CN207361279U

CN207361279U - The piece uploading device and piece uploading control system of automatic steering carrying cart

Info

Publication number: CN207361279U
Application number: CN201721428488.3U
Authority: CN
Inventors: 周绸; 吴永海; 徐慧鑫; 全晓臣
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2017-10-30
Filing date: 2017-10-30
Publication date: 2018-05-15
Anticipated expiration: 2027-10-30

Abstract

The utility model is the piece uploading device and piece uploading control system on a kind of automatic steering carrying cart, belongs to logistics field.Piece uploading device includes：Piece uploading band to band transfer module and control assembly, the piece uploading band to band transfer module further includes cargo supports platform and drives the driver of the cargo supports platform movement, the cargo supports platform is provided with cargo access and export of goods, cargo can be transmitted at export of goods at cargo access by the control assembly by the driver control cargo supports platform, and cargo is sent on carrier by the export of goods.The utility model realizes the automatic piece supplying of cargo, improves the piece uploading efficiency and accuracy of cargo.The utility model is used for the cargo piece uploading in logistics transportation.

Description

The piece uploading device and piece uploading control system of automatic steering carrying cart

Technical field

This application involves logistics field, the piece uploading device of more particularly to a kind of automatic steering carrying cart and piece uploading control system System.

Background technology

In order to improve the conevying efficiency of cargo, automatic steering carrying cart (English is generally used in logistics system： Automated Guided Vehicle, referred to as：AGV) transport goods.

In correlation technique, cargo can be placed on automatic steering carrying cart by operating personnel manually, which removes Fortune car can be travelled along desired guiding trajectory, by cargo transport to appointed place.Cargo is placed on automatic steering carrying cart by this Process be piece uploading.

But the mode of the artificial piece uploading is time-consuming and laborious, piece uploading is less efficient.

Utility model content

The utility model embodiment provides the piece uploading device and piece uploading control system of a kind of automatic steering carrying cart, can be with Solve the problems, such as that the piece uploading method piece uploading efficiency in correlation technique is low.The technical solution is as follows：

According to the first aspect of the utility model embodiment, there is provided a kind of piece uploading device of automatic steering carrying cart, it is described Piece uploading device includes piece uploading band to band transfer module and control assembly, and the piece uploading band to band transfer module includes cargo supports platform and drives the cargo branch Support the driver of platform movement；

The cargo supports platform is provided with cargo access and export of goods, and the cargo supports platform is by cargo from cargo access Place is transmitted at export of goods, and the export of goods is located above the operation passage of carrier；

The control assembly is connected with the driver, and the control assembly controls cargo described in the driver drives Supporting table is moved.

Optionally, the piece uploading band to band transfer module is arranged on the top of the operation passage, and the transmission of the cargo supports platform Direction is consistent with the extending direction of the operation passage.

Optionally, the piece uploading band to band transfer module further includes the leg for supporting the cargo supports platform, and the leg is supported on institute State the outside of operation passage.

Optionally, the piece uploading device further includes：

The detection components being arranged at the cargo access, the detection components include：Weighing apparatus, size detector and sweep At least one of code device.

Optionally, the cargo supports platform includes accelerating conveyor, and the outlet for accelerating conveyor goes out for the cargo Mouthful.

Optionally, the cargo supports platform further includes the adjoining conveyor adjacent with the acceleration conveyor；

The driver includes driving the adjacent conveyor and the drive component for accelerating conveyor respectively.

Optionally, the adjacent conveyor is caching conveyor, and the cargo supports platform further includes detection conveyor, described Detection conveyor, the caching conveyor and the acceleration conveyor are disposed adjacent successively, and the detection conveyor enters Mouth is the cargo access；

The driver further includes the drive component for driving the detection conveyor.

Optionally, the adjacent conveyor is detection conveyor, and the entrance of the detection conveyor is the cargo access.

Optionally, the piece uploading device further includes：It is arranged on the detection components of the detection conveyor either side, the inspection Surveying component includes：At least one of weighing apparatus, size detector and code reader.

Optionally, the piece uploading device further includes：It is arranged on the cargo identification sensor of each conveyor either side；

The cargo identification sensor is connected with the control assembly.

Optionally, the piece uploading device further includes：The operation is successively set on along the extending direction of the operation passage On passage, or it is arranged on multiple tachogenerators of the operation passage either side；

Each tachogenerator is connected with the control assembly, and each tachogenerator and the cargo The distance of outlet is more than the first distance threshold.

Optionally, the piece uploading device further includes：

It is arranged on the operation passage, or is arranged on the carrier identification sensor of the operation passage either side；

The carrier identification sensor is connected with the control assembly, and the carrier identification sensor and the goods The distance of thing outlet is more than second distance threshold value, and the second distance threshold value is more than first distance threshold.

Optionally, the piece uploading device further includes：The alarm module that is connected with the control assembly or with the control The sorting arm of component connection；

The alarm module includes at least one of buzzer and light emitting diode.

According to the second aspect of the utility model embodiment, there is provided a kind of control method of piece uploading device, for controlling the Piece uploading device described in one side, the described method includes：

Obtain the kinematic parameter of the target carrier moved on operation passage；

According to the kinematic parameter of the target carrier, control the cargo supports platform in piece uploading band to band transfer module to drive and treat piece uploading Goods movement, and the target carrier be moved to it is described operation passage on it is corresponding with the export of goods of the cargo supports platform During position, the cargo for treating piece uploading is sent to the target carrier by the export of goods.

Optionally, the kinematic parameter according to the target carrier, controls the cargo supports platform in piece uploading band to band transfer module The goods movement for treating piece uploading is driven, including：

According to the kinematic parameter of the target carrier, the transfer rate of the cargo supports platform, the cargo branch are adjusted Support platform according to after adjustment transfer rate run when, the target carrier be moved to it is described operation passage on and the cargo When exporting correspondence position, the cargo supports platform drive described in treat at goods movement to the export of goods of piece uploading.

Optionally, the kinematic parameter includes shift position and the translational speed of target carrier, described according to the mesh The kinematic parameter of carrier is marked, adjusts the transfer rate of the cargo supports platform, including：

When detecting that the target carrier is moved to the first designated position of the operation passage, according to the target The translational speed of carrier, calculates the target carrier and is moved on the operation passage and the export of goods correspondence position Required mobile duration, the distance between first designated position and the export of goods are more than the first distance threshold；

According to the translational speed and the mobile duration, the transfer rate of the cargo supports platform is adjusted, after adjustment The transfer rate of the cargo supports platform is equal with the translational speed of the target carrier after by the mobile duration.

Optionally, described according to the translational speed and the mobile duration, the transmission for adjusting the cargo supports platform is fast Degree, including：

When detecting that the target carrier is moved to first designated position, determine the cargo for treating piece uploading with Spacing distance between the export of goods；

According to the mobile duration and the spacing distance, the transfer rate of the cargo supports platform, the cargo are adjusted After supporting table runs the mobile duration according to the transfer rate after adjustment, the distance of the goods movement of piece uploading is treated described in drive It is equal with the spacing distance.

