阅读说明：本技术 一种传动设备的智能调速系统和方法 (Intelligent speed regulating system and method for transmission equipment ) 是由 孙立书 于 2019-10-14 设计创作，主要内容包括：本发明公开了一种传动设备的智能调速系统,包括：摄像头,用于拍摄传动设备上的设定区域,并将拍摄出的图像发送至控制器；与摄像头连接的控制器,用于在将接收到的图像进行二值化之后统计出黑色像素点的个数,并按照预设的个数与电机转速之间的对应关系确定出对应于统计出的个数的电机转速；其中,对应关系中的个数与电机转速呈正相关；与控制器以及传动设备连接的电机,用于在控制器的控制下控制传动设备运动,且电机的转速符合控制器确定出的电机转速。应用本申请的方案,有利于进行传动设备运行的节能,本发明还公开了一种传动设备的智能调速方法,具有相应效果。(The invention discloses an intelligent speed regulating system of transmission equipment, which comprises: the camera is used for shooting a set area on the transmission equipment and sending a shot image to the controller; the controller is connected with the camera and used for counting the number of black pixel points after binarization of the received image and determining the motor rotating speed corresponding to the counted number according to the corresponding relation between the preset number and the motor rotating speed; wherein the number in the corresponding relation is positively correlated with the rotating speed of the motor; and the motor is connected with the controller and the transmission equipment and is used for controlling the transmission equipment to move under the control of the controller, and the rotating speed of the motor is in accordance with the rotating speed of the motor determined by the controller. The scheme of the application is beneficial to saving energy in the operation of the transmission equipment, and the invention also discloses an intelligent speed regulating method of the transmission equipment, which has corresponding effects.)

1. An intelligent speed regulating system of transmission equipment is characterized by comprising:

the camera is used for shooting a set area on the transmission equipment and sending a shot image to the controller;

the controller is connected with the camera and used for counting the number of black pixel points after binarization of the received image, and determining the motor rotating speed corresponding to the counted number according to the corresponding relation between the preset number and the motor rotating speed; wherein the number in the corresponding relation is positively correlated with the rotating speed of the motor;

and the motor is connected with the controller and the transmission equipment and is used for controlling the transmission equipment to move under the control of the controller, and the rotating speed of the motor accords with the rotating speed of the motor determined by the controller.

2. The intelligent governor system of transmission equipment of claim 1, further comprising: and the display device is connected with the controller and is used for displaying the counted number and the motor rotating speed determined by the controller.

3. The intelligent speed regulation system of transmission equipment of claim 1, wherein the motor is specifically configured to:

and under the closed-loop feedback control of the controller, the transmission equipment is controlled to move, and the rotating speed of the motor accords with the rotating speed of the motor determined by the controller.

4. The intelligent speed regulation system of transmission equipment of claim 1, wherein the controller is specifically configured to:

after the received image is binarized by utilizing an Otsu algorithm, counting the number of black pixel points, and determining the motor rotating speed corresponding to the counted number according to the corresponding relation between the preset number and the motor rotating speed.

5. The intelligent governor system of transmission equipment of any one of claims 1 to 4, wherein the controller is further configured to:

and after receiving the first instruction, controlling the rotating speed of the motor to be kept at a preset first speed.

6. An intelligent speed regulation method of transmission equipment is characterized by comprising the following steps:

the camera shoots a set area on the transmission equipment and sends a shot image to the controller;

the controller counts the number of black pixel points after carrying out binarization on the received image, and determines the motor rotating speed corresponding to the counted number according to the corresponding relation between the preset number and the motor rotating speed; wherein the number in the corresponding relation is positively correlated with the rotating speed of the motor;

the motor is controlled by the controller to control the transmission equipment to move, and the rotating speed of the motor accords with the rotating speed of the motor determined by the controller.

7. The intelligent speed regulation method of a transmission device according to claim 6, further comprising:

and the display device displays the counted number and the motor rotating speed determined by the controller.

8. The intelligent speed regulation method of the transmission equipment according to claim 6, wherein the motor controls the transmission equipment to move under the control of the controller, and the rotating speed of the motor is in accordance with the rotating speed of the motor determined by the controller, and the method comprises the following steps:

and the motor controls the transmission equipment to move under the closed-loop feedback control of the controller, and the rotating speed of the motor accords with the rotating speed of the motor determined by the controller.

