CN105217198A - A kind of feeding garbage control method, device and material loading trigger - Google Patents
A kind of feeding garbage control method, device and material loading trigger Download PDFInfo
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- CN105217198A CN105217198A CN201510670634.2A CN201510670634A CN105217198A CN 105217198 A CN105217198 A CN 105217198A CN 201510670634 A CN201510670634 A CN 201510670634A CN 105217198 A CN105217198 A CN 105217198A
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Abstract
The invention discloses a kind of feeding garbage control method, device and material loading trigger, in this programme, the controlling level information that can send according to rubbish level detecting apparatus and the controlling level Low threshold of setting and controlling level high threshold, automatic formation three kinds of material loading state of a controls, as, when determining that controlling level value is not more than first threshold, increase the material transfer rate of material conveyor belt; Determining that controlling level value is greater than first threshold and is not more than Second Threshold, the material transfer rate maintaining material conveyor belt is constant; Or, when determining that controlling level value is greater than Second Threshold, controlling material conveyor belt reversion etc., thus can reach according to controlling level information, automatically control feeding garbage to avoid the effect of putty, improve accuracy and the control efficiency of feeding garbage control.
Description
Technical field
The present invention relates to feeding garbage technical field, particularly relate to a kind of feeding garbage control method, device and material loading trigger.
Background technology
In the binder process of garbage compression station, the reasons such as uneven and rubbish complicated are toppled over due to rubbish, more easily cause the rubbish putty in material hole stuck when rubbish feeds intake too much, cause rubbish to fall to compressor, form " overflow bucket pneumatics " phenomenon, and then cause equipment out of service, have a strong impact on feeding garbage efficiency, therefore, need badly and corresponding control is carried out, to solve the problem to the feeding process of rubbish.
Particularly, because the composition of rubbish is very complicated, as plastic bag, bottle, trees and paper scrap etc. can be comprised, make at feeding garbage control field temporarily without actual applicable technology, mode only by artificial judgment controls material loading by rule of thumb, as when monitoring rubbish material level and being higher, can reduce material loading quantity, when monitoring rubbish material level and being lower, material loading quantity etc. can be increased.
But, because artificial judgment often can exist comparatively big error, thus, very easily cause material loading number with required material number do not mate, make material loading control be inaccurate, very easily there is packing phenomenon.Such as, when required material is less but material loading is too much, rubbish can be wound around mutually, is very easily formed and piles up and can not drop to material hole, cause the invalid pneumatics of equipment.In addition, due to once run into accumulation putty, armamentarium all needs to shut down, and then needs manually will pile buildup removing by a large amount of, consuming timely generally reaches more than half a day, thus, also greatly can reduce the work efficiency of equipment.
Summary of the invention
Embodiments provide a kind of feeding garbage control method, device and material loading trigger, the problem that when adopting manual type to control material loading in order to solve, existing control is inaccurate, efficiency is low etc.
Embodiments provide a kind of feeding garbage control method, comprising:
Feeding garbage control setup receives the controlling level information for representing the actual height of rubbish in material hole in material hole that rubbish level detecting apparatus sends;
The first threshold of controlling level value corresponding for described controlling level information and setting, Second Threshold are compared, wherein, described first threshold is less than described Second Threshold;
If determine, described controlling level value is not more than first threshold, then increase the material transfer rate of material conveyor belt;
If determine, described controlling level value is greater than first threshold and is not more than Second Threshold, then the material transfer rate maintaining material conveyor belt is constant;
If determine, described controlling level value is greater than Second Threshold, then control material conveyor belt reversion, until when determining that described controlling level value is not more than Second Threshold, controlling material conveyor belt and running along former direction.
Correspondingly, the embodiment of the present invention additionally provides a kind of feeding garbage control setup, comprising:
Receiving element, for receiving the controlling level information for representing the actual height of rubbish in material hole in material hole that rubbish level detecting apparatus sends;
Processing unit, for the first threshold of controlling level value corresponding for described controlling level information and setting, Second Threshold being compared, wherein, described first threshold is less than described Second Threshold; If determine, described controlling level value is not more than first threshold, then increase the material transfer rate of material conveyor belt; If determine, described controlling level value is greater than first threshold and is not more than Second Threshold, then the material transfer rate maintaining material conveyor belt is constant; If determine, described controlling level value is greater than Second Threshold, then control material conveyor belt reversion, until when determining that described controlling level value is not more than Second Threshold, controlling material conveyor belt and running along former direction.
