CN102930089A - Method for simulating slide block type basic sorting conveyor belt - Google Patents
Method for simulating slide block type basic sorting conveyor belt Download PDFInfo
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Abstract
The invention discloses a method for simulating a slide block type basic sorting conveyor belt. The method comprises the following steps of: performing simulation modeling, defining initial parameters and operating models, wherein the step of performing simulation modeling comprises the substeps of respectively establishing a main sorting system and sorting crossing models, a supply system model and a transmission system model; the step of defining the initial parameters comprises the substeps of respectively setting the types and sizes of objects and slide blocks, setting the type and size of each basic conveyor belt, setting an object generation function, setting a slide block generation function, distributing different models to different objects and distributing different port numbers to different crossings; and the step of operating the models comprises the substeps of distributing the objects on the basic conveyor belts according to a random distribution function rule, distributing different forms to different types of objects, selecting corresponding crossings for different objects in the subsequent sorting process according to the forms of the objects, and uniformly distributing the slide blocks on the basic conveyor belts and moving the slide blocks along with the basic conveyor belts according to the length of the basic sorting conveyor belts and the number of battens. The simulation model has obvious advantages of flexibility and richness in motion control.
Description
Technical field
The present invention relates to the automated sorting system simulation method, relate in particular to a kind of slide block type sorting basic transmission band system simulation method.
Technical background
Industrial circle of today, logistic industry particularly, the height of automatization level has become an important symbol weighing the modernization of business level, sorting basic transmission band is as the nucleus equipment of automated sorting system, has multiple sorting form, be widely used in tobacco business, mail system, logistics distribution center, hospital and market etc., enterprise is realized that robotization plays conclusive effect.Slide block type sorting basic transmission band is a kind of slat conveyor of novel, special shape, and the basic transmission band is made of batten or the pipe of a series of parallel arranged, and at each batten or pipe a slide block is installed, and can slide along batten.Like this, by slide block in an orderly manner, automatically slidably reciprocate in basic transmission band both sides, promote the object side, be introduced in the corresponding sorting road junction.This sorting mode action is softr, can not impact object, and lower to the object damaged condition, application prospect is very extensive.
Although it is much that sorting arrangement is carried out modeling and analyzing, but also there is not to carry out for the sorting mode of slipper push specially the method for simulation modeling at present, and all there are many deficiencies in existing method in the flexible control to the object entity in the realistic model in the sorting principle of the different sorting arrangements of simulation.Therefore, the sorting mode that the present invention is directed to slipper push is carried out simulation modeling, has more clear superiority on the model portability of building, repeatability, the extensibility.
Summary of the invention
One of purpose of the present invention is to provide a kind of emulation mode of analog slider formula sorting basic transmission band, the method is according to the operation logic of slide block type sorting basic transmission band, the microcosmic of having realized the slide block type sorting operation is visual, simulating actual conditions more truly, reduce the error on sorting time and the sorting efficiency data, provide the modularization support in large-scale sorting system emulation, reduced widely modeling personnel's workload, the result meets truth more.
The present invention is achieved in that
A kind of slide block type sorting basic transmission band emulation mode comprises simulation modeling, definition initial parameter, model running step, wherein:
Simulation modeling is: set up respectively main sorting system and sorting road junction model, piece-supply system model and kinematic train model;
The definition initial parameter is: object and slide block type and size are set respectively, each basic transmission belt type and size are set, the object generating function is set, the slide block generating function is set, and distribute to different object different models, distribute to different road junctions different port number;
Model running is: object is distributed on the present basic transmission band with the probability distribution function rule, dissimilar object distributes different forms, the subsequent sort process is that different objects are selected corresponding road junction according to the form of object, according to the length of sorting basic transmission band and the number of batten, slide block is set is evenly distributed on the basic transmission band, and move with the basic transmission band.
Further scheme is: described main sorting system and sorting road junction model are set up by the BasicConveyor module; The piece-supply system model is set up by the Source module, is used for providing different classes of object and slide block; The kinematic train model is set up by parameter setting and the kinestate programming of BasicConveyor module self.
