Self-adaptive lifting residual oil discharging method and device under vision cooperation
By combining visual, weight, and sound methods, the height of the unloading platform is adjusted in real time, solving the problems of high light requirements and poor robustness in existing technologies, and achieving stability and safety in the discharge of residual oil.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-30
- Publication Date
- 2026-03-27
AI Technical Summary
Existing vision-assisted adaptive lifting methods and devices for discharging residual oil have high light requirements and poor robustness, resulting in unstable discharge speed, susceptibility to obstruction, and impact on the stability of industrial production.
By combining visual monitoring of the material leg status, weight monitoring, and sound monitoring, the height of the unloading platform is adjusted in real time. Visual monitoring is used to preprocess and segment images of the material leg, and combined with low-pass filtering of weight signals and acoustic signal analysis, the unloading status is comprehensively judged to achieve adaptive lifting.
It improves the stability of material feeding, reduces sludge and oil splashing and foaming, avoids pipeline blockage and production accidents, and enhances the robustness of the system.
Smart Images
Figure CN121734993A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of visual inspection, and in particular to a method and apparatus for adaptive lifting and lowering of residual oil under visual assistance. Background Technology
[0002] In industrial production, residual oil feeding often involves discrepancies between the preset feeding speed and the actual speed, leading to fluctuations in the feed rate. Variations in material properties, such as differences in viscosity, particle size, and moisture content between batches, as well as variations in the material level within the storage bin, directly affect the static pressure at the feeding port, thus influencing the flow rate. Existing technologies utilize industrial vision systems to measure the residual oil's falling speed and platform height in real time. A PID control algorithm drives the lifting mechanism to dynamically adjust the feeding platform height, stabilizing the falling speed within a preset range. However, this approach is highly dependent on lighting conditions, easily affected by obstructions, and exhibits poor robustness. Therefore, this paper proposes a vision-assisted adaptive lifting method and device for residual oil feeding to address these issues. Summary of the Invention
[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.
[0004] In view of the problems existing in the above-mentioned adaptive lifting and lowering method and device for discharging residual oil with vision assistance, the present invention is proposed.
[0005] Therefore, the purpose of this invention is to provide a method and device for adaptive lifting and lowering of residual oil under visual guidance, which achieves more stable and reliable discharge control by monitoring key states that are strongly correlated with speed.
[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a method for adaptive lifting and lowering of residual oil under vision coordination, comprising the following steps: The system performs visual monitoring of the feed legs during residual oil discharge, preprocesses images of the feed leg status, segments the feed legs, extracts features, and compares the real-time status data of the feed legs with thresholds to obtain the main control data. It also monitors the weight of the receiving container, performs low-pass filtering on the weight signal, calculates the discharge flow rate, and compares the flow rate with a safe range to obtain core redundancy data. Furthermore, it monitors the receiving container's sound, captures vibration and acoustic signals at the discharge impact point, conditions the sound waves, and compares the sound waves with a noise intensity threshold to obtain auxiliary redundancy data. The main system receives the main control data, core redundancy data, and auxiliary redundancy data, determines the discharge status, and makes height adjustment decisions accordingly, adjusting the height of the discharge platform in real time.
[0007] As a preferred embodiment of the adaptive lifting and lowering residual oil discharge method under visual coordination described in this invention, the following features are included: the visual monitoring outputs the status of the discharge leg in real time; the image preprocessing includes region delineation, median filtering for noise reduction, and contrast stretching; the discharge leg segmentation uses background subtraction or threshold segmentation to separate the discharge leg from the static background; the feature extraction involves calculating the pixel area of the segmented discharge leg region; the main control data is as follows: if the pixel area is less than the threshold, the discharge leg status is determined to be too fast; if the pixel area is greater than the threshold, the discharge leg status is determined to be too slow; simultaneously, the standard deviation of the center line of the discharge leg for N consecutive frames is calculated; if the standard deviation is greater than the threshold, the discharge leg status is determined to be unstable; if the standard deviation is less than the threshold, the discharge leg status is determined to be stable; pixel area determination is only performed in the stable state.
