Self-adaptive feeding device and self-adaptive feeding control method and system

Abstract

The invention discloses a self-adaptive feeding device and a self-adaptive feeding control method and system, and the device comprises a trough which is provided with a receiving area for receiving materials and a feeding area for conveying the materials to a next process; the vibration mechanism is used for enabling the trough to generate vibration, so that the materials in the receiving area are conveyed to the feeding area and enter the next procedure through the feeding area; the feeding area comprises a plurality of partition areas capable of being matched with materials of different specifications. Materials flow through the material groove from the hopper and then are evenly distributed through the separation area, material blocking can be fully avoided, and damage to coating layers on the surfaces of the materials can be avoided; by combining a signal loopback control material stable transmission method based on visual detection mixing density representation, uniform transmission of materials and stable control of the system are realized; in addition, according to the material conveying shortage early warning method judged based on the material density value rho, unmanned operation in the conveying process can be achieved, and idle running of a machine is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of material conveying, and in particular to an adaptive feeding device, an adaptive feeding control method and a system. Background Art

[0002] With the rapid advancement of science and technology and the transformation and upgrading of the global manufacturing industry, traditional manual material handling methods can no longer meet the production requirements of large-scale customization and rapid response to the market. Against this background, the vibrating plate material conveying system came into being and gradually developed into an important technological innovation in the field of industrial automation.

[0003] The vibrating plate achieves directional arrangement and transportation of materials through vibration. It uses the exciting force generated by the electromagnetic vibrator to make the materials on the plate jump, roll and other movements under the vibration of a specific frequency and amplitude, and finally achieves automatic separation, sorting and directional transportation of materials to the next process. This technology not only greatly improves production efficiency, reduces manual intervention, significantly reduces production costs and error rates, but also provides strong support for lean production and intelligent manufacturing of enterprises.

[0004] In many industries such as electronics, automobiles, food, medicine, and hardware, the vibration plate material conveying system plays a vital role. For example, in the electronics manufacturing industry, the precise and high-speed feeding of tiny components such as resistors, capacitors, and IC chips depends on the precise sorting and conveying of the vibration plate; in the field of automobile manufacturing, the automated assembly of various fasteners, sensors, and other parts also depends on the efficient cooperation of the vibration plate. In addition, in industries with extremely high requirements for environmental hygiene, such as food packaging and drug sorting, the vibration plate effectively avoids cross contamination through its unique material handling method, ensuring the safety and quality of the product.

[0005] The principle of vibrating plate feeding is to generate vibration through the cooperation of pulse electromagnets and spring sheets to realize automatic conveying of materials to the next process. During the conveying process of the current feeding mechanism, the material will undergo a series of track screening or posture adjustment. For example, the patent document with patent number 202220612121.1 discloses a vibrating plate feeding mechanism, which is finally in a unified state according to the requirements of assembly or processing. When the material arrives at the discharge port, it will be accurately conveyed to the next process. The disadvantages of conveying materials in this way are: the conveying specifications are single, a single machine cannot convey materials of different specifications, and the speed is slow, and the material is easy to get stuck when passing through the track and adjusting the structure of different postures.

[0006] In addition, in some scenarios, such as in a patent document with the patent number 202321185136.5, a rapid screening and mixing production device uses a hopper with a vibrator and a baffle for feeding. During the feeding process, when there is too much material in the hopper and it is prone to stacking and blocking, a reciprocating push rod is used to push the baffle, and the baffle makes reciprocating stretching and contracting movements relative to the material distribution plate to solve the stacking problem. Using this method, for products with high requirements for surface plating, it is easy to cause scratches on the surface plating and affect the product quality.

[0007] Therefore, the existing feeding methods have a single specification, slow feeding speed, are prone to jamming, and there are problems such as material stacking and blocking, and scratches on the surface of the material during the conveying process. Summary of the Invention

[0008] The purpose of the present invention is to overcome the defects of the prior art and provide an adaptive feeding device to avoid material stacking and blocking.

