CN106892253B - The method for sorting of intersection eyelet wire sorting system and lower packet control system - Google Patents
The method for sorting of intersection eyelet wire sorting system and lower packet control system Download PDFInfo
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- CN106892253B CN106892253B CN201710169455.XA CN201710169455A CN106892253B CN 106892253 B CN106892253 B CN 106892253B CN 201710169455 A CN201710169455 A CN 201710169455A CN 106892253 B CN106892253 B CN 106892253B
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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
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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
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Discharge Of Articles From Conveyors (AREA)
- Control Of Conveyors (AREA)
Abstract
Present invention discloses a kind of method for sorting for intersecting eyelet wire sorting system and lower packet control systems, include the following steps: S1, wrap up supply line reservation sorting trolley and to the determining sorting trolley of reservation for packet, the control system is wrapped in after the light curtain is reserved and determines sorting trolley described, does not stop the first adjustment line and second adjustment line is completed to wrap；S2 is sorted after being bundled into function on trolley, and the control system controls the sorting trolley to the corresponding lower lower packet of packet bin starting of the package.Deft design of the present invention, process is simple, method for sorting of the invention, the mass center of package is determined after weighing by light curtain, thus according to mass center to it is upper packet point distance reserve trolley, adjusted further according to the position of trolley the first adjustment line and second adjustment line speed fluctuation time point and speed to be achieved, entirely send in packet procedures, it does not need to stop each section, therefore time loss brought by stopping will not be generated, be conducive to improve sorting speed and efficiency.
Description
Technical field
The present invention relates to the method for sorting of sorting system and lower packet control systems, more particularly to intersect eyelet wire sorting system
For packet method and.
Background technique
With the rapid development of e-commerce, for logistic industry also in development at full speed, it is daily that modern logistics have become people
It lives essential part, so that logistic industry becomes the important component of modern economy.
Modern logistics Industry Quick Development, as the core product of material flows automation, parcel sorting machine is public in major logistics
Play an important role in department, or even entire domestic logistics industry, the raising of parcel sorting machine technology and perfect, be conducive to logistics oneself
The development of dynamicization cause has save labour, improve efficiency, reduce error rate and reduce cost etc. very positive
Meaning.
Domestic parcel sorting machine technology has had the application of many years.By the development of so many years, parcel sorting machine is
Through the package processing center of big and medium-sized cities at home is widely applied, the smooth stream being wrapped in the whole nation and international coverage 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
Some unavoidable serious topics are still remained in 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 entire parcel sorting machine
Rate, since 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 and improvement to upper packet system are parcel sorting machine network analyses is also vital one
Step.
It is now most of to superscribe packet platform all and be frictional upper packet, it is realized and is wrapped using conveyer belt or belt feeder.
Frictional upper packet uses inclined type, and upper envelope curve and the intersecting for sorter of upper packet platform are tilting, the two between trolley travelling line
Acute angle folded by traffic direction becomes oblique angle.
The upper packet platform of the prior art has four sections or five section belts (sometimes will be different according to the actual situation), they
It is upper packet level belt respectively, grade belt of weighing, (5 section belts then have third for first order accelerating stage belt and second level acceleration belt
Grade accelerates band), every section belt is all equipped with a frequency converter and a motor, has one between upper packet level belt and weighing grade belt
Light curtain, dynamic balance are also disposed in weighing grade belt in the following, in each section belt two sides there are also optoelectronic switch, are wrapped in skin with detection
The lengthwise position taken.
Package can be placed on packet level belt first, steadily passed through light curtain after accelerated and entered weighing grade belt, packet
After wrapping up in mistake light curtain completely, PLC system can stop upper packet level belt and weighing grade belt, make to be wrapped in longitudinally some position and stop
It positions, when a certain trolley reaches setting position, PLC system starts belt according to related parameter computation delay and send package,
And after stopping, restarting belt, increase the loss of time, causes the reduction of sorting efficiency.
Also, after determining sorting trolley, the belt that PLC system can also control sorting trolley makees delay rotation, so as to band
Dynamic to superscribe trolley center, this delay has been fixed up when ring-like Lap Time degree is fixed, it is to guarantee package center and small
Vehicle center is overlapped in normal direction, but for entirely upper packet system, the communication of trolley and PLC may be with the events of trolley
Barrier or other Communications failure situations cause trolley loop wire trolley to fail to receive the delay rotation order of PLC sending, and can occur
Halved belt does not transfer damage package when wrapping up piece uploading.