[0008] As a preferred embodiment of the adaptive lifting and lowering residual oil discharge method under vision coordination described in this invention, the following features are provided: the weight monitoring of the receiving container mass flow rate; the low-pass filtering to eliminate mechanical vibration noise; the flow rate calculation using an average value over a period of time; and the core redundant data by comparing the flow rate with a preset safety range to determine whether the discharge status is too fast, too slow, or normal.
[0009] As a preferred embodiment of the adaptive lifting and lowering residual oil discharge method under visual coordination described in this invention, the following steps are taken: the sound monitoring analyzes the impact noise level in real time; the signal conditioning performs a fast Fourier transform on the sound signal to obtain the spectrum; the sound pressure level of a specific frequency band is calculated; and the auxiliary redundant data is obtained by comparing the sound pressure level with a threshold to determine whether the discharge state is too strong or normal.
[0010] As a preferred embodiment of the adaptive lifting and lowering residual oil discharge method under vision coordination described in this invention, the main system comprehensively judges the main control data, core redundant data, and auxiliary redundant data. If the main control data, core redundant data, and auxiliary redundant data are all too fast, the discharge platform is raised urgently. If the main control data and core redundant data are too fast, but the auxiliary redundant data is normal, the discharge platform is raised. If the main control data and auxiliary redundant data are too fast, but the core redundant data is normal, the discharge platform is raised slowly and an alarm is triggered. If the main control data is too fast, but the core redundant data and auxiliary redundant data are normal, the height of the discharge platform is kept constant, and a self-check alarm of the vision system is triggered. If both excessively fast and excessively slow data occur simultaneously in the main control data, core redundant data, and auxiliary redundant data, the height of the discharge platform is kept constant, and an alarm is triggered. If both the main control data and core redundant data are too slow, the height of the discharge platform is lowered.
[0011] A vision-assisted adaptive lifting residual oil discharge device, applied to the vision-assisted adaptive lifting residual oil discharge method, includes a discharge assembly comprising a mounting frame and a discharge funnel mounted on the mounting frame; and a lifting assembly disposed at the bottom of the mounting frame, comprising a base, a guide block mounted on the base, a motor mounted on the base, a first gear connected to the motor, a second gear meshing with the first gear, a sleeve fixedly connected to the second gear, and a lifting cylinder sleeved within the sleeve.
[0012] As a preferred embodiment of the adaptive lifting and lowering residual oil discharge device under visual coordination described in this invention, the mounting frame includes four columns, and each column can be equipped with a telescopic rod or lifting component 200 at its bottom. The bottom of the mounting frame is fixedly connected to the telescopic rod or lifting cylinder.
[0013] As a preferred embodiment of the adaptive lifting residual oil discharge device under vision coordination described in this invention, the base is cylindrical, the guide block is fixedly disposed on the inner wall of the base, the motor is fixedly disposed on the side wall of the base, and the output shaft of the motor is fixedly connected to the center of the first gear.
[0014] As a preferred embodiment of the adaptive lifting and lowering residual oil discharge device under visual coordination described in this invention, the lifting cylinder is slidably sleeved inside the base, the lifting cylinder is threaded, a groove is vertically formed on the thread of the lifting cylinder, and the guide block is embedded in the groove; the sleeve is sleeved outside the lifting cylinder, and the inner wall of the sleeve is connected to the lifting cylinder by threads.
[0015] As a preferred embodiment of the adaptive lifting and lowering residual oil discharge device under vision coordination described in this invention, the outer wall of the sleeve is further provided with a ring, and stabilizing layers are symmetrically provided on the upper and lower sides of the ring, and ball bearings are further provided in the stabilizing layers.
[0016] The beneficial effects of this invention are: The vision-assisted adaptive lifting residual oil discharge device of this invention greatly reduces splashing, foaming, and smoke caused by high-speed impact of residual oil by maintaining a stable discharge leg and appropriate drop in real time. Visual recognition identifies early signs of poor discharge (discharge leg accumulation) and adjusts accordingly, preventing complete blockage of pipes or discharge ports. When the main vision system fails due to steam, oil, or other contaminants, the system does not operate blindly but relies on weighing and acoustic sensors for safety decisions or alarms, avoiding production accidents that could result from a single sensor failure. The device also reduces the precision requirements for image processing and enhances robustness. Attached Figure Description
[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a schematic diagram of the overall structure of the adaptive lifting and lowering residual oil discharge device under visual coordination according to the present invention.
