CN110239798B - Efficient distribution method and distribution device for discrete articles - Google Patents
Efficient distribution method and distribution device for discrete articles Download PDFInfo
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- CN110239798B CN110239798B CN201910325651.0A CN201910325651A CN110239798B CN 110239798 B CN110239798 B CN 110239798B CN 201910325651 A CN201910325651 A CN 201910325651A CN 110239798 B CN110239798 B CN 110239798B
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- 238000000034 method Methods 0.000 title claims abstract description 64
- 238000009826 distribution Methods 0.000 title description 25
- 238000003860 storage Methods 0.000 claims description 57
- 238000003384 imaging method Methods 0.000 claims description 15
- 239000002356 single layer Substances 0.000 claims description 11
- 238000005192 partition Methods 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 2
- 238000000926 separation method Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 8
- 230000000007 visual effect Effects 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 2
- 239000006187 pill Substances 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 235000009508 confectionery Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000007947 dispensing tablet Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000008188 pellet Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000003826 tablet Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
- B65B1/30—Devices or methods for controlling or determining the quantity or quality or the material fed or filled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/20—Applications of counting devices for controlling the feed of articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Quality & Reliability (AREA)
- Control Of Conveyors (AREA)
Abstract
A method and apparatus for efficient dispensing of discrete articles includes driving a conveyor to convey the articles; the conveyor forms at least one individual stack of articles during a start-stop cycle; continuously taking images of an image taking area positioned at the tail section of the conveyor; processing the acquired images in real time to determine the number of the articles to be output; searching for a combined stack of articles, each combined stack of articles having the same number of articles as the target number, and dispensing a combined stack of articles to the container. The invention sets the image capturing area at the output section of the conveyer, the object is supported by the conveyer, the orientation is stable, the shape and the size of the object are conveniently detected after visual image capturing, the image capturing and the counting can be completed by utilizing the image capturing area crossing the conveyer without passing through the detection platform or the counting platform, compared with the conveyer with the detection platform or the counting platform, the invention has the advantages of reduced length, simple structure and space saving.
Description
Technical Field
The invention relates to the technical field of discrete article distribution, in particular to a high-efficiency discrete article distribution method and a discrete article distribution device.
Background
It is often desirable to dispense discrete articles in the form of pellets, tablets, or small pieces into batches of known quantity. Examples include dispensing tablets, pills, capsules, seeds, candies, or the like into bottles, bags, or other containers.
Since the articles are loaded into the container after being counted, the articles are broken by collision at the time of supply, foreign objects, articles with defects, and the like, all of which need to be detected during the counting process.
In some dispensing tasks, the finished container must not contain less than a predetermined number of items. For example, when dispensing certain pills, it may be necessary to provide a complete treatment cycle, and therefore at least a predetermined number of items must be provided in each container.
On the other hand, the dispensed items may be expensive, so if too many containers contain more than a predetermined number of items, it increases the cost of production for the supplier of the items or the packaging mechanism.
In many dispensing machines, articles are transported along a conveyor and are separated into a plurality of individual columns at the end of the conveyor and collected in containers, each column of articles being counted one by a photosensor during the fall, and when a predetermined number is reached, the articles are prevented from falling into the container by physically separating the articles from the lanes of each column, which is inherently less efficient because the articles are separated into a plurality of individual columns on the conveyor, the articles that can be transported over a certain transport area must be less than if they were not required to be separated into individual columns, while also maintaining a distance from column to install the photosensor and physically separating mechanism described above.
U.S. patent No.6,659,304, entitled "cartridge for a system for feeding, counting and dispensing discrete articles" to Geltser et al, discloses a high-capacity cartridge for an article counting and dispensing system that includes, among other things, a structure for feeding discrete articles in a single column toward an outlet aperture.
Application publication number CN103129783a entitled "method and apparatus for dispensing articles" discloses operating a conveyor to convey a plurality of articles toward an imaging device, wherein the articles are arranged in a single layer and at least some of the articles are conveyed in parallel; operating the imaging device to continuously capture images of an area directly below an end of the conveyor such that items falling from the conveyor are recorded in the images while in a trajectory; the images are processed in real time to continuously determine the number of falling items.
In the prior art, the method for counting the articles in a visual manner is to take an image and count the articles in the process of falling off the conveyor, but the size and shape of the articles cannot be stably detected because the orientation of the articles is indefinite in the process of falling off. Meanwhile, the image capturing area is arranged in the falling process of the article, so that the vertical height is required to be occupied, the overall height of the equipment is increased, and the operation is inconvenient.
When the conveyor is stopped, some articles still fall down due to inertia, and the system needs to judge whether the articles are completely stopped or not at intervals, so that more time is needed between the two start-stop periods, and the productivity of the whole system is relatively reduced.
The chinese patent CN201420130214.6 describes a method for synchronously counting and detecting articles by a counting platform, and achieving a target number by a first dispensing amount and a compensation amount, but since a distance is often required for stabilizing the motion posture of the articles to be imaged after the articles fall from the conveyor to the counting platform, the space occupied by the mechanism is relatively large, meanwhile, the articles in the distance are not monitored by the system, the random range of the articles which still enter the counting area after the conveyor stops is enlarged, the compensation amount required for the subsequent operation is more, and the efficiency of the whole system is relatively low.
Therefore, there is a need to provide a dispensing method and a dispensing device that are more efficient, simpler in construction, and more space-saving.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provide a distribution method which has higher efficiency, simpler structure and more space saving.