Optionally, before the kinematic parameter of the target carrier for obtaining and being moved on operation passage, the method Further include：

The characteristic parameter for the cargo for treating piece uploading is obtained, the characteristic parameter includes：In weight, size and dispatching mark extremely Few one kind；

According to the characteristic parameter, determine and the matched target carrier of cargo for treating piece uploading.

Optionally, after the characteristic parameter of cargo of piece uploading is treated in the acquisition, the method further includes：

According to the shipping parameters of at least one carrier prestored, detect whether that there are shipping parameters and the feature The matched target carrier of parameter；

When being not detected by the matched target carrier of shipping parameters and the characteristic parameter, alarm signal is sent, or The cargo for treating piece uploading is moved away from into the cargo supports platform.

Optionally, it is described according to the characteristic parameter, determine and the matched target carrier of cargo for treating piece uploading, bag Include：

Obtain the mark of the carrier of the second designated position by the operation passage, second designated position and institute State the distance between export of goods and be more than second distance threshold value；

The shipping parameters of the carrier are obtained according to the mark of the carrier；

Judge whether the shipping parameters of the carrier match with the characteristic parameter of the cargo for treating piece uploading；

When the shipping parameters of the carrier are matched with the characteristic parameter of the cargo when piece uploading, the carrying is determined Car is target carrier.

Optionally, the cargo supports platform includes accelerating conveyor, and the outlet for accelerating conveyor goes out for the cargo Mouthful；

The kinematic parameter according to the target carrier, controls the cargo supports platform in piece uploading band to band transfer module to drive and treats The goods movement of part, including：

According to the kinematic parameter of the target carrier, the goods movement for accelerating conveyor drive to treat piece uploading is controlled.

Optionally, the cargo supports platform further includes the adjoining conveyor adjacent with the acceleration conveyor；The method Further include：

The cargo for needing piece uploading is stopped in the adjacent conveyor when detecting, and does not stop and treats in the acceleration conveyor During the cargo of piece uploading, the cargo that piece uploading is treated described in the adjacent conveyor to the acceleration conveyor transmission is controlled.

Optionally, the adjacent conveyor is caching conveyor, and the cargo supports platform further includes detection conveyor, described Detection conveyor, the caching conveyor and the acceleration conveyor are disposed adjacent successively, and the detection conveyor enters Mouth is the cargo access；The method further includes：

The cargo for needing piece uploading is stopped in the detection conveyor when detecting, and does not stop and treats in the caching conveyor During the cargo of piece uploading, the cargo that piece uploading is treated described in the detection transmission to the caching conveyer belt transmission is controlled.

Optionally, the either side of the detection conveyor is provided with detection components；The method further includes：

When detecting that stop needs the cargo of piece uploading in the detection conveyor, the detection conveyor is controlled by described in Treat that the cargo of piece uploading is sent to the detection zone of the detection components.

Optionally, the kinematic parameter for obtaining the target carrier moved on operation passage, including：

The kinematic parameter of the target carrier is obtained by tachogenerator；

Alternatively, receive the kinematic parameter that the target carrier is sent.

According to the third aspect of the utility model embodiment, there is provided a kind of piece uploading control system, the system comprises：Have The operation place of at least one operation passage, at least one carrier moved on the operation passage, and it is arranged on institute At least one piece uploading device on operation place is stated, each piece uploading device is piece uploading device as described in relation to the first aspect；

Wherein, in each piece uploading device the export of goods of cargo supports platform positioned at the upper of operation passage Side.

Optionally, the height at the export of goods of the cargo supports platform is higher than the cargo carrying face of each carrier.

Optionally, the system also includes：Control terminal, the control assembly is established with the control terminal communication link Connect, the control terminal controls the control assembly to drive the driver operating.

According to the fourth aspect of the utility model embodiment, there is provided a kind of computer-readable recording medium, the storage are situated between The step of matter memory contains computer program, and the computer program realizes second aspect the method when being executed by processor.

The beneficial effect that technical solution provided by the utility model is brought is：

In conclusion the utility model provides the piece uploading device and piece uploading control system of a kind of automatic steering carrying cart, Wherein piece uploading device includes piece uploading band to band transfer module and control assembly, and the piece uploading band to band transfer module includes cargo supports platform and drives the goods The driver of thing supporting table movement, the cargo supports platform are provided with cargo access and export of goods, which can pass through Cargo is transmitted at export of goods by the driver control cargo supports platform at cargo access, and cargo is passed through the cargo Outlet is sent on carrier, it is achieved thereby that the automatic piece supplying of cargo, effectively increases the efficiency of cargo piece uploading.

It should be appreciated that the general description and following detailed description of the above are only exemplary, this can not be limited Utility model.

Brief description of the drawings

, below will be to attached needed in embodiment description in order to illustrate more clearly of the embodiment of the utility model Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the utility model, for this For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing.

Fig. 1 is a kind of structure diagram of piece uploading control system according to an exemplary embodiment；

Fig. 2 is a kind of structure diagram of piece uploading device according to an exemplary embodiment；

Fig. 3 is the structure diagram of another piece uploading device according to an exemplary embodiment；

Fig. 4 is the structure diagram of another piece uploading device according to an exemplary embodiment；

Fig. 5 is the structure diagram of another piece uploading device according to an exemplary embodiment；

Fig. 6 is a kind of flow chart of piece uploading control method according to an exemplary embodiment；

Fig. 7 is the flow chart of another piece uploading control method according to an exemplary embodiment；

Fig. 8 is a kind of flow chart of definite target carrier method according to an exemplary embodiment；

Fig. 9 is a kind of method flow of the transfer rate of adjustment cargo supports platform according to an exemplary embodiment Figure；

Figure 10 is the flow chart of another piece uploading control method according to an exemplary embodiment；

Figure 11 is the flow chart of the control method of another piece uploading device according to an exemplary embodiment.

Attached drawing herein is merged in specification and forms the part of this specification, shows and meets the utility model Embodiment, and be used to together with specification to explain the principle of the utility model.

Embodiment

It is new to this practicality below in conjunction with attached drawing to make the purpose of this utility model, technical solution and advantage clearer Type embodiment is described in further detail.

A kind of piece uploading control system is provided in the utility model embodiment, as shown in Figure 1, the system can include having The operation place 11 of at least one operation passage 10, at least one carrier 12 moved on operation passage 10, and set At least one piece uploading device M on operation place 11, wherein each piece uploading device M can correspond to an operation passage 10, and Can be that the carrier 12 moved on the operation passage 10 carries out cargo piece uploading, each carrier 12 can be removed for automatic guide Transport car.

Fig. 2 is a kind of structure diagram of the piece uploading device for automatic steering carrying cart that the utility model embodiment provides, As shown in Fig. 2, the piece uploading device of the automatic steering carrying cart can include：Piece uploading band to band transfer module 01, control assembly (is not shown in Fig. 2 Go out), which can also include cargo supports platform 011 and drive driver (Fig. 2 of the movement of cargo supports platform 011 Not shown in).

The cargo supports platform 011 is provided with cargo access A and export of goods B, which can be by cargo 13 It is transmitted at cargo access A at export of goods B, and export of goods B is located at the top of the operation passage 10 of carrier 12.Should Control assembly is connected with driver, for controlling driver drives cargo supports platform 011 to transmit cargo, cargo is sent to and is removed Car is transported, so as to fulfill the automatic piece supplying of cargo.

