then virtually converted to obtain virtual motor components, which are then uploaded to the virtual control space.

[0087] Furthermore, the virtual control space is a virtual space generated based on the motor area that is exactly the same as the real motor area environment. The virtual conversion means that the real dual motors are converted into three-dimensional space. The resulting virtual motor element is a virtual three-dimensional element, and its structure and function are exactly the same as the real dual motor.

[0088] The obtained environmental data is uploaded to the virtual control space, and the environmental data is then virtually converted through the virtual control space to obtain virtual data acquisition elements.

[0089] Set the light source limiting end according to the obtained environmental data acquisition end;

[0090] The set light source limiting end is uploaded to the virtual control space based on the obtained virtual acquisition element;

[0091] Furthermore, the light source limiting end is a virtual light source set according to the light source corresponding to the light source collected by the environmental acquisition end in the motor area, and is uploaded to the corresponding position in the virtual control space.

[0092] The obtained covariance characteristic coefficient map is uploaded to the virtual control space and associated with the virtual motor element corresponding to the associated dual motors;

[0093] The obtained covariance coefficient map is segmented into regions to obtain variable coefficient segments, which include increasing coefficient segments and decreasing coefficient segments.

[0094] Furthermore, the region segmentation means setting a time interval within the covariance characteristic coefficient map, dividing the light intensity coefficient curve according to the obtained time interval, and obtaining light intensity curve segments. Here, the time interval is a fixed-length time period, and the length of the obtained light intensity curve segment is the same as the length of the time interval.

[0095] The derivative of the obtained light intensity curve segment is obtained by taking the derivative of the light intensity segment. If the derivative of the light intensity segment is positive within the time interval, the light intensity curve segment within the time interval is monotonically increasing and is denoted as the increasing coefficient segment. If the derivative of the light intensity segment is negative within the time interval, the light intensity curve segment within the time interval is monotonically decreasing and is denoted as the decreasing coefficient segment.

[0096] Specifically, the growth curve indicates a continuous increase in ambient light intensity over a time interval, while the degradation curve indicates a continuous decrease in ambient light intensity over a time interval.

[0097] Based on the obtained range of variation coefficients, a rotation command is issued to the virtual motor element, and the virtual motor element is rotated and adjusted according to the obtained rotation command to obtain a steering motor element.

[0098] It should be further explained that, in the specific implementation process, the rotation command means issuing a rotation command to the virtual motor element according to the changes in the augmentation coefficient segment and the degradation coefficient segment, and marking the virtual motor element after executing the rotation command as a steering motor element;

[0099] Furthermore, when the ambient light intensity data is in the augmentation coefficient range, a rotation command is issued to the virtual motor element, which means that the virtual motor element moves closer to the light source limiting end according to the change of the augmentation coefficient range, that is, it moves according to the change of the derivative; when the ambient light intensity data is in the degradation coefficient range, a rotation command is issued to the virtual motor element, which means that the virtual motor element moves away from the light source limiting end according to the change of the degradation coefficient range.

[0100] Set the light variation command according to the obtained variation coefficient range, upload the obtained light variation command to the light source limiting end, adjust the light variation of the light source limiting end according to the obtained light variation command, and collect information from the light source limiting end after light variation adjustment through the virtual acquisition element to obtain the adjusted light intensity data.

[0101] Furthermore, the light change command indicates the adjustment of the light intensity at the light source limiting end, denoted as light change command. Each adjustment changes only one variable, and the adjustment range is as small as possible so that the light change command can cover the entire light intensity range of the light source limiting end. According to the increase coefficient segment and decrease coefficient segment included in the variation coefficient segment, the light change command adjusted in each cycle is either an increase or a decrease. Here, each cycle represents the maximum light intensity range that the light source limiting end can increase to, or the minimum light intensity range that it can decrease to.

[0102] By collecting information in the virtual control space after each light change command through a virtual acquisition element, the adjusted light intensity data is obtained. The collected adjusted light intensity data is the ambient light intensity data corresponding to each light change command.

