CN109726629B - Dust particle density analytic system - Google Patents
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- CN109726629B CN109726629B CN201811333858.4A CN201811333858A CN109726629B CN 109726629 B CN109726629 B CN 109726629B CN 201811333858 A CN201811333858 A CN 201811333858A CN 109726629 B CN109726629 B CN 109726629B
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Abstract
The invention relates to a dust particle density analyzing system, comprising: the falling sensing equipment is arranged in the dust removal robot and used for sending a first control signal when sensing that the dust removal robot falls, and otherwise, sending a second control signal; the cushion release device is arranged below the dust removal robot, is connected with the falling sensing device, and is used for releasing the cushion in the dust removal robot when receiving the first control signal and withdrawing the released cushion when receiving the second control signal; the motor driving device determines the corresponding motor rotating speed based on the received dust density so as to drive a dust collection motor of the dust collection robot to operate according to the motor rotating speed; and the density analysis device is used for identifying each dust particle in the image based on the image characteristics of the dust particles and determining the corresponding dust density based on the number of the dust particles in the image. By the invention, the dust removal precision of the dust removal robot can be improved.
Description
Technical Field
The invention relates to the field of dust removal robots, in particular to a dust particle density analyzing system.
Background
The dust removal robot mainly comprises an upper box body, a middle box body, an ash bucket, an air inlet flow equalizing pipe, a support filter bag, a blowing device, an ash discharging device and the like. Dusty gas enters each chamber ash bucket from an air inlet flow equalizing pipe of the dust removal robot, large-particle dust is separated under the flow guidance of an ash bucket flow guiding device and directly falls into the ash bucket, finer dust uniformly enters the middle box body and is adsorbed on the outer surface of the filter bag, and clean gas penetrates through the filter bag to enter the upper box body and is exhausted into the atmosphere through each off-line valve and the exhaust pipe. Along with the progress of the filtering working condition, the more the dust on the filter bag is accumulated, when the resistance of the equipment reaches a limited resistance value (generally set as 1500Pa), the ash removal control device automatically closes an off-line valve according to a set pressure value or an ash removal time value, then opens the electric control pulse valve according to a set program, stops air blowing and blows, utilizes compressed air to instantly blow to enable the pressure in the filter bag to be increased, shakes off the dust on the filter bag (even the sticky dust can also thoroughly remove the ash) to an ash hopper, and discharges the dust by the ash discharge mechanism.
Disclosure of Invention
In order to solve the technical problem that the dust removal precision of a dust removal robot is limited in the prior art, the invention provides a dust particle density analysis system, wherein pixel points with color channel values exceeding the average value of the color channel values of all nearby pixel points are taken as color irregular pixel points, and patterns obtained by splicing all magenta irregular pixel points, all yellow irregular pixel points, all black irregular pixel points and all cyan irregular pixel points in an image are taken as valuable patterns to be output so as to reduce the operation data amount of subsequent image operation; meanwhile, density analyzing equipment is introduced into the dust removing robot and used for identifying each dust particle in the image based on the image features of the dust particles and determining the corresponding dust density based on the number of the dust particles in the image, and motor driving equipment is also introduced and used for determining the corresponding motor rotating speed based on the received dust density so as to drive a dust suction motor of the dust removing robot to operate according to the motor rotating speed.
According to an aspect of the present invention, there is provided a dust particle density resolving system, the system comprising:
the falling sensing equipment is arranged in the dust removal robot and used for sending a first control signal when sensing that the dust removal robot falls, and otherwise, sending a second control signal; the cushion release equipment is arranged below the dust removal robot, connected with the falling induction equipment and used for receiving the first control signal and releasing the cushion inside the dust removal robot.
More specifically, in the dust particle density resolving system: the cushion release device is further configured to retract the released cushion upon receipt of the second control signal.
More specifically, in the dust particle density resolving system, further comprising:
and the motor driving device determines the corresponding motor rotating speed based on the received dust density so as to drive the dust collection motor of the dust collection robot to operate according to the motor rotating speed.
More specifically, in the dust particle density resolving system, further comprising:
the voice alarm device is connected with the falling sensing device and used for sending a voice alarm file related to emergency falling when receiving a first control signal; and the real-time snapshot equipment is arranged at the top of the dust removal robot and used for carrying out real-time snapshot action on the periphery of the dust removal robot so as to obtain images around the robot.
