CN113617696A - Full-automatic import loading flow regulation control method - Google Patents
Full-automatic import loading flow regulation control method Download PDFInfo
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- CN113617696A CN113617696A CN202110825169.0A CN202110825169A CN113617696A CN 113617696 A CN113617696 A CN 113617696A CN 202110825169 A CN202110825169 A CN 202110825169A CN 113617696 A CN113617696 A CN 113617696A
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- 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
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- 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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The full-automatic import loading flow regulation control method adopts a dynamic flow regulation means combining full-queue parcel memory conveying with flow calculation, and regulates the parcel flow distribution direction, the space and the conveying speed in real time according to the flow change on the basis of gradually achieving and maintaining full-load operation of a plurality of conveying lines, thereby realizing a full-automatic flow regulation solution without manual intervention before import loading. And establishing statistical data and real-time position information for sequencing aiming at each package in the conveying queue through a visual identification result, and mapping the conveying interval change result of any adjacent front and back 2 packages to obtain the loading state of each lead-in device so as to adjust the starting, stopping and flow adjusting directions of the sorting device and the conveying equipment on each conveying line and uniformly realize the monitoring and adjustment 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 regulation control on a plurality of conveying lines, belonging to the field of logistics sorting.
Background
In the logistics sorting operation field of the existing e-commerce and express delivery industries, a front-end manual piece loading operation mode is generally adopted, and a large number of packages which are piled up and enter a conveying line are manually separated so as to facilitate subsequent scanning and information input. The current novel solution is that multiple queues and side-by-side packages are arranged into a single queue for conveying in a mode of separating and queuing front-end special-shaped pieces and normal pieces, and the packages are conveyed to rear-end lead-in piece loading equipment at a higher speed through the conveying speed and the position control of the dispersed packages in a conveying belt area.
The method adopts the steps of scattering and pulling up the distance in the prior art, scattering and expanding the distance in the left and right directions, then identifying the volume, position coordinates and adjacent relation of each parcel based on an applied image recognition algorithm to determine the sequential conveying sequence, and realizing the high-speed separation and single-queue conveying mode of batch parcels on the basis of adjusting the parcel state to the set direction so as to realize the design purposes of directional sorting and queue shunting parcels and provide sufficient preparation for the follow-up entering of parcels into cross belt sorting and bar code scanning. The separated single piece arrangement device comprises an upper line conveying device, a stacked piece separating device, a scattering separating device, a single piece separating device and a visual identification 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 perform fast scattered distance pulling on a large number of packages to achieve directional sorting and arrangement of the package queues, the prior application lacks countermeasures for random stopping under the conditions of full load, congestion or abnormality of the conveyor line in real time when the subsequent upper piece is introduced. The following disadvantages mainly exist: 1. when a plurality of conveying lines at different workpiece supply inlets are butted, a solution for quickly adjusting the flow according to the real-time conveying condition is lacked, the full-load running state of the plurality of conveying belts is difficult to be stably and efficiently maintained at the same time, and the operation efficiency of integrally guiding workpieces into the conveying lines is to be further improved; 2. if the speed of the rear end introduced upper piece is obviously reduced to cause the jam of the conveying line, the phenomenon of the additional piece or the accumulation is directly caused by untimely treatment, and the prior art lacks a solution for solving the problems. Generally, manual intervention or direct line stopping treatment is performed after a piece tracing or accumulation phenomenon occurs, the efficiency of the whole sorting and adjusting flow is low, and the requirements of automatic piece feeding operation and treatment of large-batch packages are difficult to meet; 3. when the abnormal condition appears at the position of the imported upper piece, the prior art stops all conveying lines and returns all the packages which are not sorted to the initial end, and the packages are separated and arranged again after the fault is eliminated, so that the time and the labor are wasted, the problems of re-forming stacked pieces in a package queue and the like are easily caused, and unnecessary extra workload is brought to subsequent treatment.
In view of this, the present patent application is specifically proposed.
Disclosure of Invention
The invention relates to a full-automatic import loading flow regulation control method, which is characterized in that a dynamic flow regulation means combining full-queue parcel memory conveying and flow calculation is adopted to solve the problems in the prior art, the full-load operation of a plurality of conveying lines is achieved and maintained step by step, and the parcel flow distribution direction, the interval and the conveying speed are regulated in real time according to the flow change, so that a full-automatic flow regulation solution without manual intervention before import loading is realized.
In order to achieve the design purpose, the full-automatic lead-in and flow-adjusting control method establishes statistical data and real-time position information for sequencing aiming at each package in a conveying queue through a visual identification result, and obtains the state of the package on each lead-in device by combining the conveying distance change results of any adjacent front and back 2 packages so as to adjust the start, stop and flow adjusting directions of a sorting device and conveying equipment on each conveying line and uniformly monitor and adjust the conveying direction and speed of each package on each conveying line.
The flow regulation control method comprises the following implementation steps:
stage one, separation
The piled parcels enter a scattering separation device and are transversely dispersed and longitudinally stretched to be arranged into a parcel array in a discrete state, and the distance between any adjacent front and back 2 parcels along the conveying direction is not less than a set value;
stage two, detection
The packages enter the abnormal part detection device, the visual recognition device photographs and recognizes the packages one by one, and coordinate data of each package are obtained to correspondingly generate the three-dimensional size and the real-time position coordinate of the edge of the package image; judging whether the abnormal part belongs to the abnormal part or not based on the image recognition result, and marking the abnormal parts such as the stacked parts; sequentially numbering and counting the number of the normal packages one by one;
stage three, flow splitting
On the first sorting device, removing the packages detected and marked as abnormal pieces out of the conveying lines, and proportionally distributing the packages of the normal pieces according to the number of the lead-in devices connected with each conveying line;
the distance between any two adjacent front and back 2 packages is not less than a set value;
stage four, flow regulation
The photoelectric detection device detects the real-time interval of the front and back adjacent 2 parcels conveyed on each group of narrow belt conveyors;
when the distance is smaller than the set value, the narrow belt conveyor in which the next parcel is located stops running until the distance between the front and rear adjacent 2 parcels is not smaller than the set value;
when all the narrow belt conveyors forming the conveying line stop operating, the first sorting device stops distributing packages to the conveying line;
stage five, leading in an upper part
The packages enter the cross-belt sorting machine through the leading-in device.