Another object of the present invention is to overcome the problems of the prior art and to provide a dispensing device that is more efficient, simpler in construction and more space-saving.
The technical scheme of the invention is as follows:
a method for efficient dispensing of discrete articles, comprising
Driving the conveyor to periodically move, and conveying the articles to the tail end of the conveyor in a single-layer state; each time the conveyor is started and stopped, the conveyor is stopped for a start-stop period;
the conveyor forms at least one independent article pile in the articles output in a start-stop period, and the article quantity of each article pile is accurately counted;
Continuously taking images of an image taking area positioned at the tail section of the conveyor, wherein the image taking area is arranged before the tail end of the conveyor and spans the conveying direction of the conveyor, and each article passes through the image taking area and is taken at least once before being output, and the article is also separated from the conveyor when leaving the image taking area;
processing the acquired images in real time to determine the number of the articles to be output;
searching for a combined article stack, wherein the number of articles of each combined article stack is the same as the target number, and distributing the combined article stack.
Wherein, through driving each conveyer in a set of conveyer side by side, make article in the state of individual layer on each conveyer to the terminal of conveyer and by the conveyer output, each conveyer outputs a pile of article in a start-stop cycle.
Wherein the start-stop period of each conveyor is independently controlled.
Wherein the start-stop period of one conveyor is different from the last start-stop period of the conveyor.
The output ends of the conveyor are separated to form article output channels, each channel outputs an article stack in each start-stop period, and the article stacks output by adjacent channels do not interfere with each other.
Wherein each item passing through the imaging region is imaged at least once in its entirety.
And comparing the object image in the image with the image of the preset object, judging the comparison result, and recording the object and removing when the comparison result is inconsistent.
And when the image of the object in the image is different from any one of the preset image of the object in the shape, color and size, judging that the comparison result is inconsistent.
Wherein each stack is received by a separate register, and when a combined stack is found, the articles of the combined stack are pooled and output to a container.
When a combined article stack cannot be found, a new article stack is received by an empty register, and the combined article stack is continuously found in all the registers of the existing articles.
When a combined article pile cannot be found, an existing article temporary storage device receives a new article pile, the number of articles in the temporary storage device is the sum of the original article pile and the new article pile, and the combined article pile is continuously found in all temporary storage devices with the article piles.
When a combined article pile cannot be found, all articles in one temporary storage are transferred to the other temporary storage, the emptied temporary storage receives a new article pile, the number of the new articles in the temporary storage receiving the transferred articles is the sum of the number of the original articles and the number of the transferred articles, and the combined article pile is continuously found in all temporary storages with articles.
When one combined article pile cannot be found, one combined article pile with the total number of the articles smaller than the target number is selected, all the articles in the combined temporary storage are released to the container, and the container is distributed with articles differing from the target number.
When the number of the articles in one temporary storage is larger than the target number, releasing the articles in the temporary storage to a container, and rejecting the container.
Wherein containers are continuously supplied to the dispensing station to receive the pooled output articles.
Wherein, when the previous container leaves the dispensing station and the next container does not reach the dispensing station yet, the collected articles are temporarily stored.
And the output section of the image capturing area of each conveyor is provided with an inertia output section, the articles in the inertia output section are output after the conveyor is stopped, and the conveyor is stopped when the sum of the number of the output articles plus the number of the articles in the inertia output section and the number of the articles in one or more temporary storage devices is the same as the target number.
The length direction of the image capturing area comprises an input side boundary and an output side boundary, the input side boundary is arranged on the conveyor, the output side boundary is arranged before the end line of the conveyor, the distance between the output side boundary and the end line of the conveyor is smaller than the shortest distance between the gravity center of an article and the edge of the article, the distance between the input side boundary and the output side boundary is larger than the maximum length of the article, each article passes through the image capturing area and is captured at least once before being output, and the article leaves the conveyor when leaving the image capturing area.
The length direction of the image capturing area comprises an input side boundary and an output side boundary, the input side boundary is arranged on the conveyor, the boundary of the output side is overlapped with the tail end line of the conveyor, the distance between the input side boundary and the output side boundary is larger than the maximum length of the article, each article passes through the image capturing area and is captured at least once before being output, and the article is separated from the conveyor when leaving the image capturing area.
The length direction of the image capturing area comprises an input side boundary and an output side boundary, the input side boundary is arranged on the conveyor, the output side boundary is arranged on the outer side of a terminal line of the conveyor, the distance between the input side boundary and the output side boundary is larger than the maximum length of the articles, each article passes through the image capturing area and is captured at least once before being output, and the articles leave the conveyor when leaving the image capturing area.
Another technical scheme of the invention is as follows:
a dispensing device for the method of dispensing discrete articles of compact construction,
Comprises a feed bin for storing articles and continuously supplying articles to a conveyor;
a conveyor for laying the articles in a single layer for delivery, the articles being formed into individual stacks during delivery;
The image capturing device is used for continuously capturing images of the articles passing through the image capturing area of the conveyor;
The central processing and control platform is used for processing the images acquired by the image acquisition device in real time to calculate the quantity of all articles passing through the image acquisition area, detecting and judging the images of the articles,
An image capturing area arranged in front of the end of the conveyor and crossing the conveying direction of the conveyor, wherein the length and width of the image capturing area are set so that each passing article is captured at least once and each article leaves the conveyor when completely leaving the image capturing area
A container for receiving the articles output by the conveyor.