Further, the embodiment of the present invention additionally provides a kind of material loading trigger, and described material loading trigger comprises the feeding garbage control setup described in the embodiment of the present invention.
Beneficial effect of the present invention is as follows:
Embodiments provide a kind of feeding garbage control method, device and material loading trigger, in this programme, the controlling level information that can send according to rubbish level detecting apparatus and the controlling level Low threshold of setting and controlling level high threshold, automatic formation three kinds of material loading state of a controls, as, when determining that controlling level value is not more than first threshold, increase the material transfer rate of material conveyor belt; Determining that controlling level value is greater than first threshold and is not more than Second Threshold, the material transfer rate maintaining material conveyor belt is constant; Or, when determining that controlling level value is greater than Second Threshold, controlling material conveyor belt reversion etc., thus can reach according to controlling level information, automatically control feeding garbage to avoid the effect of putty, improve accuracy and the control efficiency of feeding garbage control.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly introduced, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Figure 1 shows that the schematic flow sheet of feeding garbage control method described in the embodiment of the present invention one;
Figure 2 shows that a kind of possible positional structure schematic diagram of image capture device described in the embodiment of the present invention and light filling light equipment;
Fig. 3 (a) is depicted as the material hole rubbish image schematic diagram described in the embodiment of the present invention;
Fig. 3 (b) is depicted as the rubbish connect domain figure described in the embodiment of the present invention;
Fig. 3 (c) is depicted as the garbage areas profile diagram described in the embodiment of the present invention;
Figure 4 shows that the determination schematic diagram of the rubbish boundary straight line described in the embodiment of the present invention;
Figure 5 shows that the structural representation of the control setup of feeding garbage described in the embodiment of the present invention.
Detailed description of the invention
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, and obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment one:
In order to the automatic charging realizing rubbish controls, the embodiment of the present invention one provides a kind of feeding garbage control method, as shown in Figure 1, it can comprise the following steps for the schematic flow sheet of feeding garbage control method described in the embodiment of the present invention one, described feeding garbage control method:
Step 101: feeding garbage control setup receives the controlling level information for representing the actual height of rubbish in material hole in material hole that rubbish level detecting apparatus sends.
Alternatively, described controlling level information can be specifically that described rubbish level detecting apparatus sends to described feeding garbage control setup by data lines such as CAN, certainly, can also be that described rubbish level detecting apparatus sends to described feeding garbage control setup by wireless transmission method, the embodiment of the present invention repeat this.
Step 102: the first threshold of controlling level value corresponding for described controlling level information and setting, Second Threshold are compared, wherein, described first threshold is less than described Second Threshold.
Alternatively, described first threshold, Second Threshold normally carry out setting based on experience value, and can adjust flexibly according to actual conditions, and the embodiment of the present invention does not repeat this.
Step 103: described controlling level value is not more than first threshold if determine, then increase the material transfer rate of material conveyor belt; If determine, described controlling level value is greater than first threshold and is not more than Second Threshold, then the material transfer rate maintaining material conveyor belt is constant; If determine, described controlling level value is greater than Second Threshold, then control material conveyor belt reversion, until when determining that described controlling level value is not more than Second Threshold, controlling material conveyor belt and running along former direction.
That is, expect the rubbish less (expecting state less) in hole if determine, then can increase the material transfer rate of material conveyor belt; Expect the rubbish moderate (moderate state) in hole if determine, then the material transfer rate that can maintain material conveyor belt is constant; Expect the rubbish too much (expecting state) in hole more if determine, then can control material conveyor belt reversion, wait for that material inclines naturally and fall to material hole, thus avoid putty.
Alternatively, if determine, described controlling level value is not more than first threshold, then increase the material transfer rate of material conveyor belt, can comprise:
If determine, described controlling level value is not more than first threshold, then less according to controlling level value, the mode that material transfer rate is larger, increases the material transfer rate of material conveyor belt.