Furthermore, in the first stage and the separation process, the packages enter the scattering separation device from the unloading end, the 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 under the control of the scattering separation PLC, and the stacked packages are scattered, transversely and longitudinally pulled to form a conveying array in a discrete state step by step; the visual recognition controller recognizes data including three-dimensional size and real-time position coordinates of each parcel through the 3D camera so as to recognize each parcel and a distance between each parcel and an adjacent parcel; the parcels enter the belt conveyor matrix, and the conveying speed of the belt conveyor in the area is differentially adjusted so as to adjust the distance between every two adjacent parcels along the conveying direction to a set value.
Further, in the second stage and the detection process, the serial number given to the normal piece of the package based on the image identification result is effective in the whole flow regulation process, and the serial number is used as the identity information of the package and is sent to the first sorting device PLC along with other image identification information.
Further, in the third stage and the dividing process, the first sorting device is connected with 2 first conveying lines and second conveying lines which are independently conveyed through the dividing and edge leaning device; in the case where neither the first conveyor line nor the second conveyor line stops operating, the proportion of the packages distributed by the first sorting device is determined by the number of the lead-in devices connected to each conveyor line.
Further, in the third stage and the splitting process, according to the distribution proportion of the first sorting device, the parcel queue enters one of 2 groups of roller machines which are arranged in parallel with the side-leaning device alternatively, parcels move to the outer edge of the roller machine in an inclined mode along the running direction of the roller, and the outer edge of the parcels is adjusted to be parallel to the conveying direction through traction and correction of the side-leaning belt machine connected with the outer edge of the roller machine.
Further, in the fourth stage and the flow adjusting process, the judgment 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 condition for stopping the narrow belt conveyor is that the distance between every two adjacent packages conveyed on the narrow belt conveyor along the conveying direction is smaller than a set value.
Further, in the fourth stage and the flow adjusting process, the belt starting and stopping state and the running speed of the narrow belt conveyor are adjusted by the 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 coordinate data of all real-time conveyed packages on each conveying line and position information of adjacent intervals; the photoelectric detection controller detects the position and the front-back distance of the packages on the conveying belt through the photoelectric detection device, and the detection data are sent to the conveying line PLC and the upper computer, so that the monitoring data of the conveying speed, the real-time position and the front-back distance of all the packages on the first conveying line and the second conveying line are established.
Further, the real-time conveying distance of the adjacent 2 parcels can be calculated by combining the running speed of the belt through the time interval that the front and back 2 parcels sequentially pass through the same group of photoelectric detection devices; the upper computer compares the real-time conveying distance 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,
the set value (linear speed of conveyor (m/s) × workpiece loading rate on the loading table (s/s))/workpiece number on the feeding table) × 80%
When part of the conveying lines are fully loaded, only the rest of the conveying lines can be used for conveying, the current conveying distance is correspondingly increased, the adjusted distance calculation formula is as follows,
the adjusted distance is the previous distance (set value) and the total number of the lead-in tables/the number of the lead-in tables corresponding to the unloaded conveying lines.
In summary, the fully automatic import piece loading flow adjustment control method has the following advantages:
1. the automatic selection after the queue parcel tally is realized to the accent and flows the scheme, on the basis of guaranteeing follow-up leading-in piece-feeding speed and full load operation, adjusts parcel reposition of redundant personnel direction, interval and conveying speed according to the flow developments, and degree of automation and piece-feeding import efficiency are all higher.
2. According to the method and the device, various detection means, detection data and package binding are implemented in the flow regulation process, the traceable information processing mode of the whole flow regulation process is realized, the flow regulation task can be temporarily changed aiming at the deceleration and shutdown of a certain or a plurality of conveying lines, and the problems that the overlapped parts happen again due to the backflow of normal parts and the operation efficiency is low due to the re-detection and the flow regulation are avoided.
3. The method and the device can deal with various subsequent leading-in piece feeding abnormal conditions, adopt a solution means of quickly changing a flow adjusting task or shutting down conveying to relate to a conveying area in time according to the change of the package conveying speed and the interval, can effectively solve the problem of congestion of a rear end piece feeding link, and ensure the stable and high-speed operation of the integral leading-in piece feeding operation.
4. This application is dealt with many transfer chains that have different confession a entry and is transferred and flow the problem, satisfies many transfer chains simultaneously and stably maintain full load operation high-efficiently, and the parcel is transferred and is flowed the task and realize fast in a flexible way, can solve the leading-in full automatic operation demand of piece of going up of big parcel in batches.
5. The method and the device can avoid the phenomenon of piece tracing or accumulation, manual intervention or direct line stopping processing is not needed, interrupted flow adjusting tasks can be immediately implemented according to previous detection data after fault removal, 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 figures.
