CN112827860A - Control method and control system for uniform feeding of color sorter and color sorter - Google Patents
Control method and control system for uniform feeding of color sorter and color sorter Download PDFInfo
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- CN112827860A CN112827860A CN201911165260.3A CN201911165260A CN112827860A CN 112827860 A CN112827860 A CN 112827860A CN 201911165260 A CN201911165260 A CN 201911165260A CN 112827860 A CN112827860 A CN 112827860A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention discloses a control method and a control system for uniform feeding of a color sorter and the color sorter. The control method comprises the following steps: detecting the falling flow of the material of each blanking channel; calculating the average value of the falling flow of the materials of the plurality of blanking channels, and calculating the deviation value between the falling flow of the materials of each blanking channel and the average value; and controlling the vibration frequency of the vibration feeder corresponding to each blanking channel according to the deviation value corresponding to each blanking channel. The control method of the invention calculates the average value of the material falling flow of the plurality of blanking channels, calculates the deviation value between the material falling flow of each blanking channel and the average value according to the average value, and controls the vibration frequency or the vibration amplitude of the vibration feeder of the corresponding blanking channel according to the calculated deviation value so as to change the material falling flow of the blanking channel to be closer to the average value, thereby ensuring that the material falling flow of the plurality of blanking channels can be kept basically consistent and further improving the sorting effect and the sorting efficiency of the machine.
Description
Technical Field
The invention relates to the field of color sorters, in particular to a control method and a control system for uniform feeding of a color sorter and the color sorter.
Background
In the related art, the feeding position of the color sorter is generally concentrated at a certain point above the feeding hopper, the feeding mode can cause uneven distribution of materials in the feeding hopper, and when a plurality of channels discharge materials simultaneously, the phenomena of large material flow of the channel with more materials and small material flow of the channel with less materials can be caused, so that the material flow of the channels is inconsistent, the materials of the channels with large flow are easy to stack together, and the color sorting effect is poor; and the channel with smaller flow can not reach the maximum color selection speed, thereby reducing the color selection efficiency, and the color selector can not play the best color selection effect and the maximum yield.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, the invention provides a method for controlling uniform feeding of a color selector, so that the falling flow of materials falling into each blanking channel is kept basically consistent.
The invention also provides a control system for uniform feeding of the color sorter, so that the falling flow of the materials falling into each blanking channel is kept basically consistent.
The invention also provides a color selector with the control system.
According to the control method for uniform feeding of the color sorter provided by the embodiment of the invention, the color sorter comprises a feed hopper, a plurality of blanking channels and a plurality of vibrating feeders, wherein the feed hopper conveys materials to the plurality of blanking channels in a one-to-one correspondence manner through the plurality of vibrating feeders, and the control method comprises the following steps: and detecting the falling flow of the material of each blanking channel. And calculating the average value of the falling flow of the materials of the plurality of blanking channels, and calculating the deviation value between the falling flow of the materials of each blanking channel and the average value. And controlling the vibration frequency or amplitude of the vibration feeder corresponding to each blanking channel according to the deviation value corresponding to each blanking channel.
According to the control method for uniform feeding of the color sorter, disclosed by the embodiment of the invention, the average value of the falling flow of the materials of the plurality of blanking channels is calculated, the deviation value between the falling flow of the materials of each blanking channel and the average value is calculated according to the average value, and the vibration frequency or amplitude of the vibration feeder of the corresponding blanking channel is controlled according to the calculated deviation value, so that the falling flow of the materials of the blanking channels is changed to be closer to the average value, the falling flow of the materials of the plurality of blanking channels can be basically consistent, the sorting effect and efficiency of a machine are further improved, and the yield of equipment is improved.
In some embodiments of the invention, the average value and the deviation value are calculated according to a PID algorithm and adjustment instructions are sent towards the corresponding vibratory feeder.
In some embodiments of the invention, detecting whether the material level in the feed hopper is between a first level position and a second level position, the first level position being higher than the second level position, and adjusting the vibration frequency or amplitude of the vibratory feeder in real time such that the material level is between the first level position and the second level position.
In some embodiments of the invention, the frequency or amplitude of vibration of the vibratory feeder is increased when the material level is above the first elevation position and decreased when the material level is below the second elevation position.
In some embodiments of the present invention, the vibration frequency or amplitude of the vibratory feeder is controlled according to the material feeding rate into the feeding hopper after the material falling flow rate of the plurality of blanking channels is kept constant.
In some embodiments of the invention, the vibration frequency or amplitude of each of the vibratory feeders is controlled to remain constant or decrease at an equally proportional rate as the material feed rate into the feed hopper slows; controlling the vibration frequency or amplitude of each vibratory feeder to increase at an equally proportional rate as the feed rate of material entering the feed hopper increases.
In some embodiments of the present invention, each of the blanking channels has a set material falling flow rate, and when the material falling flow rate of the blanking channel reaches the set material falling flow rate, the vibration frequency or amplitude of the corresponding vibration feeder is reduced or maintained.
According to the control system for uniform feeding of the color sorter provided by the embodiment of the invention, the color sorter comprises a feed hopper, a plurality of blanking channels and a plurality of vibrating feeders, wherein the feed hopper conveys materials to the plurality of blanking channels in a one-to-one correspondence manner through the plurality of vibrating feeders, and the control system comprises: the device comprises an information acquisition module and a control module, wherein the information acquisition module is used for acquiring the falling flow of the material of each blanking channel. The control module is electrically connected with the information acquisition module to receive the material falling flow acquired by the information acquisition module, the control module calculates an average value of the material falling flow of the plurality of blanking channels and calculates a deviation value between the material falling flow of each blanking channel and the average value, the control module is electrically connected with the plurality of vibration feeders, and the control module controls the vibration frequency or amplitude of the corresponding vibration feeder according to each deviation value.
According to the control system for uniform feeding of the color sorter, disclosed by the embodiment of the invention, the information acquisition module is used for acquiring the falling flow of the material of each blanking channel, the control module is used for calculating the average value of the falling flow of the material of the plurality of blanking channels according to the detection data, the control module is used for calculating the deviation value between the falling flow of the material of each blanking channel and the average value according to the average value, and meanwhile, the control module is used for controlling the vibration frequency or the vibration amplitude of the vibration feeder of the corresponding blanking channel according to the deviation value so as to change the falling flow of the material of the blanking channel to be closer to the average value, so that the falling flow of the material of the plurality of blanking channels can be basically consistent, the sorting effect and the efficiency of the color sorter are further. Meanwhile, the uniform blanking function of the color sorter is improved, so that the color sorter has the advantages of low cost, high performance, strong transportability and the like.
