CN105217198B - A kind of feeding garbage control method, device and feeding trigger - Google Patents
A kind of feeding garbage control method, device and feeding trigger Download PDFInfo
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Abstract
The invention discloses a kind of feeding garbage control method, device and feeding trigger, in this programme, the controlling level information and the controlling level Low threshold and controlling level high threshold of setting that can be sent according to rubbish material-level detecting device, automatically form three kinds of feeding state of a controls, such as, when it is determined that controlling level value is not more than first threshold, increase the material transfer rate of material conveyor belt；It is determined that controlling level value is more than first threshold and no more than Second Threshold, the material transfer rate of maintenance material conveyor belt is constant；Or, when it is determined that controlling level value is more than Second Threshold, control material conveyer belt reversion etc. so as to can reach according to controlling level information, automatically controls feeding garbage to avoid the effect of putty, improves the accuracy and control efficiency of feeding garbage control.
Description
Technical field
The present invention relates to feeding garbage technical field, more particularly to a kind of feeding garbage control method, device and upper flitch
Machine.
Background technology
During the binder of garbage compression station, because rubbish topples over the reasons such as uneven and rubbish complicated,
It is stuck compared with the rubbish putty easily caused in material hole when rubbish feeds intake excessive, cause rubbish can not drop down onto compressor down, formed and " overflow and struggle against
Pneumatics " phenomenon, and then cause equipment out of service, feeding garbage efficiency is had a strong impact on, therefore, the feeding process to rubbish is needed badly
Accordingly controlled, to solve the above problems.
Specifically, because the composition of rubbish is extremely complex, it such as may include polybag, bottle, trees and paper scrap, make
Obtain in feeding garbage control field temporarily without actual applicable technology, be only capable of by way of artificial judgment controlling by rule of thumb
Material, such as monitor rubbish material position it is higher when, feeding quantity can be reduced, monitor rubbish material position it is relatively low when, it is possible to increase feeding
Quantity etc..
But, because artificial judgment can often have larger error, thus, easily cause feeding number it is many with required material
Less and mismatch so that feeding control is inaccurate, and packing phenomenon easily occurs.For example, smaller but feeding is excessive in required material
When, rubbish can mutually be wound, and easily formed accumulation and can not be fallen to material hole, cause the invalid pneumatics of equipment.Further, since one
Denier runs into accumulation putty, and armamentarium is both needed to shut down, and then needs, by largely manually removing heap buildup, to take typically up to half a day
More than, thus, it can also greatly reduce the operating efficiency of equipment.
The content of the invention
The embodiments of the invention provide a kind of feeding garbage control method, device and feeding trigger, to solve to use people
The problem of control existing when controlling feeding of work mode is inaccurate, efficiency is low.
The embodiments of the invention provide a kind of feeding garbage control method, including：
The rubbish being used in expression material hole that feeding garbage control device receives the transmission of rubbish material-level detecting device is expecting to cheat
In actual height controlling level information；
By the corresponding controlling level value of the controlling level information with set first threshold, Second Threshold be compared,
Wherein, the first threshold is less than the Second Threshold；
If it is determined that the controlling level value is not more than first threshold, then increase the material transfer rate of material conveyor belt；
If it is determined that the controlling level value is more than first threshold and no more than Second Threshold, then material conveyor belt is maintained
Material transfer rate is constant；
If it is determined that the controlling level value is more than Second Threshold, then control material conveyer belt is inverted, until it is determined that described
When controlling level value is not more than Second Threshold, control material conveyer belt is run along former direction.
Correspondingly, the embodiment of the present invention additionally provides a kind of feeding garbage control device, including：
Receiving unit, for receiving the rubbish being used in representing to expect to cheat of rubbish material-level detecting device transmission in material hole
The controlling level information of actual height；
Processing unit, for by the corresponding controlling level value of the controlling level information with setting first threshold, second
Threshold value is compared, wherein, the first threshold is less than the Second Threshold；If it is determined that the controlling level value is not more than first
Threshold value, then increase the material transfer rate of material conveyor belt；If it is determined that the controlling level value is more than first threshold and is not more than
Second Threshold, then maintain the material transfer rate of material conveyor belt constant；If it is determined that the controlling level value is more than Second Threshold,
Then control material conveyer belt is inverted, until when it is determined that the controlling level value is not more than Second Threshold, control material conveyer belt
Along former direction operation.
Further, the embodiment of the present invention additionally provides a kind of feeding trigger, and the feeding trigger, which includes the present invention, to be implemented
Feeding garbage control device described in example.