9. The intelligent speed regulation method of transmission equipment according to claim 6, wherein the controller counts the number of black pixels after binarizing the received image, and comprises:

and after the controller binarizes the received image by using an Otsu algorithm, counting the number of black pixels.

10. The intelligent speed regulation method of a transmission device according to any one of claims 6 to 9, further comprising:

and the controller controls the rotating speed of the motor to be kept at a preset first speed after receiving the first instruction.

Technical Field

The invention relates to the technical field of control of transmission equipment, in particular to an intelligent speed regulating system and method of the transmission equipment.

Background

Transmission devices are widely used in all aspects of life, usually moving at a fixed speed. However, it is often the case that no person or object is present on the transmission, which is still working, resulting in a large energy loss. For example, a walk behind elevator is idle when there is no person and still idle when there is no object on the conveyor.

The meaningless energy loss of the transmission equipment is more and more prominent particularly along with the increase of the energy cost. In some occasions, a PLC and a frequency converter are adopted to perform speed regulation, and are generally used in an industrial production field. Such scheme needs artificial observation, and then carries out the adjustment of transmission equipment's rotational speed gear through the button, and on the one hand the human cost is higher, and on the other hand also does not benefit to real-time regulation, still receives the influence of the factor of being in charge easily for the energy cost of saving is limited.

In summary, how to effectively save energy of the transmission device is a technical problem that needs to be solved urgently by those skilled in the art.

Disclosure of Invention

The invention aims to provide an intelligent speed regulating system and method of transmission equipment so as to effectively save energy of the transmission equipment.

In order to solve the technical problems, the invention provides the following technical scheme:

an intelligent speed regulation system of a transmission device, comprising:

the camera is used for shooting a set area on the transmission equipment and sending a shot image to the controller;

the controller is connected with the camera and used for counting the number of black pixel points after binarization of the received image, and determining the motor rotating speed corresponding to the counted number according to the corresponding relation between the preset number and the motor rotating speed; wherein the number in the corresponding relation is positively correlated with the rotating speed of the motor;

and the motor is connected with the controller and the transmission equipment and is used for controlling the transmission equipment to move under the control of the controller, and the rotating speed of the motor accords with the rotating speed of the motor determined by the controller.

Preferably, the method further comprises the following steps: and the display device is connected with the controller and is used for displaying the counted number and the motor rotating speed determined by the controller.

Preferably, the motor is specifically configured to:

and under the closed-loop feedback control of the controller, the transmission equipment is controlled to move, and the rotating speed of the motor accords with the rotating speed of the motor determined by the controller.

Preferably, the controller is specifically configured to:

after the received image is binarized by utilizing an Otsu algorithm, counting the number of black pixel points, and determining the motor rotating speed corresponding to the counted number according to the corresponding relation between the preset number and the motor rotating speed.

Preferably, the controller is further configured to:

and after receiving the first instruction, controlling the rotating speed of the motor to be kept at a preset first speed.

An intelligent speed regulation method of transmission equipment comprises the following steps:

the camera shoots a set area on the transmission equipment and sends a shot image to the controller;

the controller counts the number of black pixel points after carrying out binarization on the received image, and determines the motor rotating speed corresponding to the counted number according to the corresponding relation between the preset number and the motor rotating speed; wherein the number in the corresponding relation is positively correlated with the rotating speed of the motor;

the motor is controlled by the controller to control the transmission equipment to move, and the rotating speed of the motor accords with the rotating speed of the motor determined by the controller.

Preferably, the method further comprises the following steps:

and the display device displays the counted number and the motor rotating speed determined by the controller.

Preferably, the motor controls the transmission device to move under the control of the controller, and the rotating speed of the motor conforms to the rotating speed of the motor determined by the controller, and the method includes:

and the motor controls the transmission equipment to move under the closed-loop feedback control of the controller, and the rotating speed of the motor accords with the rotating speed of the motor determined by the controller.

