CN113617696B - Full-automatic import and delivery flow control method - Google Patents
Full-automatic import and delivery flow control method Download PDFInfo
- Publication number
- CN113617696B CN113617696B CN202110825169.0A CN202110825169A CN113617696B CN 113617696 B CN113617696 B CN 113617696B CN 202110825169 A CN202110825169 A CN 202110825169A CN 113617696 B CN113617696 B CN 113617696B
- Authority
- CN
- China
- Prior art keywords
- conveying
- packages
- package
- line
- conveying line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000008676 import Effects 0.000 title claims description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 29
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims abstract description 8
- 238000013507 mapping Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 69
- 230000002159 abnormal effect Effects 0.000 claims description 45
- 238000000926 separation method Methods 0.000 claims description 28
- 230000001105 regulatory effect Effects 0.000 claims description 24
- 239000011159 matrix material Substances 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 14
- 230000007363 regulatory process Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000002093 peripheral effect Effects 0.000 description 8
- 238000007688 edging Methods 0.000 description 7
- 238000012546 transfer Methods 0.000 description 5
- 238000012840 feeding operation Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Control Of Conveyors (AREA)
- Sorting Of Articles (AREA)
Abstract
The full-automatic guiding and feeding flow control method adopts a dynamic flow control means combining full-queue package memory conveying and flow operation, and based on the step-by-step reaching and maintaining of full-load operation of a plurality of conveying lines, the package distribution direction, the package spacing and the package conveying speed are adjusted in real time according to the flow change, so that the full-automatic flow control solution without manual intervention before guiding and feeding is realized. And establishing statistical data and real-time position information for sorting according to the visual identification result aiming at each package in the conveying queue, and mapping by combining conveying interval change results of any adjacent front and rear 2 packages to obtain the loading state of each leading-in device so as to adjust the start-stop and flow-regulating directions of the sorting devices and conveying equipment on each conveying line and uniformly realize the monitoring and regulation of the conveying direction and speed of each package on each conveying line.
Description
Technical Field
The invention relates to a method for simultaneously implementing dynamic monitoring and flow control for a plurality of conveying lines, and belongs to the field of logistics sorting.
Background
The existing logistics sorting operation site of electronic commerce and express industry generally adopts an operation mode of manually feeding the articles at the front end, and a large number of packages which enter the conveying line in a stacking manner are manually separated so as to facilitate subsequent scanning and information input. The prior novel solution is that a front-end irregular part sorting and normal part separating queuing mode is adopted, multiple queues and side-by-side packages are arranged into a single queue for conveying, and the conveying speed and the position of the packages dispersed in a conveying belt area are controlled, so that the packages are conveyed to rear-end guiding and feeding equipment at a higher speed.
The method for arranging packages in a single piece is named as the following prior application patent, application number CN202011499125.5, which adopts the steps of dispersing and pulling the distance after the previous step, dispersing and expanding the distance left and right, identifying the volume, the position coordinates and the adjacent relation of each package based on an application image identification algorithm to determine the sequence of conveying, and realizing the high-speed separation and single-queue conveying mode of the batch packages on the basis of adjusting the package state to the set direction so as to achieve the design purposes of directional arrangement and queue split package, thereby providing sufficient preparation for the package to enter the cross band for sorting and barcode scanning subsequently. The separating single-piece arranging device comprises an upper line conveying device, a stacking separating device, a scattering separating device, a single-piece separating device and a visual identifying device which are sequentially connected along the conveying direction.
As described above, although the prior application can replace the front-end manual feeding operation and rapidly disperse the pull distance for a large number of packages to achieve the directional arrangement and arrangement of package queues, the prior application lacks countermeasures for random stop line under the conditions of full load, congestion or abnormality existing in real time in the transfer line when the subsequent feeding is conducted. The following disadvantages mainly exist: 1. the solution of rapid flow regulation according to real-time conveying conditions is lacking among a plurality of conveying lines butted with different feeding inlets, so that the condition that the plurality of conveying lines simultaneously stably and efficiently maintain a full-load running state is difficult to ensure, and the overall feeding operation efficiency needs to be further improved; 2. if the speed of the rear-end leading-in feeding part is obviously reduced to cause the congestion of the conveying line, the phenomenon of part following or accumulation is directly caused by untimely treatment, and the prior art lacks a solution to the problems. Generally, after the phenomenon of part following or stacking, manual intervention or direct line stopping treatment is carried out, the overall sorting and flow adjusting efficiency is low, and the requirements of automatic part feeding operation and treatment of large-batch package are difficult to deal with; 3. when the abnormal condition occurs at the position of the leading-in upper part, the prior art is to stop all conveying lines and return all packages which are not sorted to the initial end, and the separating and arranging operation is carried out again after the faults are removed, so that the problems of time and labor waste, stack formation in package queues and the like are easily caused, and unnecessary additional workload is brought to subsequent processing.
In view of this, the present patent application is specifically filed.
Disclosure of Invention
The invention discloses a fully-automatic import and delivery flow control method, which aims to solve the problems in the prior art, adopts a dynamic flow control method combining full-queue package memory transportation and flow operation, achieves and maintains full-load operation of a plurality of transportation lines step by step, and adjusts package distribution direction, interval and transportation speed in real time according to flow change, thereby realizing the solution of no manual intervention and full-automatic flow control before import and delivery.
In order to achieve the above design objective, the fully automatic guiding and feeding flow control method establishes statistical data and real-time position information for sorting for each package in a conveying queue through visual identification results, and obtains feeding state of each guiding device by combining with conveying interval change results mapping of any adjacent front and rear 2 packages so as to adjust start, stop and flow adjustment directions of sorting devices and conveying equipment on each conveying line, and uniformly monitors and adjusts conveying direction and speed of each package on each conveying line.
The flow regulating control method comprises the following implementation steps:
stage one, separation
The piled packages enter a scattering separation device to be transversely dispersed and longitudinally pulled to be arranged into a discrete package array, and the distance between any two adjacent front and rear packages along the conveying direction is not smaller than a set value;
Stage two, detection
The parcels enter an abnormal piece detection device, the visual recognition device shoots and recognizes the parcels one by one, and coordinate data of each parcel are obtained to correspondingly generate the three-dimensional size and the real-time position coordinates of the edge of the parcel image; judging whether the abnormal parts belong to the abnormal parts or not based on the image recognition result, and marking the abnormal parts such as the overlapped parts; sequentially numbering and counting the number of normal packages one by one;
stage three, splitting
Removing the packages detected and marked as abnormal parts from the conveying lines on the first sorting device, and dividing the normal parts according to the quantity of leading-in devices connected with each conveying line in proportion;
the first sorting device outputs the packages to the package queue of each conveying line, and the interval between any two adjacent packages is not smaller than a set value;
stage four, flow regulation
The photoelectric detection device detects the real-time interval between the front and rear adjacent 2 packages conveyed on each group of narrow belt conveyors;
when the distance is smaller than the set value, stopping the operation of the narrow belt conveyor where the next package is positioned until the distance between the front and rear adjacent packages is not smaller than the set value;
when all the narrow belt conveyors forming the conveying line stop running, the first sorting device stops diverting packages to the conveying line;
Stage five, leading in the upper part
The packages enter the cross-belt sorter through an infeed device.