Further, if determine, described controlling level value is greater than Second Threshold, then control material conveyor belt reversion, can comprise:
If determine, described controlling level value is greater than Second Threshold, then controlling material conveyor belt travels at the uniform speed (particularly in reverse direction, can travel at the uniform speed in reverse direction according to the first material transfer rate of setting, wherein, described first material transfer rate can set flexibly according to actual conditions), or, control material conveyor belt variable-speed operation in reverse direction.
In addition, it should be noted that, speed of transmission due to material conveyor belt is determined by the rotating speed of motor, the rotating speed of motor is controlled by the output signal of frequency converter, and the output signal of frequency converter is controlled by feeding garbage control setup, thus, in embodiment of the present invention, described feeding garbage control setup specifically carries out frequency control by controlling frequency converter to motor, and cause driven by motor material conveyor belt completes material loading, and the embodiment of the present invention does not repeat this.
Further, it should be noted that, in order to improve the accuracy that feeding garbage controls further, the described controlling level information that described feeding garbage control setup receives can obtain by described rubbish level detecting apparatus in the following manner:
Gather the material hole rubbish image in material hole, and determine the region, material hole in the rubbish image of described material hole based on the image processing techniques set;
Profile process being carried out to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
According to the material pit foundation directrix of described garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the actual height of rubbish in material hole of expecting in hole.
That is, rubbish level detecting apparatus is by carrying out image procossing to the material hole rubbish image in the material hole collected, identify the region, corresponding material hole in the rubbish image of discharging hole, and by carrying out profile process to region, this material hole, obtain the garbage areas profile diagram on each rubbish border for characterizing region, this material hole, and then can according to the material pit foundation directrix of this garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, obtain the actual height of rubbish in material hole of expecting in hole, thus the automatic detection of rubbish material level can be realized, relative to existing manual detection mode, accuracy rate is higher, efficiency is higher, thus the controlling level information making feeding garbage control setup receive is more accurate, can further improve the accuracy that feeding garbage controls.
Alternatively, the material hole rubbish image of described rubbish level detecting apparatus by cheating with under type collection material:
Gather the material of being cheated by the material of light filling light equipment (as filament lamp, the LED etc.) adequate illumination being arranged on upper side, material hole by the image capture device (as pick up camera or photographic camera etc.) being arranged on upper side, material hole and cheat rubbish image.
Wherein, as shown in Figure 2 (Fig. 2 is a kind of possible positional structure schematic diagram of image capture device and light filling light equipment), described image capture device can become to set angle (θ) with horizontal surface and cheat the first setting height (H apart from described material
c), described light filling light equipment can cheat the second setting height apart from described material.And in order to avoid image capture device blocking light, when described image capture device and described light filling light equipment are positioned at the same upper side of expecting to cheat, described first setting height generally can be greater than described second setting height; And, in order to the complete comprehensive material hole rubbish image making image capture device can collect material hole, described setting angle generally can be greater than 0 degree and be less than 90 degree, as long as can ensure that image capture device can collect the complete comprehensive material hole rubbish image in material hole.
In addition, it should be noted that, described image capture device and described light filling light equipment also can not be positioned at the same upper side of expecting to cheat, e.g., and a side, upper left being positioned at material and cheating, a upper right side etc. being positioned at material and cheating; Now, described first setting height is except can being greater than described second setting height, and also can be less than or equal to described second setting height, the embodiment of the present invention does not repeat this.
Further, it should be noted that, when gathering the material hole rubbish image in material hole of adequate illumination, in order to realize the detection of rubbish material level more accurately, can the material hole rubbish image in Real-time Collection material hole.Certainly, it should be noted that, on the basis meeting corresponding precise requirements, in order to save image acquisition resource, also timing (as every 1 minute or 3 minutes etc.) can gather the material hole rubbish image in material hole, the embodiment of the present invention does not also repeat this.
Further, after the material hole rubbish image collecting material hole, described rubbish level detecting apparatus can determine the region, material hole in the rubbish image of described material hole based on the image processing techniques of setting, specifically can comprise:
Based on image masks technology, described material hole rubbish image is carried out to the mask product process in region, non-material hole, to determine the region, corresponding material hole in the rubbish image of described material hole.
That is, because region, the non-material hole major part in material hole is changeless, the mask product process in region, non-material hole can therefore be carried out to described material hole rubbish image, to remove non-material hole noise region.
Particularly, described rubbish level detecting apparatus carries out the mask product process in region, non-material hole to described material hole rubbish image by following formula:
g(x,y)＝f(x,y)*m(x,y)；
Wherein, f (x, y) the original material hole rubbish image for representing with two-dimensional function form, m (x, y) be image masks function, g (x, y) be the material hole rubbish image after the mask product process that represents with two-dimensional function form, wherein, (x, y) be the space coordinates of the respective point in the rubbish image of material hole, f (x, y) value is that image is at point (x, y) (general interval is [0 for the intensity at place or gray scale, 255]), m (x, y) value is by point (x, y) whether be in material region, hole and determine, being in region, material hole is then 1, being in region, non-material hole is then 0.
Further, the image collected due to image capture device generally can be colour, and rubbish material-level measure generally only need disposal of refuse profile, without the need to chromatic information, therefore, described rubbish level detecting apparatus also can perform following steps determine the region, material hole in the rubbish image of described material hole in the image processing techniques based on setting before:
If determine, described material hole rubbish image is coloured image, then carry out gray processing process to described material hole rubbish image, obtain material hole rubbish gray level image, to accelerate successive image treating process.
Alternatively, described rubbish level detecting apparatus carries out gray processing process to described material hole rubbish image, can comprise:
If each pixel determining described material hole rubbish image is by the color image pixel of R (red), G (green), B (indigo plant) sub-pixel combinations, then for each pixel of described material hole rubbish image, be gray level image pixel by following formula by described pixel transitions:
Gray＝R*0.299+G*0.587+B*0.114；
Wherein, Gray represents the pixel of material hole rubbish gray level image, and R, G, B represent each sub-pixel point of the corresponding color pixel cell of material hole rubbish image.
Correspondingly, based on the image processing techniques of setting, described rubbish level detecting apparatus determines that region cheated by the material in the rubbish image of described material hole, also can be embodied as:
Based on image masks technology, the material hole rubbish gray level image corresponding to described material hole rubbish image carries out the mask product process in region, non-material hole, to determine the region, corresponding material hole in the rubbish image of described material hole.
Wherein, similar with mask product treating process described before, by following formula, material hole rubbish gray level image is carried out to the mask product process in region, non-material hole:
g1(x,y)＝f1(x,y)*m(x,y)；
Wherein, g1 (x, y) be the material hole rubbish gray level image after the mask product process that represents with two-dimensional function form, f1 (x, y) the original material hole rubbish gray level image for representing with two-dimensional function form, m (x, y) be image masks function, wherein, (x, y) be the space coordinates of the respective point in the rubbish gray level image of material hole, f (x, y) value is that image is at point (x, y) (general interval is [0 for the intensity at place or gray scale, 255]), m (x, y) value is by point (x, y) whether be in material region, hole and determine, being in region, material hole is then 1, being in region, non-material hole is then 0.
Further, after determining the region, corresponding material hole in the rubbish image of discharging hole, described rubbish level detecting apparatus can carry out profile process (namely carrying out profile process to the material hole rubbish image after the process of mask product) to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole, specifically can comprise:
Based on the edge detecting technology (as technology such as Canny rim detection) of setting, rim detection is carried out to region, described material hole, forms rubbish edge image;
Following operation is performed to described rubbish edge image, form rubbish connect domain figure (particularly, the material hole rubbish image formed before supposing can as shown in Fig. 3 (a), then now formed rubbish connect domain figure can as Suo Shi Fig. 3 (b)):
Add up all marginal points in described rubbish edge image, and the marginal point counted on is added in S set 0; Choose a marginal point from the central area of described rubbish edge image, add and be communicated with marginal point S set 1, and upgrade S set 0=S0-S1; A point pi be communicated with is selected from S1, and by S0 and pixel distance between the some pi selected be less than setpoint distance (this setpoint distance can be arranged flexibly according to actual conditions, as 2 etc. can be set to) marginal point qj be connected, and all marginal point qj satisfying condition (pixel distance namely and between the some pi selected is less than setpoint distance) are added S set 1, upgrade S set 0=S0-S1; Repeat above-mentioned from S1 selected element pi and the qj satisfied condition is added S set 1 and upgrades the operation of S set 0, until determine that S set 0 is for empty;
On described rubbish connect domain figure, each row from left to right successively on scan image, and connect first and last marginal point on direction from left to right, form the right boundary of rubbish; Meanwhile, each row from top to bottom successively on scan image, and using the coboundary of first marginal point on direction from top to bottom as rubbish; According to right boundary and the coboundary of rubbish, form garbage areas profile diagram (particularly, the rubbish connect domain figure formed before supposing can as shown in Fig. 3 (b), then now formed garbage areas profile diagram can as Suo Shi Fig. 3 (c)).
Further, after obtaining garbage areas profile diagram, described rubbish level detecting apparatus can according to the material pit foundation directrix of described garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the actual height of rubbish in material hole of expecting in hole, specifically can comprise:
According to the material pit foundation directrix of described garbage areas profile diagram and setting (this material pit foundation directrix can cheat the boundary line in region according to material region, hole and non-material and determine), add up each boundary point of rubbish along X direction (i.e. the u direction of principal axis of image coordinate), and record the longitudinal axis value (i.e. the v axle value of image coordinate) corresponding to each boundary point counted on;
Mean operation (namely getting average) is carried out to the longitudinal axis value (longitudinal axis value of each point in the rubbish profilograph that the boundary point namely counted on along X direction is formed) corresponding to each boundary point counted on, and the longitudinal axis value aviation value obtained is being expected the picture altitude in hole as the rubbish in material hole; (alternatively, now, also can form the rubbish boundary straight line shown in Fig. 4 according to this longitudinal axis value aviation value, repeat no more herein);
According to the transformational relation between image coordinate system (for representing the system of axes of the image projection of real world) and image acquisition system of axes (for representing the system of axes at the visual angle of image capture device), and the transformational relation between image acquisition system of axes and world coordinate system (for representing the system of axes of real world), convert the picture altitude of the rubbish in material hole in material hole to world coordinates, obtain the true altitude of rubbish in material hole.
Wherein, the transformational relation between described image coordinate system and image acquisition system of axes can specifically be expressed as:
u＝f×X
c/Z
c
v＝f×Y
c/Z
c；
Transformational relation between described image acquisition system of axes and world coordinate system can specifically be expressed as:
Wherein, u represents the pixel abscissa of image, and v represents the pixel ordinate of image, and f is the focal length of image capture device; X
c, Y
c, Z
cbe respectively the x-axis in image acquisition coordinate system OcXcYcZc, y-axis, the coordinate figure of z-axis, X
w, Y
w, Z
wbe respectively the x-axis in world coordinate system OwXwYwZw, y-axis, the coordinate figure of z-axis, θ is the setting angle between image capture device and horizontal surface, H
cfor image capture device and material cheat between vertical distance, namely image capture device distance material cheat the first setting height; And, when the relative position between image capture device and material are cheated is fixed, Z
wvalue be fixing value, as usually can be along θ direction, image capture device and material cheat between distance.
Such as, suppose that the picture altitude of rubbish in material hole in determined material hole is v, then by determining the true altitude of rubbish in material hole of expecting in hole with under type:
First according to formula (1) v=f × Y in the transformational relation between image coordinate system and image acquisition system of axes
c/ Z
c, determine the Y corresponding with this v
cvalue, obtains formula (2) Y
c=Z
cv/f; Meanwhile, according to the transformational relation between image acquisition system of axes and world coordinate system, formula (3) can be obtained: Y
c=(Y
w+ H
c) cos θ+Z
wsin θ and formula (4): Z
c=(Y
w+ H
c) (-sin θ)+Z
wcos θ; And then, according to formula (1), formula (2) and formula (3), formula (4) can be obtained:
finally, according to formula (4), the Y that this v is corresponding can be obtained
w, that is, the true altitude of rubbish in material hole in material hole.
That is, can according to the transformational relation between image acquisition system of axes and image coordinate system, and the transformational relation between image acquisition system of axes and world coordinate system, obtain the transformational relation between image coordinate system and world coordinate system, final realization image coordinate represents the effect of the distance in world coordinate system.
Further, in embodiment of the present invention, if determine, described controlling level value is greater than Second Threshold, then described method also can comprise the following steps:
Control material conveyor belt out of service or control material conveyor belt run slowly, until when determining that described controlling level value is not more than Second Threshold, control material conveyor belt by setting the second material transfer rate normally run.Particularly, described second material transfer rate can set flexibly according to actual conditions, does not repeat this.
Further, it should be noted that, described feeding garbage control setup can be the controllers such as PLC (ProgrammableLogicController, programmable logic controller (PLC)), and the embodiment of the present invention does not also repeat this.
Have again, it should be noted that, in order to improve safety and the controllability of system, when determining that described controlling level value is not more than first threshold or determines that described controlling level value is greater than Second Threshold, also corresponding alarm can be carried out, to point out custom system sky material or full material, the embodiment of the present invention does not also repeat this.
Embodiments provide a kind of feeding garbage control method, in technical scheme described in the embodiment of the present invention, the controlling level Low threshold of the controlling level information that feeding garbage control setup can send according to rubbish level detecting apparatus and setting and controlling level high threshold, automatic formation three kinds of material loading state of a controls, as, when determining that controlling level value is not more than first threshold, increase the material transfer rate of material conveyor belt; Determining that controlling level value is greater than first threshold and is not more than Second Threshold, the material transfer rate maintaining material conveyor belt is constant; Or, when determining that controlling level value is greater than Second Threshold, controlling material conveyor belt reversion etc., thus can reach according to controlling level information, automatically control feeding garbage to avoid the effect of putty, improve accuracy and the control efficiency of feeding garbage control.
Embodiment two:
Based on the inventive concept identical with embodiment one, the embodiment of the present application two provides a kind of feeding garbage control setup, and the concrete enforcement of this feeding garbage control setup see the associated description in said method embodiment one, can repeat part and repeat no more.Particularly, as shown in Figure 5, it mainly can comprise for the structural representation of feeding garbage control setup described in the embodiment of the present invention two, described feeding garbage control setup:
Receiving element 51, can be used for the controlling level information for representing the actual height of rubbish in material hole in material hole receiving the transmission of rubbish level detecting apparatus;
Processing unit 52, can be used for the first threshold of controlling level value corresponding for described controlling level information and setting, Second Threshold to compare, wherein, described first threshold is less than described Second Threshold; If determine, described controlling level value is not more than first threshold, then increase the material transfer rate of material conveyor belt; If determine, described controlling level value is greater than first threshold and is not more than Second Threshold, then the material transfer rate maintaining material conveyor belt is constant; If determine, described controlling level value is greater than Second Threshold, then control material conveyor belt reversion, until when determining that described controlling level value is not more than Second Threshold, controlling material conveyor belt and running along former direction.
Alternatively, described controlling level information is that described rubbish level detecting apparatus obtains in the following manner:
Gather the material hole rubbish image in material hole, and determine the region, corresponding material hole in the rubbish image of described material hole based on the image processing techniques set;
Profile process being carried out to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
According to the material pit foundation directrix of described garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the actual height of rubbish in material hole of expecting in hole.
Alternatively, if described processing unit 52 specifically can be used for determining that described controlling level value is not more than first threshold, then less according to controlling level value, the mode that material transfer rate is larger, increases the material transfer rate of material conveyor belt.
Further, if described processing unit 52 specifically can be used for determining that described controlling level value is greater than Second Threshold, then control material conveyor belt and travel at the uniform speed in reverse direction, or, control material conveyor belt variable-speed operation in reverse direction.
Further, if described processing unit 52 also can be used for determining that described controlling level value is greater than Second Threshold, then control material conveyor belt out of service or control material conveyor belt run slowly, until when determining that described controlling level value is not more than Second Threshold, controlling material conveyor belt and normally running by the material transfer rate of setting.
Further, the embodiment of the present invention two additionally provides a kind of material loading trigger, and described material loading trigger can comprise the feeding garbage control setup described in the embodiment of the present invention two.In addition, it should be noted that, described material loading trigger also can comprise corresponding frequency converter, motor, material conveyor belt etc., and the embodiment of the present invention does not repeat this.
It will be understood by those skilled in the art that embodiments of the invention can be provided as method, device (equipment) or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to disc storage, CD-ROM, optical memory etc.) of computer usable program code.
The present invention describes with reference to according to the diagram of circuit of the method for the embodiment of the present invention, device (equipment) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and diagram of circuit and/or block scheme and/or square frame.These computer program instructions can being provided to the treater of general computer, single-purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the treater of computing machine or other programmable data processing device produce device for realizing the function of specifying in diagram of circuit flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in diagram of circuit flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in diagram of circuit flow process or multiple flow process and/or block scheme square frame or multiple square frame.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (11)
1. a feeding garbage control method, is characterized in that, comprising:
Feeding garbage control setup receives the controlling level information for representing the actual height of rubbish in material hole in material hole that rubbish level detecting apparatus sends;
The first threshold of controlling level value corresponding for described controlling level information and setting, Second Threshold are compared, wherein, described first threshold is less than described Second Threshold;
If determine, described controlling level value is not more than first threshold, then increase the material transfer rate of material conveyor belt;
If determine, described controlling level value is greater than first threshold and is not more than Second Threshold, then the material transfer rate maintaining material conveyor belt is constant;
If determine, described controlling level value is greater than Second Threshold, then control material conveyor belt reversion, until when determining that described controlling level value is not more than Second Threshold, controlling material conveyor belt and running along former direction.
2. the method for claim 1, is characterized in that, if determine, described controlling level value is greater than Second Threshold, then described method also comprises:
Control material conveyor belt out of service or control material conveyor belt run slowly, until when determining that described controlling level value is not more than Second Threshold, control material conveyor belt by setting material transfer rate normally run.
3. method as claimed in claim 1 or 2, it is characterized in that, described controlling level information is that described rubbish level detecting apparatus obtains in the following manner:
Gather the material hole rubbish image in material hole, and determine the region, corresponding material hole in the rubbish image of described material hole based on the image processing techniques set;
Profile process being carried out to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
According to the material pit foundation directrix of described garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the actual height of rubbish in material hole of expecting in hole.
4. method as claimed in claim 1 or 2, it is characterized in that, the material transfer rate of described increase material conveyor belt, comprising:
Less according to controlling level value, the mode that material transfer rate is larger, increases the material transfer rate of material conveyor belt.
5. method as claimed in claim 1 or 2, is characterized in that, described control material conveyor belt reversion, comprising:
Control material conveyor belt to travel at the uniform speed in reverse direction, or, control material conveyor belt variable-speed operation in reverse direction.
6. a feeding garbage control setup, is characterized in that, comprising:
Receiving element, for receiving the controlling level information for representing the actual height of rubbish in material hole in material hole that rubbish level detecting apparatus sends;
Processing unit, for the first threshold of controlling level value corresponding for described controlling level information and setting, Second Threshold being compared, wherein, described first threshold is less than described Second Threshold; If determine, described controlling level value is not more than first threshold, then increase the material transfer rate of material conveyor belt; If determine, described controlling level value is greater than first threshold and is not more than Second Threshold, then the material transfer rate maintaining material conveyor belt is constant; If determine, described controlling level value is greater than Second Threshold, then control material conveyor belt reversion, until when determining that described controlling level value is not more than Second Threshold, controlling material conveyor belt and running along former direction.
7. feeding garbage control setup as claimed in claim 6, is characterized in that,
Described processing unit, if also for determining that described controlling level value is greater than Second Threshold, then control material conveyor belt out of service or control material conveyor belt run slowly, until when determining that described controlling level value is not more than Second Threshold, controlling material conveyor belt and normally running by the material transfer rate of setting.
8. feeding garbage control setup as claimed in claim 6, it is characterized in that, described controlling level information is that described rubbish level detecting apparatus obtains in the following manner:
Gather the material hole rubbish image in material hole, and determine the region, corresponding material hole in the rubbish image of described material hole based on the image processing techniques set;
Profile process being carried out to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
According to the material pit foundation directrix of described garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the actual height of rubbish in material hole of expecting in hole.
9. feeding garbage control setup as claimed in claim 6, is characterized in that,
Described processing unit, if specifically for determining that described controlling level value is not more than first threshold, then less according to controlling level value, the mode that material transfer rate is larger, increases the material transfer rate of material conveyor belt.
10. feeding garbage control setup as claimed in claim 6, is characterized in that,
Described processing unit, if specifically for determining that described controlling level value is greater than Second Threshold, then controls material conveyor belt and travels at the uniform speed in reverse direction, or, control material conveyor belt variable-speed operation in reverse direction.
11. 1 kinds of material loading triggers, is characterized in that, described material loading trigger comprises the arbitrary described feeding garbage control setup of claim 6 ~ 10.
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