[0009] To achieve the above purpose, the present invention adopts the following technical solutions:

[0010] An adaptive feeding device includes:

[0011] A material trough having a material receiving area for receiving materials and a feeding area for conveying the materials to the next process;

[0012] A vibration mechanism for vibrating the material trough to realize the conveyance of the materials in the material receiving area to the feeding area and entering the next process through the feeding area;

[0013] Wherein, the feeding area includes several partition areas that can match different specifications of materials.

[0014] Preferably, it further includes:

[0015] A partitioning mechanism for partitioning the feeding area into several partition areas that can match different specifications of materials.

[0016] Preferably, the partitioning mechanism includes several partition rods arranged in an array, and the partition rods are located in the feeding area to partition the feeding area into several partition areas that can match different specifications of materials.

[0017] Preferably, the partitioning mechanism further includes a partition fixing plate detachably installed at the feeding area, and the partition fixing plate has insertion holes for detachably installing the partition rods.

[0018] Preferably, it further includes:

[0019] A hopper located above the material trough for feeding materials into the material receiving area;

[0020] A conveyor belt for receiving the materials conveyed by the chute;

[0021] A camera for obtaining the discharge density of the materials entering the conveyor belt through the chute, realizing real-time monitoring and analysis of the flow rate of the material discharge, and feeding back the monitoring and analysis results to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, thereby adjusting the discharge speed.

[0022] Preferably, the real-time monitoring and analysis includes:

[0023] Dividing the material image information on the conveyor belt into foreground and background;

[0024] Through formulas (1) to (5), performing material density value analysis to obtain the automatic gain feedback loop control value and feeding it back to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, thereby adjusting the discharge speed;

[0025] ρ = (a1 * X + a2 * Y) / Z (1);

[0026] X = sum(Areai) (2);

[0027] Z = imgW * imgH (3);

[0028] F = a3 / (ρ + 0.001) + a4 (4);

[0029] S = S * (1.0 - a5) + ρ * a5 0 < a5 < 1 (5);

[0030] Wherein, ρ is the material density value; a1, a2, a3, a4 are parameter weighting coefficients; X is the sum of the areas of all foreground targets after foreground detection, i = 1, 2... n is the i-th connected domain in the current frame; Areai is the area of the i-th connected domain; Y is the number of non-zero pixels after binarization; Z is the area of the effective monitoring area of the camera; F is the automatic gain feedback loop control value, which is inversely proportional to the material density value; S is the cumulative update value of the material density value ρ, and a5 is the update rate parameter;

[0031] When the value of S is less than the threshold T, it is determined that there is no material, and at this time, an early warning signal is automatically output to notify the staff that the material conveying is completed.

[0032] The present invention also provides an adaptive feeding control method, including:

[0033] Obtaining material image information;

[0034] Processing the material image information, obtaining the material density value, and processing to obtain the automatic gain feedback loop control value;

[0035] Feed the automatic gain feedback loop control value back to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, and further adjust the material discharging speed.

[0036] Preferably, processing the material image information to obtain an automatic gain feedback loop control value by acquiring the material density value includes:

[0037] Segment the material image information into foreground and background;

[0038] Perform material density value analysis through formulas (1) to (5) to obtain the automatic gain feedback loop control value and feed it back to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, and further adjust the discharging speed;

[0039] ρ =(a1*X + a2*Y) / Z (1);

[0040] X=sum(Areai) (2);

[0041] Z=imgW*imgH (3);

[0042] F=a3 / (ρ + 0.001)+a4 (4);

[0043] S=S*(1.0 - a5)+ρ*a5 0 < a5 < 1 (5);

[0044] Where ρ is the material density value; a1, a2, a3, a4 are parameter weighting coefficients; X is the sum of the areas of all foreground objects after foreground detection, i = 1, 2…n is the i-th connected component in the current frame; Areai is the area of the i-th connected component; Y is the number of non-zero pixels after binarization; Z is the area of the effective area monitored by the camera; F is the automatic gain feedback loop control value, which is inversely proportional to the material density value; S is the cumulative update value of the material density value ρ, and a5 is the update rate parameter.

