Tobacco leaf conveying control system and method

Abstract

The invention provides a tobacco leaf conveying control system and method. Tobacco leaves in an air conveying pipeline are monitored in real time; based on the conveying position data of the tobacco leaves in the air conveying pipeline, a sampling space of the conveying air speed of the tobacco leaves in the air conveying process is established, and then the constraint boundary of the air speed acceleration when the tobacco leaves are conveyed in the sampling space is determined through the rotating speed change of a driving motor; identifying the tobacco leaf conveying state at each sampling point in the sampling space to obtain the conveying efficiency of the tobacco leaves at each sampling point, and further determining an airflow guide field when the tobacco leaves are subjected to air pressure conveying in the air conveying pipeline according to the difference relationship of the conveying efficiency between the adjacent sampling points; dynamic speed regulation parameters of the conveying wind speed during wind pressure conveying of the tobacco leaves are generated by combining the constraint boundary with the airflow guide field; and the conveying rotating speed of the driving motor is restrained based on the dynamic speed regulation parameters. According to the scheme, on the basis of the dynamic speed regulation parameters, continuous conveying of the tobacco leaves in the air conveying pipeline can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural product transportation control, and more specifically, to a tobacco leaf transportation control system and method. Background Art

[0002] With the large-scale and industrialized development of modern agriculture, the demand for agricultural product transportation is increasing, and the transportation control of agricultural products is becoming more and more important. Among them, tobacco leaves, as an important agricultural product, need precise control during the transportation process to meet production needs. Traditional transportation methods have problems such as low efficiency and easy damage to tobacco leaves. For example, when belt conveyors are transported over long distances, tobacco leaves are prone to uneven accumulation, affecting subsequent processing. Therefore, it is very necessary to develop efficient and stable tobacco leaf transportation control technology, which can not only improve production efficiency, but also ensure tobacco leaf quality and promote the automation and intelligent development of the tobacco industry.

[0003] In the existing agricultural product transportation, especially in the transportation of tobacco leaves, the existing tobacco leaf transportation mainly adopts belt conveying and wind conveying. Belt conveying utilizes the continuous operation of the conveyor belt to drive the tobacco leaves to move by friction, and is often used for material transfer in tobacco leaf primary processing workshops. Wind conveying relies on the airflow generated by the fan to form a negative pressure or positive pressure environment in a closed pipe, suspending the tobacco leaves and transporting them to the target position. However, in the transportation of tobacco leaves by wind power, the drive motor is usually regulated by a fixed speed, which makes the wind speed change not sensitive enough and cannot be adjusted in detail according to the dynamic position of the tobacco leaves. This extensive control method easily forms an unbalanced wind speed in the air conveying duct, which in turn causes the tobacco leaves to show discontinuous transportation in the air conveying duct. Therefore, how to achieve continuous transportation of tobacco leaves in the air conveying duct has become a difficult problem faced by the industry. Summary of the Invention

[0004] The present application provides a tobacco leaf transmission control system and method, which can realize the continuous transportation of tobacco leaves in an air conveying duct.

[0005] In a first aspect, the present application provides a tobacco leaf transport control method, which is used for a tobacco leaf transport control system to transport tobacco leaves in an air conveying duct, wherein the tobacco leaf transport control system includes an air conveying duct and a drive motor, and the method includes the following steps: Real-time monitoring of tobacco leaves in the air delivery duct; A sampling space for the wind speed of the tobacco leaves during wind conveying is established based on the conveying position data of the tobacco leaves in the air conveying duct, and a constraint boundary for the wind speed acceleration of the tobacco leaves during conveying in the sampling space is determined by the change in the speed of the drive motor; Identifying the tobacco leaf conveying state at each sampling point in the sampling space to obtain the conveying efficiency of the tobacco leaf at each sampling point, and then determining the airflow guide field when the tobacco leaf is conveyed by air pressure in the air delivery duct based on the difference in conveying efficiency between adjacent sampling points; Generating dynamic speed regulation parameters of the tobacco leaf conveying wind speed during wind pressure conveying by combining the constraint boundary with the airflow guide field; The conveying speed of the driving motor is constrained based on the dynamic speed regulation parameters.

[0006] In some embodiments, establishing a sampling space for the wind speed of tobacco leaves during wind transportation based on the transportation position data of tobacco leaves in the air transportation duct specifically includes: Collect the data of tobacco leaves’ transportation position in the air conveying duct; Performing trajectory fitting on the conveying position data to obtain a motion trajectory of the tobacco leaves in the air conveying duct; Dividing the tobacco leaves on a conveying path into a plurality of equidistant sampling points according to the motion trajectory; Extract the conveying wind speed corresponding to each equidistant sampling point to obtain a set of wind speed change samples; A sampling space of the wind speed of the tobacco leaves during wind transportation is constructed based on the wind speed change sample set.

[0007] In some embodiments, determining the constraint boundary of the wind speed acceleration when the tobacco leaves are transported in the sampling space by changing the speed of the driving motor specifically includes: Obtaining the rotation speed-wind speed change data corresponding to each sampling point in the sampling space under the condition of the driving motor rotation speed change; Determine the acceleration sensitivity coefficient at each sampling point according to the rotation speed-wind speed change data corresponding to each sampling point; Calculating the local acceleration corresponding to each sampling point according to the acceleration sensitivity coefficient at each sampling point; The constraint boundary of the wind speed acceleration when the tobacco leaves are transported in the sampling space is extracted based on all local accelerations.