Wherein, which can be driving motor, which can include master control borad and motor control panel, the master Control plate is used to control motor control panel, and various control decisions are communicated and determined with other equipment, which uses Rotating speed and steering in control driving motor.

Passed in conclusion the piece uploading device for the automatic steering carrying cart that the utility model embodiment provides can include piece uploading Defeated and control assembly, the piece uploading band to band transfer module can include cargo supports platform and drive the driving of cargo supports platform movement Cargo can be transmitted to export of goods by device, the control assembly by the driver control cargo supports platform at cargo access Place, and cargo is sent on carrier by the export of goods, it is achieved thereby that the automatic piece supplying of cargo, effectively increases goods The efficiency of thing piece uploading.

Further, as shown in Figure 1, the cargo supports platform 011 can be arranged on the top of operation passage 10, and the cargo The direction of transfer of supporting table 011 can be consistent with running the extending direction X of passage 10.Correspondingly, the piece uploading band to band transfer module 01 may be used also With the leg 012 including being used to support the cargo supports platform 011, which can be supported on the outside of operation passage 10, with Avoid impacting the normally travel of carrier 12.Cargo supports platform 011 is arranged on to the top of operation passage 10, can be kept away Exempt from the cargo supports platform 011 and take additional space, effectively increase the space availability ratio in operation place.

It is exemplary, as shown in Figure 1, the piece uploading band to band transfer module 01 can include multiple legs 012, and the plurality of leg 012 The both sides of operation passage 10 can be symmetrically arranged on two-by-two, to ensure to support stablizing for the cargo supports platform 011.

Fig. 3 is the structure diagram for another piece uploading device that the utility model embodiment provides, as shown in figure 3, on this Part device can also include：The detection components 02 being arranged at cargo access A, the detection components 02 can include：Weighing apparatus 021st, at least one of size detector 022 and code reader 023.The detection components 02 can be used for obtaining the cargo for treating piece uploading Characteristic parameter, and this feature parameter is sent to control assembly.

Wherein, which can be used for detecting the weight for the cargo for treating piece uploading, which can be weight Sensor, and the weighing apparatus 021 can be arranged on the lower section of the loading end of cargo supports platform 011.

The size detector 022 can be used for detecting the size for the cargo 13 for treating piece uploading, which can be It is arranged at the cargo access A of cargo supports platform 011 and puts part frock, this, which puts part frock, can be included along cargo supports platform 011 Two list structures setting of direction of transfer, the spacing between two list structures is adjustable, will treat that the cargo of piece uploading is placed After between two list structures, this is put part frock and can determine to treat piece uploading according to the spacing between two list structures The size of cargo.Alternatively, the size detector 022 can also be can Direct Recognition treat piece uploading cargo size photoelectric transfer Sensor etc., the photoelectric sensor can be arranged on the both sides of cargo supports platform 011, can also be arranged on cargo supports platform 011 Top.

The code reader 023 can be used for the dispatching mark for obtaining the cargo for treating piece uploading, and dispatching mark can serve to indicate that Treat the cargo destination extremely to be handled of piece uploading.For example, dispatching face list, dispatching face Dan Shangke can be pasted with each cargo To be labeled with dispatching mark, dispatching mark can be Quick Response Code, bar code or character string etc..Correspondingly, the code reader 023 It can be the device that can identify dispatching mark, such as can be the figure that can identify Quick Response Code, bar code or character string As sensor.Also, the code reader 023 can be arranged on the side of cargo supports platform 011, cargo supports platform can also be arranged on 011 top, or can also be set directly on the loading end of the cargo supports platform 011.

Exemplary, as shown in figure 3, the top of the cargo supports platform 011 can be provided with stent 03, which can To be arranged on the stent 03.Operating personnel will can treat by when the cargo of piece uploading is placed on the cargo supports platform 011 The cargo of part is labeled with one being placed facing to the code reader 023 for dispatching mark, so as to code reader 023 can effective scanning this treat The dispatching mark of the cargo of piece uploading.

In the utility model embodiment, control assembly is being got after the characteristic parameter of the cargo of piece uploading, Ke Yigen According to the shipping parameters of at least one carrier 12 prestored, detect whether that there are shipping parameters and detection components 02 to detect The target carrier 12 that matches of characteristic parameter, the shipping parameters of the target carrier 12 can include being used to indicate the target The parameter of the bearing capacity of carrier 12, can also include the parameter for being used to indicate the carrying destination of the target carrier 12.

Correspondingly, being also provided with the alarm module being connected with control assembly in the piece uploading device, which can With including at least one of buzzer and light emitting diode.Matched when control assembly is not detected by shipping parameters with characteristic parameter Target carrier 12 when, the alarm module can be controlled to make a sound alarm signal, light alarm signal or audible and visual alarm Signal, to prompt staff in time to move away from the cargo for treating piece uploading, avoids influencing the piece uploading of other cargos, so as to effectively improve The sorting efficiency of cargo.

Optionally, the sorting arm being connected with control assembly is also provided with the piece uploading device, when control assembly is not examined When measuring the matched target carrier 12 of shipping parameters and characteristic parameter, it can also control the sorting arm that the cargo for treating piece uploading is straight Connect and move away from cargo supports platform 011, realize the automatic of cargo and move away from, so as to effectively increase the sorting efficiency of cargo.

Further, in the utility model embodiment, as shown in figure 3, the cargo supports platform 011 can include accelerating to pass Defeated band J1, the outlet of acceleration conveyor J1 is export of goods B.Control assembly in the piece uploading device is in control cargo supports During 011 piece uploading of platform, the transfer rate of acceleration conveyor J1 can be directly controlled, the cargo of piece uploading will be treated from cargo Outlet B is sent on target carrier 12.

Optionally, as shown in figure 4, the cargo supports platform 011 can also include the adjacent biography adjacent with accelerating conveyor J1 Defeated band J2, correspondingly, the driver can include driving adjacent conveyor J2 respectively and accelerate the drive component of conveyor J1, control Component processed can drive each drive component to drive corresponding conveyor to rotate respectively, so as to realize adjoining conveyor J2 With the independent operation for accelerating conveyor J1.

As a kind of optional implementation, as shown in figure 4, adjoining conveyor J2 can be detection conveyor, and should The entrance for detecting conveyor J2 is cargo access A.Detection components 02 in the piece uploading device can be arranged on detection transmission Either side with J2, during treating that the cargo of piece uploading transmits on detection conveyor J2, control assembly can pass through detection Component 02 obtains the characteristic parameter of the cargo for treating piece uploading, and during the acquisition characteristic parameter, control assembly can also be controlled System accelerate conveyor J1 the cargo for treating piece uploading carried thereon is sent to export of goods B at, it is possible thereby to realize detect and on Two steps of part perform at the same time, effectively increase the efficiency of cargo piece uploading.