The present invention has the beneficial effect that：
, can root in this programme the embodiments of the invention provide a kind of feeding garbage control method, device and feeding trigger
The controlling level information and the controlling level Low threshold and controlling level high threshold of setting sent according to rubbish material-level detecting device,
Three kinds of feeding state of a controls are automatically formed, e.g., when it is determined that controlling level value is not more than first threshold, increase material conveyor belt
Material transfer rate；It is determined that controlling level value is more than first threshold and no more than Second Threshold, the thing of maintenance material conveyor belt
Expect that transfer rate is constant；Or, when it is determined that controlling level value is more than Second Threshold, control material conveyer belt reversion etc., so that
It can reach according to controlling level information, automatically control feeding garbage to avoid the effect of putty, improve feeding garbage control
Accuracy and control efficiency.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 show the schematic flow sheet of feeding garbage control method described in the embodiment of the present invention one；
Fig. 2 show a kind of possible position of image capture device described in the embodiment of the present invention and light filling lighting apparatus
Structural representation；
Fig. 3 (a) show the material hole rubbish image schematic diagram described in the embodiment of the present invention；
Fig. 3 (b) show the rubbish connected region figure described in the embodiment of the present invention；
Fig. 3 (c) show the garbage areas profile diagram described in the embodiment of the present invention；
Fig. 4 show the determination schematic diagram of the rubbish boundary straight line described in the embodiment of the present invention；
Fig. 5 show the structural representation of feeding garbage control device described in the embodiment of the present invention.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
One step it is described in detail, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
Embodiment one：
In order to realize that the automatic charging of rubbish is controlled, the embodiment of the present invention one provides a kind of feeding garbage control method,
As shown in figure 1, it is the schematic flow sheet of feeding garbage control method described in the embodiment of the present invention one, the feeding garbage control
Method processed may include following steps：
Step 101：Feeding garbage control device receives the rubbish being used in expression material hole that rubbish material-level detecting device is sent
The controlling level information of actual height of the rubbish in material hole.
Alternatively, the controlling level information can be specifically that the rubbish material-level detecting device passes through the number such as CAN
The feeding garbage control device is sent to according to transmission line, it is, of course, also possible to be that the rubbish material-level detecting device passes through nothing
Line transmission means is sent to the feeding garbage control device, and the embodiment of the present invention is not repeated this.
Step 102：By the corresponding controlling level value of the controlling level information with set first threshold, Second Threshold enters
Row compares, wherein, the first threshold is less than the Second Threshold.
Alternatively, the first threshold, Second Threshold are typically set based on experience value, and can be according to actual feelings
Condition is adjusted flexibly, and the embodiment of the present invention is not repeated this.
Step 103：If it is determined that the controlling level value is not more than first threshold, then increase the material transmission of material conveyor belt
Speed；If it is determined that the controlling level value is more than first threshold and no more than Second Threshold, then the material of material conveyor belt is maintained
Transfer rate is constant；If it is determined that the controlling level value be more than Second Threshold, then control material conveyer belt invert, until it is determined that
When the controlling level value is not more than Second Threshold, control material conveyer belt is run along former direction.
That is, however, it is determined that the rubbish in material hole is less (expecting state less), then the material that can increase material conveyor belt is passed
Send speed；If it is determined that the rubbish in material hole is moderate (moderate state), then the material transfer rate of material conveyor belt can be maintained constant；
If it is determined that the rubbish in material hole is excessive (expecting state) more, then material conveyor belt reversion is can control, waits material to incline to falling to material naturally
Hole, so as to avoid putty.
Alternatively, however, it is determined that the controlling level value is not more than first threshold, then the material transmission of increase material conveyor belt
Speed, it may include：
If it is determined that the controlling level value is not more than first threshold, then smaller according to controlling level value, material transfer rate
Bigger mode, increases the material transfer rate of material conveyor belt.
Further, however, it is determined that the controlling level value is more than Second Threshold, then control material conveyer belt is inverted, and can be wrapped
Include：
If it is determined that the controlling level value is more than Second Threshold, then control material conveyer belt travels at the uniform speed in reverse direction (has
Body, can in reverse direction it be traveled at the uniform speed according to the first material transfer rate of setting, wherein, the first material transfer rate can
Flexibly set according to actual conditions), or, control material conveyer belt variable-speed operation in reverse direction.