In some embodiments of the present invention, the control module includes a PID algorithm module, the PID algorithm module is adapted to calculate a control command according to a deviation between the material falling flow information of each of the blanking channels and the average value, and the control module controls the vibration frequency or amplitude of the plurality of vibration feeders according to the control command.
In some embodiments of the present invention, the information collecting module includes a lens and a first sensor, the first sensor collects the material falling flow rate of each of the blanking channels through the lens, and the first sensor is electrically connected to the control module to send the material falling flow rate information to the control module.
In some embodiments of the present invention, the number of the information acquisition modules is plural, and the information acquisition modules are disposed on two opposite sides of each of the blanking channels.
In some embodiments of the present invention, the vibration feeder further comprises a second sensor and a third sensor which are arranged on the feeding hopper at intervals, the second sensor and the third sensor are suitable for collecting material accumulation height information in the feeding hopper, the second sensor and the third sensor are both electrically connected with the control module to transmit the material accumulation height information to the control module, and the control module controls the vibration frequency or the vibration amplitude of the vibration feeder according to the collected results of the second sensor and the third sensor.
The color sorter according to the embodiment of the invention comprises the control system according to the above-mentioned embodiment of the invention.
According to the control system of the color selector, the information acquisition module is used for acquiring the material falling flow of each blanking channel, the control module is used for calculating the average value of the material falling flows of the plurality of blanking channels according to the detection data, the control module is used for calculating the deviation value between the material falling flow of each blanking channel and the average value according to the average value, and meanwhile, the control module is used for controlling the vibration frequency or the vibration amplitude of the vibration feeder of the corresponding blanking channel according to the deviation value so as to change the material falling flow of the blanking channel to be closer to the average value, so that the material falling flows of the plurality of blanking channels can be kept basically consistent, the sorting effect and efficiency of a machine are improved, and the yield of equipment is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a color sorter according to an embodiment of the invention;
FIG. 2 is a cross-sectional view of a color sorter according to an embodiment of the invention;
FIG. 3 is a cross-sectional view of a color sorter when material within a hopper is misaligned according to an embodiment of the present invention;
FIG. 4 is an electrical schematic of a vibratory feeder according to an embodiment of the present invention;
FIG. 5 is a functional block diagram of a control circuit of a vibratory feeder according to an embodiment of the present invention;
fig. 6 is a schematic diagram of the operation of the control system of the color sorter according to the embodiment of the invention.
Fig. 7 is a functional block diagram of a color sorter according to an embodiment of the invention.
Reference numerals:
100. a color selector;
1. a feeding device;
2. a feed hopper;
3. vibrating the feeder; 31. vibrating the drive plate; 32. a control signal input port; 33. a drive signal input port; 34. a switching power supply; 35. a vibrator assembly; 36. a first drive signal output port; 37. a second drive signal output port; 38. a feedback signal output port;
4. a blanking channel;
5. a viewpoint;
6. a material lamp;
7. a background plate;
8. an information acquisition module; 81. a lens; 82. a first sensor;
9. a control module;
10. a second sensor;
11. a third sensor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 7, a method for controlling uniform feeding of a color sorter 100 according to an embodiment of the present invention is described, wherein the color sorter 100 includes a feed hopper 2, a plurality of feeding channels 4, and a plurality of vibratory feeders 3, and the feed hopper 2 feeds materials to the plurality of feeding channels 4 through the plurality of vibratory feeders 3 in a one-to-one correspondence.
The method for controlling uniform feeding of the color sorter 100 according to the embodiment of the invention comprises the following steps: detecting the falling flow of the material of each blanking channel 4; calculating the average value of the falling flow of the materials of the plurality of blanking channels 4, and calculating the deviation value between the falling flow of the materials of each blanking channel 4 and the average value; and controlling the vibration frequency or amplitude of the corresponding vibration feeder 3 according to the deviation value corresponding to each blanking channel 4.
Before describing the operation of the method for controlling uniform feeding of the color sorter 100 according to the embodiment of the present invention, it should be understood that the adjustment of the vibration output can be generally achieved by adjusting the vibration amplitude of the vibration feeder 3 or adjusting the vibration frequency thereof. Therefore, the vibration frequency of the vibration feeder 3 is adjusted to increase or decrease the discharging amount of the vibration feeder 3, so as to achieve the purpose of adjusting the falling flow rate of the material of the corresponding discharging channel 4. Meanwhile, the discharging amount of the vibration feeder 3 can be increased or reduced through the vibration amplitude of the vibration feeder 3, so that the aim of adjusting the falling flow of the material of the corresponding discharging channel 4 is fulfilled. While the color sorter 100 generally uses the feeding device 1 shown in fig. 1 for feeding, the feeding position of the feeding device 1 is generally centered at a certain point above the feeding hopper 2 of the color sorter 100, and the feeding mode may cause the material in the feeding hopper 2 to be unevenly distributed.
That is to say, when the material flows in a plurality of unloading passageways 4 respectively, can detect the material whereabouts flow in every unloading passageway 4 respectively, according to the material whereabouts flow of a plurality of unloading passageways 4, calculate the average value of the material whereabouts flow of a plurality of unloading passageways 4, calculate the deviation value between the material whereabouts flow of every unloading passageway 4 and the average value according to this average value again, and then can control the vibration frequency or the amplitude of the vibration feeder 3 that corresponding unloading passageway 4 corresponds through the deviation value, in order to change the material whereabouts flow of every unloading passageway 4 and make it more be close to the average value, thereby guarantee that the material whereabouts flow of a plurality of unloading passageways 4 can keep basic unanimity, and then promote machine separation effect and efficiency, improve equipment output.
It should be noted that, when the material falling flow rate of one of the discharging channels 4 is smaller than the average value, the vibration frequency or amplitude of the vibration feeder 3 corresponding to the discharging channel 4 may be increased to increase the discharging amount to the corresponding discharging channel 4, so as to increase the material falling flow rate of the discharging channel 4, and make the material falling flow rate of the discharging channel approach the average value.
When the falling flow of the material of one of the discharging channels 4 is larger than the average value, the vibration frequency or amplitude of the vibration feeder 3 corresponding to the discharging channel 4 can be reduced to reduce the discharging amount of the corresponding discharging channel 4, so that the falling flow of the material of the discharging channel 4 is reduced, and the falling flow of the material of the discharging channel is close to the average value. Further, the color selection speed and the color selection efficiency of each blanking channel 4 are ensured, so that the color selector 100 can exert the best color selection effect and the maximum yield.