FIG. 1 is a schematic structural diagram of a fully automatic lead-in and lead-in flow regulating system according to the present application;
FIG. 2-1 is a schematic view of the structure of the dispersion and singlepiece separation apparatus;
FIG. 2-2 is a schematic view of the separation flow of the dispersion and the singlets;
2-3 are schematic views of the identification of package information by a visual identification device;
FIGS. 3-1 and 3-2 are schematic diagrams of stack detection and identification, respectively;
FIG. 4 is a schematic view of the first sorting device;
FIG. 5 is a top view of the connection of the anomaly detection device, the first sorting device, and the diversion and edge placement device;
FIG. 6 is a schematic top down view of the first conveyor line;
FIG. 7 is a schematic view of the narrow belt conveyor and the photo detection device;
FIG. 8 is a control schematic diagram of a fully automatic lead-in load leveling system according to the present application;
FIG. 9 is a flow chart diagram of a flow regulation control method;
FIG. 10 is a schematic illustration of front to back parcel spacing measurement;
fig. 11 is a PLC control flow chart of the first sorting device;
FIG. 12 is a PLC control flow diagram for the second sorting device;
in the above drawings, a scattering separation device 1, an abnormal component detection device 2, a first sorting device 3, a dividing and side-approaching device 4, a first conveying line 5, a second conveying line 6, a leading-in device 7, a second sorting device 8, a narrow belt conveyor 9, a cross belt sorting machine 10 and a photoelectric detection device 11;
the sorting module 30, the balance wheel unit 31, the servo motor 32, the roller machine 33 and the side belt conveyor 34;
a visual recognition device 50, a 3D camera 51;
photoelectric emitting end 91, photoelectric receiving end 92.
Detailed Description
wherein, a second sorting device 8 is arranged on the first conveying line 5, and a group of leading-in devices 7 are connected with 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 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 and separating device 1 is connected to the discharge end, and the discharged piles of packages are dispersed and stretched by the scattering and separating device 1 to be preliminarily arranged into a package array in a discrete state. The distance between the front and the back packages along the conveying direction is equal (for example, the distance is not less than 600 mm).
And entering the package array of the abnormal part detection device 2, wherein the distances between the front and back adjacent packages along the conveying direction are equal, for example, the distance is 600 mm.
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 a separate servo motor, and the starting, stopping and conveying speed of each belt conveyor can be controlled;
the visual recognition device 50 is arranged above the belt conveyors arranged in a matrix in the vertical direction, the visual recognition device 50 comprises a plurality of 3D cameras 51, and the 3D cameras 51 are installed downwards along the vertical direction of the conveying direction of the packages.
The batch packages entering the scattering and separating device 1 from the unloading end are firstly dispersed along an extension included angle between the belt and the conveying direction, namely, adjacent packages are transversely separated into different intervals; the parcels then enter the matrix belt conveyor and are each identified for information using the visual identification device 50 to obtain three-dimensional size and real-time position coordinate data. During the period, the conveying speed of a front row area in the belt conveyor matrix is gradually increased, so that the longitudinal distance between the front and the back packages is increased; and finally, enabling the parcels to enter a rear row area in the belt conveyor matrix, and adjusting the conveying speed of the belt conveyor in the area where the parcels are located according to a sorting rule so as to adjust the longitudinal distance between the front and rear adjacent 2 parcels in the conveying direction to a set value, namely the distance between the front and rear 2 parcels is equal, for example, the distance is 600 mm.
Specifically, the visual recognition device 50 screens out the outermost peripheral edge information when performing information recognition on each package 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 an original point, the conveying direction is an X axis, and the vertical direction is a Y axis, so that a coordinate system is formed by the front row area of the belt conveyor matrix. The 3D camera 51 of the vision recognition device 50 is capable of recognizing the real-time coordinates of any point in the coordinate system and the size information of the outermost peripheral edge of the package. The coordinates of the center coordinates and four top angles of the packages are included, namely, the coordinates U1, U2, U3 and U4, so that the length L and the width W of the outermost peripheral edge of the packages can be calculated, and further, the distance between the first package and the second package can be identified in real time.
The conveying speed of the belt conveyor on the travelling routes of the first package and the second package is adjusted, so that the distance between the first package and the second package is correspondingly adjusted; the conventional solution is that the second package in front is continuously conveyed forwards at the original speed, and meanwhile, the belt conveyor in which the first package is located stops running, and the distance between the first package and the second package is continuously enlarged; when the distance between the first package and the second package is detected to reach a set value of 600mm, starting the belt conveyor where the first package is located to operate and keeping the same conveying speed as the belt conveyor where the second package is located, so that the distance between the first package and the second package is kept unchanged at 600 mm; continuously, sequentially adjusting the position of a third parcel in the parcel queue and the starting and stopping state and conveying speed of the belt conveyor according to the position and the current speed of the second parcel so as to keep the distance between the second parcel and the third parcel unchanged at 600 mm; therefore, the distance between other adjacent 2 parcels in the parcel queue is adjusted one by one, so that the batch parcels are continuously and sequentially adjusted into the queue with the same front-rear distance, and then enter the abnormal part detection device 2 in sequence.
As shown in fig. 3-1 to 3-3, a plurality of sets of visual recognition devices 50 are provided in the vertical direction of the abnormal part detecting device 2, each visual recognition device 50 includes a plurality of 3D cameras 51, and the 3D cameras 51 are installed vertically downward in the parcel conveying direction.
The visual recognition device 50 is used for photographing and recognizing all the parcels in the detection area one by one, and coordinate data of each parcel are obtained to correspondingly generate the three-dimensional size and the real-time position coordinate of the edge of the parcel image; judging whether abnormal parts such as stacked parts exist or not based on the image recognition result, and marking the abnormal parts such as the stacked parts; meanwhile, the normal pieces are numbered one by one in sequence to carry out quantity statistics; all the parcel 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, each package can acquire the specific three-dimensional size (including volume) of the outermost periphery image, the coordinate data and the position relationship between adjacent packages, the distance between the adjacent packages is determined, the abnormal part detection and marking are finally completed, and a judgment basis is provided for the subsequent sorting and flow adjustment of the packages.