In addition, it is necessary to explanation, because the transmission speed of material conveyor belt is determined by the rotating speed of motor, motor
Rotating speed is controlled by the output signal of frequency converter, and the output signal of frequency converter is controlled by feeding garbage control device, because
And, in embodiment of the present invention, the feeding garbage control device specifically can be by controlling frequency converter to become motor
Frequency modulation speed, moves material conveyor belt by motor belt motor and completes feeding, the embodiment of the present invention is not repeated this.
Further, it is necessary to illustrate, in order to further improve the accuracy of feeding garbage control, the feeding garbage
The controlling level information that control device is received can the rubbish material-level detecting device obtain in the following manner：
The material hole rubbish image in collection material hole, and the image processing techniques based on setting determines material hole rubbish image
In material hole region；
Profile processing is carried out to material hole region, the rubbish on each rubbish border for characterizing material hole region is obtained
Region contour figure；
According to the garbage areas profile diagram and the material pit foundation directrix of setting, it is determined that the rubbish in material hole is in material hole
Picture altitude, and according to the picture altitude of determination, it is determined that actual height of the rubbish in material hole in material hole.
Carried out that is, rubbish material-level detecting device can cheat rubbish image by the material in the material hole to collecting at image
Corresponding material hole region in reason, identification discharging hole rubbish image, and profile processing can be carried out by cheating region to the material, obtain
For the garbage areas profile diagram on each rubbish border for characterizing material hole region, so can according to the garbage areas profile diagram and
The material pit foundation directrix of setting, it is determined that picture altitude of the rubbish in material hole in material hole, and according to the picture altitude of determination, obtain
Actual height of the rubbish in material hole in material hole, so that the automatic detection of rubbish position can be realized, it is artificial relative to existing
For detection mode, accuracy is higher, more efficient, so that the controlling level information that feeding garbage control device is received
It is more accurate, it can further improve the accuracy of feeding garbage control.
Alternatively, the rubbish material-level detecting device can gather the material hole rubbish image in material hole in the following manner：
Gathered by the image capture device (such as video camera or camera) for being arranged on the upper side in material hole by being arranged on material
The material hole rubbish image in the material hole of light filling lighting apparatus (such as incandescent lamp, LED) adequate illumination of side on hole.
Wherein, (Fig. 2 shows for a kind of possible positional structure of image capture device and light filling lighting apparatus as shown in Figure 2
It is intended to), described image collecting device can cheat the first setting height (H with the horizontal setting angle (θ) and apart from the materialc),
The light filling lighting apparatus can cheat the second setting height apart from the material.And, in order to avoid image capture device is blocked to light,
When described image collecting device and the light filling lighting apparatus are located at the same upper side in material hole, first setting height one
As can be more than second setting height；And, in order that the complete and comprehensive of material hole can be collected by obtaining image capture device
Material hole rubbish image, the setting angle can typically be more than 0 degree and less than 90 degree, as long as ensure that image capture device can be adopted
Collect the complete and comprehensive material hole rubbish image in material hole.
In addition, it is necessary to which explanation, described image collecting device can not also be located at material hole with the light filling lighting apparatus
Same upper side, e.g., one is located at the upper left side that material is cheated, and one positioned at the upper right side in material hole etc.；Now, described first set
Fixed height may be less than or equal to second setting height in addition to it can be more than second setting height, and the present invention is real
Example is applied not repeat this.
Further, it is necessary to which explanation, is gathering when expecting the material hole rubbish image cheated of adequate illumination, in order to more accurate
The detection of rubbish material position is realized on ground, and the material hole rubbish image in material hole can be gathered in real time.Certainly, it is necessary to which explanation, is meeting phase
On the basis of the precise requirements answered, in order to save IMAQ resource, regularly (such as every 1 minute or 3 minutes) it can also adopt
Gather materials the material hole rubbish image in hole, and the embodiment of the present invention also do not repeated this.
Further, after the material hole rubbish image in material hole is collected, the rubbish material-level detecting device can be based on
The image processing techniques of setting determines the material hole region in the rubbish image of the material hole, specifically may include：
Based on image masks technology, rubbish image is cheated to the material and carries out the mask product processing that non-material cheats region, with true
Make the corresponding material hole region in the rubbish image of the material hole.
That is, because the non-material hole region in material hole is largely changeless, therefore rubbish can be cheated to the material
Image carries out the mask product processing in non-material hole region, to go unless expected to cheat noise region.