Further, in the first stage and the separation process, packages enter a scattering separation device from a discharging end, and under the control of a scattering separation PLC, a belt conveyor arranged in a divergent state and a plurality of belt conveyors arranged in a matrix along the conveying direction are driven by respective servo motors to operate, so that piled packages can be dispersed, transversely and longitudinally pulled to gradually form a conveying array in a discrete state; the visual recognition controller recognizes information recognition data including three-dimensional size and real-time position coordinates of each package through the 3D camera so as to recognize each package and the distance between each package and the adjacent package; the packages enter a belt conveyor matrix, and the conveying speed of the belt conveyor in the area is differentially regulated so as to regulate the distance between adjacent 2 packages along the conveying direction to a set value.
Further, in the second stage and the detection process, the number given to the normal package based on the image recognition result is effective in the whole flow adjustment process, and the number is used as the identity information of the package and is sent to the first sorting device PLC along with other image recognition information.
Further, in the third stage and the splitting process, the first sorting device is connected with 2 first conveying lines and 2 second conveying lines which are independently conveyed through the splitting and edge guiding device; the proportion of the first sorting device to distribute packages is determined according to the number of the leading-in devices connected with each conveying line under the condition that the first conveying line and the second conveying line are not stopped.
Further, in the third stage and the dividing process, according to the distribution proportion of the first sorting device, the package queue alternatively enters one of 2 groups of parallel-arranged roller machines of the dividing and edge-leaning device, packages obliquely move to the outer side edge of the roller machine along the running direction of the roller, and the edge-leaning belt machine connected with the outer edge of the roller machine is pulled to be positive so as to adjust the outer edge of the packages to be parallel to the conveying direction.
Further, in the fourth stage and in the flow regulating process, the judging condition of whether the conveying line is in a full-load state is that all the narrow belt conveyors forming the first conveying line or the second conveying line stop running; the generation condition of stopping the narrow belt conveyor is that the distance between 2 adjacent packages conveyed on the narrow belt conveyor along the conveying direction is smaller than a set value.
Further, in the fourth stage and in the flow regulating process, a conveyor line PLC regulates the belt start-stop state and the running speed of the narrow belt conveyor through a conveyor line servo driver; a photoelectric detection device is arranged along the conveying direction of each group of narrow belt conveyors so as to detect and monitor the coordinate data of all real-time conveying packages on each conveying line and the position information of adjacent intervals; the photoelectric detection controller detects the position and the front-back distance of the package on the conveying belt through the photoelectric detection device, detection data are sent to the conveying line PLC and the upper computer, and therefore monitoring data of the conveying speed, the real-time position and the front-back distance of all packages on the first conveying line and the second conveying line are established.
Further, the real-time conveying distance of the adjacent 2 packages can be calculated by combining the belt running speed through the time interval that the front and rear 2 packages sequentially pass through the same group of photoelectric detection devices; the upper computer compares the real-time conveying interval with a set value and can judge whether the conveying line is in a full-load state or not;
the calculation formula of the set value is as follows,
set value = (conveyor line speed (m/s) × lead-in station throughput (s/s))/number of feed stations) × 80%
When partial conveying lines are fully loaded, only the rest conveying lines can be used for conveying, correspondingly, the current conveying distance should be increased, the adjusted distance calculation formula is as follows,
the adjusted pitch=the previous pitch (set value) ×the total number of lead-in stations/the number of lead-in stations corresponding to the underloaded conveyor line.
In summary, the full-automatic import and upload flow control method has the following advantages:
1. according to the automatic direction-selecting and flow-regulating scheme, after the queue package is managed, the package flow-dividing direction, the package spacing and the package conveying speed are dynamically regulated according to the flow on the basis of guaranteeing the follow-up guiding and loading speed and the full-load operation, and the automation degree and the loading guiding efficiency are high.
2. According to the method, various detection means, detection data and package binding are implemented in the flow regulating process, the information traceable processing mode of the flow regulating whole process is realized, the flow regulating task can be temporarily changed aiming at the speed reduction and the shutdown of one or a plurality of conveying lines, and the problems that the normal package flows back to cause the re-occurrence of stacked packages and the operation efficiency is low due to the re-detection and the flow regulating are avoided.
3. According to the method and the device, various subsequent leading-in and feeding abnormal conditions can be dealt with, a quick change flow regulating task or a solving means for closing and conveying a conveying area can be adopted timely according to the change of the package conveying speed and the interval, the problem of congestion of a rear-end feeding link can be effectively solved, and the stability and high-speed operation of the whole leading-in and feeding operation are guaranteed.
4. The utility model discloses a flow problem is transferred to many transfer chain that have different supplies entry, satisfies many transfer chain simultaneously and stably high-efficient maintenance full-load operation, and parcel flow regulating task is realized in a flexible way fast, can solve the leading-in full-automatic operation demand of going up of big parcel in batches.
5. According to the method and the device, the phenomenon of piece following or accumulation can be avoided, manual intervention or direct line stopping processing is not needed, the interrupted flow regulating task can be immediately implemented according to the previous detection data after the fault is eliminated, the whole process of a processing mechanism is controlled, and the automation level is high.
Drawings
The invention will now be further described with reference to the following drawings.
FIG. 1 is a schematic structural diagram of a fully automatic lead-in top-level flow regulating system according to the present application;
FIG. 2-1 is a schematic illustration of a dispersion and single piece separation device;
FIG. 2-2 is a schematic illustration of a dispersion and single piece separation process;
FIGS. 2-3 are schematic diagrams of the visual identification of package information by the visual identification device;
FIGS. 3-1 and 3-2 are schematic diagrams of stack inspection and identification, respectively;
fig. 4 is a schematic view of the structure of the first sorting apparatus;
FIG. 5 is a schematic view illustrating the connection between the abnormal part detecting device, the first sorting device, and the split and side device;
FIG. 6 is a schematic plan view of the first conveyor line;
FIG. 7 is a schematic diagram of a narrow belt conveyor and a photo detection device;
FIG. 8 is a control schematic diagram of the fully automatic lead-in top-level flow regulating system described herein;
FIG. 9 is a flow diagram of a method of tuning flow control;
FIG. 10 is a schematic illustration of a front-to-back parcel spacing measurement;
fig. 11 is a PLC control flow diagram of the first sorting apparatus;
FIG. 12 is a PLC control flow diagram of the second sorting apparatus;
in the above figures, a scattering separator 1, an abnormal part detector 2, a first sorter 3, a split and edge device 4, a first conveyor line 5, a second conveyor line 6, an introduction device 7, a second sorter 8, a narrow belt conveyor 9, a cross-belt sorter 10, and a photodetector 11;
sorting module 30, balance wheel unit 31, servo motor 32, roller 33, and edge belt 34;
a visual recognition device 50, a 3D camera 51;
a photoelectric transmitting end 91 and a photoelectric receiving end 92.
