阅读说明：本技术 自适应调速传动系统 (Self-adaptive speed-regulating transmission system ) 是由 孙立书 于 2019-10-14 设计创作，主要内容包括：本发明提供了一种自适应调速传动系统,传动模块包括驱动电机及传输带,所述驱动电机用于驱动所述传输带输送物品；摄像头模块用于实时检测所述传输带上物品的数量,并根据检测结果发出控制信号；变速模块与所述驱动电机连接,用于接收所述控制信号并根据所述控制信号控制所述驱动电机的转速。从而实现了自适应调整驱动电机的转速的功能,并且结构简单、抗干扰性强,可以用在无人监守,需要自适应调节转速的场合,如手扶电梯、工厂里面的传送带以及工厂里面的制冷系统等,这对能源的节约具有巨大的意义。(The invention provides a self-adaptive speed-adjusting transmission system, wherein a transmission module comprises a driving motor and a transmission belt, and the driving motor is used for driving the transmission belt to transmit articles; the camera module is used for detecting the quantity of the articles on the conveying belt in real time and sending out a control signal according to a detection result; the speed changing module is connected with the driving motor and used for receiving the control signal and controlling the rotating speed of the driving motor according to the control signal. Therefore, the function of adaptively adjusting the rotating speed of the driving motor is realized, the structure is simple, the anti-interference performance is strong, and the self-adaptive rotary speed adjusting device can be used in the occasions which are not monitored and need the adaptive rotary speed adjustment, such as a hand elevator, a conveyor belt in a factory, a refrigerating system in the factory and the like, and has great significance for saving energy.)

1. An adaptive speed change transmission system, comprising:

the transmission module comprises a driving motor and a transmission belt, and the driving motor is used for driving the transmission belt to transmit articles;

the camera module is used for detecting the quantity of the articles on the conveying belt in real time and sending out a control signal according to a detection result;

and the speed changing module is connected with the driving motor and used for receiving the control signal and controlling the rotating speed of the driving motor according to the control signal.

2. The adaptive speed change transmission system of claim 1, wherein the speed change module has a dip switch having a plurality of gears, each gear corresponding to a different speed of the drive motor.

3. The adaptive speed control transmission system of claim 2, wherein the shift position of the dial switch comprises a stop position, a low position, a medium position, a high position and an adaptive speed control position, wherein the stop position corresponds to a rotation speed of the driving motor of 0, the low position corresponds to a rotation speed of the driving motor of 500 rpm or less, the medium position corresponds to a rotation speed of the driving motor of 500 rpm or more and 1000 rpm or less, and the high position corresponds to a rotation speed of the driving motor of 1000 rpm or more.

4. The adaptive speed adjustment transmission system of claim 3, wherein the speed change module receives the control signal and controls the rotational speed of the drive motor according to the control signal when the shift position of the dip switch is in the adaptive speed adjustment position.

5. The adaptive speed-changing transmission system according to claim 1 or 4, wherein the speed-changing module adjusts the rotation speed of the driving motor in real time through a PID algorithm after receiving the control signal.

6. The adaptive cruise control system according to any of claims 1 or 4, wherein said camera module comprises:

the camera shooting unit is used for shooting images of the articles on the conveying belt;

the image processing unit is used for processing the image shot by the camera shooting unit by utilizing an Otsu algorithm so as to identify the number and the size of the articles;

and the control unit outputs corresponding voltage according to the quantity and the size of the articles and controls the speed change module to change the speed of the driving motor.

7. The adaptive speed adjustment transmission system of claim 1, further comprising a display module for displaying in real time an image of the article detected by the camera module and a current rotational speed of the drive motor.

Technical Field

The invention relates to the technical field of automatic control, in particular to a self-adaptive speed-adjusting transmission system.

Background

Some conventional drive systems are considered to be working without a person or object at all times. There is a significant energy loss. If the walking type elevator is idle all the time when no one is available, the conveyor belt is idle all the time when no object is on the conveyor belt. Therefore, it is necessary to design an intelligent speed-regulating transmission system capable of changing the rotating speed with the change of people and objects. This has great significance for saving energy.

Disclosure of Invention

The invention aims to provide a self-adaptive speed regulation transmission system which can automatically regulate the rotating speed of a driving motor under different conditions so as to achieve the aim of saving energy.

In order to achieve the above object, the present invention provides an adaptive speed-adjusting transmission system, comprising:

the transmission module comprises a driving motor and a transmission belt, and the driving motor is used for driving the transmission belt to transmit articles;

the camera module is used for detecting the quantity of the articles on the conveying belt in real time and sending out a control signal according to a detection result;

and the speed changing module is connected with the driving motor and used for receiving the control signal and controlling the rotating speed of the driving motor according to the control signal.