As another optional implementation, since control assembly exists with treating piece uploading in definite piece uploading control system The matched target carrier 12 of cargo after, it is necessary to obtain the kinematic parameter of the target carrier 12, and according to the kinematic parameter Adjustment accelerates the transfer rate of conveyor J1, which needs the regular hour, therefore in order to improve the piece uploading efficiency of cargo, such as Shown in Fig. 5, adjoining conveyor J2 can be caching conveyor, which can also include detection conveyor J3, Detection conveyor J3, the caching conveyor J2 and acceleration conveyor J1 can be disposed adjacent successively, and the detection is transmitted The entrance of band is cargo access A.Wherein, which can include multiple, and each conveyor that caches can be used for delaying A cargo for treating piece uploading is deposited, so as to realize the orderly piece uploading of cargo, improves the piece uploading efficiency of cargo.

In the utility model embodiment, as shown in figure 5, the piece uploading device can also include being arranged on each conveyor times The cargo identification sensor 04 of side, the cargo identification sensor 04 are connected with control assembly, which can Whether to have stopped cargo in each conveyor set on cargo supports platform 011 for detecting.

Wherein, which can include infrared sensor, pressure sensor, laser sensor or light Any of in electric transducer.When the cargo identification sensor 04 includes pressure sensor, the cargo identification sensor 04 can be arranged on the lower section of each conveyor loading end；When the cargo identification sensor 04 includes infrared sensor, laser When sensor or photoelectric sensor, which can be arranged on the side of each conveyor, can also set On the loading end of each conveyor, or the top of each conveyor can also be arranged on, such as can be in conveyor just Top sets stent, and the cargo identification sensor 04 is arranged on the stent.

Further, which can also include being arranged on operation passage 10, or be arranged on operation passage 10 The carrier identification sensor 05 of either side, the carrier identification sensor 05 are connected with control assembly, and carrier identification passes Sensor 05 can be used for detecting the mark of carrier 12, also, the carrier identification sensor 05 and the distance of export of goods B are big In second distance threshold value, which, which can be more than, accelerates the length L of conveyor J1 in the transmission direction.It is exemplary, As shown in figure 5, the cargo that the carrier identification sensor 05 can be arranged on operation passage 10 with the cargo supports platform 011 enters At position corresponding to mouth A.

Wherein, the mark of itself can be labeled with the vehicle body of each carrier 12, when carrier 12 passes through the carrier During identification sensor 05, which can obtain and identify the mark of the carrier 12, and to control group Part sends the mark of the carrier 12.Exemplary, the mark indicated on the vehicle body of each carrier 12 can be character string, also may be used Think Quick Response Code or bar code etc., which can be the imaging sensor that can identify the mark.

In the utility model embodiment, in order to realize effective piece uploading of cargo 13, control assembly can be according to carrier 12 kinematic parameter, the transfer rate of adjustment cargo supports platform 011, wherein, which can include the shifting of carrier 12 Dynamic speed and shift position.

Therefore, as shown in figure 5, the piece uploading device can also include：It is successively set on along the extending direction of operation passage 10 Run on passage 10, or be arranged on multiple tachogenerators 06 of operation 10 either side of passage, the sensing 06 that each tests the speed is equal It is connected with control assembly, each tachogenerator 06 is used for the translational speed that the carrier 12 is detected when carrier 12 passes through, And the translational speed of the carrier 12 is sent to control assembly.In order to ensure that control assembly is getting target carrier 12 After kinematic parameter, there is the transfer rate that time enough adjusts cargo supports platform 011 according to the kinematic parameter, this each tests the speed The distance of sensor 06 and export of goods B should be more than the first distance threshold, wherein, which can be more than or wait In the length L of acceleration conveyor J1 in the transmission direction.Also, first distance threshold is less than the second distance threshold value.Namely It is that carrier 12 on running passage 10 when moving, it is necessary to carrier identification sensor 05 be first passed through, then again successively by every A tachogenerator 06.

Exemplary, as shown in figure 5, the plurality of tachogenerator 06 can be arranged on the side of operation passage 10, and this is more A distance of the tachogenerator 06 away from export of goods B is less than distance of the carrier identification sensor 05 away from export of goods B.

Fig. 6 be the utility model embodiment provide a kind of piece uploading device control method flow chart, the control method It can be used for controlling the piece uploading device of the automatic steering carrying cart as shown in Fig. 2 to Fig. 5 is any, and the control method can be applied Control assembly in the piece uploading device.As shown in fig. 6, the control method can include：

Step 601, the kinematic parameter for obtaining the target carrier moved on operation passage.

Wherein, the kinematic parameter of the target carrier can include translational speed and the shift position of target carrier.

Step 602, the kinematic parameter according to target carrier, control the cargo supports platform in piece uploading band to band transfer module to drive and treat The goods movement of part, and when target carrier is moved on operation passage the export of goods correspondence position with cargo supports platform, The cargo for treating piece uploading is sent to target carrier by export of goods.

In the utility model embodiment, control assembly can be controlled according to the kinematic parameter of the target carrier got Cargo supports platform processed treats the goods movement of piece uploading to cargo before target carrier is moved to export of goods correspondence position, by this Exit, and when target carrier is moved to export of goods correspondence position, this is treated that the cargo of piece uploading is sent to target and carries Car；Alternatively, control assembly can control cargo supports platform to be moved to export of goods correspondence position in target carrier and then incite somebody to action Treat at goods movement to the export of goods of piece uploading, when target carrier is moved to export of goods correspondence position, can wait for parking Cargo piece uploading；Or control assembly can also control cargo supports platform to be moved to export of goods in target carrier to correspond to position It is synchronous to treat this at goods movement to export of goods of piece uploading when putting, and this is treated that the cargo of piece uploading is sent to target carrier, So as to fulfill the not parking piece uploading of cargo.

In conclusion the control method for the piece uploading device that the utility model embodiment provides, control assembly can be according to removing Transport car kinematic parameter come adjust cargo supports platform drive treat piece uploading goods movement translational speed so that working as carrier When being moved at export of goods, which can be transmitted to cargo at export of goods at cargo access, and by goods Thing is sent on carrier by the export of goods, it is achieved thereby that the automatic piece supplying of cargo, effectively increases cargo piece uploading Efficiency.

Fig. 7 be the utility model embodiment provide another piece uploading device control method flow chart, the controlling party Method can be used for control figure 2 to the piece uploading device of the automatic steering carrying cart shown in Fig. 5, and this method can be applied to the piece uploading Control assembly in device.As shown in fig. 7, the control method can include：

Step 701, acquisition treat the characteristic parameter of the cargo of piece uploading.

In the utility model embodiment, the detection components being arranged on cargo supports platform can detect the cargo for treating piece uploading Characteristic parameter, and this feature parameter is sent to control assembly.This treat the cargo of piece uploading characteristic parameter can include weight, At least one of size and dispatching mark.

It is exemplary, it is assumed that detection components detect that the characteristic parameter of certain cargo includes：Weight is 6 kilograms, 20 centimetres long, wide 30 centimetres, dispatching is identified as A, then the characteristic parameter for the cargo that control assembly is got is：6 kilograms of the weight of cargo is long 20 centimetres, it is 30 centimetres wide, dispatching mark instruction destination be A.