[0103] The obtained modulated light intensity data is homomorphically modulated to obtain the modulated center homogenization coefficient;

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

[0105] The obtained modulated light intensity data is converted to obtain the modulated light intensity signal;

[0106] Based on the obtained light intensity layer coefficient, the pre-difference statistics of the adjusted light intensity signal are performed to obtain the product difference adjustment coefficient range;

[0107] The obtained product difference light intensity coefficient segments are matrixed to obtain the product difference coefficient adjustment matrix;

[0108] A linear transformation is performed on the obtained product difference coefficient adjustment matrix to obtain the adjustment center equalization coefficient;

[0109] Specifically, the homomorphic adjustment means converting the ambient light intensity data in the virtual control space after executing a light change command into the center-averaged coefficient difference in the same data form. Since the covariance coefficient map is derived from the covariance coefficient matrix, the center-averaged coefficient difference in the same data form can also be uploaded to the covariance coefficient map.

[0110] The obtained adjustment center homogenization coefficient is uploaded to the covariance characteristic coefficient map to obtain the light variation characteristic coefficient map, and the adjustment homogenization curve is generated based on the adjustment center homogenization coefficient.

[0111] The optical characteristic coefficient map is segmented for enhancement based on the obtained variation coefficient segments to obtain enhancement coefficient segments, which include enhancement efficiency coefficient segments and enhancement efficiency reduction coefficient segments.

[0112] Furthermore, the enhanced segmentation represents transforming the time interval of the optical characteristic coefficient map into the original time interval. Where 1 < w, and denoted as the reinforcement interval, then the reinforcement interval = *Time range;

[0113] The adjustment and equalization curve is divided and differentiated according to the obtained enhancement interval to obtain the derivative of the adjustment curve. If the derivative of the adjustment curve is positive, the adjustment and equalization curve in the enhancement interval is increasing and is called the enhancement efficiency coefficient segment. If the derivative of the adjustment curve is negative, the adjustment and equalization curve in the enhancement interval is decreasing and is called the enhancement efficiency reduction coefficient segment.

[0114] Based on the obtained enhancement coefficient range, the steering motor components are adjusted in detail to obtain a steering control strategy;

[0115] It should be further explained that, in the specific implementation process, the process of adjusting the aforementioned detailed direction includes:

[0116] Based on the principle that the steering motor component moves closer to the light source limiting end when the ambient light intensity data is in the enhancement coefficient range, when the enhancement coefficient range is the enhancement efficiency coefficient range, the steering motor component is controlled to move closer to the adjustment light intensity data corresponding to the enhancement efficiency coefficient range, and the adjustment light intensity data is marked as approaching the controlled light intensity. When the steering motor component moves away from the light source limiting end when the ambient light intensity data is in the degradation coefficient range, when the enhancement coefficient range is the enhancement degradation coefficient range, the steering motor component is controlled to move away from the adjustment light intensity data corresponding to the enhancement degradation coefficient range, and the adjustment light intensity data is marked as moving away from the controlled light intensity. Since the enhancement interval is narrowed by the time interval, the corresponding light source change is also narrowed, and the adjustment of the light intensity change amplitude of the steering motor component is also smaller.

[0117] The approach and distance control light intensity are referred to as the steering control strategy. The steering control strategy controls the rotation direction of the dual motors according to the light intensity change. That is, it controls the actual dual motors corresponding to the steering motor element to rotate in the direction according to the corresponding approach and distance control light intensity, so as to realize the direction rotation of the dual motors through the light intensity change.

[0118] Specifically, the virtual motor element is controlled to rotate and move the light source limiting end according to the obtained steering control strategy.

[0119] Based on the above-mentioned light intensity-based dual-motor directional control system, the present invention also provides a light intensity-based dual-motor directional control method, 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 cooperative transformation coefficients for flexible adjustment and adjustment statistics to obtain the scale level, determine the scale of the cooperative transformation coefficients based on the scale level to obtain the scale coefficient segment, and perform signal layering and pre-difference statistics on the ambient light intensity signal through the scale coefficient segment to obtain the product difference light intensity coefficient segment.