[0045] Preferably, when the value of S is less than the threshold T, it is determined that there is no material, and at this time, an early warning signal is automatically output to notify the staff that the material conveying is completed.

[0046] The present invention also provides an adaptive feeding control system, including:

[0047] An image acquisition unit for acquiring material image information;

[0048] A calculation unit for processing the material image information to obtain an automatic gain feedback loop control value by acquiring the material density value;

[0049] A feedback control unit is configured to feedback the automatic gain feedback loop control value to the vibration mechanism, adjust the vibration frequency of the vibration mechanism, and thereby adjust the material discharging speed.

[0050] The beneficial effects of the present invention compared with the prior art are as follows:

[0051] (1) In the present invention, the material flows from the hopper through the trough and then undergoes uniform diversion of the material through the separation area, which can fully avoid material blockage and damage to the surface coating of the material; combined with the signal loop control method for stable material transmission based on the visual detection of the mixing density, uniform material transmission and stable system control can be achieved; in addition, the material conveying shortage warning method based on the judgment of the material density value ρ can realize unmanned operation during the conveying process and avoid the machine running empty.

[0052] (2) In the present invention, the density value of the material on the conveyor belt obtained by the camera is converted into a signal gain value through the system. When the material discharging amount is too small, the density is small, and the system loop flow rate control automatically feedbacks a larger gain value to accelerate the material discharging. On the contrary, when the material discharging amount is too large, the density is large, and the system loop flow rate control automatically feedbacks a smaller gain value to inhibit the material discharging and avoid material accumulation. When the material density maintains a stable state, the flow rate remains in a uniform state, so that the system is in a stable state, thus ensuring the stability of the system.

[0053] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. Description of the Drawings

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0055] Figure 1 It is a schematic structural diagram of an adaptive feeding device in this embodiment.

[0056] Figure 2 It is a schematic structural diagram of the separation mechanism in this embodiment.

[0057] Figure 3 It is a schematic flowchart of the video two-frame difference method in this embodiment.

[0058] 1. Hopper; 2. Trough; 3. Separation mechanism; 4. Vibration mechanism; 5. Camera; 6. Camera support; 7. Conveyor belt; 8. Fixed bottom plate; 9. Separation fixing plate; 10. Separation rod; 11. Insertion hole. Detailed Embodiments

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0060] It should be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0061] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0062] It should be further understood that the term " / and / " used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0063] Please refer to Figure 1 and Figure 2 As shown, this embodiment is an adaptive feeding device, including:

[0064] A material chute 2, having a material receiving area for receiving materials and a material feeding area for conveying the materials to the next process;

[0065] A vibration mechanism 4 for vibrating the material chute to realize the conveying of the materials in the material receiving area to the material feeding area and entering the next process through the material feeding area;

[0066] Wherein, the material feeding area includes a plurality of partition areas that can match different specifications of materials.

[0067] In the present invention, vibration is generated by a vibrator to vibrate the material chute, so that the materials can be conveyed in the material chute. When the materials pass through the partition area, the materials are evenly distributed and diverted in the material chute, avoiding the phenomenon of material accumulation. Moreover, different specifications can be set in the partition area to be compatible with different specifications of materials.

[0068] In this embodiment, the structural form of the material chute can be various. For example, a U-shaped material chute structural form can be adopted.

[0069] In this embodiment, there are various ways to form the separation areas. In one embodiment, it further includes:

[0070] A separation mechanism 3 for separating the feeding area into several separation areas that can match different specifications of materials.

[0071] In this embodiment, separation can be performed through the separation mechanism, and the separation mechanism can be set to be fixed on the material trough 2 or in a detachable manner. When using the detachable manner, it is convenient to disassemble and assemble separation mechanisms of different specifications to match different specifications of materials, thereby increasing the application range.

