Method and system for controlling discharging speed of metering feeding machine based on optical recognition

Abstract

The invention discloses a metering feeding machine discharging speed control method and system based on optical recognition, and relates to the technical field of discharging control, and the method comprises the steps that material weight information is collected according to a weighing sensor, and material contour data is collected according to a line laser contour sensor; state judgment is carried out according to a state judgment assembly embedded in the controller, and instantaneous outflow weight calculation based on the material weight information and the material contour information in the state mode is executed; and a speed control signal based on the instantaneous outflow weight is generated according to a flow judgment assembly embedded in the controller, and the feeding speed of the spiral feeding device is controlled. The technical problems that in the prior art, a weighing sensor cannot accurately measure the instantaneous outflow weight in the material supplementing state, and the control precision is unstable are solved, and the technical effect of improving the control precision and stability of the discharging speed is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of discharge control, in particular to a method and system for controlling the discharge speed of a metering feeder based on optical recognition. BACKGROUND

[0002] Traditional metering feeding systems usually rely on weighing sensors to obtain weight change information to determine the outflow of materials. When the system is in a feeding state, since feeding and discharging are performed simultaneously, the total weight change collected by the weighing sensor cannot truly reflect the instantaneous weight of the discharge part, and is easily affected by external factors such as motor vibration, feeding and discharging soft connection disturbance, etc., resulting in unstable flow data and making it difficult to achieve precise control of the feeding process. SUMMARY

[0003] The present application provides a method and system for controlling the discharge speed of a metering feeder based on optical recognition, which is used to solve the technical problems that the weighing sensor cannot accurately measure the instantaneous outflow weight and the control precision is unstable in the prior art.

[0004] In view of the above problems, the present application provides a method and system for controlling the discharge speed of a metering feeder based on optical recognition.

[0005] In a first aspect, the present application provides a method for controlling the discharge speed of a metering feeder based on optical recognition, which comprises: According to the weight information of the material collected by the weighing sensor, the profile data of the material is collected according to the line laser profile sensor; according to the state discrimination component embedded in the controller, the state is determined, and the instantaneous outflow weight calculation based on the material weight information and the material profile information in the state mode is executed; according to the flow discrimination component embedded in the controller, the speed control signal based on the instantaneous outflow weight is generated to control the feeding speed of the screw feeding device; wherein, if it is a non-feeding state, the weight change rate is used as the weight calculation method, if it is a feeding state, the material volume x material density is used as the weight calculation method, the laser inter-frame profile line is used for profile segmentation processing, and the volume calculation is performed based on the parallel triangle measurement and summation of the segmentation unit.

[0006] In a second aspect, the present application provides a system for controlling the discharge speed of a metering feeder based on optical recognition, which comprises: The profile data acquisition module is used for acquiring material weight information according to a weighing sensor and acquiring material profile data according to a line laser profile sensor; the state determination module is used for determining a state according to a state discrimination component embedded in the controller and performing instantaneous flow-out weight calculation based on the material weight information and the material profile information in the state mode; the speed control module is used for generating a speed control signal based on the instantaneous flow-out weight according to a flow discrimination component embedded in the controller and controlling the feeding speed of the screw feeding device; wherein, if it is a non-supplement state, the weight change rate is used as the weight calculation mode, if it is a supplement state, the material volume multiplied by the material density is used as the weight calculation mode, the profile segmentation processing is performed by using the laser inter-frame profile line, and the volume calculation is performed based on the parallel triangle measurement and summation of the segmentation units.

[0007] One or more technical solutions provided in the present application have at least the following technical effects or advantages: The present application acquires material weight information according to a weighing sensor, acquires material profile data according to a line laser profile sensor, determines a state according to a state discrimination component embedded in the controller, performs instantaneous flow-out weight calculation based on the material weight information and the material profile information in the state mode, generates a speed control signal based on the instantaneous flow-out weight according to a flow discrimination component embedded in the controller, and controls the feeding speed of the screw feeding device; wherein, if it is a non-supplement state, the weight change rate is used as the weight calculation mode, if it is a supplement state, the material volume multiplied by the material density is used as the weight calculation mode, the profile segmentation processing is performed by using the laser inter-frame profile line, and the volume calculation is performed based on the parallel triangle measurement and summation of the segmentation units. The present application solves the technical problems that the weighing sensor cannot accurately measure the instantaneous flow-out weight in the supplement state and the control precision is unstable in the prior art, introduces the line laser profile sensor to measure the material volume, and realizes weight calculation in the supplement state by combining state discrimination and density calculation, thereby achieving the technical effects of improving the precision and stability of the discharge speed control. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0009] Figure 1 The flowchart of the discharge speed control method of the metering feeder according to the present application is provided based on optical recognition; Figure 2 The structural schematic diagram of the discharge speed control system of the metering feeder according to the present application is provided based on optical recognition; Figure 3 The working logic diagram of the metering feeder provided in the embodiment of the application is shown.