Specifically, the rubbish material-level detecting device can cheat rubbish image to the material by below equation and carry out non-material hole
The mask product processing in region：
G (x, y)=f (x, y) * m (x, y)；
Wherein, f (x, y) is that the original material represented in two-dimensional function form cheats rubbish image, and m (x, y) is image masks letter
Number, g (x, y) is that the material after the mask product processing represented in two-dimensional function form cheats rubbish image, wherein, (x, y) cheats for material
The air coordinates of respective point in rubbish image, f (x, y) value (typically takes for intensity or gray scale of the image at point (x, y) place
Interval value is [0,255]), whether m (x, y) value is determined by point (x, y) in material hole region, is then in material hole region
1, it is then 0 in non-material hole region.
Further, because the image that image capture device is collected may generally be colored, and rubbish material-level measure is general
Only need the profile of processing rubbish, without colour information, therefore, the rubbish material-level detecting device is in the image procossing based on setting
Technology is determined before the material hole region in the rubbish image of the material hole, can also carry out following steps：
If it is determined that material hole rubbish image is coloured image, then cheating rubbish image to the material carries out gray processing processing,
Material hole rubbish gray level image is obtained, to accelerate successive image processing procedure.
Alternatively, the rubbish material-level detecting device cheats rubbish image to the material and carries out gray processing processing, it may include：
If it is determined that each pixel of material hole rubbish image be by R (red), G (green), B (indigo plant) sub-pixel combinations coloured silk
Color image pixel, then cheat each pixel of rubbish image for the material, the pixel can be converted into ash by below equation
Spend image pixel：
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 the corresponding colour of material hole rubbish image
Each sub-pixel point of pixel.
Correspondingly, the image processing techniques of the rubbish material-level detecting device based on setting determines material hole rubbish figure
As in material hole region, may also be embodied for：
Based on image masks technology, the corresponding material of rubbish image is cheated to the material and cheats rubbish gray level image progress Fei Liaokeng areas
The mask product processing in domain, to determine that the corresponding material in the rubbish image of the material hole cheats region.
Wherein, the mask product processing procedure with the foregoing description is similar, can be by below equation to material hole rubbish gray scale
Image carries out the mask product processing in non-material hole region：
G1 (x, y)=f1 (x, y) * m (x, y)；
Wherein, g1 (x, y) is the material hole rubbish gray level image after the mask product processing represented in two-dimensional function form, f1
(x, y) is that the original material represented in two-dimensional function form cheats rubbish gray level image, and m (x, y) is image masks function, wherein, (x,
Y) it is the air coordinates of the respective point in the rubbish gray level image of material hole, f (x, y) value is intensity of the image at point (x, y) place
Or gray scale (general interval is [0,255]), whether m (x, y) value is determined by point (x, y) in material hole region, is located
It is then 1 in material hole region, is then 0 in non-material hole region.
Further, it is determined that discharging hole rubbish image in corresponding material hole region after, the rubbish material-level measure
Device can cheat region progress profile processing to the material and (enter road wheel to the material hole rubbish image after the processing of mask product
Exterior feature processing), the garbage areas profile diagram on each rubbish border for characterizing material hole region is obtained, specifically be may include：
Edge detecting technology (such as Canny rim detections technology) based on setting, edge is carried out to material hole region
Detection, forms rubbish edge image；
The rubbish edge image is performed it is following operate, form rubbish connected region figure (specifically, it is assumed that institute before
The material hole rubbish image of formation can be as shown in Fig. 3 (a), then the rubbish connected region figure now formed can be such as Fig. 3 (b) institutes
Show)：
All marginal points in the rubbish edge image are counted, and the marginal point counted on is added in set S0；From
A marginal point is chosen in the central area of the rubbish edge image, adds connection edge point set S1, and update set S0=
S0-S1；Select a point pi connected from S1, and set being less than in S0 with the pixel distance between the point pi that selects
(setpoint distance can flexibly be set set a distance according to actual conditions, and the marginal point qj that such as may be configured as 2) is connected, and will be all
The marginal point qj for meeting condition (being less than setpoint distance with the pixel distance between the point pi that selects) adds set S1, renewal
Set S0=S0-S1；Repeat the above-mentioned selected element pi from S1 and the qj for the condition that meets is added into set S1 and set S0 is updated
Operation, until determining set S0 to be empty；
On the rubbish connected region figure, each row successively on scan image, and connecting from left to right from left to right
First on direction and last marginal point, form the right boundary of rubbish；Meanwhile, scan image successively from top to bottom
On each row, and regard first marginal point on direction from top to bottom as the coboundary of rubbish；According to the left and right of rubbish
Border and coboundary, form garbage areas profile diagram (specifically, it is assumed that the rubbish connected region figure formed before can be such as
Shown in Fig. 3 (b), then the garbage areas profile diagram now formed can be as shown in Fig. 3 (c)).