[0072] In this embodiment, the structural form of the separation mechanism 3 can also have various forms. In one embodiment, the separation mechanism includes several separation rods 10 arranged in a row, and the separation rods 10 are located in the feeding area to separate the feeding area into several separation areas that can match different specifications of materials.

[0073] In this embodiment, the separation rods 10 are arranged vertically to divide the feeding area into several separation areas. The distance between each separation rod can have various situations, and the size of the separation area can be adjusted according to actual needs.

[0074] In one embodiment, the separation mechanism further includes a separation fixing plate 9 detachably installed at the feeding area, and the separation fixing plate 9 has plug holes 11 for detachably installing the separation rods.

[0075] In this embodiment, the separation rods 11 are fixed by the separation fixing plate 9, and the separation fixing plate 9 can be installed at the feeding area, thereby realizing the installation of the separation rods in the feeding area. In this embodiment, the number and spacing of the separation rods can be set according to requirements to adjust and match different specifications of materials.

[0076] In one embodiment, it further includes:

[0077] A hopper 1 located above the material trough for feeding materials into the receiving area;

[0078] A conveyor belt 7 for receiving the materials conveyed by the material trough;

[0079] A camera 6 for obtaining the discharge density of the materials entering the conveyor belt through the material trough, realizing real-time monitoring and analysis of the flow rate of the material discharge, and feeding back the monitoring and analysis results to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, thereby adjusting the discharge speed.

[0080] In this embodiment, the material gradually flows into the trough through the hopper. Under the vibration of the vibration mechanism, the trough conveys the material to the conveyor belt. The camera at the conveyor belt can acquire the material image that enters the conveyor belt through the trough, and through real-time monitoring and analysis, obtain the material discharge density, and feedback the monitoring result to the vibration mechanism in combination with the automatic control technology, realizing the automatic gain feedback loop control of the discharge speed to control the discharge speed of the trough, so as to synchronize the rhythm of subsequent structures such as manipulators, facilitating subsequent sorting, screening, automatic feeding and other operations. In this way, the automatic flow rate control of the material is realized. When the material discharge is too small, a larger gain value is automatically fed back to accelerate the material discharge. When the material is too much, a smaller gain value is automatically fed back to avoid material stacking; it avoids surface damage to the material caused by the way of using a reciprocating push rod to push the baffle and has good stability.

[0081] In one embodiment, the real-time monitoring and analysis includes:

[0082] Segment the material image information on the conveyor belt into foreground and background;

[0083] Through formulas (1)-(5), perform material density value analysis to obtain the automatic gain feedback loop control value and feedback it to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, thereby adjusting the discharge speed;

[0084] ρ =(a1*X+a2*Y) / Z (1);

[0085] X=sum(Areai) (2);

[0086] Z=imgW*imgH (3);

[0087] F=a3 / (ρ+0.001)+a4 (4);

[0088] S=S*(1.0-a5)+ρ*a5 0<a5<1 (5);

[0089] Where ρ is the material density value; a1, a2, a3, a4 are parameter weighting coefficients; X is the sum of the areas of all foreground targets after foreground detection, i = 1, 2...n is the i-th connected domain in the current frame; Areai is the area of the i-th connected domain; Y is the number of non-zero pixels after binarization; Z is the area of the effective monitoring area of the camera; W is the width of the effective monitoring area of the camera; H is the height of the effective monitoring area of the camera; F is the automatic gain feedback loop control value, and this value is inversely proportional to the material density value; S is the cumulative update value of the material density value ρ, and a5 is the update rate parameter;

[0090] When the value of S is less than the threshold T, it is judged that there is no material, and at this time, an early warning signal is automatically output to notify the staff that the material conveying is completed.

[0091] In this embodiment, visual analysis is performed using the video two-frame difference method for modeling. As Figure 3 shown, when a material passes through the camera area, the material is divided into foreground and background. The density value of the material inside the conveyor belt is characterized and calculated through relevant indicators such as the area and perimeter of the foreground. Specifically, the background modeling method used is: taking the difference between the latter frame image and the former frame image, taking the absolute value of the difference as the detection frame of the moving target, and binarizing the detection frame using an appropriate threshold. The idea of the first-order gradient is utilized. For background points, the change is very small, so the difference between the two frames is very small; for foreground points, the pixel change is relatively large, and the frame difference is relatively large.