[0018] Figure 2 This is a schematic diagram of the lifting component structure of the adaptive lifting and lowering residual oil discharge device under visual coordination according to the present invention.
[0019] Figure 3 This is a cross-sectional view of the lifting component structure of the adaptive lifting residual oil discharge device under visual coordination according to the present invention.
[0020] Figure 4 This is a schematic diagram of the lifting cylinder structure of the adaptive lifting and lowering residual oil discharge device under visual coordination according to the present invention.
[0021] Figure 5 This is a schematic diagram of the sleeve structure of the adaptive lifting and lowering residual oil discharge device under visual coordination according to the present invention.
[0022] Reference numerals: 100, feeding assembly; 101, mounting bracket; 102, feeding hopper; 200, lifting assembly; 201, base; 202, guide block; 203, motor; 204, first gear; 205, second gear; 206, sleeve; 207, lifting cylinder; 2071, groove; 2061, ring; 2062, stabilizing layer; 2063, ball bearing. Detailed Implementation
[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0024] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.
[0025] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.
[0026] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.
[0027] Example 1 Reference Figure 1 This first embodiment of the invention provides a visually-assisted adaptive lifting method for residual oil discharge. The method includes: visually monitoring the discharge legs during discharge; preprocessing the leg status image; segmenting the legs; extracting features; comparing real-time leg status data with thresholds to obtain main control data; monitoring the weight of the receiving container; low-pass filtering the weight signal; calculating the discharge flow rate; comparing the flow rate with a safe range to obtain core redundancy data; monitoring the sound of the receiving container; capturing vibrational acoustic signals at the discharge impact point; conditioning the sound wave signal; comparing the sound wave signal with a noise intensity threshold to obtain auxiliary redundancy data; and having the main system receive the main control data, core redundancy data, and auxiliary redundancy data to determine the discharge status and make height adjustment decisions, thereby adjusting the height of the discharge platform in real time.
[0028] When residual oil falls from the discharge port, it forms a continuous "leg." The existence, stability, and approximate shape of this leg are strongly correlated with the falling speed. If the speed is too high, the leg will become thinner, unstable, or even disappear (becoming a splash); if the speed is too slow, the leg will become thicker or even accumulate. In this solution, the camera no longer tracks the pixel calculation speed of the flow column, but continuously monitors whether a stable, continuous leg exists between the discharge port and the liquid surface of the receiving container. Through background subtraction and dynamic region analysis, it determines whether there is a discharge flow column within a predetermined area, calculates the aspect ratio and the degree of contour jitter of the leg region, and establishes an ideal, stable discharge state where the leg shape is relatively stable. Compared to existing technologies, this solution, which focuses on monitoring whether a "stable and visible leg" is maintained, reduces the precision requirements for image processing and is more robust.
[0029] In visual inspection, the visual monitoring outputs the status of the material leg in real time. The image preprocessing includes region delineation, median filtering for noise reduction, and contrast stretching. The material leg segmentation uses background subtraction or threshold segmentation to separate the material leg being fed from the static background. The feature extraction involves calculating the pixel area of the segmented material leg region. The main control data is as follows: if the pixel area is less than the threshold, the material leg status is determined to be too fast; if the pixel area is greater than the threshold, the material leg status is determined to be too slow. Simultaneously, the standard deviation of the material leg centerline is calculated for N consecutive frames. If the standard deviation is greater than the threshold, the material leg status is determined to be unstable; if the standard deviation is less than the threshold, the material leg status is determined to be stable. Pixel area determination is only performed in stable states.