Detailed Description
In the embodiment 1, as shown in fig. 1, a full-automatic leading-in upper part flow regulating system described in the application is connected to the front end of a cross-belt sorter 10 along the conveying direction, and comprises a scattering separation device 1, an abnormal part detection device 2, a first sorting device 3, a splitting and edge guiding device 4, a first conveying line 5 and a second conveying line 6, and leading-in devices 7 are connected to the tail ends of the first conveying line 5 and the second conveying line 6;
wherein, a second sorting device 8 is arranged on the first conveying line 5, and a group of leading-in devices 7 are connected to the side part of the second sorting device 8;
the first conveying line 5 and the second conveying line 6 respectively comprise a plurality of groups of narrow belt conveyors 9 which are connected in series, and a photoelectric detection device 11 is arranged in the vertical direction of each group of narrow belt conveyors 9;
as shown in fig. 2-1 to 2-3, the scattering separator device 1 is connected to a discharge end, and the discharged piled packages are preliminarily sorted into a package array in a discrete state by being dispersed and pulled by the scattering separator device 1. The distance between the front and back packages along the conveying direction is equal (such as the distance is not less than 600 mm).
And the intervals of the adjacent 2 packages along the conveying direction and the front and back are equal in the package array entering the abnormal piece detection device 2, for example, the interval is 600mm.
The scattering separation device 1 comprises a plurality of belt conveyors which are arranged in parallel along the conveying direction and in a divergent state, and a plurality of belt conveyors which are arranged in a matrix along the conveying direction; each belt conveyor is driven by an independent servo motor, and the start-stop state and the conveying speed of each belt conveyor can be controlled;
the visual recognition device 50 is arranged vertically above the belt conveyors arranged in a matrix, and the visual recognition device 50 comprises a plurality of 3D cameras 51,3D, and the cameras 51 are installed vertically downwards along the package conveying direction.
The batch packages entering the scattering separation device 1 from the unloading end are firstly scattered along the extending included angle between the belt and the conveying direction, namely, adjacent packages are separated at different intervals along the transverse direction; the packages then enter a matrix belt conveyor, and each package is information identified using a visual identification device 50 to obtain three-dimensional size and real-time location coordinate data. During this period, the conveying speed of the front row area in the belt conveyor matrix is gradually increased, so that the longitudinal distance between the front and rear packages is increased; finally, the packages enter a rear-row area in the belt conveyor matrix, and the conveying speed of the belt conveyor in the area where the packages are located is adjusted according to a sorting rule, so that the longitudinal spacing between the front adjacent 2 packages and the rear adjacent 2 packages along the conveying direction is adjusted to a set value, namely, the spacing between the front packages and the rear packages is equal, and the spacing is 600mm.
Specifically, the visual recognition device 50 screens out the outermost peripheral edge information when recognizing information of each package, so as to correspondingly generate three-dimensional size and real-time position coordinate data. Specifically, the upper left corner of the outermost peripheral edge of the calibration package is the origin, the conveying direction is the X axis, and the vertical direction is the Y axis, so that the front row area of the belt conveyor matrix forms a coordinate system. The 3D camera 51 of the visual recognition device 50 can recognize real-time coordinates of any point in the coordinate system and size information of the outermost peripheral edge of the package. The method comprises the steps of calculating the length L and the width W of the outermost peripheral edge of the package by using the coordinates U1, U2, U3 and U4 of the center coordinates and four vertex angles of the package, and further identifying the distance between the first package and the second package in real time.
The distance between the first package and the second package is correspondingly adjusted by adjusting the conveying speed of the belt conveyor on the travelling routes of the first package and the second package; the common solution is that the second package at the front continues to be conveyed forward at the original speed, and the belt conveyor where the first package is located stops running, and the interval between the first package and the second package is continuously increased; when the distance between the first package and the second package is detected to reach 600mm, starting up the belt conveyor where the first package is positioned, and maintaining the same conveying speed as the belt conveyor where the second package is positioned, so that the distance between the first package and the second package is maintained unchanged at 600 mm; continuously, sequentially adjusting the position of a third package in the package queue, the start-stop state of the belt conveyor and the conveying speed according to the position and the current speed of the second package so as to keep the distance between the second package and the third package unchanged at 600 mm; the intervals of other adjacent 2 packages in the package queue are adjusted one by one in the pushing process, so that the batches of packages are continuously and sequentially adjusted into the queue with equal front-back intervals, and the packages enter the abnormal part detection device 2 orderly.
As shown in fig. 2-1 to 2-3, an array of visual recognition devices 50 is provided in the vertical direction of the abnormal piece detection device 2, and the visual recognition devices 50 include a plurality of 3D cameras 51,3D mounted with the cameras 51 vertically downward in the package conveying direction.
Using the visual recognition device 50 to take a photograph of all packages one by one in the detection area, and obtaining coordinate data of each package to correspondingly generate the three-dimensional size and real-time position coordinates of the package image edge; judging whether abnormal parts such as stacked parts exist or not based on the image recognition result, and marking the abnormal parts such as stacked parts; meanwhile, the normal parts are sequentially numbered one by one to count the number; all package information generated in the image recognition stage is sent to the PLC of the first sorting device 3;
in the above steps, the upper left corner of the abnormal part detection device 2 is calibrated as the origin of coordinates, the conveying direction is the X axis, and the vertical direction is the Y axis, so that a coordinate system is constructed, wherein each package can acquire the specific three-dimensional size (including volume) of the outermost peripheral image, coordinate data and the positional relationship between adjacent packages, thereby determining the distance between the adjacent packages, finally finishing abnormal part detection and marking, and providing a judgment basis for realizing sorting flow adjustment of the packages.
The visual recognition device 50 performs edge detection on the package image, and screens out the outermost peripheral edge information of the package to correspondingly generate three-dimensional size and position coordinate information, wherein the visual range of the 3D camera 51 is a rectangular area of 1000mm along the X axis and 1560mm along the Y axis, and a plurality of delivered packages can be photographed and recognized in the area at the same time.
The definition for a normal parcel is as follows: the package is cuboid, and the vertical height of the same package is within 3 mm; the spacing between two adjacent packages should be no less than 600mm.
As can be judged from fig. 3-1, the 2 packages entering the 3D camera 51 detection field of view have 4 vertex angles, i.e., are rectangular; according to the coordinate data of 4 vertex angles of each 2 packages, for example, the four vertex angle coordinate data of the outermost peripheral edge of the first package are U11, U12, U13 and U14 respectively, the four vertex angle coordinate data of the outermost peripheral edge of the second package are U21, U22, U23 and U24 respectively, the numerical value point with the smallest X axis in the coordinate points of the second package in front and the coordinate point with the largest X axis in the first package in back are selected for data comparison, namely L= |X21-X14|. As shown in the figure, the interval L > =600 mm between the first package and the second package, and the interval of the 2 packages is judged to be normal, and each package is a normal piece. The two packages are individually numbered sequentially to count the total number of packages counted for all units of delivery time.