At the same time, when package needs to carry out stop and start by light curtain, transmission system is required with good starting characteristic,
Simultaneously parcel post and strap surface coefficient of friction are required, be many times wrapped in stop, start 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 compensate followed by detection.
Present algorithm is exactly the error in acceleration section, the speed difference of adjacent acceleration section is less than there are also an error
When 0.5m/s, standard parcel is influenced less, but it is very big on the influence of mass density non-uniform package, cause to assure
Standby degree is low, and in order to guarantee the consistency of different package piece uploading positions, we must reduce the speed difference of adjacent accelerating sections, in this way when
When main ring speed is very high, it is desirable to have many section speed regulation sections, or lengthen speed regulation section and accelerating sections is enabled steadily to connect packet
After accelerate, then steady send out.
If when coefficient of friction is lesser, start and stop section must be longer so that package energy according to existing control mode
The length enough stopped accelerating to the full-size of the length along with package of this section of fixed speed, and packet 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 entire parcel sorting machine is directly influenced
Energy and efficiency, existing lower packet control method, algorithm is complicated, and calculating process time-consuming is relatively long, low efficiency.
And existing algorithm by it is different intersect eyelet wire sorting systems actual physical structures influenced, applicability, surely
Qualitative difference.
Meanwhile existing algorithm can not be adjusted according to the size of package, it is larger for some oversizes or length
Package, due to from sorting trolley on time it is longer, same point starting sorting trolley, in fact it could happen that can not in time will wrap
The problem of conveying into sorting port is wrapped up in, package is caused to damage.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of the prior art, a kind of sorting for intersecting eyelet wire sorting system is provided
Method and lower packet control system.
The purpose of the present invention is achieved through the following technical solutions:
Intersect eyelet wire sorting system method for sorting, the intersections eyelet wire sorting system include sort trolley loop wire with
And be sorting trolley loop wire for the package supply line of packet, they are all connected with control system, and the package supply line includes successively matching
Pipeline, the first adjustment line and the second adjustment line connect, is provided with light curtain between the pipeline and the first adjustment line comprising
Following steps:
S1, package supply line reservation sort trolley and to the determining sorting trolley of reservation for packet, and the control system is in institute
It states and is wrapped in after the light curtain is reserved and determines sorting trolley, do not stop the first adjustment line and second adjustment line is completed
Packet；
S2 is sorted after being bundled into function on trolley, the control system control the sorting trolley to it is described wrap up it is corresponding under
The lower packet of packet bin starting.
Preferably, the method for sorting of the intersection eyelet wire sorting system, in which: the operation of the sorting trolley loop wire
Speed VRingFor between 1.5m/s-2.2m/s.
Preferably, the method for sorting of the intersection eyelet wire sorting system, in which: the S1 step includes following mistake
Journey:
S11, package are put into pipeline and with pipeline with First Speed V1Advance, wraps up after the pipeline, control
System processed obtains the weight data and outer dimension parameter of package.；
S12, after package obtains its center-of-mass coordinate by light curtain, into the first adjustment line run with First Speed V1；
S13, control system obtain the center-of-mass coordinate of package and according to center-of-mass coordinate reservations and matched point of the package
Trolley is picked, and determines whether the sorting trolley is unloaded, when the sorting trolley of reservation is non-unloaded, trolley is sorted in reservation again；When
When the sorting trolley of reservation is zero load, the synchronization signal of trolley loop wire to be sorted is waited；
S14, control system calculate the first adjustment line and are adjusted to second speed V after receiving synchronization signal2First
Governing time point T1, while determining that second adjustment line is adjusted to third speed V3The second governing time point T2, the third speed
V3The speed of service V of=sorting cart transport line loopRing> second speed V2> First Speed V1；
Package is transported to according to the adjusting parameter in the S14 step with second speed by S15, the first adjustment line
Spend V2The second adjustment line of operation,
S16, the sorting for the reservation that package is transported to by the second adjustment line according to the adjusting parameter in the S14 step
On trolley.
Preferably, the method for sorting of the intersection eyelet wire sorting system, in which: the synchronization signal is sorting trolley
Each sorting trolley 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 that trolley is respectively sorted in loop wire, and each sorting trolley is during pulse signal twice
Mobile distance is a step-length.
Preferably, the method for sorting of the intersection eyelet wire sorting system, in which: described in the S14 step
Control system calculates the first governing time point T according to the following formula1And the second governing time point T2
SPacket-SIt adjusts=V1t1+V2t2+V3t3 (1)
SVehicle/VRing=t1+t2+t3 (2)
Wherein, SPacketEqual to package mass center from the starting point of second adjustment line to the upper distance for wrapping point, SIt adjustsTo 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 continued to run, t2To wrap up with second speed V2Mobile time, t3To wrap up with third speed V3
The time of operation, SVehicleBe reservation sorting trolley sort trolley loop wire issue synchronization signal when, central point to it is upper packet point away from
From VRingFor the speed of service for sorting trolley loop wire.
Preferably, the method for sorting of the intersection eyelet wire sorting system, in which: the control system is receiving together
After walking signal, the first governing time point T is adjusted according to the synchronization signal of receipt of subsequent in real time1And/or second governing time
Point T2。
Preferably, the method for sorting of the intersection eyelet wire sorting system, in which: in the S2 step, the control
It is as follows that system processed controls the process wrapped under the sorting trolley:
S21, the control system receive the package that sorting trolley issues and get on the bus pass signal, establish sorting trolley and lock number
According to table, sorting trolley real time position data table memory and trolley package status tables of data, and real-time tracking determines that the sorting is small
The position of vehicle；
S22, the control system obtain the corresponding lower packet bin location information of package stored in database；
S23, the control system is when the sorting trolley travelling is to setup algorithm starting point, according to setting formula, meter
When calculating the theoretical step size number n and delay that the sorting trolley moves required for the calculating starting point to the lower packet bin
Between tProlong, the theoretical step size number n is integer；
S24, the control system by it is described sorting trolley practical moving step length number and calculated theoretical step size number ratio
To both it is equal when, continue to move to the time in the sorting trolley and reach the extension of time tProlongWhen, also, described in the starting
Before the sorting belt for sorting trolley, the sorting bin is determined with the presence or absence of full packet or abnormal conditions, when determining without full packet or different
When reason condition, the sorting belt for starting the sorting trolley completes lower packet；
S25, the sorting operation of the control system record sorting belt are simultaneously stored in database；
S26, the control system remove the sorting trolley locking data table established, sorting trolley real time position storing data
Table and trolley package status tables of data, and the position of the sorting trolley is tracked, it waits and being wrapped in reservation again.
Preferably, the method for sorting of the intersection eyelet wire sorting system, in which: in S23 step, the step-length SStep
For the distance of the central point of adjacent two sorting trolleies, the delay time tProlongIt is calculated according to following formula
tProlong=(S-n × SStep)/VRing
Wherein, S is the distance for calculating starting point to the corresponding lower packet bin central point of the package.
Preferably, the method for sorting of the intersection eyelet wire sorting system, in which: described in the S23 step
Delay time tProlongIt is calculated according to following formula
tProlong=(S-n × SStep)/VRing-(SPacket-SMark)/VVehicle,
Wherein, SPacketIt is that the package leaves the sorting trolley distance to be moved, S completelyMarkIt is that standard size has been wrapped up
The sorting trolley distance to be moved, V are left entirelyVehicleIt is the speed of service for sorting the sorting belt of trolley.
The beneficial effects are mainly reflected as follows:
1. deft design of the present invention, process is simple, determines the mass center of package after weighing by light curtain, thus according to mass center
Distance to upper packet point reserves trolley, and the speed fluctuation of the first adjustment line and second adjustment line is adjusted further according to the position of trolley
Time point and speed to be achieved, entirely send in packet procedures, do not need to stop each section, thus will not generate stopping brought by when
Between be lost, be conducive to improve sorting speed and efficiency.
2. what it is due to calculating is to wrap up mass center and sort trolley center to the position of upper packet point, starting sorting is not needed
The belt of trolley also would not cause to go wrong because of the Communications failure of PLC.
3. also just there is no the processes restarted, therefore are driven due to not needing to stop each section in operational process
The starting characteristic of system and the influence of parcel post and strap surface coefficient of friction are small, do not need the later period and compensate, simplify subsequent
Control process.
4. do not need to stop each section of area for being also beneficial to reduce each speed regulation section of workpiece, 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 regulation section, from
And simplify the overall structure of system.
5. controlling the entry condition of sorting trolley using step-length and delay time, on the one hand, calculated due to securing
Initial point, therefore theoretical step size number and delay time can be quickly found out, calculating process is simple and efficient, another party, in conjunction with photoelectricity
Sensor may know that the practical moving step length number for wrapping up corresponding sorting trolley while real-time tracking small truck position, from
And convenient for being compared with the theoretical step size number being calculated, eliminate the practical row for calculating sorting trolley by additional algorithm again
The process for sailing distance further simplifies whole calculating process, time-consuming shorter, more efficient.
6. starting the time using step-length and delay time control sorting trolley, therefore not by sorting port and the practical object of trolley
Managing structure influences, and can be applicable in various types of intersection eyelet wire sorting systems, stability more preferably, applicability it is wider.
7. further combined with the size of package, according to the size adjusting delay time of package, so as to better
The accurate sorting for adapting to sizes package solves and starts the package point that sorting belt is unsuitable for larger size using same point
Pick the problem of requiring
Detailed description of the invention
Fig. 1 is the schematic diagram of intersection eyelet wire sorting system of the invention；
Fig. 2 is of the invention for packet procedures schematic diagram:
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 embodiments are simultaneously
It is not limited to the present invention, structure that those skilled in the art are made according to these embodiments, method or functionally
Transformation is included within the scope of protection of the present invention.
Present invention discloses a kind of intersection eyelet wire sorting system, the intersection eyelet wire sorting system includes sorting trolley
Loop wire and be sorting trolley loop wire for the package supply line of packet, they are all connected with control system.
As shown in Fig. 1, the speed of service V of the sorting trolley loop wire 6RingBetween 1.5m/s-2.2m/s comprising
The gap settings such as one group and the sorting trolley 5 for surrounding annular, each sorting trolley 5 are corresponding with trolley number, are arranged thereon
There is photoelectricity trigger point, the photoelectric sensor 7 for determining each small truck position is additionally provided on the sorting trolley loop wire, works as institute
When stating sorting trolley loop wire starting, each sorting trolley successively by the photoelectric sensor and triggers the photoelectric sensing
Device 7 issues pulse signal to control system, and the control system determines that each sorting is small by pulse count signal
The position of vehicle at that time is refreshed back when triggering photoelectric sensor again by the circle of trolley travelling one of photoelectric sensor 7 for first
The position of multiple all sorting trolleies, the distance that each sorting trolley moves during pulse signal twice is a step-length,
The step-length is the distance of the central point of adjacent two sorting trolleies.
The calculating starting point for calculating theoretical step-length number and delay time, institute are additionally provided on the sorting trolley loop wire
It states and calculates starting point distance first lower packet bin set distance, each sorting trolley in the sorting trolley loop wire is triggering
When the photoelectric sensor, the central point of a sorting trolley in the sorting trolley loop wire is located at calculating starting point
It sets.
The package supply line includes the pipeline 1, the first adjustment line 2 and second adjustment line 3 being successively coupled, the conveying
Remain a constant speed operating status under 1 normality of line, also, the pipeline 1 is weighing pipeline, and passes through portal frame on it
It is provided with the grating for measuring package dimensions, is provided between the pipeline 1 and the first adjustment line 2 for determining package matter
The light curtain 4 of the heart, the width of the second adjustment line 3 are greater than the width of the sorting belt of sorting trolley.
When the intersection eyelet wire sorting system works, comprise the following processes:
The sorting trolley loop wire is actuated for self-test, and loop wire accelerates to command speed after self-test is qualified, starts photoelectric transfer
Sensor carries out trolley position tracking.
S1, the package supply line reservation sort trolley and to the determining sorting trolley of reservation for packet, the control system
It is wrapped in after the light curtain is reserved and determines sorting trolley described, does not stop the first adjustment line and second adjustment line is complete
At upper packet, as shown in Fig. 2, detailed process is as follows:
S11, artificial or package is put into pipeline 1 by automation feeding robot, package is with the pipeline with the
One speed V1Advance, it is described to wrap up the weight data for obtaining package after the pipeline and outer dimension parameter and be tied to
In the database of the package, when not obtaining the weight and outer dimension parameter of package by the pipeline, the package is supplied
It answers line to stop, and sounds an alarm and staff is notified to handle.
S12 by the light curtain 4 and is entered under the conveying for being wrapped in the pipeline 1 with First Speed V1Fortune
On capable the first adjustment line 2, the control system is conveyed to after the center-of-mass coordinate of package described in the light curtain activity.
S13, control system obtain the center-of-mass coordinate of package and according to center-of-mass coordinate reservations and matched point of the package
Trolley is picked, specifically, according to the center-of-mass coordinate of the package, calculates its center-of-mass coordinate to the distance S for actually wrapping pointPacket, and
Determine that the distance superscribed described on sorting trolley loop wire a little is equal to the distance S according to this distancePacketOr it is greater than described
Distance SPacketBut the smallest sorting trolley of gap.
The control system is being determined with after the matched sorting trolley of package, also determines whether the sorting trolley is unloaded, institute
It states control system and determines whether trolley is zero load according to the sensor on each sorting trolley, the preferably described sensor includes
2 lasers and 4 laser pickoffs of the conveyor belt two sides setting of the sorting trolley, each laser pickoff are equal
The laser that two lasers issue can be received simultaneously, described swashed when there is one can not receive 2 in 4 laser pickoffs
When the laser that light device issues, judgement trolley is non-light condition；When the sorting trolley of reservation is non-unloaded, reservation sorting is small again
Vehicle；When the sorting trolley of reservation is zero load, the synchronization signal of trolley loop wire to be sorted is waited, the synchronization signal is above-mentioned
Photoelectric sensor pulse signal for being issued when each sorting trolley passes through in sorting trolley loop wire, the control system according to
The pulse signal calculates the position of each trolley in loop wire.
S14, control system calculate the first adjustment line and are adjusted to second speed V after receiving synchronization signal2First
Governing time point T1, while determining that second adjustment line is adjusted to third speed V3The second governing time point T2, the third speed
V3The speed of service V of=sorting cart transport line loopRing> second speed V2> First Speed V1；
When specific calculating, the control system calculates the first governing time point T according to the following formula1And second speed regulation
Time point T2
SPacket-SIt adjusts=V1t1+V2t2+V3t3 (1)
SVehicle/VRing=t1+t2+t3 (2)
Wherein, SPacketEqual to package mass center from the starting point of second adjustment line to the upper distance for wrapping point, SIt adjustsTo 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 continued to run, t2To wrap up with second speed V2Mobile time, t3To wrap up with third speed V3
The time of operation, SVehicleBe reservation sorting trolley sort trolley loop wire issue synchronization signal when, central point to it is upper packet point away from
From VRingFor the speed of service for sorting trolley loop wire.
After receiving synchronization signal, it may be determined that actual range S of the sorting trolley of reservation apart from upper packet pointVehicle, due to dividing
Pick the speed of service V of trolley loop wireRingBe it is certain, therefore, can calculate the trolley of reservation to upper packet point time, thus root
The runing time that each speed is calculated according to the algorithm above may thereby determine that the first governing time point T1With the second governing time
Point T2。
And during the adjustment, the control system after receiving synchronization signal, believe by synchronous according to receipt of subsequent
Number the first governing time point T is adjusted in real time1And/or the second governing time point T2。
S15, the first adjustment line accelerate to second speed V according to the adjusting parameter in the S14 step2It afterwards will packet
It wraps up in and is transported to the second speed V2The second adjustment line of operation,
S16, the second adjustment line 3 accelerate to third speed V according to the adjusting parameter in the S14 step3It afterwards will packet
It wraps up on the sorting trolley for the reservation being transported to.
S2 is sorted after being bundled into function on trolley, the control system control the sorting trolley to it is described wrap up it is corresponding under
The lower packet of packet bin starting.
The control system includes intersecting the lower packet control system of eyelet wire sorting system, intersection eyelet wire sorting system
The lower packet control system of system includes data acquisition profiling unit, computing unit, sorting control unit, sorting recording unit and files
Clearing cell.
Data acquisition profiling unit is used to receive the package that sorting trolley issues and gets on the bus pass signal, establishes sorting
Trolley locking data table, sorting trolley real time position data table memory and trolley package status tables of data, and real-time tracking determines
The corresponding lower packet bin location information of package stored in the position of the sorting trolley and acquisition database.
Wherein, the trolley locking data table carries out enabling or deactivating management, the sorting trolley is real for locking trolley
When location stored data table be used to record the real time position of trolley, the trolley package status tables of data is used to record transplanting trolley
On whether have package.
The lower packet bin location information reads package by being located at upper packet point and calculating the barcode scanning device between starting point
On bar code information obtain.
The computing unit be used for the sorting trolley travelling arrive the calculating starting point when, according to set formula, count
Calculate theoretical step size number n and the delay of required movement of the sorting trolley from the calculating starting point to the lower packet bin
Time tProlong, the theoretical step size number n is integer.
The sorting control unit is used for the practical moving step length number of the sorting trolley and calculated theoretical step size
Compare to both it is equal when, and continue to move to the time in the sorting trolley and meet the extension of time tProlong, and sort bin without
When full packet or abnormal conditions, start the sorting belt of the sorting trolley.
The sorting recording unit is used to record the sorting operation of sorting belt and is stored in database.
The clearing cell of filing is for removing the sorting trolley locking data table established, sorting trolley real time position storage
Tables of data and trolley package status tables of data, and the position of the sorting trolley is tracked, it waits and being wrapped in reservation again.
As shown in Fig. 3, it is as follows to control the process wrapped under the sorting trolley for the control system:
S21, data acquisition profiling unit receive the package that sorting trolley issues and get on the bus pass signal, and it is small to establish sorting
Vehicle locking data table, sorting trolley real time position data table memory and trolley package status tables of data, and in real time according to the arteries and veins
Rush the position that signal trace determines the sorting trolley equipped with package.
S22, when the package runs to barcode scanning device with sorting loop wire, barcode scanning device obtains the package point to be gone
It picks bin position and deposits and count in database, the data acquisition unit obtains the corresponding lower packet lattice of package stored in database
Mouth location information.
S23, when the sorting trolley is moved to the calculating starting point, the computing unit is calculated according to setting formula
The theoretical step size number n and delay time that the sorting trolley moves required for the calculating starting point to the lower packet bin
tProlong, the theoretical step size number n is integer.
Specifically, after determining the corresponding lower packet bin of package, that is, it can determine the lower packet bin central point described in
The distance between starting point S is calculated, therefore by distance S divided by step-length SStepTheoretical step size number n is obtained, due to distance S and step
Long SStepIt is not often integral multiple relation, therefore step-length number n is multiplied by step-length SStepObtained numerical value needs to be less than the distance S, otherwise
If more than the distance S, then package will miss its corresponding lower packet bin, corresponding, the portion of the extra package moving distance of distance S
Divide with regard to needing to compensate, the delay time tProlongIt is calculated according to following formula
tProlong=(S-n × SStep)/VRing。
It is further contemplated that some packages are larger up to longer or size, corresponding its is moved to sorting from halved belt
Time required for mouthful just accordingly increases, at this time the delay time tProlongIt is calculated according to following formula
tProlong=(S-n × SStep)/VRing-(SPacket-SMark)/VVehicle,
Wherein, SPacketIt is that the package leaves the sorting trolley distance to be moved, S completelyMarkIt is that standard size has been wrapped up
The sorting trolley distance to be moved, V are left entirelyVehicleIt is the speed of service for sorting the sorting belt of trolley.
S24 due to the distance for the central point that step-length is adjacent two sorting trolleies, and sorts trolley in pulse signal twice
Period mobile distance is a step-length, therefore be may know that from the number for calculating starting point start recording pulse signal described
The practical step-length number moved of trolley is sorted, the sorting control unit is by the practical moving step length number of the sorting trolley and calculates
Theoretical step size number out compares, and when both are equal, the sorting control unit controls the sorting trolley and continues to move to extend
Time tProlong, then start the lower packet of sorting belt completion of the sorting trolley, also, in the sorting skin for starting the sorting trolley
With before, determine that the sorting bin restarts institute when determining the full packet of nothing or abnormal conditions with the presence or absence of full packet or abnormal conditions
The sorting belt for stating sorting trolley completes lower packet.
S25, the sorting operation of the sorting recording unit records sorting belt are simultaneously stored in database.
S26, clearing cell of filing remove the sorting trolley locking data table established, sorting trolley real time position storing data
Table and trolley package status tables of data, and the position of the sorting trolley is tracked, it waits and being wrapped in reservation again.
It should be appreciated that the series of detailed descriptions listed above are only for feasible embodiment of the invention
Illustrate, the protection scope that they are not intended to limit the invention is all without departing from equivalent made by technical spirit of the present invention
Embodiment or change should all be included in the protection scope of the present invention.
Claims (8)
1. intersecting the method for sorting of eyelet wire sorting system, it is characterised in that: the intersection eyelet wire sorting system includes sorting
Trolley loop wire and be sorting trolley loop wire for the package supply line of packet, they are all connected with control system, the package supply line
Including the pipeline, the first adjustment line and second adjustment line being successively coupled, it is provided between the pipeline and the first adjustment line
Light curtain comprising following steps:
S1, package supply line reservation sort trolley and to the determining sorting trolley of reservation for packet, and the control system is in the packet
It is rolled in after the light curtain is reserved and determines sorting trolley, does not stop the first adjustment line and second adjustment line is completed to wrap；
S2 is sorted after being bundled into function on trolley, and the control system controls the sorting trolley to the corresponding lower packet lattice of the package
The lower packet of mouth starting；
The S1 step comprises the following processes:
S11, package are put into pipeline and with pipeline with First Speed V1Advance, wraps up the control system after the pipeline
Obtain the weight data and outer dimension parameter of package；
S12, after package obtains its center-of-mass coordinate by light curtain, into the first adjustment line run with First Speed V1；
S13, the center-of-mass coordinate of control system acquisition package are simultaneously small according to center-of-mass coordinate reservation and the matched sorting of the package
Vehicle, and determine whether the sorting trolley is unloaded, when the sorting trolley of reservation is non-unloaded, trolley is sorted in reservation again；Work as reservation
Sorting trolley when being zero load, wait the synchronization signal of trolley loop wire to be sorted；
S14, control system calculate the first adjustment line and are adjusted to second speed V after receiving synchronization signal2First speed regulation when
Between point T1, while determining that 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 cart transport line loopRing> second speed V2> First Speed V1；
Package is transported to according to the adjusting parameter in the S14 step with the second speed V by S15, the first adjustment line2
The second adjustment line of operation；
S16, the sorting trolley for the reservation that package is transported to by the second adjustment line according to the adjusting parameter in the S14 step
On.
2. the method for sorting according to claim 1 for intersecting eyelet wire sorting system, it is characterised in that: the sorting trolley
The speed of service V of loop wireRingFor between 1.5m/s-2.2m/s.
3. the method for sorting according to claim 1 for intersecting eyelet wire sorting system, it is characterised in that: the synchronization signal
The pulse signal that is triggered when being the photoelectric sensor for sorting each sorting trolley of trolley loop wire by setting position, the control
System processed calculates the position that trolley is respectively sorted in loop wire according to the pulse count signal, and each sorting trolley is in arteries and veins twice
Rushing the distance moved during signal is a step-length.
4. the method for sorting according to claim 3 for intersecting eyelet wire sorting system, it is characterised in that: walked in the S14
In rapid, the control system calculates the first governing time point T according to the following formula1And the second governing time point T2
SPacket-SIt adjusts=V1t1+V2t2+V3t3 (1)
SVehicle/VRing=t1+t2+t3 (2)
Wherein, SPacketEqual to package mass center from the starting point of second adjustment line to the upper distance for wrapping point, SIt adjustsTo be wrapped in the first adjustment line
On the distance that moves in the adjusting parameter time, t calculated in control system with First Speed1To be wrapped on the first adjustment line with
One speed V1The time continued to run, t2To wrap up with second speed V2Mobile time, t3To wrap up with third speed V3Operation
Time, SVehicleIt is reservation sorting trolley when sorting trolley loop wire sending synchronization signal, distance of the central point to upper packet point, VRing
For the speed of service for sorting trolley loop wire.
