阅读说明：本技术 自适应式随动搅拌系统及方法 (Self-adaptive follow-up stirring system and method ) 是由 李�杰 于 2019-11-29 设计创作，主要内容包括：本发明涉及一种自适应式随动搅拌系统,包括：搅拌车辆,包括车体结构和搅拌结构,所述搅拌结构设置在所述车体结构上,所述车体结构还包括搅拌控制器和支撑架,所述搅拌控制器用于基于接收到搅拌控制功率调整搅拌结构的搅拌强度；数据切换设备,用于在接收到实时人体景深时,计算与所述实时人体景深成反比的搅拌控制功率,并将计算的搅拌控制功率发送给所述搅拌控制器。本发明还涉及一种自适应式随动搅拌方法。本发明的自适应式随动搅拌系统及方法结构紧凑、运行稳定。由于在探知到搅拌机构附近存在较近的人体目标时,能够及时降低搅拌机构的搅拌强度,从而在保证搅拌结果的同时避免对附近人群的行走造成不必要的影响。(The invention relates to a self-adaptive follow-up stirring system, which comprises: the stirring vehicle comprises a vehicle body structure and a stirring structure, wherein the stirring structure is arranged on the vehicle body structure, the vehicle body structure further comprises a stirring controller and a support frame, and the stirring controller is used for adjusting the stirring intensity of the stirring structure based on the received stirring control power; and the data switching equipment is used for calculating the stirring control power inversely proportional to the real-time human body depth when the real-time human body depth of field is received, and sending the calculated stirring control power to the stirring controller. The invention also relates to a self-adaptive follow-up stirring method. The self-adaptive follow-up stirring system and the method have the advantages of compact structure and stable operation. Because when the near human target that exists near the rabbling mechanism is being ascertained, the stirring intensity of rabbling mechanism can be reduced in time to avoid causing unnecessary influence to near crowd's walking when guaranteeing the stirring result.)

1. An adaptive follow-up mixing system, the system comprising:

the stirring vehicle comprises a vehicle body structure and a stirring structure, wherein the stirring structure is arranged on the vehicle body structure, the vehicle body structure further comprises a stirring controller and a support frame, the stirring controller is used for adjusting the stirring strength of the stirring structure based on the received stirring control power, the support frame is used for supporting the stirring structure, and the stirring structure is used for stirring concrete materials in the stirring structure in a rotating mode;

the data switching equipment is connected with the stirring controller and used for calculating stirring control power in inverse proportion to the real-time human body scene depth when the real-time human body scene depth is received and sending the calculated stirring control power to the stirring controller;

the full-color camera is arranged on the support frame and used for performing full-color camera shooting operation on the environment near the support frame so as to obtain an image near the frame body;

the color level adjusting equipment is connected with the full-color camera and used for executing color index lifting processing on the received image near the frame body so as to obtain a color level adjusting image;

the interpolation processing device is connected with the color gradation adjusting device and is used for executing nearest neighbor interpolation processing on the received color gradation adjusting image to obtain a corresponding nearest neighbor interpolation image;

the recursive filtering device is connected with the interpolation processing device and is used for executing the self-adaptive recursive filtering on the received nearest neighbor interpolation image to obtain a recursive filtering image;

the first extraction equipment is arranged in the vehicle body structure and used for receiving the recursive filtering image and extracting human body targets with different depth of field from the recursive filtering image based on a human body imaging contour;

the second extraction equipment is respectively connected with the first extraction equipment and the data switching equipment and is used for sending the depth of field value of the human body target with the shallowest depth of field in the human body targets with different depth of field to the data switching equipment as the real-time human body depth of field;

wherein adjusting the stirring intensity of the stirring structure based on the received stirring control power comprises: the smaller the received stirring control power is, the weaker the stirring intensity of the adjusted stirring structure is.

2. The adaptive, follow-up blending system of claim 1, further comprising:

and the humidity measuring equipment is arranged on the shell of the first extraction equipment and used for measuring the humidity on the position of the shell of the first extraction equipment.

3. The adaptive, follow-up blending system of claim 2, further comprising:

and the instant humidifying equipment is connected with the humidity measuring equipment and used for realizing corresponding humidifying action based on the received humidity.

4. The adaptive servo mixing system of claim 3, wherein:

the recursive filtering device shares the same user control interface with the first extraction device and the second extraction device, and the user control interface is realized by an SOC chip;

and a counter is arranged in the recursive filtering equipment and is used for accumulating the operation times of the addition level of the recursive filtering equipment in real time.

5. The adaptive, follow-up blending system of claim 4, further comprising:

and the metal radiating fin is arranged near the second extraction equipment, is used for being connected with a shell of the second extraction equipment and is used for realizing the heat dissipation treatment of the second extraction equipment.

6. An adaptive follow-up stirring method, characterized in that the method comprises:

the method comprises the steps that a mixing vehicle is used and comprises a vehicle body structure and a mixing structure, wherein the mixing structure is arranged on the vehicle body structure, the vehicle body structure further comprises a mixing controller and a support frame, the mixing controller is used for adjusting the mixing strength of the mixing structure based on received mixing control power, the support frame is used for supporting the mixing structure, and the mixing structure is used for mixing concrete materials inside the mixing structure in a rotating mode;

the data switching equipment is connected with the stirring controller and used for calculating stirring control power in inverse proportion to the real-time human body scene depth when the real-time human body scene depth is received and sending the calculated stirring control power to the stirring controller;

the full-color camera is arranged on the support frame and used for performing full-color camera shooting operation on the environment near the support frame so as to obtain an image near the frame body;

using a color level adjusting device connected with the full-color camera and used for executing color index lifting processing on the received image near the frame body to obtain a color level adjusting image;

using an interpolation processing device, connected to the tone scale adjustment device, for performing nearest neighbor interpolation processing on the received tone scale adjustment image to obtain a corresponding nearest neighbor interpolation image;

using a recursive filtering device, connected to the interpolation processing device, for performing adaptive recursive filtering on the received nearest neighbor interpolated image to obtain a recursive filtered image;

using first extraction equipment, arranged in the vehicle body structure, for receiving the recursive filtering image and extracting human body targets with different depth of field from the recursive filtering image based on a human body imaging contour;

using a second extraction device, respectively connected to the first extraction device and the data switching device, for sending the depth of field value of the body target with the shallowest depth of field among the body targets with different depth of field as the real-time body depth of field to the data switching device;

wherein adjusting the stirring intensity of the stirring structure based on the received stirring control power comprises: the smaller the received stirring control power is, the weaker the stirring intensity of the adjusted stirring structure is.

7. The adaptive servo stirring method of claim 6, further comprising:

and the humidity measuring equipment is arranged on the shell of the first extraction equipment and used for measuring the humidity on the position of the shell of the first extraction equipment.

8. The adaptive servo stirring method of claim 7, further comprising:

and using instant humidifying equipment, connecting with the humidity measuring equipment, and realizing corresponding humidifying action based on the received humidity.

9. The adaptive servo stirring method according to claim 8, wherein:

the recursive filtering device shares the same user control interface with the first extraction device and the second extraction device, and the user control interface is realized by an SOC chip;

and a counter is arranged in the recursive filtering equipment and is used for accumulating the operation times of the addition level of the recursive filtering equipment in real time.

10. The adaptive servo stirring method of claim 9, further comprising:

and the metal radiating fin is arranged near the second extraction equipment, is used for being connected with the shell of the second extraction equipment and is used for realizing the radiating treatment of the second extraction equipment.

Technical Field

The invention relates to the field of self-adaptive control, in particular to a self-adaptive follow-up stirring system and a self-adaptive follow-up stirring method.

Background

The self-adaptive control is the same as the conventional feedback control and the optimal control, and is a control method based on a mathematical model, and the difference is that the prior knowledge about the model and the disturbance, which is the basis of the self-adaptive control, is less, and the information about the model needs to be continuously extracted in the running process of the system, so that the model is gradually improved. Specifically, the model parameters may be continuously identified based on the input and output data of the object, which is called online identification of the system. With the continuous production process, the model becomes more accurate and closer to reality through online identification. Since models are constantly being developed, it is clear that the control actions integrated on the basis of such models will also be constantly being developed.

In this sense, the control system has a certain adaptability. For example, when the system is in the design stage, the system may not perform well when being put into operation at the beginning due to the lack of initial information of the object characteristics, but as long as a period of operation elapses, the control system gradually adapts to adjust itself to a satisfactory working state through online identification and control. For example, in some control objects, the characteristics of the control objects may change significantly during operation, but the system can adapt gradually by identifying and changing the controller parameters online.

Disclosure of Invention

In order to solve the technical problems in the related field, the invention provides a self-adaptive follow-up stirring system and a self-adaptive follow-up stirring method, which can weaken the real-time stirring force of stirring equipment when a nearby human body target is relatively close, so that the clothes of the nearby human body target are prevented from being polluted.

Therefore, the invention needs to have the following key invention points:

(1) determining the stirring intensity of the stirring mechanism according to the proximity degree of the recent human body target, wherein the closer the human body target is, the smaller the determined stirring intensity is, so that the pollution of muddy water brought by stirring to clothes of the human body target is avoided;

(2) human body targets with different depth of field are extracted from the image based on the human body imaging contour, so that valuable reference data are provided for judging the stirring intensity of the stirring mechanism.

According to an aspect of the present invention, there is provided an adaptive follow-up stirring system, the system comprising:

the stirring vehicle comprises a vehicle body structure and a stirring structure, wherein the stirring structure is arranged on the vehicle body structure, the vehicle body structure further comprises a stirring controller and a support frame, the stirring controller is used for adjusting the stirring strength of the stirring structure based on the received stirring control power, the support frame is used for supporting the stirring structure, and the stirring structure is used for stirring concrete materials in the stirring structure in a rotating mode;

the data switching equipment is connected with the stirring controller and used for calculating stirring control power in inverse proportion to the real-time human body scene depth when the real-time human body scene depth is received and sending the calculated stirring control power to the stirring controller;

the full-color camera is arranged on the support frame and used for performing full-color camera shooting operation on the environment near the support frame so as to obtain an image near the frame body;

the color level adjusting equipment is connected with the full-color camera and used for executing color index lifting processing on the received image near the frame body so as to obtain a color level adjusting image;

the interpolation processing device is connected with the color gradation adjusting device and is used for executing nearest neighbor interpolation processing on the received color gradation adjusting image to obtain a corresponding nearest neighbor interpolation image;

the recursive filtering device is connected with the interpolation processing device and is used for executing the self-adaptive recursive filtering on the received nearest neighbor interpolation image to obtain a recursive filtering image;

the first extraction equipment is arranged in the vehicle body structure and used for receiving the recursive filtering image and extracting human body targets with different depth of field from the recursive filtering image based on a human body imaging contour;

the second extraction equipment is respectively connected with the first extraction equipment and the data switching equipment and is used for sending the depth of field value of the human body target with the shallowest depth of field in the human body targets with different depth of field to the data switching equipment as the real-time human body depth of field;

wherein adjusting the stirring intensity of the stirring structure based on the received stirring control power comprises: the smaller the received stirring control power is, the weaker the stirring intensity of the adjusted stirring structure is.

The self-adaptive follow-up stirring system and the method have the advantages of compact structure and stable operation. Because when the near human target that exists near the rabbling mechanism is being ascertained, the stirring intensity of rabbling mechanism can be reduced in time to avoid causing unnecessary influence to near crowd's walking when guaranteeing the stirring result.

According to another aspect of the present invention, there is also provided an adaptive follow-up stirring method, the method including:

the method comprises the steps that a mixing vehicle is used and comprises a vehicle body structure and a mixing structure, wherein the mixing structure is arranged on the vehicle body structure, the vehicle body structure further comprises a mixing controller and a support frame, the mixing controller is used for adjusting the mixing strength of the mixing structure based on received mixing control power, the support frame is used for supporting the mixing structure, and the mixing structure is used for mixing concrete materials inside the mixing structure in a rotating mode;

the data switching equipment is connected with the stirring controller and used for calculating stirring control power in inverse proportion to the real-time human body scene depth when the real-time human body scene depth is received and sending the calculated stirring control power to the stirring controller;

the full-color camera is arranged on the support frame and used for performing full-color camera shooting operation on the environment near the support frame so as to obtain an image near the frame body;

using a color level adjusting device connected with the full-color camera and used for executing color index lifting processing on the received image near the frame body to obtain a color level adjusting image;

using an interpolation processing device, connected to the tone scale adjustment device, for performing nearest neighbor interpolation processing on the received tone scale adjustment image to obtain a corresponding nearest neighbor interpolation image;

using a recursive filtering device, connected to the interpolation processing device, for performing adaptive recursive filtering on the received nearest neighbor interpolated image to obtain a recursive filtered image;

using first extraction equipment, arranged in the vehicle body structure, for receiving the recursive filtering image and extracting human body targets with different depth of field from the recursive filtering image based on a human body imaging contour;

using a second extraction device, respectively connected to the first extraction device and the data switching device, for sending the depth of field value of the body target with the shallowest depth of field among the body targets with different depth of field as the real-time body depth of field to the data switching device;

wherein adjusting the stirring intensity of the stirring structure based on the received stirring control power comprises: the smaller the received stirring control power is, the weaker the stirring intensity of the adjusted stirring structure is.

Detailed Description

Embodiments of the adaptive, follow-up agitation system and method of the present invention will now be described in detail.

A mixer truck, which is a special truck for transporting concrete for construction; due to its shape, it is also commonly referred to as a river snail vehicle, olive vehicle. These trucks are equipped with cylindrical mixing drums to carry the mixed concrete.

The mixing drum can be always kept to rotate in the transportation process so as to ensure that the carried concrete can not be solidified. After the concrete is conveyed, water is usually used for flushing the interior of the mixing drum, so that the occupied space of the hardened residual concrete is prevented, and the volume of the mixing drum is reduced.

Currently, mixers that mix concrete to provide materials for on-site construction are only concerned with their mixing action during mixing operations, and are not concerned with the effects on the surrounding environment. In fact, a part of muddy water is thrown out during the stirring operation of the stirrer, and if people are present in the vicinity, unnecessary trouble is brought to the people.

In order to overcome the defects, the invention builds a self-adaptive follow-up stirring system and a self-adaptive follow-up stirring method, and can effectively solve the corresponding technical problem.

An adaptive follow-up stirring system shown according to an embodiment of the present invention includes:

the stirring vehicle comprises a vehicle body structure and a stirring structure, wherein the stirring structure is arranged on the vehicle body structure, the vehicle body structure further comprises a stirring controller and a support frame, the stirring controller is used for adjusting the stirring strength of the stirring structure based on the received stirring control power, the support frame is used for supporting the stirring structure, and the stirring structure is used for stirring concrete materials in the stirring structure in a rotating mode;

the data switching equipment is connected with the stirring controller and used for calculating stirring control power in inverse proportion to the real-time human body scene depth when the real-time human body scene depth is received and sending the calculated stirring control power to the stirring controller;

the full-color camera is arranged on the support frame and used for performing full-color camera shooting operation on the environment near the support frame so as to obtain an image near the frame body;

the color level adjusting equipment is connected with the full-color camera and used for executing color index lifting processing on the received image near the frame body so as to obtain a color level adjusting image;

the interpolation processing device is connected with the color gradation adjusting device and is used for executing nearest neighbor interpolation processing on the received color gradation adjusting image to obtain a corresponding nearest neighbor interpolation image;

the recursive filtering device is connected with the interpolation processing device and is used for executing the self-adaptive recursive filtering on the received nearest neighbor interpolation image to obtain a recursive filtering image;

the first extraction equipment is arranged in the vehicle body structure and used for receiving the recursive filtering image and extracting human body targets with different depth of field from the recursive filtering image based on a human body imaging contour;

the second extraction equipment is respectively connected with the first extraction equipment and the data switching equipment and is used for sending the depth of field value of the human body target with the shallowest depth of field in the human body targets with different depth of field to the data switching equipment as the real-time human body depth of field;

wherein adjusting the stirring intensity of the stirring structure based on the received stirring control power comprises: the smaller the received stirring control power is, the weaker the stirring intensity of the adjusted stirring structure is.

Next, the specific structure of the adaptive servo stirring system of the present invention will be further described.

The adaptive follow-up stirring system can further comprise:

and the humidity measuring equipment is arranged on the shell of the first extraction equipment and used for measuring the humidity on the position of the shell of the first extraction equipment.

The adaptive follow-up stirring system can further comprise:

and the instant humidifying equipment is connected with the humidity measuring equipment and used for realizing corresponding humidifying action based on the received humidity.

In the adaptive follow-up agitation system:

the recursive filtering device shares the same user control interface with the first extraction device and the second extraction device, and the user control interface is realized by an SOC chip;

and a counter is arranged in the recursive filtering equipment and is used for accumulating the operation times of the addition level of the recursive filtering equipment in real time.

The adaptive follow-up stirring system can further comprise:

and the metal radiating fin is arranged near the second extraction equipment, is used for being connected with a shell of the second extraction equipment and is used for realizing the heat dissipation treatment of the second extraction equipment.

The adaptive follow-up stirring system can further comprise:

the method comprises the steps that a mixing vehicle is used and comprises a vehicle body structure and a mixing structure, wherein the mixing structure is arranged on the vehicle body structure, the vehicle body structure further comprises a mixing controller and a support frame, the mixing controller is used for adjusting the mixing strength of the mixing structure based on received mixing control power, the support frame is used for supporting the mixing structure, and the mixing structure is used for mixing concrete materials inside the mixing structure in a rotating mode;

the data switching equipment is connected with the stirring controller and used for calculating stirring control power in inverse proportion to the real-time human body scene depth when the real-time human body scene depth is received and sending the calculated stirring control power to the stirring controller;

the full-color camera is arranged on the support frame and used for performing full-color camera shooting operation on the environment near the support frame so as to obtain an image near the frame body;

using a color level adjusting device connected with the full-color camera and used for executing color index lifting processing on the received image near the frame body to obtain a color level adjusting image;

using an interpolation processing device, connected to the tone scale adjustment device, for performing nearest neighbor interpolation processing on the received tone scale adjustment image to obtain a corresponding nearest neighbor interpolation image;

using a recursive filtering device, connected to the interpolation processing device, for performing adaptive recursive filtering on the received nearest neighbor interpolated image to obtain a recursive filtered image;

using first extraction equipment, arranged in the vehicle body structure, for receiving the recursive filtering image and extracting human body targets with different depth of field from the recursive filtering image based on a human body imaging contour;

using a second extraction device, respectively connected to the first extraction device and the data switching device, for sending the depth of field value of the body target with the shallowest depth of field among the body targets with different depth of field as the real-time body depth of field to the data switching device;

wherein adjusting the stirring intensity of the stirring structure based on the received stirring control power comprises: the smaller the received stirring control power is, the weaker the stirring intensity of the adjusted stirring structure is.

The adaptive follow-up stirring system can further comprise:

and the humidity measuring equipment is arranged on the shell of the first extraction equipment and used for measuring the humidity on the position of the shell of the first extraction equipment.

The adaptive follow-up stirring system can further comprise:

and using instant humidifying equipment, connecting with the humidity measuring equipment, and realizing corresponding humidifying action based on the received humidity.

In the adaptive follow-up agitation system:

the recursive filtering device shares the same user control interface with the first extraction device and the second extraction device, and the user control interface is realized by an SOC chip;

and a counter is arranged in the recursive filtering equipment and is used for accumulating the operation times of the addition level of the recursive filtering equipment in real time.

The adaptive follow-up stirring system can further comprise:

and the metal radiating fin is arranged near the second extraction equipment, is used for being connected with the shell of the second extraction equipment and is used for realizing the radiating treatment of the second extraction equipment.

An adaptive follow-up stirring method according to an embodiment of the present invention includes:

the method comprises the steps that a mixing vehicle is used and comprises a vehicle body structure and a mixing structure, wherein the mixing structure is arranged on the vehicle body structure, the vehicle body structure further comprises a mixing controller and a support frame, the mixing controller is used for adjusting the mixing strength of the mixing structure based on received mixing control power, the support frame is used for supporting the mixing structure, and the mixing structure is used for mixing concrete materials inside the mixing structure in a rotating mode;

the data switching equipment is connected with the stirring controller and used for calculating stirring control power in inverse proportion to the real-time human body scene depth when the real-time human body scene depth is received and sending the calculated stirring control power to the stirring controller;

the full-color camera is arranged on the support frame and used for performing full-color camera shooting operation on the environment near the support frame so as to obtain an image near the frame body;

using a color level adjusting device connected with the full-color camera and used for executing color index lifting processing on the received image near the frame body to obtain a color level adjusting image;

using an interpolation processing device, connected to the tone scale adjustment device, for performing nearest neighbor interpolation processing on the received tone scale adjustment image to obtain a corresponding nearest neighbor interpolation image;

using a recursive filtering device, connected to the interpolation processing device, for performing adaptive recursive filtering on the received nearest neighbor interpolated image to obtain a recursive filtered image;

using first extraction equipment, arranged in the vehicle body structure, for receiving the recursive filtering image and extracting human body targets with different depth of field from the recursive filtering image based on a human body imaging contour;

using a second extraction device, respectively connected to the first extraction device and the data switching device, for sending the depth of field value of the body target with the shallowest depth of field among the body targets with different depth of field as the real-time body depth of field to the data switching device;

wherein adjusting the stirring intensity of the stirring structure based on the received stirring control power comprises: the smaller the received stirring control power is, the weaker the stirring intensity of the adjusted stirring structure is.

Next, the specific steps of the adaptive servo-agitation method of the present invention will be further described.

The adaptive follow-up stirring method may further include:

and the humidity measuring equipment is arranged on the shell of the first extraction equipment and used for measuring the humidity on the position of the shell of the first extraction equipment.

The adaptive follow-up stirring method may further include:

and using instant humidifying equipment, connecting with the humidity measuring equipment, and realizing corresponding humidifying action based on the received humidity.

The self-adaptive follow-up stirring method comprises the following steps:

the recursive filtering device shares the same user control interface with the first extraction device and the second extraction device, and the user control interface is realized by an SOC chip;

and a counter is arranged in the recursive filtering equipment and is used for accumulating the operation times of the addition level of the recursive filtering equipment in real time.

The adaptive follow-up stirring method may further include:

and the metal radiating fin is arranged near the second extraction equipment, is used for being connected with the shell of the second extraction equipment and is used for realizing the radiating treatment of the second extraction equipment.

In addition, the System on Chip is called SOC for short, i.e. System on Chip. From a narrow sense, the system is the chip integration of the core of an information system, and key components of the system are integrated on one chip; in a broad sense, an SOC is a micro-miniature system, and if a Central Processing Unit (CPU) is the brain, the SOC is a system including the brain, heart, eyes, and hands. The academia at home and abroad generally tends to define the SOC as integrating a microprocessor, an analog IP core, a digital IP core and a memory (or off-chip memory control interface) on a single chip, which is usually custom-made or standard product oriented to a specific application.

The basic content of the SOC definition is mainly two-fold: one is his composition and the other is his forming process. The system-level chip can be composed of a system-level chip control logic module, a microprocessor/microcontroller CPU core module, a digital signal processor DSP module, an embedded memory module, an interface module for communicating with the outside, an analog front-end module containing ADC/DAC, a power supply and power consumption management module, a radio frequency front-end module, user defined logic (which can be realized by FPGA or ASIC) and a micro-electro-mechanical module for a wireless SOC, and more importantly, a SOC chip is embedded with a basic software (RDOS or COS and other application software) module or loadable user software and the like.

Finally, it should be noted that each functional device in the embodiments of the present invention may be integrated into one processing device, or each device may exist alone physically, or two or more devices may be integrated into one device.

The functions, if implemented in the form of software-enabled devices and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.