The visual recognition device 50 performs edge detection on the parcel image, screens out the outermost peripheral edge information of the parcel to generate three-dimensional size and position coordinate information correspondingly, and the visual range of the 3D camera 51 is a rectangular area 1000mm along the X axis and 1560mm along the Y axis, and a plurality of delivered parcels can be photographed and recognized simultaneously in the area.
The definition for a normal piece package is as follows: the packages are cuboid, and the vertical height of the same package is within 3 mm; the distance between two adjacent packages is not less than 600 mm.
In fig. 3-1, it can be determined that 2 parcels entering the detection view range of the 3D camera 51 all have 4 vertex angles, i.e., they are cuboids; according to the coordinate data of 4 vertex angles of each of 2 packages, for example, the coordinate data of four vertex angles of the outermost peripheral edge of the first package are respectively U11, U12, U13 and U14, and the coordinate data of four vertex angles of the outermost peripheral edge of the second package are respectively U21, U22, U23 and U24, a numerical value point with the smallest X axis in the coordinate points of the second package in the front and a coordinate point with the largest X axis in the first package in the back are selected for data comparison, namely L is | X21-X14 |. As shown in the figure, the distance L > between the first parcel and the second parcel is 600mm, and the 2 parcels are judged to have normal space, and each parcel is a normal piece. The two packages are sequentially numbered separately to count the total number of packages per unit of delivery time.
As shown in fig. 3-2, in the abnormal piece example, 2 adjacent packages in the figure are in a stacked state, that is, the difference L between the maximum numerical points of the X axes in the coordinate points of the first package and the second package is less than 600, it is determined that the distance between the two packages is too small, the 2 packages are directly marked to be stacked pieces, that is, the abnormal piece, the mark is simultaneously sent to the PLC of the first sorting device 3, and when the subsequent 2 packages reach the first sorting device 3, the packages are rejected by reversing the swing of the swing wheel unit 31.
Other abnormal parts, such as non-rectangular parcels, e.g. polygonal, cylindrical, circular, etc., having more or less than 4 vertices, and parcels having a vertical height greater than 3mm, etc., are uniform and marked and subjected to subsequent rejection by the first sorting device 3.
As shown in fig. 4, the first sorting device 3 is a balance sorting machine, which has several sets of sorting modules 30 arranged in rows and columns, each set of sorting modules 30 has several balance units 31 arranged in a row, and each set of sorting modules 30 is driven by a single servo motor 32 to uniformly control the angle and speed of swing of the balance units 31.
For the packages which are photographed and identified on the abnormal part detection device 2 and marked as abnormal parts, the PLC sends instructions to the servo motors 32 corresponding to all the group sorting modules 30 in the area where the abnormal parts are located, and all the balance wheel 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 intervened and processed.
As shown in fig. 1 and 5, the abnormal component detecting device 2, the first sorting device 3, and the dividing and edge abutting device 4 are connected in series, the first sorting device 3 is connected with 2 belt conveyor lines, i.e., the first conveyor line 5 and the second conveyor line 6, which are separately conveyed through the dividing and edge abutting device 4, and the normal components led out from the first sorting device 3 are divided into different conveying directions on the dividing and edge abutting device 4 and selectively enter the first conveyor line 5 or the second conveyor line 6.
The shunting and side-approaching device 4 is provided with 2 groups of roller machines 33 which are independently conveyed and are arranged along the transverse direction in parallel, normal pieces led out from the first sorting device 3 are wrapped and enter one group of the 2 groups of roller machines 33, rollers of each group of roller machines 33 are all obliquely arranged towards the outer side edge, a side-approaching belt machine 34 is arranged at the outer side edge of each group of roller machines 33, the belt extending direction of the side-approaching belt machine 34 is parallel to the conveying direction of the first conveying line 5 or the second conveying line 6, and the belt running speed of the side-approaching belt machine 34 is 1.5 times of the conveying speed of the roller machines 33.
The parcels entering the roller 33 of the shunting and side-approaching device 4 from the first sorting device 3 are continuously close to the side-approaching belt conveyor 34 along the inclination direction of the rollers, and when the parcels arrive at the belt of the side-approaching belt conveyor 34, the outer edges of the parcels are pulled and straightened due to the influence of the speed difference between the belt and the rollers, namely, the outer edges of the parcels are adjusted to be parallel to the conveying direction, so that the information scanning and identification are conveniently carried out on the bar codes, and the posture control when the parcels are subsequently guided into the cross belt sorting machine 10 is adjusted.
The abnormal member detecting device 2, which is located at the front end of the first sorting device 3, performs identification marking for each parcel by the visual recognition device 50. For the normal parcel three-dimensional size and position coordinate information, the vision recognition device 50 sends the information to the PLC of the first sorting device 3, the PLC compares and analyzes the real-time position information of each parcel with the full-load information of the first conveying line 5 and the second conveying line 6, and the PLC controls the swing angle of each set of balance wheel units 31 to sort the parcels to the designated conveying line.
Specifically, the corresponding end of the first conveying line 5 is connected with 2 lead-in devices 7, and the corresponding end of the second conveying line 6 is connected with 1 lead-in device 7; in order to ensure that sufficient parcels continuously enter the cross belt sorter 10, the first sorting device PLC controls the direction and angle of oscillation of the balance wheel by its sorting module servo driver according to whether the first conveyor line 5 and the second conveyor line 6 are fully loaded, so as to alternately divert normal parcels for the first conveyor line 5 and the second conveyor line 6. The proportion of normal parcel diversion is determined by the number of unloaded lead-in devices 7 corresponding to the conveyor line.