More specifically, in the dust particle density resolving system, further comprising:
the channel value extraction equipment is connected with the real-time snapshot equipment and is used for acquiring cyan channel values, magenta channel values, yellow channel values and black channel values of all pixel points in the image around the robot; the regularity identifying device is connected with the channel value extracting device, and is used for traversing cyan channel values of pixel points in the image around the robot for each pixel point to obtain each cyan irregular pixel point in the image around the robot, traversing magenta channel values of pixel points in the image around the robot for each pixel point to obtain each magenta irregular pixel point in the image around the robot, traversing yellow channel values of pixel points in the image around the robot for each pixel point to obtain each yellow irregular pixel point in the image around the robot, and traversing black channel values of pixel points in the image around the robot for each pixel point to obtain each black irregular pixel point in the image around the robot; traversing pixel point cyan channel values in the peripheral image of the robot for each pixel point to obtain each cyan irregular pixel point in the peripheral image of the robot comprises the following steps: taking the pixel points with the cyan channel value exceeding the average value of the cyan channel values of the adjacent pixel points as cyan irregular pixel points; the splicing processing device is connected with the regularity identifying device and is used for splicing patterns obtained by each magenta irregular pixel point, each yellow irregular pixel point, each black irregular pixel point and each cyan irregular pixel point in the image around the robot and outputting the patterns as valuable patterns; the regularity authentication device comprises a first regularity detection unit, a second regularity detection unit, a third regularity detection unit and a fourth regularity detection unit; the recursive filtering equipment is connected with the splicing processing equipment and is used for receiving the valuable patterns, performing recursive filtering processing on the valuable patterns to obtain corresponding recursive filtering images and outputting the recursive filtering images; the real-time smoothing equipment is connected with the recursive filtering equipment and is used for executing real-time smoothing processing on the recursive filtering image so as to obtain and output a real-time smoothing image; the density analyzing device is respectively connected with the motor driving device and the real-time smoothing device and is used for identifying each dust particle in the real-time smooth image based on the dust particle image characteristics and determining the corresponding dust density based on the number of the dust particles in the real-time smooth image; and the dynamic random access memory is connected with the real-time smoothing equipment and is used for receiving the real-time smooth image and temporarily storing the real-time smooth image.
More specifically, in the dust particle density resolving system: the first rule detection unit is used for traversing cyan channel values of pixel points in the peripheral image of the robot for each pixel point to obtain each cyan irregular pixel point in the peripheral image of the robot; the second rule detection unit is used for traversing magenta channel values of pixel points in the image around the robot for each pixel point to obtain each irregular magenta pixel point in the image around the robot; the third rule detection unit is used for traversing yellow channel values of pixel points in the image around the robot for each pixel point to obtain each yellow irregular pixel point in the image around the robot; the fourth rule detection unit is used for traversing black channel values of pixel points in the image around the robot for each pixel point so as to obtain each black irregular pixel point in the image around the robot.
More specifically, in the dust particle density resolving system: real-time snapshot equipment includes cylindrical PVC main part, steel body shell, a plurality of formation of image unit, a plurality of steel body cup joint ring and a plurality of insulating decoration paster.
More specifically, in the dust particle density resolving system: the steel body shell covers on the side of cylindrical PVC main part, and a plurality of insulating decoration paster paste in succession on the steel body shell surface with interconnect mode, and each insulating decoration paster is embedded to have the steel body shielding piece, and each imaging unit setting is in the center department of an insulating decoration paster, and has cup jointed a steel body cover ring of fixing on the insulating decoration paster surface.
More specifically, in the dust particle density resolving system: for each insulating decorative patch, the distance from the steel body sleeving ring to the steel body shielding sheet is larger than the distance from the steel body sleeving ring to the steel body shell, so that static electricity on the steel body sleeving ring is released to the steel body shell conveniently.
More specifically, in the dust particle density resolving system: the imaging units are used for carrying out image detection on the environment at different viewing angles so as to respectively obtain and output a plurality of environment images; the real-time capturing device further comprises a region duplication removing unit which is respectively connected with the imaging units and used for receiving the environment images and carrying out duplication removing processing on overlapping regions in the environment images so as to combine the images around the robot in the environment.
Detailed Description
An embodiment of the dust particle density resolving system of the present invention will be described in detail below.
The technical performance indexes of the dust removal robot mainly comprise dust removal efficiency, pressure loss, processing gas quantity, load adaptability and the like.
1. The dust removal efficiency generally adopts the full efficiency as an assessment index in the dust removal engineering design, and sometimes is expressed by the grading efficiency.
2. The pressure loss of the dust removing robot is the difference of the absolute value of the total pressure of the airflow at the inlet and the outlet of the dust removing robot, the mechanical energy consumed by the airflow through the dust removing robot is represented, and when the local resistance coefficient value of the dust removing robot is known, the formula can be used for calculation. The pressure gauge can be used for direct measurement on site.
3. The amount of the processing gas is generally expressed by a volume flow rate, and is also expressed by a mass flow rate, which indicates the capacity of the dust removal robot to process the gas.
4. The dust removal robot with good load adaptability can still maintain stable dust removal efficiency, moderate pressure loss and high enough operation efficiency when the processing gas quantity or pollutant concentration fluctuates in a large range.
In order to overcome the defects, the invention builds a dust particle density analysis system, and can effectively solve the corresponding technical problem.
A dust particle density resolving system shown according to an embodiment of the present invention includes:
the falling sensing equipment is arranged in the dust removal robot and used for sending a first control signal when sensing that the dust removal robot falls, and otherwise, sending a second control signal;
the cushion release equipment is arranged below the dust removal robot, connected with the falling induction equipment and used for receiving the first control signal and releasing the cushion inside the dust removal robot.
Next, a detailed description of the dust particle density analyzing system according to the present invention will be further described.
In the dust particle density resolving system: the cushion release device is further configured to retract the released cushion upon receipt of the second control signal.
In the dust particle density resolving system, further comprising:
and the motor driving device determines the corresponding motor rotating speed based on the received dust density so as to drive the dust collection motor of the dust collection robot to operate according to the motor rotating speed.
In the dust particle density resolving system, further comprising:
the voice alarm device is connected with the falling sensing device and used for sending a voice alarm file related to emergency falling when receiving a first control signal;
and the real-time snapshot equipment is arranged at the top of the dust removal robot and used for carrying out real-time snapshot action on the periphery of the dust removal robot so as to obtain images around the robot.
In the dust particle density resolving system, further comprising:
the channel value extraction equipment is connected with the real-time snapshot equipment and is used for acquiring cyan channel values, magenta channel values, yellow channel values and black channel values of all pixel points in the image around the robot;
the regularity identifying device is connected with the channel value extracting device, and is used for traversing cyan channel values of pixel points in the image around the robot for each pixel point to obtain each cyan irregular pixel point in the image around the robot, traversing magenta channel values of pixel points in the image around the robot for each pixel point to obtain each magenta irregular pixel point in the image around the robot, traversing yellow channel values of pixel points in the image around the robot for each pixel point to obtain each yellow irregular pixel point in the image around the robot, and traversing black channel values of pixel points in the image around the robot for each pixel point to obtain each black irregular pixel point in the image around the robot; traversing pixel point cyan channel values in the peripheral image of the robot for each pixel point to obtain each cyan irregular pixel point in the peripheral image of the robot comprises the following steps: taking the pixel points with the cyan channel value exceeding the average value of the cyan channel values of the adjacent pixel points as cyan irregular pixel points;
the splicing processing device is connected with the regularity identifying device and is used for splicing patterns obtained by each magenta irregular pixel point, each yellow irregular pixel point, each black irregular pixel point and each cyan irregular pixel point in the image around the robot and outputting the patterns as valuable patterns;
the regularity authentication device comprises a first regularity detection unit, a second regularity detection unit, a third regularity detection unit and a fourth regularity detection unit;
the recursive filtering equipment is connected with the splicing processing equipment and is used for receiving the valuable patterns, performing recursive filtering processing on the valuable patterns to obtain corresponding recursive filtering images and outputting the recursive filtering images;
the real-time smoothing equipment is connected with the recursive filtering equipment and is used for executing real-time smoothing processing on the recursive filtering image so as to obtain and output a real-time smoothing image;
the density analyzing device is respectively connected with the motor driving device and the real-time smoothing device and is used for identifying each dust particle in the real-time smooth image based on the dust particle image characteristics and determining the corresponding dust density based on the number of the dust particles in the real-time smooth image;
and the dynamic random access memory is connected with the real-time smoothing equipment and is used for receiving the real-time smooth image and temporarily storing the real-time smooth image.