Step 702, according to the shipping parameters of at least one carrier prestored, detect whether there are shipping parameters with The matched target carrier of characteristic parameter.

It can be previously stored with the utility model embodiment, in the control assembly at least one in piece uploading control system The shipping parameters of carrier, the shipping parameters can include the bearing capacity for indicating carrier and/or be carried for instruction The parameter of the carrying destination of car.For example, the shipping parameters of the carrier can include carrier the weight range carried, At least one of the size range and carrying destination that can carry.When control assembly gets the feature for the cargo for treating piece uploading During parameter, it can first detect in piece uploading control system and be matched with the presence or absence of shipping parameters with the characteristic parameter that detection components detect Target carrier.

It should be noted that spy of the parameter type included by the shipping parameters that control assembly is got with treating piece uploading cargo The parameter type levied included by parameter should be corresponding.For example, when the characteristic parameter for the cargo for treating piece uploading includes weight and size When, which should include at least the weight range carried of carrier and the size range that can be carried.

It should also be noted that, when characteristic parameter includes dispatching mark, shipping parameters are matched with characteristic parameter to be Refer to, the carrying destination in shipping parameters and the destination of dispatching mark instruction are same place；When characteristic parameter includes weight When amount or size, shipping parameters are matched with characteristic parameter to be referred to, the parameter value of characteristic parameter is in corresponding shipping parameters Number range within.

Further, control assembly is detecting the shipping parameters of carrier with treating whether the characteristic parameter of piece uploading cargo matches When, it is necessary to detect treat that each single item characteristic parameter shipping parameters whether corresponding with carrier of piece uploading cargo match, if detection Go out to have a characteristic parameter to mismatch, it is determined that the carrier cannot effectively carry the cargo.If control assembly detects piece uploading The shipping parameters of each carrier, then can further really with treating that the characteristic parameter of piece uploading cargo mismatches in control system It is fixed that the target carrier that can effectively carry and treat piece uploading cargo is not present.

It is exemplary, it is assumed that 3 carriers are shared in piece uploading control system and are moved on operation passage, each carrier corresponds to Shipping parameters can be as shown in table 1, wherein, being identified as the shipping parameters of the carrier of a includes：The weight range that can be carried is 1 kilogram to 11 kilograms, the size range that can be carried is long 20 to 40 centimetres, 10 to 40 centimetres wide, carrying destination B.

Table 1

Assuming that detection components detect that the characteristic parameter of some cargo includes：10 kilograms of weight is 50 centimetres long, 50 lis wide Rice, the destination of dispatching mark instruction is A.Control assembly carries three shown in the characteristic parameter of the cargo and above-mentioned table 1 The shipping parameters of car are contrasted successively, can detect the shipping parameters of each carrier and the cargo in three carriers Characteristic parameter cannot all match completely, then control assembly can determine there is no can effectively carry the cargo target carry Car, so as to perform step 703；When control assembly detects the matched target carrier of shipping parameters and characteristic parameter, Step 704 can be performed.

Step 703, send alarm signal.

When control assembly is not detected by the matched target carrier of shipping parameters and characteristic parameter, alarm mould can be controlled Block sends alarm signal, to prompt staff to move away from cargo, avoids influencing the piece uploading of other cargos, so as to effectively increase The sorting efficiency of cargo.

Alternatively, sorting arm is also provided with the piece uploading device of the automatic steering carrying cart, then when control assembly is not examined When measuring the matched target carrier of shipping parameters and characteristic parameter, the sorting arm can be controlled directly to move away from cargo, realized The automatic of cargo is moved away from, so as to effectively increase the sorting efficiency of cargo.

Step 704, according to characteristic parameter, determine the matched target carrier of cargo with treating piece uploading.

, can when control assembly, which is detected in piece uploading control system, there is target carrier matched with cargo when piece uploading With determine this treat the cargo of piece uploading can effective piece uploading, therefore can be according to the characteristic parameter for the cargo for treating piece uploading, from running Determine to treat the matched target carrier of the cargo of piece uploading with this in the carrier moved on passage.

Fig. 8 is a kind of according to characteristic parameter of the utility model embodiment offer, is determined with treating that the cargo of piece uploading is matched The method flow diagram of target carrier, as shown in figure 8, the control assembly determines that the method for target carrier can specifically include：

Step 7041, the mark for obtaining the carrier for passing through the second designated position for running passage.

In order to ensure that control assembly after definite target carrier, there is the fortune that time enough obtains the target carrier Dynamic parameter, and adjust according to the kinematic parameter transfer rate of cargo supports platform, second designated position with export of goods it Between distance can be more than second distance threshold value, and the second distance threshold value can be more than and accelerate conveyor in the transmission direction Length L.For example, when the cargo supports platform extending direction parallel to carrier operation passage when, which can Think the cargo access place of cargo supports platform position.

In an optional implementation manner, locating module and communication module can be installed on carrier, work as carrier When detecting that itself is located at the second specified location by locating module, the mark of itself can directly be sent out by communication module Send to control assembly.

In another optional implementation, carrier identification can be provided with by running the second specified location of passage Sensor, and it is labeled with the mark of itself on the vehicle body of each carrier.Carrier identification sensor can be removed having detected When fortune car passes through, obtain and identify the mark of the carrier, and the mark of the carrier is sent to control assembly.

Step 7042, the shipping parameters for identifying acquisition carrier according to carrier.

Pair of carrier mark and shipping parameters can be previously stored with the utility model embodiment, in control assembly It should be related to, control assembly can be according to the mark for the carrier that this gets, and from the correspondence prestored obtaining this removes Transport the shipping parameters of car.

It is exemplary, it is assumed that the mark of the carrier stored in control assembly and for example above-mentioned table 1 of the correspondence of shipping parameters Shown, in above-mentioned steps 7041, carrier is when by the second designated position, carrying that carrier identification sensor recognizes Car is identified as b, then control assembly can determine to be identified as the transport ginseng of the carrier of b according to the correspondence shown in above-mentioned table 1 Number is：The weight range that can be carried is 1 kilogram to 20 kilograms；The size range that can be carried is 10 to 80 centimetres of length, wide 10 to 20 Centimetre；Carrying destination is A.

Step 7043, judge whether the characteristic parameter of the cargo with treating piece uploading matches for the shipping parameters of carrier.

In the utility model embodiment, the shipping parameters of carrier and the characteristic parameter of cargo are got when control assembly Afterwards, the respective items of characteristic parameter of each single item parameter in shipping parameters with treating piece uploading cargo can be contrasted successively.Example Can such as detect weight parameter value in the characteristic parameter of cargo whether in carrier can be within load capacity number range, goods The size parameter values of thing whether carrier carry dimensional values within the scope of, the indicated purpose of the dispatching mark of cargo Whether the carrying destination of ground and carrier is identical.

Exemplary, control assembly can will treat the characteristic parameter of piece uploading cargo：6 kilograms of weight is 20 centimetres long, 20 lis wide Meter, shipping parameters corresponding with carrier b are contrasted each single item in the destination A of dispatching mark instruction respectively.