[0122] Step 3: Construct a matrix for the product difference light intensity coefficient segment to obtain the product difference coefficient matrix. Perform a linear transformation on the product difference coefficient matrix to obtain the central equalization coefficient difference. Update the product difference light intensity coefficient matrix linearly based on the central equalization coefficient difference to obtain the covariance coefficient matrix. Perform a graphical transformation on the covariance coefficient matrix to obtain the covariance characteristic coefficient map.

[0123] Step 4: Construct a virtual control space, upload the covariance characteristic coefficient map to the virtual control space and perform regional segmentation to obtain variable coefficient segments. Set light variation commands through the variable coefficient segments to perform light variation adjustment and homomorphic adjustment on the light source limiting end to obtain the adjustment center homogenization coefficient. Upload the adjustment center homogenization coefficient to the covariance characteristic coefficient map and perform enhanced segmentation to obtain enhanced coefficient segments. Perform detailed directional control on the steering motor components according to the enhanced coefficient segments to obtain the steering control strategy.

[0124] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A light intensity based dual motor direction control system comprising a control center, characterized in that, 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; The data acquisition module is used for collecting ambient light intensity data; The motor processing module is used for data conversion on the ambient light intensity data, obtaining an ambient light intensity signal, setting a cooperative transformation coefficient for elastic mobilization and mobilization statistics, obtaining a scale series, performing scale determination on the cooperative transformation coefficient according to the scale series, obtaining a scale coefficient segment, performing signal layering and pre-difference statistics on the ambient light intensity signal through the scale coefficient segment, and obtaining an accumulated difference light intensity coefficient segment; The light intensity analysis module is used for matrix construction on the accumulated difference light intensity coefficient segment, obtaining an accumulated difference coefficient matrix, linear transformation on the accumulated difference coefficient matrix, obtaining a central homogenization coefficient difference, linear update on the accumulated difference light intensity coefficient matrix according to the central homogenization coefficient difference, obtaining a cooperative coefficient matrix, numerical shape transformation on the cooperative coefficient matrix, and obtaining a cooperative characteristic coefficient graph; The intelligent management and control module is used for constructing a virtual regulation and control space, and the process includes: According to the motor region, a virtual regulation and control space is constructed, a double motor is virtually converted, a virtual motor element is obtained, and the virtual motor element is uploaded to the virtual regulation and control space; An environment acquisition end is uploaded to the virtual regulation and control space, the environment acquisition end is virtually converted through the virtual regulation and control space, and a virtual acquisition element is obtained; According to the obtained environment acquisition end, a light source limiting end is set, and the set light source limiting end is uploaded to the virtual regulation and control space according to the virtual acquisition element; The cooperative characteristic coefficient graph is uploaded to the virtual regulation and control space and is regionally segmented, a variable coefficient segment is obtained, a light variation instruction is set through the variable coefficient segment to perform light variation adjustment and homomorphism adjustment on the light source limiting end, and a regulation central homogenization coefficient is obtained, and the process includes: The obtained cooperative characteristic coefficient graph is uploaded to the virtual regulation and control space, the cooperative characteristic coefficient graph is regionally segmented, and a variable coefficient segment is obtained; A rotation instruction is sent to the virtual motor element according to the variable coefficient segment, the virtual motor element is adjusted in rotation according to the rotation instruction, and a steering motor element is obtained; A light variation instruction is set according to the obtained variable coefficient segment, the obtained light variation instruction is uploaded to the light source limiting end, the light source limiting end is adjusted in light variation according to the obtained light variation instruction, information of the light source limiting end after the light variation adjustment is collected through the virtual acquisition element, and regulation light intensity data is obtained; The obtained regulation light intensity data is adjusted in homomorphism, and a regulation central homogenization coefficient is obtained; The regulation central homogenization coefficient is uploaded to the cooperative characteristic coefficient graph and is intensively segmented, an intensive coefficient segment is obtained, the steering motor element is adjusted in detail and direction according to the intensive coefficient segment, and a steering regulation strategy is obtained, and the process includes: The obtained regulation central homogenization coefficient is uploaded to the cooperative characteristic coefficient graph, and a light variation characteristic coefficient graph is obtained; The light variation characteristic coefficient graph is intensively segmented according to the obtained variable coefficient segment, and an intensive coefficient segment is obtained; The steering motor element is adjusted in detail and direction according to the obtained intensive coefficient segment, and a steering regulation strategy is obtained.