When 3 import devices 7 correspondingly connected with the first conveying line 5 and the second conveying line 6 are not fully loaded, the parcel distribution proportion is 2: 1;
when the first conveying line 5 is correspondingly connected with 1 lead-in device 7 which is fully loaded, the parcel distribution ratio is 1: 1;
when 3 lead-in devices 7 correspondingly connected with the first conveying line 5 and the second conveying line 6 are fully loaded, the first sorting device PLC controls the balance wheel to stop swinging and shunting through a sorting module servo driver, and meanwhile, the scattering and separating device 1 and the abnormal part detection device 2 which are positioned 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 conveying line 5, and the second sorting device 8 is a balance sorter having the same structure as the first sorting device 3. The front end and the rear end of the second sorting device 8 are both 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 leading-in devices 7 is connected to the side part of the second sorting device 8.
Parcels entering the second sorting device 8 from the front narrow belt conveyor 9 can be conveyed in a selectable direction to the rear narrow belt conveyor 9 until they are guided into the cross-belt sorter 10 by the end infeed device 7 or directly into the lateral infeed device 7 and are guided directly into the cross-belt sorter 10.
Specifically, the swing direction is adjusted by driving the balance wheel unit 31 of one group of sorting modules 30 by the servo motor 32 of the second sorting device 8, the swing angle of the balance wheel unit 31 of each group of sorting modules 30 is different to determine that the parcels enter different devices, for example, the parcels enter the leading-in device 7 from the second sorting device 8 when the balance wheel unit 31 swings 45 °, and the parcels enter the rear narrow belt conveyor 9 from the second sorting device 8 to continue conveying when the balance wheel unit 31 does not swing (i.e. the swing angle is 0 °).
The second sorting device 8 selects different swing directions based on the conveying states of the rear-end packages along different conveying channels (the rear-end narrow belt conveyor 9 or the lateral leading-in device 7), and when 2 conveying channels are not fully loaded, the second sorting device 8 alternately and continuously swings by 0 degree and 45 degrees; when a certain conveying lane is full, the second sorting device 8 is only continuously swung towards the lane 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 arranged in the first conveyor line 5 and the second conveyor line 6, each group of narrow belt conveyors 9 is provided 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 motors.
In each set of photo-detection devices 11, the distance between the photo-emission end 91 and the photo-reception end 92 of the adjacent pairs 2 is smaller than the minimum side length dimension of the minimum package. Therefore, even for the packages with the smallest volume, when any part of the packages blocks the photoelectric radiation between any group of the photoelectric emitting ends 91 and the photoelectric receiving ends 92, the detection signal can be generated and directly sent to the first sorting device PLC or the second sorting device 8 PLC.
As shown in fig. 10, the parcels a and B on the same group of narrow belt conveyors 9 pass through the same group of photoelectric detection devices 11 in sequence, respectively, because the belt conveying speed of the same group of narrow belt conveyors 9 is the same, that is, the parcels a and B are conveyed forward at the same speed.
The front-back distance between the packages A and B can be calculated by sequentially detecting the time interval when 2 packages pass through at different moments by the same group of photoelectric detection devices 11 and multiplying the time interval by the conveying speed.
Based on the detection results of the photoelectric detection devices 11 on the narrow belt conveyors 9 on the first conveyor line 5 and the second conveyor line 6, a full-process full-load state monitoring and judgment basis can be established, wherein the full-process full-load state monitoring and judgment basis is from the first sorting device 3 to the first conveyor line 5, the second conveyor line 6 to the lead-in device 7.
Through above-mentioned photoelectric detection principle, realized that the coordinate data and the interval information of whole parcels of simultaneous detection to for this application the method of transferring the current of leading-in upper part provides whole journey and automated control basis, and the first sorting device 3 of accessible and the second sorting device 8 are synthesized and are implemented and transfer the current control.
As shown in fig. 8, the application control module of the fully-automatic lead-in upper component shunting system includes an upper computer, a PLC, a visual recognition controller, a photoelectric detection controller, a servo driver, and other modules. In the control communication of the whole process of leading in the upper part flow regulation, the upper computer, the visual recognition controller and the photoelectric detection controller send instructions to the PLC, and the PLC sends instructions to the relevant servo drivers to control each conveying device to operate at the corresponding speed, direction and angle.
Specifically, packages enter the scattering and separating device 1 from an unloading end, and under the control of a scattering and separating 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 parcels are dispersed and stretched by the scattering separation device 1 to be preliminarily arranged into a parcel array in a discrete state, and then enter the abnormal part detection device 2. In this stage, the visual recognition controller controls the conveying speed of the belt conveyor in the matrix area where the front and rear adjacent 2 parcels are located by the scattering separation PLC through the information recognition data including the three-dimensional size and the real-time position coordinates of each parcel by the 3D camera 51, so as to adjust the distance between the adjacent 2 parcels to a set value and keep the distance unchanged. And the identification information of all the parcels 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 parcel array, when the parcels enter the abnormal piece detection device 2, the abnormal piece detection belt conveyor frequency converter controls the starting, stopping and running speed of the belt conveyor so as to convey all parcels to the first sorting device 3; in this stage, the visual recognition controller photographs and recognizes the packages one by one through the 3D camera 51 to judge whether abnormal pieces such as stacked pieces exist based on the image recognition result, and simultaneously, sequentially numbers the normal pieces one by one to perform quantity statistics, and all the package information one generated in the image recognition stage is sent to the first sorting device PLC.