It should be noted that as shown in figure 5, the cargo supports platform 011 can include detection conveyor J3, caching conveyor Multiple conveyors such as J2 and acceleration conveyor J1, then control assembly, should be according to positioned at acceleration biography in definite target carrier The characteristic parameter for treating piece uploading cargo on defeated band J1 is judged.It that is to say, control assembly needs to judge the transport ginseng of carrier Whether the characteristic parameter of the cargo for treating piece uploading with accelerating to stop on conveyor J1 matches number.

When step 7044, the shipping parameters when carrier are matched with the characteristic parameter of the cargo when piece uploading, carrier is determined For target carrier.

It is exemplary, due to each single item in the shipping parameters of carrier b and the respective items for the characteristic parameter for treating piece uploading cargo Match, therefore it is target carrier that control assembly, which can determine that this is identified as the carrier of b,.

Further, when control assembly detects the characteristic parameter of cargo of the shipping parameters of the carrier with treating piece uploading not During matching, control assembly can not adjust the transfer rate of cargo supports platform, treat that the cargo of piece uploading continues on cargo supports platform Wait.When next carrier passes through the second designated position, control assembly obtains its mark again, according to the correspondence shown in table 1 The corresponding shipping parameters of the carrier are obtained in relation, and continue to detect whether the carrier with this treats that the cargo of piece uploading matches.

Step 705, the kinematic parameter for obtaining the target carrier moved on operation passage.

In the utility model embodiment, control assembly can obtain target carrying after definite target carrier The kinematic parameter of car, wherein, which can include translational speed and the shift position of the target carrier.

In an optional implementation manner, orientation sensing can be provided with each carrier in piece uploading control system Device, velocity sensor and communication module etc., the target that the communication module in target carrier can detect alignment sensor The shift position of carrier, and the translational speed of target carrier that velocity sensor detects report to control assembly.

In another optional implementation, control assembly can obtain target in real time by multiple tachogenerators and remove Translational speed of the car after by the second designated position is transported, also, the sensing that tests the speed can be previously stored with the control assembly Device identify and set position correspondence, the control assembly can according to the mark for the tachogenerator for reporting translational speed, Determine the setting position of the tachogenerator, and then determine the shift position of target carrier.

It is exemplary, as shown in fig. 5, it is assumed that the length L of acceleration conveyor J1 in the transmission direction are 10 meters of (m) rice, distance Three tachogenerators 06, control assembly are disposed with 14m, 16m, 18m at the export of goods B of cargo supports platform 011 The correspondence of the mark for setting position and tachogenerator 06 of the tachogenerator 06 of middle storage is as shown in table 2.Can from table 2 To find out, the tachogenerator 06 that is arranged at the 18m at the export of goods B away from cargo supports platform 011 is identified as S1.

Table 2

The setting position of tachogenerator	Tachogenerator identifies
		At the 18m of export of goods B away from cargo supports platform 011	S1
At the 16m of export of goods B away from cargo supports platform 011	S2
		At the 14m of export of goods B away from cargo supports platform 011	S3

Assuming that tachogenerator S2, when target carrier passes through, the translational speed for detecting the target carrier is：2 meters (m/s) per second, and the translational speed that this is detected is sent to control assembly.Then control assembly receives tachogenerator S2 , can be according to the correspondence shown in table 2 after the translational speed of transmission, the shift position of further definite target carrier For：At 16m at export of goods B away from cargo supports platform 011.

Step 706, the kinematic parameter according to target carrier, control the cargo supports platform in piece uploading band to band transfer module to drive and treat The goods movement of part, and when target carrier is moved on operation passage the export of goods correspondence position with cargo supports platform, The cargo for treating piece uploading is sent to target carrier by export of goods.

In the utility model embodiment, control assembly can adjust cargo branch according to the kinematic parameter of target carrier The transfer rate of platform is supportted, when cargo supports platform is run according to the transfer rate after adjustment, operation is moved in target carrier On passage with export of goods during corresponding position, which drives treats the cargo synchronizing moving of piece uploading to export of goods Place, and cargo is sent on carrier by the export of goods, it is achieved thereby that the not parking piece uploading of cargo.

Optionally, the kinematic parameter of the target carrier accessed by control assembly can include shift position and mobile speed Degree, Fig. 9 are a kind of kinematic parameters according to target carrier that the utility model embodiment provides, and control the biography of cargo supports platform The method flow diagram of speed is sent, as shown in figure 9, this method can include：

Step 7061, when detect target carrier be moved to operation passage the first designated position when, according to the target The translational speed of carrier, calculates the target carrier and is moved to the movement run on passage needed for export of goods correspondence position Duration.

In the utility model embodiment, the distance between first designated position and export of goods can be more than first Distance threshold, which, which can be greater than or equal to, accelerates the length of conveyor in the transmission direction.Also, this first Distance threshold is less than the second distance threshold value.For example, first designated position can be with accelerating conveyor on operation passage The corresponding position of entrance.

Where it is assumed that the distance of first designated position away from export of goods is D, the target carrier that control assembly is got Translational speed be V, then control assembly can be calculated target carrier and be moved to cargo according to translational speed V The mobile duration T that mouth place needs is T=D/V.

It is exemplary, it is assumed that distance D of first designated position at the export of goods of cargo supports platform is 14m.It is located at The tachogenerator S3 of first specified location is when target carrier passes through, the translational speed of the target carrier detected V is 2m/s, then after tachogenerator S3 reports the translational speed to control assembly, control assembly can be according to the above-mentioned institute of table 2 The correspondence shown, determines that the target carrier is moved to first designated position, control assembly can be according to the target at this time The current translational speed V of carrier and shift position, are calculated target carrier and are moved to the movement needed at export of goods Duration T=D/V=14/2=7 seconds (s).

Step 7062, according to the translational speed and the movement duration, adjust the transfer rate of cargo supports platform.

The transfer rate of cargo supports platform after the adjustment can be with the shifting of target carrier after mobile duration is passed through Dynamic speed is equal, so that when the cargo of piece uploading is reached at export of goods, this treats the translational speed of the cargo of piece uploading with being somebody's turn to do The translational speed of target carrier is equal, to avoid by this after the cargo of piece uploading is sent on target carrier, due to both Speed is different and the situation that cargo drops occurs.

Where it is assumed that the translational speed for the target carrier that control assembly is got is V, a length of T when mobile, then control group Part can determine the acceleration a1 of cargo supports platform, and control the cargo supports platform to accelerate mobile duration T with acceleration a1, from And realize the adjustment to the transfer rate of cargo supports platform.Wherein, acceleration a1 can meet：A1=(V-V0)/T, wherein, V0 refers to the initial velocity of cargo supports platform.For example, when the cargo supports platform includes accelerating conveyor, V0 can refer to that this adds The initial velocity of fast conveyor.