[0008] In some embodiments, identifying the tobacco leaf conveying state at each sampling point in the sampling space to obtain the tobacco leaf conveying efficiency at each sampling point specifically includes: Acquiring tobacco leaf motion images at each sampling point in the sampling space; Performing feature recognition on the tobacco leaf motion image at each sampling point to obtain the state feature of the tobacco leaf at each sampling point; The transport efficiency of the tobacco leaves at each sampling point is calculated based on all state characteristics.

[0009] In some embodiments, determining the airflow guide field of the tobacco leaves when they are transported by air pressure in the air transport duct based on the difference relationship of transport efficiency between adjacent sampling points specifically includes: Calculating the difference relationship of the transport efficiency between adjacent sampling points in the sampling space; Construct a distribution map of transport deviations in the sampling space based on all the difference relationships; The airflow guide field of the tobacco leaves when being conveyed by air pressure in the air conveying duct is extracted based on the conveying deviation distribution diagram.

[0010] In some embodiments, the dynamic speed control parameters for the wind speed of tobacco leaves during wind pressure conveyance generated by combining the constraint boundary with the airflow guide field specifically include: Obtaining the current wind speed vector distribution of the airflow guide field; Projecting the wind speed vector distribution onto the main conveying path of tobacco leaves to obtain the required area for regulating the wind speed during the wind pressure conveying of tobacco leaves; Based on the wind speed change characteristics of the wind speed control demand area and the constraint boundary, the dynamic speed regulation parameters of the conveying wind speed of the tobacco leaves during wind pressure conveying are determined.

[0011] In some embodiments, tobacco leaves in the air conveying duct are monitored in real time by monitoring sensors, which include positioning sensors, speed sensors, and high-speed industrial cameras.

[0012] In a second aspect, the present application provides a tobacco leaf transmission control system, comprising an air delivery duct and a drive motor. The system also comprises a tobacco leaf transmission control unit, wherein the tobacco leaf transmission control unit comprises: Monitoring module, used for real-time monitoring of tobacco leaves in the air delivery duct; a processing module for establishing a sampling space for the wind speed of the tobacco leaves during wind conveying based on the conveying position data of the tobacco leaves in the air conveying duct, and further determining a constraint boundary of the wind speed acceleration when the tobacco leaves are conveyed in the sampling space by changing the speed of the drive motor; The processing module is further configured to identify the tobacco leaf conveying state at each sampling point in the sampling space, obtain the conveying efficiency of the tobacco leaf at each sampling point, and further determine the airflow guide field when the tobacco leaf is conveyed by air pressure in the air delivery duct based on the difference in conveying efficiency between adjacent sampling points; The processing module is further configured to generate dynamic speed control parameters of the tobacco leaf conveying wind speed during wind pressure conveying by combining the constraint boundary with the airflow guide field; An execution module is used to constrain the conveying speed of the driving motor based on the dynamic speed regulation parameter.

[0013] In a third aspect, the present application provides a computer device comprising a memory and a processor, wherein the memory stores a code, and the processor is configured to obtain the code and execute the above-mentioned tobacco leaf transmission control method.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned tobacco leaf transmission control method is implemented.

[0015] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects: In the tobacco transmission control system and method provided in the present application, first, the tobacco leaves in the air conveying duct are monitored in real time; secondly, a sampling space for the wind speed of the tobacco leaves during wind conveying is established based on the conveying position data of the tobacco leaves in the air conveying duct, and then the constraint boundary of the wind speed acceleration when the tobacco leaves are conveyed in the sampling space is determined by the change in the rotation speed of the driving motor; further, the tobacco leaf conveying state at each sampling point in the sampling space is identified to obtain the conveying efficiency of the tobacco leaves at each sampling point, and then the airflow guide field of the tobacco leaves when they are conveyed by wind pressure in the air conveying duct is determined based on the difference relationship in the conveying efficiency between adjacent sampling points; then, the dynamic speed regulation parameters of the tobacco leaf conveying speed during wind pressure conveying are generated by combining the constraint boundary with the airflow guide field; finally, the conveying speed of the driving motor is constrained based on the dynamic speed regulation parameters.