As shown in fig. 3-2, in the example of the abnormal part shown in fig. 3-2, when 2 adjacent packages are in a stacked state, that is, the difference L <600 between the maximum value points of the X axis in the coordinate points of the first package and the second package, the distance between the two packages is judged to be too small, the 2 packages are directly marked as stacked parts, that is, the abnormal parts, the marks are simultaneously sent to the PLC of the first sorting device 3, and when the 2 subsequent packages reach the first sorting device 3, the packages are removed through the swing and rotation of the balance wheel unit 31.
Other anomalies, for example non-rectangular packages such as polygonal, cylindrical, circular, etc., with more or less than 4 top corners, vertical heights greater than 3mm, etc., are uniform and marked and subjected to a subsequent reject treatment by the first sorting device 3.
As shown in fig. 4, the first sorting device 3 adopts a balance sorting machine, which is provided with a plurality of groups of sorting modules 30 distributed in rows and columns, each group of sorting modules 30 is provided with a plurality of balance units 31 arranged in a queue, and each group of sorting modules 30 is driven by a single servo motor 32 so as to uniformly control the swinging angle and speed of the balance units 31.
For the package which is photographed and identified on the abnormal part detection device 2 and marked as the abnormal part, the PLC sends an instruction to the servo motors 32 corresponding to all groups of sorting modules 30 in the area where the abnormal part is located, and all balance units 31 in the group are driven to swing through the servo motors 32. If the swing angle is 45 degrees from the initial state, the swing speed is adjusted to the maximum value of the preset value range, so that abnormal parts are removed from the first sorting device 3 and are manually interfered.
As shown in fig. 1 and 5, the abnormal part detecting device 2, the first sorting device 3, the split-flow and edge-leaning device 4 are connected in series, the first sorting device 3 is connected with 2 belt conveying lines, namely a first conveying line 5 and a second conveying line 6, which are independently conveyed, through the split-flow and edge-leaning device 4, and normal parts led out from the first sorting device 3 are divided into different conveying directions on the split-flow and edge-leaning device 4 and alternatively enter the first conveying line 5 or the second conveying line 6.
The splitting and leaning device 4 is provided with 2 groups of independently conveyed roller machines 33 and is arranged in parallel along the transverse direction, normal parts led out from the first sorting device 3 are wrapped into one group of the 2 groups of roller machines 33, the rollers of each group of roller machines 33 are obliquely arranged at the outer side edge, the leaning belt machine 34 is arranged at the outer side edge of each group of roller machines 33, the belt extending direction of the leaning belt machine 34 is kept parallel to the conveying direction of the first conveying line 5 or the second conveying line 6, and the belt running speed of the leaning belt machine 34 is 1.5 times of the conveying speed of the roller machines 33.
The package entering the roller machine 33 of the distributing and leaning device 4 from the first sorting device 3 is continuously close to the leaning belt machine 34 along the oblique direction of the roller, when the package reaches the belt of the leaning belt machine 34, the outer side edge of the package is pulled and straightened due to the influence of the speed difference between the belt and the roller, namely, the outer edge of the package is adjusted to be parallel to the conveying direction, so that the information scanning and identification aiming at the bar code and the gesture control during the subsequent introduction into the cross belt sorting machine 10 are convenient.
An abnormal piece detecting device 2 located at the front end of the first sorting device 3 performs identification marking for each package by a visual identifying device 50. For the three-dimensional size and position coordinate information of normal packages, the three-dimensional size and position coordinate information of the normal packages are sent to the PLC of the first sorting device 3 by the visual identification device 50, the PLC compares and analyzes the real-time position information of each package with the full-load information of the first conveying line 5 and the second conveying line 6, and the PLC controls the swinging angle of each group of balance units 31 to sort the packages to the designated conveying line.
Specifically, the corresponding end of the first conveying line 5 is connected with 2 leading-in devices 7, and the corresponding end of the second conveying line 6 is connected with 1 leading-in device 7; in order to ensure that sufficient packages continuously enter the cross-belt sorter 10, the first sorting device PLC controls the direction and angle of balance wheel swing through its sorting module servo driver according to whether the first and second conveyor lines 5, 6 are in a full-load state, so as to alternately divert normal packages for the first and second conveyor lines 5, 6. The proportion of normal parcel split is determined by the number of partial introduction devices 7 corresponding to the conveyor line.
When the first conveying line 5 and the second conveying line 6 are correspondingly connected with 3 leading-in devices 7 which are not fully loaded, the parcel split ratio is 2:1, a step of;
When the 1 leading-in device 7 correspondingly connected with the first conveying line 5 is fully loaded, the parcel split ratio is 1:1, a step of;
when the first conveying line 5 and the second conveying line 6 are correspondingly connected with the 3 leading-in devices 7, the first sorting device PLC controls the balance wheel to stop swinging and shunting through the sorting module servo driver, and meanwhile, the scattering separation device 1 and the abnormal part detection device 2 at the front end of the first sorting device 3 also stop running.
As shown in fig. 1 and 6, a second sorting device 8 is provided on the first conveyor line 5, and the second sorting device 8 and the first sorting device 3 adopt a balance sorter of the same structure. The front end and the rear end of the second sorting device 8 are connected with narrow belt conveyors 9 in series, a photoelectric detection device 11 is arranged in the vertical direction of each group of narrow belt conveyors 9, and a group of introduction devices 7 are connected to the side part of the second sorting device 8.
The packages entering the second sorting device 8 from the front end narrow belt conveyor 9 are transported in a selectable direction to the rear end narrow belt conveyor 9 until they are directed into the cross-belt sorter 10 by the end introduction device 7 or directly into the cross-belt sorter 10 by the lateral introduction device 7.
Specifically, the adjustment of the swing direction is that the servo motor 32 of the second sorting device 8 drives the balance wheel units 31 of the group of the sorting modules 30, the swing angle of the balance wheel units 31 of each group of the sorting modules 30 is different to determine that the packages enter different devices, for example, the packages enter the leading-in device 7 from the second sorting device 8 when the balance wheel units 31 swing for 45 degrees, and the packages enter the narrow belt conveyor 9 at the rear end from the second sorting device 8 to continue to be conveyed when the balance wheel units 31 do not swing (namely, the swing angle is 0 degrees).
The second sorting device 8 selects different swinging directions based on the conveying states of the rear-end packages along different conveying channels (the narrow belt conveyor 9 at the rear end or the lateral guiding device 7), and when all 2 conveying channels are not fully loaded, the second sorting device 8 alternately and continuously swings 0 degrees and 45 degrees; when a certain conveyor channel is full, the second sorting device 8 is only continuously swung towards the channel that is not full; when the 2 conveying channels are fully loaded, the second sorting device 8 stops working; when the second sorting device 8 stops sorting, the narrow belt conveyor 9 at its front end also stops running.
As shown in fig. 1 and 7, the narrow belt conveyors 9 are disposed in the first conveyor line 5 and the second conveyor line 6, each set of narrow belt conveyors 9 is configured with a separately driven servo motor, and the start-stop state of the narrow belt conveyors 9 and the forward conveying speed of the belt are controlled by the servo motor.