It is exemplary, it is assumed that the translational speed V for the target carrier that control assembly is got is 2m/s, and mobile duration T is 7s, Currently treat that the cargo of piece uploading is rested in the acceleration conveyor of cargo supports platform, and the acceleration conveyor remains static, i.e., V0 is 0.Then control assembly can determine to accelerate the acceleration a1 of conveyor to meet based on translational speed V and mobile duration T：a1 =(V-V0)/T=(2-0)/7 ≈ 0.28m²/ s, so can control the acceleration conveyor with 0.28m²The acceleration of/s accelerates Rotate 7s so that accelerate the speed of conveyor and the cargo after piece uploading of its carrying after 7 seconds to reach 2m/s.It is possible thereby to protect When card target carrier was moved to the export of goods after 7 seconds, cargo supports platform can will treat the accurate piece uploading of piece uploading cargo extremely On the target carrier, during due to piece uploading, this treats that the translational speed of the cargo of piece uploading and the translational speed of the target carrier are equal For 2m/s, therefore can occur to avoid the situation that cargo drops.

Further, in above-mentioned steps 7061, when control assembly detects that target carrier is moved to the first specific bit When putting, it can also determine to treat the spacing distance between the cargo of piece uploading and export of goods.

Correspondingly, in above-mentioned steps 7062, control assembly, can be with root when adjusting the transfer rate of cargo supports platform It is adjusted according to the movement duration and spacing distance so that cargo supports platform is according to the mobile duration of transfer rate operation after adjustment Afterwards, drive the distance for the goods movement for treating piece uploading equal with spacing distance.

Where it is assumed that the target carrier that control assembly calculates be moved to export of goods it is mobile when a length of T, target removes Car is transported when being moved to the first designated position, it is S to treat the spacing distance between the cargo of piece uploading and export of goods, then in order to ensure Transfer rate of the cargo supports platform after movement duration T is equal with the translational speed V of target carrier, and in the movement The distance that the goods movement for treating piece uploading is driven in long T is S, then can determine the cargo supports platform in movement duration T to add Speed a2 accelerates the second duration t2, the first duration t1 and the second duration t2 of the first duration t1 and uniform rotation rotated can To meet：

T1+t2=T formula (1)；

Acceleration a2 can meet：A2=(V-V0)/t2 formula (2)；

Also, acceleration a2, the first duration t1 and the second duration t2 can also meet：

S=V0 × t1+ (a2 × t1²)/2+V × t2 formula (3).

It is exemplary, it is assumed that control assembly, which gets target carrier and is moved to the mobile duration T needed at export of goods, is 7s, and treat that the spacing distance between the cargo of piece uploading and export of goods is 8m at this time, then control assembly according to above-mentioned formula (1) extremely It is 1/3m that a2, which can be calculated, in formula (3)²/ s, t1 6s, t2 1s, then control assembly can control the acceleration conveyor with Acceleration 1/3m²/ s accelerates to rotate 6s, then again with speed 2m/s uniform rotation 1s.It thereby may be ensured that by mobile duration After 7s, conveyor is accelerated to drive the goods movement for treating piece uploading to the export of goods, and accurately piece uploading to the target is removed Transport on car.

Optionally, with reference to figure 3, which can include accelerating conveyor J1, therefore, the institute of above-mentioned steps 706 The process of the transfer rate of the adjustment cargo supports platform shown can be actually the mistake for the transfer rate for adjusting acceleration conveyor J1 Journey.

Optionally, with reference to figure 4, which can also include the adjacent transmission adjacent with accelerating conveyor J1 Band J2, correspondingly, Figure 10 is the flow chart of the control method for another piece uploading device that the utility model embodiment provides, such as schemes Shown in 10, which can also include：

In step 801, the adjacent conveyor of detection and acceleration conveyor the goods for needing piece uploading whether is stopped in each conveyor Thing.

The cargo for needing piece uploading is stopped in adjacent conveyor when control assembly detects, and accelerates not stop in conveyor and treats During the cargo of piece uploading, step 802 can be performed；Otherwise, step 803 can be performed.

In the utility model embodiment, as shown in figure 5, each conveyor either side can be provided with cargo identification sensing Device 04, control assembly can be detected adjacent conveyor J2 by the cargo identification sensor 04 and accelerated each in conveyor J1 Whether the cargo that needs piece uploading is stopped in conveyor.

Step 802, the adjacent conveyor of control treat the cargo of piece uploading to acceleration conveyor transmission.

Control assembly can control adjacent biography when not stopping the cargo 13 for needing piece uploading on detecting acceleration conveyor J1 The cargo 13 for treating piece uploading is sent to by defeated band J2 accelerates conveyor J1, to continue to carry out spy to next cargo 13 for treating piece uploading The detection of parameter is levied, so as to ensure that two steps of detection of characteristic parameters and cargo piece uploading can perform at the same time, improves cargo Piece uploading efficiency.

Step 803, the adjacent conveyor remains stationary state of control.

Cargo has not been stopped on adjacent conveyor J2 when control assembly detects, or has accelerated to stop on conveyor J1 and needs During the cargo of piece uploading, the adjoining conveyor J2 remains stationary states can be controlled.Also, do not stopped when on acceleration conveyor J1 When needing the cargo 13 of piece uploading, control assembly can also control acceleration conveyor J1 also remains stationary states.

As a kind of optional implementation, as shown in figure 5, when adjoining conveyor J2 can be caching conveyor, should Cargo supports platform 011 can also include detection conveyor J3, detection conveyor J3, caching conveyor J2 and the acceleration conveyor J1 can be disposed adjacent successively, and the entrance of detection conveyor J3 can be cargo access B.

In above-mentioned steps 801, control assembly can detect the detection conveyor, caching conveyor and accelerate in conveyor Each conveyor on whether stop the cargo for needing piece uploading.

Correspondingly, the control method of the piece uploading device can also include：When detect detection conveyor on stop need on The cargo of part, and cache and do not stopped in conveyor when the cargo of piece uploading, control detection conveyor is treated to caching conveyer belt transmission The cargo of piece uploading.

Control the detection conveyor that the cargo for treating piece uploading is sent to the caching conveyor, can enable and detect conveyor It is enough to continue to carry out piece uploading detection to next cargo for treating piece uploading, improve the piece uploading efficiency of cargo.

It should be noted that the detection components in the piece uploading device can be arranged on the either side of the detection conveyor, because This can also control detection conveyor to treat when control assembly detects that stop needs the cargo of piece uploading in detection conveyor The cargo of part is sent to the detection zone of detection components, so that detection components can obtain the feature ginseng for the cargo for treating piece uploading in time Number, and the characteristic parameter that this is detected is sent to control assembly, control assembly is according to this feature parameter detecting to treating piece uploading The matched target carrier of cargo after, can continue to control the detection conveyor to rotate, this is treated that the cargo of piece uploading transmits To caching conveyor or accelerate conveyor.Further, when control assembly detect operation passage on be not present in and treat on During the matched target carrier of the characteristic parameter of the cargo of part, the detection conveyor can also be controlled to remain static.

Optionally, Figure 11 is the flow chart of the control method for another piece uploading device that the utility model embodiment provides, As shown in figure 11, which can include：

Step 901, the kinematic parameter for obtaining the carrier moved on operation passage.

In the utility model embodiment, control assembly can obtain the fortune of each carrier moved on operation passage Dynamic parameter, the kinematic parameter of the carrier can include translational speed and the shift position of carrier, the fortune of the acquisition carrier The detailed process of dynamic parameter may be referred to above-mentioned steps 705, this is repeated no more.