5. the method for sorting according to claim 4 for intersecting eyelet wire sorting system, it is characterised in that: the control system
After receiving synchronization signal, the first governing time point T is adjusted according to the synchronization signal of receipt of subsequent in real time1And/or the
Two governing time point T2。
6. according to the method for sorting of any intersection eyelet wire sorting system of claim 2-5, it is characterised in that: described
In S2 step, it is as follows that the control system controls the process wrapped under the sorting trolley:
S21, the control system receive the package that sorting trolley issues and get on the bus pass signal, establish sorting trolley locking data
Table, sorting trolley real time position data table memory and trolley package status tables of data, and real-time tracking determines the sorting trolley
Position；
S22, the control system obtain the corresponding lower packet bin location information of package stored in database；
S23, the control system, according to setting formula, calculate institute when the sorting trolley travelling is to setup algorithm starting point
State theoretical step size number n and delay time that sorting trolley moves required for the calculating starting point to the lower packet bin
tProlong, the theoretical step size number n is integer；
S24, the control system by it is described sorting trolley practical moving step length number and calculated theoretical step size number compare to
When the two is equal, the time is continued to move in the sorting trolley and reaches the delay time tProlongWhen, also, starting the sorting
Before the sorting belt of trolley, determine that sorting bin whether there is full packet or abnormal conditions, when determining nothing completely packet or abnormal conditions,
The sorting belt for starting the sorting trolley completes lower packet；
S25, the sorting operation of the control system record sorting belt are simultaneously stored in database；
S26, the control system remove the sorting trolley locking data table established, sorting trolley real time position data table memory and
Trolley package status tables of data, and the position of the sorting trolley is tracked, it waits and being wrapped in reservation again.
7. the method for sorting according to claim 6 for intersecting eyelet wire sorting system, it is characterised in that: in S23 step,
The step-length SStepFor the distance of the central point of adjacent two sorting trolleies, the delay time tProlongIt is calculated according to following formula
tProlong=(S-n × SStep)/VRing
Wherein, S is the distance for calculating starting point to the corresponding lower packet bin central point of the package.
8. the method for sorting according to claim 6 for intersecting eyelet wire sorting system, it is characterised in that: walked in the S23
In rapid, the delay time tProlongIt is calculated according to following formula
tProlong=(S-n × SStep)/VRing-(SPacket-SMark)/VVehicle,
Wherein, SPacketIt is that the package leaves the sorting trolley distance to be moved, S completelyMarkBe standard size package completely from
Open the sorting trolley distance to be moved, VVehicleIt is the speed of service for sorting the sorting belt of trolley.
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| CN108043734B (en) * | 2017-12-07 | 2021-03-19 | 深圳市欣视景科技股份有限公司 | Simulation method of cross belt sorting system and readable storage medium |
| CN108438777B (en) * | 2018-03-16 | 2020-01-10 | 中科微至智能制造科技江苏有限公司 | Control method of parcel supply platform |
| CN109941694B (en) * | 2019-05-05 | 2020-10-20 | 威海新北洋正棋机器人股份有限公司 | Target object transmission method and device |
| CN111250404A (en) * | 2019-12-06 | 2020-06-09 | 广州艮业信息科技有限公司 | Cross belt loop sorting system |
| CN111167726A (en) * | 2019-12-16 | 2020-05-19 | 上海尚臣科技有限公司 | Automatic bag supply system applied to linear type cross belt sorting machine |
| JP7272290B2 (en) * | 2020-01-24 | 2023-05-12 | 株式会社ダイフク | Condition inspection method for sorting equipment and traveling cart |
| CN111346828B (en) * | 2020-03-06 | 2022-04-08 | 苏州金峰物流设备有限公司 | Operation method and system of cross belt sorting system |
| CN112893145B (en) * | 2021-01-08 | 2024-06-14 | 广州艮业信息科技有限公司 | Sorting system and sorting method based on WIFI communication |
| CN114871111A (en) * | 2022-07-11 | 2022-08-09 | 苏州双祺自动化设备有限公司 | Linear cross sorting control method, electricity taking mechanism, sorting machine and system |
| CN117840050B (en) * | 2024-03-06 | 2024-05-14 | 杭州康奋威科技股份有限公司 | Logistics package separation coupling and full-automatic packing method and device |
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| CN103708210B (en) * | 2013-12-13 | 2016-08-24 | 上海邮政科学研究院 | The control method of bag platform on a kind of halved belt sorting arrangement |
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