[0030] The visual inspection uses a fixed-focus lens camera mounted on the mounting bracket 101 to ensure that the field of view covers the entire material leg area from the discharge port to the receiving surface. It is also equipped with high-brightness red illumination, as residual oil has low absorption and high reflectivity in this wavelength, effectively penetrating steam to form a high-contrast image. The image is divided into regions to distinguish between the background and the material column. Median filtering and contrast stretching are applied to highlight the material leg image. Background subtraction or threshold segmentation is used to separate the moving material leg from the static background. Before feature extraction, the stability of the material leg is calculated by calculating the standard deviation of the material leg centerline across N consecutive frames. If the deviation is greater than a threshold, the system is considered stable. Speed determination of the material leg is only effective in a stable state. The pixel area of the segmented material leg region is calculated. If the pixel area is less than a threshold, the material leg is considered to be moving too fast; if the pixel area is greater than a threshold, the material leg is considered to be moving too slowly. This speed information is then sent to the main system as primary control data.
[0031] In weight monitoring, the weight monitoring receives the mass flow rate of the container, the low-pass filter eliminates mechanical vibration noise, and the flow rate is calculated using an average value over a period of time; the core redundant data is obtained by comparing the flow rate with a preset safety range to determine whether the feeding status is too fast, too slow, or normal.
[0032] The weight detection uses a digital weighing sensor with strong anti-interference capability. The sensor can be configured in two ways: one is to install weighing modules on all moving parts within the entire lifting platform to measure the total weight of the platform, equipment, and materials on it; the other is to install a weighing system on the receiving container. Both methods can calculate the mass flow rate in real time, perform low-pass filtering on the raw weight signal to eliminate mechanical vibration noise, and use a moving average to prevent instantaneous fluctuations. The calculation results are compared with the preset safe flow range to determine whether the flow rate is too fast.
[0033] In the sound monitoring, the sound monitoring analyzes the impact noise level in real time, the signal conditioning performs a fast Fourier transform on the sound signal to obtain the spectrum; the sound pressure level of a specific frequency band is calculated, and the auxiliary redundant data compares the sound pressure level with a threshold to determine whether the material feeding status is too strong or normal.
[0034] The sound monitoring system uses a waterproof and explosion-proof microphone, installed on the side wall or bottom of the receiving container, as close as possible to the impact point, to capture the vibration and sound signals generated by the impact of residual oil. It is equipped with a bandpass filter to filter out low-frequency noise from equipment operation and irrelevant high-frequency noise. The impact noise intensity is analyzed in real time, and the sound signal is subjected to FFT (Fast Fourier Transform) to obtain the spectrum. The sound pressure level of a specific frequency band (such as 1k-3kHz, corresponding to splash noise) is calculated as a comparison value. The comparison value is compared with a threshold to determine whether the material discharge status is too strong or normal.
[0035] The main system comprehensively judges the main control data, core redundancy data, and auxiliary redundancy data. If all three data are too fast, the unloading platform is raised immediately. If the main control data and core redundancy data are too fast, but the auxiliary redundancy data is normal, the unloading platform is raised. If the main control data and auxiliary redundancy data are too fast, but the core redundancy data is normal, the unloading platform is raised slowly and an alarm is triggered. If the main control data is too fast, but the core redundancy data and auxiliary redundancy data are normal, the unloading platform height is kept constant, and a self-check alarm from the vision system is triggered. If both excessively fast and excessively slow data occur simultaneously, the unloading platform height is kept constant, and an alarm is triggered. If both the main control data and core redundancy data are too slow, the unloading platform height is lowered. Detailed decision-making is shown in Table 1 below.
[0036] Table 1 - Decision Status Table The main control loop is centered on visual monitoring of the material leg status, enabling real-time, adaptive lifting control of the platform. A redundant verification loop, aided by weighing and acoustic sensors, verifies the correctness of the main loop and provides alarms or safety backups in case of potential main loop failure. The system initially operates in semi-automatic mode, providing control suggestions that are confirmed and executed by the operator, while simultaneously observing the correctness of the fused decision logic. Afterward, it switches to fully automatic mode for a prolonged trial run, fine-tuning various thresholds and PID parameters until the system response is fast and stable.
[0037] Example 2 refer to Figures 1-5The second embodiment of the present invention is a visually-assisted adaptive lifting and lowering residual oil discharge device. In order to realize the lifting and lowering of the discharge platform controlled by the main system, the device is equipped with a discharge component 100, including a mounting frame 101 and a discharge funnel 102 disposed on the mounting frame 101; a lifting component 200 is disposed at the bottom of the mounting frame 101, including a base 201, a guide block 202 disposed on the base 201, a motor 203 disposed on the base 201, a first gear 204 connected to the motor 203, a second gear 205 meshing with the first gear 204, a sleeve 206 fixedly connected to the second gear 205, and a lifting cylinder 207 sleeved in the sleeve 206.
[0038] The mounting bracket 101 includes four columns, each with a telescopic rod or lifting assembly 200 mounted at its bottom. The bottom of the mounting bracket 101 is fixedly connected to the telescopic rod or lifting cylinder 207. The base 201 is cylindrical, with a guide block 202 fixedly mounted on the inner wall of the base 201. The motor 203 is fixedly mounted on the side wall of the base 201, and its output shaft is fixedly connected to the center of the first gear 204. The lifting cylinder 207 is slidably fitted inside the base 201. The lifting cylinder 207 has threads, and a groove 2071 is vertically formed on the threads. The guide block 202 is embedded in the groove 2071. The sleeve 206 is fitted onto the outside of the lifting cylinder 207, and the inner wall of the sleeve 206 is threadedly connected to the lifting cylinder 207. The outer wall of the sleeve 206 is also provided with a ring 2061, and stabilizing layers 2062 are symmetrically arranged on the upper and lower sides of the ring 2061. Ball bearings 2063 are also provided inside the stabilizing layers 2062.
[0039] When the lifting assembly 200 needs to be raised or lowered, it is only necessary to control the forward and reverse rotation of the output shaft of the motor 203. When the output shaft of the motor 203 drives the first gear 204 to rotate, the first gear 204 meshes with the second gear 205, so the second gear 205 will rotate synchronously. A sleeve 206 is fixed at the bottom of the second gear 205, so the sleeve 206 can rotate with the second gear 205. The sleeve 206 is rotatably set in the base 201. When the sleeve 206 rotates, there is a thread on the inner wall of the sleeve 206 that connects to the lifting cylinder 207. When the sleeve 206 rotates, it can drive the lifting cylinder 207 to rise or fall. In order to ensure that the lifting cylinder 207 does not rotate when it rises or falls, a guide block 202 is provided on the inner wall of the base 201. The guide block 202 is embedded in the groove 2071 to ensure that the lifting cylinder 207 does not rotate when it rises or falls. A stabilizing layer 2062 is also provided above and below the sleeve 206 to ensure the stability of the lifting cylinder 207 when it rises or falls. The lifting cylinder 207 can push the mounting frame 101 to lift and lower to change the height of the feeding hopper 102. The main system can remotely control the forward and reverse rotation and speed of the motor 203 to control the lifting and speed of the feeding platform, in response to the height adjustment of the main system.
[0040] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values (e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.
[0041] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.
[0042] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.
[0043] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.
Claims
1. A method for adaptive lifting and lowering of residual oil discharge under vision coordination, characterized in that: Includes the following steps, Visual monitoring is performed on the feed leg during residual oil discharge. Image preprocessing, feed leg segmentation, and feature extraction are performed on the feed leg status. The real-time status data of the feed leg is compared with the threshold to obtain the main control data. The weight of the receiving container is monitored, the weight signal is low-pass filtered, the flow rate of the material is calculated, and the flow rate is compared with the safety range to obtain the core redundancy data. Sound monitoring is performed on the receiving container, vibration acoustic signals are captured at the material discharge impact point, sound wave signals are conditioned, and auxiliary redundancy data is obtained by comparing the sound wave signals with the noise intensity threshold. The main system receives main control data, core redundant data, and auxiliary redundant data to determine the material feeding status and make height adjustment decisions accordingly, adjusting the height of the material feeding platform in real time.
2. The adaptive lifting and lowering method for discharging residual oil under vision coordination as described in claim 1, characterized in that: The visual monitoring outputs the material leg status in real time. The image preprocessing includes region delineation, median filtering for noise reduction, and contrast stretching. The material leg segmentation uses background subtraction or threshold segmentation to separate the material leg being fed from the static background. The feature extraction involves calculating the pixel area of the segmented material leg region. The main control data is as follows: if the pixel area is less than the threshold, the material leg status is determined to be too fast; if the pixel area is greater than the threshold, the material leg status is determined to be too slow. Simultaneously, the standard deviation of the material leg centerline is calculated for N consecutive frames. If the standard deviation is greater than the threshold, the material leg status is determined to be unstable; if the standard deviation is less than the threshold, the material leg status is determined to be stable. Pixel area determination is only performed in stable states.