And then the falling flow of the materials of the plurality of blanking channels 4 is adjusted to be close to the average value by respectively controlling the vibration frequency or the vibration amplitude of the plurality of vibration feeders 3. Specifically, as shown in fig. 3, since there are more left materials in the feeding hopper 2, and the falling flow rate of the materials in the left discharging channel 4 is larger under the feeding of the corresponding vibrating feeder 3, the color sorting effect of the materials in the part of discharging channels 4 is poor, and similarly, since there are fewer right materials in the feeding hopper 2, the falling flow rate of the materials in the right discharging channel 4 is smaller under the feeding of the corresponding vibrating feeder 3, the optimal color sorting effect of the part of discharging channels 4 cannot be achieved.
Therefore, by the control method for uniform feeding of the color sorter 100 of the invention, when the material in the feeding channel 4 is more, the falling flow rate of the material in the feeding channel 4 is greater than the average value, the control module 9 can lower the amplitude or frequency of the vibrating feeder 3 corresponding to the feeding channel 4, when the material in the feeding channel 4 is less, the falling flow rate of the material in the feeding channel 4 is less than the average value, the control module 9 can increase the amplitude or frequency of the vibrating feeder 3 corresponding to the feeding channel 4, so that the falling flow rates of the material in all the feeding channels 4 are kept basically consistent, and the material in the feeding hopper 2 slides to the lower part after the vibration amplitude or vibration frequency of the vibrating feeder 3 is reduced, thereby solving the problems of large flow rate of part of the feeding channels 4 and small flow rate of part of the feeding channels 4, and simultaneously solving the poor recognition effect of the feeding channels 4 with large flow rate, the problem of low identification efficiency of the feeding channel 4 with small flow is solved, and the optimal color sorting effect is realized.
According to the control method for uniform feeding of the color sorter 100, provided by the embodiment of the invention, the average value of the falling flow of the materials in the plurality of the blanking channels 4 is calculated, the deviation value between the falling flow of the materials of each blanking channel 4 and the average value is calculated according to the average value, and the vibration frequency or amplitude of the vibration feeder 3 of the corresponding blanking channel 4 is controlled according to the deviation value, so that the falling flow of the materials of the plurality of the blanking channels 4 is changed to be closer to the average value, the falling flow of the materials of the plurality of the blanking channels 4 can be basically consistent, the sorting effect and efficiency of the machine are improved, and the yield of the equipment is improved.
In some embodiments of the invention, the mean and deviation values are calculated according to a PID algorithm and adjustment instructions are sent towards the corresponding vibration feeder 3. That is to say, according to the detected result of the falling flow of the material of each of the plurality of blanking channels 4, the average value of the falling flow of the material of the plurality of blanking channels 4 is calculated through the PID algorithm, so as to obtain a more accurate and reliable average value, and the calculation of the average value is simpler.
Further, after the average value is calculated, the deviation value between the material falling flow of each blanking channel 4 and the average value can be calculated through a PID algorithm, so that the adjustment instruction is sent to the plurality of vibrating feeders 3 respectively, the vibration frequency or the vibration amplitude of the plurality of vibrating feeders 3 is adjusted, the material falling flow of the blanking channels 4 is changed to enable the material falling flow to be closer to the average value, the material falling flow of the plurality of blanking channels 4 can be kept basically consistent, the sorting effect and efficiency of a machine are improved, and the yield of equipment is improved.
It should be noted that the PID algorithm includes a proportion P, an integral I and a derivative D, wherein the proportion P is suitable for reflecting the deviation between the material falling flow rate of each of the plurality of discharging channels 4 and the average value, and the vibration frequency or amplitude of the vibration feeder 3 is controlled by adjusting the proportion coefficient of the proportion P, so as to achieve the purpose of changing the vibration frequency or amplitude of the vibration feeder 3, so that the material falling flow rates of the plurality of discharging channels 4 can be kept substantially consistent.
The integral I is suitable for reflecting the total deviation between the material falling flow rates of the plurality of blanking channels 4 and the average value, and the vibration frequencies or amplitudes of the plurality of vibration feeders 3 are respectively controlled according to the total deviation, so that the integral link can be adjusted as long as the deviation occurs between the material falling flow rates of the plurality of blanking channels 4 and the average value, and the total flow rate of the color sorter 100 is kept unchanged to the greatest extent until the deviation does not occur in adjustment.
The differential D is suitable for estimating a deviation trend between the material falling flow rate of each blanking channel 4 and the average value, and controlling the vibration frequency or amplitude of the corresponding vibration feeder 3 according to the deviation trend, so as to ensure that the vibration frequency or amplitude of the vibration feeder 3 is adjusted in advance before the material falling flow rate of the blanking channel 4 forms a deviation, so as to achieve the purpose of eliminating the deviation, and further avoid over-adjustment.
The proportion P, the integral I and the differential D can be calculated by the following formula;
formula of proportionality Kp*e(t)
Integral formula
Differential formula
Wherein, KpRepresenting the scaling factor, e (t) representing the deviation at that moment, KiThe value of the integral coefficient is represented by,
representing the cumulative deviation over time, KdWhich is indicative of a differential coefficient of the light,
indicating how fast the deviation changes.
In some embodiments of the invention it is detected whether the material level in the feeding hopper 2 is between a first level position and a second level position, the first level position being higher than the second level position, and the vibration frequency or amplitude of the vibrating feeder 3 is adjusted in real time such that the material level is between the first level position and the second level position. That is to say, interval is equipped with first high position and second high position in feeder hopper 2, this first high position is located the top of second high position, the accessible detects whether the material height in feeder hopper 2 is located between first high position and the second high position, again according to the vibration frequency or the amplitude of a plurality of vibration feeders 3 of testing result adjustment, so that the material height in feeder hopper 2 is located between first high position and the second high position, avoid on the one hand the material height in the hopper too high, the risk that the material spills over takes place, on the other hand avoid the material height in the hopper to hang down excessively, influence the normal ejection of compact of a plurality of unloading passageways 4, thereby guarantee that the position of the material in feeder hopper 2 keeps in the near position of ideal material level all the time, so that look selection machine 100 can exert best look selection effect and maximum output.
It should be noted that by making the first height position higher than the second height position, wherein the first height position may be a threshold height position of the upper limit of the material level in the feeding hopper 2, the material in the feeding hopper 2 may overflow from the feeding hopper 2 after the material level in the feeding hopper 2 exceeds the first height position; wherein the second height position can be the threshold value height position of material level height lower limit in feeder hopper 2, and the material level is less than the second height position in feeder hopper 2, and the material in feeder hopper 2 can make feeder hopper 2 become empty easily after the unloading passageway 4 falls down to the material, influences the normal work of look selection machine 100. Therefore, it is necessary to keep the material between the first height position and the second height position so that the color sorter 100 can exert the best color sorting effect and the maximum yield.
