CN102930089B - 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 automated sorting system simulation method, particularly relate to a kind of slide block type sorting basic transmission band system simulation method.
Technical background
Industrial circle of today, particularly logistic industry, the height of automatization level has become the important symbol weighing modernization of business level, sorting basic transmission band is as the nucleus equipment of automated sorting system, there is multiple sorting form, be widely used in tobacco business, mail system, logistics distribution center, hospital and market etc., robotization realized to enterprise and plays conclusive effect.Slide block type sorting basic transmission band is a kind of slat conveyor of novel, special shape, and basic transmission band is made up of the batten of a series of parallel arranged or pipe, and installs a slide block on each batten or pipe, can slide along batten.Like this, slidably reciprocated in basic transmission band both sides in an orderly manner, automatically by slide block, promote object side, be introduced in corresponding sorting road junction.This sorting mode action is relatively softr, and can not impact object, lower to object damaged condition, application prospect widely.
Although it is much to carry out modeling and analyzing to sorting arrangement, but also do not have the special sorting mode for slipper push to carry out the method for simulation modeling at present, in the sorting principle of the different sorting arrangement of simulation, and all there is many deficiencies in the flexible control of the object entity in realistic model in existing method.Therefore, the sorting mode that the present invention is directed to slipper push carries out simulation modeling, and the model portability built, repeatability, extensibility have more clear superiority.
Summary of the invention
An object of the present invention is to provide a kind of analog slider formula to sort the emulation mode of basic transmission band, the method is according to the operation logic of slide block type sorting basic transmission band, the microcosmic achieving slide block type sorting operation is visual, simulating actual conditions more truly, reduce the error in sorting time and sorting efficiency data, in large-scale sorting system emulation, provide modularization support, greatly reduce the workload of modeling personnel, 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 main sorting system and sorting road junction model, piece-supply system model and actuation system models respectively;
Definition initial parameter is: arrange object and slider type and size respectively, arrange each basic transmission belt type and size, arrange object generating function, arrange slide block generating function, and distribute to different object different model, distribute to different road junctions different port number;
Model running is: distribute on present basic transmission band by object with probability distribution function rule, dissimilar object distributes different forms, subsequent sort process is that different object selects corresponding road junction according to the form of object, according to the length of sorting basic transmission band and the number of batten, arrange slide block to be evenly distributed on basic transmission band, and move with basic transmission band.
Further scheme is: described main sorting system and sorting road junction model are set up by BasicConveyor module; Piece-supply system model is set up by Source module, for providing different classes of object and slide block; Actuation system models passes through optimum configurations and the kinestate programming foundation of BasicConveyor module self.
Further scheme is: in model running, on same basic transmission band, different object follows minimum interval principle, object or slide block evenly trigger generation by different time interval, according to object and the concrete size initialization object of slide block and the space position parameter of slide block, control slide block at every turn along quantity and the time of batten slip, ensure that the correct object of slipper push enters road junction, and do not interfere with other objects.
Further scheme is: described object is with conveyor belt motion, when object arrives corresponding road junction place, by slide block, object is pushed in the basic transmission band at corresponding road junction by main basic transmission band, certain movement state is superposed by arranging object in the initial motion state at road junction place, object is moved ahead along branch's basic transmission band, object is set simultaneously and is entering the rotation carrying out certain angle in branch's basic transmission band process, avoid interfering with branch basic transmission belt edge, object fore-and-aft direction is consistent.
Further scheme is: realize mutual communication by message communication mechanism between described object and slide block, object and slide block are all as transmit leg and the take over party of message, according to the time response of the message received, immediately or postpone to perform corresponding operation, send one when object enters bin respectively and postpone message to slide block and object itself, make slide block and object then perform corresponding operation after the time delay required.
In addition, different basic transmission band can be integrated into a transfer system by the present invention, encapsulates wherein model and correlative code, realizes repeatable operation, for later similar sorting system provides modularization support.
Compared with prior art, main beneficial effect has in the present invention:
(1) apply Object-oriented Technique and set up sorting system each several part model, minimum interval principle and time triggered principle generating function is provided for avoiding the mutual interference on basic transmission band of slide block or object, for each entity provides abundant message communication interface, the dirigibility of realistic model on action control, richly all there is clear superiority;
(2) two basic transmission bands are adopted to be integrated into sorting system major trunk roads, as the carrier of object and slide block movement, the different motion state of programming Control object and slide block respectively, realize the action effect of slipper push object, and imitate actual conditions and add the go to action of object at road junction place, have more visuality and dirigibility;
(3) devise the corresponding dissimilar object of slide block and realize different motions at corresponding road junction place, programming realization controls the slide block quantity promoting object automatically, and efficiently avoid slide block does not need the object entering road junction to collide with other;
(4) model achieves the special exercise of slipper push object according to the specific sorting principle of slide block type sorting system, and correlation module and code are encapsulated, simulation modeling for similar system provides modularization support, and its portability, repeatability, extensibility all have clear superiority.
Accompanying drawing explanation
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---message resending mechanism process cooperative motion logical diagram.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
A kind of slide block type sorting basic transmission band emulation mode mainly comprises simulation modeling, Definition Model object initial parameter and realistic model and runs, see Fig. 1.
(1) simulation modeling
Simulation modeling adopts Object-oriented Technique to build the object model of slide block type sorting basic transmission band system, operation logic static state according to actual sorting system connects each object module, the basic transmission band 2 of the basic transmission band 1 and transmission object that transmit slide block is integrated into a main sorting basic transmission band, slide block and object synchronously slide in main sorting system, different sorting road junctions is provided with according to actual conditions, for corresponding object object shunting, the main sorting system period is the maker of object and slide block, and end is not by the receiver of difficult object shunted.
(2) Definition Model object initial parameter
The initial parameter of definition slide block type sorting basic transmission band system simulation model, mainly comprise type and the size of definition object and slide block, the style characteristic of type definition entity, as right cylinder, spheroid, tetragonal body etc., the space size parameter of dimension definitions entity, as length, radius, locus etc.; Define type and the size of each basic transmission band, with slide block and type of item dimension definitions similar; The generating function of definition object and slide block, temporally evenly generates slide block and object according to minimal distance principle in anticollision principle, ensures between slide block and slide block, all mutual interference can not occur between object and object, between slide block and object; Object for different shape distribute different model (as 1,2,3 ...), for road junctions different in sorting system distribute different port numbers (as 1,2,3 ...), for follow-up judgement provides foundation.
(3) realistic model runs
After simulation time starts, slide block and object start synchronously to enter main sorting basic transmission band with initialized generating function, main sorting basic transmission band has the basic transmission band 2 of basic transmission the band 1 and transmission object transmitting slide block integrated and comes, the motion of object and slide block influences each other, mutual restriction, when polytype object arrives first sorting road junction successively, system judges that whether the type of item through this road junction is consistent with road junction immediately, if consistent, object changes direction of motion, move in corresponding branch basic transmission band by road junction, and send message to the basic transmission band 1 at slide block place simultaneously, basic transmission band 1 receipt message, changes slide block movement direction and slide block is moved along batten, promote object.If object and road junction Type-Inconsistencies, then this object and slide block all continue along basic transmission tape travel, until arrive main sorting basic transmission end of tape, terminate.
Slide block and the motion change of object on main sorting basic transmission band follow certain logical relation, respectively see Fig. 2 and Fig. 3.
Simulation time starts, although generate slide block according to certain generating function, but slide block is still in the state of wait-receiving mode when downstream does not receive, can not be sent in basic transmission band, basic transmission carrier state is set during replacement for can receiving entity (slide block), when being sent in basic transmission band after producing slide block in Source, a decision point is set at basic transmission rim end simultaneously, when slide block enters basic transmission band triggering decision point, basic transmission band could continue to receive slide block, the circulation forming slide block generates, the kinematics parameters of initialization slide block, comprise speed, acceleration, displacement etc., realize the shuttling movement of slide block on basic transmission band, judge whether to be triggered when slide block arrives road junction place, if be triggered, then change slide block movement, start to slide along batten, if be not triggered, then slide block continues to move ahead along basic transmission band.
The motion change logical and slide block of object is similar, but the object finally had arrives 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 restricts, in the logic realization of road junction place slipper push object This move see Fig. 4.
Trigger point (Decision Point) is set at each road junction place, as long as there is object to pass through from road junction, just once trigger judgement, judge that 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 start along road junction place basic transmission Tape movement and turn to, keep object self-consistentency, trigger the motion of slide block simultaneously, slide block is by twice triggering, and trigger current slide when object starts mobile and start to move along batten, follow-up slide block is also from road junction along batten setting in motion, after object has turned to, triggering current slide stops moving along batten, and follow-up slide block continues maintenance and moves ahead.The motion of slide block is relevant in real time to the characteristics of motion of object.
Message resending mechanism realizes the flexible control to slide block and object motion state, is the core that slipper push object motion realizes, see Fig. 5.
Slide block and object advanced in unison, through road junction place, first judge that whether type of item is consistent with road junction type, if inconsistent, object continues to move ahead; If consistent, change object motion state, object starts to move to road junction and turn to, mobile transmission one simultaneously postpones message to the basic transmission band 1 at slide block place, sends one again and postpone message, for different delay message arranges different parameters after having turned to, when time delay be 0 namely send simultaneously time, message parameter is 1, and when time delay is not 0, message parameter is 0; Basic transmission band 1 accepts message and self label value is set to 1 when time delay is 0, after t time delay (user's setting), again self label value is set to 0; Slide block moves ahead on basic transmission band 1, when judging the label value of now basic transmission band 1 immediately through road junction, if 0, what slide block maintenance moved ahead along basic transmission band moves, if 1, change slide block movement, start to slide, when after the t time, when basic transmission band 1 label value is 0 along batten, slide block no longer slides along batten, resets the motion state that right basic transmission band moves ahead.
Message resending mechanism can realize not judging the intersection of the state of different basic transmission band in the same time, realizes the motion that slide block is different with object.
Claims (4)
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 main sorting system and sorting road junction model, piece-supply system model and actuation system models respectively;
Definition initial parameter is: arrange object and slider type and size respectively, arrange each basic transmission belt type and size, arrange object generating function, arrange slide block generating function, and distribute to different object different model, distribute to different road junctions different port number;
Model running is: distribute on present basic transmission band by object with probability distribution function rule, dissimilar object distributes different forms, subsequent sort process is that different object selects corresponding road junction according to the form of object, according to the length of sorting basic transmission band and the number of batten, arrange slide block to be evenly distributed on basic transmission band, and move with basic transmission band;
Mutual communication is realized by message communication mechanism between described object and slide block, object and slide block are all as transmit leg and the take over party of message, according to the time response of the message received, immediately or postpone to perform corresponding operation, send one when object enters bin respectively and postpone message to slide block and object itself, make slide block and object then perform corresponding operation after the time delay required.
2., according to slide block type sorting basic transmission band emulation mode described in claim 1, it is characterized in that described main sorting system and sorting road junction model are set up by BasicConveyor module; Piece-supply system model is set up by Source module, for providing different classes of object and slide block; Actuation system models passes through optimum configurations and the kinestate programming foundation of BasicConveyor module self.
3. according to slide block type sorting basic transmission band emulation mode described in claim 1, it is characterized in that, in model running, on same basic transmission band, different object follows minimum interval principle, object or slide block evenly trigger generation by different time interval, according to object and the concrete size initialization object of slide block and the space position parameter of slide block, control quantity that slide block slides along batten at every turn and time, ensure that the correct object of slipper push enters road junction, and do not interfere with other objects.
4. according to slide block type sorting basic transmission band emulation mode described in claim 1, it is characterized in that, described object is with conveyor belt motion, when object arrives corresponding road junction place, by slide block, object is pushed in the basic transmission band at corresponding road junction by main basic transmission band, certain movement state is superposed by arranging object in the initial motion state at road junction place, object is moved ahead along branch's basic transmission band, object is set simultaneously and is entering the rotation carrying out certain angle in branch's basic transmission band process, avoid interfering with branch basic transmission belt edge, object fore-and-aft direction is consistent.
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| CN112114530B (en) * | 2020-08-05 | 2023-03-24 | 中通云仓科技有限公司 | Simulation method and simulation system for commodity sorting and conveying process |
| 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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