Step 902, when detect carrier be moved to operation passage the first designated position when, according to the shifting of the carrier Dynamic speed, calculates the carrier and is moved to the mobile duration run on passage needed for export of goods correspondence position.

When control assembly detects that some carrier is moved to the first designated position, can be calculated according to its translational speed It is moved to the mobile duration needed for export of goods correspondence position on operation passage, and the detailed process of calculating movement duration can To refer to above-mentioned steps 7061, this is repeated no more.

Step 903, according to the translational speed and the movement duration, adjust the transfer rate of cargo supports platform.

Wherein, may be referred to according to the detailed process of mobile duration and the transfer rate of translational speed adjustment cargo supports platform Above-mentioned steps 7062, repeat no more this.

It should be noted that the sequencing of the step of control method for the piece uploading device that the utility model embodiment provides Can suitably it be adjusted, step according to circumstances can also accordingly be increased and decreased.Such as step 701 to step 704 can basis Situation is deleted, and that is to say, control assembly can directly acquire the kinematic parameter of the carrier moved on operation passage.It is any ripe Those skilled in the art are known in the technical scope that the utility model discloses, the method that can readily occur in change, all should Cover within the protection domain of utility model, therefore repeat no more.

A kind of piece uploading control system that the utility model embodiment provides, as shown in Figure 1, the piece uploading control system can be with Including：Operation place with least one operation passage 10, at least one carrier 12 moved on the operation passage 10, And at least one piece uploading device on the operation place is arranged on, and a piece uploading device can be set on each operation place M, each piece uploading device M can be the piece uploading device shown in Fig. 2 to Fig. 5 any.

Wherein, as shown in figure 5, the export of goods B of the cargo supports platform 011 in each piece uploading device is positioned at a fortune The top of row of channels 10, and the height at the export of goods B of the cargo supports platform 011 should be higher than the cargo of each carrier 12 Loading end, so that cargo 13 is when being transferred at export of goods B, can be effectively on piece uploading to target carrier 12.

Further, which can also include：Control terminal, and control assembly can be with the control terminal Foundation has communication connection, the control terminal control the control assembly driving driver operating so that drive cargo supports platform 011 to Preceding operating, realizes the piece uploading of cargo.Correspondingly, the control method of piece uploading device shown in above-mentioned Fig. 6, Fig. 7, Figure 10 or Figure 11 is also It can be applied in the control terminal.

The utility model embodiment provides a kind of computer-readable recording medium, which contains computer Program, can realize piece uploading device shown in above-mentioned Fig. 6, Fig. 7, Figure 10 or Figure 11 when which is executed by processor Control method.

This application is intended to cover any variations, uses, or adaptations of the utility model, these modifications, purposes or Person's adaptive change follow the general principle of the utility model and including the utility model do not invent in the art Common knowledge or conventional techniques.Description and embodiments be considered only as it is exemplary, the true scope of the utility model and Spirit is pointed out by claim.

It should be appreciated that the accurate knot that the utility model is not limited to be described above and is shown in the drawings Structure, and various modifications and changes may be made without departing from the scope thereof.The scope of the utility model only will by appended right Ask to limit.

Claims

1. the piece uploading device of a kind of automatic steering carrying cart, it is characterised in that the piece uploading device includes piece uploading band to band transfer module and control Component processed, the piece uploading band to band transfer module include cargo supports platform and drive the driver of the cargo supports platform movement；

The cargo supports platform is provided with cargo access and export of goods, and the cargo supports platform passes cargo at cargo access It is sent at export of goods, the export of goods is located above the operation passage of carrier；

The control assembly is connected with the driver, and the control assembly controls cargo supports described in the driver drives Platform moves.

2. piece uploading device according to claim 1, it is characterised in that the piece uploading band to band transfer module is arranged on the operation passage Top, and the direction of transfer of the cargo supports platform with it is described operation passage extending direction it is consistent.

3. piece uploading device according to claim 2, it is characterised in that the piece uploading band to band transfer module further includes the support cargo The leg of supporting table, the leg are supported on the outside of the operation passage.

4. piece uploading device according to claim 1, it is characterised in that the piece uploading device further includes：

The detection components being arranged at the cargo access, the detection components include：Weighing apparatus, size detector and code reader At least one of.

5. piece uploading device according to claim 1, it is characterised in that the cargo supports platform includes accelerating conveyor, institute The outlet for stating acceleration conveyor is the export of goods.

6. piece uploading device according to claim 5, it is characterised in that the cargo supports platform is further included to be accelerated to pass with described The adjacent adjoining conveyor of defeated band；

7. piece uploading device according to claim 6, it is characterised in that the adjacent conveyor is caching conveyor, described Cargo supports platform further includes detection conveyor, and the detection conveyor, the caching conveyor and the acceleration conveyor are successively It is disposed adjacent, and the entrance of the detection conveyor is the cargo access；

8. piece uploading device according to claim 6, it is characterised in that the adjacent conveyor is detection conveyor, described The entrance for detecting conveyor is the cargo access.

9. the piece uploading device according to claim 7 or 8, it is characterised in that the piece uploading device further includes：It is arranged on described The detection components of conveyor either side are detected, the detection components include：In weighing apparatus, size detector and code reader at least It is a kind of.

10. according to any piece uploading device of claim 5 to 8, it is characterised in that the piece uploading device further includes：Set In the cargo identification sensor of each conveyor either side；

The cargo identification sensor is connected with the control assembly.

11. piece uploading device according to any one of claims 1 to 8, it is characterised in that the piece uploading device further includes：Along institute The extending direction for stating operation passage is successively set on the operation passage, or is arranged on the more of the operation passage either side A tachogenerator；

Each tachogenerator is connected with the control assembly, and each tachogenerator and the export of goods Distance be more than the first distance threshold.

12. piece uploading device according to any one of claims 1 to 8, it is characterised in that the piece uploading device further includes：

The carrier identification sensor is connected with the control assembly, and the carrier identification sensor goes out with the cargo The distance of mouth is more than second distance threshold value.

13. piece uploading device according to claim 11, it is characterised in that the piece uploading device further includes：

The carrier identification sensor is connected with the control assembly, and the carrier identification sensor goes out with the cargo The distance of mouth is more than second distance threshold value；

The second distance threshold value is more than first distance threshold.

14. piece uploading device according to any one of claims 1 to 8, it is characterised in that the piece uploading device further includes：With institute The sorting arm stated the alarm module of control assembly connection or be connected with the control assembly；

The alarm module includes at least one of buzzer and light emitting diode.

A kind of 15. piece uploading control system, it is characterised in that the system comprises：Operation field with least one operation passage Ground, at least one carrier for move on the operation passage, and it is arranged on described run at least one on place Part device, each piece uploading device are the piece uploading device as described in claim 1 to 12 is any；

Wherein, the export of goods of cargo supports platform is located at a top for running passage in each piece uploading device.

16. system according to claim 15, it is characterised in that the height at the export of goods of the cargo supports platform is high In the cargo carrying face of each carrier.

17. the system according to claim 15 or 16, it is characterised in that the system also includes：Control terminal, the control Component processed is established with the control terminal communication connection, and the control terminal controls the control assembly to drive the driver Operating.