Preferably, the counting of the number of black pixels by the controller after the binarization of the received image includes:

and after the controller binarizes the received image by using an Otsu algorithm, counting the number of black pixels.

Preferably, the method further comprises the following steps:

and the controller controls the rotating speed of the motor to be kept at a preset first speed after receiving the first instruction.

By applying the technical scheme provided by the embodiment of the invention, the self-adaptive adjustment of the speed of the transmission equipment is realized. Specifically, the camera can shoot a set area on the transmission device and send the shot image to the controller. The controller counts the number of black pixel points after carrying out binarization on the received image, and can determine the motor rotating speed corresponding to the counted number according to the corresponding relation between the preset number and the motor rotating speed, wherein the number in the corresponding relation is positively correlated with the motor rotating speed, namely the number is more, and the motor rotating speed is faster. When the number is less, the number of objects on the transmission equipment is less, and correspondingly, the lower motor rotating speed is selected, so that the energy conservation is facilitated. In addition, the intelligent speed regulation of the transmission equipment is realized through the camera, the controller and the motor in the scheme of the application, the structure of the scheme is simple, and the anti-interference performance is strong.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an intelligent speed regulating system of a transmission device according to the present invention;

fig. 2 is a flow chart of an implementation of the intelligent speed regulating method of the transmission device in the invention.

Detailed Description

The core of the invention is to provide an intelligent speed regulating system of transmission equipment, which is beneficial to energy conservation, and the scheme has simple structure and strong anti-interference performance.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an intelligent speed regulating system of a transmission device according to the present invention, the intelligent speed regulating system of the transmission device includes:

and a camera 10 for photographing a set area on the transmission apparatus and transmitting the photographed image to the controller 20.

The camera 10 needs to photograph a set area on the transmission apparatus, and thus the camera 10 needs to be fixed. And it should be noted that the position of the camera head 10 is not generally changed during the subsequent operation. In addition, it should be noted that in the solution of the present application, the controller 20 needs to perform statistics on black pixels according to the received image, and when the position of the camera 10 and the scene to be shot are the same, the cameras 10 with different resolutions also affect the number of black pixels counted by the controller 20, so that the model of the camera 10 is usually not changed. Of course, if the shooting position or the model of the camera 10 needs to be adjusted in practical application, the corresponding relationship between the number of the camera needs to be reset and adjusted and the rotation speed of the motor needs to be reset.

The camera 10 generally transmits the photographed images to the controller 20 in real time or transmits the photographed images to the controller 20 at a short cycle.

The specific model of the camera 10 can also be set and selected according to the need, for example, in a specific case, the camera 10 is the MT96032 camera 10.

And the controller 20 is connected with the camera 10 and configured to count the number of black pixels after binarizing the received image, and determine the motor rotation speed corresponding to the counted number according to a corresponding relationship between a preset number and the motor rotation speed. Wherein the number in the corresponding relation is positively correlated with the rotating speed of the motor;

for an image received at any time, the controller 20 may binarize the image, and the specifically adopted binarization method may be set and adjusted as needed, for example, a Kittle algorithm with a fast operation speed and suitable for an image with a high pixel quality may be selected, and as in a specific embodiment of the present invention, a greater algorithm with a wider application scenario may be selected. That is, the controller 20 may be specifically configured to: after the received image is binarized by utilizing an Otsu algorithm, the number of black pixel points is counted, and the motor rotating speed corresponding to the counted number is determined according to the corresponding relation between the preset number and the motor rotating speed.

The Otsu algorithm refers to: and counting the gray values of the gray images and establishing a histogram between 0 and 255. And after the total gray scale and the total pixel points are calculated, dividing the image into a foreground and a background by utilizing a threshold value. By loop calculation, an optimal threshold can be derived that maximizes the difference between foreground and background. After the optimal threshold is obtained, the gray value of the pixel point with the gray value smaller than the optimal threshold in the image is assigned to be 0, and the gray value of the pixel point with the gray value larger than the optimal threshold is assigned to be 255, so that binarization is realized. The specific derivation is as follows:

the ratio of the foreground points to the whole image can be set to omega₀Average gray of u₀The ratio of the number of the backward sight spots to the whole image is omega₁Average gray of u₁。

The total average gray level u of the whole image is: u- ω₀×u₀+ω₁×u₁

The image variance of the foreground and background can be expressed as:

g＝ω₀×(u₀-u)²+ω₁×(u₁-u)²＝ω₀×ω₁×(u₀-u₁)²

by means of the loop calculation, when the found variance is the largest, the optimal threshold can be obtained at this time, which is expressed as: best is ω₀×ω₁×(u₀-u₁)×(u₁-u₀)

After the optimal threshold value is obtained, the image can be changed from a gray level image to a binary image.

The controller 20 counts the number of black pixels after binarizing the received image, and then determines the motor rotation speed corresponding to the counted number according to the correspondence between the preset number and the motor rotation speed. The correspondence relation needs to be set in advance, and of course, may be adjusted as needed.

It should also be noted that, in the preset corresponding relationship, considering that more accurate speed control of the transmission device is beneficial to energy saving, different numbers can be configured with different motor rotation speeds, that is, each number corresponds to one motor rotation speed, and the motor rotation speeds are different from each other.

Of course, in some cases, in consideration of the possibility of loss of the motor 30 due to frequent adjustment of the speed of the transmission and the convenience of setting the correspondence relationship, the corresponding motor rotation speed may be configured in a range where the number is located, that is, a stepwise correspondence relationship may be established. For example, when the number is 0 to 30, the corresponding motor speed is 0r/s, and when the number is 31 to 60, the corresponding motor speed is 60 r/s.

And the motor 30 is connected with the controller 20 and the transmission device and is used for controlling the transmission device to move under the control of the controller 20, and the rotating speed of the motor 30 is consistent with the rotating speed of the motor determined by the controller 20.

Specifically, the motor 30 controls the transmission device to move under the control of the controller 20, and the rotating speed of the motor 30 needs to meet the motor rotating speed determined by counting the number of black pixels by the controller 20, that is, when the motor control signals sent by the controller 20 are different, the moving speed of the transmission device will be correspondingly different.

In one embodiment of the present invention, the motor 30 is specifically configured to:

the transmission is controlled to move under closed loop feedback control from controller 20 and the speed of motor 30 matches the speed of the motor determined by controller 20.

Considering that the closed-loop feedback control is beneficial to accurately adjusting the rotating speed of the motor, the closed-loop feedback mode is selected for controlling the rotating speed of the motor in the implementation mode. PID is a common closed-loop feedback control approach. Of course, in such an embodiment, it is necessary to provide a sensor for detecting the rotation speed of the motor, and to transmit the detected rotation speed to the controller 20, so that the controller 20 performs closed-loop control of the rotation speed of the motor.

When the closed-loop control of the motor rotating speed is carried out by adopting the PID, firstly, the definition of a PID variable structure body is required, and the code can be as follows:

struct_pid{

float setup speed; // define set point

float ActualSpeed; // define the actual value

float err; v/define deviation value

float err _ last; // define the last offset value

float Kp, Ki, Kd; // defining the proportional, integral, and differential coefficients

float voltage; v/definition of the Voltage value (variable for controlling the actuator)

float integral; // define the integral value

}pid；

The parameters required in the control algorithm can be uniformly defined in one structural body, so that the control algorithm is convenient to use later.

After that, the variables, especially the parameters Kp, Ki and Kd, need to be initialized uniformly, and during the debugging process, the adjustment of the control effect can be realized by adjusting the three quantities.

The code of the control algorithm may be as follows:

float PID_realize(float speed){

pid.SetSpeed＝speed；

pid.err＝pid.SetSpeed-pid.ActualSpeed；

pid.integral+＝pid.err；

pid.voltage＝pid.Kp*pid.err+pid.Ki*pid.integral+pid.Kd*(pid.err-pid.err_last)；

pid.err_last＝pid.err；

pid.ActualSpeed＝pid.voltage*1.0；

return pid.ActualSpeed；

}

at this time, three parameters Kp ═ 1, Ki ═ 1, and Kd ═ 1 are set.