After the parcel enters the first sorting device 3, the first sorting device PLC controls the first sorting device sorting module servo driver to adjust the swing angle and speed of the balance wheel unit 31. For the abnormal piece, all the group sorting modules 30 in the area where the abnormal piece is located sequentially swing by 45 degrees, the swing speed is adjusted to the preset maximum value, and the abnormal piece is removed from the first sorting device 3; for normal pieces, the different angles of oscillation of the balance wheel unit 31 are adjusted according to the real-time loading conditions of the first conveyor line 5 and the second conveyor line 6 sent by the upper computer, so as to feed the normal pieces into the 2 sets of individually conveyed rollers 33 of the flow dividing and edge abutting device 4.
The servo driver of the shunting and side-leaning device controls the running speed of the roller machine 33, packages are conveyed to the side-leaning belt conveyor 34 by virtue of rollers which are obliquely arranged towards the outer side edge, an obvious speed difference exists between the side-leaning belt and the rollers, and the packages are transversely and horizontally pulled and aligned to be arranged into a single-row horizontal queue one by one, and finally enter the first conveying line 5 or the second conveying line 6.
In the above stage, the upper computer controls the servo driver of the sorting module of the first sorting device and the servo driver of the shunting and side-approaching device respectively through the first sorting device PLC, and the conveying speeds of the first sorting device 3, the roller 33 in the shunting and side-approaching device 4 and the side-approaching belt conveyor 34 are changed in equal proportion, so that the front-back distance is kept unchanged when the parcel queue enters the first sorting device PLC and enters the first conveying line 5 or the second conveying line 6 from the first sorting device PLC, for example, not less than 600 mm.
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 adjusted by the 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 and back packages, and the detection results are sent to the conveying line PLC and the upper computer to control command output of the servo driver of the second sorting device, and finally. The angle and speed of oscillation of the balance unit 31 of the second sorting device 8 are adjusted.
Therefore, the monitoring and adjustment of the conveying speed, the real-time position and the front-rear distance of all the parcel queues on the first conveying line 5 and the second conveying line 6 are established, and a decision basis is provided for a lead-in upper part flow adjusting scheme including the direction of flow distribution and conveying of the upper computer control, the starting and stopping states and the running speed of a plurality of groups of narrow belt conveyors 9, and the starting and stopping states 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 not of the 2 groups of lead-in 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 fully automatic import piece-loading flow adjustment system designed by the above scheme is applied, and the following fully automatic import piece-loading flow adjustment control method is proposed in the present application:
and establishing statistical data and real-time position information for sequencing aiming at each package in the conveying queue through a visual identification result, and mapping the conveying interval change result of any adjacent front and back 2 packages to obtain the loading state of each lead-in device so as to adjust the starting, stopping and flow adjusting directions of the sorting device and the conveying equipment on each conveying line and uniformly realize the monitoring and adjustment of the conveying direction and speed of each package on each conveying line.
Specifically, the full-automatic lead-in and lead-out flow adjustment method comprises the following implementation steps:
stage one, separation
The piled parcels enter the scattering and separating device 1 to be transversely dispersed and longitudinally stretched to be arranged into a parcel array in a discrete state, and the distance between any adjacent front and back 2 parcels along the conveying direction is not less than a set value;
stage two, detection
The packages enter the abnormal part detection device 2, the visual recognition device 50 takes pictures of the packages one by one for recognition, and coordinate data of each package are obtained to correspondingly generate the three-dimensional size and real-time position coordinates of the edge of the package image; judging whether the abnormal part belongs to the abnormal part or not based on the image recognition result, and marking the abnormal parts such as the stacked parts; sequentially numbering and counting the number of the normal packages one by one;
stage three, flow splitting
On the first sorting device 3, the packages detected and marked as abnormal pieces are removed from the conveying lines, and normal piece packages are proportionally distributed according to the number of the leading-in devices connected with each conveying line;
the distance between any two adjacent front and back packages is not less than a set value;
stage four, flow regulation
The photoelectric detection device 11 detects the real-time distance between the front and back adjacent 2 parcels conveyed on each group of narrow belt conveyors 9;
when the distance is smaller than the set value, the narrow belt conveyor 9 in which the next parcel is located stops running until the distance between the front and rear adjacent 2 parcels is not smaller than the set value;
when all the narrow belt conveyors 9 constituting the conveyor line stop operating, the first sorting device 3 stops diverting the parcels to the conveyor line;
stage five, leading in an upper part
The packages enter the cross-belt sorter 10 through the lead-in device 7.
Specifically, in the stage one and the separation process, the packages enter the scattering and separating device 1 from the unloading end, the 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 under the control of the scattering and separating PLC, and the operating speeds of the adjacent belt conveyors are different, so that the stacked packages are dispersed and transversely and longitudinally stretched to gradually form a conveying array in a discrete state; the vision recognition controller recognizes data including three-dimensional size and real-time position coordinates of each parcel through the 3D camera 51 to recognize each parcel and a distance between each parcel and an adjacent parcel; the parcels enter the belt conveyor matrix, and the conveying speed of the belt conveyor in the area is differentially adjusted so as to adjust the distance between every two adjacent parcels along the conveying direction to a set value, such as the set value is 600 mm.
Further, in the second stage and the detection process, the serial number given to the normal piece of the package based on the image identification result is effective in the whole flow regulation process, and the serial number is used as the identity information of the package and is sent to the first sorting device PLC along with other image identification information.
Further, in the third stage and the dividing process, the first sorting device 3 is connected with 2 first conveying lines 5 and second conveying lines 6 which are independently conveyed through the dividing and edge abutting 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 by the number of connected lead-in devices 7 per conveyor line;
the parcel distribution proportion of first transfer chain 5, second transfer chain 6 is 2 in this embodiment: 1, namely, 2 parcels are firstly shunted to a first conveying line 5, and then 1 parcel is shunted to a second conveying line 6, so that the processes are cyclically and alternately performed;
when the first conveyor line 5 or the second conveyor line 6 stops running (i.e., is fully loaded), the first sorting device 3 only diverts packages to the conveyor lines that are not fully loaded;
when the first conveyor line 5 and the second conveyor line 6 both stop running (i.e. are both fully loaded), the first sorting device 3 stops diverting the parcels; meanwhile, the scattering separation device 1 and the abnormal component 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 are photographed and recognized by the visual recognition device 50 are stored for continuous use when the apparatus operates again.