The photoelectric detection devices 11 are arranged along the conveying direction, the photoelectric detection devices 11 are erected and fixed along the vertical direction of the conveying belt, each group of photoelectric detection devices 11 comprises a plurality of photoelectric emission ends 91 and photoelectric receiving ends 92, and each pair of photoelectric emission ends 91 and photoelectric receiving ends 92 are correspondingly arranged in the vertical direction of the adjacent belt gaps so as to establish vertical detection area marginal lines by utilizing the gaps of the adjacent belts.
In each group of photodetection devices 11, the distance between adjacent 2 pairs of photodetection ends 91 and photodetection ends 92 is smaller than the minimum side length dimension of the minimum package. Therefore, even for the package with the smallest volume, when any part thereof blocks the photoelectric rays between any one group of the photoelectric emitting end 91 and the photoelectric receiving end 92, a detection signal can be generated, and the detection signal is directly transmitted to the first sorting device PLC or the PLC of the second sorting device 8.
As shown in fig. 10, the packages a and B on the same set of narrow belt conveyors 9 pass through the same set of photodetection devices 11 one after the other, respectively, because the belt conveying speeds of the same set of narrow belt conveyors 9 are the same, i.e., the packages a and B are conveyed forward at the same speed.
The front-back distance between the package A and the package B can be calculated by detecting the time interval when 2 packages pass through in sequence at different moments in the same group of photoelectric detection devices 11 and multiplying the conveying speed.
Based on the detection results of the photoelectric detection devices 11 on all the narrow belt conveyors 9 on the first conveying line 5 and the second conveying line 6, the full-flow full-load state monitoring and judging basis from the first sorting device 3 to the first conveying line 5 and the second conveying line 6 to the leading-in device 7 can be established.
Through the photoelectric detection principle, the coordinate data and the interval information of all packages are detected simultaneously, so that a whole process and an automatic control basis are provided for the guiding and feeding flow regulating method, and flow regulating control can be comprehensively implemented through the first sorting device 3 and the second sorting device 8.
As shown in FIG. 8, the application control module of the full-automatic lead-in flow regulating system comprises an upper computer, a PLC, a visual identification controller, a photoelectric detection controller, a servo driver and other modules. In the control communication of the whole guiding and feeding part flow regulating process, the upper computer, the visual identification controller and the photoelectric detection controller send instructions to the PLC, and the PLC sends instructions to the relevant servo drivers so as to control each conveying device to run at corresponding speed, direction and angle.
Specifically, the packages enter a scattering separation device 1 from a discharging end, and under the control of a scattering separation PLC, belt conveyors arranged in a divergent state and belt conveyors arranged in a matrix along the conveying direction are driven by respective servo motors to convey the packages forwards at different speeds; the piled packages are dispersed and pulled by the scattering separation device 1 to be primarily arranged into a discrete package array, and then enter the abnormal part detection device 2. In this stage, the vision recognition controller recognizes data of information including three-dimensional size and real-time position coordinates of each package through the 3D camera 51, and controls the conveyor speed of the conveyor in the matrix area where the front and rear adjacent 2 packages are located by the scattering separation PLC so as to adjust the interval between the adjacent 2 packages to a set value and keep unchanged. And the identification information of all packages in the array is sent to the first sorting device PLC through the upper computer.
According to the real-time position coordinate data in the package array, when packages enter the abnormal part detection device 2, the abnormal part detection belt conveyor frequency converter controls the start-stop and running speed of the belt conveyor so as to convey all packages to the first sorting device 3; in this stage, the visual recognition controller performs photographing recognition on the packages one by one through the 3D camera 51, so as to determine whether abnormal parts such as stacked parts exist based on the image recognition result, and meanwhile, sequentially numbers normal parts one by one to perform quantity statistics, and all package information generated in the image recognition stage is sent to the first sorting device PLC.
After the package enters the first sorting device 3, the first sorting device PLC controls a servo driver of the sorting module of the first sorting device to adjust the swinging angle and speed of the balance wheel unit 31. For the abnormal parts, all the sorting modules 30 in the area where the abnormal parts are located sequentially swing 45 degrees, the swing speed is adjusted to a preset maximum value, and the abnormal parts are removed from the first sorting device 3; for normal parts, according to the real-time load conditions of the first conveying line 5 and the second conveying line 6 sent by the upper computer, different swinging angles of the balance wheel unit 31 are adjusted so as to send the normal parts into the 2 groups of independently conveyed roller machines 33 of the splitting and edging device 4.
The diverting and edging device servo drive controls the running speed of the roller machine 33, packages are conveyed to the edging belt machine 34 by means of rollers arranged obliquely to the outer edges, obvious speed differences exist between the edging belt and the rollers, and the packages are horizontally pulled and straightened transversely to be arranged into single-row horizontal queues one by one and finally enter the first conveying line 5 or the second conveying line 6.
In the above stage, the upper computer respectively controls the first sorting device sorting module servo driver and the splitting and edging device servo driver through the first sorting device PLC, and the conveying speeds of the first sorting device 3 and the roller machine 33 and the edging belt machine 34 in the splitting and edging device 4 are kept to be changed in equal proportion, so that the front-back distance is kept unchanged when the package queue enters the first sorting device PLC and the package queue enters the first conveying line 5 or the second conveying line 6 from the first sorting device PLC, for example, the package queue is not less than 600mm.
The first conveying line 5 and the second conveying line 6 are formed by connecting a plurality of groups of narrow belt conveyors 9, and the start-stop state and the conveying speed of each group of narrow belt conveyors 9 are regulated by a conveying line PLC through a conveying line servo driver.
The photoelectric detection controller detects real-time coordinate positions of packages conveyed on the belt through the photoelectric detection device 11 to generate interval detection results of any 2 front-back packages, and the detection results are sent to the conveying line PLC and the upper computer to control instruction output of the servo driver of the second sorting device, and finally. The angle and speed at which the balance wheel unit 31 of the second sorting device 8 swings are adjusted.
Therefore, the monitoring and adjustment of the conveying speed, the real-time position and the front-back distance of all the package queues on the first conveying line 5 and the second conveying line 6 are established, and decision basis is provided for an upper computer to control the direction of package conveying, the start-stop state and the running speed of a plurality of groups of narrow belt conveyors 9, and the start-stop state and the swing angle of the second sorting device 8.
The second sorting device 8 swings the packages to different conveying channels according to the full load state or the no load state of the 2 groups of introducing devices 7 connected with the tail end of the first conveying line 5 under the control of the conveying line PLC and the servo driver of the second sorting device.
As shown in fig. 9, the application of the fully automatic import and upload flow control system designed by the above scheme provides the following fully automatic import and upload flow control method:
and establishing statistical data and real-time position information for sorting according to the visual identification result aiming at each package in the conveying queue, and mapping by combining conveying interval change results of any adjacent front and rear 2 packages to obtain the loading state of each leading-in device so as to adjust the start-stop and flow-regulating directions of the sorting devices and conveying equipment on each conveying line and uniformly realize the monitoring and regulation of the conveying direction and speed of each package on each conveying line.
Specifically, the full-automatic import and uploading flow regulating method comprises the following implementation steps:
stage one, separation
The piled packages enter a scattering separation device 1 to be transversely dispersed and longitudinally pulled to be arranged into a discrete package array, and the distance between any two adjacent front and rear packages along the conveying direction is not smaller than a set value;
stage two, detection
The parcels enter the abnormal piece detection device 2, the visual recognition device 50 shoots and recognizes the parcels one by one, and coordinate data of each parcel are obtained to correspondingly generate the three-dimensional size and the real-time position coordinates of the edge of the parcel image; judging whether the abnormal parts belong to the abnormal parts or not based on the image recognition result, and marking the abnormal parts such as the overlapped parts; sequentially numbering and counting the number of normal packages one by one;
stage three, splitting
Removing the packages detected and marked as abnormal parts from the conveying lines on the first sorting device 3, and dividing the normal parts according to the number of leading-in devices connected with each conveying line in proportion;
the package queues output from the first sorting device 3 to each conveying line, and the interval between any two adjacent packages is not smaller than a set value;
stage four, flow regulation
The photoelectric detection device 11 detects the real-time spacing of the front and rear adjacent 2 packages conveyed on each group of narrow belt conveyors 9;
When the distance is smaller than the set value, stopping the operation of the narrow belt conveyor 9 where the next package is positioned until the distance between the front and rear adjacent 2 packages is not smaller than the set value;
when all the narrow belt conveyors 9 constituting the conveyor line are stopped, the first sorting device 3 stops diverting packages to the conveyor line;
stage five, leading in the upper part
The packages pass through the infeed device 7 into the cross-belt sorter 10.
Specifically, in the first stage and the separation process, packages enter the scattering separation device 1 from the unloading end, and under the control of the scattering separation PLC, belt conveyors arranged in a divergent state and a plurality of belt conveyors arranged in a matrix along the conveying direction are driven by respective servo motors to operate, and the operation speeds of the adjacent belt conveyors are different, so that stacked packages can be dispersed, and the stacks are transversely and longitudinally pulled to gradually form a conveying array in a discrete state; the vision recognition controller recognizes information recognition data including three-dimensional size and real-time position coordinates for each package through the 3D camera 51 to recognize each package and a distance between each package and an adjacent package; the packages enter the belt conveyor matrix, and the conveying speed of the belt conveyor in the area is differentially regulated so as to regulate the distance between the adjacent 2 packages along the conveying direction to a set value, such as 600mm.
Further, in the second stage and the detection process, the number given to the normal package based on the image recognition result is effective in the whole flow adjustment process, and the number is used as the identity information of the package and is sent to the first sorting device PLC along with other image recognition information.
Further, in the third and the third stage, the first sorting device 3 is connected with the 2 first and the second conveying lines 5 and 6 which are independently conveyed through the splitting and the edge leaning device 4;
in the case where neither the first conveyor line 5 nor the second conveyor line 6 is stopped (i.e. fully loaded), the proportion of packages distributed by the first sorting device 3 is determined according to the number of introduction devices 7 connected to each conveyor line;
in this embodiment, the package distribution ratio of the first conveyor line 5 and the second conveyor line 6 is 2:1, namely, firstly, distributing 2 packages to a first conveying line 5, and then distributing 1 package to a second conveying line 6, so as to circularly and alternately;
when the first conveyor line 5 or the second conveyor line 6 is stopped (i.e. fully loaded), the first sorting device 3 diverts packages only to the not fully loaded conveyor lines;
when both the first conveyor line 5 and the second conveyor line 6 are stopped (i.e. are all fully loaded), the first sorting device 3 stops parcel diversion; at the same time, the scattering separation device 1 and the abnormal part detection device 2 located at the front end of the first sorting device 3 stop operating, and the image recognition result and the information data which have been photographed and recognized by the visual recognition device 50 are saved for continued use when the equipment is restarted.
Further, in the third stage and the dividing process, according to the distribution ratio of the first sorting device 3, the package queue alternatively enters one of the 2 sets of parallel-arranged rollers 33 of the dividing and edge-leaning device 4, the package moves to the outer side edge of the roller 33 along the running direction of the roller in an inclined manner, and is pulled and straightened by the edge-leaning belt 34 connected with the outer edge of the roller 33 to adjust the outer edge of the package to be parallel to the conveying direction.
The belt running speed of the side belt conveyor 34 is 1.5 times of the conveying speed of the roller machine 33, and the speed difference between the side belt conveyor 34 can level and level the package gesture, so that the bar codes on the package can be conveniently scanned and identified later, and the gesture control during the subsequent introduction of the cross-belt sorter 10 is facilitated. At this stage, the spacing between adjacent 2 packages in the conveying direction is still not less than the set value.
As shown in fig. 6, 7 and 10, in the above-mentioned stage four and flow regulating process, the condition for judging whether the conveyor line is in the full load state is that all the narrow belt conveyors 9 constituting the first conveyor line 5 or the second conveyor line 6 stop running. The condition for stopping the narrow belt conveyor 9 is that the distance between the adjacent 2 packages transported thereon in the transport direction is smaller than a set value (e.g., 600 mm).
When all the narrow belt conveyors 9 are stopped, it is explained that the introduction device 7 has not been able to normally introduce packages into the cross-belt sorter 10, and that the packages continue into the conveyor line only to cause an increase in the congestion. When the abnormal condition at the leading-in device 7 is eliminated, the distance between the adjacent packages from the back to the front is increased one by one after the treatment of the accumulated packages is finished, and once the distance is not smaller than the set value, the narrow belt conveyor 9 is restarted, and the package conveying is restored.
A second sorting device 8 is arranged on the first conveying line 5, the second sorting device 8 is respectively connected with a narrow belt conveyor 9 and/or an introduction device 7, and the swinging direction of the balance wheel unit is controlled to select the flow regulating direction of the package; the second sorting device 8 swings the packages to different conveying channels according to the full state of the first conveying line 5 or not under the control of the conveying line PLC and the servo driver of the second sorting device.
Further, in the fourth stage and in the flow regulating process, a plurality of groups of narrow belt conveyors 9 are arranged on the first conveying line 5 and the second conveying line 6, and the belt start-stop state and the running speed of the narrow belt conveyors 9 are regulated by the conveying line PLC through the conveying line servo driver.
The photoelectric detection devices 11 are arranged along the conveying direction of each group of narrow belt conveyors 9, and can detect and monitor the coordinate data of all real-time conveyed packages on each conveying line and the position information of adjacent intervals.
The photoelectric detection controller detects the position and the front-back distance of the package on the conveying belt through the photoelectric detection device 11, detection data are sent to the conveying line PLC and the upper computer, so that monitoring data of the conveying speed, the real-time position and the front-back distance of all packages on the first conveying line 5 and the second conveying line 6 are established, and decision basis is provided for the upper computer to control the package queue flow regulating direction, the start-stop state and the running speed of the narrow belt conveyor 9 and the guide-in upper piece flow regulating scheme including the start-stop state and the swing angle of the second sorting device 8.