The specific model of the controller 20 of the present application can also be set and adjusted as needed, for example, considering that K60 has scalability and high-precision adc detection, and at the same time, there are many pins of K60 and basically have multiplexing functions, and in addition, there are also pins associated with the camera 10, and K60 also contains a large number of library functions. Thus, in one embodiment, the signal from controller 20 may be K60.

By applying the technical scheme provided by the embodiment of the invention, the self-adaptive adjustment of the speed of the transmission equipment is realized. Specifically, the camera 10 may photograph a set area on the transmission apparatus and transmit the photographed image to the controller 20. The controller 20 counts the number of black pixels after binarizing the received image, and can determine the motor speed corresponding to the counted number according to the corresponding relationship between the preset number and the motor speed, wherein the number in the corresponding relationship is positively correlated with the motor speed, i.e., the number is more, and the motor speed is faster. When the number is less, the number of objects on the transmission equipment is less, and correspondingly, the lower motor rotating speed is selected, so that the energy conservation is facilitated. In addition, the intelligent speed regulation of the transmission equipment is realized through the camera 10, the controller 20 and the motor 30 in the scheme of the application, the structure of the scheme is simple, and the anti-interference performance is strong.

In an embodiment of the present invention, the method may further include: and the display device is connected with the controller 20 and is used for displaying the counted number and the motor rotating speed determined by the controller 20.

The display device can adopt display devices of the types such as OLED, the number counted by the controller 20 and the display of the rotating speed of the motor determined by the controller 20 are favorable for related workers to know the running condition of the transmission equipment intuitively and conveniently through the display.

In one embodiment of the present invention, the controller 20 is further configured to:

after receiving the first command, the rotational speed of the motor 30 is controlled to be maintained at the preset first speed.

The input of the first instruction can be realized through a low-cost dial switch, and can also be performed through related input devices, such as a keyboard, a touch screen and the like.

In view of the fact that the user has a requirement for the transmission to be maintained at a fixed speed in some cases, the present embodiment of the application realizes compatibility between two modes, that is, after receiving the first command, the controller 20 indicates that the user does not want to perform adaptive speed adjustment on the transmission at this time, but wants a fixed speed mode, and thus the controller 20 controls the rotation speed of the motor 30 to be maintained at the preset first speed.

It should also be noted that in this embodiment, the controller 20 controls the rotational speed of the motor 30 to be maintained at the preset first speed. In other cases, a plurality of different gears may be provided in the fixed speed mode to meet different requirements of the user, for example, in one case, 3 gears in the fixed speed mode are provided, wherein the motor speed is 126r/s in 1 gear, 215r/s in 2 gear and 350r/s in 3 gear.

Corresponding to the above system embodiment, the embodiment of the present invention further provides an intelligent speed adjusting method for a transmission device, which can be referred to in correspondence with the above described intelligent speed adjusting system for a transmission device. Referring to fig. 2, a flow chart of an implementation of the intelligent speed regulating method for transmission equipment according to the present invention includes:

step S101: the camera shoots a set area on the transmission equipment and sends a shot image to the controller;

step S102: the controller counts the number of black pixel points after carrying out binarization on the received image, and determines the motor rotating speed corresponding to the counted number according to the corresponding relation between the preset number and the motor rotating speed; wherein the number in the corresponding relation is positively correlated with the rotating speed of the motor;

step S103: the motor controls the transmission equipment to move under the control of the controller, and the rotating speed of the motor is in accordance with the rotating speed of the motor determined by the controller.

In one embodiment of the present invention, the method further comprises:

and the display device displays the counted number and the motor rotating speed determined by the controller.

In an embodiment of the present invention, step S103 specifically includes:

the motor controls the transmission equipment to move under the closed-loop feedback control of the controller, and the rotating speed of the motor is in accordance with the rotating speed of the motor determined by the controller.

In a specific embodiment of the present invention, the counting, by the controller described in step S102, the number of black pixels after the binarization of the received image may specifically include:

after the controller binarizes the received image by utilizing an Otsu algorithm, the number of black pixels is counted.

In an embodiment of the present invention, the method may further include:

the controller controls the rotating speed of the motor to be kept at a preset first speed after receiving the first command.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The principle and the implementation of the present invention are explained in the present application by using specific examples, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.