[0010] The figure mark explanation: linear laser profile sensor 1, screw feeding device 2, discharge port 3, feeding motor and gearbox 4, material bin 5, weighing platform and weighing sensor 6, material supplementing port and exhaust device 7, controller 8, profile data acquisition module 11, state determination module 12, characteristic speed control module 13. DETAILED DESCRIPTION

[0011] The application provides a metering feeder discharge speed control method and system based on optical recognition, which aims to solve the technical problems that the weighing sensor cannot accurately meter the instantaneous flow weight in the material supplementing state and the control precision is unstable in the prior art. The linear laser profile sensor is introduced to measure the volume of the material, and the weight calculation in the material supplementing state is realized by combining the state discrimination and the density calculation, so that the precision and stability of the discharge speed control are improved.

[0012] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0013] It should be noted that any variation of the terms "comprise" and "have" is intended to cover non-exclusive inclusion, for example, a process, method, system, product or server comprising a series of steps or units does not have to be limited to the clearly listed steps or units, but can include other steps or modules that are not clearly listed or inherent to the process, method, product or device.

[0014] Embodiment one, as shown in the application provides a metering feeder discharge speed control method based on optical recognition, which comprises: Figure 1 Step S100: collecting material weight information according to a weighing sensor, and collecting material profile data according to a linear laser profile sensor.

[0015] In the embodiment of the application, first, the weighing sensor is used to collect material weight information to obtain the change of the material weight per unit time, which is used to calculate the flow weight of the material. Meanwhile, the linear laser profile sensor is used to non-contact scan the material at the outlet of the screw feeding device to collect the material profile data and obtain the cross-sectional shape and size information of the material.

[0016] ​Step S200: according to the state discrimination component embedded in the controller, state determination is performed, and the instantaneous flow weight calculation based on the material weight information and the material profile information in the state mode is executed. Wherein, if it is a non-supplement state, the weight change rate is used as the weight calculation method, if it is a supplement state, the material volume*material density is used as the weight calculation method, the laser inter-frame profile line is used for profile segmentation processing, and the volume calculation is performed based on the parallel triangulation and summation of the segmentation unit.

[0017] In the embodiment of the present application, first, the current running state is determined by the state discrimination component embedded in the controller. The basis of state determination is whether there is feeding and discharging operation at the same time. Specifically, whether there is material entering is determined by detecting the working signal of the feeding device (such as whether the feeding motor is in running state, the sensor feedback of the feeding port position, etc.), and whether there is discharging behavior is determined by combining the weight change trend reflected by the weighing sensor and the running state of the discharging device. If both occur at the same time, it is determined to be a supplement state; if only material is discharged without feeding, it is a non-supplement state.

[0018] After state determination, the control logic selects the corresponding weight calculation method according to the current state. When it is a non-supplement state, the instantaneous flow weight of the material can be directly calculated by the weight change rate of the weight value obtained by the weighing sensor over time. When it is a supplement state, the instantaneous flow weight is obtained by multiplying the material density and the volume. The calculation of the volume is based on the material profile data collected by the laser profile sensor, the inter-frame profile line is segmented to form multiple profile slices. The volume of each slice is calculated by triangulation, which involves ranging and angle parameters, and finally the sum of all slice volumes is obtained to get the instantaneous volume of the material.

[0019] Further, the method provided in the embodiment of the application further comprises: The state discrimination component is used to distinguish between the supplement state and the non-supplement state by monitoring the state of the material port. If it is a non-supplement state, the instantaneous flow weight is calculated according to the weight information change rate over time.

[0020] In the embodiment of the present application, the state discrimination component embedded in the controller is used to identify whether there is a supplement behavior at present by monitoring the state of the material port. Specifically, whether there is material entering the silo from the feeding port is determined by the sensor signal at the feeding port, the start-stop state of the feeding motor, etc. At the same time, whether there is material discharging is confirmed by combining the real-time acquisition of the overall weight change trend by the weighing sensor. When the judgment result is that only material is discharged without material entering, it is determined that the current is in a non-supplement state.

[0021] In this state, the weight information collected by the weighing sensor is combined with the time change for calculation. The weighing sensor can feed back the continuous change of the total weight of the silo with high precision, and the weight change rate in unit time is obtained by differentiating the weight value change in the continuous time period. The change rate is the instantaneous outflow weight.

[0022] Further, the method provided by the application embodiment further comprises: According to the instantaneous outflow weight, the material density is calculated, and the material density is stored to the controller; wherein, the density calculation method comprises: calculating the first instantaneous outflow volume in the non-replenishment state by the line laser profile sensor; and performing division calculation on the instantaneous outflow weight and the first instantaneous outflow volume to determine the material density, wherein the material density is the weight of unit volume of material.

[0023] In the application embodiment, in the non-replenishment state, in order to obtain the material density, the continuous change of the total weight of the silo is first recorded by the weighing sensor. The weighing sensor converts the physical load into an electrical signal based on the strain resistance principle, and the controller calculates the weight change in unit time, i.e. the instantaneous outflow weight, by differentiating the signal at continuous time points.

[0024] At the same time, the line laser profile sensor performs high-speed scanning on the material cross section at the outlet of the spiral feeding device. The sensor irradiates a line laser beam on the material surface by projection, and obtains a two-dimensional image sequence of the reflected profile line in combination with the position sensor. The controller performs inter-frame analysis on the profile images, spatially reconstructs the continuous laser inter-frame profile lines, and forms a three-dimensional profile model.

[0025] In the image processing process, the boundary of each frame of profile line data is first extracted, and then the profile is segmented based on the relative position relationship between the profile lines, and is divided into multiple cross-sectional slices (i.e. segmentation units). For each slice, the controller obtains the distance between the line laser profile sensor and the end point of the profile line (the first line end distance and the second line end distance) according to the triangulation principle, and combines the included angle (the third angle) formed by them and the sensor position to calculate the geometric triangular volume formed by the slice.

[0026] By traversing all the profile slices and summing up their volumes one by one, the first instantaneous outflow volume in the current unit time is obtained. Then, the instantaneous outflow weight calculated by the foregoing weighing sensor is divided by the instantaneous outflow volume to obtain the material density, i.e. the weight corresponding to unit volume of material.

[0027] Further, the method provided by the application embodiment further comprises: If the feeding state, the instantaneous outflow weight is calculated by the material density multiplied by the material volume; wherein, the calculation method of the material volume comprises: collecting instantaneous material profile data by the laser profile sensor; according to the material profile data, performing profile segmentation processing on the laser inter-frame profile line to determine a profile slice set; for the first profile slice, performing triangular principle calculation on the first line end distance, the second line end distance and the third angle to determine the first slice volume of the first profile slice, wherein the first line end distance is the distance measurement between the laser profile sensor position and the first end of the laser inter-frame profile line, and the third angle is an angle formed by the laser profile sensor position as the intersection point and the first line end distance and the second line end distance as the two sides; traversing the profile slice set to complete the calculation of the Nth slice volume, and adding the first slice volume to the Nth slice volume to determine the instantaneous material volume.

[0028] In the embodiments of the present application, in the feeding state, the instantaneous weight is calculated by the material density multiplied by the material volume.

[0029] In the calculation, first, the laser profile sensor collects instantaneous material profile data. The laser profile sensor works based on the laser triangulation principle. When the material flows out of the discharge port of the screw feeder, the laser profile sensor continuously projects a linear laser beam onto the material cross section, and simultaneously receives the reflected light signal by the internal imaging component to form a high-resolution profile image. The controller collects image frames at multiple consecutive time points and extracts corresponding two-dimensional cross-sectional data to form a sequence of laser inter-frame profile lines with time continuity. This data reflects the cross-sectional geometry of the material at different times during the discharging process and is the geometric basis for volume calculation.

[0030] Then, the controller performs profile segmentation processing on the laser inter-frame profile line according to the collected material profile data. This processing method is to pair the profile lines between adjacent frames, divide the space region between the two frames into several solid units with spatial structure characteristics, i.e. profile slices, according to the coordinates of the corresponding points of the profile lines of each frame. By traversing the entire frame sequence, a profile slice set composed of multiple slices is obtained, wherein each profile slice represents a small volume of the material in the discharging direction.

[0031] Subsequently, the controller performs volume calculation on the first profile slice by using the triangular principle calculation method. Specifically, the controller first extracts three key geometric parameters, i.e. the first line end distance, the second line end distance and the third angle. The first line end distance is the distance measurement between the laser profile sensor position and the first end of the laser inter-frame profile line, denoted as The second line end distance is the distance measurement between the laser profile sensor position and the second end of the laser inter-frame profile line, denoted as The third angle is the included angle of the space formed by the first line end distance and the second line end distance, with the laser profile sensor position as the intersection point, denoted as θ. The three data are calculated through the three-dimensional coordinate information obtained by the laser profile sensor in the imaging process. The laser profile sensor records the actual spatial distance between the sensor body and the key points of the material section, and the first line end distance and the second line end distance can be calculated through the coordinate difference value, and the third angle can be calculated through the vector included angle formula.

[0032] The controller then calculates the cross-sectional area corresponding to the profile slice by using the triangular area formula Then, the area S is multiplied by the inter-frame interval Δh of the laser scanning to obtain the volume of the space unit, and the value is the first slice volume of the first profile slice. The inter-frame interval Δh represents the spatial distance of two frames of laser profile lines in the material movement direction, which is calculated by the profile frame acquisition frequency recorded by the controller and the instantaneous discharge speed of the screw feeding device. Specifically, the controller records the time interval of profile image acquisition (such as collecting once every 20 milliseconds), and combines the current set or real-time monitored screw conveying line speed (such as mm / s) to calculate the displacement of the material in a frame interval, which is Δh.

[0033] Then the controller continues to traverse the profile slice set, and repeats the above process for each subsequent profile slice (2th to Nth) to obtain the corresponding slice volume.

[0034] Finally, the first slice volume to the Nth slice volume are added one by one, and the total volume in the current period is finally obtained, which is the instantaneous material volume.

[0035] Step S300: According to the flow discrimination component embedded in the controller, a speed control signal based on the instantaneous discharge weight is generated to control the feeding speed of the screw feeding device.

[0036] In the embodiment of the present application, according to the flow discrimination component embedded in the controller, the current instantaneous discharge weight is received to trigger the discrimination logic in sequence to judge the difference between the instantaneous discharge weight and the preset target flow. If the instantaneous discharge weight is consistent with the target flow or within the preset precision difference range, no adjustment is needed; if it is out of the range, the speed control signal is generated by the discrimination component to adjust the feeding speed of the screw feeding device.

[0037] Specifically, when the feeding speed of the screw feeding device is controlled, the speed of the motor or the speed change mechanism is adjusted to adjust the material conveying rate. For example, if the instantaneous outflow weight is lower than the target flow, the control signal will increase the motor speed, speed up the screw conveying rhythm, and increase the material output per unit time; otherwise, the speed will be reduced. In this way, the instantaneous outflow weight of the material is dynamically adjusted to approach the target flow, forming a continuous closed-loop control to ensure the feeding accuracy.

[0038] Further, the method provided by the application embodiment further includes: A first discrimination node is set, wherein the first discrimination node performs consistency discrimination of the instantaneous outflow weight and the preset target flow; a second discrimination node is set, wherein the second discrimination node performs difference discrimination of the inconsistent case with a preset precision difference as a constraint; a third generation node is set, wherein the third generation node performs generation of the feeding speed adjustment amount of the screw feeding device; and the first discrimination node, the second discrimination node, and the third generation node are cascaded as the flow discrimination component.

[0039] In the application embodiment, to realize accurate control of the material flow, the flow discrimination component embedded in the controller is composed of multiple functional nodes, and the whole process from judgment to generation of the control signal is completed through cascading.

[0040] Specifically, first, the first discrimination node is set, which is used to perform consistency discrimination between the instantaneous outflow weight currently calculated and the preset target flow. The controller compares the current instantaneous outflow weight with the target value, and if the two values are equal, it is considered consistent, and the first discrimination node terminates the discrimination process and does not output an adjustment signal.

[0041] If the first discrimination node determines that the result is inconsistent, the second discrimination node is automatically entered. The node performs difference calculation between the instantaneous outflow weight and the preset target flow, and performs difference discrimination, that is, compares the difference with a preset precision difference set in advance. The preset precision difference is a range constraint on the allowable error, and if the calculated difference is within the threshold, it is considered that the adjustment is not significant, and the process is terminated without response; if the difference exceeds the precision constraint, it is judged that the adjustment operation must be performed.

[0042] At this time, the third generation node is triggered, which generates the feeding speed adjustment amount of the screw feeding device according to the size and direction of the aforementioned difference. The controller generates a corresponding speed control signal in this process according to the PID algorithm or table lookup, which is used to dynamically adjust the running speed of the screw feeding device. For example, if the instantaneous outflow weight is lower than the target flow, the controller generates a positive speed increment signal to increase the motor speed; otherwise, a negative signal is generated to slow down the speed.

[0043] The first, second and third generation nodes are cascaded in a sequential structure to form a complete flow discrimination component, ensuring that each instantaneous weight feedback is processed hierarchically, and finally achieving accurate speed regulation of the screw feeder, thereby stably controlling the actual outflow of the material to continuously approach the target set value.

[0044] Further, the method provided by the application further comprises: The flow discrimination component receives the instantaneous outflow weight, wherein the instantaneous outflow weight is the weight of the material in the feeding state or the non-feeding state at a real-time time node; the first discrimination node is triggered to determine whether the instantaneous outflow weight is consistent with a preset target flow, and if so, the discrimination is terminated without response.

[0045] In the application, the flow discrimination component first receives the instantaneous outflow weight calculated at present, which is determined by the controller according to the current running state. When in the non-feeding state, the instantaneous outflow weight is directly calculated by the weight change rate obtained by the weighing sensor; when in the feeding state, the instantaneous outflow weight is calculated by the product of the material density and the instantaneous material volume. The instantaneous outflow weight represents the weight of the material discharged from the screw feeder at the current real-time time node.

[0046] After obtaining the instantaneous outflow weight, the flow discrimination component triggers the first discrimination node to perform a consistency determination between the instantaneous outflow weight and the preset target flow. Specifically, the current instantaneous outflow weight is compared with the preset target flow to determine whether they are equal. If the determination result is consistent, it means that the discharging state of the current material meets the expected control target, the first discrimination node terminates the discrimination logic process, and does not generate any control instruction, so that the current feeding speed of the screw feeder remains unchanged.

[0047] Further, the method provided by the application further comprises: If not consistent, the second discrimination node is triggered to perform a difference determination and a preset precision difference overrun determination, if the preset precision difference is met, the discrimination is terminated without response; if the preset precision difference is not met, the third generation node is triggered to generate a speed control signal.

[0048] In the embodiment of the present application, when the first discrimination node determines that the current instantaneous outflow weight is inconsistent with the preset target flow rate, the second discrimination node is triggered to enter the difference judgment process. The second discrimination node first performs a difference operation, i.e., calculates the numerical difference between the current instantaneous outflow weight and the preset target flow rate. Then, the difference is compared with a preset accuracy difference. The preset accuracy difference is an allowable error range defined in the control strategy, which is used to set the deviation limit value acceptable by the control system. For example, in the working condition allowing a fluctuation of ±5%, if the difference between the instantaneous outflow weight and the target flow rate is within the interval, the error is considered tolerable. If the obtained difference is less than or equal to the preset accuracy difference, the second discrimination node terminates the judgment logic and determines that the current deviation is within the acceptable range, and no speed adjustment is made to the screw feeder device to avoid unnecessary frequent adjustment and ensure the stability of the control process.

[0049] On the contrary, if the difference exceeds the limit of the preset accuracy difference, it indicates that the current outflow weight deviates from the target flow rate beyond the allowable range, and the third generation node is triggered immediately. The third generation node generates a speed control signal for adjusting the screw feeder device according to the amplitude and direction of the out-of-limit difference.

[0050] Further, the method provided by the embodiment of the present application further comprises: According to the multi-frame material profile data, the material motion trajectory is reconstructed, wherein the single-frame reconstruction content includes the profile data of the outlet position of the screw feeder device and the deduced interpolation based on the pre-outlet position of the material conveying mechanism transmitted by the feeder; according to the material motion trajectory, the motion prediction risk is performed, wherein the risk dimension at least includes the material accumulation risk; according to the motion prediction risk, the precursor feedback adjustment management of the screw feeder device is performed.

[0051] In the embodiment of the present application, the profile data of the material at the outlet position of the screw feeder device is continuously collected by the laser profile sensor. Each frame of data represents the cross-sectional shape and position of the material flowing out of the outlet at a certain time, and these data are obtained based on the laser triangulation principle by irradiating the material surface with a laser beam and obtaining the reflected light to form a two-dimensional image of the material profile. By continuously collecting the profile data at multiple time points, a time sequence of multi-frame material profile data is generated.

[0052] Subsequently, according to the multi-frame material profile data, single-frame reconstruction is performed to obtain the material motion trajectory. The single-frame reconstruction includes two aspects. One is to obtain the profile data of the outlet position of the screw feeding device at the current time point, that is, the specific position and form of the material section collected in each frame; the other is to calculate the possible position of the material at the preposition of the feeding device at the next time point based on the flow law of the material in the conveying process and the deduction and interpolation of the preposition position of the feeding mechanism outlet of the screw feeding device. The deduction and interpolation utilize the continuous flow characteristics of the material in the conveying pipeline and the rotational speed of the screw feeding device to predict the motion state of the material at the next frame in advance. Through the two data, a material motion trajectory is obtained, that is, the motion path and change trend of the material along the conveying path at multiple time nodes.

[0053] Next, according to the material motion trajectory, motion prediction risk analysis is performed. The main purpose of this step is to evaluate the risks that may occur during the material flow, especially to predict the material accumulation risk. The material accumulation risk refers to the fact that the material may accumulate in some areas during the conveying process due to slow or uneven flow, which may cause material flow obstruction, unstable equipment operation, and even equipment failure. Through the prediction of the material motion trajectory, it is analyzed whether the material is likely to accumulate at a certain time or at a certain position, and then the possibility of the accumulation risk is evaluated.

[0054] Specifically, by calculating the speed change of the material flow and combining the geometric shape of the conveying pipeline, it is determined whether the material is likely to be stranded at a certain time point or at a certain position. If it is predicted that the material is stagnant at a certain position, the risk of accumulation increases, the potential problem is identified, and necessary adjustment measures are taken.

[0055] When the motion prediction risk, that is, the material accumulation risk, is found, the controller implements the precursor feedback adjustment management. The goal of this adjustment management is to avoid material accumulation or other unstable conditions by fine-tuning the feed rate or other working parameters of the screw feeding device before the problem occurs. Specifically, according to the predicted accumulation risk, the feed rate of the screw feeding device is automatically adjusted to reduce or increase the conveying rate of the material. For example, if it is predicted that the material flow rate is too slow and may form an accumulation in the pipeline, the rotational speed of the feeding device is increased; on the contrary, if the material flow rate is too fast and causes uneven distribution, the controller slows down the rotational speed to ensure uniform material flow.

[0056] Through this precursor feedback adjustment management, effective measures are taken before the problem occurs to ensure the stability and continuity of the material flow, and to avoid equipment failure and production interruption caused by accumulation or poor flow.

[0057] Further, the method provided by the application embodiment further comprises: The metering feeder comprises a line laser profile sensor, a screw feeding device, a discharge port, a feeding motor and gearbox, a material bin, a weighing platform and a weighing sensor, a material supplementing port and an exhaust device, and a controller. Material is supplemented from the material supplementing port to the material bin, the feeding motor and gearbox drive the screw feeding device to convey the material from the material bin to the discharge port, and the controller adjusts the feeding speed of the screw feeding device through the feeding motor and gearbox.

[0058] In the metering feeder as shown in the embodiments of the present application, Figure 3 During operation, material enters the material bin 5 from the material supplementing port and is conveyed to the discharge port 3 by the screw feeding device 2. Specifically, material first flows into the material bin 5 from the material supplementing port, ensuring that the material bin 5 always has sufficient material supply. Then the feeding motor and gearbox 4 drive the connected screw feeding device 2 to push the material from the material bin 5 to the discharge port 3 through the rotating screw body. The screw feeding device 2 pushes the material along the predetermined conveying channel through its helical conveying path, ensuring that the material is stably and uniformly conveyed to the discharge port 3.

[0059] During material conveying, the line laser profile sensor 1 monitors the material flowing out in real time and collects the profile data of the material at the discharge port 3. The line laser profile sensor 1 generates a two-dimensional cross-sectional image of the material by emitting a laser beam to illuminate the surface of the material and receiving the reflected light, and extracts the geometric shape information of the material. The controller 8 judges the flow state of the material based on these profile data and adjusts the speed of the screw feeding device 2 if necessary to ensure stable material flow.

[0060] At the same time, the weighing platform and weighing sensor 6 monitor the weight of the material in the material bin 5 and feed the outflow weight of the material to the controller 8 in real time. The weighing sensor obtains the weight data of the material through the weighing platform, and the controller 8 calculates the instantaneous outflow weight of the material using these data. Based on this information, the controller 8 further adjusts the working state of the feeding motor and gearbox 4 to accurately control the feeding speed of the screw feeding device 2, ensuring that the material flow rate remains consistent with the set target flow rate.

[0061] In addition, the exhaust device ensures air circulation inside the equipment, avoiding the influence of air stagnation or excessive resistance on the normal flow of the material, and ensuring the stability and smoothness of the entire process. The controller 8 adjusts the working state of the screw feeding device 2 in real time based on the real-time monitoring data of the material flow (such as material weight, profile information, etc.), thereby ensuring accurate metering and smooth conveying of the material.

[0062] Through the cooperation of the line laser profile sensor 1, the screw feeding device 2, the discharge port 3, the feeding motor and gearbox 4, the material bin 5, the scale platform and the weighing sensor 6, the material supplement port and the exhaust device 7 and the controller 8, the accurate metering and conveying of the material are stably realized.

[0063] In the embodiments of the present application, the above-mentioned embodiments have at least the following technical effects: According to the weight information of the material collected by the weighing sensor, the profile data of the material is collected by the line laser profile sensor; the state is determined by the state discrimination component embedded in the controller, and the instantaneous outflow weight calculation based on the weight information and the profile information of the material in the state mode is executed; the speed control signal based on the instantaneous outflow weight is generated by the flow discrimination component embedded in the controller, and the feeding speed of the screw feeding device is controlled; wherein, if it is a non-supplement state, the weight change rate is used as the weight calculation method, if it is a supplement state, the weight calculation method is the volume of the material x the density of the material, the profile segmentation processing is performed by the laser inter-frame profile line, and the volume measurement is performed based on the parallel triangle measurement and summation of the segmentation unit. The present application solves the technical problems that the weighing sensor cannot accurately measure the instantaneous outflow weight in the supplement state and the control precision is unstable in the prior art. By introducing the line laser profile sensor for material volume measurement, and combining the state discrimination and density calculation to realize the weight calculation in the supplement state, the technical effects of improving the precision and stability of the discharge speed control are achieved.

[0064] In the embodiments of the present application, the above-mentioned embodiments have at least the following technical effects: Figure 2 As shown in the above-mentioned embodiments, the present application provides a discharge speed control system of the metering feeder based on optical recognition, and the system and method embodiments in the embodiments of the present application are based on the same inventive concept. The system comprises: The profile data acquisition module 11 is used for collecting the weight information of the material according to the weighing sensor, and collecting the profile data of the material according to the line laser profile sensor; the state determination module 12 is used for determining the state according to the state discrimination component embedded in the controller, and executing the instantaneous outflow weight calculation based on the weight information and the profile information of the material in the state mode; the speed control module 13 is used for generating the speed control signal based on the instantaneous outflow weight according to the flow discrimination component embedded in the controller, and controlling the feeding speed of the screw feeding device; wherein, if it is a non-supplement state, the weight change rate is used as the weight calculation method, if it is a supplement state, the weight calculation method is the volume of the material x the density of the material, the profile segmentation processing is performed by the laser inter-frame profile line, and the volume measurement is performed based on the parallel triangle measurement and summation of the segmentation unit.

[0065] Further, the system is also used to realize the following functions: The state of the material port is monitored, and the feeding state and non-feeding state are distinguished by the state distinguishing component. If it is a non-feeding state, the instantaneous outflow weight is calculated according to the change rate of the weight information over time.

[0066] Further, the system is also used to realize the following functions: According to the instantaneous outflow weight, the material density is calculated, and the material density is stored to the controller. The density calculation method includes: calculating the first instantaneous outflow volume in the non-feeding state by the line laser profile sensor; and performing division calculation on the instantaneous outflow weight and the first instantaneous outflow volume to determine the material density, wherein the material density is the weight per unit volume of the material.

[0067] Further, the system is also used to realize the following functions: If it is a feeding state, the instantaneous outflow weight is calculated by the material density multiplied by the material volume. The calculation method of the material volume includes: collecting instantaneous material profile data by the laser profile sensor; performing profile segmentation processing on the laser inter-frame profile line according to the material profile data to determine a profile slice set; and performing triangular principle calculation on the first profile slice by the first line end distance, the second line end distance, and the third angle to determine the first slice volume of the first profile slice, wherein the first line end distance is the distance measurement between the laser profile sensor position and the first end of the laser inter-frame profile line, and the third angle is the angle formed by the laser profile sensor position as the intersection point and the first line end distance and the second line end distance as the two sides. The Nth slice volume is calculated by traversing the profile slice set, and the first slice volume to the Nth slice volume is added to determine the instantaneous material volume.

[0068] Further, the system is also used to realize the following functions: A first distinguishing node is set, wherein the first distinguishing node performs consistent determination of the instantaneous outflow weight and the preset target flow rate; a second distinguishing node is set, wherein the second distinguishing node performs difference determination of the inconsistent case with a preset precision difference as a constraint; a third generation node is set, wherein the third generation node performs generation of the feed speed adjustment amount of the spiral feeding device; and the first distinguishing node, the second distinguishing node, and the third generation node are cascaded as the flow rate distinguishing component.

[0069] Further, the system is also used to realize the following functions: The flow rate distinguishing component determines the material weight according to the received instantaneous outflow weight, wherein the instantaneous outflow weight is the material weight determined in the feeding state or the non-feeding state at a real-time time node; the first distinguishing node is triggered to perform consistent determination of the instantaneous outflow weight and the preset target flow rate, and if they are consistent, the determination is terminated without response.

[0070] Further, the system is also used to realize the following functions: If inconsistent, trigger the second discrimination node to determine the difference and the preset precision difference limit, if the preset precision difference is met, terminate the discrimination and do not respond; if the preset precision difference is not met, trigger the third generation node to generate a speed control signal based on the speed control signal.

[0071] Further, the system is also used to realize the following functions: According to the multi-frame material profile data, the material motion trajectory is reconstructed, wherein the single-frame reconstruction content includes the profile data of the outlet position of the screw feeding device and the extrapolation interpolation based on the pre-outlet position of the feeding machine conveying the feeding conveyor mechanism; according to the material motion trajectory, the motion prediction risk is carried out, wherein the risk dimension at least includes the material accumulation risk; according to the motion prediction risk, the precursor feedback adjustment management of the screw feeding device is carried out.

[0072] Further, the system is also used to realize the following functions: The metering feeder comprises a line laser profile sensor, a screw feeding device, an outlet, a feeding motor and a gearbox, a material bin, a scale platform and a weighing sensor, a material supplementing port and an exhaust device, and a controller; wherein the material is supplemented from the material supplementing port to the material bin, the feeding motor and the gearbox drive the screw feeding device to convey the material from the material bin to the outlet, and the controller adjusts the feeding speed of the screw feeding device through the feeding motor and the gearbox.

[0073] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The above describes a specific embodiment of the present application. The processes depicted in the drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are also possible or may be advantageous.

[0074] The above only describes the preferred embodiments of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0075] The present specification and drawings are only exemplary descriptions of the present application, and are considered to cover any and all modifications, changes, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art can make various modifications and changes to the present application without departing from the scope of the present application. Thus, if these modifications and changes of the present application belong to the scope of the present application and its equivalents, the present application intends to include these modifications and changes.

Claims

1. A method for controlling the discharge speed of a metering feeder based on optical recognition, characterized in that, The method comprises: According to the weight sensor, the material weight information is collected, and according to the line laser profile sensor, the material profile data is collected; According to the state discrimination component embedded in the controller, the state is judged, and the instantaneous flow-out weight calculation based on the material weight information and the material profile information in the state mode is executed; According to the flow discrimination component embedded in the controller, the speed control signal based on the instantaneous flow-out weight is generated, and the feeding speed of the screw feeder is controlled; Wherein, if it is a non-supplement state, the weight change rate is used as the weight calculation method, if it is a supplement state, the material volume*material density is used as the weight calculation method, the laser inter-frame profile line is used for profile segmentation processing, and the volume calculation is carried out based on the parallel triangle measurement and summation of the segmentation unit.

2. The method of claim 1, wherein the method further comprises: The instantaneous flow-out weight calculation based on the material weight information and the material profile information in the state mode comprises: Through state monitoring of the material port, the supplement state and the non-supplement state are discriminated by the state discrimination component; If it is a non-supplement state, the instantaneous flow-out weight is calculated according to the change rate of the weight information with time.

3. The method of claim 2, wherein the method further comprises: According to the instantaneous flow-out weight, the material density is calculated, and the material density is stored in the controller; Wherein, the density calculation method comprises: Through the line laser profile sensor, the first instantaneous flow-out volume in the non-supplement state is calculated; The instantaneous flow-out weight and the first instantaneous flow-out volume are calculated by division to determine the material density, wherein the material density is the weight of unit volume of material.

4. The method of claim 3, wherein the method further comprises: If it is a supplement state, the instantaneous flow-out weight is calculated by material density*material volume; Wherein, the calculation method of material volume comprises: Through the laser profile sensor, the instantaneous material profile data is collected; According to the material profile data, the profile segmentation processing is carried out by the laser inter-frame profile line to determine the profile slice set; For the first profile slice, the first slice volume of the first profile slice is determined by the first line end distance, the second line end distance and the third angle according to the principle of triangle, wherein the first line end distance is the distance measurement between the laser profile sensor position and the first end of the laser inter-frame profile line, and the third angle is the angle formed by the laser profile sensor position as the intersection point and the first line end distance and the second line end distance as the two sides; The first slice volume is added to the Nth slice volume to determine the instantaneous material volume.

5. The method of claim 1, wherein the method further comprises: determining a target weight of the product; and determining a target weight of the product in the hopper based on the target weight of the product and the weight of the product in the hopper. The construction of the flow discrimination component comprises: Set the first discrimination node, wherein the first discrimination node performs consistent determination of the instantaneous flow-out weight and the preset target flow; Set the second discrimination node, wherein the second discrimination node performs difference determination of the inconsistent case, and the preset precision difference is used as the constraint; Set the third generation node, wherein the third generation node executes the feeding speed adjustment amount generation of the screw feeder; Cascade the first discrimination node, the second discrimination node and the third generation node as the flow discrimination component.

6. The method of claim 5, wherein the method further comprises: According to the flow discrimination component, the speed control signal based on the instantaneous flow-out weight is generated, which comprises: The flow discrimination component determines the instantaneous outflow weight according to the received instantaneous outflow weight, wherein the instantaneous outflow weight is the material weight determined in the feeding state or the non-feeding state at the real-time time node; The first discrimination node is triggered to determine the consistency of the instantaneous outflow weight and the preset target flow, and if the consistency is met, the discrimination is terminated without response.

7. The method of claim 6, wherein the method further comprises: determining the amount of product in the product container; and adjusting the speed of the outfeed of the product from the product container based on the determined amount of product in the product container. If the consistency is not met, the second discrimination node is triggered to determine the difference and the preset precision difference, and if the preset precision difference is met, the discrimination is terminated without response; If the preset precision difference is not met, the third generation node is triggered to generate a speed control signal.

8. The method of claim 1, wherein the method further comprises: determining a target weight of the product; and determining a target weight of the product in the hopper based on the target weight of the product and the weight of the product in the hopper. The method further comprises: According to the multi-frame material contour data, the material motion trajectory is reconstructed, wherein the single-frame reconstruction content includes the contour data of the outlet position of the screw feeder and the extrapolation interpolation based on the pre-outlet position of the feeding mechanism of the feeding machine; According to the material motion trajectory, the motion prediction risk is determined, wherein the risk dimension at least includes the material accumulation risk; According to the motion prediction risk, the precursor feedback adjustment management of the screw feeder is performed.

9. The method of claim 1, wherein the method further comprises: determining a target weight of the product; and determining a target weight of the product in the hopper based on the target weight of the product and the weight of the product in the hopper. The method further comprises a metering feeding machine, which comprises a line laser contour sensor, a screw feeder, an outlet, a feeding motor and a gearbox, a material bin, a scale platform and a weighing sensor, a feeding port and an exhaust device, and a controller. Wherein, the material is fed from the feeding port to the material bin, the feeding motor and the gearbox drive the screw feeder to convey the material from the material bin to the outlet, and the controller adjusts the feeding speed of the screw feeder through the feeding motor and the gearbox.

10. A system for controlling the discharge speed of a metering feeder based on optical recognition, characterized in that, The system is used to execute the optical recognition-based metering feeding machine outlet speed control method according to any one of claims 1-9, and the system comprises: A contour data acquisition module is used to acquire material weight information according to the weighing sensor and to acquire material contour data according to the line laser contour sensor; A state determination module is used to determine the state according to the state discrimination component embedded in the controller and to execute the instantaneous outflow weight calculation based on the material weight information and the material contour information in the state mode; A speed control module is used to generate a speed control signal based on the instantaneous outflow weight according to the flow discrimination component embedded in the controller and to control the feeding speed of the screw feeder; If it is in the non-feeding state, the weight change rate is used as the weight calculation method, and if it is in the feeding state, the material volume x material density is used as the weight calculation method, the laser inter-frame contour line is used for contour segmentation processing, and the volume calculation is performed based on the parallel triangle measurement and summation of the segmentation unit.

Images