CN112985529A - Tobacco material conveying stability detection and control equipment and method based on laser scanning - Google Patents
Tobacco material conveying stability detection and control equipment and method based on laser scanning Download PDFInfo
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- 239000000463 material Substances 0.000 title claims abstract description 82
- 235000002637 Nicotiana tabacum Nutrition 0.000 title claims abstract description 43
- 238000001514 detection method Methods 0.000 title claims abstract description 8
- 238000000034 method Methods 0.000 title claims description 19
- 244000061176 Nicotiana tabacum Species 0.000 title 1
- 241000208125 Nicotiana Species 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 32
- 230000010365 information processing Effects 0.000 claims abstract description 20
- 238000005070 sampling Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 10
- 238000003756 stirring Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 3
- 238000010187 selection method Methods 0.000 claims description 3
- 238000007619 statistical method Methods 0.000 claims description 3
- 238000011077 uniformity evaluation Methods 0.000 claims description 3
- 238000012800 visualization Methods 0.000 claims description 3
- 238000002156 mixing Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000011343 solid material Substances 0.000 description 1
- 235000019505 tobacco product Nutrition 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
- G01F1/76—Devices for measuring mass flow of a fluid or a fluent solid material
- G01F1/86—Indirect mass flowmeters, e.g. measuring volume flow and density, temperature or pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/04—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention provides a detection and control device for tobacco material conveying stability based on laser scanning, which comprises a belt transmission belt (1), a linear laser scanner (2), a three-phase motor frequency converter (5), an information acquisition card (8), a programmable logic controller (6), an information processing computer (7), a transmission belt motor (4) and a material shifting device (3).
Description
Technical Field
The invention relates to the technical field of tobacco processing, in particular to a device and a method for detecting and controlling the conveying stability of tobacco materials based on laser scanning.
Background
The processing engineering of tobacco products is also a process for obtaining the mixing quality of components, the mixing quality is the basis for ensuring the product quality, and the components needing to be mixed are better mixed and are an important component of technical research. The tobacco mixing is different from the mixing of common solid materials, the flaky and strip tobacco materials with different characteristics are uniformly mixed and distributed in space through a certain processing flow and different mixing forms, the mixing uniformity is obtained, and the description and measurement of the mixing state are very difficult. The spatial uniformity of materials in the tobacco shred blending line can greatly influence each blending link, further influence the physical quality and the tobacco shred filling value of the cigarette, enable the product to have greater fluctuation and bring poorer feeling and experience to consumers.
Disclosure of Invention
In order to overcome the existing defects, the invention provides a device and a method for detecting and controlling the conveying stability of tobacco materials based on laser scanning.
A tobacco material conveying stability detection and control device based on laser scanning comprises a belt transmission belt, a linear laser scanner, a three-phase motor frequency converter, an information acquisition card, a programmable controller, an information processing computer, a transmission belt motor and a material shifting device, wherein the linear laser scanner is arranged above the middle part of the belt transmission belt and is communicated with the information acquisition card and the information processing computer, and the information acquisition card is communicated with the transmission belt motor through the three-phase motor frequency converter; the information processing computer is communicated with the three-phase motor frequency converter through the programmable controller, the three-phase motor frequency converter is communicated with the transmission belt motor, the transmission belt motor drives the belt transmission belt, and the material shifting device is arranged on one side of the belt transmission belt and is respectively communicated with the information acquisition card and the programmable controller.
The linear laser scanner is used for acquiring point cloud two-dimensional information on the surface of the material; the three-phase motor frequency converter is used for controlling the steering and rotating speed of the motor and simultaneously sending instantaneous motor rotating speed information into the information acquisition card; the information acquisition card is used for acquiring speed signals and two-dimensional point cloud information and sending the original information into a computer for subsequent processing; the information processing computer is used for carrying out data processing on the acquired information to obtain three-dimensional information and flow information of the tobacco shred surface, carrying out visualization on the three-dimensional information and the flow information, obtaining uniformity evaluation through an algorithm and sending a signal to the programmable controller; the programmable controller obtains the flow signal of the information processing computer, sends different pulse signals to the three-phase motor frequency converter through the PID regulator so as to control the rotating speed of the motor, obtains the uniformity signal of the information processing computer at the same time, and sends pulses to the motor of the material shifting device so as to control the height and the material shifting width.
The method comprises the following steps
1. Acquiring three-dimensional information of the surface of the cut tobacco and constructing a uniformity signal;
2. acquiring flow information of tobacco materials and constructing a flow signal;
3. and the cascade control of uniformity and flow is realized.
Acquiring three-dimensional information of the tobacco shred surface, constructing a uniformity signal, acquiring the three-dimensional information of the tobacco shred surface through an equation,
Px＝cos(α+αi)*(Li-Li0)
Py＝v*(k-1)/f
Pz＝sin(α+αi)*(Li-Li0)
in the formula, the horizontal plane is perpendicular to the material movement direction and is an x-axis, the material movement direction is a y-axis, the vertical plane is a z-axis, and the point (P) isx，Py，Pz) Is any point on the surface of the cut tobacco, alpha is the initial scanning angle of the linear laser scanner, and alphaiFor the ith scanning line, LiDistance, L, from the linear laser scanner to the ith bar of the baseline under no loadi0And the distance from the linear laser scanner to the ith strip of the material is shown, v is the material running speed, k is the kth sampling of the linear laser scanner, and f is the acquisition frequency of the linear laser scanner.
A large amount of three-dimensional point cloud information received through the linear laser scanner is subjected to statistical analysis, including but not limited to cross section mean distribution, standard deviation distribution, variation coefficient distribution and the like in the vertical material movement direction, and the material stirring device is controlled by comparing with a cross section height input signal so as to obtain uniform materials under the cross section in the vertical material movement direction.
Obtaining the flow information of the tobacco material through an equation,
in the formula, VallThe volume of the material in the sampling time period, v is the running speed of the material, T is the sampling time, i is the ith scanning line, alpha is the scanning angle range, alphapTo angular resolution, LiIs the ith scan line length, L'iIs the ith scan line baseline length.
The linear laser scanner scans the acquisition time T of the material to obtain current flow state information, and the frequency conversion control is performed on the transmission belt motor by comparing with a flow input signal so as to obtain the stable flow of the material.
The control of uniformity and flow in cascade is realized, firstly, a PID structure is created for control,
when the equipment initially operates, an expected value of material flow is given firstly, proportional control is carried out by comparing with instantaneous flow, integral control is carried out when a target approaches, point cloud uniformity under flow control is used as expected uniformity to be input, uniformity control is carried out, flow information and point cloud information after sampling time T are obtained through a transmission belt motor variable speed conversion and material stirring device control unit and are used as input again.
The formula for the flow control is as follows,
the formula for the uniformity control is as follows,
in the formula, K1And K2Selection of control type for PID control, G1Is a frequency signal of the motor, G2For the control of the level signal of the kick-out member, y1Is the flow signal, y, measured in step 22Is the material uniformity signal measured in step 1, and r is an ideal state signal.
K1And K2The PID control selection method of (1) is formulated as,
in the formula, KPFor proportional control, KIFor integral control, KDIs differential control and is selected for use according to the situation.
The invention provides a device and a method for detecting and controlling the conveying stability of tobacco materials based on laser scanning.
Drawings
Fig. 1 is a schematic diagram of a detection and control device for tobacco material conveying stability based on laser scanning.
Fig. 2 is a schematic diagram of cascade control.
Fig. 3 is a schematic diagram of three-dimensional information of tobacco shreds in a certain instantaneous state.
Detailed Description
The following describes in detail a detection and control device and method for tobacco material conveying stability based on laser scanning according to the present invention with reference to the accompanying drawings and specific embodiments.
Fig. 1 shows a detection and control device for tobacco material conveying stability based on laser scanning, which comprises a belt transmission belt 1, a linear laser scanner 2, a three-phase motor frequency converter 5, an information acquisition card 8, a programmable controller 6, an information processing computer 7, a transmission belt motor 4 and a material shifting device 3, wherein the linear laser scanner 2 is arranged above the middle part of the belt transmission belt 1, the linear laser scanner 2 is communicated with the information acquisition card 8 and the information processing computer 7, and the information acquisition card 8 is communicated with the transmission belt motor 4 through the three-phase motor frequency converter 5; the information processing computer 7 is communicated with the three-phase motor frequency converter 5 through the programmable controller 6, the three-phase motor frequency converter 5 is communicated with the transmission belt motor 4, the transmission belt motor 4 drives the belt transmission belt 1, and the material shifting device 3 is arranged on one side of the belt transmission belt 1 and is respectively communicated with the information acquisition card 8 and the programmable controller 6.
The linear laser scanner is used for acquiring point cloud two-dimensional information on the surface of the material; the three-phase motor frequency converter is used for controlling the steering and rotating speed of the motor and simultaneously sending instantaneous motor rotating speed information into the information acquisition card; the information acquisition card is used for acquiring speed signals and two-dimensional point cloud information and sending the original information into a computer for subsequent processing; the information processing computer is used for carrying out data processing on the acquired information to obtain three-dimensional information and flow information of the tobacco shred surface, carrying out visualization on the three-dimensional information and the flow information, obtaining uniformity evaluation through an algorithm and sending a signal to the programmable controller; the programmable controller obtains the flow signal of the information processing computer, sends different pulse signals to the three-phase motor frequency converter through the PID regulator so as to control the rotating speed of the motor, obtains the uniformity signal of the information processing computer at the same time, and sends pulses to the motor of the material shifting device so as to control the height and the material shifting width.
Firstly, a laser scanner is placed in the center of a conveyor belt and used for detecting the information of the surfaces of tobacco shreds, and a speed sensor is arranged at a roller of the conveyor belt and used for measuring the transmission speed of the conveyor belt in real time; and receiving signals transmitted by the laser scanner and the speed sensor by using an information processing computer, carrying out data processing on the acquired signals to acquire instantaneous tobacco shred surface information, and calculating according to the speed of the conveyor belt to acquire three-dimensional information of the tobacco shred surface.
The method comprises the following steps
1. Acquiring three-dimensional information of the surface of the cut tobacco and constructing a uniformity signal;
2. acquiring flow information of tobacco materials and constructing a flow signal;
3. and the cascade control of uniformity and flow is realized.
Acquiring three-dimensional information of the tobacco shred surface, constructing a uniformity signal, acquiring the three-dimensional information of the tobacco shred surface through an equation,
Px＝cos(α+αi)*(Li-Li0)
Py＝v*(k-1)/f
Pz＝sin(α+αi)*(Li-Li0)
in the formula, the horizontal plane is perpendicular to the material movement direction and is an x-axis, the material movement direction is a y-axis, the vertical plane is a z-axis, and the point (P) isx，Py，Pz) Is any point on the surface of the cut tobacco, alpha is the initial scanning angle of the linear laser scanner, and alphaiFor the ith scanning line, LiDistance, L, from the linear laser scanner to the ith bar of the baseline under no loadi0And the distance from the linear laser scanner to the ith strip of the material is shown, v is the material running speed, k is the kth sampling of the linear laser scanner, and f is the acquisition frequency of the linear laser scanner.
A large amount of three-dimensional point cloud information received through the linear laser scanner is subjected to statistical analysis, including but not limited to cross section mean distribution, standard deviation distribution, variation coefficient distribution and the like in the vertical material movement direction, and the material stirring device is controlled by comparing with a cross section height input signal so as to obtain uniform materials under the cross section in the vertical material movement direction.
Obtaining the flow information of the tobacco material through an equation,
in the formula, VallThe volume of the material in the sampling time period, v is the running speed of the material, T is the sampling time, i is the ith scanning line, alpha is the scanning angle range, alphapTo angular resolution, LiIs the ith scan line length, L'iIs the ith scan line baseline length.
The linear laser scanner scans the acquisition time T of the material to obtain current flow state information, and the frequency conversion control is performed on the transmission belt motor by comparing with a flow input signal so as to obtain the stable flow of the material.
The height information of different parts of the material, namely the three-dimensional point cloud information, can influence the uniformity and the flow respectively, and are integrated and coupled with each other. First, the creation is not limited to one PID structure for control.
As shown in FIG. 2, the inner ring is uniformity controlled, and uniformity is not affected by flow, so it is the inner ring, and the outer ring is flow controlled. When the equipment initially operates, an expected value of material flow is given firstly, proportional control is carried out by comparing with instantaneous flow, integral control is carried out when a target approaches, point cloud uniformity under flow control is used as expected uniformity to be input, uniformity control is carried out, flow information and point cloud information after sampling time T are obtained through a transmission belt motor variable speed conversion and material stirring device control unit and are used as input again.
The formula for the flow control is as follows,
the formula for the uniformity control is as follows,
in the formula, K1And K2Selection of control type for PID control, G1Is a frequency signal of the motor, G2For the control of the level signal of the kick-out member, y1Is the flow signal, y, measured in step 22Is the material uniformity signal measured in step 1, and r is an ideal state signal.
K1And K2The PID control selection method of (1) is formulated as,
in the formula, KPFor proportional control, KIFor integral control, KDIs differential control and is selected for use according to the situation.
In practice, a belt length of about 20m, a width of 0.9m and a height of 0.4m is selected. The frequency of the motor was set to 10Hz and the belt speed was measured to be approximately 0.6 m/s. The laser transmitter was placed approximately 1.2m above the exact center of the conveyor belt, with a frequency setting of 25Hz and a scan angle of 70-110 °. The user can adjust to reasonable value according to the equipment parameter.
As shown in FIG. 3, the near point cloud is a steady-state signal in a continuous state, the far point cloud is a tobacco shred surface signal in a certain transient state, and the difference value thereof constitutes e in FIG. 22A signal.
During the steady state movement of the conveyor belt, the formula
Obtaining the total volume in the sampling time, obtaining the volume flow rate in unit time, obtaining the mass flow rate in unit time through a density formula, and obtaining the difference value of the input mass flow rate to form e in figure 21A signal.
Before the implementation, r is given to be 5500Kg/h, e1And e2The signal having been derived from the preceding, K1And K2Proportional and integral controllers are selected, G1Is a frequency signal of the motor, G2For the height-controlling signals of the kick-out devices, obtained and controlled by a programmable controller, y1And y2The signals are acquired by the laser scanner respectively and then obtained through a computer algorithm. All signals implement double closed-loop control.
Finally, it should be noted that the above examples are only intended to describe the technical solutions of the present invention and not to limit the technical methods, the present invention can be extended in application to other modifications, variations, applications and embodiments, and therefore all such modifications, variations, applications, embodiments are considered to be within the spirit and teaching scope of the present invention.
Claims (9)
1. A tobacco material conveying stability detection and control device based on laser scanning comprises a belt transmission belt (1), a linear laser scanner (2), a three-phase motor frequency converter (5), an information acquisition card (8), a programmable logic controller (6), an information processing computer (7), a transmission belt motor (4) and a material stirring device (3), and is characterized in that the linear laser scanner (2) is arranged above the middle part of the belt transmission belt (1), the linear laser scanner (2) is communicated with the information acquisition card (8) and the information processing computer (7), and the information acquisition card (8) is communicated with the transmission belt motor (4) through the three-phase motor frequency converter (5); the information processing computer (7) is communicated with the three-phase motor frequency converter (5) through the programmable controller (6), the three-phase motor frequency converter (5) is communicated with the transmission belt motor (4), the transmission belt motor (4) drives the belt transmission belt (1), and the material stirring device (3) is arranged on one side of the belt transmission belt (1) and is respectively communicated with the information acquisition card (8) and the programmable controller (6).
2. The method for detecting and controlling the conveying stability of the tobacco materials based on the laser scanning as claimed in claim 1, wherein a linear laser scanner collects point cloud two-dimensional information on the surface of the materials; sending the instantaneous motor speed information into an information acquisition card; the information acquisition card is used for acquiring speed signals and two-dimensional point cloud information and sending the original information into a computer for subsequent processing; the information processing computer performs data processing on the acquired information to acquire three-dimensional information and flow information of the tobacco shred surface and perform visualization, uniformity evaluation is obtained through an algorithm, and a signal is sent to the programmable controller; the programmable controller obtains the flow signal of the information processing computer, sends different pulse signals to the three-phase motor frequency converter through the PID regulator to further control the rotating speed of the motor, obtains the uniformity signal of the information processing computer at the same time, and sends pulses to the motor of the material shifting device to control the height and the material shifting width, and the method comprises the steps of
1. Acquiring three-dimensional information of the surface of the cut tobacco and constructing a uniformity signal;
2. acquiring flow information of tobacco materials and constructing a flow signal;
3. and the cascade control of uniformity and flow is realized.
3. The method according to claim 2, wherein the three-dimensional information of the tobacco shred surface is obtained and a uniformity signal is constructed, the three-dimensional information of the tobacco shred surface is obtained through an equation,
Px＝cos(α+αi)*(Li-Li0)
Py＝v*(k-1)/f
Pz＝sin(α+αi)*(Li-Li0)
in the formula, the horizontal plane is perpendicular to the material movement direction and is an x-axis, the material movement direction is a y-axis, the vertical plane is a z-axis, and the point (P) isx，Py，Pz) Is any point on the surface of the cut tobacco, alpha is the initial scanning angle of the linear laser scanner, and alphaiFor the ith scanning line, LiDistance, L, from the linear laser scanner to the ith bar of the baseline under no loadi0And the distance from the linear laser scanner to the ith strip of the material is shown, v is the material running speed, k is the kth sampling of the linear laser scanner, and f is the acquisition frequency of the linear laser scanner.
4. The method as claimed in claim 3, wherein the statistical analysis is performed on the mass three-dimensional point cloud information received by the linear laser scanner, including but not limited to, the cross-section mean distribution, the standard deviation distribution, the variation coefficient distribution and the like, in the vertical material moving direction, and the material stirring device is controlled by comparing with the cross-section height input signal to obtain the uniform material under the cross-section in the vertical material moving direction.
5. The method of claim 2, wherein the flow information of the tobacco material is obtained by an equation,
in the formula, VallThe volume of the material in the sampling time period, v is the running speed of the material, T is the sampling time, i is the ith scanning line, alpha is the scanning angle range, alphapTo angular resolution, LiIs the ith scan line length, L'iIs the ith scan line baseline length.
6. The method as claimed in claim 5, wherein the current flow state information is obtained by scanning the material collection time T with a linear laser scanner, and the material flow is stabilized by frequency-conversion control of the belt motor by comparison with the flow input signal.
7. The method of claim 2, wherein the achieving of the cascade control of uniformity and flow is performed by first creating a control not limited to a PID structure,
when the equipment initially operates, an expected value of material flow is given firstly, proportional control is carried out by comparing with instantaneous flow, integral control is carried out when a target approaches, point cloud uniformity under flow control is used as expected uniformity to be input, uniformity control is carried out, flow information and point cloud information after sampling time T are obtained through a transmission belt motor variable speed conversion and material stirring device control unit and are used as input again.
8. The method of claim 7, wherein the flow control is formulated as,
the formula for the uniformity control is as follows,
in the formula, K1And K2Selection of control type for PID control, G1Is a frequency signal of the motor, G2For the control of the level signal of the kick-out member, y1Is the flow signal, y, measured in step 22Is the material uniformity signal measured in step 1, and r is an ideal state signal.
9. The method of claim 8, wherein K is1And K2The PID control selection method of (1) is formulated as,
in the formula, KPFor proportional control, KIFor integral control, KDIs differential control and is selected for use according to the situation.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114689153A (en) * | 2022-03-28 | 2022-07-01 | 甘肃烟草工业有限责任公司 | Laser technology-based on-line tobacco shred blending ratio nondestructive testing device and method |
| CN115861426A (en) * | 2023-01-13 | 2023-03-28 | 江苏金恒信息科技股份有限公司 | Material sampling method and device, computer equipment and storage medium |
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