Further, after garbage areas profile diagram is obtained, the rubbish material-level detecting device can be according to the rubbish
Rubbish region contour figure and the material pit foundation directrix of setting, it is determined that picture altitude of the rubbish in material hole in material hole, and according to true
Fixed picture altitude, it is determined that actual height of the rubbish in material hole in material hole, specifically may include：
According to the garbage areas profile diagram and the material pit foundation directrix of setting, (the material pit foundation directrix can cheat region according to material
The boundary line in region is cheated with non-material and is determined), each border of rubbish is counted along X direction (i.e. the u direction of principal axis of image coordinate)
Point, and record the longitudinal axis value (i.e. the v axles value of image coordinate) corresponding to each boundary point counted on；
To the longitudinal axis value (rubbish formed along the boundary point that X direction is counted on corresponding to each boundary point for counting on
The longitudinal axis value of each point in rubbish contour curve) carry out mean operation (taking average), and using obtained longitudinal axis value average value as
Picture altitude of the rubbish in material hole in material hole；(alternatively, now, it can also be formed according to the longitudinal axis value average value shown in Fig. 4
Rubbish boundary straight line, here is omitted)；
(used with IMAQ coordinate system according to image coordinate system (being used for the coordinate system for representing the image projection of real world)
In representing the coordinate system at visual angle of image capture device) between transformational relation, and IMAQ coordinate system and world's coordinate
Transformational relation between system's (being used for the coordinate system for representing real world), picture altitude of the rubbish expected in hole in material hole is turned
Change world coordinates into, obtain true altitude of the rubbish in material hole.
Wherein, the transformational relation between described image coordinate system and IMAQ coordinate system may particularly denote for：
U=f × Xc/Zc
V=f × Yc/Zc；
Transformational relation between described image coordinate acquisition system and world coordinate system may particularly denote for：
Wherein, u represents the pixel abscissa of image, and v represents the pixel ordinate of image, and f is Jiao of image capture device
Away from；Xc、Yc、ZcX-axis in respectively IMAQ coordinate system OcXcYcZc, y-axis, the coordinate value of z-axis, Xw、Yw、ZwRespectively generation
X-axis in boundary coordinate system OwXwYwZw, y-axis, the coordinate value of z-axis, θ is the setting folder between image capture device and horizontal plane
Angle, HcFor the first setting height of the vertical range between image capture device and material hole, i.e. image capture device distance material hole；
And, when the relative position between image capture device and material hole is fixed, ZwValue be fixed value, such as generally can be along θ
Direction, image capture device is with expecting the distance between hole.
For example, it is assumed that picture altitude of the rubbish in identified material hole in material hole is v, then can be true in the following manner
True altitude of the rubbish in material hole in fixed material hole：
Formula (1) v=f × Y first in the transformational relation between image coordinate system and IMAQ coordinate systemc/
Zc, it is determined that the Y corresponding with the vcValue, obtains formula (2) Yc=Zcv/f；Meanwhile, can be according to IMAQ coordinate system and the world
Transformational relation between coordinate system, obtains formula (3)：Yc=(Yw+Hc)cosθ+ZwSin θ and formula (4)：Zc=(Yw+Hc)
(-sinθ)+Zwcosθ；And then, formula (4) can be obtained according to formula (1), formula (2) and formula (3)：Finally, according to formula (4), you can obtain the corresponding Y of the vw, i.e. in material hole
True altitude of the rubbish in material hole.
That is, can be according to the transformational relation between IMAQ coordinate system and image coordinate system, and IMAQ
Transformational relation between coordinate system and world coordinate system, obtains the transformational relation between image coordinate system and world coordinate system, most
Whole realization represents the effect of the distance in world coordinate system with image coordinate.
Further, in embodiment of the present invention, however, it is determined that the controlling level value is more than Second Threshold, then described
Method can also include the steps of：
Control material conveyer belt is out of service or control material conveyer belt runs slowly, until it is determined that the controlling level
When value is not more than Second Threshold, control material conveyer belt is normally run by the second material transfer rate of setting.Specifically, it is described
Second material transfer rate can flexibly be set according to actual conditions, and this is not repeated.
Further, it is necessary to which explanation, the feeding garbage control device can be PLC (Programmable
Logic Controller, programmable logic controller (PLC)) etc. controller, the embodiment of the present invention also do not repeated this.