In some embodiments of the invention, the vibration frequency or amplitude of the vibratory feeder 3 is increased when the material level is above the first level position and the vibration frequency or amplitude of the vibratory feeder 3 is decreased when the material level is below the second level position. That is to say, when the material height in feeder hopper 2 is higher than first high position, through the vibration range or the vibration frequency of increasing a plurality of vibration feeders 3 simultaneously, increase the flow that the material falls, when the material height in feeder hopper 2 is less than second high position, through the vibration range or the vibration frequency of reducing a plurality of vibration feeders 3 simultaneously, reduce the flow that the material falls, when guaranteeing that the material whereabouts flow of a plurality of unloading passageways 4 keeps basic unanimous, make the position of the material in feeder hopper 2 remain in the near position of ideal material level all the time, and then make the regulation of material height in feeder hopper 2 simpler.
In some embodiments of the present invention, the vibration frequency or amplitude of the vibratory feeder 3 is controlled according to the feeding rate of the material from the feeding device 1 into the feeding hopper 2 after the material falling flow rate of the plurality of the blanking passages 4 is kept constant. That is, after the falling flow rates of the materials in all the discharging channels 4 are kept constant, the feeding rate of the materials from the feeding device 1 into the feeding hopper 2 may be constantly changed, the material level of the materials in the feeding hopper 2 is also changed, and the vibration frequency or amplitude of the vibration feeder 3 corresponding to the discharging channels 4 is kept unchanged, or the vibration frequency or amplitude of the vibration feeder 3 corresponding to the discharging channels 4 is reduced or increased in an equal proportion, so that the position of the materials in the feeding hopper 2 is always kept near the ideal material level, and the color selector 100 can exert the best color selecting effect and the maximum yield.
It should be noted that the ideal material level may be located between the first height position and the second height position, and the material in the feeding hopper 2 is easily overflowed when the first height position is exceeded, so that the ideal material level is located below the first height position, so that the amplitude or frequency of the plurality of vibrating feeders 3 can be adjusted to change the material feeding speed of all the material feeding channels 4 to make the material in the feeding hopper 2 always be at the ideal material level. Thereby avoiding overflow of the material in the feed hopper 2. When the material in the feeding hopper 2 is lower than the second height position, the material in the feeding hopper 2 is less, so the ideal material level is above the second height position, thereby the amplitude or frequency of the plurality of vibrating feeders 3 can be adjusted to change the blanking speed of all the blanking channels 4 to ensure that the material in the feeding hopper 2 is always at the ideal material level, and further the emptying of the feeding hopper 2 is avoided.
It should be noted that each of the discharging channels 4 has a set material falling flow value, and when the material falling flow of the discharging channel 4 exceeds the set material falling flow value, the color sorting effect of the color sorter 100 will decrease, and further, the material level in the feeding hopper 2 cannot be maintained at an ideal material level by infinitely increasing the vibration frequency or amplitude of the vibrating feeder 3, so that in order to ensure the color sorting effect of the color sorter 100, it should be ensured that the material falling flow of the discharging channel 4 does not exceed the set material falling flow value.
It can be understood that the falling flow rate of the materials in the plurality of discharging channels 4 can be increased under the action of the vibrating feeder 3 so as to make the material level in the feeding hopper 2 close to the ideal material level, but the falling flow rate of the discharging channels 4 should not exceed the set falling flow rate value of the materials so as to ensure the color sorting effect, if the falling flow rate exceeds the set falling flow rate value of the materials and does not reach the ideal material level, an alarm mode can be adopted to remind a worker to reduce the feeding speed of the feeding hopper 2, so as to ensure that the falling flow rate of the materials in the discharging channels 4 is lower than the set falling flow rate value of the materials, and further ensure that the material level of the feeding hopper 2 is close to the ideal material level.
In some embodiments of the invention, the vibration frequency or amplitude of each vibratory feeder 3 is controlled to remain constant or decrease at an equally proportional rate as the material feed rate into the feed hopper 2 slows; as the feed rate of material into feed hopper 2 increases, the frequency or amplitude of vibration of each vibratory feeder 3 is controlled to increase at an equally proportional rate. That is, when the feeding rate of the feeding hopper 2 is slowed down, the material level in the feeding hopper 2 is continuously reduced, and at this time, the vibration amount of the vibration feeder 3 corresponding to each discharging channel 4 may be kept unchanged or may be reduced at an equal proportional rate, so that the position of the material in the feeding hopper 2 is always kept at a position near the ideal material level; when the feeding speed of the feeding hopper 2 becomes fast, the material level of the material in the feeding hopper 2 continuously increases, at this time, the vibration amount of the vibration feeder 3 corresponding to each discharging channel 4 keeps increasing in equal proportion until reaching the threshold value set by the vibration feeder 3, the feeding material is ensured not to overflow the feeding hopper 2 as much as possible, the position of the material in the feeding hopper 2 is always kept near the ideal material level, and the color selector 100 can exert the best color selection effect and the maximum yield.
It should be noted that the threshold value of the vibrating feeder 3 represents the maximum flow rate of the feeding channel 4, and the color selection effect is obviously deteriorated after the flow rate is exceeded. Thereby ensuring the sorting effect and efficiency of the color sorter 100 to improve the equipment yield.
In some embodiments of the invention, each blanking channel 4 has a set material falling flow rate, and when the material falling flow rate of the blanking channel 4 reaches the set material falling flow rate, the vibration frequency or amplitude of the vibrating feeder 3 of the corresponding blanking channel 4 is reduced or maintained. It can be understood that, when the material falling flow rate of the blanking channel 4 exceeds the set material falling flow rate value, the color selection effect of the color selector 100 is deteriorated, and therefore, when the material falling flow rate of the blanking channel 4 reaches the set material falling flow rate value, the vibration frequency or amplitude of the vibrating feeder 3 of the blanking channel 4 is reduced, or the vibration frequency or amplitude of the vibrating feeder 3 of the blanking channel 4 is kept unchanged, so that the material falling flow rate of the blanking channel 4 is not increased any more, and the color selection effect of the color selector 100 is ensured.