Optionally, the speed changing module is provided with a dial switch, the dial switch is provided with a plurality of gears, and each gear corresponds to different rotating speeds of the driving motor.

Optionally, the gear of the dial switch includes a stop gear, a low gear, a medium gear, a high gear and a self-adaptive gear, wherein the stop gear corresponds to the rotation speed of the driving motor and is 0, the low gear corresponds to the rotation speed of the driving motor and is less than or equal to 500 rpm, the medium gear corresponds to the rotation speed of the driving motor and is greater than 500 rpm and less than or equal to 1000 rpm, and the high gear corresponds to the rotation speed of the driving motor and is greater than 1000 rpm.

Optionally, when the gear of the dial switch is in the adaptive speed-changing gear, the speed-changing module receives the control signal and controls the rotation speed of the driving motor according to the control signal.

Optionally, after receiving the control signal, the speed change module adjusts the rotation speed of the driving motor in real time through a PID algorithm.

Optionally, the camera module includes:

the camera shooting unit is used for shooting images of the articles on the conveying belt;

the image processing unit is used for processing the image shot by the camera shooting unit by utilizing an Otsu algorithm so as to identify the number and the size of the articles;

and the control unit outputs corresponding voltage according to the quantity and the size of the articles and controls the speed change module to change the speed of the driving motor.

Optionally, the device further comprises a display module, configured to display the image of the article detected by the camera module and the current rotation speed of the driving motor in real time.

In the self-adaptive speed-adjusting transmission system provided by the invention, a transmission module comprises a driving motor and a transmission belt, wherein the driving motor is used for driving the transmission belt to transmit articles; the camera module is used for detecting the quantity of the articles on the conveying belt in real time and sending out a control signal according to a detection result; the speed changing module is connected with the driving motor and used for receiving the control signal and controlling the rotating speed of the driving motor according to the control signal. Therefore, the function of adaptively adjusting the rotating speed of the driving motor is realized, the structure is simple, the anti-interference performance is strong, and the self-adaptive rotary speed adjusting device can be used in the occasions which are not monitored and need the adaptive rotary speed adjustment, such as a hand elevator, a conveyor belt in a factory, a refrigerating system in the factory and the like, and has great significance for saving energy.

Drawings

FIG. 1 is a block diagram of an adaptive transmission system according to an embodiment of the present invention;

FIG. 2 is a grayscale image provided by an embodiment of the present invention;

fig. 3 is a binarized image according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a PID algorithm provided by an embodiment of the invention;

wherein the reference numerals are:

11-a control unit; 12-a camera unit; 13-an image processing unit; 2-a speed change module; 3-a transmission module; 4-an encoder; 5-display module.

Detailed Description

The following describes in more detail embodiments of the present invention with reference to the schematic drawings. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.

As shown in FIG. 1, the present embodiment provides an adaptive speed change transmission system comprising:

the transmission module 3 comprises a driving motor and a transmission belt, and the driving motor is used for driving the transmission belt to transmit articles;

the camera module is used for detecting the quantity of the articles on the conveying belt in real time and sending out a control signal according to a detection result;

and the speed changing module 2 is connected with the driving motor and used for receiving the control signal and controlling the rotating speed of the driving motor according to the control signal.

Specifically, the conveyor belts are, for example, a hand elevator, a conveyor belt in a factory, and a refrigeration system in the factory, and the driving motor can drive the conveyor belts to convey materials, parts, or pedestrians (collectively, articles).

Specifically, the speed changing module 2 may be a transmission having a dial switch, where the dial switch has a plurality of gears, and each gear corresponds to a different rotation speed of the driving motor. In this embodiment, the gears of the dial switch include a stop gear, a low gear, a middle gear, a high gear, and a self-adaptive gear, where the stop gear corresponds to the rotation speed of the driving motor being 0, the low gear corresponds to the rotation speed of the driving motor being less than or equal to 500 rpm, the middle gear corresponds to the rotation speed of the driving motor being greater than 500 rpm and less than or equal to 1000 rpm, and the high gear corresponds to the rotation speed of the driving motor being greater than 1000 rpm. When the user is on duty, the dial switch can be manually dialed to a stop gear, a low gear, a medium gear or a high gear, when the user is not on duty, the dial switch can be dialed to a self-adaptive speed-adjusting gear, and at the moment, the camera module starts to be started.

The camera module comprises a camera unit 12, an image processing unit 13 and a control unit 11, wherein the camera unit 12 is used for shooting images of articles on the conveying belt, and the camera unit 12 can be an MTV96032 camera which can shoot gray level images or shoot color images and then process the images into gray level images, as shown in fig. 2 specifically; the image processing unit 13 processes the image captured by the image capturing unit 12 using an algorithm of Otsu to identify the number and size of the articles.