2. A dual motor direction control system based on light intensity as claimed in claim 1, wherein, The process of obtaining the scale coefficient segment includes: The obtained ambient light intensity data is converted in data, and an ambient light intensity signal is obtained; The characteristic of the ambient light intensity signal is extracted to obtain a light intensity characteristic; A cooperative transformation coefficient is set, and the cooperative transformation coefficient is elastically mobilized to obtain a conversion factor; The mobilization statistics of the cooperative transformation coefficient are obtained according to the obtained conversion factor, and a conversion interval is obtained; The scale order is obtained according to the obtained conversion factor, conversion interval and light intensity characteristic.

3. A dual motor direction control system based on light intensity as claimed in claim 2, wherein, The process of obtaining the integral difference light intensity coefficient segment includes: The scale coefficient segment is obtained by performing scale judgment on the cooperative transformation coefficient according to the scale order; The light intensity layer coefficient is obtained by uploading the obtained scale coefficient segment to the ambient light intensity signal and performing signal layering on the ambient light intensity signal through the scale coefficient segment. The process of obtaining the cooperative feature coefficient graph includes:

4. A dual motor direction control system based on light intensity as claimed in claim 3, wherein, The integral difference coefficient matrix is obtained by performing matrix construction on the obtained integral difference light intensity coefficient segment; The central homogenization coefficient difference is obtained by performing linear transformation on the obtained integral difference coefficient matrix; The cooperative coefficient matrix is obtained by performing linear update on the integral difference light intensity coefficient matrix according to the central homogenization coefficient difference, and the cooperative feature coefficient graph is obtained by performing number shape transformation on the obtained cooperative coefficient matrix. The process of performing linear update on the integral difference light intensity coefficient matrix according to the central homogenization coefficient difference includes:

5. A light intensity based dual motor direction control system as claimed in claim 4, wherein, The central homogenization coefficient difference corresponding to the integral difference light intensity coefficient segment is obtained based on the integral difference light intensity coefficient matrix, the obtained central homogenization coefficient difference is replaced with the integral difference light intensity coefficient segment at the original position, and until the integral difference light intensity coefficient segments at all positions are replaced, a new matrix is obtained, which is denoted as the cooperative coefficient matrix. The following steps are included:

6. The method of claim 1 to 5, wherein, Step one: collect ambient light intensity data; Step two: perform data conversion on the ambient light intensity data to obtain an ambient light intensity signal, set a cooperative transformation coefficient for elastic mobilization and mobilization statistics, obtain a scale order, perform scale judgment on the cooperative transformation coefficient according to the scale order, obtain a scale coefficient segment, perform signal layering and pre-difference statistics on the ambient light intensity signal through the scale coefficient segment, and obtain an integral difference light intensity coefficient segment; Step three: perform matrix construction on the integral difference light intensity coefficient segment to obtain an integral difference coefficient matrix, perform linear transformation on the integral difference coefficient matrix to obtain a central homogenization coefficient difference, perform linear update on the integral difference light intensity coefficient matrix according to the central homogenization coefficient difference to obtain a cooperative coefficient matrix, and perform number shape transformation on the cooperative coefficient matrix to obtain a cooperative feature coefficient graph; Step four: build a virtual regulation space, upload the cooperative feature coefficient graph to the virtual regulation space and perform regional segmentation to obtain a variable coefficient segment, set a light variation instruction through the variable coefficient segment to perform light variation adjustment and homomorphism adjustment on the light source limiting end to obtain an adjusted central homogenization coefficient, upload the adjusted central homogenization coefficient to the cooperative feature coefficient graph and perform strengthening segmentation to obtain a strengthening coefficient segment, and perform detailed direction regulation on the steering motor element according to the strengthening coefficient segment to obtain a steering regulation strategy. ​

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