Further, it should be noted that security and controllability in order to improve system, it is determined that the controlling level value
When no more than first threshold or the determination controlling level value are more than Second Threshold, can also accordingly it be alerted, to point out user
System sky material or full material, the embodiment of the present invention are not also repeated this.
The embodiments of the invention provide a kind of feeding garbage control method, in technical scheme described in the embodiment of the present invention,
The controlling level information and the controlling level of setting that feeding garbage control device can be sent according to rubbish material-level detecting device are low
Threshold value and controlling level high threshold, automatically form three kinds of feeding state of a controls, e.g., it is determined that controlling level value is not more than the first threshold
During value, increase the material transfer rate of material conveyor belt；It is determined that controlling level value is more than first threshold and no more than the second threshold
Value, maintains the material transfer rate of material conveyor belt constant；Or, when it is determined that controlling level value is more than Second Threshold, control
Material conveyor belt reversion etc., so as to can reach according to controlling level information, automatically controls feeding garbage to avoid the effect of putty,
Improve the accuracy and control efficiency of feeding garbage control.
Embodiment two：
Based on the identical inventive concept of embodiment one, the embodiment of the present application two provide a kind of feeding garbage control dress
Put, the specific implementation of the feeding garbage control device can be found in the associated description in above method embodiment one, repeat part not
Repeat again.Specifically, as shown in figure 5, it is the structural representation of feeding garbage control device described in the embodiment of the present invention two,
The feeding garbage control device mainly may include：
Receiving unit 51, is expecting to cheat available for the rubbish being used in expression material hole for receiving the transmission of rubbish material-level detecting device
In actual height controlling level information；
Processing unit 52, available for by the corresponding controlling level value of the controlling level information with setting first threshold,
Second Threshold is compared, wherein, the first threshold is less than the Second Threshold；If it is determined that the controlling level value is not more than
First threshold, then increase the material transfer rate of material conveyor belt；If it is determined that the controlling level value is more than first threshold and not
More than Second Threshold, then maintain the material transfer rate of material conveyor belt constant；If it is determined that the controlling level value is more than second
Threshold value, then control material conveyer belt is inverted, until when it is determined that the controlling level value is not more than Second Threshold, control material is passed
Band is sent to be run along former direction.
Alternatively, the controlling level information is that the rubbish material-level detecting device is obtained in the following manner：
The material hole rubbish image in collection material hole, and the image processing techniques based on setting determines material hole rubbish image
In corresponding material hole region；
Profile processing is carried out to material hole region, the rubbish on each rubbish border for characterizing material hole region is obtained
Region contour figure；
According to the garbage areas profile diagram and the material pit foundation directrix of setting, it is determined that the rubbish in material hole is in material hole
Picture altitude, and according to the picture altitude of determination, it is determined that actual height of the rubbish in material hole in material hole.
Alternatively, the processing unit 52 is particularly used in if it is determined that the controlling level value no more than first threshold, then
Smaller according to controlling level value, the bigger mode of material transfer rate increases the material transfer rate of material conveyor belt.
Further, the processing unit 52 is particularly used in if it is determined that the controlling level value is more than Second Threshold, then
Control material conveyer belt travels at the uniform speed in reverse direction, or, control material conveyer belt variable-speed operation in reverse direction.
Further, the processing unit 52 can be additionally used in if it is determined that the controlling level value is then controlled more than Second Threshold
Material conveyor belt processed is out of service or control material conveyer belt runs slowly, until it is determined that the controlling level value is not more than the
During two threshold values, control material conveyer belt is normally run by the material transfer rate of setting.
Further, the embodiment of the present invention two additionally provides a kind of feeding trigger, and the feeding trigger may include the present invention
Feeding garbage control device described in embodiment two.In addition, it is necessary to which explanation, the feeding trigger may also include corresponding change
Frequency device, motor, material conveyor belt etc., the embodiment of the present invention is not repeated 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 journey
Sequence product.Therefore, in terms of the present invention can be using complete hardware embodiment, complete software embodiment or combination software and hardware
The form of embodiment.Moreover, the present invention can be used in one or more calculating for wherein including computer usable program code
The computer program that machine usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention is the flow chart with reference to method according to embodiments of the present invention, device (equipment) and computer program product
And/or block diagram is described.It should be understood that can be by each flow in computer program instructions implementation process figure and/or block diagram
And/or square frame and the flow in flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided to refer to
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is made to produce
One machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for realizing
The device for the function of being specified in one flow of flow chart or multiple flows and/or one square frame of block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (9)
1. a kind of feeding garbage control method, it is characterised in that including：
Feeding garbage control device receives the rubbish being used in expression material hole of rubbish material-level detecting device transmission in hole is expected
The controlling level information of actual height；
By the corresponding controlling level value of the controlling level information with set first threshold, Second Threshold be compared, wherein,
The first threshold is less than the Second Threshold；
If it is determined that the controlling level value is not more than first threshold, then increase the material transfer rate of material conveyor belt；
If it is determined that the controlling level value is more than first threshold and no more than Second Threshold, then the material of material conveyor belt is maintained
Transfer rate is constant；
If it is determined that the controlling level value is more than Second Threshold, then control material conveyer belt is inverted, until it is determined that the material position
When height value is not more than Second Threshold, control material conveyer belt is run along former direction；
Wherein, the controlling level information is that the rubbish material-level detecting device is obtained in the following manner：
The material hole rubbish image in collection material hole, and the image processing techniques based on setting determines that the material is cheated in rubbish image
Corresponding material hole region；
Profile processing is carried out to material hole region, the garbage areas on each rubbish border for characterizing material hole region is obtained
Profile diagram；
According to the garbage areas profile diagram and the material pit foundation directrix of setting, it is determined that image of the rubbish in material hole in material hole
Highly, and according to the picture altitude of determination, it is determined that actual height of the rubbish in material hole in material hole；
Wherein, according to the garbage areas profile diagram and the material pit foundation directrix of setting, it is determined that the rubbish in material hole is in material hole
Picture altitude, and according to the picture altitude of determination, it is determined that actual height of the rubbish in material hole in material hole, is specifically included：
According to the garbage areas profile diagram and the material pit foundation directrix of setting, in image coordinate system, counted along X direction
Each boundary point of rubbish, and record the longitudinal axis value corresponding to each boundary point counted on；
Mean operation is carried out to the longitudinal axis value corresponding to each boundary point for counting in image coordinate system, and it is vertical by what is obtained
Picture altitude of the axle value average value as the rubbish in material hole in material hole；
According to the transformational relation between image coordinate system and IMAQ coordinate system, and IMAQ coordinate system and world's coordinate
Transformational relation between system, is converted into world coordinates by picture altitude of the rubbish expected in hole in material hole, obtains rubbish in material
True altitude in hole；Wherein, IMAQ coordinate system is for the coordinate system at the visual angle for representing image capture device, world's seat
Mark system is the coordinate system for representing real world.
2. the method as described in claim 1, it is characterised in that if it is determined that the controlling level value is more than Second Threshold, then institute
Stating method also includes：
Control material conveyer belt is out of service or control material conveyer belt runs slowly, until it is determined that the controlling level value not
During more than Second Threshold, control material conveyer belt is normally run by the material transfer rate of setting.
3. method as claimed in claim 1 or 2, it is characterised in that the material transfer rate of the increase material conveyor belt, bag
Include：
Smaller according to controlling level value, the bigger mode of material transfer rate increases the material transfer rate of material conveyor belt.
4. method as claimed in claim 1 or 2, it is characterised in that the control material conveyer belt reversion, including：
Control material conveyer belt travels at the uniform speed in reverse direction, or, control material conveyer belt variable-speed operation in reverse direction.
5. a kind of feeding garbage control device, it is characterised in that including：
Receiving unit, for receiving reality of the rubbish being used in representing to expect to cheat of rubbish material-level detecting device transmission in material hole
The controlling level information of height；
Processing unit, for the first threshold by the corresponding controlling level value of the controlling level information with setting, Second Threshold
It is compared, wherein, the first threshold is less than the Second Threshold；If it is determined that the controlling level value is not more than the first threshold
Value, then increase the material transfer rate of material conveyor belt；If it is determined that the controlling level value is more than first threshold and no more than the
Two threshold values, then maintain the material transfer rate of material conveyor belt constant；If it is determined that the controlling level value is more than Second Threshold, then
Control material conveyer belt is inverted, until when it is determined that the controlling level value is not more than Second Threshold, control material conveyer belt edge
Former direction operation；
Wherein, the controlling level information is that the rubbish material-level detecting device is obtained in the following manner：
The material hole rubbish image in collection material hole, and the image processing techniques based on setting determines that the material is cheated in rubbish image
Corresponding material hole region；
Profile processing is carried out to material hole region, the garbage areas on each rubbish border for characterizing material hole region is obtained
Profile diagram；
According to the garbage areas profile diagram and the material pit foundation directrix of setting, it is determined that image of the rubbish in material hole in material hole
Highly, and according to the picture altitude of determination, it is determined that actual height of the rubbish in material hole in material hole；
Wherein, the rubbish material-level detecting device specifically for according to the garbage areas profile diagram and setting in the following manner
Fixed material pit foundation directrix, it is determined that picture altitude of the rubbish in material hole in material hole, and according to the picture altitude of determination, it is determined that material
Actual height of the rubbish in material hole in hole：
According to the garbage areas profile diagram and the material pit foundation directrix of setting, in image coordinate system, counted along X direction
Each boundary point of rubbish, and record the longitudinal axis value corresponding to each boundary point counted on；
Carry out mean operation to the longitudinal axis value corresponding to each boundary point for counting in image coordinate system, and by the obtained longitudinal axis
It is worth picture altitude of the average value as the rubbish in material hole in material hole；
According to the transformational relation between image coordinate system and IMAQ coordinate system, and IMAQ coordinate system and world's coordinate
Transformational relation between system, is converted into world coordinates by picture altitude of the rubbish expected in hole in material hole, obtains rubbish in material
True altitude in hole；Wherein, IMAQ coordinate system is for the coordinate system at the visual angle for representing image capture device, world's seat
Mark system is the coordinate system for representing real world.