Further, in the third stage, during the diversion process, according to the distribution ratio of the first sorting device 3, the parcel queue enters one of the 2 groups of roller machines 33 arranged in parallel with the side-leaning device 4 alternatively, the parcels move to the outer edge of the roller machine 33 in an inclined manner along the roller running direction, and the side-leaning belt conveyor 34 connected with the outer edge of the roller machine 33 pulls and straightens to adjust the outer edge of the parcels to be parallel to the conveying direction.
The belt running speed of the side-approaching belt conveyor 34 is 1.5 times of the conveying speed of the roller 33, and the speed difference between the side-approaching belt conveyor and the roller can adjust and level the posture of the package, so that the bar code on the package can be conveniently scanned and identified in the following process, and meanwhile, the posture control in the process of leading the package into the cross belt sorting machine 10 in the following process is facilitated. At this stage, the distance between the adjacent 2 parcels in the conveying direction is still not less than the set value.
As shown in fig. 6, 7 and 10, in the fourth stage, the flow adjustment process, the judgment condition of 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 are stopped. The condition for stopping the narrow belt conveyor 9 is that the distance between every two adjacent packages conveyed on the narrow belt conveyor in the conveying direction is smaller than a set value (for example, 600 mm).
When all the narrow belt conveyors 9 stop operating, the guiding device 7 cannot normally guide the packages into the cross belt sorting machine 10, and the packages continuously enter the conveying line, so that the congestion phenomenon is only aggravated. After the abnormal condition at the leading-in device 7 is eliminated, the overstocked packages are processed, the distance between the adjacent packages from back to front is increased one by one, once the distance is not less than the set value, the narrow belt conveyor 9 operates again, and the package conveying is recovered.
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 a leading-in device 7, and the swinging direction of the balance wheel unit is controlled to select the flow regulating direction of the packages; the second sorting device 8 swings the packages to different conveying passages according to whether the first conveying line 5 is in a full-load state or not under the control of the conveying line PLC and the servo driver of the second sorting device.
Further, in the stage four and the flow adjusting 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 adjusted by the conveying line PLC through the conveying line servo driver.
And a photoelectric detection device 11 is arranged along the conveying direction of each group of narrow belt conveyors 9, and can be used for simultaneously detecting and monitoring coordinate data of all real-time conveyed packages on each conveying line and position information of adjacent intervals.
The photoelectric detection controller detects the position and the front-back distance of the packages on the conveying belt through the photoelectric detection device 11, and 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 a leading-in upper piece flow regulation scheme including the control of the upper computer on the package queue flow regulation direction, the start-stop state and the running speed of the narrow belt machine 9, the start-stop state and the swing angle of the second sorting device 8.
And a vertical detection area boundary line is established by utilizing the gap between adjacent belts, and the distance between the photoelectric emission end 91 and the photoelectric receiving end 92 of the adjacent pair 2 of the photoelectric detection device 11 is smaller than the minimum edge length of the minimum package. Even for the package with the minimum volume, when any part of the package blocks the photoelectric ray between any one group of the photoelectric emitting end 91 and the photoelectric receiving end 92, a detection signal can be generated and directly sent to the transmission line PLC.
The real-time conveying distance of 2 adjacent parcels can be calculated by combining the running speed of the belt according to the time interval that the front and the back 2 parcels sequentially pass through the same group of photoelectric detection devices 11. The upper computer compares the real-time conveying distance with a set value, and can judge whether the conveying line is in a full-load state.
The calculation formula of the set value is as follows:
assuming that the set value (linear transport speed (m/s) × introduction stage load rate (s/s))/number of supply stages) × 80%, for example, the linear transport speed is 1.5 m/s, the introduction stage load rate is 1.5 s/s, and the number of supply stages is 3, the set value should be 1500 × 1.5/3 × 0.8 ═ 600 mm.
When a part of the conveying lines is full, only the rest of the conveying lines can be used for conveying, and the current conveying distance is correspondingly increased. The adjusted spacing may be adjusted as:
the adjusted distance is the previous distance (set value) and the total number of the lead-in tables/the number of the lead-in tables corresponding to the unloaded conveying lines. For example, assuming that the total number of the conveyor lines is 3 and the set value is 600mm, when the second conveyor line 6 (corresponding to 1 lead-in device 7) is fully loaded, the parcel pitch to be adjusted is 600 × 3/2 — 750 mm.
As described above, the judgment result of whether the conveying line is fully loaded and the real-time distance between any adjacent front and back 2 packages detected by the photoelectric detection device 11 are both sent to the upper computer by the conveying line PLC. The upper computer sends the adjusted distance data to the scattering separation PLC through calculation and comparison so as to adjust the output distance according to the normal piece package, namely, the set value of the package entering the conveying line is adjusted.
For a full load situation on a part of the conveyor line, it is common practice to stop the operation of the full load section conveyor line in order to solve the congestion or overstock at the lead-in device 7. However, by the control means, the pause times of related equipment can be reduced by adjusting the spacing of the packages on the partial conveying line, so that the efficiency is maximized.
In summary, the embodiments presented in connection with the figures are only preferred. Those skilled in the art can derive other alternative structures according to the design concept of the present invention, and the alternative structures should also fall within the scope of the solution of the present invention.