In some embodiments of the present invention, when the falling flow rate of the material in the feeding channel 4 reaches the set falling flow rate value of the material, the feeding speed of the feeding device 1 entering the feeding hopper 2 may be reduced or an alarm may be used to remind the operator, so that the feeding speed of the feeding hopper 2 will not increase any more, thereby ensuring the color selection effect of the color selector 100.
According to the control system for uniform feeding of the color sorter 100, the color sorter 100 comprises a feed hopper 2, a plurality of blanking channels 4 and a plurality of vibrating feeders 3, wherein the feed hopper 2 correspondingly conveys materials to the plurality of blanking channels 4 through the plurality of vibrating feeders 3.
The control system includes: the device comprises an information acquisition module 8 and a control module 9, wherein the information acquisition module 8 is used for acquiring the falling flow of the material of each blanking channel 4. The control module 9 is electrically connected with the information acquisition module 8 to receive the falling flow of the materials acquired by the information acquisition module 8, the control module 9 calculates the average value of the falling flow of the materials of the plurality of blanking channels 4 and calculates the deviation value between the falling flow of the materials of each blanking channel 4 and the average value, the control module 9 is electrically connected with the plurality of vibrating feeders 3, and the control module 9 controls the vibration frequency or the vibration amplitude of the corresponding vibrating feeder 3 according to each deviation value.
That is, when the material flows in the plurality of discharging channels 4 respectively, the information collecting module 8 can collect the falling flow rate of the material in each discharging channel 4, the information collecting module 8 sends the detected data to the control module 9, the control module 9 calculates the average value of the falling flow rate of the material in the plurality of discharging channels 4 according to the detected data, the control module 9 calculates the deviation value between the falling flow rate of the material in each discharging channel 4 and the average value according to the average value, meanwhile, the control module 9 controls the vibration frequency or the vibration amplitude of the vibration feeder 3 of the corresponding blanking channel 4 according to the deviation value so as to change the falling flow rate of the materials of the plurality of blanking channels 4 to be closer to the average value, thereby guarantee that the material whereabouts flow of a plurality of unloading passageways 4 can keep unanimous basically, and then promote machine separation effect and efficiency, improve equipment output.
It should be noted that, when the falling flow rate of the material in one of the discharging channels 4 is smaller than the average value, the control module 9 may increase the vibration frequency or amplitude of the vibration feeder 3 in the discharging channel 4 to increase the discharging amount to the corresponding discharging channel 4, so as to increase the falling flow rate of the material in the discharging channel 4, and make the falling flow rate of the material in the discharging channel approach the average value.
When the falling flow rate of the material in one of the discharging channels 4 is greater than the average value, the control module 9 may reduce the vibration frequency or amplitude of the vibration feeder 3 of the discharging channel 4 to reduce the discharging amount to the corresponding discharging channel 4, thereby reducing the falling flow rate of the material in the discharging channel 4 and making the falling flow rate of the material in the discharging channel approach the average value. Further, the color selection speed and the color selection efficiency of each blanking channel 4 are ensured, so that the color selector 100 can exert the best color selection effect and the maximum yield.
In some embodiments of the present invention, the blanking channel 4 has a viewpoint 5, the viewpoint 5 can be understood as an observation point of the blanking channel 4, and the information collection module 8 collects the material falling flow rate at the viewpoint 5, so as to ensure that the positions of the material falling flow rate collected by each blanking channel 4 are approximately the same, and ensure that the collected data are more accurate.
According to the control system for uniform feeding of the color sorter 100, the information acquisition module 8 is used for acquiring the material falling flow of each blanking channel 4, the control module 9 calculates the average value of the material falling flows of the blanking channels 4 according to the detection data, the control module 9 calculates the deviation value between the material falling flow of each blanking channel 4 and the average value according to the average value, and meanwhile, the control module 9 controls the vibration frequency or the vibration amplitude of the vibration feeder 3 of the corresponding blanking channel 4 according to the deviation value so as to change the material falling flow of the blanking channel 4 to be closer to the average value, so that the material falling flows of the blanking channels 4 can be kept basically consistent, the sorting effect and efficiency of the color sorter 100 are improved, and the equipment yield is improved. Meanwhile, the uniform blanking function of the color sorter 100 is improved, so that the color sorter 100 has low cost and high performance. Strong portability and the like.
In some embodiments of the present invention, as shown in fig. 4 to 7, a vibration feeder 3 may be used as an actuator of a control system of a color selector 100, as shown in fig. 4, and the vibration feeder 3 includes a vibration driving plate 31, a switching power supply 34, and a vibrator assembly 35. The vibration driving plate 31 mainly comprises a control signal input port 32, a driving signal input port 33, a first driving signal output port 36, a second driving signal output port 37 and a feedback signal output port 38. The feedback signal output port 38 feeds back a signal to the control module 9, the second driving signal output port 37 may be a standby output port, the control signal input port 32 on the vibration driving plate 31 receives a square wave signal sent from a control chip of the control module 9, the conduction and the disconnection of the input 350V voltage in the MOS transistor driving circuit are controlled by the MOS transistor driver, when the MOS transistor driving circuit is conducted at a signal rising edge, the first driving signal output port 36 sends a signal to the vibrator component 35, the coil of the vibrator component 35 is energized, and when the MOS transistor is turned off at a signal falling edge, the coil of the vibrator component 35 is de-energized, so as to drive the vibrator component 35 to work.
As shown in fig. 4 and 5, when the color selector 100 is in operation and the material falling flow rate of one blanking channel 4 needs to be adjusted, the control module 9 controls the output driving signal of the vibration driving board 31 by adjusting the duty ratio of the output square wave signal to increase or decrease the vibration amount (which may include vibration frequency and amplitude) of the vibrator assembly 35, and when the duty ratio is less than 0.5, the vibration amount increases with the increase of the duty ratio and decreases with the decrease of the duty ratio, thereby achieving the purpose of adjusting the blanking speed. Further, the adjustment of the falling flow of the material in the blanking channel 4 is simpler, so as to realize the uniform blanking of the color sorter 100.
In some embodiments of the present invention, the control module 9 comprises a PID algorithm module, the PID algorithm module is adapted to calculate a control command according to the deviation between the material falling flow information of each blanking channel 4 and the average value, and the control module 9 controls the vibration frequency or amplitude of the plurality of vibratory feeders 3 according to the control command, respectively. That is, the average value of the falling flow rates of the materials of the plurality of blanking channels 4 is calculated by the PID algorithm module to obtain a more accurate and reliable average value, so that the calculation of the average value is simpler.