Further scheme is: in the model running, different objects are followed the minimum interval principle on the same basic transmission band, object or slide block evenly trigger generation by the different time interval, according to the concrete size initialization object of object and slide block and the space position parameter of slide block, the control slide block is at every turn along quantity and time that batten slides, guarantee that the correct object of slipper push enters the road junction, and do not interfere with other objects.
Further scheme is: described object moves with driving-belt, when object arrives corresponding place, road junction, be pushed into object in the basic transmission band at place, corresponding road junction by main basic transmission band by slide block, by being set, object learns state and the certain movement that superposes state at the initial motion at place, road junction, object is moved ahead along branch's basic transmission band, object carries out certain angle in entering branch's basic transmission band process rotation is set simultaneously, avoid interfering with branch basic transmission belt edge, the object fore-and-aft direction is consistent.
Further scheme is: realize mutual communication by the message communication mechanism between described object and the slide block, object and slide block are all as transmit leg and the take over party of message, time response according to the message that receives, immediately or postpone to carry out corresponding operation, when object enters bin, send respectively one and postpone message to slide block and object itself, make slide block and object after the time delay that requires, then carry out corresponding operation.
In addition, the present invention can be integrated into a transfer system with different basic transmission bands, and wherein model and correlative code are encapsulated, and realizes repeatable operation, for later similar sorting system provides the modularization support.
The present invention compared with prior art, main beneficial effect has:
(1) uses Object-oriented Technique and set up sorting system each several part model, for avoiding the mutual interference on the basic transmission band of slide block or object to provide minimum interval principle and time to trigger the principle generating function, for each entity provides abundant message communication interface, the dirigibility of realistic model on action control, richly all has a clear superiority;
(2) adopt two basic transmission bands to be integrated into sorting system major trunk roads, carrier as object and slide block movement, the different motion state of difference programming Control object and slide block, realize the action effect of slipper push object, and the imitation actual conditions have increased object at the go to action at place, road junction, have more visuality and dirigibility;
(3) designed object corresponding to slide block and realized different motions at place, corresponding road junction, programming realizes that automatically control promotes the slide block quantity of object, has avoided slide block and other objects that do not need to enter the road junction to bump effectively;
(4) model has been realized the special exercise of slipper push object according to the specific sorting principle of slide block type sorting system, and correlation module and code encapsulated, for the simulation modeling of similar system provides the modularization support, all has clear superiority on its portability, repeatability, the extensibility.
Description of drawings
Fig. 1---slide block type sorting basic transmission band system general flow chart.
Fig. 2---slide block movement logic relation picture.
Fig. 3---object motion logic relation picture.
Fig. 4---slide block and object cooperative motion graph of a relation.
Fig. 5---send out message mechanism and process the cooperative motion logical diagram.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
A kind of slide block type sorting basic transmission band emulation mode mainly comprises simulation modeling, Definition Model object initial parameter and realistic model operation, referring to Fig. 1.
(1) simulation modeling
Simulation modeling adopts Object-oriented Technique to make up the object model of slide block type sorting basic transmission band system, according to static each object module that connects of the operation logic of actual sorting system, be integrated into a main sorting basic transmission band with transmitting the basic transmission band 1 of slide block and the basic transmission band 2 of transmission object, slide block and object slide in main sorting system synchronously, be provided with different sorting road junctions according to actual conditions, for corresponding object object shunting, the main sorting system period is the maker of object and slide block, terminal receiver for the difficult object do not shunted.
(2) Definition Model object initial parameter
The initial parameter of definition slide block type sorting basic transmission band system simulation model, the type and the size that mainly comprise definition object and slide block, the style characteristic of type definition entity, such as right cylinder, spheroid, tetragonal body etc., the space size parameter of dimension definitions entity is such as length, radius, locus etc.; Define type and the size of each basic transmission band, similar with slide block and type of item dimension definitions; The generating function of definition object and slide block evenly generates slide block and object according to minimal distance principle in the anticollision principle by the time, guarantees between slide block and the slide block, between object and the object, mutual interference can not occur between slide block and the object; For the object of different shape distribute different models (such as 1,2,3 ...), for road junction different in the sorting system distribute different port numbers (such as 1,2,3 ...), for follow-up judgement provides foundation.
(3) realistic model operation
After simulation time begins, slide block and object begin to enter synchronously main sorting basic transmission band with initialized generating function, master's sorting basic transmission band is to have the basic transmission band 1 that transmits slide block integrated and next with the basic transmission band that transmits object 2, the motion of object and slide block influences each other, mutually restriction, when polytype object arrives first sorting road junction successively, whether system judges through the type of item at this road junction consistent with the road junction immediately, if consistent, object changes direction of motion, moved in the corresponding branch basic transmission band by the road junction, and send simultaneously message to the basic transmission band 1 at slide block place; Basic transmission band 1 receipt message changes the slide block movement direction slide block is moved along batten, promotes object.If object and road junction Type-Inconsistencies, then this object and slide block all continue along the basic transmission tape travel, until arrive main sorting basic transmission end of tape, finish.
Slide block and the object motion change on main sorting basic transmission band is followed certain logical relation, respectively referring to Fig. 2 and Fig. 3.
Simulation time begins, although generated slide block according to certain generating function, but slide block still is not in the state that receives of waiting for when receiving in the downstream, can not be sent in the basic transmission band, the basic transmission carrier state is set for can receiving entity (slide block) during replacement, after producing slide block among the Source, can be sent in the basic transmission band, simultaneously at the basic transmission rim end decision point is set, the basic transmission band could continue to receive slide block when slide block enters basic transmission band triggering decision point, and the circulation that forms slide block generates the kinematics parameters of initialization slide block, comprise speed, acceleration, displacement etc., realize the shuttling movement of slide block on the basic transmission band, judge whether to be triggered when slide block arrives the place, road junction, if be triggered, then change slide block movement, beginning is slided along batten, if be not triggered, then slide block continues to move ahead along the basic transmission band.
The motion change logical and slide block of object is similar, but the object that has at last is to arrive end from branch's basic transmission band to be released, some objects continue to enter end along main sorting basic transmission band and are released, and slide block continues shuttling movement after arriving sorting basic transmission end of tape again.
The motion change rule of slide block and object influences each other, mutually restriction, locates the logic realization of slipper push object This move at the road junction referring to Fig. 4.
At each place, road junction trigger point (Decision Point) is set, as long as there is object to pass through from the road junction, just once trigger judgement, judge whether this type of item is consistent with the type at this road junction, if inconsistent, object continues to move ahead along main sorting basic transmission band, continues to judge whether to trigger until arrive next road junction again; If consistent, change object motion beginning is located the basic transmission Tape movement and is turned to along the road junction, keep the object self-consistentency, trigger simultaneously the motion of slide block, slide block is triggered current slide and begins to move along batten by twice triggering when object begins to move, follow-up slide block is also from the road junction along the batten setting in motion, when object turn to finish after the triggering current slide stop along the moving of batten, follow-up slide block continues to keep moving ahead.The motion of slide block is relevant in real time with the characteristics of motion of object.
Sending out the message mechanism realization to the flexible control of slide block and object motion state, is the core that the slipper push object motion is realized, referring to Fig. 5.
When slide block and object advanced in unison are located through the road junction, judge at first whether type of item is consistent with the road junction type, if inconsistent, object continues to move ahead; If consistent, change the object motion state, object begins to move to the road junction and turn to, mobile send simultaneously one and postpone message to the basic transmission band 1 at slide block place, turn to send again one after finishing and postpone message, for different delay message arranges different parameters, be 0 when namely sending simultaneously when time delay, message parameter is 1, and when be not 0 time delay, message parameter was 0; Basic transmission band 1 is to accept message at 0 o'clock self label value is made as 1 in time delay, again self label value is made as 0 behind t time delay (user's setting); Slide block moves ahead at basic transmission band 1, when through the road junction, judge immediately the at this moment label value of basic transmission band 1, if 0, slide block keeps along moving that the basic transmission band moves ahead, if 1, change slide block movement, beginning is slided along batten, and as t after the time, basic transmission band 1 label value is 0 o'clock, slide block no longer slides along batten, the motion state that the right basic transmission band of resetting moves ahead.
Send out message mechanism and can realize that the different moment are to the intersection judgement of the state of different basic transmission bands, the motion different with object of realization slide block.
Claims (5)
1. a slide block type sorting basic transmission band emulation mode is characterized in that comprising simulation modeling, definition initial parameter, model running step, wherein:
Simulation modeling is: set up respectively main sorting system and sorting road junction model, piece-supply system model and kinematic train model;
The definition initial parameter is: object and slide block type and size are set respectively, each basic transmission belt type and size are set, the object generating function is set, the slide block generating function is set, and distribute to different object different models, distribute to different road junctions different port number;
Model running is: object is distributed on the present basic transmission band with the probability distribution function rule, dissimilar object distributes different forms, the subsequent sort process is that different objects are selected corresponding road junction according to the form of object, according to the length of sorting basic transmission band and the number of batten, slide block is set is evenly distributed on the basic transmission band, and move with the basic transmission band.
2. described slide block type sorts basic transmission band emulation mode according to claim 1, it is characterized in that described main sorting system and sorting road junction model are by the foundation of BasicConveyor module; The piece-supply system model is set up by the Source module, is used for providing different classes of object and slide block; The kinematic train model is set up by parameter setting and the kinestate programming of BasicConveyor module self.
3. described slide block type sorts basic transmission band emulation mode according to claim 1, it is characterized in that, in the model running, different objects are followed the minimum interval principle on the same basic transmission band, object or slide block evenly trigger generation by the different time interval, and according to the concrete size initialization object of object and slide block and the space position parameter of slide block, the control slide block is at every turn along quantity and time that batten slides, guarantee that the correct object of slipper push enters the road junction, and do not interfere with other objects.
4. described slide block type sorts basic transmission band emulation mode according to claim 1, it is characterized in that, described object moves with driving-belt, when object arrives corresponding place, road junction, be pushed into object in the basic transmission band at place, corresponding road junction by main basic transmission band by slide block, by being set, object learns state and the certain movement that superposes state at the initial motion at place, road junction, object is moved ahead along branch's basic transmission band, object carries out certain angle in entering branch's basic transmission band process rotation is set simultaneously, avoid interfering with branch basic transmission belt edge, the object fore-and-aft direction is consistent.
5. described slide block type sorts basic transmission band emulation mode according to claim 1, it is characterized in that, realize mutual communication by the message communication mechanism between described object and the slide block, object and slide block are all as transmit leg and the take over party of message, time response according to the message that receives, immediately or postpone to carry out corresponding operation, when object enters bin, send respectively one and postpone message to slide block and object itself, slide block and object were then carried out accordingly after the time delay that requires operated.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106423891A (en) * | 2016-10-10 | 2017-02-22 | 金锋馥（滁州）输送机械有限公司 | Electromagnetic type high speed slider sorting turnout mechanism |
| CN112114530A (en) * | 2020-08-05 | 2020-12-22 | 中通云仓科技有限公司 | Simulation method and simulation system for commodity sorting and conveying process |
| CN113761702A (en) * | 2020-11-03 | 2021-12-07 | 北京京东振世信息技术有限公司 | Sorting scheme evaluation method and device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106423891A (en) * | 2016-10-10 | 2017-02-22 | 金锋馥（滁州）输送机械有限公司 | Electromagnetic type high speed slider sorting turnout mechanism |
| CN112114530A (en) * | 2020-08-05 | 2020-12-22 | 中通云仓科技有限公司 | Simulation method and simulation system for commodity sorting and conveying process |
| CN113761702A (en) * | 2020-11-03 | 2021-12-07 | 北京京东振世信息技术有限公司 | Sorting scheme evaluation method and device |
| CN113761702B (en) * | 2020-11-03 | 2023-09-01 | 北京京东振世信息技术有限公司 | Sorting scheme evaluation method and device |
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