[0016] It can be seen that the present application can realize the continuous transportation of tobacco leaves in the air conveying duct; first, based on the transportation position data of the tobacco leaves in the air conveying duct, a sampling space for the wind speed of the tobacco leaves during the wind conveying process is established to identify the effective monitoring area of the tobacco leaves in the air conveying duct, and then it can capture and analyze the motion state characteristics of the tobacco leaves as the position changes on the transportation path, thereby providing analysis data for realizing wind speed regulation and fine continuous transportation control of tobacco leaves; secondly, the constraint boundary of the wind speed acceleration when the tobacco leaves are transported in the sampling space is determined by the change in the speed of the driving motor, so as to effectively limit the rate of wind speed change and prevent the sudden change in wind speed from causing tobacco leaves to swirl, accumulate or be damaged, and then dynamically adjust the transportation wind speed to achieve smooth transition and stable control of wind force, thereby ensuring the continuous and controllable transportation of tobacco leaves in the air conveying duct; further, according to the adjacent sampling points The difference in conveying efficiency between the two groups determines the airflow guide field when the tobacco leaves are conveyed under wind pressure in the air conveying duct, so as to identify the sensitive area in the air conveying duct that affects the continuous conveying of the tobacco leaves, and then adjust the wind speed direction and intensity in the air conveying duct based on the conveying state of the sensitive area, so that the wind force tends to be balanced in spatial distribution, thereby effectively guiding the tobacco leaves to run stably along the predetermined path and reduce accumulation and deviation phenomena; then, the dynamic speed regulation parameters of the conveying wind speed of the tobacco leaves during wind pressure conveying are generated by constraining the boundary and combining the airflow guide field to limit the conveying speed of the driving motor and its conveying change rate, so as to ensure that the tobacco leaves run in the air conveying duct according to the expected state, and avoid discontinuity and accumulation in the tobacco leaf conveying process; finally, the conveying speed of the driving motor is constrained based on the dynamic speed regulation parameters; in summary, the technical solution provided by the present application can realize the continuous conveying of tobacco leaves in the air conveying duct. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is an exemplary flow chart of a tobacco leaf transport control method according to some embodiments of the present application; Figure 2 is an exemplary flow chart of determining a sampling space according to some embodiments of the present application; Figure 3 is an exemplary flow chart for determining delivery efficiency according to some embodiments of the present application; Figure 4 is a schematic structural diagram of a tobacco leaf transport control unit according to some embodiments of the present application; Figure 5 It is a structural diagram of a computer device for implementing a tobacco leaf transmission control method according to some embodiments of the present application. DETAILED DESCRIPTION

[0018] In order to better understand the technical solution of the present application, the technical solution of the present application will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0019] refer to Figure 1 , which is an exemplary flow chart of a tobacco leaf transport control method according to some embodiments of the present application. The tobacco leaf transport control method 100 mainly includes the following steps: In step 101, tobacco leaves in the air conveying duct are monitored in real time.

[0020] In specific implementation, the tobacco leaves in the air conveying duct are monitored in real time through monitoring sensors, which include positioning sensors, speed sensors and high-speed industrial cameras. The monitoring sensors are arranged at multiple key nodes of the air conveying duct, such as the turning section of the air conveying duct, the inlet of the air conveying duct and the outlet of the air conveying duct.

[0021] It should be noted that the air conveying duct in this application refers to a closed conveying duct structure that uses wind power (usually generated by a fan / drive motor) to transport loose tobacco leaves from one process to another during tobacco transportation. The air conveying duct is a non-contact, flexible transportation method.

[0022] In step 102, a sampling space for the wind speed of the tobacco leaves during wind transportation is established based on the transport position data of the tobacco leaves in the air conveying duct, and then the constraint boundary of the wind speed acceleration when the tobacco leaves are transported in the sampling space is determined by changing the speed of the driving motor.

[0023] It should be noted that the sampling space in this application represents the key conveying nodes and corresponding wind speed state space areas that describe the tobacco leaves during the conveying process in the air conveying duct, so as to identify the effective monitoring area of the tobacco leaves in the air conveying duct, and then be able to capture and analyze the motion state characteristics of the tobacco leaves as their position changes on the conveying path, thereby providing analytical data for realizing wind speed regulation and refined continuous conveying control of tobacco leaves.

[0024] In some embodiments, reference Figure 2 As shown in FIG. 1 , this figure is an exemplary flow chart for determining a sampling space according to some embodiments of the present application. In this embodiment, the sampling space for the wind speed of tobacco leaves during wind transportation is established based on the transportation position data of tobacco leaves in the air transportation duct. The following steps can be used: First, in step 1021, the conveying position data of the tobacco leaves in the air conveying duct is collected; Next, in step 1022, trajectory fitting is performed on the conveying position data to obtain the movement trajectory of the tobacco leaves in the air conveying duct; Furthermore, in step 1023, a plurality of equidistant sampling points on the conveying path of the tobacco leaf are divided according to the motion trajectory; Then, in step 1024, the conveying wind speed corresponding to each equidistant sampling point is extracted to obtain a wind speed change sample set; Finally, in step 1025, a sampling space of the wind speed of the tobacco leaves during wind transportation is constructed based on the wind speed change sample set.

[0025] In the specific implementation, first, the conveying position data of the tobacco leaves in the air conveying duct is collected by a positioning sensor installed in the air conveying duct, and the conveying position data includes the position coordinates at different positions; secondly, the conveying position data is subjected to trajectory fitting to obtain the movement trajectory of the tobacco leaves in the air conveying duct, that is: the position coordinates in the conveying position data are connected in ascending order according to the distance length from the tobacco leaf position to the air conveying duct entrance to obtain the movement trajectory of the tobacco leaves in the air conveying duct, and the movement trajectory represents the movement trajectory of the tobacco leaves in the air conveying duct; further, a plurality of equidistant sampling points of the tobacco leaves on the conveying path are divided according to the movement trajectory, that is: the total trajectory length corresponding to the movement trajectory is extracted, and the dividing points where the total trajectory length is divided according to preset intervals are used as equidistant sampling points on the tobacco leaf conveying path, thereby obtaining a plurality of equidistant sampling points on the tobacco leaf conveying path, and the equidistant sampling points represent sampling points with the same distance, wherein the preset intervals can be adjusted according to actual needs. The setting is required and is not limited here. In this embodiment, the preset interval can be set to 0.2 meters; then, the conveying wind speed corresponding to each equidistant sampling point is extracted by the speed sensor arranged in the air conveying duct, and the conveying wind speed corresponding to each equidistant sampling point is combined to obtain a wind speed change sample set, and the wind speed change sample set represents a combination of conveying wind speeds including different equidistant sampling points; finally, the sampling space of the conveying wind speed of the tobacco leaves during wind conveying is constructed according to the wind speed change sample set, that is: the wind speed change sample set is probability modeled by using a Gaussian process to generate a sampling space of the conveying wind speed of the tobacco leaves during wind conveying, for example, the position-wind speed data of the equidistant sampling points are used as a training set to train the Gaussian process model, and the trained Gaussian process model is used to predict the predicted conveying wind speed of other position points on the tobacco leaf conveying path, and each position point is covered with the conveying wind speed to obtain the sampling space of the conveying wind speed of the tobacco leaves during wind conveying.

