CN106892253A - Intersect the method for sorting and lower bag control system of eyelet wire sorting system - Google Patents
Intersect the method for sorting and lower bag control system of eyelet wire sorting system Download PDFInfo
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- CN106892253A CN106892253A CN201710169455.XA CN201710169455A CN106892253A CN 106892253 A CN106892253 A CN 106892253A CN 201710169455 A CN201710169455 A CN 201710169455A CN 106892253 A CN106892253 A CN 106892253A
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- sorting
- dolly
- parcel
- control system
- bag
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Classifications
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- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
Abstract
Present invention is disclosed a kind of method for sorting and lower bag control system for intersecting eyelet wire sorting system, comprise the following steps：S1, parcel supply line reservation sorts dolly and to the sorting dolly for determining is preengage for bag, and the control system is wrapped in after the light curtain preengages determination sorting dolly described, and bag in the first adjustment line and the second adjustment line completion is not stopped；S2, after being bundled into work(on sorting dolly, the control system control sorting dolly starts lower bag to the corresponding lower bag bin of the parcel.Deft design of the present invention, process is simple, method for sorting of the invention, the barycenter for wrapping up is determined after weighing by light curtain, so as to preengage dolly to the distance of upper bag point according to barycenter, the first adjustment line and the second speed for adjusting the speed fluctuation time point of line and being reached is adjusted further according to the position of dolly, it is whole to send packet procedures, each section need not be stopped, therefore the brought time loss of stopping will not be produced, be conducive to improving sorting speed and efficiency.
Description
Technical field
The present invention relates to the method for sorting and lower bag control system of sorting system, more particularly to intersect eyelet wire sorting system
Confession bag method and.
Background technology
With developing rapidly for ecommerce, logistic industry is also in development at full speed, and it is daily that modern logistics have turned into people
The essential part of life, so that logistic industry turns into the important component of modern economy.
Modern logistics Industry Quick Development, used as the core product of material flows automation, parcel sorting machine is public in major logistics
Occupy critical role in department, or even whole domestic logistics industry, the raising of parcel sorting machine technology with it is perfect, be conducive to logistics from
The development of dynamicization cause, has very positive to saving labour, improving the aspect such as efficiency, reduction error rate and reduces cost
Meaning.
Domestic parcel sorting machine technology has had application for many years.By development so for many years, parcel sorting machine is
Through the parcel processing center extensively using big and medium-sized cities at home, the smooth stream being wrapped in the whole nation and international coverage is carry
Logical vital task, but we are it will be recognized that today of material flows automation cause high speed development at home, as this thing
Still there are some unavoidable serious topics in the middle of the parcel sorting machine technology of the important component of industry.
Upper packet system is the important component of parcel sorting machine, directly influences the performance and effect of whole parcel sorting machine
Rate, because it is first link that parcel sorting machine is sorted, its quality also directly influences the running of link below,
Therefore, it can be said that the first step that the analysis to upper packet system is parcel sorting machine network analysis with improvement is also it is critical that one
Step.
The now most of bag platform that superscribes all is frictional upper bag, realizes wrapping using conveyer belt or belt feeder.
Frictionally upper bag uses inclined type, the upper envelope curve of upper bag platform and sorter intersect between trolley travelling line be it is tilting, both
Acute angle folded by traffic direction turns into oblique angle.
The upper bag platform of prior art has four sections or five sections belt (sometimes can be different according to actual conditions), they
It is respectively upper packet level belt, a grade belt of weighing, (5 section belts then have the 3rd for first order accelerating stage belt and second level acceleration belt
Level accelerates band), often save belt and be all equipped with a frequency converter and a motor, have one between upper packet level belt and grade belt of weighing
Light curtain, dynamic balance is also disposed in weighing below grade belt, also has optoelectronic switch in each section belt both sides, and skin is wrapped in detect
The lengthwise position for taking.
Parcel can be placed on packet level belt first, accelerated rear steady by light curtain and into a grade belt of weighing, and wrapped
Wrap up in light excessively completely behind the scenes, PLC system can stop upper packet level belt and a grade belt of weighing, make to be wrapped in some position of longitudinal direction and stop
To position, when a certain dolly reaches setting position, PLC system according to there is related parameter computation delay startup belt to send parcel,
And after stopping, restarting belt, and the loss of time is increased, cause the reduction of sort efficiency.
Also, it is determined that after sorting dolly, PLC system can also control the belt for sorting dolly to make time delay rotation, so as to band
Dynamic to superscribe dolly center, this time delay has been fixed up when ring-like Lap Time degree is fixed, and it is guarantee parcel center and small
What car center overlapped in normal direction, but for whole upper packet system, the communication of dolly and PLC is such as the former of dolly
Barrier or other Communications failure situations cause dolly loop wire dolly to fail to receive the time delay rotation order that PLC sends, and can occur
Halved belt does not transfer to damage parcel when parcel upper part.