In the dust particle density resolving system: the first rule detection unit is used for traversing cyan channel values of pixel points in the peripheral image of the robot for each pixel point to obtain each cyan irregular pixel point in the peripheral image of the robot;
the second rule detection unit is used for traversing magenta channel values of pixel points in the image around the robot for each pixel point to obtain each irregular magenta pixel point in the image around the robot;
the third rule detection unit is used for traversing yellow channel values of pixel points in the image around the robot for each pixel point to obtain each yellow irregular pixel point in the image around the robot;
the fourth rule detection unit is used for traversing black channel values of pixel points in the image around the robot for each pixel point so as to obtain each black irregular pixel point in the image around the robot.
In the dust particle density resolving system: real-time snapshot equipment includes cylindrical PVC main part, steel body shell, a plurality of formation of image unit, a plurality of steel body cup joint ring and a plurality of insulating decoration paster.
In the dust particle density resolving system: the steel body shell covers on the side of cylindrical PVC main part, and a plurality of insulating decoration paster paste in succession on the steel body shell surface with interconnect mode, and each insulating decoration paster is embedded to have the steel body shielding piece, and each imaging unit setting is in the center department of an insulating decoration paster, and has cup jointed a steel body cover ring of fixing on the insulating decoration paster surface.
In the dust particle density resolving system: for each insulating decorative patch, the distance from the steel body sleeving ring to the steel body shielding sheet is larger than the distance from the steel body sleeving ring to the steel body shell, so that static electricity on the steel body sleeving ring is released to the steel body shell conveniently.
In the dust particle density resolving system: the imaging units are used for carrying out image detection on the environment at different viewing angles so as to respectively obtain and output a plurality of environment images;
the real-time capturing device further comprises a region duplication removing unit which is respectively connected with the imaging units and used for receiving the environment images and carrying out duplication removing processing on overlapping regions in the environment images so as to combine the images around the robot in the environment.
In addition, dram (dynamic Random Access memory), which is a dynamic Random Access memory, is the most common system memory. DRAM can hold data only for a short time. To retain data, DRAM uses capacitive storage, so must be refreshed (refresh) once at intervals, and if the memory cells are not refreshed, the stored information is lost. (shutdown will lose data). Dynamic RAM is also comprised of a number of basic memory cells multiplexed by row and column address pins.
The structure of the DRAM is simple and efficient, and each bit only needs one transistor and one capacitor. However, the capacitance inevitably has leakage phenomenon, which causes data error if the charge is insufficient, and therefore, the capacitance must be periodically refreshed (precharged), which is also a big feature of the DRAM. Moreover, the charging and discharging of the capacitor requires a process, and the refresh frequency cannot be raised infinitely (frequency barrier), which results in that the frequency of the DRAM can easily reach the upper limit, and even if the advanced process is supported, the effect is very small. With the advancement of technology and the desire of people to overclock, these frequency barriers are being solved slowly.
By adopting the dust particle density analysis system, aiming at the technical problem of limited dust removal control precision of the dust removal robot in the prior art, the pixel points with the color channel values exceeding the average value of the color channel values of the adjacent pixel points are taken as color irregular pixel points, and patterns obtained by splicing the magenta irregular pixel points, the yellow irregular pixel points, the black irregular pixel points and the cyan irregular pixel points in the image are taken as valuable patterns to be output, so that the operation data amount of subsequent image operation is reduced; meanwhile, density analyzing equipment is introduced into the dust removing robot and used for identifying each dust particle in the image based on the image characteristics of the dust particles and determining the corresponding dust density based on the number of the dust particles in the image, and motor driving equipment is also introduced and used for determining the corresponding motor rotating speed based on the received dust density so as to drive a dust collecting motor of the dust removing robot to operate according to the motor rotating speed; thereby solving the technical problem.
It is to be understood that while the present invention has been described in conjunction with the preferred embodiments thereof, it is not intended to limit the invention to those embodiments. It will be apparent to those skilled in the art from this disclosure that many changes and modifications can be made, or equivalents modified, in the embodiments of the invention without departing from the scope of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (6)
1. A dust particle density resolving system, said system comprising:
the falling sensing equipment is arranged in the dust removal robot and used for sending a first control signal when sensing that the dust removal robot falls, and otherwise, sending a second control signal;
the cushion release device is arranged below the dust removal robot, is connected with the falling sensing device and is used for releasing the cushion in the dust removal robot when receiving the first control signal;
the cushion release device is also used for retracting the released cushion when receiving the second control signal;
the motor driving device determines the corresponding motor rotating speed based on the received dust density so as to drive a dust collection motor of the dust collection robot to operate according to the motor rotating speed;
the voice alarm device is connected with the falling sensing device and used for sending a voice alarm file related to emergency falling when receiving a first control signal;
the real-time snapshot device is arranged at the top of the dust removal robot and used for performing real-time snapshot action on the periphery of the dust removal robot so as to obtain images around the robot;
the channel value extraction equipment is connected with the real-time snapshot equipment and is used for acquiring cyan channel values, magenta channel values, yellow channel values and black channel values of all pixel points in the image around the robot;
the regularity identifying device is connected with the channel value extracting device, and is used for traversing cyan channel values of pixel points in the image around the robot for each pixel point to obtain each cyan irregular pixel point in the image around the robot, traversing magenta channel values of pixel points in the image around the robot for each pixel point to obtain each magenta irregular pixel point in the image around the robot, traversing yellow channel values of pixel points in the image around the robot for each pixel point to obtain each yellow irregular pixel point in the image around the robot, and traversing black channel values of pixel points in the image around the robot for each pixel point to obtain each black irregular pixel point in the image around the robot; traversing pixel point cyan channel values in the peripheral image of the robot for each pixel point to obtain each cyan irregular pixel point in the peripheral image of the robot comprises the following steps: taking the pixel points with the cyan channel value exceeding the average value of the cyan channel values of the adjacent pixel points as cyan irregular pixel points;
the splicing processing device is connected with the regularity identifying device and is used for splicing patterns obtained by each magenta irregular pixel point, each yellow irregular pixel point, each black irregular pixel point and each cyan irregular pixel point in the image around the robot and outputting the patterns as valuable patterns;
the regularity authentication device comprises a first regularity detection unit, a second regularity detection unit, a third regularity detection unit and a fourth regularity detection unit;
the recursive filtering equipment is connected with the splicing processing equipment and is used for receiving the valuable patterns, performing recursive filtering processing on the valuable patterns to obtain corresponding recursive filtering images and outputting the recursive filtering images;
the real-time smoothing equipment is connected with the recursive filtering equipment and is used for executing real-time smoothing processing on the recursive filtering image so as to obtain and output a real-time smoothing image;
the density analyzing device is respectively connected with the motor driving device and the real-time smoothing device and is used for identifying each dust particle in the real-time smooth image based on the dust particle image characteristics and determining the corresponding dust density based on the number of the dust particles in the real-time smooth image;
and the dynamic random access memory is connected with the real-time smoothing equipment and is used for receiving the real-time smooth image and temporarily storing the real-time smooth image.
2. The dust particle density resolving system of claim 1 wherein:
the first rule detection unit is used for traversing cyan channel values of pixel points in the peripheral image of the robot for each pixel point to obtain each cyan irregular pixel point in the peripheral image of the robot;
the second rule detection unit is used for traversing magenta channel values of pixel points in the image around the robot for each pixel point to obtain each irregular magenta pixel point in the image around the robot;
the third rule detection unit is used for traversing yellow channel values of pixel points in the image around the robot for each pixel point to obtain each yellow irregular pixel point in the image around the robot;
the fourth rule detection unit is used for traversing black channel values of pixel points in the image around the robot for each pixel point so as to obtain each black irregular pixel point in the image around the robot.
3. The dust particle density resolving system of claim 2, wherein:
real-time snapshot equipment includes cylindrical PVC main part, steel body shell, a plurality of formation of image unit, a plurality of steel body cup joint ring and a plurality of insulating decoration paster.
4. The dust particle density resolving system of claim 3 wherein:
the steel body shell covers on the side of cylindrical PVC main part, and a plurality of insulating decoration paster paste in succession on the steel body shell surface with interconnect mode, and each insulating decoration paster is embedded to have the steel body shielding piece, and each imaging unit setting is in the center department of an insulating decoration paster, and has cup jointed a steel body cover ring of fixing on the insulating decoration paster surface.
5. The dust particle density resolving system of claim 4, wherein:
for each insulating decorative patch, the distance from the steel body sleeving ring to the steel body shielding sheet is larger than the distance from the steel body sleeving ring to the steel body shell, so that static electricity on the steel body sleeving ring is released to the steel body shell conveniently.
6. The dust particle density resolving system of claim 5 wherein:
the imaging units are used for carrying out image detection on the environment at different viewing angles so as to respectively obtain and output a plurality of environment images;
the real-time capturing device further comprises a region duplication removing unit which is respectively connected with the imaging units and used for receiving the environment images and carrying out duplication removing processing on overlapping regions in the environment images so as to combine the images around the robot in the environment.
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