The vertical detection area marginal line is established by utilizing the clearance between the adjacent belts, and the distance between the photoelectric transmitting end 91 and the photoelectric receiving end 92 of the adjacent photoelectric detection device 11 and the adjacent photoelectric detection device 2 is smaller than the minimum side length dimension of the minimum package. Even for the package with the smallest volume, when any part of the package shields any group of photoelectric rays between the photoelectric transmitting end 91 and the photoelectric receiving end 92, a detection signal can be generated, and the detection signal is directly sent to the conveying line PLC.
The real-time conveying distance of the adjacent 2 packages can be calculated by combining the belt running speed through the time interval that the front and rear 2 packages sequentially pass through the same group of photoelectric detection devices 11. The upper computer compares the real-time conveying interval with the set value to judge whether the conveying line is in a full-load state.
The calculation formula of the set value is as follows:
set value = (transfer line speed (m/s) lead-in station throughput (s/s))/number of feed stations) 80% assuming, for example, that transfer line speed is 1.5 m/s, lead-in station throughput is 1.5 s/s, number of feed stations is 3, set value should be 1500 x 1.5/3 x 0.8=600 mm.
When partial conveying lines are fully loaded, only the rest conveying lines can be conveyed, and correspondingly, the current conveying distance should be increased. The adjusted spacing may be adjusted as:
the adjusted pitch=the previous pitch (set value) ×the total number of lead-in stations/the number of lead-in stations corresponding to the underloaded conveyor line. Assuming, for example, that the total number of conveyor lines is 3 and the set point is 600 mm, the parcel spacing to be adjusted after the second conveyor line 6 (which corresponds to 1 introduction device 7) is fully loaded=600×3/2=750 mm.
As described above, the conveyor line PLC transmits the result of the judgment of whether the conveyor line is fully loaded and the real-time intervals of any adjacent front and rear 2 packages detected by the photodetection device 11 to the upper computer. The upper computer sends the adjusted interval data to the scattering separation PLC through calculation and comparison so as to adjust the output interval aiming at normal packages, namely, adjust the set value of packages entering the conveying line.
For partial conveyor lines, it is common practice to stop the operation of the full conveyor line in order to solve the congestion or backlog situation at the device to be introduced 7. However, by the control means, the space between the packages on part of the conveying line can be adjusted to reduce the number of pauses of the related equipment, thereby maximizing the efficiency.
In summary, the embodiments presented in connection with the figures are only preferred. It will be obvious to those skilled in the art that other alternative structures which are in accordance with the design concept of the present invention can be directly deduced and are also within the scope of the present invention.
Claims (6)
1. A full-automatic import and delivery flow control method is characterized in that: establishing statistical data and real-time position information for sorting according to the visual identification result for each package in the conveying queue, and mapping the conveying interval change results of any adjacent front and rear 2 packages to obtain the loading state of each leading-in device so as to adjust the start-stop and flow-regulating directions of the sorting devices and conveying equipment on each conveying line and uniformly realize the monitoring and regulation of the conveying direction and speed of each package on each conveying line; comprising the following implementation steps of the method,
Stage one, separation
The piled packages enter a scattering separation device to be transversely dispersed and longitudinally pulled to be arranged into a discrete package array, and the distance between any two adjacent front and rear packages along the conveying direction is not smaller than a set value;
stage two, detection
The parcels enter an abnormal piece detection device, the visual recognition device shoots and recognizes the parcels one by one, and coordinate data of each parcel are obtained to correspondingly generate the three-dimensional size and the real-time position coordinates of the edge of the parcel image; judging whether the abnormal parts belong to the abnormal parts or not based on the image recognition result, and marking the abnormal parts such as the overlapped parts; sequentially numbering and counting the number of normal packages one by one;
stage three, splitting
Removing the packages detected and marked as abnormal parts from the conveying lines on the first sorting device, and dividing the normal parts according to the quantity of leading-in devices connected with each conveying line in proportion;
the first sorting device outputs the packages to the package queue of each conveying line, and the interval between any two adjacent packages is not smaller than a set value;
stage four, flow regulation
The photoelectric detection device detects the real-time interval between the front and rear adjacent 2 packages conveyed on each group of narrow belt conveyors;
when the distance is smaller than the set value, stopping the operation of the narrow belt conveyor where the next package is positioned until the distance between the front and rear adjacent packages is not smaller than the set value;
When all the narrow belt conveyors forming the conveying line stop running, the first sorting device stops diverting packages to the conveying line;
the judging condition of whether the conveyor line is in a full-load state is that all the narrow belt conveyors forming the first conveyor line or the second conveyor line stop running; the generation condition of stopping the narrow belt conveyor is that the distance between 2 adjacent packages conveyed on the narrow belt conveyor along the conveying direction is smaller than a set value;
the belt start-stop state and the running speed of the narrow belt conveyor are regulated by a conveyor line PLC through a conveyor line servo driver;
a photoelectric detection device is arranged along the conveying direction of each group of narrow belt conveyors so as to detect and monitor the coordinate data of all real-time conveying packages on each conveying line and the position information of adjacent intervals;
the photoelectric detection controller detects the positions and the front-back intervals of the packages on the conveying belt through the photoelectric detection device, and detection data are sent to the conveying line PLC and the upper computer, so that monitoring data of the conveying speeds, the real-time positions and the front-back intervals of all packages on the first conveying line and the second conveying line are established;
the real-time conveying distance of the adjacent 2 packages can be calculated by combining the belt running speed through the time interval that the front and rear 2 packages sequentially pass through the same group of photoelectric detection devices;
The upper computer compares the real-time conveying interval with a set value and can judge whether the conveying line is in a full-load state or not;
stage five, leading in the upper part
The packages enter the cross-belt sorter through an infeed device.
2. The fully automated import and add-on flow control method of claim 1, wherein: in the first stage and the separation process, packages enter a scattering separation device from a discharging end, and under the control of a scattering separation PLC, a belt conveyor arranged in a divergent state and a plurality of belt conveyors arranged in a matrix along the conveying direction are driven by respective servo motors to operate, so that piled packages can be dispersed, transversely and longitudinally pulled to gradually form a conveying array in a discrete state;
the visual recognition controller recognizes information recognition data including three-dimensional size and real-time position coordinates of each package through the 3D camera so as to recognize each package and the distance between each package and the adjacent package;
the packages enter a belt conveyor matrix, and the conveying speed of the belt conveyor in the area is differentially regulated so as to regulate the distance between adjacent 2 packages along the conveying direction to a set value.
3. The full-automatic import and upload control method of claim 2, wherein: in the second stage and the detection process, the number given to the normal parcel based on the image recognition result is effective in the whole flow regulating process, and the number is used as the identity information of the parcel and is sent to the first sorting device PLC along with other image recognition information.
4. The full-automatic import and upload control method of claim 3, wherein: in the third stage and the shunting process, the first sorting device is connected with 2 first conveying lines and 2 second conveying lines which are independently conveyed through a shunting and edge-leaning device;
the proportion of the first sorting device to distribute packages is determined according to the number of the leading-in devices connected with each conveying line under the condition that the first conveying line and the second conveying line are not stopped.