[0092] This embodiment also provides an adaptive feeding control method, including:

[0093] Obtaining material image information;

[0094] Processing the material image information, obtaining the material density value, and processing to obtain an automatic gain feedback loop control value;

[0095] Feeding the automatic gain feedback loop control value back to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, thereby adjusting the material discharge speed.

[0096] By obtaining the material density value, automatic gain feedback loop control of the discharge speed is achieved to control the discharge speed of the material trough, facilitating the beat synchronization adaptation of subsequent structures such as manipulators, and facilitating subsequent sorting, screening, automatic feeding, etc. Automatic flow rate control of the material is achieved in this way. When the material discharge is too little, a larger gain value is automatically fed back to accelerate the material discharge. When the material is too much, a smaller gain value is automatically fed back to avoid material accumulation; it avoids surface damage to the material caused by the way of using a reciprocating push rod to push the baffle and has good stability.

[0097] In one embodiment, the processing of the material image information, obtaining the material density value, and processing to obtain an automatic gain feedback loop control value includes:

[0098] Dividing the material image information into foreground and background;

[0099] Through formulas (1) to (5), material density value analysis is performed to obtain an automatic gain feedback loop control value to be fed back to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, thereby adjusting the discharge speed;

[0100] ρ =(a1*X+a2*Y) / Z (1);

[0101] X=sum(Areai) (2);

[0102] Z=imgW*imgH (3);

[0103] F = a3 / (ρ + 0.001) + a4 (4);

[0104] S = S*(1.0 - a5) + ρ*a5 0 < a5 < 1 (5);

[0105] Where ρ is the material density value; a1, a2, a3, a4 are parameter weighting coefficients; X is the sum of the areas of all foreground objects after foreground detection, i = 1, 2... n is the i-th connected region in the current frame; Areai is the area of the i-th connected region; Y is the number of non-zero pixels after binarization; Z is the area of the effective monitoring region of the camera; F is the automatic gain feedback loop control value, which is inversely proportional to the material density value; S is the cumulative updated value of the material density value ρ, and a5 is the update rate parameter.

[0106] In one embodiment, when the value of S is less than the threshold T, it is determined that there is no material, and at this time, an early warning signal is automatically output to notify the staff that the material conveying is completed.

[0107] This embodiment also provides an adaptive feeding control system, including:

[0108] An image acquisition unit for acquiring material image information;

[0109] A calculation unit for processing the material image information, obtaining the material density value, and processing to obtain the automatic gain feedback loop control value;

[0110] A feedback control unit for feeding back the automatic gain feedback loop control value to the vibration mechanism, adjusting the vibration frequency of the vibration mechanism, and further adjusting the material discharge speed.

[0111] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0112] In several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0113] The steps in the method embodiments of the present invention can be adjusted, combined, and deleted according to actual needs. The units in the apparatus embodiments of the present invention can be combined, divided, and deleted according to actual needs. In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0115] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An adaptive feeding device, characterized in that: include: A material trough, having a receiving area for receiving materials and a feeding area for conveying the materials to the next process; A vibration mechanism, used to make the material trough vibrate, so that the material in the material receiving area is transported to the material feeding area, and enters the next process through the material feeding area; Wherein, the feeding area includes a plurality of separation areas which can match materials of different specifications.

2. The adaptive feeding device according to claim 1, characterized in that: Also includes: The partition mechanism is used to divide the feeding area into a plurality of partition areas that can match materials of different specifications.

3. The adaptive feeding device according to claim 2, characterized in that: The separation mechanism comprises a plurality of arranged separation rods, wherein the separation rods are located in the feeding area so as to separate the feeding area into a plurality of separation areas which can match materials of different specifications.

4. The adaptive feeding device according to claim 3, characterized in that: The partition mechanism also includes a partition fixing plate detachably mounted at the feeding area, and the partition fixing plate is provided with a plug-in hole for detachably mounting the partition rod.

5. The adaptive feeding device according to any one of claims 1 to 4, characterized in that: Also includes: A hopper, located above the trough, for delivering materials to the material receiving area; A conveyor belt, used for receiving the material conveyed by the trough; The camera is used to obtain the material discharge density of the material passing through the material trough and entering the conveyor belt, realize real-time monitoring and analysis of the flow rate of the material discharge, and feed back the monitoring and analysis results to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, thereby adjusting the discharge speed.

6. The adaptive feeding device according to claim 5, characterized in that: The real-time monitoring and analysis includes: Segment the material image information on the conveyor belt into foreground and background; By using formulas (1) to (5), the material density value is analyzed to obtain the automatic gain feedback loop control value and feed it back to the vibration mechanism to adjust the vibration frequency of the vibration mechanism and further adjust the discharge speed; ρ =(a1*X+a2*Y) / Z (1); X = sum(Areai) (2); Z = imgW * imgH (3); F = a3 / (ρ+0.001)+a4 (4); S=S*(1.0-a5)+ρ*a5 0 <a5<1 (5); Among them, ρ is the material density value; a1, a2, a3, a4 are parameter weighting coefficients; X is the area sum of all foreground targets after foreground detection, i=1, 2…n is the i-th connected domain in the current frame; Areai is the area of ​​the i-th connected domain; Y is the number of non-zero pixels after binarization; Z is the area of ​​the effective area monitored by the camera; F is the automatic gain feedback loop control value, which is inversely proportional to the material density value; S is the cumulative update value of the material density value ρ, and a5 is the update rate parameter; When the S value is less than the threshold value T, it is judged that there is no material left. At this time, an early warning signal is automatically output to notify the staff that the material delivery is completed.

7. An adaptive feeding control method, characterized in that: include: Get material image information; Processing the material image information, obtaining the material density value, and processing to obtain an automatic gain feedback loop control value; The automatic gain feedback loop control value is fed back to the vibration mechanism to adjust the vibration frequency of the vibration mechanism, thereby adjusting the material discharge speed.

8. The adaptive feeding control method according to claim 7, characterized in that: The material image information is processed to obtain a material density value and to obtain an automatic gain feedback loop control value, including: Segmenting the material image information into foreground and background; By using formulas (1) to (5), the material density value is analyzed to obtain the automatic gain feedback loop control value and feed it back to the vibration mechanism to adjust the vibration frequency of the vibration mechanism and further adjust the discharge speed; ρ =(a1*X+a2*Y) / Z (1); X = sum(Areai) (2); Z = imgW * imgH (3); F = a3 / (ρ+0.001)+a4 (4); S=S*(1.0-a5)+ρ*a5 0 <a5<1 (5); Among them, ρ is the material density value; a1, a2, a3, a4 are parameter weighting coefficients; X is the area sum of all foreground targets after foreground detection, i=1, 2…n is the i-th connected domain in the current frame; Areai is the area of ​​the i-th connected domain; Y is the number of non-zero pixels after binarization; Z is the area of ​​the effective area monitored by the camera; F is the automatic gain feedback loop control value, which is inversely proportional to the material density value; S is the cumulative update value of the material density value ρ, and a5 is the update rate parameter.

9. The adaptive feeding control method according to claim 8, characterized in that: When the S value is less than the threshold value T, it is judged that there is no material left. At this time, an early warning signal is automatically output to notify the staff that the material delivery is completed.

10. An adaptive feeding control system, characterized in that: include: An image acquisition unit, used for acquiring material image information; A calculation unit, used for processing the material image information, obtaining the material density value, and processing to obtain an automatic gain feedback loop control value; The feedback control unit is used to feed back the automatic gain feedback loop control value to the vibration mechanism, adjust the vibration frequency of the vibration mechanism, and further adjust the material discharge speed.

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