6. feeding garbage control device as claimed in claim 5, it is characterised in that
The processing unit, is additionally operable to if it is determined that the controlling level value is more than Second Threshold, then control material conveyer belt stops
Operation or control material conveyer belt run slowly, until when it is determined that the controlling level value is not more than Second Threshold, controlling thing
Material conveyer belt is normally run by the material transfer rate of setting.
7. feeding garbage control device as claimed in claim 5, it is characterised in that
The processing unit, specifically for if it is determined that the controlling level value is not more than first threshold, then according to controlling level value
Smaller, the bigger mode of material transfer rate increases the material transfer rate of material conveyor belt.
8. feeding garbage control device as claimed in claim 5, it is characterised in that
The processing unit, specifically for if it is determined that the controlling level value is more than Second Threshold, then control material conveyer belt edge
Opposite direction travels at the uniform speed, or, control material conveyer belt variable-speed operation in reverse direction.
9. a kind of feeding trigger, it is characterised in that the feeding trigger includes any described feeding garbage of claim 5~8
Control device.
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| CN201510670634.2A CN105217198B (en) | 2015-10-13 | 2015-10-13 | A kind of feeding garbage control method, device and feeding trigger |
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| CN201510670634.2A CN105217198B (en) | 2015-10-13 | 2015-10-13 | A kind of feeding garbage control method, device and feeding trigger |
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| CN106423913A (en) * | 2016-09-09 | 2017-02-22 | 华侨大学 | Construction waste sorting method and system |
| CN106954889B (en) * | 2017-04-20 | 2018-03-06 | 河南中烟工业有限责任公司 | A kind of plume separator |
| JP6703018B2 (en) * | 2018-02-01 | 2020-06-03 | ファナック株式会社 | Work robot system |
| CN108946049B (en) * | 2018-05-24 | 2020-05-29 | 湖南中联重科混凝土机械站类设备有限公司 | Control device and control method for preventing belt conveyor from being blocked and sand making system |
| CN109941886A (en) * | 2019-04-17 | 2019-06-28 | 北京起重运输机械设计研究院有限公司 | A kind of hopper feeding control method and system |
| CN112079135B (en) * | 2020-08-27 | 2022-03-04 | 三一汽车制造有限公司 | Material conveying control method for mixing station and mixing station |
| CN113580380B (en) * | 2021-03-19 | 2022-10-04 | 三一汽车制造有限公司 | Intelligent unloading monitoring method and system for mixing station |
| CN115780083B (en) * | 2023-02-06 | 2023-04-07 | 潍坊百特磁电科技有限公司 | Operation regulation and control method, equipment and system for iron remover |
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| CN201849961U (en) * | 2010-08-13 | 2011-06-01 | 中国神华能源股份有限公司 | Stockpile detection and control system |
| CN102968133B (en) * | 2012-11-14 | 2015-06-10 | 中联重科股份有限公司 | Control method, equipment and system for material supplementing |
| CN102936956B (en) * | 2012-11-21 | 2015-02-18 | 三一重工股份有限公司 | Method for detecting and controlling material level and system for detecting and controlling material level |
| CN104549703B (en) * | 2014-11-18 | 2016-05-18 | 中国矿业大学 | A kind of method of mine crushing machine intelligent speed-regulating |
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