Further, after the average value is calculated, the deviation value between the material falling flow of each blanking channel 4 and the average value can be calculated through the PID algorithm module, so that a control instruction is sent to the control module 9, the control module 9 sends an adjusting instruction to the plurality of vibrating feeders 3 through the control instruction respectively, the vibration frequency or the vibration amplitude of the plurality of vibrating feeders 3 is adjusted, the material falling flow of the blanking channels 4 is changed to enable the material falling flow to be closer to the average value, the material falling flow of the blanking channels 4 can be kept basically consistent, the machine sorting effect and efficiency are improved, and the equipment yield is improved. And, the signal that feeds back through PID algorithm module carries on the operation, and feedback the vibration quantity of the corresponding signal control vibration feeder 3, the real-time is strong, the high accuracy
It should be noted that the PID algorithm module includes a proportion P, an integral I and a derivative D, wherein the proportion P is suitable for reflecting the deviation between the material falling flow rate of each blanking channel 4 and the average value, and the vibration frequency or amplitude of the vibration feeder 3 is controlled by adjusting the proportion coefficient of the proportion P, so as to achieve the purpose of changing the vibration frequency or amplitude of the vibration feeder 3, so that the material falling flow rates of a plurality of blanking channels 4 can be kept basically consistent.
The integral I is suitable for reflecting the total deviation between the material falling flow rates of the plurality of blanking channels 4 and the average value, and the vibration frequencies or amplitudes of the plurality of vibration feeders 3 are respectively controlled according to the total deviation, so that the integral link can be adjusted as long as the deviation occurs between the material falling flow rates of the plurality of blanking channels 4 and the average value, and the total flow rate of the color sorter 100 is kept unchanged to the greatest extent until the deviation does not occur in adjustment.
The differential D is suitable for estimating a deviation trend between the material falling flow rate of each blanking channel 4 and the average value, and controlling the vibration frequency or amplitude of the corresponding vibration feeder 3 according to the deviation trend, so as to ensure that the vibration frequency or amplitude of the vibration feeder 3 is adjusted in advance before the material falling flow rate of the blanking channel 4 forms a deviation, so as to achieve the purpose of eliminating the deviation, and further avoid over-adjustment.
The proportion P, the integral I and the differential D can be calculated by the following formula;
formula of proportionality Kp*e(t)
Integral formula
Differential formula
Wherein, KpRepresenting the scaling factor, e (t) representing the deviation at that moment, KiThe value of the integral coefficient is represented by,
representing the cumulative deviation over time, KdWhich is indicative of a differential coefficient of the light,
indicating how fast the deviation changes.
As shown in fig. 1 and 2, in some embodiments of the present invention, the information collecting module 8 includes a lens 81 and a first sensor 82, the first sensor 82 collects the material falling flow rate of each blanking channel 4 through the lens 81, and the first sensor 82 is electrically connected to the control module 9 to send the material falling flow rate information to the control module 9. That is to say, when the first sensor 82 collects the material falling flow rate of each discharging channel 4, the lens 81 can appropriately amplify or reduce the material information in each discharging channel 4, so that the material falling flow rate collected by the first sensor 82 is clearer, and the first sensor 82 sends the collected data to the control module 9, so that the control module 9 can more accurately calculate the average value and the deviation value of the material falling flow rate, and the data of the material falling flow rate collected by the information collection module 8 is accurate and effective. Thereby more precisely controlling the vibration frequency or amplitude of the plurality of vibratory feeders 3.
In some embodiments of the present invention, the information collecting module 8 may be a camera, the first sensor 82 collects image information of the materials in the feeding channels 4, analyzes the amount of the materials on each image information, and according to the collected time interval, the material falling flow rate of each feeding channel 4 can be known in real time, the average value of the material falling flow rates of all the feeding channels 4 can be calculated according to the material falling flow rate of each feeding channel 4, and then the control module 9 can adjust the amplitude or frequency of the corresponding vibrating feeder 3 according to the deviation value of each feeding channel 4.
It should be noted that the material data collected by the camera is optical image information, and the first sensor 82 converts the optical image information into an electrical signal and transmits the electrical signal to the control module 9, so that the control module 9 performs calculation and analysis of the data.
As shown in fig. 1 and 2, in some embodiments of the present invention, the information collecting module 8 includes a material lamp 6 and a background plate 7, the background plate 7 and the first sensor 82 are respectively disposed on two opposite sides of the viewpoint 5, the material lamp 6 is disposed toward the first sensor 82, when the first sensor 82 collects the material falling flow rate of the blanking channel 4, the material lamp 6 is used for illuminating the material and providing a reflected light so as to make the material data collected by the first sensor 82 clearer, and the background plate 7 provides the same background color for the material so as to further ensure that the material data collected by the first sensor 82 is more convenient for analysis.
As shown in fig. 1 and 2, in some embodiments of the present invention, there are a plurality of information collecting modules 8, and the information collecting modules 8 are disposed on two opposite sides of the plurality of blanking channels 4. Optionally, the number of the information acquisition modules 8 may be two, and the two information acquisition modules 8 are respectively disposed on two opposite sides of the discharging channel 4, so that the collected material falling flow of the discharging channel 4 is more accurate, and further, the adjustment of the vibration frequency or the amplitude of the vibration feeder 3 is more accurate.
In some embodiments of the invention, the information acquisition module 8 of each blanking channel 4 can independently photograph, the control module 9 reads image data photographed by the information acquisition module 8, and the accurate identification of the material is realized by comparing the RGB value of each pixel in the image data with the standard RGB value of the material pixel, so that the number of the material on each picture can be calculated, and the falling flow rate of the material of each blanking channel 4 in the photographing time period can be obtained. It should be noted that, the photographing can be performed on all falling materials (it is ensured that all materials passing through the viewpoint 5 in the time period can be covered when two adjacent photographs are taken), so that accurate data of all material flow can be calculated; the material can be sampled and shot at certain time intervals, so that approximate data of the material flow can be calculated.
As shown in fig. 1 and 2, in some embodiments of the present invention, the control system further includes a second sensor 10 and a third sensor 11 spaced apart from each other on the feeding hopper 2, the second sensor 10 and the third sensor 11 are adapted to collect material information in the feeding hopper 2, the second sensor 10 and the third sensor 11 are both electrically connected to the control module 9 to transmit the material information to the control module 9, and the control module 9 controls the vibration frequency or amplitude of the vibrating feeder 3 according to the collected results of the second sensor 10 and the third sensor 11. That is to say, the second sensor 10 and the third sensor 11 are arranged in the feeding hopper 2 at intervals, the second sensor 10 can be located above the third sensor 11, the height of the material in the feeding hopper 2 is detected by the second sensor 10 and the third sensor 11, the second sensor 10 and the third sensor 11 send the acquired result to the control module 9, the control module 9 controls the vibration frequency or amplitude of the vibration feeder 3 according to the acquired result of the second sensor 10 and the third sensor 11, and the position of the material in the feeding hopper 2 is ensured to be always kept at a position near an ideal material level, so as to realize the adjustment of the material level in the feeding hopper 2, and thus the color selector 100 can exert the optimal color selection effect and the maximum yield.