[0026] It should be noted that the purpose of determining the sampling space in this application is to quantify the wind speed variation law and its uncertainty of tobacco leaves at different positions in the air conveying duct, and then provide a data basis for subsequent wind speed constraint control, so that the tobacco transportation system can optimize control instructions under probability constraints.

[0027] In some embodiments, determining the constraint boundary of the wind speed acceleration when tobacco leaves are transported in the sampling space by the change in the speed of the driving motor can be achieved by the following steps, namely: Obtaining the rotation speed-wind speed change data corresponding to each sampling point in the sampling space under the condition of the driving motor rotation speed change; Determine the acceleration sensitivity coefficient at each sampling point according to the rotation speed-wind speed change data corresponding to each sampling point; Calculating the local acceleration corresponding to each sampling point according to the acceleration sensitivity coefficient at each sampling point; The constraint boundary of the wind speed acceleration when the tobacco leaves are transported in the sampling space is extracted based on all local accelerations.

[0028] It should be noted that the constraint boundary in this application represents the safe limit range of allowable fluctuations in the wind speed acceleration in the air delivery duct. During the tobacco leaf conveying process, the constraint boundary of the wind speed acceleration can effectively limit the rate of wind speed change and prevent sudden changes in wind speed from causing problems such as tobacco leaf swirling, accumulation or damage. The constraint boundary can be used to dynamically adjust the conveying wind speed to achieve smooth transition and stable control of wind force, thereby ensuring the continuity and controllable conveying of tobacco leaves in the air delivery duct and improving the conveying efficiency and operational safety of the system.

[0029] In a specific implementation, first, the speed-wind speed change data corresponding to each sampling point in the sampling space of the tobacco leaf under the condition of the speed change of the driving motor is obtained by combining the motor encoder in the driving motor with the speed sensor. The speed-wind speed change data consists of the speed change rate and wind speed acceleration under different speed changes of the driving motor, and the speed-wind speed change data contains multiple speed change rate-wind speed acceleration groups; secondly, the acceleration sensitivity coefficient at each sampling point is determined according to the speed-wind speed change data corresponding to each sampling point, that is: for each sampling point, a transfer function between the speed change rate and the wind speed acceleration is constructed by the speed-wind speed change data corresponding to the sampling point, and the differential term of the transfer function is used as the acceleration sensitivity coefficient of the sampling point, thereby obtaining the acceleration sensitivity coefficient at each sampling point, wherein the speed-wind speed change data can be constructed as fitting data for least squares parameter estimation, and the least squares Parameter estimation and fitting are used to obtain the transfer function between the rotational speed and the wind speed, which will not be described in detail here. Then, the local acceleration corresponding to each sampling point is calculated based on the acceleration sensitivity coefficient at each sampling point, that is, the rotational speed change rate of the current drive motor is obtained. For each sampling point, the product of the acceleration sensitivity coefficient corresponding to the sampling point and the rotational speed change rate is used as the local acceleration corresponding to the sampling point, thereby obtaining the local acceleration corresponding to each sampling point. The acceleration sensitivity coefficient is essentially the transfer gain from the rotational speed change rate to the wind speed acceleration. Therefore, the calculation of the local acceleration conforms to dimensional consistency and has a clear physical meaning. Finally, the kernel density estimation in the prior art is used to perform probability density estimation on the local accelerations of all sampling points, and the 99% quantile (e.g., 2.4 m / s²) and 1% quantile (e.g., -1.6 m / s²) of the cumulative distribution function are selected as the constraint boundaries of the wind speed acceleration when the tobacco leaves are transported in the sampling space.

[0030] It should be noted that, in this embodiment, the acceleration sensitivity coefficient is a proportional parameter that characterizes the degree of influence of the rate of change of the drive motor speed on the wind speed acceleration at the sampling point; in this embodiment, the local acceleration represents the rate of change of the wind speed at the sampling point; in addition, by determining the constraint boundary, the purpose is to establish a correlation mapping between the wind speed acceleration and the rate of change of the drive motor speed, thereby forming a constraint model based on actual operating data, ensuring that the wind speed change of the tobacco leaves during the wind conveying process is always within the dynamic range allowed by the system, so as to avoid unstable transportation caused by sudden changes in wind speed.