The system further comprises temporary storage devices and collectors communicated with the temporary storage devices, wherein each temporary storage device receives an article pile, and when a combined article pile is found, the article pile is conveyed to the container through the collectors.
Wherein, the output end of the collector is provided with a gate, and the collector is opened or closed to output articles.
The output end of the temporary storage is provided with a gate, and the output or temporary storage of the object stack in the temporary storage is controlled.
The conveyors are arranged in a plurality, the conveyors are arranged side by side, and each conveyor is independently controlled to start and stop.
The output end of the conveyor is provided with a partition plate, the partition plate divides the output end of the conveyor into a plurality of independent and mutually noninterfere conveying channels, each starting and stopping period of the conveyor is set, and each channel outputs an article pile.
Wherein, the interval of baffle is different each other, and the width of a plurality of conveying channels is different.
The container conveying line is used for continuously conveying containers to the output end of the collector, and the outlet of the collecting channel is provided with a diversion swing gate for diverting two continuous released article stacks to two different containers.
Wherein the conveying surface of the conveyor is provided with a plurality of channels parallel to the conveying direction.
Wherein the cross section of the channel is V-shaped.
The beneficial effects are that:
a method for efficient dispensing of discrete articles, comprising
Driving the conveyor to periodically move, and conveying the articles to the tail end of the conveyor in a single-layer state; each time the conveyor is started and stopped, the conveyor is stopped for a start-stop period; the conveyor forms at least one independent article pile in the articles output in a start-stop period, and the article quantity of each article pile is accurately counted; continuously taking images of an image taking area positioned at the tail section of the conveyor, wherein the image taking area is arranged before the tail end of the conveyor and spans the conveying direction of the conveyor, and each article passes through the image taking area and is taken at least once before being output, and the article is also separated from the conveyor when leaving the image taking area; processing the acquired images in real time to determine the number of the articles to be output; searching for a combined stack of articles, each combined stack of articles having the same number of articles as the target number, and dispensing a combined stack of articles to the container.
(1) The invention sets the image capturing area at the output section of the conveyer, the object is supported by the conveyer, the orientation is stable, the shape and the size of the object are conveniently detected after visual image capturing, the image capturing and the counting can be completed by utilizing the image capturing area crossing the conveyer without passing through the detection platform or the counting platform, compared with the conveyer with the detection platform or the counting platform, the invention has the advantages of reduced length, simple structure and space saving.
(2) Because the image capturing is not needed when the articles fall down, the image capturing area does not occupy the vertical height, the height of the whole equipment can be reduced, and the operation is more convenient. Meanwhile, the drop of the articles from the conveyor to the container is reduced, the impact of the articles is reduced, the time for collecting the articles to the container is shortened, and the distribution efficiency is improved.
(3) The length of the imaging area required to capture a complete image of an article can be relatively short, and the overall efficiency is reduced, relative to the length of the imaging area required to capture a complete image of an article for counting or shape detection, if the imaging area is set to be relatively short, because the article is moving faster due to gravity acceleration during its descent after leaving the conveyor, the greater the length of the imaging area required to capture a complete image of an article for counting or shape detection. The method of the invention can effectively accelerate the time of image processing, thereby improving the distribution efficiency.
(4) When the conveyor is stopped, although the articles still move and output due to inertia, the system knows the movement and stopping condition of the articles at the outlet end of the conveyor in real time, and the system can judge the stopping output of the articles more quickly, so that the time interval required between the two start-stop periods is shorter, and the efficiency of the whole system is improved.
(5) The system can also pre-evaluate the number of articles that will be output after the conveyor has stopped, because of inertia, so that the size of the stack can be more precisely controlled to increase the chance of successfully finding a combined stack.
Drawings
FIG. 1 is a schematic view of a dispensing device with a split swing gate according to the present invention.
Fig. 2 is a schematic view showing another view state structure of a dispensing device according to the present invention.
Fig. 3 is a schematic view of the side-by-side conveyor of a dispensing device of the present invention.
Fig. 4 is a schematic diagram of a two-stage temporary storage space of a distribution device according to the present invention.
Fig. 5 is a schematic view of the dispensing form of a side-by-side conveyor of a dispensing device of the present invention.
Fig. 6 is a schematic view of the structure of a channel conveyor of a dispensing device of the present invention.
Fig. 7 is a schematic view of a channel conveyor of a dispensing device of the present invention from another perspective.
Fig. 8 is a schematic view of a channel conveyor of a dispensing device of the present invention from another perspective.
Fig. 9 is a schematic view showing the arrangement of a lane mechanism of a dispensing apparatus according to the present invention.
Fig. 10 is a schematic distribution view of a lane splitting mechanism of a distribution device of the present invention.
Fig. 11 is a schematic view of a further view of the lane mechanism of a dispensing device of the present invention.
FIG. 12 is a schematic view of the imaging area of a method of efficient dispensing of discrete articles of the present invention.
Fig. 13 is a schematic view of a second imaging region of a method of efficient dispensing of discrete articles according to the present invention.
FIG. 14 is a schematic view of a third imaging region of a method of efficient distribution of discrete articles according to the present invention
FIG. 15 is a schematic view of the inertial output region of one efficient method of dispensing discrete articles of the present invention.
The reference numerals are as follows:
1-conveyor, 101-channel, 102-lane mechanism;
2-an image capturing device, 201-an image capturing area;
3-article,
4-Register, 401-register gate, 402-primary register, 403-secondary register;
5-collector, 501-collector gate;
6-container,
7-Shunt device, 701-shunt plate.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
A method for efficient dispensing of discrete articles, as shown in figures 1-15, comprising
Driving the conveyor to periodically move, and conveying the articles to the tail end of the conveyor in a single-layer state; each time the conveyor is started and stopped, the conveyor is stopped for a start-stop period;
the conveyor forms at least one independent article pile in the articles output in a start-stop period, and the article quantity of each article pile is accurately counted;
Continuously taking images of an image taking area positioned at the tail section of the conveyor, wherein the image taking area is arranged before the tail end of the conveyor and spans the conveying direction of the conveyor, and each article passes through the image taking area and is taken at least once before being output, and the article is also separated from the conveyor when leaving the image taking area;
the captured images are processed in real time to determine the number of items output.
Searching for a combined stack of articles, each combined stack of articles having the same number of articles as the target number, and dispensing a combined stack of articles to the container.
The periodic movement of the conveyor means that the conveyor takes two actions of starting and stopping the conveyor as one period, the conveyor is driven to convey articles, and the article flow can be divided through the periodic movement to form an article pile.
The image capturing counting method of the invention is characterized in that when each article passes through the image capturing area, the image of each article appears in the acquired image, the position of each article in each frame of images acquired continuously is tracked, and when the image of each article disappears in the acquired image, the counting is increased by one. Assuming that the length of the object is L, the length of the image capturing area is W, the image capturing frequency is f, and the object speed is V, when the object passes through the image capturing area, the condition that the object is captured at least once is,
W>V/f
And the condition that the article is completely imaged at least once is that,
W>(V/f)+L
An article completely exiting the imaging zone, where the distance between the exit end of the imaging zone and the exit end of the conveyor is sufficiently small (less than the minimum distance between the center of gravity of the article and the edge of the article), will be off the conveyor surface and gravity will cause the article to automatically leave the conveyor, so that the number of articles completely exiting the imaging zone, whether the conveyor is in a driven or stopped state, is equivalent to the number of articles output by the conveyor.
In the process of outputting the article stack by the conveyor, the quantity of the output articles can be accurately controlled, and only the accurate counting is needed, so that the output efficiency can be faster. The number of articles in the article stack is random, the randomness is counteracted by searching a combined article stack, and a combined article stack with the total number of articles equal to the target number is found. In the process of searching for a combined article stack, the more the number of article stacks of known article number, the greater the probability of deriving a combination.
The articles are all in a single-layer tiling state in the conveying process, at least one article pile is output by the conveyor in each period, and when more than one article pile is to be output, the method is realized by the following steps:
as shown in fig. 5 to 8, one) uses a plurality of side-by-side conveyers to transfer the articles, each conveyer corresponds to a group of temporary storage devices, the articles output by each conveyer in each start-stop period are received by one of the corresponding temporary storage devices, each temporary storage device containing articles is marked with the number of the articles, namely the number of the articles stored in the temporary storage device, the controller finds one or more temporary storage devices exactly meeting the target number according to the target number of the articles, and the articles in the temporary storage devices are released and collected into the container through the collector to finish the distribution work. And clearing the number of the articles released from the temporary storage device of the article stack, and continuously receiving a new article stack.
The plurality of side-by-side conveyors independently control the start-stop period of each conveyor, the start-stop period of one conveyor being different from the last start-stop period of the conveyor. When one conveyor is driven, the size range of the output article pile is roughly controlled by changing the starting time of the conveyor, so that the size range of the newly output article pile can be complementarily controlled according to the size distribution of the article quantity of all temporary storage devices, the finding combination probability is increased, and the distribution efficiency is improved.
Under the condition that the temporary storage corresponding to each conveyor is limited, a temporary storage carrying an article pile can continuously receive a new article pile so as to improve conveying efficiency and the probability of finding a combined article pile, after receiving a new article pile, the number of marked articles of the temporary storage of the existing articles is the superposition of the number of the articles marked before and the number of the articles of the newly received article pile, and when the number of marked articles is larger than the target number, the temporary storage is regarded as overflow of the number and needs to be removed. Quantity overflow is a loss of distribution efficiency for the entire system. Under the condition that the starting and stopping of the conveyor can be independently controlled, the conveyor can be stopped to output articles until the corresponding temporary storage device is provided with an empty temporary storage device, so that the condition that the quantity overflows is avoided.
As shown in fig. 9-11, two) separate the output sections of the conveyor to form article output channels, each channel outputting one article stack per start-stop cycle, the article stacks output by adjacent channels not interfering with each other. Each output channel corresponds to a group of registers, and the object stack output by each channel in each start-stop period is received by one of the corresponding group of registers. By separating the article output channels on one conveyor, a plurality of stacks of articles can be output, thereby improving the efficiency of finding combinations.
The invention can further enable the article output channel to be a single-row article output channel, which can conveniently enable the articles to be highlighted in the image and improve the accuracy of identification and detection.
Image capturing area: each item passing through the imaging region is imaged at least once in its entirety.
Comparing the object image in the image with the image of the preset object, judging the comparison result, and recording the object and eliminating when the comparison result is inconsistent.
The invention can be used for directly rejecting the unqualified articles, or rejecting the articles by using a rejecting channel when the conveyor outputs the articles, or rejecting the whole container to which the article stack of the articles is finally gathered.
And when the image of the object in the image is different from any one of the preset image of the object in the shape, color and size, judging that the comparison result is inconsistent.
Each stack is received by a separate register, and when a combined stack is found, the articles of the combined stack are pooled and delivered to a container, which is continuously supplied to the dispensing station to receive the pooled delivered articles. The pooled items are temporarily stored when the previous container leaves the dispensing station and the next container has not yet arrived at the dispensing station.
The problem that the continuous containers are distributed in the conveying process and are not yet in the output position is solved, and the collected articles can be temporarily stored by utilizing the temporary storage function, namely, when the containers are not in the output position, the system continues to distribute the next target quantity of articles, so that the time wasted by waiting until the containers are in place is avoided.
The invention also provides different distribution methods when no combination is found, which are specifically as follows:
1. when a combined stack is not found, a new stack is received by an empty register and a combined stack is continued to be found in all the registers of the existing articles. By increasing the number of stacks, the chance of finding a combined stack is increased.
2. When a combined stack is not found, a register of existing articles receives a new stack, the number of articles in the register is the sum of the original articles and the new stack, and continues to find a combined stack in all the article-carrying registers. And obtaining the number of the articles in the article stack in the temporary storage by using the superposition number, and further obtaining a new combination.
3. When a combined article stack cannot be found, all the articles in one temporary storage are transferred to the other temporary storage, the emptied temporary storage receives a new article stack, the number of the new articles in the temporary storage receiving the transferred articles is the sum of the number of the original articles and the number of the transferred articles, and the combined article stack is continuously found in all the temporary storage carrying the articles.
4. When a combined article stack cannot be found, a combined article stack with the total number of articles smaller than the target number is selected, all articles in the combined temporary storage are released to the container, and the container is allocated articles with the difference from the target number.
The difference between the total number of selected articles and the target number is between 1% and 10% of the target number, although other ratios are possible, typically between 1 and 10 articles.
When the number of articles of the article pile of the combination which are different from the target number is found, the distribution of the articles of the article pile which are different from the target number to the container is realized by the following two methods:
1. And a compensation conveyer is arranged, and can output single articles to compensate the phase difference articles.
2. Setting the number of articles with phase difference as new target number, wherein the new target number is the original target number minus the allocated number of articles, searching a combined article stack in a temporary storage bin of the existing articles based on the new target number, when a combined article stack is found, distributing the combined article stack, when a combined article stack cannot be found, setting the number of articles with phase difference as the new target number, and continuing to search for the combination until the original target number of articles are distributed to the container.
As shown in fig. 12, the image capturing area of the present invention includes the following method for realizing counting; the length direction of the image capturing area comprises an input side boundary and an output side boundary, the input side boundary is arranged on the conveyor, the output side boundary is arranged before the end line of the conveyor, the distance between the output side boundary and the end line of the conveyor is smaller than the distance between the gravity center of the object and the shortest outer diameter of the object, the distance between the input side boundary and the output side boundary is larger than the maximum length of the object, each object passes through the image capturing area and is captured at least once before being output, and the object leaves the conveyor when leaving the image capturing area.
The image capturing area is positioned on the surface of the conveyor, the counting function can be completely realized, the image of the picture is detected conveniently, and the recognition rate is high.
As shown in fig. 13, the image capturing area of the present invention may be designed such that the input side boundary is disposed on the conveyor, the output side boundary coincides with the end line of the conveyor, the distance between the input side boundary and the output side boundary is greater than the maximum length of the articles, each article passes through the image capturing area and is captured at least once before being output, and the articles leave the conveyor when leaving the image capturing area.
As shown in fig. 14, the image capturing area of the present invention may be designed such that the input side boundary is disposed on the conveyor, the output side boundary is disposed outside the end line of the conveyor, the distance between the input side boundary and the output side boundary is greater than the maximum length of the articles, each article passes through the image capturing area and is captured at least once before being output, and the articles leave the conveyor when leaving the image capturing area.
By adopting the method, the setting process of setting the image capturing area can be greatly simplified, and the interference during the operation of the machine is reduced.
The invention also provides a method for improving the distribution efficiency by utilizing the inertia output section:
And an inertia output section is arranged at the outlet section of the image capturing area of each conveyor, the articles in the inertia output section are output after the conveyors are stopped, and the conveyors are stopped when the sum of the number of the output articles plus the number of the articles in the inertia output section and the number of the articles in one or more temporary storage devices is the same as the target number.
The inertia output section is a part of the image capturing area, namely, the inertia output area, and means that in each start-stop period, when the conveyor is stopped, the area where the articles still continue to be output due to motion inertia in the image capturing area of the conveyor is located, and the quantity of the articles in the inertia output section is counted in real time and added to the quantity of the articles which are output, so that the quantity of the articles which are finally output after the conveyor is stopped can be predicted in real time. By pairing this predicted number with the number of items in the register in real time, a combined stack of items can be created, increasing the probability of finding a combined stack of items.
The conveyor is stopped, the conveyor is stopped to be driven, two inertia amounts still exist after the conveyor is stopped to be driven, one is the inertia amount of the conveyor and the other is the inertia amount of the article, and the articles in the inertia output section of the application comprise the articles which are output under the influence of the two inertia amounts. The objects in the inertia output area are all inertia output, so that the random output quantity is greatly reduced.
Example 2
A dispensing device of the said method for dispensing discrete articles 3 of compact construction,
Comprises a feed bin for storing articles 3 and continuously supplying articles 3 to the conveyor 1;
A conveyor 1 for laying the articles 3 in a single layer for conveying, and forming the articles 3 into individual stacks when output;
an image capturing device 2 for continuously capturing images of the articles 3 passing through the image capturing area 201 of the conveyor 1;
A central processing and control platform for processing the images acquired by the image capturing device 2 in real time to calculate the number of all the articles 3 passing through the image capturing area 201, and detecting and judging the images of the articles 3;
An image capturing area 201, wherein the image capturing area 201 is arranged before the tail end of the conveyor 1, and spans the conveying direction of the conveyor 1, and the length and the width of the image capturing area 201 are set so that each passing article 3 is captured at least once, and each article 3 is separated from the conveyor 1 when completely separated from the image capturing area 201;
a container 6 for receiving the articles 3 output from the conveyor 1.
The invention can finish detection, counting and distribution by different positions of the image capturing area 201 without a traditional counting platform, and has high efficiency and small space.
Also included are registers 4 and collectors 5 in communication with registers 4, each register 4 receiving a stack of articles, which are transported via collectors 5 to containers 6 when a combined stack of articles is found.
The output end of the collector 5 is provided with a collector gate 501, the collector 5 is opened or closed to output the articles 3, and the collector gate 501 is electrically connected with a central processing and control platform.
The collector gate 501 is used for temporarily storing the articles 3 of the combined article stack, and when the container 6 does not reach the distribution station (the output end of the collector 5), the articles 3 can be distributed for output, so that the distribution efficiency of the whole machine is improved.
The output end of the temporary storage 4 is provided with a gate for controlling the output or temporary storage of the object stack in the temporary storage 4. The registers 4 include a primary register 402 and a secondary register 403, each register 4 corresponds to a conveyor 1 or a conveying channel, and receives the articles 3, and the outputs of the articles 3 in the primary register 402 and the secondary register 403 can be controlled by using a register gate 401, and the register gate 401 is electrically connected with a central processing and control platform. The cpu and control platform controls the opening or closing of the register gate 401, switches between output and register modes, and controls the entry of the stack of objects in the primary register 402 into the secondary register 403.
The conveyors 1 are arranged in a plurality, the conveyors 1 are arranged side by side, and each conveyor 1 is independently controlled to start and stop.
Each of the plurality of conveyors 1 is provided with a driving mechanism, the driving mechanism is in electric signal connection with a central processing and control platform, the central processing and control platform controls the starting and stopping time of the conveyor 1, the existing driving mode is usually electromagnetic driving vibration disc, and the central processing and control platform controls the motion state of a motor so as to control the starting and stopping period.
The output end of the conveyor 1 is provided with a partition plate, the partition plate divides the output end of the conveyor 1 into a plurality of independent and mutually noninterfere conveying channels, and each channel outputs an article pile every start-stop period of the conveyor 1.
The lane mechanism 102 includes a partition plate and a partition plate fixing mechanism that fixes the partition plate to the output end of the conveyor 1.
The distance between the separation plates is different, namely the width of each conveying channel is different. The width of the conveying channels is different, namely the quantity range of the output articles 3 is different, so that the quantity difference of the output article stacks is improved as much as possible.
A container 6 conveying line is arranged, and a diverting swing gate is arranged at the outlet of a collecting channel for continuously conveying the containers 6 to the output end of the collector 5, so that two continuous released article stacks are combined and diverted to two different containers 6; .
The diverter 7 is disposed between the output end of the collector 5 and the containers 6, and is used for respectively conveying the articles collected by the collector 5 to two different containers 6, wherein the containers 6 can be disposed in a front-back single row or in a left-right double row, the diverter 7 is internally provided with a diverter plate 701, and the distributed stacks of articles flow into different distribution channels through the swinging of the diverter plate 701 and are further conveyed to different containers.
The conveying surface of the conveyor 1 is provided with a plurality of channels 101 parallel to the conveying direction. The channel 101 can form the single arranged article 3 row with article 3, when passing through the image capturing area 201, can be clearly discerned by the image capturing device 2, improves recognition efficiency, because some abnormal article 3, in the transmission process, is easy to stagger and form an article 3, after the image capturing, loading and image capturing, when the central processing and control platform processes the picture, is easy to discern the article 3 as an article 3, can be effectual with article 3 and article 3 direct boundary clear through the channel 101, improves the accuracy of discernment.
The cross section of the channel 101 is V-shaped. The channel 101 with this shape makes it easier to divide the articles into individual rows and stabilize the conveyor effect.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (28)
1. A method for efficient dispensing of discrete articles, characterized by: comprising
Driving the conveyor to periodically move, and conveying the articles to the tail end of the conveyor in a single-layer state; each time the conveyor is started and stopped, the conveyor is stopped for a start-stop period;
the conveyor forms at least one independent article pile in the articles output in a start-stop period, and the article quantity of each article pile is accurately counted;
continuously taking images of an image taking area positioned at the tail section of the conveyor, wherein the image taking area spans the conveying direction of the conveyor, when the articles leave the image taking area, the articles leave the conveyor, and when each article leaves the conveyor, the articles pass through the image taking area and are taken at least once;
the length direction of the image capturing area comprises an input side boundary and an output side boundary, the input side boundary and the output side boundary are arranged on the conveyor,
Processing the acquired images in real time to determine the number of the articles to be output;
Searching a combined article pile, wherein the number of articles of each combined article pile is the same as the target number, and distributing the combined article pile;
the output side boundary is arranged before the end line of the conveyor, the distance between the output side boundary and the end line of the conveyor is smaller than the shortest distance between the gravity center of the article and the edge of the article, and the distance between the input side boundary and the output side boundary is larger than the maximum length of the article.
2. A method for efficient dispensing of discrete articles, characterized by: comprising
Driving the conveyor to periodically move, and conveying the articles to the tail end of the conveyor in a single-layer state; each time the conveyor is started and stopped, the conveyor is stopped for a start-stop period;
the conveyor forms at least one independent article pile in the articles output in a start-stop period, and the article quantity of each article pile is accurately counted;
continuously taking images of an image taking area positioned at the tail section of the conveyor, wherein the image taking area spans the conveying direction of the conveyor, when the articles leave the image taking area, the articles leave the conveyor, and when each article leaves the conveyor, the articles pass through the image taking area and are taken at least once;
the length direction of the image capturing area comprises an input side boundary and an output side boundary, the input side boundary and the output side boundary are arranged on the conveyor,
Processing the acquired images in real time to determine the number of the articles to be output;
Searching a combined article pile, wherein the number of articles of each combined article pile is the same as the target number, and distributing the combined article pile;
the output side boundary coincides with the conveyor end line, and the distance between the input side boundary and the output side boundary is greater than the maximum length of the article.
3. A method of efficient dispensing of discrete articles according to claim 1 or 2, characterized in that: by driving each conveyor in a set of side-by-side conveyors, articles are moved in a single layer over each conveyor toward the end of the conveyor and are output by the conveyor, each conveyor outputting at least one stack of articles during a start-stop cycle.
4. A method of efficient dispensing of discrete articles as claimed in claim 3, wherein: the start-stop period of each conveyor is independently controlled.
5. A method of efficient dispensing of discrete articles as recited in claim 4, wherein: the start-stop period of a conveyor is different from the last start-stop period of the conveyor.
6. A method of efficient dispensing of discrete articles as claimed in claim 3, wherein: the output sections of the conveyor are separated to form a plurality of article output channels, each channel outputs an article stack in each start-stop period, and the article stacks output by adjacent channels do not interfere with each other.
7. A method of efficient dispensing of discrete articles according to claim 1 or2, characterized in that: each article passing through the imaging zone is imaged at least once in its entirety while on the conveyor.
8. A method of efficient dispensing of discrete articles as recited in claim 7, wherein: comparing the object image in the image with the image of the preset object, judging the comparison result, and recording the object and eliminating when the comparison result is inconsistent.
9. A method of efficient dispensing of discrete articles as recited in claim 8, wherein: and when the image of the object in the image is different from any one of the preset image of the object in the shape, color and size, judging that the comparison result is inconsistent.
10. A method of efficient dispensing of discrete articles according to claim 1 or 2, characterized in that: each stack is received by a separate register, and when a combined stack is found, all of the articles in the register in which the combined stack is located are pooled and output to a container.
11. A method of efficient dispensing of discrete articles as recited in claim 10, wherein: when a register item is greater than the target number, releasing the register item to a container and rejecting the container.
12. A method of efficient dispensing of discrete articles as recited in claim 10, wherein: the containers are continuously supplied to the dispensing station to receive the pooled output items.
13. A method of efficient dispensing of discrete articles as recited in claim 12, wherein: the pooled items are temporarily stored when the previous container leaves the dispensing station and the next container has not yet arrived at the dispensing station.
14. A method of efficient dispensing of discrete articles as recited in claim 10, wherein: when a combined stack is not found, a new stack is received by an empty register and a combined stack is continuously found in all of the article-carrying registers.
15. A method of efficient dispensing of discrete articles as recited in claim 10, wherein: when a combined stack is not found, a register with articles receives a new stack, the number of articles in the register is the sum of the original articles and the new stack, and the register with articles continues to find a combined stack.
16. A method of efficient dispensing of discrete articles as recited in claim 10, wherein: when a combined article stack cannot be found, all the articles in one temporary storage are transferred to the other temporary storage, the emptied temporary storage receives a new article stack, the number of the new articles in the temporary storage receiving the transferred articles is the sum of the number of the original articles and the number of the transferred articles, and the combined article stack is continuously found in all the temporary storage carrying the articles.
17. A method of efficient dispensing of discrete articles as recited in claim 10, wherein: when a combined article stack cannot be found, a combined article stack with the total number of articles smaller than the target number is selected, all articles in a temporary storage where the combined article stack is located are released to a container, and the container is allocated articles with the difference from the target number.
18. A method of efficient dispensing of discrete articles according to claim 1 or 2, characterized in that: and an inertia output section is arranged at the outlet section of the image capturing area of each conveyor, the articles in the inertia output section are output after the conveyors are stopped, and the conveyors are stopped when the sum of the number of the output articles plus the number of the articles in the inertia output section and the number of the articles in one or more temporary storage devices is the same as the target number.
19. A dispensing device using the method of efficient dispensing of discrete articles of any one of claims 1 to 18, characterized in that:
comprises a feed bin for storing articles and continuously supplying articles to a conveyor;
a conveyor for laying the articles in a single layer for delivery, the articles being formed into individual stacks during delivery;
the image capturing device is used for continuously capturing images of the articles passing through the image capturing area of the conveyor;
The central processing and control platform is used for processing the images acquired by the image acquisition device in real time to calculate the quantity of all articles passing through the image acquisition area, detecting and judging the images of the articles,
An image capturing area arranged in front of the end of the conveyor and crossing the conveying direction of the conveyor, wherein the length and width of the image capturing area are set so that each passing article is captured at least once and each article leaves the conveyor when completely leaving the image capturing area
A container for receiving the articles output by the conveyor.
20. A dispensing apparatus for a method of efficient dispensing of discrete articles as recited in claim 19, wherein: the system also includes registers and collectors in communication with the registers, each register receiving a stack of articles, the stack of articles being transferred to the container via the collectors when a combined stack of articles is found.
21. A dispensing apparatus for a method of efficient dispensing of discrete articles as recited in claim 20, wherein: the output end of the collector is provided with a collector gate, and the collector is opened or closed to output articles.
22. A dispensing apparatus for a method of efficient dispensing of discrete articles as recited in claim 20, wherein: the output end of the temporary storage is provided with a temporary storage gate for controlling the output or temporary storage of the object stack in the temporary storage.
23. A dispensing apparatus for a method of efficient dispensing of discrete articles as recited in claim 19, wherein: the conveyors are arranged in a plurality, the conveyors are arranged side by side, and each conveyor is independently controlled to start and stop.
24. A dispensing apparatus for a method of efficient dispensing of discrete articles as recited in claim 19, wherein: the output end of the conveyor is provided with a partition plate, the partition plate divides the output end of the conveyor into a plurality of independent and mutually noninterfere conveying channels, each starting and stopping period of the conveyor is carried out, and each channel outputs an article pile.
25. A dispensing apparatus for a method of efficient dispensing of discrete articles as recited in claim 24, wherein: the distance between the separation plates is different, namely the width of the plurality of conveying channels is different.
26. A dispensing apparatus for a method of efficient dispensing of discrete articles as recited in claim 20, wherein: the container conveying line is used for continuously conveying containers to the output end of the collector, and the outlet of the collecting channel is provided with a diversion swing gate for diverting two continuous released article pile combinations to two different containers.
27. A dispensing apparatus for a method of efficient dispensing of discrete articles as recited in claim 19, wherein: the conveying surface of the conveyor is provided with a plurality of channels parallel to the conveying direction.
28. A dispensing apparatus for a method of efficient dispensing of discrete articles as recited in claim 27, wherein: the cross section of the channel is V-shaped.
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| CN201910325651.0A CN110239798B (en) | 2019-04-22 | 2019-04-22 | Efficient distribution method and distribution device for discrete articles |
| CN202410869007.0A CN118683814A (en) | 2019-04-22 | 2019-04-22 | Efficient distribution method and distribution device for discrete articles |
| PCT/CN2019/089907 WO2020215449A1 (en) | 2019-04-22 | 2019-06-04 | Method and device for efficiently dispensing discrete articles |
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| CN113353369A (en) * | 2021-06-29 | 2021-09-07 | 合肥智皖电子科技有限公司 | Intelligent combined type grain counting machine and grain counting method |
| CN115180249B (en) * | 2022-07-27 | 2024-04-26 | 达尔嘉(广州)标识设备有限公司 | Grain counting machine |
| CN115367168A (en) * | 2022-09-21 | 2022-11-22 | 安徽山里仁智能装备有限公司 | Filling and weight supplementing method |
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| CN103895884A (en) * | 2014-03-21 | 2014-07-02 | 达尔嘉(广州)标识设备有限公司 | Method and device for quantitatively dividing goods into piles and counting goods |
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| EP0623512A3 (en) * | 1993-05-03 | 1994-12-14 | Hayssen Manufacturing Company | Methods of and apparatus for stacking articles |
| US6659304B2 (en) * | 2001-05-31 | 2003-12-09 | Kirby-Lester, Inc. | Cassettes for systems which feed, count and dispense discrete objects |
| GB2486939B (en) * | 2011-12-01 | 2012-11-21 | Data Detection Technologies Ltd | Method and apparatus for dispensing items |
| CN203854866U (en) * | 2014-03-21 | 2014-10-01 | 达尔嘉(广州)标识设备有限公司 | Quantitative piling and counting device for articles |
| CN104554934B (en) * | 2014-12-26 | 2017-09-29 | 达尔嘉(广州)标识设备有限公司 | Independent control passage exports the method and device for quantitatively dividing heap and counting of article |
| CN204642304U (en) * | 2014-12-26 | 2015-09-16 | 达尔嘉(广州)标识设备有限公司 | A kind of independent control channel exports quantitatively point heap and the counting assembly of article |
| CN205770480U (en) * | 2016-02-05 | 2016-12-07 | 达尔嘉(广州)标识设备有限公司 | A kind of quantitative distributing device of discrete type article |
| WO2017132989A1 (en) * | 2016-02-05 | 2017-08-10 | 达尔嘉(广州)标识设备有限公司 | Discrete article allocation method, quantitative allocation method, and allocation device thereof |
| CN106794913B (en) * | 2016-02-05 | 2019-09-20 | 达尔嘉(广州)标识设备有限公司 | The distribution method of discrete type article, distribution method of making up the difference and distributor |
| CN109353620A (en) * | 2018-11-30 | 2019-02-19 | 西安慧博习兆信息技术有限公司 | Business management place rubbish decontamination preprocess method and system |
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