As shown in fig. 1 and 2, in some embodiments of the invention, when the level of material in the feeding hopper 2 is higher than the second sensor 10, the falling flow of the materials is increased by simultaneously increasing the vibration amplitude or the vibration frequency of the plurality of vibration feeders 3, when the height of the material in the feed hopper 2 is lower than that of the third sensor 11, the falling flow rate of the material is reduced by simultaneously reducing the vibration amplitude or the vibration frequency of the plurality of vibration feeders 3, while ensuring that the falling flow rates of the materials of the plurality of the feeding channels 4 are kept basically consistent, on one hand, the risk of overflowing the materials due to too high height of the materials in the feeding hopper 2 is avoided, on the other hand, the influence on the normal discharging of the plurality of the feeding channels 4 due to too low height of the materials in the feeding hopper 2 is avoided, thereby ensuring that the position of the material in the feed hopper 2 is always kept near the ideal material level, so that the color sorter 100 can exert the best color sorting effect and the maximum yield.
Specifically, after the falling flow rates of the materials in all the discharging channels 4 are kept constant, the feeding rate of the feeding device 1 entering the feeding hopper 2 is also always changed, the material level of the materials in the feeding hopper 2 is also changed, and if the feeding rate of the feeding device 1 entering the feeding hopper 2 is slowed, the material level of the materials in the feeding hopper 2 is continuously reduced, at this time, the vibration amount of the vibrating feeder 3 corresponding to each discharging channel 4 can be kept constant or can be reduced at an equal rate, so that the material level in the feeding hopper 2 is maintained above the third sensor 11; when feed arrangement 1 got into feed hopper 2's feed rate fast, material level continued to increase in feed hopper 2, and at this moment, the vibration volume of the vibration feeder 3 that each unloading passageway 4 corresponds keeps the increase of equal proportion, and the material whereabouts flow that the unloading passageway 4 was set for is reached, guarantees as far as possible that the inlet material does not spill over feed hopper 2. As described above, the material falling flow rate set in the material discharge passage 4 indicates the maximum flow rate of the material discharge passage 4, and the color separation effect is significantly deteriorated when the flow rate is exceeded. Therefore, when the material falling flow rate of the blanking channel 4 reaches the set material falling flow rate value, the vibration frequency or amplitude of the vibration feeder 3 of the blanking channel 4 is reduced, or the vibration frequency or amplitude of the vibration feeder 3 of the blanking channel 4 is kept unchanged, so that the material falling flow rate of the blanking channel 4 is not increased, and the color sorting effect of the color sorter 100 is further ensured.
As shown in fig. 6, in some embodiments of the present invention, the control module 9 may include a CPU or a RAM, the control module 9 mainly utilizes data transmitted back by the first sensor 82, the second sensor 10, and the third sensor 11, the first sensor 82, the second sensor 10, and the third sensor 11 may serve as a sensing part, and convert the fed-back physical model into a mathematical model in the background, and the PID algorithm module may serve as a control part to allow the plurality of vibration feeders 3 to perform corresponding actions.
Specifically, the control module 9 analyzes the image information of the material collected by the first sensor 82 by using the CPU or the RAM, and controls the vibration frequency or the vibration amplitude of the plurality of vibrating feeders 3, respectively, so as to adjust the falling flow rate of the material in the plurality of discharging channels 4 to be close to the average value. If the material falling flow of the blanking channel 4 is larger than the average value when the material in the blanking channel 4 is more, the control module 9 can reduce the amplitude or frequency of the vibrating feeder 3 corresponding to the blanking channel 4, and if the material in the blanking channel 4 is less, the material falling flow of the blanking channel 4 is smaller than the average value, the control module 9 can increase the amplitude or frequency of the vibrating feeder 3 corresponding to the blanking channel 4, so that the material falling flow of all the blanking channels 4 can be kept basically consistent, and after the vibration amplitude or vibration frequency of the vibrating feeder 3 is reduced, the material at the position where the material is more in the feeding hopper 2 can slide to the position where the material is lower, thereby solving the problems of large flow of part of the blanking channels 4 and small flow of part of the blanking channels 4, and simultaneously solving the problems of poor identification effect of the blanking channel 4 with large flow and low identification efficiency of the blanking channel 4 with small flow, the best color selection effect is realized.
As shown in fig. 1 to 7, the color sorter 100 according to the embodiment of the present invention includes the control system according to the above-described embodiment of the present invention.
According to the control system for uniform feeding of the color sorter 100, the information acquisition module 8 is used for acquiring the falling flow of the materials in each blanking channel 4, the control module 9 calculates the average value of the falling flow of the materials of the plurality of blanking channels 4 according to the detection data, the control module 9 calculates the deviation value between the falling flow of the materials of each blanking channel 4 and the average value according to the average value, and meanwhile, the control module 9 controls the vibration frequency or the vibration amplitude of the vibration feeder 3 of the corresponding blanking channel 4 according to the deviation value so as to change the falling flow of the materials of the blanking channels 4 to be closer to the average value, so that the falling flow of the materials of the plurality of blanking channels 4 can be kept basically consistent, the sorting effect and efficiency of the machine are improved, and the yield of the equipment is improved.
In some embodiments of the present invention, as mentioned above, the color sorter 100 further includes the feeding device 1, the material discharged from the feeding device 1 enters the feeding hopper 2, and is discharged to each of the discharging channels 4 through the plurality of vibrating feeders 3 disposed at the lower end of the feeding hopper 2, the number of the plurality of vibrating feeders 3 is the same as the number of the discharging channels 4, so that the material in the feeding hopper 2 is discharged to the vibrating feeders 3 by inertia through the vibration generated by the vibrating feeders 3, and the flow rate entering each of the discharging channels 4 can be adjusted by controlling the vibration amplitude or the vibration frequency of each of the vibrating feeders 3, thereby maintaining the material level in the feeding hopper 2 at an ideal level, maintaining the material falling rate in each of the discharging channels 4 at an ideal flow rate, and achieving the purpose of optimal color sorting effect.