5. The fully automated import and add-on flow control method of claim 4, wherein: in the third stage and the shunting process, according to the distribution proportion of the first sorting device, the package queue alternatively enters one of 2 groups of roller machines which are arranged in parallel and of the shunting and edge-leaning device, packages obliquely move to the outer side edge of the roller machine along the running direction of the roller, and the edge-leaning belt machine connected with the outer edge of the roller machine is pulled and straightened to adjust the outer edge of the packages to be parallel to the conveying direction.
6. The fully automated import and add-on flow control method of claim 1, wherein: the calculation formula of the set value is as follows,
when the set value = (conveying line speed (meter/second)/(number of pieces on the leading-in table))/number of pieces supplying table) is 80%, and when the partial conveying line is fully loaded, only the rest conveying line can be used for conveying, correspondingly the current conveying distance should be increased, the adjusted distance calculation formula is as follows,
The adjusted pitch=the previous pitch (set value) ×the total number of lead-in stations/the number of lead-in stations corresponding to the underloaded conveyor line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110825169.0A CN113617696B (en) | 2021-07-21 | 2021-07-21 | Full-automatic import and delivery flow control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110825169.0A CN113617696B (en) | 2021-07-21 | 2021-07-21 | Full-automatic import and delivery flow control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113617696A CN113617696A (en) | 2021-11-09 |
| CN113617696B true CN113617696B (en) | 2023-06-09 |
Family
ID=78380604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110825169.0A Active CN113617696B (en) | 2021-07-21 | 2021-07-21 | Full-automatic import and delivery flow control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113617696B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114247652B (en) * | 2021-12-09 | 2024-06-18 | 成都百德邮政专用设备制造有限公司 | Logistics sorting center parcel sorting and queuing system and method thereof |
| CN114715650A (en) * | 2022-03-22 | 2022-07-08 | 西门子（中国）有限公司 | Package separation method, device, system, electronic equipment and computer storage medium |
| CN115540755B (en) * | 2022-09-30 | 2023-10-03 | 哈尔滨科锐同创机模制造有限公司 | Automatic workstation for rapidly detecting workpiece size, measuring system and method |
| CN116161276A (en) * | 2022-12-16 | 2023-05-26 | 珠海格力智能装备有限公司 | Separation palletizing equipment |
| CN117184751B (en) * | 2023-08-31 | 2024-10-01 | 科捷智能科技股份有限公司 | Cross belt automatic feeding system and method thereof |
| CN119715572B (en) * | 2025-02-28 | 2025-05-23 | 苏州赫芯科技有限公司 | Automatic double-sided PCB detection system, method, equipment and medium |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5267638A (en) * | 1989-02-16 | 1993-12-07 | Rapistan Demag Corporation | Dual-servo control for conveyor induction systems |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1412700A (en) * | 1973-06-04 | 1975-11-05 | Crisplant As | Method and apparatus for providing spacing between articles |
| MX2009000899A (en) * | 2006-07-31 | 2009-04-22 | Fki Logistex Inc | Conveyor systems and methods. |
| CN102556573A (en) * | 2012-01-18 | 2012-07-11 | 铜陵天奇蓝天机械设备有限公司 | Roller conveyor capable of performing centering control |
| DK2882650T3 (en) * | 2012-08-13 | 2021-12-20 | Laitram Llc | PACKAGE HANDLING PROCEDURE |
| FR3011537B1 (en) * | 2013-10-08 | 2016-01-01 | Cinetic Sorting S P A | METHOD AND DEVICE FOR BAGGAGE SORTING CAPABLE OF PROCESSING SMALL STABLE PRODUCTS AND IRREGULAR FORMS |
| CN103910186B (en) * | 2014-03-31 | 2017-01-25 | 浙江德马科技股份有限公司 | Tension deviation adjusting method for tension deviation adjusting mechanism of bottom belt rubbing side-approaching machine |
| CN107082255B (en) * | 2017-04-24 | 2018-12-11 | 常州工学院 | A kind of logistics halved belt sorter is automatically for packet system and its method |
| CN112547525B (en) * | 2019-09-26 | 2025-01-03 | 威海新北洋正棋机器人股份有限公司 | Package supply equipment and cross sorting system |
| CN110654609A (en) * | 2019-10-18 | 2020-01-07 | 昆明昆船物流信息产业有限公司 | Automatic packing material arranging and single-row outputting system |
| CN111774310A (en) * | 2020-07-14 | 2020-10-16 | 深圳路辉物流设备有限公司 | Package distance adjusting device and method for sorting assembly line and storage medium |
| CN112193715A (en) * | 2020-09-25 | 2021-01-08 | 苏州金峰物流设备有限公司 | Logistics sorting equipment and article conveying method |
| CN112452812A (en) * | 2020-12-07 | 2021-03-09 | 苏州金峰物联网技术有限公司 | Bag supply system, cross belt sorting system and bag supply method |
| CN112642734B (en) * | 2020-12-18 | 2022-04-19 | 科捷智能科技股份有限公司 | Full-automatic package guiding and loading control method |
-
2021
- 2021-07-21 CN CN202110825169.0A patent/CN113617696B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5267638A (en) * | 1989-02-16 | 1993-12-07 | Rapistan Demag Corporation | Dual-servo control for conveyor induction systems |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113617696A (en) | 2021-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113617696B (en) | Full-automatic import and delivery flow control method | |
| CN112642734B (en) | Full-automatic package guiding and loading control method | |
| CN112791962B (en) | Method for separating side-by-side parcels | |
| CN112791967B (en) | Abnormal part detection and flow regulation sorting method | |
| CN214289439U (en) | Abnormal part detection and flow-adjusting sorting device | |
| CN105712091B (en) | A kind of plate palletizing system and its application method | |
| CN112620123A (en) | Method for arranging separated single goods | |
| US20140262682A1 (en) | Apparatus for conveying, inspecting and stacking items | |
| CN114341032B (en) | Range sensing conveyor package management system for measuring and controlling density of parcel on a conveyor | |
| CN109607128A (en) | A kind of automatic tally method based on automatic tallying system | |
| CN214298135U (en) | Full-automatic package guiding and feeding device | |
| CN105923385A (en) | Bottle management device | |
| US8558132B2 (en) | Document sorting machine | |
| CN109607129A (en) | A kind of packing material sorting equipment, automatic lifting device, tallying system and tally method | |
| RU2719007C2 (en) | Device for processing fruit-growing products, such as blueberries and similar | |
| CN211140870U (en) | Robot mixing and stacking production line | |
| CN215823667U (en) | Full-automatic leading-in and loading flow adjusting system | |
| US20020134710A1 (en) | Method of automatically sorting objects and combining objects to assortments | |
| CN116273914B (en) | A multi-channel sorting machine for parcel single separation | |
| CN209635329U (en) | A kind of automatic lifting device | |
| CN118060202A (en) | Transfer equipment for sorting electronic commerce products | |
| CN218402393U (en) | High-efficient logistics processing system of parcel reposition of redundant personnel | |
| CN215997625U (en) | High-speed automatic sorting line | |
| CN212638946U (en) | High-speed sorting, detecting and discharging equipment for automatic production line | |
| CN210411573U (en) | Jelly content inspection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |