CN106391492B - Object automatic sorting device and its control method - Google Patents
Object automatic sorting device and its control method Download PDFInfo
- Publication number
- CN106391492B CN106391492B CN201610783541.5A CN201610783541A CN106391492B CN 106391492 B CN106391492 B CN 106391492B CN 201610783541 A CN201610783541 A CN 201610783541A CN 106391492 B CN106391492 B CN 106391492B
- Authority
- CN
- China
- Prior art keywords
- delivery device
- label
- mark
- array
- zone face
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
- Discharge Of Articles From Conveyors (AREA)
Abstract
The invention belongs to logistics to sort conveying equipment, and in particular to a kind of object automatic sorting device and its control method, sorting equipment include that object information reads equipment, belt conveyor, delivery device and automatic control module；Band length direction equidistant interval is provided with multiple labels or mark point on the zone face of belt conveyor, and is equipped with the mark detecting sensor for detecting the label or mark point above zone face；The delivery device is arranged above zone face along zone face width side vibration-direction.Object and label or mark point on conveyer belt correspond, the present invention is in such a way that label or mark point count come the object space on real-time detection conveyer belt, it can be realized the detection of real-time and precise, improve the reliability of sorting device, it avoids doing over again, substantially increases the working efficiency of material flow industry.
Description
Technical field
The invention belongs to logistics to sort conveying equipment, and in particular to a kind of object automatic sorting device and its control method.
Background technique
Belt transmission is a kind of traditional material transferring method, and the noise of belt transmission is smaller during the work time, structure
Simply, it is widely used in the industries such as mine, metallurgy, power plant, cement, harbour, grain and light industry.Now, this transmission side
Method obtains to have in the transmission of modern logistics and Automated Sorting System again.The Automated Sorting System of modern logistics reads quilt first
The delivery information of object is transmitted, the location information that thus the decision object is pushed is sent to position when the object is transmitted to by belt
Automated Sorting System operates delivery device and the object is pushed out transmission belt when setting.Belt transmission sorting dress in the prior art
It sets, infers object position according to belt transport speed mostly, however, the fluctuation due to driving transmission translator revolving speed；
After prolonged use, error can be built up belt；In addition, object is being put and can also generated sometimes in transmission process partially
It moves, sorting system is caused to judge incorrectly the orientation of object, and then by articles sorting to the region of mistake, this, which will cause, is largely returned
Work has seriously affected logistics sorting efficiency.
Summary of the invention
The object of the present invention is to provide one kind can be to the object automatic sorting device and its control that object is accurately sorted
Method processed.
To achieve the above object, the present invention provides following technical schemes:
A kind of object automatic sorting device, the present apparatus include object information read equipment, belt conveyor, delivery device with
And automatic control module；
The object information reads equipment for scanning and identifying that the information storage medium on object is sent to obtain object
Information；
The present apparatus further includes the multiple labels or mark along the equidistant interval setting being arranged on belt conveyor with length direction
Remember point, and the mark detecting sensor for detecting the label or mark point；
The delivery device above zone face along zone face width vibration-direction be arranged, for by object from zone face one
It releases side；The delivery device is arranged at intervals at least two groups along zone face length direction, and every group of delivery device respectively corresponds one
It is sent to section；
Automatic control module reads the object delivery information that equipment obtains by object information and determines that the affiliated of object is sent to
Section, and by the real-time position information of the mark detecting sensor and label or mark point acquisition object, when object reaches
Affiliated automatic control module controls the delivery device for being sent to section movement when being sent to section, and object is released.
The label or mark point are arranged close to zone face edge, the distance between two adjacent marks or mark point and adjacent two
Spacing between delivery device is equal.
The zone face center line of the belt conveyor is equipped with multiple figures along the setting of zone face length direction equidistant interval
It identifies, the spacing between adjacent two pattern identification center is equal with the spacing between adjacent two delivery device；The pattern identification is used
In the center of calibration object placement area；The label or mark point and the interlaced arrangement of pattern identification.
The push unit includes push top and push cylinder, and push cylinder setting is and wide along zone face in zone face side
Spend the flexible setting in direction；Described have a haircut is mounted on the piston rod top end of push cylinder.
The present apparatus further includes for marking whether the mark detecting sensor detected and test pattern identified areas have object
Existing object detection sensors；
It is Z that object information, which reads the distance between equipment and object detection sensors,1A step pitch, body detecting sensor and mark
Remember that the spacing between detection sensor is L, to guarantee when detecting that mark detecting sensor output level jumps, uses
Whether object detection sensors detection has object, L=Z in pattern identification2+ 0.5 step pitch (Z2=0,1,2...), the step
Away from for the distance between adjacent marker or mark point.
The present invention also provides a kind of control methods of object automatic sorting device, include the following steps:
Step 1: the quantity N1 of the delivery device of the determining setting of interval number being sent to according to the maximum of Automated Sorting System and is
System can mark object number N2:
N2=N1+Z2+Z3+1
Z3: the complete step pitch number of the maximum for including between mark detecting sensor and first delivery device center line, it is described
Step pitch is the distance between adjacent marker or mark point；
To label or mark point setting value array SetPoint [n], label or mark point counter array C [n] (n=1,
2,...N2) and label or mark point counter Counter reset, object detection Mark Array Body [n] (n=1,2 ..., N2)
With delivery device enable array ActorEnable [j] (j=1,2 ..., N1) reset；To being sent to area array ToSectionID
[k] (k=1,2 ..., J) (wherein J=Z1+ 1) it resets；
Step 2: when automatic control module detects that mark detecting sensor output level jumps, to label or label
Point counter Counter is executed plus 1 operation, and determines the label or label that this is used according to the count value N3 in Counter
Put setting value array SetPoint [n], label or mark point counter array C [n] and object detection Mark Array Body [n]
Index value n；
When transition times N occurs in the mark detecting sensor output level detected3≤N2When, this label used or
Mark point setting value array SetPoint [n], label or mark point counter array element C [n] and object detection Mark Array
The index value n that element B ody [n] is used is N3；When transition times N occurs in the mark detecting sensor output level detected3>
N2When, this label used or mark point setting value array element SetPoint [n], label or mark point counter array are first
The index value n that plain C [n] and object detection Mark Array element B ody [n] are used is calculated by following formula:
Wherein mod (N3,N2) indicate N3Divided by N2Remainder；
Step 3: automatic control module determines that the push for executing the object is held after reading by the delivery information of transmission object M
The label or mark point setting value V of row mechanism serial number X and the object:
V=X+Z2+Z3+1
Pass through following assignment:
ToSectionID [J]=ToSectionID [J-1]；
ToSectionID [J-1]=ToSectionID [J-2]；
……
ToSectionID [2]=ToSectionID [1]；
ToSectionID [1]=V；
P=ToSectionID [J]；
P: the calibration point setting value of current object detection zone conveyer belt carrying object；Wherein J=Z1+1；
Step 4: according to the testing result of object detection sensors to Body [n] assignment, if object detection senses at this time
Device has detected object, then has Body [n]=TRUE；SetPoint [n]=P；C [n]=0；
If object, Body [n]=FALSE is not detected in object detection sensors (23) at this time；
Step 5: automatic control module is to N2A label or mark point counter array element C [n] successively execute following behaviour
Make: if Body [n]=TRUE, assignment operation C [n]=C [n]+1 is first carried out；Then judging C [n] and SetPoint [n] is
It is no equal；If equal, index value j (j=1,2 ..., N that delivery device enables array ActorEnable are calculated2),
J=n-Z2-Z3-1
Make ActorEnable [j]=TRUE, Body [n]=FALSE；
Step 6: if ActorEnable [j]=TRUE, showing that the object has been moved to the push area of delivery device Aj
Domain, delivery device Aj is acted immediately this moment releases conveyer belt for the object, reaches the off-sorting station that is sent to of the object, then makes
ActorEnable [j]=FALSE.
For realize automatic control module control method, when mark detecting sensor output level jumps, automatically
Control module inspection automatically distributes a label or mark point counter C to reach that section of conveyer belt of object detection sensors
[n], the number of C [n] are N2；
N2=N1+Z2+Z3+1 (5)
N1For Automated Sorting System delivery device number；Z2Between between object detection sensors and mark detecting sensor
Away from complete step pitch number；Z3The complete step pitch of maximum for including between mark detecting sensor and first delivery device center line
Number；The step pitch is the distance between adjacent marker or label dot center.
For the control method for realizing automatic control module, object is had in automatic control module and is sent to area array
ToSectionID [k], the array have (Z1+ 1) a element；Work as Z1When=0, area can be sent to by the object that information read device is read
Domain information X and formula calculate the label or mark point setting value V of the object, and it is stored in ToSectionID [1],
Then the object is placed directly into on the pattern identification of object detection area conveyer belt, when mark detecting sensor exports
When level jumps, if there is object on the pattern identification of this section of conveyer belt, the storage value of ToSectionID [1] is should
The label or mark point setting value P of object；In Automated Sorting System, if reading the object for being sent to region by information read device
Body needs a mobile step pitch that can just reach object detection area after being placed to the pattern identification of conveyer belt, at this moment Z1=1；
At this moment the element that storage is sent to area array ToSectionID [k] is 2, that is, has ToSectionID [1], ToSectionID
[2]；When jumping mark detecting sensor output level, that section of conveyer belt of area information previously was sent in reading object
And object arrived object detection area, at this moment the data of ToSectionID [1] should be written to ToSectionID [2],
The storage value of ToSectionID [2], then will be through as the label of object in object detection area or mark point setting value P
Label or mark point setting value write-in ToSectionID [1] after formula manipulation；And so on, if in information read device
Object will move Z after being placed to the pattern identification of conveyer belt1A step pitch can just reach object detection area, then, to lead to
Cross following assignment:
ToSectionID [J]=ToSectionID [J-1]；
ToSectionID [J-1]=ToSectionID [J-2]；
……
ToSectionID [2]=ToSectionID [1]；
ToSectionID [1]=V；
P=ToSectionID [J]；
P carries the calibration point setting value of object, J=Z on detection zone conveyer belt1+1。
The beneficial effects of the present invention are:
1) object on conveyer belt and label or mark point correspond, the side that the present invention is counted by label or mark point
Formula carrys out the object space on real-time detection conveyer belt, can be realized the detection of real-time and precise, improves the reliability of sorting device,
It avoids doing over again, substantially increases the working efficiency of material flow industry.
2) pattern identification can put cargo for operator and provide benchmark, it is ensured that uniform intervals between forward and backward cargo are kept away
Exempt from traditional estimation mode and causes large error.
3) label or mark point close to zone face edge and with pattern identification interlaced arrangement can prevent label or mark point quilt
Cargo covering.
4) present invention is driven using cylinder, and structure is simple, and response speed block can further increase sorting efficiency.
5) whether automatic control module is detected on zone face 21 by object detection sensors 23 with the presence of object, prevents from pushing
Mechanism sky pushes away.
Detailed description of the invention
Fig. 1 is main view of the invention；
Fig. 2 is top view of the invention.
Specific embodiment
Following embodiments are further explanations for the content of present invention using as the explaination to the technology of the present invention content, but
Substantive content of the invention is not limited in described in following embodiments, those skilled in the art can with and should know appoint
What simple change or replacement based on true spirit should belong to protection scope of the presently claimed invention.
Embodiment 1
As shown in Figure 1, 2, a kind of object automatic sorting device, including object information read equipment 10, belt conveyor 20,
Delivery device 30 and automatic control module；The object information reads equipment 10 for scanning and identifying that the information on object is deposited
Storage media, information storage medium can be the image informations storage medium such as bar code, two dimensional code, be also possible to store object letter
The RF identification chip of breath is to obtain object delivery information；It is set on the zone face 21 of belt conveyor 20 along band length direction equidistant interval
It is equipped with multiple labels or mark point 24, and the label being equipped with above zone face 21 for detecting the label or mark point 24 detects sensing
Device 22；The delivery device 30 is arranged above zone face 21 along 21 width side's vibration-direction of zone face, for by object from band
It releases the side in face 21；The delivery device 30 is arranged at intervals at least two groups, every group of delivery device along 21 length direction of zone face
30, which respectively correspond one, is sent to section；Automatic control module is true by the object delivery information that object information reads the acquisition of equipment 10
Which earnest body belongs to and is sent to section, and obtains object by the mark detecting sensor 22 and label or mark point 24
Real-time position information, when being sent to section belonging to object reaches, it is dynamic that automatic control module controls the delivery device for being sent to section
Make, object is released.Object and label or mark point 24 on conveyer belt correspond, and the present invention passes through label or mark point meter
Several modes carrys out the object space on real-time detection conveyer belt, can be realized the detection of real-time and precise, improves sorting device
Reliability avoids doing over again, and substantially increases the working efficiency of material flow industry.
Further, 21 center line of zone face of the belt conveyor 20 is equipped with multiple equidistant along 21 length direction of zone face
Spaced pattern identification, particularly, the zone face between conveyer belt adjacent marker or mark point, which is equipped with, indicates this section of zone face
For the pattern identification in center region) 25, between the spacing and adjacent two delivery device 30 between adjacent two pattern identification center 25
Spacing it is equal；The pattern identification 25 is used to demarcate the center of object placement area.Pattern identification 25 can be put for operator
Goods putting object provides benchmark, it is ensured that uniform intervals between forward and backward cargo avoid traditional estimation mode from causing large error.
Preferably, the label or mark point 24 are arranged close to 21 edge of zone face, between two adjacent marks or mark point 24
Distance it is equal with the distance between adjacent two pattern identifications, 25 center, and mark or mark point 24 and pattern identification 25 are mutually handed over
Mistake arrangement.Label or mark point 24 close to 21 edge of zone face and with 25 interlaced arrangement of pattern identification can prevent label or mark point
24 are covered by cargo.
Preferably, the push unit 30 includes push top 32 and push cylinder 31, and the push cylinder 31 is arranged in zone face
21 sides, and along the flexible setting of 21 width direction of zone face；The push top 32 is mounted on the piston rod top end of push cylinder 31.This hair
Bright to be driven using cylinder, structure is simple, and response speed block can further increase sorting efficiency.
Preferably, 21 top of zone face or 21 side of zone face are additionally provided with and identify whether 25 regions have object for test pattern
Object detection sensors 23 existing for body.Automatic control module detects on zone face 21 whether have object by object detection sensors 23
Body exists, and prevents 30 sky of delivery device from pushing away.
Embodiment 2
A kind of control method of the object automatic sorting device, institute's discussing system have following basic parameter:
1) maximum of Automated Sorting System is sent to section N1=32；
2) it is a step pitch Z that object information, which reads the distance between equipment (10) and object detection sensors (23),1=1；
3) the distance between mark detecting sensor (22) and object detection sensors (23) are 1.5 step pitch Z2=1；
4) the complete step pitch number Z of the maximum for including between mark detecting sensor and first delivery device center line3=1；
Object number N can be marked by formula (1) computing system2=32+1+1+1=35, i.e., each object have uniquely
The information such as label or mark point setting value, label or mark point counter；Equally, the transmission between two labels or mark point
Band is with whether there is or not the information of transmission object.Therefore, the label or mark point setting value array SetPoint of these information are recorded
The element of [n], label or mark point counter array C [n] and object detection Mark Array Body [n] are 35；Pusher
The element that structure enables array ActorEnable [j] is 32.Configuration is sent to the element of area array ToSectionID [k]
ToSectionID[1],ToSectionID[2]；
The work step of Automated Sorting System is as follows:
Step 1: system initialization work is first carried out after Automated Sorting System booting, it is main to complete to setting value array
SetPoint [n], label or mark point counter array C [n], label and are sent to number of regions at mark point counter Counter
Group ToSectionID [k] clear operation enables array to object detection Mark Array Body [n], delivery device
The reset of ActorEnable [j] operates.
Step 2: the quantity N1 that interval number determines the delivery device 30 of setting is sent to according to the maximum of Automated Sorting System；Away from
The serial number 1 of the delivery device nearest from mark detecting sensor, be followed successively by 2,3 ... N1.I-th of delivery device Ai table
Show；
Step 3: when Automated Sorting System detects that mark detecting sensor output level jumps, will successively execute
It operates below:
Label or mark point counter Counter are executed plus 1 operation；There is formula (2) true according to the count value N3 of Counter
This fixed label setting value array SetPoint [n], label or mark point counter array C [n] are executed and object detection mark
The index value n of array Body [n].
Automatic control module determines the push executing agency for executing the object after reading by the delivery information of transmission object M
(30) serial number X and with formula (3) calculate label or mark point setting value V.
Carry out following assignment:
ToSectionID [2]=ToSectionID [2]；
ToSectionID [1]=V；
P=ToSectionID [2]；
Label or mark point setting value of the P in object detection area object.
If object detection sensors (23) detect there is object on conveyer belt at this time, Body [n]=TRUE；
SetPoint [n]=P；If object detection sensors 23, which do not detect, at this time object on conveyer belt, Body [n]=
FALSE。
Step 4:n is from 1 to N2 value, and judgment object detects the value of each element B ody [n] of Mark Array one by one, such as
The fruit value is TRUE, to C [n] execution plus 1 assignment, if the value of C [n] is equal with SetPoint [n], and, by formula (4)
It calculates delivery device and enables the index value j of array ActorEnable [j], and make ActorEnabl [j]=TRUE, Body [n]=
FALSE。
Step 5: value in array element being enabled by delivery device and determines that delivery device acts, if ActorEnabl [j]
The object of current conveyer belt is pushed to subregion j by=TRUE, delivery device Aj movement, and make ActorEnabl [j]=
FALSE。
After the device power-up, conveyer belt is started turning for citing 1.Object detection Mark Array Body in automatic control module
[n] and label setting value array SetPoint [n]
Body [1]=FALSE；SetPoint [1]=0；
Body [2]=FALSE；SetPoint [2]=0；
Body [3]=FALSE；SetPoint [3]=0；
Body [4]=FALSE；SetPoint [4]=0；
Body [5]=FALSE；SetPoint [5]=0；
Body [6]=TRUE；SetPoint [6]=35；
Body [7]=TRUE；SetPoint [7]=34；
……
Body [35]=TRUE；SetPoint [6]=5；
……
Have known to above data；When mark detecting sensor is when detecting the 1st label or mark point, object detection is passed
Sensor, which is not detected on conveyer belt, object, and object detection sensors just detect when detecting the 6th label or mark point
There is object on to conveyer belt, the label or mark point setting value of the object are 35, indicate that the object needs to move from current position
Dynamic 34 step pitches can just reach sorting area.The object, which reaches, can calculate executing agency by formula (4) behind the position
Serial number 32, at this moment A32Delivery device movement, object is pushed to the 32nd sorting area to be sent to.
Citing 2 is in above system, when automatic control module detects output level the 36th time of mark detecting sensor
When jump, that section of conveyer belt that object detection sensors detect when the output level of mark detecting sensor jumps for the first time is
The sorting area for removing the 32nd executing agency is originally assigned to the SetPoint [1], label or mark point meter of this section of conveyer belt
Number device array C [1] and object detection Mark Array Body [1] can distribute at this time object detection sensors detect that
Section conveyer belt uses.If automatic control module calculating detects that this section transmission has object, and the label or mark of object at this time
Note point setting value P is equal to 7；So, Body [1]=TRUE；SetPoint [1]=7.
Claims (4)
1. a kind of object automatic sorting device, it is characterised in that: read equipment (10), belt conveyor including object information
(20), delivery device (30) and automatic control module；
The object information reads equipment (10) for scanning and identifying that the information storage medium on object is sent to obtain object
Information；
The present apparatus further includes multiple labels along the equidistant interval setting being arranged on belt conveyor (20) with length direction, and
For detecting the mark detecting sensor (22) of the label；
The delivery device (30) is arranged above the zone face (21) along zone face (21) width vibration-direction, for by object from
It releases the side of zone face (21)；The delivery device (30) is arranged at intervals at least two groups along zone face (21) length direction, and every group
Delivery device (30) respectively corresponds one and is sent to section；
Automatic control module reads the object delivery information that equipment (10) obtain by object information and determines that the affiliated of object is sent to
Section, and by the real-time position information of the mark detecting sensor (22) and label acquisition object, belonging to object arrival
When being sent to section, automatic control module controls the delivery device for being sent to section movement, and object is released；
Described mark is arranged close to zone face (21) edge, the distance between two adjacent marks center and adjacent two delivery device (30)
Spacing between center is equal；
Zone face (21) center line of the belt conveyor (20) is set equipped with multiple along zone face (21) length direction equidistant interval
The pattern identification (25) set, between the spacing and adjacent two delivery device (30) center between adjacent two pattern identification (25) center
Spacing it is equal；The pattern identification (25) is used to demarcate the center of object placement area；The label and pattern identification
(25) interlaced arrangement.
2. object automatic sorting device according to claim 1, it is characterised in that: the delivery device (30) includes push top
(32) it is stretched with push cylinder (31), push cylinder (31) setting in zone face (21) side, and along zone face (21) width direction
Contracting setting；The push top (32) is mounted on the piston rod top end of push cylinder (31).
3. object automatic sorting device according to claim 1, it is characterised in that: the present apparatus further includes test pattern mark
(25) whether region has object detection sensors existing for object (23)；
It is Z that object information, which reads the distance between equipment (10) and object detection sensors (23),1A step pitch (Z1=0,1,
2...), the spacing between object detection sensors (23) and mark detecting sensor (22) is L, to guarantee detecting label
When detection sensor (22) output level jumps, it is in pattern identification (25) using object detection sensors (23) detection
It is no to have object, L=Z2+ 0.5 step pitch (Z2=0,1,2...)；The step pitch is the distance between adjacent marker center.
4. a kind of control method of object automatic sorting device as claimed in claim 3, it is characterised in that include the following steps:
Step 1: the quantity N1 of the delivery device (30) of the determining setting of interval number being sent to according to the maximum of Automated Sorting System and is
System can mark object number N2:
N2=N1+Z2+Z3+1 (1)
Z3: the complete step pitch number of the maximum for including between mark detecting sensor and first delivery device center line, the step pitch are
The distance between adjacent marker；
To label setting value array SetPoint [n], blip counting device array C [n] (n=1,2 ..., N2) and blip counting device
Counter reset, object detection Mark Array Body [n] (n=1,2 ..., N2) and the enabled array of delivery device
ActorEnable [j] (j=1,2 ..., N1) reset；To being sent to area array ToSectionID [k] (k=1,2 ..., J)
(wherein J=Z1+ 1) it resets；
Step 2: when automatic control module detects that mark detecting sensor output level jumps, to blip counting device
Counter is executed plus 1 operation, and determines this label setting value array used according to the count value N3 in Counter
The index value n of SetPoint [n], blip counting device array C [n] and object detection Mark Array Body [n]；
When transition times N occurs in the mark detecting sensor output level detected3≤N2When, this label setting value used
The index that array SetPoint [n], blip counting device array element C [n] and object detection Mark Array element B ody [n] are used
Value n is N3；When transition times N occurs in the mark detecting sensor output level detected3> N2When, this label used is set
Definite value array element SetPoint [n], blip counting device array element C [n] and object detection Mark Array element B ody [n] make
Index value n is calculated by following formula:
Wherein mod (N3,N2) indicate N3Divided by N2Remainder；
Step 3: automatic control module determines the delivery device for executing the object after reading by the delivery information of transmission object M
(30) the label setting value V of serial number X and the object:
V=X+Z2+Z3+1 (3)
Pass through following assignment:
ToSectionID [J]=ToSectionID [J-1]；
ToSectionID [J-1]=ToSectionID [J-2]；
……
ToSectionID [2]=ToSectionID [1]；
ToSectionID [1]=V；
P=ToSectionID [J]；
P: the calibration point setting value of current object detection zone conveyer belt carrying object；Wherein J=Z1+1；
Step 4: according to the testing result of object detection sensors to Body [n] assignment, if object detection sensors are examined at this time
Object has been measured, then has had Body [n]=TRUE；SetPoint [n]=P；C [n]=0；
If object, Body [n]=FALSE is not detected in object detection sensors (23) at this time；
Step 5: automatic control module is to N2A blip counting device array element C [n] (n=1,2 ..., N2) successively execute below
Operation: if Body [n]=TRUE, assignment operation C [n]=C [n]+1 is first carried out；Then judge C [n] and SetPoint [n]
It is whether equal；If equal, index value j (j=1,2 ..., N that delivery device enables array ActorEnable are calculated1),
J=n-Z2-Z3–1 (4)
Make ActorEnable [j]=TRUE, Body [n]=FALSE；
Step 6: if ActorEnable [j]=TRUE, showing that the object has been moved to delivery device (30) AjPush area,
Delivery device (30) A this momentjIt acts immediately and the object is released into conveyer belt, reach the off-sorting station that is sent to of the object, then make
ActorEnable [j]=FALSE.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783541.5A CN106391492B (en) | 2016-08-30 | 2016-08-30 | Object automatic sorting device and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610783541.5A CN106391492B (en) | 2016-08-30 | 2016-08-30 | Object automatic sorting device and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106391492A CN106391492A (en) | 2017-02-15 |
| CN106391492B true CN106391492B (en) | 2019-01-15 |
Family
ID=58001422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610783541.5A Active CN106391492B (en) | 2016-08-30 | 2016-08-30 | Object automatic sorting device and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106391492B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106698297A (en) * | 2017-03-02 | 2017-05-24 | 长葛市怡盛蜂业有限公司 | Honey filling conveying device |
| CN107127159A (en) * | 2017-04-22 | 2017-09-05 | 安徽驿盟物流科技有限公司 | Goods sorting method for logistics park |
| CN107416494A (en) * | 2017-07-17 | 2017-12-01 | 河海大学常州校区 | A kind of locating, sorting Transmission system and its method of work |
| CN108722908A (en) * | 2018-05-28 | 2018-11-02 | 广东工业大学 | A kind of articles sorting system |
| CN108891832A (en) * | 2018-07-10 | 2018-11-27 | 安徽博诺思信息科技有限公司 | A kind of Automatic Warehouse |
| CN109264285B (en) * | 2018-08-27 | 2020-06-30 | 上海欣巴自动化科技股份有限公司 | Assembly line goods sorting and distribution method |
| CN109848070B (en) * | 2019-04-02 | 2021-06-04 | 四川达威科技股份有限公司 | Product sorting system and method |
| DE102019110568A1 (en) * | 2019-04-24 | 2020-10-29 | Homag Gmbh | Transport device and method for position monitoring |
| CN111906461B (en) * | 2019-05-08 | 2022-04-01 | 大族激光科技产业集团股份有限公司 | Transmission feeding method and system |
| JP7276164B2 (en) * | 2020-01-08 | 2023-05-18 | 株式会社ダイフク | Sorting equipment |
| CN112604997A (en) * | 2020-11-17 | 2021-04-06 | 晟通科技集团有限公司 | Aluminum template sorting method and aluminum template sorting device |
| CN112551059B (en) * | 2020-11-18 | 2022-11-22 | 歌尔光学科技有限公司 | Transmission mechanism |
| CN115213105A (en) * | 2022-06-07 | 2022-10-21 | 浙江衣拿智能科技股份有限公司 | Multi-target detection method and device based on screening lines and electronic equipment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3955678A (en) * | 1974-08-09 | 1976-05-11 | American Chain & Cable Company, Inc. | Sorting system |
| CN1432438A (en) * | 2002-01-15 | 2003-07-30 | 贵阳鸿法科技开发实业公司 | Control method of conveyer belt sorting machine |
| CN1824396A (en) * | 2005-06-16 | 2006-08-30 | 中国民用航空总局第二研究所 | Object grid type tracking method applied on material sorting system and its tracking device |
| JP2009149387A (en) * | 2007-12-19 | 2009-07-09 | Ihi Corp | Position detection device of transferred article |
| CN103213821A (en) * | 2013-04-26 | 2013-07-24 | 杭州电子科技大学 | Assembly line conveying device capable of locating accurately and control method thereof |
| CN103316846A (en) * | 2013-07-13 | 2013-09-25 | 周晓东 | Automatic mailbag sorting system |
| CN103331266A (en) * | 2012-03-30 | 2013-10-02 | 捷玛计算机信息技术（上海）有限公司 | Automatic sorting system |
| CN103575245A (en) * | 2012-07-31 | 2014-02-12 | 西克股份公司 | Detection system for mounting on a conveyor belt |
| CN204672572U (en) * | 2015-05-20 | 2015-09-30 | 深圳市宏钺智能科技有限公司 | A kind of courier packages intelligent sorting system based on robot |
| CN105562354A (en) * | 2016-02-05 | 2016-05-11 | 唐长春 | Goods sorting system and goods sorting method |
-
2016
- 2016-08-30 CN CN201610783541.5A patent/CN106391492B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3955678A (en) * | 1974-08-09 | 1976-05-11 | American Chain & Cable Company, Inc. | Sorting system |
| CN1432438A (en) * | 2002-01-15 | 2003-07-30 | 贵阳鸿法科技开发实业公司 | Control method of conveyer belt sorting machine |
| CN1824396A (en) * | 2005-06-16 | 2006-08-30 | 中国民用航空总局第二研究所 | Object grid type tracking method applied on material sorting system and its tracking device |
| JP2009149387A (en) * | 2007-12-19 | 2009-07-09 | Ihi Corp | Position detection device of transferred article |
| CN103331266A (en) * | 2012-03-30 | 2013-10-02 | 捷玛计算机信息技术（上海）有限公司 | Automatic sorting system |
| CN103575245A (en) * | 2012-07-31 | 2014-02-12 | 西克股份公司 | Detection system for mounting on a conveyor belt |
| CN103213821A (en) * | 2013-04-26 | 2013-07-24 | 杭州电子科技大学 | Assembly line conveying device capable of locating accurately and control method thereof |
| CN103316846A (en) * | 2013-07-13 | 2013-09-25 | 周晓东 | Automatic mailbag sorting system |
| CN204672572U (en) * | 2015-05-20 | 2015-09-30 | 深圳市宏钺智能科技有限公司 | A kind of courier packages intelligent sorting system based on robot |
| CN105562354A (en) * | 2016-02-05 | 2016-05-11 | 唐长春 | Goods sorting system and goods sorting method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106391492A (en) | 2017-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106391492B (en) | Object automatic sorting device and its control method | |
| CN106364895B (en) | Delivery device and articles sorting device containing the delivery device | |
| CN100462154C (en) | Object grid type tracking method applied on material sorting system and its tracking device | |
| US20140034456A1 (en) | Detection system for installation at a conveyor belt | |
| US8631922B2 (en) | System, apparatus, and method for object edge detection | |
| CA2298822A1 (en) | Method and appliance for detecting, indentifying and relocating defects in a material strip | |
| CN112068558B (en) | Shuttle vehicle walking positioning control method | |
| WO2011031035A2 (en) | Apparatus for managing the operation of a ship block | |
| CN104457680B (en) | Flatness detection system and method | |
| CN104627591A (en) | Intelligent warehousing ex-warehouse risk control system | |
| CN107220701B (en) | Accurate counting detection method for belt conveying bagged objects | |
| CN105775664A (en) | Belt conveyor speed detecting system based on radio-frequency identification | |
| CN110288032A (en) | A kind of vehicle driving trace type detection method and device | |
| CN110711701B (en) | Grabbing type flexible sorting method based on RFID space positioning technology | |
| CN110802030A (en) | Package sorting method, device and equipment and readable storage medium | |
| CN103639122A (en) | Packaging system of package sorting machine | |
| CN107051891B (en) | Moving trolley positioning and identifying method based on bar code | |
| CN112862806A (en) | Belt conveyor slip detection method, system, medium and electronic terminal | |
| CN101436322B (en) | Method and apparatus for detecting detection signal of magnetic sensor | |
| CN114367445A (en) | Sorting machine fault-division rechecking system, method and device and storage medium | |
| KR20120121125A (en) | Sorting system for returing goods using image information | |
| CN102004076A (en) | Method and system for detecting foreign fiber in ginned cotton | |
| SE506416C2 (en) | Method and apparatus for identifying and locating a gripper in a gripper conveyor for printing products | |
| TWI775854B (en) | Method for marking batches and/or processing said marked batches | |
| CN208938119U (en) | Iron ladle identifying system based on planar bar code technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |