CN109941694B - Target object transmission method and device - Google Patents
Target object transmission method and device Download PDFInfo
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- CN109941694B CN109941694B CN201910369728.4A CN201910369728A CN109941694B CN 109941694 B CN109941694 B CN 109941694B CN 201910369728 A CN201910369728 A CN 201910369728A CN 109941694 B CN109941694 B CN 109941694B
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Abstract
The invention provides a target object conveying method and a device, which relate to the technical field of transportation, and are characterized in that a first motor for driving a first belt and a second motor for driving a second belt rotate in the same direction after a target object is placed on the first belt; when the target object is detected to be conveyed to the second belt, the second motor is driven to uniformly decelerate; when available carrier vehicles are found in the designated range, the available carrier vehicle which is the shortest from the designated position of the third belt is used as a target carrier vehicle and drives the second motor to accelerate uniformly; and when the target object is detected to be conveyed to the third belt, the third motor for driving the third belt conveys the target object to the target carrier loader. The mode that the first motor and the second motor rotate at the same speed ensures that the target object does not roll over in the conveying process; the target object is decelerated to wait for the target carrier loader, and is positioned to the target carrier loader and then is conveyed in an accelerated mode, so that the efficiency of conveying the target object is improved.
Description
Technical Field
The invention relates to the technical field of transportation, in particular to a target object transmission method and device.
Background
At present, in order to improve the conveying efficiency of conveying luggage (target objects) by a passenger conveying mechanism and improve the buffer capacity of conveying, most of the existing passenger conveying mechanisms are provided with a plurality of motors, each motor is provided with a rotating belt, but in the process of conveying the luggage, the rotating speed of each motor is different preset rotating speeds, so that the luggage is easy to roll when passing through different belts, the conveying speed is slow, in addition, the conveying position of the luggage needs to be observed manually, and then the available carrier vehicle is searched and driven manually to load the luggage, therefore, the conveying efficiency of the existing method for conveying the target objects is low.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for transferring a target object, so as to alleviate the technical problem of low transfer efficiency of the conventional method for transferring a target object.
In a first aspect, an embodiment of the present invention provides a target object transmission method, where the method is applied to a controller, the controller is connected to a transmission mechanism, the transmission mechanism includes a first belt, a second belt, and a third belt, which are connected in sequence, and the method includes: when a target object is placed on the first belt and the current moment reaches the driving moment of the first belt, a first motor driving the first belt and a second motor driving the second belt rotate in the same direction at a preset first transmission speed; when the target object is detected to be conveyed to the second belt, driving the second motor to decelerate at a preset first acceleration; searching whether available carrier vehicles exist in a specified range; the available carrier vehicle runs at a constant speed on a preset route at a preset speed; if so, taking the available carrier vehicle which is the shortest distance from the specified position of the third belt as a target carrier vehicle, and driving a second motor to accelerate at a preset second acceleration; and when the target object is detected to be conveyed to the third belt, a third motor driving the third belt conveys the target object to the target carrier vehicle at a preset third conveying speed.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where when a target object is placed on the first belt and a current time reaches a driving time of the first belt, the step of rotating the first motor driving the first belt and the second motor driving the second belt in the same direction at a preset first transmission speed includes: when the target object is placed on the first belt, judging whether the target object is conveyed on the second belt; if so, budgeting the waiting time according to the preset first transmission speed and the current rotating speed of the second motor; when the time length of placing the target object on the first belt reaches the waiting time, driving a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first transmission speed; if not, the first motor directly driving the first belt and the second motor directly driving the second belt rotate in the same direction at the first transmission speed.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where a light sensor is disposed at a joint of the first belt and the second belt; when it is detected that the target object is transferred to the second belt, the driving the second motor to decelerate at a preset first acceleration includes: receiving a light intensity signal fed back by a light sensor; judging whether the target object is transmitted to the second belt according to the variation trend of the light intensity signal; if so, the second motor is driven to decelerate at a preset first acceleration.
With reference to the second possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the method further includes: recording the duration of the light intensity signal lower than a set threshold; multiplying the first conveying speed by the time length to obtain the radial size of the target object in conveying; the first acceleration and the second acceleration are determined based on the radial dimension.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where after the step of driving the second motor to accelerate at the preset second acceleration, the method further includes: detecting the rotating speed of the second motor; and when the rotating speed of the second motor reaches a preset third conveying speed, driving the second motor to rotate at a constant speed at the third conveying speed.
In a second aspect, an embodiment of the present invention further provides a target object conveying apparatus, where the apparatus is applied to a controller, the controller is connected to a conveying mechanism, the conveying mechanism includes a first belt, a second belt, and a third belt, which are connected in sequence, and the apparatus includes: the conveying driving module is used for driving a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first conveying speed when a target object is placed on the first belt and the current moment reaches the driving moment of the first belt; the deceleration driving module is used for driving the second motor to decelerate at a preset first acceleration when the target object is detected to be conveyed to the second belt; the searching module is used for searching whether available carrier vehicles exist in the specified range; the available carrier vehicle runs at a constant speed on a preset route at a preset speed; the acceleration driving module is used for taking the available carrier vehicle which is shortest to the specified position of the third belt as a target carrier vehicle and driving the second motor to accelerate at a preset second acceleration when the searching module searches for available carrier vehicles in the specified range; and the loading driving module is used for driving a third motor of the third belt to convey the target object to the target carrier loader at a preset third conveying speed when the target object is detected to be conveyed to the third belt.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the transmission driving module is further configured to: when the target object is placed on the first belt, judging whether the target object is conveyed on the second belt; if so, budgeting the waiting time according to the preset first transmission speed and the current rotating speed of the second motor; when the time length of placing the target object on the first belt reaches the waiting time, driving a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first transmission speed; if not, the first motor directly driving the first belt and the second motor directly driving the second belt rotate in the same direction at the first transmission speed.
With reference to the second aspect, the present invention provides a second possible implementation manner of the second aspect, wherein a light sensor is disposed at a joint of the first belt and the second belt; the deceleration drive module is further configured to: receiving a light intensity signal fed back by a light sensor; judging whether the target object is transmitted to the second belt according to the variation trend of the light intensity signal; if so, the second motor is driven to decelerate at a preset first acceleration.
With reference to the second possible implementation manner of the second aspect, an embodiment of the present invention provides a third possible implementation manner of the second aspect, where the apparatus further includes: the recording module is used for recording the time length of the light intensity signal lower than a set threshold value; the product module is used for multiplying the first transmission speed by the time length to obtain the radial size of the target object in transmission; a velocity determination module to determine a first acceleration and a second acceleration based on the radial dimension.
With reference to the second aspect, an embodiment of the present invention provides a fourth possible implementation manner of the second aspect, where after the driving module is accelerated, the apparatus further includes: the detection module is used for detecting the rotating speed of the second motor; and the constant-speed driving module is used for driving the second motor to rotate at a constant speed at a third conveying speed when the rotating speed of the second motor reaches a preset third conveying speed.
In a third aspect, an embodiment of the present invention provides a controller, where the controller includes a memory and a processor, the memory is used for storing a program that supports the processor to execute the method described in the first aspect, and the processor is configured to execute the program stored in the memory.
In a fourth aspect, embodiments of the present invention also provide a computer storage medium for storing computer program instructions, which, when executed by a computer, perform the method according to the first aspect.
The embodiment of the invention has the following beneficial effects:
the embodiment of the application provides a target object conveying method and a device, the method is applied to a controller, the controller is connected with a conveying mechanism, the conveying mechanism comprises a first belt, a second belt and a third belt which are sequentially connected, when a target object is placed on the first belt and the current moment reaches the driving moment of the first belt, a first motor for driving the first belt and a second motor for driving the second belt rotate in the same direction at a preset first conveying speed; when the target object is detected to be conveyed to the second belt, driving the second motor to decelerate at a preset first acceleration; searching whether available carrier vehicles exist in a specified range; if so, taking the available carrier vehicle which is the shortest distance from the specified position of the third belt as a target carrier vehicle, and driving a second motor to accelerate at a preset second acceleration; and when the target object is detected to be conveyed to the third belt, a third motor driving the third belt conveys the target object to the target carrier vehicle at a preset third conveying speed. The mode that the first motor and the second motor rotate at the same speed ensures that the target object does not roll over during the conveying process; the uniform-speed-changing conveying mode is used for uniformly decelerating the target object to wait for the target carrier loader after the target object arrives on the second belt and uniformly accelerating the target object after the target object is positioned on the target carrier loader, so that the efficiency of conveying the target object is improved, and the target object is ensured to be carried in time.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flowchart of a target object delivery method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a belt layout of a conveying mechanism according to an embodiment of the present invention;
FIG. 3 is a flowchart of another target object delivery method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a target object transferring apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another target object transmission apparatus according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the existing passenger transport conveying mechanism mostly adopts multi-motor multi-rotating-speed configuration to convey luggage (target objects), and an available carrier vehicle needs to be manually called to transport the luggage, so that the conveying efficiency of the target objects is low.
For the convenience of understanding the embodiment, a detailed description will be given to a target object transmission method disclosed in the embodiment of the present invention.
The first embodiment is as follows:
the present embodiment provides a target object delivery method, and refers to a flowchart of a target object delivery method shown in fig. 1. The method is applied to a controller, the controller is connected with a conveying mechanism, the conveying mechanism comprises a first belt, a second belt and a third belt which are connected in sequence, and for facilitating understanding, fig. 2 shows a belt layout schematic diagram of the conveying mechanism, and the belt layout schematic diagram comprises a first belt 202, a second belt 204 and a third belt 206. The connection of the first belt, the second belt and the third belt is a connection mode of sequentially placing in the conveying direction, and is not physical or mechanical connection.
The method comprises the following steps:
step S102, when a target object is placed on the first belt and the current moment reaches the driving moment of the first belt, driving a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first transmission speed;
during the concrete implementation, the target object can be the box of arbitrary shape, size, like passenger's luggage, express delivery parcel, container body etc. first belt can wait the section for the target object, and the second belt can be for accelerating the conveying end, and first belt and second belt can include one or more belts of putting in proper order. In order to drive the first belt and the second belt to rotate, driving motors, such as a first motor and a second motor, may be respectively configured for the first belt and the second belt, and the first motor and the second motor may be controlled by a controller.
Further, a placing interval of the target object can be arranged on the first belt, a gravity sensor or a belt deformation sensor is usually configured at the lower end of the placing interval, when the target object is placed in the placing interval, a weight signal detected by the gravity sensor or a belt deformation signal sensed by the belt deformation sensor can be sent to the controller, and the controller judges that the target object is placed on the first belt according to the weight signal or the signal deformation signal and determines the weight of the target object.
In order to avoid simultaneous transport of a plurality of target objects on the second belt, the drive moment can be set for the first belt, the driving time can be a fixed time length, and can also be obtained by monitoring the transmission condition of the target objects on the first belt and the second belt, that is, when the target object is conveyed on the second belt, if the target object is detected to be placed on the first belt, the timing is started and the first motor is driven to stop rotating, the second belt is considered to have completed the transfer of the target object when the timed period reaches the preset driving time, or when no target object is detected on the second belt, the first motor is driven to convey the target object, when the target object is not detected on both the first belt and the second belt, the driving timing of the first belt may be set to 0, namely, when the target object is placed on the first belt, the first motor is directly driven to carry out target object conveying.
Step S104, when the target object is detected to be conveyed to a second belt, driving a second motor to decelerate at a preset first acceleration;
in the specific implementation, in the process of detecting whether the target object is transmitted to the second belt, an inductor, such as a pressure inductor or an optical inductor, may be disposed on the roller of the second belt close to the first belt or at the joint of the first belt and the second belt, and it may be determined whether the second belt completes receiving the target object by monitoring a variation trend of a pressure signal sent by the pressure inductor.
Further, during deceleration, in order to avoid being prematurely transferred to the third belt when no available carrier vehicle is located, the rotation may be stopped when the second motor decelerates to zero, i.e. the target object waits to be transferred on the second belt. In order to facilitate monitoring of the target object, a temporary waiting area may be provided on the second belt, and a central point or area of the second belt may also be set as the temporary waiting area.
Step S106, searching whether available carrier vehicles exist in a specified range;
during specific implementation, the carrier loader can be connected with the controller in a positioning mode through Bluetooth or wireless, and therefore the specified range is the range capable of guaranteeing normal communication of the carrier loader and the controller. The carrier loader can send the current bearing weight of carrier loader to the controller in transportation or waiting process, and the controller can think that when the current bearing weight of carrier loader is zero, this carrier loader is available carrier loader. The available carrier vehicle can run at a constant speed in a preset route and at a preset speed; it may also wait for the controller to actuate;
in addition, the carrier vehicle may also be a part of the carrier output belt, that is, the third belt may also transfer the target object onto the carrier output belt rotating at a fixed rotation speed, so as to avoid the problem of target object accumulation or collision when the third belt transfers the target object onto the carrier output belt, the carrier output belt may be divided into a plurality of carrier zones, and each carrier zone may be regarded as one carrier vehicle, such as the carrier vehicle 210 shown in fig. 2. Thus, the above-specified range may be considered as the area where the carrier output belt is located, or a certain range centered on the third belt; further, in the process of finding whether the carrier vehicle shown in fig. 2 has an available carrier vehicle, the carrier vehicle may be subjected to target object detection by the plurality of gray scales along the carrier output belt to determine whether the available carrier vehicle exists, that is, when the gray scales detect that no object exists on the carrier vehicle, an empty signal may be sent to the controller to inform the controller of the information of the available carrier vehicle.
Step S108, if yes, the available carrier vehicle which is the shortest distance from the specified position of the third belt is used as a target carrier vehicle, and the second motor is driven to accelerate at a preset second acceleration;
during specific implementation, the available carrier loader can send the vehicle positioning signal to the controller, and the controller can judge the specific position of the available carrier loader according to the vehicle positioning signal. For the available carrier vehicles on the carrier output belt, the controller can determine the positions of the corresponding available carrier vehicles according to the positions of the gray scales which send the empty vehicle signals; the designated position of the third belt is usually a preset target object transportation port through which the third belt can convey the target object onto the target carrier loader.
For a target carrier vehicle waiting for being driven by the controller, the running speed of the target carrier vehicle can be set in the process of dispatching the target carrier vehicle, and when the target carrier vehicle reaches a specified position, the target carrier vehicle can stop to wait for a target object; the running speed of the target carrier vehicle can also be obtained by calculating the distance between the target object and the designated position and dividing the time that the target object is expected to reach the designated position, so that the target object just reaches the target carrier vehicle when the target carrier vehicle runs to the designated position. For a target carrier vehicle on the carrier output belt, the target carrier vehicle can move to a designated position of the third belt at a preset route and a preset speed.
And step S110, when the target object is detected to be conveyed to the third belt, driving a third motor of the third belt to convey the target object to the target carrier loader at a preset third conveying speed.
In a specific implementation, the target vehicle may be driven to wait for the target object to be transported in a stationary state, or the target vehicle may keep moving at a traveling speed matched with a traveling speed of the target object (third transporting speed) to receive the target object, that is, when the traveling direction of the target vehicle is taken as a reference direction, the third transporting speed is resolved into a resolving speed in the reference direction, which is equal to the traveling speed of the target vehicle in the reference direction.
The embodiment provides a target object conveying method, which is applied to a controller, wherein the controller is connected with a conveying mechanism, the conveying mechanism comprises a first belt, a second belt and a third belt which are connected in sequence, and the method comprises the following steps: when a target object is placed on the first belt and the current moment reaches the driving moment of the first belt, a first motor driving the first belt and a second motor driving the second belt rotate in the same direction at a preset first transmission speed; when the target object is detected to be conveyed to the second belt, driving the second motor to decelerate at a preset first acceleration; searching whether available carrier vehicles exist in a specified range; if so, taking the available carrier vehicle which is the shortest distance from the specified position of the third belt as a target carrier vehicle, driving a second motor to accelerate at a preset second acceleration, and scheduling the target carrier vehicle to move to the specified position; and when the target object is detected to be conveyed to the third belt, a third motor driving the third belt conveys the target object to the target carrier vehicle at a preset third conveying speed. The mode that the first motor and the second motor rotate at the same speed ensures that the target object does not roll over during the conveying process; the uniform-speed-changing conveying mode is used for uniformly decelerating the target object to wait for the target carrier loader after the target object arrives on the second belt and uniformly accelerating the target object after the target object is positioned on the target carrier loader, so that the efficiency of conveying the target object is improved, and the target object is ensured to be carried in time.
An embodiment of the present invention further provides another target object delivery method, which is implemented on the basis of the foregoing embodiment, and as shown in a flowchart of another target object delivery method shown in fig. 3, the method includes the following steps:
step S300, placing the target object on the first belt.
During specific implementation, the controller can control mechanical equipment such as a mechanical arm and the like to place the target object on the first belt, and the controller can also guide workers to manually place the target object.
Step S302, judging whether a target object is transmitted on a second belt; if yes, go to step S304, if no, go to step S308.
During concrete implementation, can set up induction system such as belt deformation inductor, pressure sensors on the second belt, can also dispose the camera to whether the controller in time knows the target object that is conveying on the second belt.
Step S304, budgeting a waiting time according to a preset first transmission speed and the current rotating speed of the second motor;
in a specific implementation, the distance between the target object being conveyed and the third belt may be determined, and the distance may be divided by the current rotation speed of the second motor to obtain the predicted finished conveying time T1 of the second belt, and in addition, when calculating the predicted finished conveying time, the calculation of T1 may be performed in combination with the second acceleration of the second motor;
in order to reduce the waiting time of the target objects on the first belt, reduce the time interval for conveying a plurality of target objects and further improve the efficiency of conveying the target objects, the conveying time T2 predicted to complete the conveying when the first motor conveys at the preset first conveying speed can be calculated according to the position of the target objects on the first belt. Based on this, the difference between T1 and T2 may be considered as the waiting time period.
In addition, because the rotation speed of the second motor is different from the rotation speed of the first motor, in order to avoid the problem of rolling of the target object, the deceleration duration T3 of the second motor may be further calculated, and if it is preset that the deceleration duration T3 is a duration required for uniformly decelerating the second motor to the first transmission speed at a preset third acceleration or for performing emergency deceleration on the second motor after the transmission of the second motor is completed, based on this, the calculation method of the waiting duration may be further T1+ T3-T2.
Step S306, when the time length of placing the target object on the first belt reaches the waiting time, driving a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first transmission speed;
step S308, a first motor directly driving the first belt and a second motor directly driving the second belt rotate in the same direction at a first transmission speed.
Further, in order to accurately determine whether the target object is completely transferred to the second belt, a light sensor, such as the light sensor 208 shown in fig. 2, may be further disposed at the joint between the first belt and the second belt;
step S310, receiving a light intensity signal fed back by the light sensor;
in specific implementation, when no target object passes through the joint of the first belt and the second belt, the light source received by the light sensor is sufficient natural light or light, the fed back light intensity signal is a strong light source signal, and the strong light source signal can be the lowest light intensity which can be sensed by the light sensor and is measured in advance according to the natural light or the light when the light sensor is shielded by no shielding object.
Step S312, judging whether the target object is transmitted to a second belt according to the variation trend of the light intensity signal; if yes, step S314 is performed, and if no, step S310 is performed.
In a specific implementation, when determining whether the target object is transferred to the second belt, the steps may be divided into step 11, step 12, and step 13:
step 11, when the light intensity signal is detected to be gradually reduced from the strong light source signal, the target object is considered to be transmitted to the second belt;
step 12, when the light intensity signal is detected to continuously decrease or the light intensity signal fluctuates with a lower value or is not changed, the target object is considered to pass through the joint of the first belt and the second belt;
and step 13, when the light intensity signal is detected to be increased gradually and is recovered to the strong light source signal, the target object is considered to be completely transmitted to the second belt.
Further, on the basis of the above-mentioned determination of whether the target object is completely transferred to the second belt, the method may further calculate the radial dimension of the target object so as to set the first acceleration and the second acceleration of the second belt, thereby avoiding the problem that the target object cannot be accurately transferred by presetting the first acceleration and the second acceleration when the target object is too large or too small, and therefore, the determination of the first acceleration and the second acceleration is realized by the following steps 20, 21, and 22:
step 20, recording the duration of the light intensity signal lower than a set threshold;
in a specific implementation, the set threshold may be the above-mentioned strong light source signal, and in order to avoid false detection of the target object transmission time, the set threshold may also be a value slightly lower than the strong light source signal, for example, the set threshold is 98% of the strong light source signal. The time period during which the above-described light intensity signal is lower than the set threshold value can be regarded as the time period required for the target object to pass through steps 11, 12, and 13.
Step 21, multiplying the first transmission speed by the time length to obtain the radial size of the target object in transmission; the target object is the target object in the process of being transferred to the second belt by the first belt.
The first acceleration and the second acceleration are determined 22 based on the radial dimension.
In the concrete implementation, the central point of the target object can be judged according to the radial size of the target object, when the target object completely arrives at the second belt, the distance from the central point of the target object to the temporary waiting area of the second belt can be calculated, the acceleration required by the target object just slowing down and stopping at the temporary waiting area is calculated according to the distance and the current rotating speed of the second motor, and the first acceleration set value of the second motor is not more than the calculated acceleration.
In step S314, the second motor is driven to decelerate at a preset first acceleration.
Step S316, searching whether available carrier vehicles exist in a specified range;
step S318, if so, taking the available carrier vehicle which is the shortest distance from the specified position of the third belt as a target carrier vehicle, and driving a second motor to accelerate at a preset second acceleration;
further, the second acceleration may be a preset acceleration for driving the second motor to start stably, or may be calculated in step 22. In the process of calculating the second acceleration in step 22, when the target vehicle is determined to be carried, the distance between the center point of the target object and the third belt is determined, and the acceleration required when the target object is accelerated to the third conveying speed just when running the distance is calculated according to the distance and the current rotating speed of the second motor, wherein the second acceleration of the second motor is not smaller than the acceleration when being set.
In order to avoid the problem that the target object rolls over due to the different speeds of the two belts during the process that the second belt passes through the third belt, the method further comprises the following steps:
step S320, detecting the rotating speed of a second motor;
in step S322, when the rotation speed of the second motor reaches a preset third conveying speed, the second motor is driven to rotate at a constant speed at the third conveying speed.
In step S324, when it is detected that the target object is transferred to the third belt, the third motor driving the third belt transfers the target object onto the target carrier at a preset third transfer speed.
In summary, the target object conveying method provided by this embodiment can obtain the weight of a target object when a target object of any shape is placed on the first belt, and can also obtain the radial size of the target object through the optical sensor; when the target object passes through the second belt by the first belt, the rotating speeds of the first motor and the second motor are equal, so that the accuracy of the radial dimension of the target object is ensured; in the conveying process of the target object, the rotation speed of the second motor is changed into uniform speed change, so that the problems of pitching and rolling of the target object caused by sudden change of the rotation speed of the second motor are avoided; the time for starting the next target object on the first belt before the next target object is lifted is calculated by calculating the time length for the target object to completely separate from the second belt, so that the waiting time of the target object on the first belt is shortened, the time interval between the two target objects is shortened, and the conveying efficiency is further effectively improved.
Example two:
the present embodiment further provides a target object transferring apparatus, referring to the schematic structural diagram of a target object transferring apparatus shown in fig. 4, the apparatus is applied to a controller, the controller is connected to a transferring mechanism, the transferring mechanism includes a first belt, a second belt and a third belt which are connected in sequence, the apparatus includes:
the conveying driving module 402 is configured to drive a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first conveying speed when the target object is placed on the first belt and the current time reaches the driving time of the first belt;
the deceleration driving module 404 is configured to drive the second motor to decelerate at a preset first acceleration when it is detected that the target object is conveyed to the second belt;
a searching module 406, configured to search whether there is an available carrier loader within a specified range; the available carrier vehicle runs at a constant speed on a preset route at a preset speed;
the acceleration driving module 408 is configured to, if the searching module searches for an available carrier vehicle in the designated range, drive the second motor to accelerate at a preset second acceleration by taking the available carrier vehicle that is the shortest distance from the designated position of the third belt as a target carrier vehicle;
and a loading driving module 410, configured to drive a third motor of the third belt to convey the target object onto the target carrier at a preset third conveying speed when it is detected that the target object is conveyed to the third belt.
Further, the transmission driving module is further configured to:
when the target object is placed on the first belt, judging whether the target object is conveyed on the second belt;
if so, budgeting the waiting time according to the preset first transmission speed and the current rotating speed of the second motor;
when the time length of placing the target object on the first belt reaches the waiting time, driving a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first transmission speed;
if not, the first motor directly driving the first belt and the second motor directly driving the second belt rotate in the same direction at the first transmission speed.
Further, a light sensor is arranged at the joint of the first belt and the second belt;
further, the deceleration driving module is further configured to:
receiving a light intensity signal fed back by a light sensor;
judging whether the target object is transmitted to the second belt according to the variation trend of the light intensity signal;
if so, the second motor is driven to decelerate at a preset first acceleration.
Further, this embodiment also provides a schematic structural diagram of another target object transmission apparatus, as shown in fig. 5, the apparatus further includes:
a recording module 502, configured to record a duration that the light intensity signal is lower than a set threshold;
a product module 504, configured to multiply the first transfer speed by the duration to obtain a radial size of the target object in transfer;
a determine velocity module 506 determines the first acceleration and the second acceleration based on the radial dimension.
After accelerating the driving module, the device further comprises:
the detection module 508 is used for detecting the rotating speed of the second motor;
and the constant speed driving module 510 is configured to drive the second motor to rotate at a constant speed at a third conveying speed when the rotation speed of the second motor reaches a preset third conveying speed.
The object transmission device provided by the embodiment of the invention has the same technical characteristics as the object transmission method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
An embodiment of the present invention further provides a controller, where the controller includes a memory and a processor, where the memory is used to store a program that supports the processor to execute the method of the first embodiment, and the processor is configured to execute the program stored in the memory.
Further, an embodiment of the present invention further provides a computer storage medium for storing computer program instructions, which, when executed by a computer, perform the method according to the first embodiment.
The computer program product of the target object transmission method and apparatus provided in the embodiments of the present invention includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods, apparatus, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that the following embodiments are merely illustrative of the present invention, and not restrictive, and the scope of the present invention is not limited thereto: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A target object conveying method is applied to a controller, the controller is connected with a conveying mechanism, the conveying mechanism comprises a first belt, a second belt and a third belt which are connected in sequence, and the method comprises the following steps:
when a target object is placed on the first belt and the current moment reaches the driving moment of the first belt, a first motor driving the first belt and a second motor driving the second belt rotate in the same direction at a preset first transmission speed;
when the target object is detected to be conveyed to the second belt, driving the second motor to decelerate at a preset first acceleration;
searching whether available carrier vehicles exist in a specified range; the available carrying vehicles run at a constant speed according to a preset route and a preset speed;
if so, taking the available carrier vehicle which is the shortest distance from the specified position of the third belt as a target carrier vehicle, and driving the second motor to accelerate at a preset second acceleration;
when the target object is detected to be conveyed to the third belt, a third motor driving the third belt conveys the target object to the target carrier loader at a preset third conveying speed.
2. The method according to claim 1, wherein the step of rotating a first motor driving the first belt and a second motor driving the second belt in the same direction at a preset first transfer speed when a target object is placed on the first belt and a current time reaches a driving time of the first belt comprises:
when a target object is placed on the first belt, judging whether a target object which is being conveyed exists on the second belt;
if so, budgeting the waiting time according to a preset first transmission speed and the current rotating speed of the second motor; when the time length of placing the target object on the first belt reaches the waiting time length, driving a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first transmission speed;
if not, the first motor directly driving the first belt and the second motor directly driving the second belt rotate in the same direction at the first transmission speed.
3. The method of claim 1, wherein a light sensor is provided at the junction of the first and second belts;
when it is detected that the target object is transferred to the second belt, the driving the second motor to decelerate at a preset first acceleration includes:
receiving a light intensity signal fed back by the light sensor;
judging whether the target object is transmitted to the second belt or not according to the variation trend of the light intensity signal;
if yes, the second motor is driven to decelerate at a preset first acceleration.
4. The method of claim 3, further comprising:
recording the time length of the light intensity signal lower than a set threshold;
multiplying the first conveying speed and the time length to obtain the radial size of the target object in conveying;
determining the first acceleration and the second acceleration according to the radial dimension.
5. The method of claim 1, wherein after the step of driving the second motor to accelerate at the preset second acceleration, the method further comprises:
detecting the rotating speed of the second motor;
and when the rotating speed of the second motor reaches a preset third conveying speed, driving the second motor to rotate at a constant speed at the third conveying speed.
6. A target object transfer apparatus, wherein the apparatus is applied to a controller connected to a transfer mechanism including a first belt, a second belt and a third belt connected in sequence, the apparatus comprising:
the conveying driving module is used for driving a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first conveying speed when a target object is placed on the first belt and the current moment reaches the driving moment of the first belt;
the deceleration driving module is used for driving the second motor to decelerate at a preset first acceleration when the target object is detected to be conveyed to the second belt;
the searching module is used for searching whether available carrier vehicles exist in the specified range; the available carrying vehicles run at a constant speed according to a preset route and a preset speed;
the acceleration driving module is used for taking the available carrier vehicle which is shortest to the specified position of the third belt as a target carrier vehicle and driving the second motor to accelerate at a preset second acceleration when the searching module searches for available carrier vehicles in the specified range;
and the loading driving module is used for driving a third motor of the third belt to convey the target object to the target carrier loader at a preset third conveying speed when the target object is detected to be conveyed to the third belt.
7. The apparatus of claim 6, wherein the transport drive module is further configured to:
when a target object is placed on the first belt, judging whether a target object which is being conveyed exists on the second belt;
if so, budgeting the waiting time according to a preset first transmission speed and the current rotating speed of the second motor; when the time length of placing the target object on the first belt reaches the waiting time length, driving a first motor of the first belt and a second motor of the second belt to rotate in the same direction at a preset first transmission speed;
if not, the first motor directly driving the first belt and the second motor directly driving the second belt rotate in the same direction at the first transmission speed.
8. The device of claim 6, wherein a light sensor is disposed at a junction of the first belt and the second belt;
the deceleration driving module is also used for:
receiving a light intensity signal fed back by the light sensor;
judging whether the target object is transmitted to the second belt or not according to the variation trend of the light intensity signal;
if yes, the second motor is driven to decelerate at a preset first acceleration.
9. The apparatus of claim 8, further comprising:
the recording module is used for recording the time length of the light intensity signal lower than a set threshold value;
a product module, configured to multiply the first transfer speed by the duration to obtain a radial size of the target object being transferred;
a velocity determination module to determine the first acceleration and the second acceleration based on the radial dimension.
10. The apparatus of claim 6, wherein after the overdrive module, the apparatus further comprises:
the detection module is used for detecting the rotating speed of the second motor;
and the constant-speed driving module is used for driving the second motor to rotate at a constant speed at a third conveying speed when the rotating speed of the second motor reaches a preset third conveying speed.
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| CN110902300B (en) * | 2019-12-17 | 2021-06-25 | 浙江欣奕华智能科技有限公司 | AGV-based material transmission control and verification system and method |
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| JP6369368B2 (en) * | 2015-03-27 | 2018-08-08 | 株式会社ダイフク | Transport equipment and transport method |
| CN205574863U (en) * | 2016-04-28 | 2016-09-14 | 创富东日(深圳)科技有限公司 | Variable speed conveyor means |
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Denomination of invention: Target object transmission method and device Effective date of registration: 20210907 Granted publication date: 20201020 Pledgee: China Everbright Bank Co.,Ltd. Weihai Branch Pledgor: WEIHAI NEWBEIYANG ZHENGQI ROBOT Co.,Ltd. Registration number: Y2021980008996 |
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Denomination of invention: Target object transmission method and device Effective date of registration: 20230116 Granted publication date: 20201020 Pledgee: China Minsheng Bank Co.,Ltd. Weihai Branch Pledgor: WEIHAI NEWBEIYANG ZHENGQI ROBOT Co.,Ltd. Registration number: Y2023980031255 |