In some embodiments of the present invention, since the material in the feeding hopper 2 is at the position where the feeding device 1 is fed, where the material is at the first position of the overflow and the position where the first position of the overflow is the lowest, the second sensor 10 and the third sensor 11 are spaced apart from each other in the vertical direction of the feeding position of the feeding device 1, so as to ensure that the material in the feeding hopper 2 at the feeding position of the feeding device 1 does not overflow or lack of material.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (13)
1. The control method for uniform feeding of the color sorter is characterized in that the color sorter comprises a feed hopper, a plurality of blanking channels and a plurality of vibrating feeders, the feed hopper conveys materials to the plurality of blanking channels in a one-to-one correspondence manner through the plurality of vibrating feeders, and the control method comprises the following steps:
detecting the falling flow of the material of each blanking channel;
calculating the average value of the falling flow of the materials of the plurality of blanking channels, and calculating the deviation value between the falling flow of the materials of each blanking channel and the average value;
and controlling the vibration frequency or amplitude of the vibration feeder corresponding to each blanking channel according to the deviation value corresponding to each blanking channel.
2. The method of claim 1, wherein the average value and the deviation value are calculated according to a PID algorithm and adjustment instructions are sent to the corresponding vibratory feeder.
3. The method for controlling the uniform feeding of the color sorter according to claim 1, wherein whether the material level in the feed hopper is between a first level position and a second level position is detected, the first level position is higher than the second level position, and the vibration frequency or amplitude of the vibration feeder is adjusted in real time to enable the material level to be between the first level position and the second level position.
4. The method as claimed in claim 3, wherein the vibration frequency or amplitude of the vibratory feeder is increased when the material level is higher than the first height position, and the vibration frequency or amplitude of the vibratory feeder is decreased when the material level is lower than the second height position.
5. The method for controlling uniform feeding of a color sorter according to claim 1, wherein the vibration frequency or amplitude of the vibratory feeder is controlled according to the material feeding rate into the feeding hopper after the material falling flow rate of the plurality of feeding channels is kept constant.
6. The method for controlling uniform feeding of a color sorter according to claim 5, wherein when the feeding rate of the material entering the feed hopper is slowed down, the vibration frequency or amplitude of each of the vibratory feeders is controlled to be kept unchanged or reduced at an equal proportional rate; controlling the vibration frequency or amplitude of each vibratory feeder to increase at an equally proportional rate as the feed rate of material entering the feed hopper increases.
7. The method for controlling uniform feeding of a color sorter according to claim 6, wherein each of the discharging channels has a set material falling flow rate, and when the material falling flow rate of the discharging channel reaches the set material falling flow rate, the vibration frequency or amplitude of the corresponding vibratory feeder is reduced or maintained.
8. The utility model provides a control system of even feeding of look selection machine, the look selection machine includes feeder hopper, a plurality of unloading passageway and a plurality of vibration feeder, the feeder hopper is through a plurality of vibration feeder one-to-one is to a plurality of unloading passageway transported substance material, its characterized in that, control system includes:
the information acquisition module is used for acquiring the falling flow of the materials in each blanking channel;
the control module is electrically connected with the information acquisition module to receive the material falling flow acquired by the information acquisition module, calculates an average value of the material falling flow of the plurality of blanking channels and calculates a deviation value between the material falling flow of each blanking channel and the average value, is electrically connected with the plurality of vibration feeders, and controls the vibration frequency or amplitude of the corresponding vibration feeder according to each deviation value.
9. The control system for uniform feeding of the color sorter according to claim 8, wherein the control module comprises a PID algorithm module, the PID algorithm module is adapted to calculate a control command according to a deviation between the material falling flow information and the average value of each of the blanking channels, and the control module controls the vibration frequency or amplitude of the plurality of vibratory feeders respectively according to the control command.
10. The control system for uniform feeding of the color sorter according to claim 8, wherein the information acquisition module comprises a lens and a first sensor, the first sensor acquires the material falling flow of each of the blanking channels through the lens, and the first sensor is electrically connected with the control module to send the material falling flow information to the control module.
11. The control system for uniform feeding of the color sorter according to claim 10, wherein the number of the information acquisition modules is plural, and the information acquisition modules are arranged on two opposite sides of each blanking channel.
12. The control system for uniform feeding of the color sorter according to any one of claims 8 to 11, further comprising a second sensor and a third sensor which are arranged on the feeding hopper at intervals, wherein the second sensor and the third sensor are suitable for collecting material stacking height information in the feeding hopper, the second sensor and the third sensor are both electrically connected with the control module to transmit the material stacking height information to the control module, and the control module controls the vibration frequency or amplitude of the vibration feeder according to the collected results of the second sensor and the third sensor.
13. A colour selector comprising a control system according to any one of claims 8 to 12.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113844864A (en) * | 2021-09-23 | 2021-12-28 | 合肥泰禾智能科技集团股份有限公司 | Vibration feeding control system, method, color selector, electronic equipment and storage medium |
| CN114405862A (en) * | 2022-01-06 | 2022-04-29 | 湖南省水稻研究所 | Method for sorting seeds based on spectral imaging |
| CN115007477A (en) * | 2022-06-24 | 2022-09-06 | 安徽中科光电色选机械有限公司 | Discharging control system and control method for color sorter |
| CN115007498A (en) * | 2022-06-23 | 2022-09-06 | 安徽中科光电色选机械有限公司 | Multi-time blanking control system and control method for color sorter |
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2019
- 2019-11-25 CN CN201911165260.3A patent/CN112827860A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113844864A (en) * | 2021-09-23 | 2021-12-28 | 合肥泰禾智能科技集团股份有限公司 | Vibration feeding control system, method, color selector, electronic equipment and storage medium |
| CN114405862A (en) * | 2022-01-06 | 2022-04-29 | 湖南省水稻研究所 | Method for sorting seeds based on spectral imaging |
| CN114405862B (en) * | 2022-01-06 | 2024-03-29 | 湖南省水稻研究所 | Method for sorting seeds based on spectral imaging |
| CN115007498A (en) * | 2022-06-23 | 2022-09-06 | 安徽中科光电色选机械有限公司 | Multi-time blanking control system and control method for color sorter |
| CN115007498B (en) * | 2022-06-23 | 2024-04-16 | 安徽中科光电色选机械有限公司 | Multi-time blanking control system and control method for color sorter |
| CN115007477A (en) * | 2022-06-24 | 2022-09-06 | 安徽中科光电色选机械有限公司 | Discharging control system and control method for color sorter |
| CN115007477B (en) * | 2022-06-24 | 2023-12-01 | 安徽中科光电色选机械有限公司 | Discharging control system and method for color sorter |
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