[0031] In step 103, the tobacco leaf conveying state at each sampling point in the sampling space is identified to obtain the conveying efficiency of the tobacco leaf at each sampling point, and then the airflow guide field of the tobacco leaf when it is conveyed by wind pressure in the air conveying duct is determined based on the difference in conveying efficiency between adjacent sampling points.

[0032] It should be noted that the conveying efficiency in this application represents a quantitative indicator of the quality maintenance ability of tobacco leaves at a specific position in the air conveying duct. The determination of the conveying efficiency can accurately identify the conveying smoothness and wind speed matching of tobacco leaves at different positions in the air conveying duct, thereby providing a basis for constructing the airflow guide field and setting local wind speed control parameters.

[0033] In some embodiments, reference Figure 3 As shown in FIG. 1 , this figure is an exemplary flow chart for determining the conveying efficiency according to some embodiments of the present application. In this embodiment, the conveying state of tobacco leaves at each sampling point in the sampling space is identified, and the conveying efficiency of the tobacco leaves at each sampling point can be obtained by the following steps: First, in step 1031, a tobacco leaf motion image at each sampling point in the sampling space is obtained; Then, in step 1032, feature recognition is performed on the tobacco leaf motion image at each sampling point to obtain the state feature of the tobacco leaf at each sampling point; Finally, in step 1033, the transport efficiency of the tobacco leaves at each sampling point is calculated based on all state characteristics.

[0034] In a specific implementation, first, a high-speed industrial camera is used to obtain tobacco leaf motion images of tobacco leaves at various sampling points in the sampling space, wherein the tobacco leaf motion images are images for monitoring the motion state of tobacco leaves at different sampling points; then, feature recognition is performed on the tobacco leaf motion images at each sampling point to obtain the state features of the tobacco leaves at each sampling point, namely, for each sampling point, the existing YOLOv5 target detection model is used to identify the tobacco leaf density (determined by the proportion of the tobacco leaf contour area) and the tobacco leaf breakage rate (obtained by the tobacco leaf edge breakage detection) from the tobacco leaf motion images corresponding to the sampling point, and the existing optical flow method (Lucas-Kanade algorithm) is used to identify the tobacco leaf from the tobacco leaf motion images corresponding to the sampling point. The tobacco leaf speed consistency (determined by the standard deviation of the tobacco leaf vector direction) is determined, and the combination of the tobacco leaf density, the tobacco leaf breakage rate and the tobacco leaf speed consistency is used as the state feature of the tobacco leaf at the sampling point, thereby obtaining the state feature of the tobacco leaf at each sampling point; finally, for each sampling point, the state feature corresponding to the sampling point is input as an input parameter into a pre-trained random forest regression model, and the normalized efficiency score output by the random forest regression model is used as the transportation efficiency of the tobacco leaf at the sampling point, thereby obtaining the transportation efficiency of the tobacco leaf at each sampling point, wherein the random forest regression model is trained by historical tobacco leaf state feature data (such as 1000 groups of labeled state feature samples).

[0035] It should be noted that, in this embodiment, the consistency of tobacco leaf speed refers to the degree of convergence of the motion velocity vectors of different tobacco leaf individuals at the same sampling point; in this embodiment, the state characteristics refer to a set of multidimensional parameters extracted from the tobacco leaf transportation process that characterize the movement, distribution and physical integrity of the tobacco leaves.

[0036] In some embodiments, determining the airflow guide field of the tobacco leaves when they are conveyed by air pressure in the air conveying duct based on the difference in conveying efficiency between adjacent sampling points can be achieved by the following steps, namely: Calculating the difference relationship of the transport efficiency between adjacent sampling points in the sampling space; Construct a distribution map of transport deviations in the sampling space based on all the difference relationships; The airflow guide field of the tobacco leaves when being conveyed by air pressure in the air conveying duct is extracted based on the conveying deviation distribution diagram.

[0037] It should be noted that the airflow guide field in this application refers to an airflow regulation area constructed in the air delivery duct to guide the tobacco leaves to be transported smoothly in the expected state. The determination of the airflow guide field lies in identifying the sensitive areas in the air delivery duct that affect the continuous transportation of tobacco leaves, and then adjusting the wind speed direction and intensity in the air delivery duct based on the transportation state of the sensitive area, so that the wind force tends to be balanced in spatial distribution, thereby effectively guiding the tobacco leaves to run stably along the predetermined path and reducing accumulation and deviation phenomena.

[0038] In the specific implementation, first, the difference relationship of the transmission efficiency between adjacent sampling points in the sampling space is calculated, that is: for each adjacent sampling point, the difference in the transmission efficiency between adjacent sampling points is used as the transmission efficiency difference, and the transmission efficiency difference is used to characterize the difference relationship of the transmission efficiency between adjacent sampling points, and the transmission efficiency difference represents the degree of difference in the transmission efficiency between adjacent sampling points; secondly, a transmission deviation distribution map in the sampling space is constructed according to all the difference relationships, that is: the transmission efficiency differences corresponding to each difference relationship are mapped into a two-dimensional distribution map through the existing technology Kriging interpolation, and the distribution map is used as the transmission deviation distribution map in the sampling space, that is, Kriging interpolation smoothes the transmission efficiency differences of all sampling points by analyzing the spatial position and statistical correlation of the efficiency differences. It is extrapolated to the entire two-dimensional area to generate a continuous conveying deviation distribution map, which will not be repeated here; then, the airflow guide field of the tobacco leaves when they are conveyed under wind pressure in the air conveying duct is extracted based on the conveying deviation distribution map, that is: density clustering is used to take the area where the conveying deviation is concentrated in the conveying deviation distribution map as the airflow guide field when the tobacco leaves are conveyed under wind pressure in the air conveying duct. For example, density clustering can be used to take the continuous areas in the conveying deviation distribution map where the conveying deviation is greater than a preset threshold as the airflow guide field when the tobacco leaves are conveyed under wind pressure in the air conveying duct. It will not be repeated here, wherein the preset threshold can be set according to actual needs and is not limited here. The airflow guide field represents the key positions where speed mismatch, offset or accumulation trend occurs during tobacco leaf transportation.

[0039] It should be noted that the conveying deviation distribution map in this application represents a two-dimensional image formed based on the conveying efficiency differences between each sampling point in the sampling space. It is a two-dimensional image used to reflect the degree of imbalance and spatial distribution trend of tobacco leaf conveying status, and provides a data basis for identifying the adjustment area where the conveying deviation is concentrated in the air conveying duct.

[0040] In step 104, the dynamic speed regulation parameters of the wind speed of tobacco leaves during wind pressure transportation are generated by combining the constraint boundary with the airflow guide field.

[0041] The dynamic speed regulation parameters in this application represent dynamic control parameters used to adjust and limit the wind speed output of the drive motor. The dynamic speed regulation parameters are used to limit the output wind speed of the drive motor and its rate of change, ensuring that the tobacco leaves run according to the target path and expected state within the sampling space, and avoiding drift, accumulation or loss during tobacco leaf transportation.

[0042] In some embodiments, the following steps may be used to generate dynamic speed control parameters of the tobacco leaf conveying velocity during wind pressure conveying by combining the constraint boundary with the airflow guide field, namely: Obtaining the current wind speed vector distribution of the airflow guide field; Projecting the wind speed vector distribution onto the main conveying path of tobacco leaves to obtain the required area for regulating the wind speed during the wind pressure conveying of tobacco leaves; Based on the wind speed change characteristics of the wind speed control demand area and the constraint boundary, the dynamic speed regulation parameters of the conveying wind speed of the tobacco leaves during wind pressure conveying are determined.

[0043] It should be noted that the main conveying path in this embodiment refers to the main spatial trajectory line of the tobacco leaves that continuously move along the preset conveying direction when driven by wind pressure in the air conveying duct, which usually corresponds to the geometric center line inside the duct and is used as a directional reference to guide wind speed control and airflow adjustment.

[0044] In the specific implementation, first, the wind speed vector distribution of the airflow guide field is obtained through the existing CFD simulation (such as based on the Reynolds-averaged NS equations and the k-ε turbulence model). It will not be repeated here. The wind speed vector distribution includes wind speed vectors at multiple positions; then, the wind speed vector distribution is projected onto the main conveying path of the tobacco leaves to obtain the control demand area of the tobacco leaves' conveying wind speed during the wind pressure conveying process, that is: the wind speed vector in the wind speed vector distribution is projected within the range of the main conveying path through the existing vector projection method, and the wind speed vector consistent with the direction of the main conveying path is retained, and then the projection area corresponding to the retained wind speed vector is used as the control demand area of the tobacco leaves' conveying wind speed during the wind pressure conveying process. The control demand area is manifested as a local section with insufficient or excessive wind speed; finally, the wind speed change in the wind speed control demand area is determined based on the wind speed The dynamic speed regulation parameters of the wind speed of the tobacco leaves during wind pressure transportation are determined based on the characteristics and the constraint boundary, namely: the wind speed acceleration at different positions in the wind speed control demand area is obtained, and the average of the speeds of all wind speed points is used as the wind speed change characteristics of the wind speed control demand area, the wind speed change characteristics are mapped and compared with the constraint boundary, and the minimum comparison result is used as the constraint control lower limit of the wind speed of the tobacco leaves during wind pressure transportation, and the maximum comparison result is used as the constraint control upper limit of the wind speed of the tobacco leaves during wind pressure transportation, and then the constraint control lower limit and the constraint control upper limit are combined into the dynamic speed regulation parameters of the wind speed of the tobacco leaves during wind pressure transportation, the constraint control lower limit represents the lower limit value for adjusting the speed of the drive motor, and the constraint control upper limit represents the upper limit value for adjusting the speed of the drive motor.

[0045] It should be noted that, in this embodiment, the wind speed vector distribution represents a vector information set composed of the velocity magnitude and direction of the airflow at multiple spatial positions in the airflow guide field, which is used to describe the motion state of the airflow at different positions in the conveying space of the airflow guide field. Each vector is composed of the amplitude of the wind speed (i.e., the velocity magnitude) and the direction (i.e., the direction of the airflow flow), reflecting the spatial distribution characteristics of the force exerted by the air flow on the tobacco leaves in space; in this embodiment, the wind speed vector represents the physical quantity of the wind speed amplitude and direction of the airflow at a certain point; in this embodiment, the control demand area represents the spatial position area along the main conveying path where the airflow thrust is insufficient during the wind pressure conveying of tobacco leaves. The airflow state in this area needs to be adjusted by wind speed or flow direction to meet the requirements of conveying stability and control accuracy.

[0046] In step 105 , the conveying speed of the driving motor is constrained based on the dynamic speed regulation parameters.

[0047] In some embodiments, constraining the conveying speed of the drive motor based on the dynamic speed regulation parameter can be achieved by the following steps, namely: Adjusting the motor speed regulation strategy of the drive motor according to the dynamic speed regulation parameter; When the wind speed during tobacco transportation deviates from the target wind speed range, the adjusted motor speed regulation strategy is used to constrain the driving motor's speed at that moment. When the conveying wind speed during tobacco leaf conveying does not deviate from the target wind speed range, the conveying speed of the driving motor at that moment is not constrained.

[0048] It should be noted that the target wind speed range in this embodiment represents the pre-set effective wind speed range when tobacco leaves are transported. It can be set based on machine learning of the transport wind speed data when a large number of tobacco leaves are transported. In addition, it can also be set according to actual needs, which is not limited here.

[0049] In specific implementation, first, the motor speed regulation strategy of the drive motor is adjusted according to the dynamic speed regulation parameters, that is: the constraint control upper limit in the dynamic speed regulation parameters is used as the maximum regulation amount of the motor speed of the drive motor, and the constraint control lower limit in the dynamic speed regulation parameters is used as the minimum regulation amount of the motor speed of the drive motor, thereby completing the adjustment of the motor speed regulation strategy of the drive motor; secondly, when the conveying wind speed during tobacco leaf transportation deviates from the target wind speed range, the conveying speed of the drive motor at that moment is constrained by the adjusted motor speed regulation strategy, that is: the conveying speed of the drive motor at that moment is adjusted between the maximum regulation amount and the minimum regulation amount in the adjusted motor speed regulation strategy (that is, gradually increasing or decreasing from the minimum regulation amount based on the conveying speed at the previous moment) until the conveying wind speed during tobacco leaf transportation is within the target wind speed range; then, when the conveying wind speed during tobacco leaf transportation does not deviate from the target wind speed range, the conveying speed of the drive motor at that moment is not constrained.

[0050] In addition, in another aspect of the present application, in some embodiments, the present application provides a tobacco leaf transmission control system, including an air delivery duct and a drive motor, and the system also includes a tobacco leaf transmission control unit, referring to Figure 4 , which is a schematic diagram of the structure of a tobacco leaf transport control unit according to some embodiments of the present application. The tobacco leaf transport control unit 200 includes: a monitoring module 201, a processing module 202 and an execution module 203, which are described as follows: Monitoring module 201, in this application, monitoring module 201 is mainly used to monitor tobacco leaves in the air delivery duct in real time; Processing module 202, in this application, is mainly used to establish a sampling space for the wind speed of the tobacco leaves during wind conveying based on the conveying position data of the tobacco leaves in the air conveying duct, and then determine the constraint boundary of the wind speed acceleration when the tobacco leaves are conveyed in the sampling space by changing the speed of the driving motor; The processing module 202 is further configured to identify the tobacco leaf conveying state at each sampling point in the sampling space, obtain the conveying efficiency of the tobacco leaf at each sampling point, and further determine the airflow guide field of the tobacco leaf when it is conveyed by air pressure in the air conveying duct based on the difference in conveying efficiency between adjacent sampling points; In addition, the processing module 202 is further configured to generate dynamic speed control parameters of the tobacco leaf conveying wind speed during wind pressure conveying by combining the constraint boundary with the airflow guide field; The execution module 203 in this application is mainly used to constrain the conveying speed of the driving motor based on the dynamic speed regulation parameters.

[0051] In addition, the present application also provides a computer device, which includes a memory and a processor, the memory storing a code, and the processor being configured to obtain the code and execute the above-mentioned tobacco leaf transmission control method.

[0052] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing a tobacco leaf transmission control method according to some embodiments of the present application. The tobacco leaf transmission control method in the above embodiment can be Figure 5 The computer device 300 shown in FIG. 1 is implemented as shown in FIG. 1 , and the computer device 300 includes at least one processor 301 , a communication bus 302 , a memory 303 , and at least one communication interface 304 .

[0053] The processor 301 can be a general-purpose central processing unit (CPU), or an application-specific integrated circuit (ASIC) or one or more processors for controlling the execution of the tobacco leaf transport control method of the present application.

[0054] The communication bus 302 may be used to transmit information between the aforementioned components.

[0055] Memory 303 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, a random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer. Memory 303 may be independent and connected to processor 301 via communication bus 302. Memory 303 may also be integrated with processor 301.

[0056] Memory 303 is used to store program code for implementing the present invention, and is controlled by processor 301 for execution. Processor 301 is used to execute the program code stored in memory 303. The program code may include one or more software modules. The determination of the tobacco leaf transport control method in the above embodiment can be implemented by processor 301 and one or more software modules in the program code stored in memory 303.

[0057] The communication interface 304 uses any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), etc.

[0058] In a specific implementation, as an example, a computer device may include multiple processors, each of which may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0059] The aforementioned computer device can be a general-purpose computer device or a dedicated computer device. In a specific implementation, the computer device can be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. The embodiments of this application do not limit the type of computer device.

[0060] In addition, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned tobacco leaf transmission control method is implemented.

[0061] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0062] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A tobacco leaf transport control method, used for a tobacco leaf transport control system to transport tobacco leaves in an air delivery pipe, the tobacco leaf transport control system comprising an air delivery pipe and a drive motor, characterized in that: The method comprises the following steps: Real-time monitoring of tobacco leaves in the air delivery duct; A sampling space for the wind speed of the tobacco leaves during wind conveying is established based on the conveying position data of the tobacco leaves in the air conveying duct, and a constraint boundary for the wind speed acceleration of the tobacco leaves during conveying in the sampling space is determined by the change in the speed of the drive motor; Identifying the tobacco leaf conveying state at each sampling point in the sampling space to obtain the conveying efficiency of the tobacco leaf at each sampling point, and then determining the airflow guide field when the tobacco leaf is conveyed by air pressure in the air delivery duct based on the difference in conveying efficiency between adjacent sampling points; Generating dynamic speed regulation parameters of the tobacco leaf conveying wind speed during wind pressure conveying by combining the constraint boundary with the airflow guide field; The conveying speed of the driving motor is constrained based on the dynamic speed regulation parameters.

2. The method according to claim 1, wherein The sampling space of the wind speed of the tobacco leaves during wind transportation is established based on the transportation position data of the tobacco leaves in the wind transportation duct, specifically including: Collect the data of tobacco leaves’ transportation position in the air conveying duct; Performing trajectory fitting on the conveying position data to obtain a motion trajectory of the tobacco leaves in the air conveying duct; Dividing the tobacco leaves on a conveying path into a plurality of equidistant sampling points according to the motion trajectory; Extract the conveying wind speed corresponding to each equidistant sampling point to obtain a set of wind speed change samples; A sampling space of the wind speed of the tobacco leaves during wind transportation is constructed based on the wind speed change sample set.

3. The method according to claim 1, wherein Determining the constraint boundary of the wind speed acceleration when the tobacco leaves are transported in the sampling space by the change in the speed of the driving motor specifically includes: Obtaining the rotation speed-wind speed change data corresponding to each sampling point in the sampling space under the condition of the driving motor rotation speed change; Determine the acceleration sensitivity coefficient at each sampling point according to the rotation speed-wind speed change data corresponding to each sampling point; Calculating the local acceleration corresponding to each sampling point according to the acceleration sensitivity coefficient at each sampling point; The constraint boundary of the wind speed acceleration when the tobacco leaves are transported in the sampling space is extracted based on all local accelerations.

4. The method according to claim 1, wherein Identifying the tobacco leaf conveying state at each sampling point in the sampling space to obtain the tobacco leaf conveying efficiency at each sampling point specifically includes: Acquiring tobacco leaf motion images at each sampling point in the sampling space; Performing feature recognition on the tobacco leaf motion image at each sampling point to obtain the state feature of the tobacco leaf at each sampling point; The transport efficiency of the tobacco leaves at each sampling point is calculated based on all state characteristics.

5. The method according to claim 1, wherein Determining the airflow guide field when the tobacco leaves are conveyed by air pressure in the air conveying duct according to the difference relationship of the conveying efficiency between adjacent sampling points specifically includes: Calculating the difference relationship of the transport efficiency between adjacent sampling points in the sampling space; Construct a distribution map of transport deviations in the sampling space based on all the difference relationships; The airflow guide field of the tobacco leaves when being conveyed by air pressure in the air conveying duct is extracted based on the conveying deviation distribution diagram.

6. The method according to claim 1, wherein The dynamic speed control parameters of the tobacco leaf conveying wind speed generated by combining the constraint boundary with the airflow guide field during wind pressure conveying specifically include: Obtaining the current wind speed vector distribution of the airflow guide field; Projecting the wind speed vector distribution onto the main conveying path of tobacco leaves to obtain the required area for regulating the wind speed during the wind pressure conveying of tobacco leaves; Based on the wind speed change characteristics of the wind speed control demand area and the constraint boundary, the dynamic speed regulation parameters of the conveying wind speed of the tobacco leaves during wind pressure conveying are determined.

7. The method according to claim 1, wherein The tobacco leaves in the air conveying duct are monitored in real time by monitoring sensors, which include positioning sensors, speed sensors and high-speed industrial cameras.

8. A tobacco leaf transmission control system, comprising an air delivery duct and a drive motor, characterized in that: The tobacco leaf transmission control system further includes a tobacco leaf transmission control unit, which includes: Monitoring module, used for real-time monitoring of tobacco leaves in the air delivery duct; a processing module for establishing a sampling space for the wind speed of the tobacco leaves during wind conveying based on the conveying position data of the tobacco leaves in the air conveying duct, and further determining a constraint boundary of the wind speed acceleration when the tobacco leaves are conveyed in the sampling space by changing the speed of the drive motor; The processing module is further configured to identify the tobacco leaf conveying state at each sampling point in the sampling space, obtain the conveying efficiency of the tobacco leaf at each sampling point, and further determine the airflow guide field when the tobacco leaf is conveyed by air pressure in the air delivery duct based on the difference in conveying efficiency between adjacent sampling points; The processing module is further configured to generate dynamic speed control parameters of the tobacco leaf conveying wind speed during wind pressure conveying by combining the constraint boundary with the airflow guide field; An execution module is used to constrain the conveying speed of the driving motor based on the dynamic speed regulation parameter.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores codes, and the processor is configured to obtain the codes and execute the tobacco leaf transport control method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the tobacco leaf transmission control method according to any one of claims 1 to 7 is implemented.

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