3. The adaptive lifting and lowering method for discharging residual oil under vision coordination as described in claim 2, characterized in that: The weight monitoring receives the mass flow rate of the container, the low-pass filter eliminates mechanical vibration noise, and the flow rate calculation uses an average value over a period of time; the core redundant data compares the flow rate with a preset safety range to determine whether the feeding status is too fast, too slow, or normal.
4. The adaptive lifting and lowering method for discharging residual oil under vision coordination as described in claim 3, characterized in that: The sound monitoring analyzes the impact noise intensity in real time, the signal conditioning performs a fast Fourier transform on the sound signal to obtain the spectrum; the sound pressure level of a specific frequency band is calculated, and the auxiliary redundant data compares the sound pressure level with a threshold to determine whether the material feeding status is too strong or normal.
5. The adaptive lifting and lowering method for discharging residual oil under vision coordination as described in claim 4, characterized in that: The main system comprehensively judges the main control data, core redundancy data, and auxiliary redundancy data. If all three data are too fast, the unloading platform is raised immediately. If the main control data and core redundancy data are too fast, but the auxiliary redundancy data is normal, the unloading platform is raised. If the main control data and auxiliary redundancy data are too fast, but the core redundancy data is normal, the unloading platform is raised slowly and an alarm is triggered. If the main control data is too fast, but the core redundancy data and auxiliary redundancy data are normal, the unloading platform height is kept constant, and a self-check alarm of the vision system is triggered. If both excessively fast and excessively slow data occur simultaneously, the unloading platform height is kept constant, and an alarm is triggered. If both the main control data and core redundancy data are too slow, the unloading platform height is lowered.
6. A vision-guided adaptive lifting residual oil discharge device, applied to the vision-guided adaptive lifting residual oil discharge method as described in claim 5, characterized in that: include, The feeding assembly (100) includes a mounting frame (101) and a feeding funnel (102) disposed on the mounting frame (101). The lifting assembly (200) is located at the bottom of the mounting frame (101) and includes a base (201), a guide block (202) on the base (201), a motor (203) on the base (201), a first gear (204) connected to the motor, a second gear (205) meshing with the first gear (204), a sleeve (206) fixedly connected to the second gear (205), and a lifting cylinder (207) sleeved in the sleeve (206).
7. The adaptive lifting and lowering residual oil discharge device under vision coordination as described in claim 6, characterized in that: The mounting frame (101) includes four columns, and each column can be equipped with a telescopic rod or lifting assembly 200 at its bottom. The bottom of the mounting frame (101) is fixedly connected to the telescopic rod or lifting cylinder (207).
8. The adaptive lifting and lowering residual oil discharge device under vision coordination as described in claim 7, characterized in that: The base (201) is cylindrical, the guide block (202) is fixedly installed on the inner wall of the base (201), the motor (203) is fixedly installed on the side wall of the base (201), and the output shaft of the motor (203) is fixedly connected to the center of the first gear (204).
9. The adaptive lifting and lowering residual oil discharge device under vision coordination as described in claim 8, characterized in that: The lifting cylinder (207) is slidably sleeved inside the base (201). The lifting cylinder (207) has a thread, and a groove (2071) is vertically opened on the thread of the lifting cylinder (207). The guide block (202) is embedded in the groove (2071). The sleeve (206) is sleeved outside the lifting cylinder (207), and the inner wall of the sleeve (206) is connected to the lifting cylinder (207) by a thread.
10. The adaptive lifting and lowering residual oil discharge device under vision coordination as described in claim 9, characterized in that: The outer wall of the sleeve (206) is also provided with a ring (2061), and a stabilizing layer (2062) is symmetrically provided on the upper and lower sides of the ring (2061). A ball bearing (2063) is also provided inside the stabilizing layer (2062).