Claims (8)
1. A full-automatic import loading flow regulation control method is characterized by comprising the following steps: establishing statistical data and real-time position information for sorting aiming at each package in a conveying queue through a visual identification result, and mapping by combining conveying distance change results of any adjacent front and back 2 packages to obtain the loading state of each lead-in device so as to adjust the starting, stopping and flow adjusting directions of a sorting device and conveying equipment on each conveying line and uniformly realize the monitoring and adjustment of the conveying direction and speed of each package on each conveying line; comprises the following implementation steps of the following steps of,
stage one, separation
The piled parcels enter a scattering separation device and are transversely dispersed and longitudinally stretched to be arranged into a parcel array in a discrete state, and the distance between any adjacent front and back 2 parcels along the conveying direction is not less than a set value;
stage two, detection
The packages enter the abnormal part detection device, the visual recognition device photographs and recognizes the packages one by one, and coordinate data of each package are obtained to correspondingly generate the three-dimensional size and the real-time position coordinate of the edge of the package image; judging whether the abnormal part belongs to the abnormal part or not based on the image recognition result, and marking the abnormal parts such as the stacked parts; sequentially numbering and counting the number of the normal packages one by one;
stage three, flow splitting
On the first sorting device, removing the packages detected and marked as abnormal pieces out of the conveying lines, and proportionally distributing the packages of the normal pieces according to the number of the lead-in devices connected with each conveying line;
the distance between any two adjacent front and back 2 packages is not less than a set value;
stage four, flow regulation
The photoelectric detection device detects the real-time interval of the front and back adjacent 2 parcels conveyed on each group of narrow belt conveyors;
when the distance is smaller than the set value, the narrow belt conveyor in which the next parcel is located stops running until the distance between the front and rear adjacent 2 parcels is not smaller than the set value;
when all the narrow belt conveyors forming the conveying line stop operating, the first sorting device stops distributing packages to the conveying line;
stage five, leading in an upper part
The packages enter the cross-belt sorting machine through the leading-in device.
2. The fully automatic lead-in and lead-out flow regulation control method according to claim 1, characterized in that: in the first stage and the separation process, the packages enter the scattering separation device from the unloading end, the 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 under the control of the scattering separation PLC, and the stacked packages are dispersed, transversely and longitudinally stretched to form a conveying array in a discrete state step by step;
the visual recognition controller recognizes data including three-dimensional size and real-time position coordinates of each parcel through the 3D camera so as to recognize each parcel and a distance between each parcel and an adjacent parcel;
the parcels enter the belt conveyor matrix, and the conveying speed of the belt conveyor in the area is differentially adjusted so as to adjust the distance between every two adjacent parcels along the conveying direction to a set value.
3. The fully automatic lead-in and lead-out flow regulation control method according to claim 2, characterized in that: in the second stage and the detection process, the serial number given to the normal piece of package based on the image identification result is effective in the whole flow regulation process, and the serial number is used as the identity information of the package and is sent to the first sorting device PLC along with other image identification information.
4. The fully automatic lead-in and lead-out flow regulation control method according to claim 3, characterized in that: in the third stage and the dividing process, the first sorting device is connected with 2 first conveying lines and 2 second conveying lines which are independently conveyed through dividing and edge leaning devices;
in the case where neither the first conveyor line nor the second conveyor line stops operating, the proportion of the packages distributed by the first sorting device is determined by the number of the lead-in devices connected to each conveyor line.
5. The fully automatic lead-in and lead-out flow regulation control method according to claim 4, characterized in that: in the third stage, in the distribution process, according to the distribution proportion of the first sorting device, the parcel queue enters one of 2 groups of roller machines which are arranged in parallel with the side-leaning device alternatively, parcels move to the outer edge of the roller machine in an inclined mode along the running direction of the roller machine, and the outer edge of the parcels is adjusted to be parallel to the conveying direction by being pulled and straightened by a side-leaning belt conveyor connected with the outer edge of the roller machine.
6. The fully automatic lead-in and lead-out flow regulation control method according to claim 5, characterized in that: in the fourth stage and the flow adjusting process, the judgment condition of whether the conveying line is in a full-load state is that all narrow belt conveyors forming the first conveying line or the second conveying line stop running;
the condition for stopping the narrow belt conveyor is that the distance between every two adjacent packages conveyed on the narrow belt conveyor along the conveying direction is smaller than a set value.
7. The fully automatic lead-in and lead-out flow regulation control method according to claim 6, characterized in that: in the fourth stage and the flow adjusting process, the belt starting and stopping state and the running speed of the narrow belt conveyor are adjusted by the 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 coordinate data of all real-time conveyed packages on each conveying line and position information of adjacent intervals;
the photoelectric detection controller detects the position and the front-back distance of the packages on the conveying belt through the photoelectric detection device, and the detection data are sent to the conveying line PLC and the upper computer, so that the monitoring data of the conveying speed, the real-time position and the front-back distance of all the packages on the first conveying line and the second conveying line are established.
8. The fully automatic lead-in and lead-out flow regulation control method according to claim 7, characterized in that: the real-time conveying distance of the adjacent 2 parcels can be calculated by combining the running speed of the belt through the time interval that the front and back 2 parcels sequentially pass through the same group of photoelectric detection devices;
the upper computer compares the real-time conveying distance 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,
the set value (linear speed of conveyor (m/s) × workpiece loading rate on the loading table (s/s))/workpiece number on the feeding table) × 80%
When part of the conveying lines are fully loaded, only the rest of the conveying lines can be used for conveying, the current conveying distance is correspondingly increased, the adjusted distance calculation formula is as follows,
the adjusted distance is the previous distance (set value) and the total number of the lead-in tables/the number of the lead-in tables corresponding to the unloaded conveying lines.
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