The processing method of the Otsu algorithm is as follows: and counting the gray values of the gray images and establishing a histogram between 0 and 255. After the total gray scale and the total pixel points are calculated, the image is divided into a foreground and a background by using a threshold value. Through cyclic calculation, an optimal threshold value is obtained, and the difference between the foreground and the background can be maximum. After the optimal threshold is obtained, the gray value of the pixel point with the gray value smaller than the modified value in the image is assigned to be 0, and the gray value of the pixel point with the gray value larger than the modified value is assigned to be 255. This achieves the binarization function, and the binarized image is shown in fig. 3. The specific derivation is as follows:

let the ratio of foreground points to image be w₀Average gray of u₀(ii) a The number of background points in the image is w₁Average gray of u₁。

The total average gray scale of the image is:

u＝w₀×u₀+w₁×u₁

the foreground and background image variances are: g ═ w₀×(u₀-u)²+w₁×(u₁-u)²

＝w₀×w₁×(u₀-u₁)²

By cycling and comparing the variance of each time, when the variance is found to be the maximum, the optimal threshold value obtained at this time is:

Best＝w₀×w₁×(u₁-u₀)×(u₀-u₁)

and changing the image from the gray level image to the binary image by using the optimal threshold value.

The binary image can detect the number of black pixel points through progressive scanning, and then the number and the size of the article are obtained.

The control unit 11 is, for example, an STM32F103 series single chip microcomputer or a K60 chip, and the STM32F103 series single chip microcomputer has the advantages of low power consumption, rich in on-chip resources and the like, but the chip is not flexible to use and is complex to operate. The K60 chip is an entry-level device with rich functions and has expandability and high-precision adc detection. Meanwhile, the K60 has more pins and basically has a multiplexing function. And a pin matched with the camera is also arranged. And the K60 chip also contains a large number of library functions, the K60 chip is selected in the embodiment.

And outputting corresponding voltage according to the quantity and the size of the articles, wherein the voltage is used as a control signal to control the speed change module 2 to change the speed of the driving motor in real time. Further, in order to realize more accurate adjustment, the speed change module 2 adjusts the rotating speed of the driving motor in real time through a PID algorithm after receiving the control signal. Specifically, the number of articles is detected as an input by the camera unit 12, and the rotation speed measured by the encoder 4 is used as a feedback. An output is generated by the proportional, integral and derivative elements, and a PWM modulation signal is output to the speed change module 2 through the control unit 11, thereby outputting a corresponding voltage. A schematic diagram of the PID is shown in fig. 4. If no article exists, the driving motor stops, and if articles exist, the more articles exist, the faster the rotating speed of the driving motor is, so that the aim of saving energy is fulfilled.

The specific algorithm of PID is realized as follows:

the first step is as follows: defining a PID variable structure body, and coding 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；

Parameters required in the control algorithm are uniformly defined in a structural body, so that the control algorithm is convenient to use later.

The second step is that: the method is characterized in that variables, particularly three parameters of Kp, Ki and Kd, are initialized uniformly, and the required control effect can be directly adjusted by adjusting the three parameters in the debugging process.

The third step: and writing a control algorithm.

The code is 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-pi

d.err_last)；

pid.err_last＝pid.err；

pid.ActualSpeed＝pid.voltage*1.0；

return pid.ActualSpeed；

}

the system sets three parameters Kp 1, Ki 1 and Kd 1.

Optionally, the adaptive speed-adjusting transmission system further includes a display module 5, such as an OLED display, which can receive the measurement result of the encoder 4 and the image transmitted by the control unit 11, and display the image of the article detected by the camera module and the current rotation speed of the driving motor in real time.

In summary, in the adaptive speed-adjusting transmission system provided in the embodiment of the present invention, the transmission module includes a driving motor and a transmission belt, and the driving motor is used for driving the transmission belt to transport articles; the camera module is used for detecting the quantity of the articles on the conveying belt in real time and sending out a control signal according to a detection result; the speed changing module is connected with the driving motor and used for receiving the control signal and controlling the rotating speed of the driving motor according to the control signal. Therefore, the function of adaptively adjusting the rotating speed of the driving motor is realized, the structure is simple, the anti-interference performance is strong, and the self-adaptive rotary speed adjusting device can be used in the occasions which are not monitored and need the adaptive rotary speed adjustment, such as a hand elevator, a conveyor belt in a factory, a refrigerating system in the factory and the like, and has great significance for saving energy.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.