At the same time, when parcel needs to carry out stop and start by light curtain, good starting characteristic is carried to transmission system requirement,
Simultaneously parcel post is required with strap surface coefficient of friction, be many times wrapped in stop, starts work in error it is very big, especially work as wrap up
When being wrapped up for express delivery standard paper bag, so needing to be compensated followed by detection.
Present algorithm also has individual error, is exactly the error in acceleration section, and the speed difference of adjacent acceleration section is less than
It is little on standard parcel influence when 0.5m/s, but the parcel influence uneven on mass density is very big, causes and assures
Standby low degree, in order to ensure the uniformity of different parcel upper part positions, we must reduce the speed difference of adjacent accelerating sections, so when
When main ring speed is very high, it is desirable to have many section speed governing sections, or lengthening speed governing section enables that accelerating sections steadily connects bag
After accelerate, then steady send out.
If according to existing control mode, when coefficient of friction is less, start and stop section must be more long so that parcel energy
The enough length for stopping accelerates to this section of length of fixed speed along with the full-size of parcel, and bag platform takes up an area face in increase
Product.
In addition, lower packet procedures are equally the significant process of parcel sorting machine, the property of whole parcel sorting machine is directly influenced
Can and efficiency, existing lower bag control method, algorithm is complicated, and calculating process takes relatively long, and efficiency is low.
And existing algorithm by it is different intersection eyelet wire sorting systems actual physical structures influenceed greatly, applicability, surely
Qualitative difference.
Meanwhile, existing algorithm cannot be adjusted according to the size of parcel, larger for some oversizes or length
Parcel, due to from sorting dolly on time it is longer, therefore same point start sorting dolly, in fact it could happen that cannot in time will wrap
The problem conveyed into sorting mouthful is wrapped up in, causes parcel to damage.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of that prior art is present, there is provided a kind of sorting of intersection eyelet wire sorting system
Method and lower bag control system.
The purpose of the present invention is achieved through the following technical solutions：
Intersect eyelet wire sorting system method for sorting, the intersection eyelet wire sorting system include sorting dolly loop wire with
And be parcel supply line of the sorting dolly loop wire for bag, they are all connected with control system, and the parcel supply line including matching somebody with somebody successively
Pipeline, the first adjustment line and the second adjustment line for connecing, light curtain is provided between the pipeline and the first adjustment line, and it includes
Following steps：
S1, parcel supply line reservation sorts dolly and to the sorting dolly for determining is preengage for bag, and the control system is in institute
State and be wrapped in after light curtain reservation determines sorting dolly, the first adjustment line is not stopped and the second adjustment line is completed
Bag；
S2, after being bundled into work(on sorting dolly, the control system control sorting dolly to it is described wrap up it is corresponding under
Bag bin starts lower bag.
Preferably, the method for sorting of described intersection eyelet wire sorting system, wherein：The operation of the sorting dolly loop wire
Speed VRingIt is between 1.5m/s-2.2m/s.
Preferably, the method for sorting of described intersection eyelet wire sorting system, wherein：The S1 steps include following mistake
Journey：
S11, parcel is put into pipeline and with pipeline with First Speed V1Advance, parcel is by after the pipeline, controlling
System processed obtains the weight data and appearance and size parameter of parcel；
S12, wraps up after light curtain obtains its center-of-mass coordinate, into the first adjustment line run with First Speed V1；
S13, control system obtains the center-of-mass coordinate of parcel and according to dividing that center-of-mass coordinate reservation is matched with the parcel
Dolly is picked, and determines whether the sorting dolly is unloaded, when the sorting dolly of reservation is non-unloaded, dolly is sorted in reservation again；When
When the sorting dolly of reservation is zero load, the synchronizing signal of dolly loop wire to be sorted is waited；
S14, control system calculates the first adjustment line and is adjusted to second speed V after synchronizing signal is received2First tune
Fast time point T1, while determining that the second adjustment line is adjusted to third speed V3The second governing time point T2, the third speed V3
The speed of service V of=sorting dolly loop wireRing＞ second speeds V2＞ First Speed V1；
Be transported to parcel with the described second speed by S15, adjusting parameter of the first adjustment line in the S14 steps
Degree V2Second adjustment line of operation,
S16, adjusting parameter of the second adjustment line in the S14 steps will wrap up the sorting of the reservation being transported to
On dolly.
Preferably, the method for sorting of described intersection eyelet wire sorting system, wherein：The synchronizing signal is sorting dolly
Each sorting dolly of loop wire by setting position photoelectric sensor when the pulse signal that is triggered, the control system according to
The pulse count signal calculates the position of each sorting dolly in loop wire, and each described sorting dolly is during pulse signal twice
Mobile distance is a step-length.
Preferably, the method for sorting of described intersection eyelet wire sorting system, wherein：In the S14 steps, the control
System processed calculates the first governing time point T according to equation below1And the second governing time point T2
SBarycenter-SAdjust=V1t1+V2t2+V3t3 (1)
SCar/VRing=t1+t2+t3 (2)
Wherein, SBarycenterEqual to parcel barycenter from the starting point of the second adjustment line to the distance of upper bag point, SAdjustTo be wrapped in the first tune
The distance moved in the adjusting parameter time, t are calculated in control system with First Speed on whole line1To be wrapped on the first adjustment line
With First Speed V1The time for continuing to run with, t2To wrap up with second speed V2Mobile time, t3To wrap up with third speed V3
The time of operation, SCarBe reservation sorting dolly sort dolly loop wire send synchronizing signal when, its central point to it is upper bag point away from
From VRingTo sort the range ability of dolly loop wire.
Preferably, the method for sorting of described intersection eyelet wire sorting system, wherein：The control system is being received together
After step signal, the first governing time point T described in the synchronizing signal real-time adjustment according to receipt of subsequent1And/or second governing time
Point T2。
Preferably, the method for sorting of described intersection eyelet wire sorting system, wherein：In the S2 steps, the control
The process wrapped under the system control sorting dolly processed is as follows：
S21, the control system receives the parcel that sorting dolly sends and gets on the bus pass signal, sets up sorting dolly locking number
Determine that the sorting is small according to table, sorting dolly real time position data table memory and dolly package status tables of data, and real-time tracking
The position of car；
S22, the control system obtains the corresponding lower bag bin positional information of parcel stored in database；
S23, the control system, according to setting formula, is counted when the sorting trolley travelling is to setup algorithm starting point
When calculating theoretical step size number n and the time delay that the sorting dolly is moved from required for the calculating starting point to the lower bag bin
Between tProlong, the theoretical step size number n is integer；
S24, the control system by it is described sorting dolly actual moving step length number and the theoretical step size number ratio for calculating
To both it is equal when, continue to move to the time in the sorting dolly and reach the extension of time tProlongWhen, also, it is described starting
Before sorting the sorting belt of dolly, the sorting bin is determined with the presence or absence of full bag or abnormal conditions, when it is determined that without full bag or different
During reason condition, the sorting belt for starting the sorting dolly completes lower bag；
S25, the sorting operation of the control system record sorting belt is simultaneously stored in database；
S26, the control system removes sorting dolly locking data table, the sorting dolly real time position data storage set up
Table and dolly package status tables of data, and the position of the sorting dolly is tracked, wait and being wrapped in reservation again.
Preferably, the method for sorting of described intersection eyelet wire sorting system, wherein：In S23 steps, the step-length SStep
It is the distance of the central point of adjacent two sorting dollies, the delay time tProlongCalculated according to equation below
tProlong=(S-n × SStep)/VRing
Wherein, S is the distance for calculating starting point to the corresponding lower bag bin central point of the parcel.
Preferably, the method for sorting of described intersection eyelet wire sorting system, wherein：It is described to prolong in the S23 steps
When time tProlongCalculated according to equation below
tProlong=(S-n × SStep)/VRing-(SBag-SMark)/VCar,
Wherein, SBagIt is that the parcel leaves the sorting dolly distance to be moved, S completelyMarkIt is that standard size has been wrapped up
The sorting dolly distance to be moved, V are left entirelyCarIt is the speed of service of the sorting belt for sorting dolly.
Intersect the lower bag control system of eyelet wire sorting system, including
Data acquisition profiling unit, gets on the bus pass signal for receiving the sorting parcel that sends of dolly, sets up sorting small
Car locking data table, sorting dolly real time position data table memory and dolly package status tables of data, and real-time tracking determines institute
State the position of sorting dolly and obtain the corresponding lower bag bin positional information of parcel stored in database；
Computing unit, for when the sorting trolley travelling is to setup algorithm starting point, according to setting formula, calculating institute
State theoretical step size number n and delay time that sorting dolly is moved from required for the calculating starting point to the lower bag bin
tProlong, the theoretical step size number n is integer；
Sorting control unit, for the actual moving step length number of the sorting dolly to be compared with the theoretical step size for calculating
To both it is equal when, and continue to move to the time in the sorting dolly and meet the extension of time tProlong, and sorting bin is without full bag
Or during abnormal conditions, start the sorting belt of the sorting dolly；
Sorting recording unit, for recording the sorting operation of sorting belt and being stored in database；
And, clearing cell of filing is deposited for removing the sorting dolly locking data table set up, sorting dolly real time position
Storage tables of data and dolly package status tables of data, and the position of the sorting dolly is tracked, wait and being wrapped in reservation again.
The beneficial effects are mainly as follows：
1. deft design of the present invention, process is simple, determines the barycenter of parcel after weighing by light curtain, so as to according to barycenter
Distance to upper bag point preengages dolly, and the speed fluctuation of the first adjustment line and the second adjustment line is adjusted further according to the position of dolly
Time point and the speed to be reached, in entirely sending packet procedures, it is not necessary to stop each section, therefore will not produce when stopping brought
Between be lost, be conducive to improve sorting speed and efficiency.
2. it is to wrap up barycenter and sorting dolly center to the position of upper bag point due to what is calculated, therefore sorting need not be started
The belt of dolly, also would not cause to go wrong because of the Communications failure of PLC.
3. due to each section need not be stopped in running, therefore also just in the absence of the process restarted, therefore it is driven
The starting characteristic and parcel post of system are small with the influence of strap surface coefficient of friction, it is not necessary to which the later stage compensates, and simplify follow-up
Control process.
4. each section of area for being also beneficial to reduce each speed governing section of workpiece need not be stopped, simultaneously as each section does not stop,
Therefore the speed adjusted value of adjacent belt can change in smaller range, thus advantageously reduce the quantity of speed governing section, from
And simplify the overall structure of system.
5. the entry condition of sorting dolly is controlled using step-length and delay time, on the one hand, calculated due to securing
Initial point, therefore, it is possible to quickly obtain theoretical step size number and delay time, calculating process is simply efficient, the opposing party, with reference to photoelectricity
Sensor is while real-time tracking small truck position, you can know the actual moving step length number of the corresponding sorting dolly of parcel, from
And be easy to be compared with the theoretical step size number being calculated, eliminate the actual row for calculating sorting dolly by extra algorithm again
The process of distance is sailed, overall calculating process is further simplify, it is time-consuming shorter, it is in hgher efficiency.
6. the time is started using step-length and delay time control sorting dolly, therefore not by sorting mouth and the actual thing of dolly
Reason structure influence, can be applicable it is various types of intersection eyelet wire sorting systems, stability more preferably, applicability it is wider.
7. further combined with the size of parcel, according to the size adjusting delay time of parcel, so as to more preferable
The accurate sorting of sizes parcel is adapted to, is solved and the parcel point that sorting belt is unsuitable for large-size is started using same point
Pick the problem of requirement
Brief description of the drawings
Fig. 1 is the schematic diagram of intersection eyelet wire sorting system of the invention；
Fig. 2 is confession packet procedures schematic diagram of the invention：
Fig. 3 is lower packet procedures schematic diagram of the invention.
Specific embodiment
Below with reference to specific embodiment shown in the drawings, the present invention will be described in detail.But these implementation methods are simultaneously
The present invention is not limited to, structure that one of ordinary skill in the art is made according to these implementation methods, method or functionally
Conversion is all contained in protection scope of the present invention.
Intersect eyelet wire sorting system present invention is disclosed one kind, the intersection eyelet wire sorting system includes sorting dolly
Loop wire and be parcel supply line of the sorting dolly loop wire for bag, they are all connected with control system.
As shown in Figure 1, the speed of service V of the sorting dolly loop wire 6RingBetween 1.5m/s-2.2m/s, it includes one
The gaps such as group set and surround the sorting dolly 5 of annular, and each described 5 pairs, dolly of sorting should have dolly to number, and be provided with
Photoelectricity trigger point, is additionally provided with the photoelectric sensing for determining each small truck position on the setting position of the sorting dolly loop wire
Device 7, when the sorting dolly loop wire starts, each described sorting dolly sequentially passes through the photoelectric sensor and triggers described
Photoelectric sensor 7 sends pulse signal to control system, and the control system is every so as to determine by pulse count signal
Sorting dolly position at that time, photoelectric sensor is triggered when first trolley travelling one by photoelectric sensor 7 is enclosed again
When, refreshing the position that dolly is sorted in reduction into possession, the distance that each described sorting dolly is moved during pulse signal twice is
One step-length, the step-length is the distance of the central point of adjacent two sorting dollies.
The calculating starting point for calculating theoretical step-length number and delay time, institute are additionally provided with the sorting dolly loop wire
Calculating starting point first lower bag bin setpoint distance of distance is stated, each the sorting dolly in the sorting dolly loop wire is in triggering
During the photoelectric sensor, a central point for sorting dolly in the sorting dolly loop wire is located at the calculating starting point position
Put.
The parcel supply line includes the adjustment adjustment line 3 of line 2 and second of pipeline 1, first for connecting successively, the conveying
Remain a constant speed running status under the normality of line 1, also, the pipeline 1 is pipeline of weighing, and passes through portal frame thereon
The grating for measuring package dimensions is provided with, is provided with for determining parcel matter between the adjustment line 2 of the pipeline 1 and first
The light curtain 4 of the heart, the width of the width more than the sorting belt of sorting dolly of the second adjustment line 3.
When the intersection eyelet wire sorting system works, including following process：
The sorting dolly loop wire is actuated for self-inspection, and the qualified rear loop wire of self-inspection accelerates to command speed, starts photoelectric transfer
Sensor carries out dolly position tracking.
S1, the parcel supply line reservation sorting dolly simultaneously supplies bag, the control system to the sorting dolly for preengaging determination
It is wrapped in after light curtain reservation determines sorting dolly described, the first adjustment line is not stopped and the second adjustment line is complete
Into upper bag, as shown in Figure 2, detailed process is as follows：
S11, artificial or parcel is put into pipeline 1 by automating feeding robot, parcel is with the pipeline with the
One speed V1Advance, the parcel is by obtaining the weight data and appearance and size parameter of parcel and being tied to after the pipeline
In the database of the parcel, when the weight and appearance and size parameter of parcel is not obtained by the pipeline, the parcel is supplied
Answer line to stop, and send alert notification staff treatment.
S12, it is described to be wrapped under the conveying of the pipeline 1 by the light curtain 2 and enter into First Speed V1Fortune
On the first capable adjustment line 2, the control system is conveyed to after the center-of-mass coordinate wrapped up described in the light curtain activity.
S13, control system obtains the center-of-mass coordinate of parcel and according to dividing that center-of-mass coordinate reservation is matched with the parcel
Dolly is picked, specifically, according to the center-of-mass coordinate of the parcel, its center-of-mass coordinate is calculated to actually bag point apart from SBag, and
Determine that the distance for being superscribed described on sorting dolly loop wire a little is equal to according to this distance described apart from SBagOr more than described
Apart from SBagBut the minimum sorting dolly of gap.
The control system is it is determined that after the sorting dolly matched with parcel, also determine whether the sorting dolly is unloaded, institute
State control system and determine whether dolly is unloaded according to the sensor on each described sorting dolly, preferably described sensor includes
2 lasers and 4 laser pickoffs that the belt conveyor both sides of the sorting dolly are set, each described laser pickoff are equal
The laser that two lasers send can simultaneously be received, when have in 4 laser pickoffs one cannot receive 2 it is described swash
During the laser that light device sends, judge that dolly is non-Light Condition；When the sorting dolly of reservation is non-unloaded, reservation sorting is small again
Car；When the sorting dolly of reservation is zero load, the synchronizing signal of dolly loop wire to be sorted is waited, the synchronizing signal is above-mentioned
Photoelectric sensor pulse signal for being sent when each sorting dolly passes through in sorting dolly loop wire, the control system according to
The pulse signal calculates the position of each dolly in loop wire.
S14, control system calculates the first adjustment line and is adjusted to second speed V after synchronizing signal is received2First tune
Fast time point T1, while determining that the second adjustment line is adjusted to third speed V3The second governing time point T2, the third speed V3
The speed of service V of=sorting dolly loop wireRing＞ second speeds V2＞ First Speed V1；
During specific calculating, the control system calculates the first governing time point T according to equation below1And second speed governing
Time point T2
SBarycenter-SAdjust=V1t1+V2t2+V3t3 (1)
SCar/VRing=t1+t2+t3 (2)
Wherein, SBarycenterEqual to parcel barycenter from the starting point of the second adjustment line to the distance of upper bag point, SAdjustTo be wrapped in the first tune
The distance moved in the adjusting parameter time, t are calculated in control system with First Speed on whole line1To be wrapped on the first adjustment line
With First Speed V1The time for continuing to run with, t2To wrap up with second speed V2Mobile time, t3To wrap up with third speed V3
The time of operation, SCarBe reservation sorting dolly sort dolly loop wire send synchronizing signal when, its central point to it is upper bag point away from
From VRingTo sort the range ability of dolly loop wire.
After synchronizing signal is received, it may be determined that actual range S of the sorting dolly of reservation apart from upper bag pointCar, due to dividing
Pick the speed of service V of dolly loop wireRingIt is certain, therefore, it is possible to calculate the dolly of reservation to the time of upper bag point, so that root
The run time of each speed is calculated according to the algorithm above, the first governing time point T is may thereby determine that1With the second governing time
Point T2。
And it is in course of adjustment, the control system after synchronizing signal is received, believe by the synchronization according to receipt of subsequent
Number the first governing time point T described in real-time adjustment1And/or the second governing time point T2。
S15, adjusting parameter of the first adjustment line in the S14 steps accelerates to second speed V2Afterwards will parcel
It is transported to the second speed V2Second adjustment line of operation,
S16, adjusting parameter of the second adjustment line 3 in the S14 steps accelerates to third speed V3Afterwards will bag
Wrap up on the sorting dolly of the reservation being transported to.
S2, after being bundled into work(on sorting dolly, the control system control sorting dolly to it is described wrap up it is corresponding under
Bag bin starts lower bag.
The control system includes intersecting the lower bag control system of eyelet wire sorting system, the intersection eyelet wire sorting system
The lower bag control system of system includes data acquisition profiling unit, computing unit, sorting control unit, sorting recording unit and files
Clearing cell.
The data acquisition profiling unit is used to receiving the sorting parcel that sends of dolly and gets on the bus pass signal, sets up sorting
Dolly locking data table, sorting dolly real time position data table memory and dolly package status tables of data, and real-time tracking determine
The corresponding lower bag bin positional information of parcel stored in the position of the sorting dolly and acquisition database.
Wherein, the dolly locking data table is used to lock dolly, is enabled or disabled management, the sorting dolly reality
When location stored data table be used for recording the real time position of dolly, the dolly package status tables of data is used for recording transplanting dolly
On whether have parcel.
The lower bag bin positional information reads parcel by the barcode scanning device between upper bag point and calculating starting point
On bar code information obtain.
The computing unit is used for when the sorting trolley travelling is to the calculating starting point, according to setting formula, meter
Calculate theoretical step size number n and the time delay of required movement of the sorting dolly from the calculating starting point to the lower bag bin
Time tProlong, the theoretical step size number n is integer.
The sorting control unit is used for the actual moving step length number and the theoretical step size for calculating of the sorting dolly
Compare to both it is equal when, and continue to move to the time in the sorting dolly and meet the extension of time tProlong, and sorting bin without
When full bag or abnormal conditions, start the sorting belt of the sorting dolly.
The sorting recording unit is used to record the sorting operation of sorting belt and be stored in database.
It is described file clearing cell for remove the sorting dolly locking data table set up, sorting dolly real time position store
Tables of data and dolly package status tables of data, and the position of the sorting dolly is tracked, wait and being wrapped in reservation again.
As shown in Figure 3, the process wrapped under the control system control sorting dolly is as follows：
S21, the data acquisition profiling unit receives the parcel that sorting dolly sends and gets on the bus pass signal, sets up sorting small
Car locking data table, sorting dolly real time position data table memory and dolly package status tables of data, and in real time according to the arteries and veins
Rush the position that signal trace determines the sorting dolly equipped with parcel.
S22, when the parcel runs to barcode scanning device with sorting loop wire, what the barcode scanning device acquisition parcel to be gone divides
Bin position and poke are picked in database, the data acquisition unit obtains the corresponding lower bag lattice of parcel stored in database
Mouth positional information.
S23, when the sorting dolly moves to the calculating starting point, the computing unit is calculated according to setting formula
Theoretical step size number n and delay time that the sorting dolly is moved from required for the calculating starting point to the lower bag bin
tProlong, the theoretical step size number n is integer.
Specifically, it is determined that after the corresponding lower bag bin of parcel, you can determine the lower bag bin central point described in
Calculate the distance between starting point S, thus by apart from S divided by step-length SStepTheoretical step size number n is obtained, due to apart from S and step
S longStepIt is not often integral multiple relation, therefore step-length number n is multiplied by step-length SStepThe numerical value for obtaining is needed less than described apart from S, otherwise
If more than described apart from S, wrapping up will miss its corresponding lower bag bin, corresponding, apart from the portion of the unnecessary parcel displacements of S
Divide and be accomplished by compensating, the delay time tProlongCalculated according to equation below
tProlong=(S-n × SStep)/VRing。
It is further contemplated that some parcels are larger up to more long or size, corresponding its moves to sorting from halved belt
Time required for mouthful just accordingly increases, now the delay time tProlongCalculated according to equation below
tProlong=(S-n × SStep)/VRing-(SBag-SMark)/VCar,
Wherein, SBagIt is that the parcel leaves the sorting dolly distance to be moved, S completelyMarkIt is that standard size has been wrapped up
The sorting dolly distance to be moved, V are left entirelyCarIt is the speed of service of the sorting belt for sorting dolly.
S24, due to the distance of central point that step-length is adjacent two sorting dollies, and sorting dolly is in pulse signal twice
The period distance of movement is a step-length, thus from the number of times for calculating starting point start recording pulse signal be may know that it is described
The actual mobile step-length number of sorting dolly, the sorting control unit is by the actual moving step length number of the sorting dolly and calculates
The theoretical step size number for going out is compared, and when both are equal, the sorting control unit control sorting dolly continues to move to extend
Time tProlong, the sorting belt for then starting the sorting dolly completes lower bag, also, is starting the sorting skin of the sorting dolly
With preceding, the sorting bin is determined with the presence or absence of full bag or abnormal conditions, when it is determined that without full bag or during abnormal conditions, restarting institute
The sorting belt for stating sorting dolly completes lower bag.
S25, the sorting operation of the sorting recording unit records sorting belt is simultaneously stored in database.
S26, clearing cell of filing removes sorting dolly locking data table, the sorting dolly real time position data storage set up
Table and dolly package status tables of data, and the position of the sorting dolly is tracked, wait and being wrapped in reservation again.
It should be appreciated that a series of detailed description of those listed above is only for feasibility implementation method of the invention
Illustrate, they simultaneously are not used to limit the scope of the invention, it is all without departing from skill spirit of the present invention made it is equivalent
Implementation method or change should be included within the scope of the present invention.
Claims (10)
1. the method for sorting of eyelet wire sorting system is intersected, it is characterised in that：The intersection eyelet wire sorting system includes sorting
Dolly loop wire and be parcel supply line of the sorting dolly loop wire for bag, they are all connected with control system, the parcel supply line
Including the pipeline, the first adjustment line and the second adjustment line that connect successively, it is provided between the pipeline and the first adjustment line
Light curtain, it comprises the following steps：
S1, parcel supply line reservation sorts dolly and to the sorting dolly for determining is preengage for bag, and the control system is in the bag
It is rolled in after light curtain reservation determines sorting dolly, the first adjustment line is not stopped and the second adjustment line completes to wrap；
S2, after being bundled into work(on sorting dolly, the control system control sorting dolly to the corresponding lower bag lattice of the parcel
Mouth starts lower bag.
2. it is according to claim 1 intersect eyelet wire sorting system method for sorting, it is characterised in that：The sorting dolly
The speed of service V of loop wireRingIt is between 1.5m/s-2.2m/s.
3. it is according to claim 2 intersect eyelet wire sorting system method for sorting, it is characterised in that：The S1 steps bag
Include following process：
S11, parcel is put into pipeline and with pipeline with First Speed V1Advance, parcel by after the pipeline, control system
Obtain the weight data and appearance and size parameter of parcel；
S12, wraps up after light curtain obtains its center-of-mass coordinate, into the first adjustment line run with First Speed V1；
S13, control system obtains the center-of-mass coordinate of parcel and preengages small with the sorting that the parcel is matched according to the center-of-mass coordinate
Car, and determine whether the sorting dolly is unloaded, when the sorting dolly of reservation is non-unloaded, dolly is sorted in reservation again；Work as reservation
Sorting dolly when being zero load, wait the synchronizing signal of dolly loop wire to be sorted；
S14, control system calculates the first adjustment line and is adjusted to second speed V after synchronizing signal is received2The first speed governing when
Between point T1, while determining that the second adjustment line is adjusted to third speed V3The second governing time point T2, the third speed V3=point
Pick the speed of service V of dolly loop wireRing＞ second speeds V2＞ First Speed V1；
Be transported to parcel with the second speed V by S15, adjusting parameter of the first adjustment line in the S14 steps2
Second adjustment line of operation,
S16, adjusting parameter of the second adjustment line in the S14 steps will wrap up the sorting dolly of the reservation being transported to
On.
4. it is according to claim 3 intersect eyelet wire sorting system method for sorting, it is characterised in that：The synchronizing signal
Be sort each sorting dolly of dolly loop wire by setting position photoelectric sensor when the pulse signal that is triggered, the control
System processed calculates the position of each sorting dolly in loop wire according to the pulse count signal, and each described sorting dolly is in arteries and veins twice
The distance moved during rushing signal is a step-length.
5. it is according to claim 4 intersect eyelet wire sorting system method for sorting, it is characterised in that：In S14 steps
In rapid, the control system calculates the first governing time point T according to equation below1And the second governing time point T2
SBarycenter-SAdjust=V1t1+V2t2+V3t3 (1)
SCar/VRing=t1+t2+t3 (2)
Wherein, SBarycenterEqual to parcel barycenter from the starting point of the second adjustment line to the distance of upper bag point, SAdjustTo be wrapped in the first adjustment line
On with First Speed in control system calculates the adjusting parameter time distance that moves, t1To be wrapped on the first adjustment line with
One speed V1The time for continuing to run with, t2To wrap up with second speed V2Mobile time, t3To wrap up with third speed V3Operation
Time, SCarBe reservation sorting dolly sort dolly loop wire send synchronizing signal when, its central point to it is upper bag point distance, VRing
To sort the range ability of dolly loop wire.
6. it is according to claim 5 intersect eyelet wire sorting system method for sorting, it is characterised in that：The control system
After synchronizing signal is received, the first governing time point T described in the synchronizing signal real-time adjustment according to receipt of subsequent1And/or the
Two governing time point T2。
7. according to the method for sorting of any described intersection eyelet wire sorting systems of claim 2-6, it is characterised in that：Described
In S2 steps, the process wrapped under the control system control sorting dolly is as follows：
S21, the control system receives the parcel that sorting dolly sends and gets on the bus pass signal, sets up sorting dolly locking data
Table, sorting dolly real time position data table memory and dolly package status tables of data, and real-time tracking determines the sorting dolly
Position；
S22, the control system obtains the corresponding lower bag bin positional information of parcel stored in database；
S23, the control system, according to setting formula, calculates institute when the sorting trolley travelling is to setup algorithm starting point
State theoretical step size number n and delay time that sorting dolly is moved from required for the calculating starting point to the lower bag bin
tProlong, the theoretical step size number n is integer；
S24, the control system by it is described sorting dolly actual moving step length number and the theoretical step size number for calculating compare to
When both are equal, continue to move to the time in the sorting dolly and reach the extension of time tProlongWhen, also, starting the sorting
Before the sorting belt of dolly, the sorting bin is determined with the presence or absence of full bag or abnormal conditions, when it is determined that without full bag or abnormal feelings
During condition, the sorting belt for starting the sorting dolly completes lower bag；
S25, the sorting operation of the control system record sorting belt is simultaneously stored in database；
S26, the control system remove set up sorting dolly locking data table, sorting dolly real time position data table memory and
Dolly package status tables of data, and the position of the sorting dolly is tracked, wait and being wrapped in reservation again.
8. it is according to claim 7 intersect eyelet wire sorting system method for sorting, it is characterised in that：In S23 steps,
The step-length SStepIt is the distance of the central point of adjacent two sorting dollies, the delay time tProlongCalculated according to equation below
tProlong=(S-n × SStep)/VRing
Wherein, S is the distance for calculating starting point to the corresponding lower bag bin central point of the parcel.
9. it is according to claim 7 intersect eyelet wire sorting system method for sorting, it is characterised in that：In S23 steps
In rapid, the delay time tProlongCalculated according to equation below
tProlong=(S-n × SStep)/VRing-(SBag-SMark)/VCar,
Wherein, SBagIt is that the parcel leaves the sorting dolly distance to be moved, S completelyMarkBe standard size parcel completely from
Open the sorting dolly distance to be moved, VCarIt is the speed of service of the sorting belt for sorting dolly.
10. the lower bag control system of eyelet wire sorting system is intersected, it is characterised in that：Including
Data acquisition profiling unit, gets on the bus pass signal for receiving the sorting parcel that sends of dolly, sets up the small lock of sorting
Determine tables of data, sorting dolly real time position data table memory and dolly package status tables of data, and real-time tracking determines described point
Pick the position of dolly and obtain the corresponding lower bag bin positional information of parcel stored in database；
Computing unit, for when the sorting trolley travelling is to setup algorithm starting point, according to setting formula, calculating described point
Pick theoretical step size number n and delay time t that dolly is moved from required for the calculating starting point to the lower bag binProlong, institute
Theoretical step size number n is stated for integer；
Sorting control unit, for the actual moving step length number of the sorting dolly to be compared to two with the theoretical step size for calculating
When person is equal, and continues to move to the time in the sorting dolly and meet the extension of time tProlong, and sorting bin is without full bag or different
During reason condition, start the sorting belt of the sorting dolly；
Sorting recording unit, for recording the sorting operation of sorting belt and being stored in database；
And, clearing cell of filing, for removing the sorting dolly locking data table set up, sorting dolly real time position storage number
According to table and dolly package status tables of data, and the position for sorting dolly is tracked, wait and being wrapped in reservation again.
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