CN111439565B - Goods conveying steering control method and device and steering conveying line - Google Patents
Goods conveying steering control method and device and steering conveying line Download PDFInfo
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- CN111439565B CN111439565B CN202010255453.4A CN202010255453A CN111439565B CN 111439565 B CN111439565 B CN 111439565B CN 202010255453 A CN202010255453 A CN 202010255453A CN 111439565 B CN111439565 B CN 111439565B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
Abstract
The invention provides a goods conveying steering control method, a goods conveying steering control device and a steering conveying line, and relates to the technical field of logistics conveying. The goods conveying steering control method is applied to a steering conveying line, the steering conveying line comprises an image acquisition device, a controller, a first transmission device and a second transmission device which are parallel and parallel to each other, the first transmission device and the second transmission device are used for jointly transmitting goods, the image acquisition device is electrically connected with the controller and can be used for acquiring real-time image information of the goods and sending the real-time image information to the controller, and the controller can control the first transmission device and the second transmission device to operate according to the real-time image information. The goods conveying steering control method comprises the following steps: real-time image information is received. And controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time image information so as to adjust the placing posture of the goods. The goods conveying steering control method, the goods conveying steering control device and the steering conveying line can improve steering precision and conveying efficiency and are good in universality.
Description
Technical Field
The invention relates to the technical field of logistics conveying, in particular to a goods conveying steering control method and device and a steering conveying line.
Background
In an automatic production line and a logistics line, a cargo often needs to be turned. For example, in the loading process of automatic loading equipment, partial cargos need to be selectively turned and conveyed so as to stack different fancy cargo stacks and improve the transportation stability. The challenge is how to make the steering effect of the cargo steering mechanism better, the efficiency higher and the universality better.
Disclosure of Invention
The object of the present invention includes, for example, providing a cargo conveyance steering control method which can improve steering accuracy, improve conveyance efficiency, and have good versatility.
The invention also aims to provide a goods conveying steering control device which can improve steering precision and conveying efficiency and has good universality.
The invention also aims to provide the steering conveying line, which can improve steering precision and conveying efficiency and has good universality.
Embodiments of the invention may be implemented as follows:
the embodiment of the invention provides a goods conveying steering control method, which is applied to a steering conveying line, wherein the steering conveying line comprises an image acquisition device, a controller, a first transmission device and a second transmission device which are arranged in parallel and are parallel to each other, the first transmission device and the second transmission device can be used for jointly transmitting goods, the image acquisition device is electrically connected with the controller and can be used for acquiring real-time image information of the goods and sending the real-time image information to the controller, and the controller can control the first transmission device and the second transmission device to operate according to the real-time image information.
The cargo conveying steering control method comprises the following steps:
and receiving the real-time image information.
And controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time image information so as to adjust the placement posture of the goods.
The invention provides a goods conveying steering control method, which can detect real-time image information of goods on a first conveying device and a second conveying device through an image detection device, and a controller can control transmission parameters of the first conveying device and transmission parameters of the second conveying device according to the real-time image information, so that the purpose of accurately adjusting the placing postures of the goods on the first conveying device and the second conveying device is achieved. And the steering precision of the goods can be improved by controlling the first transmission device and the second transmission device according to the real-time image information, so that the steering effect of the goods is improved. After realizing goods attitude adjustment, can carry out the pile up with the goods high-efficiently, and can put up the pile up with the posture of placing of difference with a plurality of goods according to actual conditions. By the cargo conveying steering control method, cargo steering efficiency can be improved, and cargo conveying efficiency and stacking efficiency are improved. In addition, the goods conveying steering control method can be suitable for various goods with different shapes, and the universality of the steering conveying line is improved.
Optionally, the real-time image information includes a real-time angle value of the cargo.
The step of controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time image information to adjust the placement posture of the cargo comprises the following steps:
and controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time angle value and the first preset angle value so as to adjust the placing posture of the goods.
Optionally, the step of controlling the transmission parameter of the first transmission device and the transmission parameter of the second transmission device according to the real-time angle value and the first preset angle value to adjust the placement posture of the cargo includes:
and judging whether the real-time angle value is matched with the first preset angle value.
And if so, controlling the first transmission device and the second transmission device to operate with the same transmission parameters.
If not, controlling the first transmission device and the second transmission device to operate with different transmission parameters according to the real-time angle value and the first preset angle value.
Optionally, the step of determining whether the real-time angle value matches the first preset angle value includes:
and calculating the difference value between the real-time angle value and the first preset angle value to obtain a first difference value.
And judging whether the absolute value of the first difference is smaller than or equal to a preset difference.
And if so, matching the real-time angle value with the first preset angle value.
If not, the real-time angle value is not matched with the first preset angle value.
Optionally, the step of controlling the first transmission device and the second transmission device to operate with different transmission parameters according to the real-time angle value and the first preset angle value includes:
and calculating the real-time angle value minus the first preset angle value to obtain a second difference value.
And controlling the first transmission device and the second transmission device to operate with different transmission parameters according to the second difference value and a second preset angle value.
Optionally, the transmission parameters include a transmission speed value and a transmission direction value, and the step of controlling the first transmission device and the second transmission device to operate with different transmission parameters according to the second difference value and the second preset angle value includes:
and judging whether the absolute value of the second difference value is greater than or equal to the second preset angle value.
And if so, controlling the first transmission device to operate at a transmission direction value different from that of the second transmission device.
If not, controlling the first transmission device and the second transmission device to operate at the same transmission direction value and different transmission speed values according to the second difference value.
Optionally, the step of controlling the first transmission device and the second transmission device to operate at the same transmission direction value and different transmission speed values according to the second difference value includes:
and judging whether the second difference value is larger than zero.
And if so, controlling the transmission speed value of the first transmission device to be larger than the transmission speed value of the second transmission device.
If not, controlling the transmission speed value of the second transmission device to be larger than the transmission speed value of the first transmission device.
Further, the goods conveying steering control method provided by the invention can also control the first conveying device and the second conveying device to steer the goods in different modes according to the placing angle of the placing posture of the goods, for example, when the offset of the placing posture of the goods relative to the target placing state is small, the differential conveying of the goods by the first conveying device and the second conveying device can be realized under the conditions that the conveying direction values of the first conveying device and the second conveying device are the same and the conveying speed values are different, and at the moment, the goods can be conveyed while being adjusted, so that the conveying efficiency can be improved. When the goods placing posture is larger than the offset of the target placing state, the transmission directions of the first transmission device and the second transmission device are opposite in a mode that the transmission direction values of the first transmission device and the second transmission device are different, so that the goods placing posture is adjusted quickly, and the purpose of improving the steering efficiency is achieved.
Optionally, the steering conveying line further comprises a photoelectric detection device, the photoelectric detection device is arranged close to the first conveying device, and the photoelectric detection device is used for sending a confirmation signal when detecting that the goods are conveyed to the first conveying device and the second conveying device.
Before the step of receiving the real-time image information, the cargo conveyance steering control method further includes:
and judging whether the confirmation signal is received or not.
And if so, executing the step of receiving the real-time image information.
The utility model provides a goods transport steering control device, is applied to and turns to the transfer chain, turn to the transfer chain and include image acquisition device, controller and parallel arrangement and first transmission device and the second transmission device that is parallel to each other, first transmission device with second transmission device can be used for jointly transmitting the goods, image acquisition device with the controller electricity is connected, and can be used for gathering the real-time image information of goods sends for the controller, the controller can be according to real-time image information control first transmission device with the operation of second transmission device.
The cargo conveying steering control device includes:
and the receiving module is used for receiving the real-time image information.
And the control module is used for controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time image information so as to adjust the placing posture of the goods.
The utility model provides a turn to transfer chain, turn to the transfer chain and include image acquisition device, controller and parallel arrangement and first transmission device and the second transmission device that is parallel to each other, first transmission device with the second transmission device can be used for jointly transmitting the goods, image acquisition device with the controller electricity is connected, and can be used for gathering the real-time image information of goods sends for the controller, foretell goods transport turns to control method can be carried out to the controller.
The invention also provides a goods conveying steering control device and a steering conveying line, and the beneficial effects of the goods conveying steering control device and the steering conveying line relative to the prior art are the same as the beneficial effects of the goods conveying steering control method relative to the prior art, and are not repeated herein.
Alternatively, a truck loading system employs the above-described steer delivery line.
Compared with the prior art, the beneficial effects of the loading system are the same as those of the steering conveying line provided above, and are not repeated herein.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a transfer line provided in an embodiment of the present application;
FIG. 2 is a schematic structural view of a first state of a divert transport line provided in an embodiment of the present application;
FIG. 3 is a schematic structural view of a second state of the divert transport line provided in the embodiments of the present application;
FIG. 4 is a schematic structural view of a third state of the steering conveyor line provided in the embodiment of the present application;
FIG. 5 is a schematic structural view of a fourth state of the steering conveyor line provided in the embodiment of the present application;
fig. 6 is a flowchart of a cargo conveyance steering control method provided in an embodiment of the present application;
fig. 7 is a detailed flowchart of a cargo conveying steering control method provided in an embodiment of the present application;
fig. 8 is a flowchart of step S21 in the cargo conveying direction-changing control method provided in the embodiment of the present application;
fig. 9 is a flowchart of step S211 in the cargo conveying steering control method provided in the embodiment of the present application;
fig. 10 is a flowchart of step S213 in the cargo conveying direction-changing control method provided in the embodiment of the present application;
fig. 11 is a flowchart of step S2132 in the cargo conveying steering control method provided in the embodiment of the present application;
fig. 12 is a flowchart of step S21323 in the cargo conveying steering control method provided in the embodiment of the present application;
fig. 13 is a functional block schematic diagram of a cargo conveying steering control device provided in an embodiment of the present application.
Icon: 10-a steering conveying line; 110-a first transmission device; 120-a second transmission device; 200-an image acquisition device; 300-a photodetection device; 91-a receiving module; 92-control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The embodiment provides a conveying mechanism, which is used for conveying goods so as to convey the goods to a specified place. The transmission mechanism can be applied to a loading system or other logistics conveying systems to convey goods.
Referring to fig. 1, the conveying mechanism may include a main conveying line (not shown) and a transfer line 10, wherein the main conveying line is connected to the transfer line 10, and the main conveying line is used for conveying goods and can convey the goods to the transfer line 10; after receiving the goods transmitted by the main conveying line, the steering conveying line 10 can adjust the placing posture of the goods and can also convey the goods. This turn to transfer chain 10 can realize improving and turn to the precision, improves the purpose of conveying efficiency, and this commonality that turns to transfer chain 10 is good.
In this embodiment, the goods are steered by the steering conveyor line 10 in such a manner that the goods are rotated by using the placing plane of the goods as a rotating plane, so as to adjust the placing posture of the goods, and further achieve the purpose of steering.
Optionally, the steer line 10 includes an image capture device 200, a controller, and a first conveyor 110 and a second conveyor 120 disposed in parallel and parallel to each other. Wherein the first transfer device 110 and the second transfer device 120 are used for jointly transferring goods. It should be noted that, the first conveying device 110 and the second conveying device 120 jointly convey the goods refers to that when the goods are conveyed to the first conveying device 110 and the second conveying device 120, a part of the goods is positioned on the first conveying device 110, and another part of the goods is positioned on the second conveying device 120, and at this time, the goods can be conveyed and/or the placement posture of the goods can be adjusted through the conveying action of the first conveying device 110 and the second conveying device 120. Where "and/or" refers to that the first and second conveyors 110, 120 may be used to convey only goods; alternatively, the first and second transferring devices 110 and 120 may be used to divert only the goods; alternatively, the first and second conveyors 110 and 120 may convey the goods while the goods are being diverted.
The image capturing device 200 is configured to capture real-time image information of the cargo, and it should be noted that, in this embodiment, the image information captured by the image capturing device 200 is real-time image information of the cargo conveyed to the first conveying device 110 and the second conveying device 120, and the real-time image information may include position information, placement posture information, or a real-time angle value of the cargo on the first conveying device 110 and the second conveying device 120. Moreover, the image capturing device 200 is electrically connected to the controller, and the image capturing device 200 can send the detected real-time image information to the controller, and the controller is configured to receive the real-time image information. In addition, the controller is also used for controlling the transmission parameters of the first transmission device 110 and the transmission parameters of the second transmission device 120 according to the real-time image information, in other words, the controller can control the first transmission device 110 and the second transmission device 120 to operate according to the real-time image information, and is used for achieving the purpose of adjusting the postures of the cargos on the first transmission device 110 and the second transmission device 120. The goods on the first and second conveying devices 110 and 120 can be adjusted to proper postures through the above manner, so that the goods can be stacked. Wherein, this turn to transfer chain 10 can promote to turn to the precision, and improves conveying efficiency to this commonality that turns to transfer chain 10 is good.
In the present embodiment, the image capturing device 200 is an industrial camera, a three-dimensional camera, or other visual recognition device. In addition, the image collecting device 200 is disposed above the first transmission device 110 and the second transmission device 120, so as to collect real-time image information of the first transmission device 110 and the second transmission device 120, so as to ensure accuracy of the acquired real-time image information, and further enable the goods to be accurately placed and adjusted in posture.
In this embodiment, the first transfer device 110 and the second transfer device 120 are driven by independent driving devices. Further, the driving device driving the first conveying device 110 can realize forward conveying and reverse conveying of the first conveying device 110, and can also realize adjustment of the conveying speed of the first conveying device 110; similarly, the driving device for driving the second conveying device 120 can realize the forward conveying and the reverse conveying of the second conveying device 120, and can also realize the adjustment of the conveying speed of the second conveying device 120. It should be noted that, in the present embodiment, since the first transmission device 110 and the second transmission device 120 are disposed parallel to each other, even if there are the following situations in the transmission directions of the first transmission device 110 and the second transmission device 120: the first transmission device 110 transmits forwards, the second transmission device 120 transmits forwards, and the transmission directions of the first transmission device 110 and the second transmission device 120 are the same; or, the first transporting device 110 transports forward, and the second transporting device 120 transports backward, and the transporting directions of the first transporting device 110 and the second transporting device 120 are opposite; alternatively, the first transporting device 110 transports in a reverse direction and the second transporting device 120 transports in a forward direction, and the transporting directions of the first transporting device 110 and the second transporting device 120 are opposite. In addition, although the first conveying device 110 and the second conveying device 120 can realize the simultaneous reverse conveying, in order to convey the goods to the front end of the conveying mechanism, in this embodiment, the description of the case where both the first conveying device 110 and the second conveying device 120 are reversely conveyed is omitted. In addition, a gap may be provided between the first transmission device 110 and the second transmission device 120 to avoid the first transmission device 110 and the second transmission device 120 from affecting each other during the transmission, so as to ensure the stability of the transmission of the first transmission device 110 and the second transmission device 120. In this embodiment, the first transmission device 110 and the second transmission device 120 are both configured as a transmission belt, and it should be understood that in other embodiments, the first transmission device 110 may also employ a plurality of transmission rollers, and similarly, the second transmission device 120 may also employ a plurality of rollers.
Further, the controller is electrically connected to both the first transmission device 110 and the second transmission device 120, and the controller can control and adjust the transmission parameters of the first transmission device 110 and the transmission parameters of the second transmission device 120 according to the received real-time image information, so as to control the first transmission device 110 and the second transmission device 120 to realize the transportation and/or steering of the goods.
The controller may be an integrated circuit chip having signal processing capabilities. The controller may be a general-purpose processor, and may include a Central Processing Unit (CPU), a single chip Microcomputer (MCU), a Micro Controller Unit (MCU), a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an embedded ARM, and other chips, where the controller may implement or execute the methods, steps, and Logic blocks disclosed in the embodiments of the present invention.
In a possible implementation, the steering transmission line may further include a memory for storing program instructions executable by the controller, for example, the cargo conveying steering control device provided in the embodiment of the present application, where the cargo conveying steering control device provided in the embodiment of the present application includes at least one program that may be stored in the memory in the form of software or firmware. The Memory may be a stand-alone external Memory including, but not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Read-Only Memory (EPROM), electrically Erasable Read-Only Memory (EEPROM). The memory may also be integrated with the controller, for example, the memory may be integrated with the controller on the same chip.
Optionally, the transfer line 10 may further include a photoelectric detection device 300, the photoelectric detection device 300 is disposed near the first transfer device 110, and the photoelectric detection device 300 is configured to detect that the goods are transferred to the first transfer device 110 and the second transfer device 120 and send out the confirmation signal. In addition, the photo detection device 300 is electrically connected to the controller and is configured to send the generated confirmation signal to the controller, and the controller is configured to receive the confirmation signal. Of course, the photo detection device 300 may be disposed near the second transmission device 120.
Based on the steering conveying line 10 provided above, the embodiment of the application further provides a goods conveying steering control method, so as to achieve the purposes of improving the steering effect and improving the conveying efficiency, and the steering conveying line 10 has good universality. Referring to fig. 6, the cargo conveying steering control method includes:
and step S10, receiving the real-time image information.
The real-time image information in step S10 is generated by acquiring images of the goods on the first transportation device 110 and the second transportation device 120 for the image acquisition device 200, and the image acquisition device 200 is further configured to send the real-time image information to the controller. And the controller can receive the real-time image information.
Optionally, the real-time image information may include a real-time angle value. Wherein the real-time angle value refers to a real-time angle when the goods are placed on the first and second transferring devices 110 and 120. The method for obtaining the real-time angle value of the cargo belongs to the conventional operation in the processing method on the basis of obtaining the real-time image information of the cargo, for example, the three-dimensional data of a three-dimensional camera is used for obtaining the image information of the upper surface of the current cargo, and then the method for obtaining the main shaft direction angle of the current cargo by using the central moment is used for obtaining the main shaft direction of the image, namely, the purpose of obtaining the current angle of the cargo is achieved.
Of course, in other embodiments, the controller can also accept other real-time image information, for example, the controller can also accept real-time placement pose information, and the like.
Optionally, referring to fig. 7, before step S10, the cargo conveying steering control method may further include:
step S01, it is determined whether an acknowledgement signal is received.
The confirmation signal is generated and sent when the photoelectric detection device 300 detects that the goods are transferred to the first transfer device 110 and the second transfer device 120. The controller can receive the acknowledgement signal.
Step S05, if yes, go to step S10.
That is, when the controller receives the confirmation signal, it indicates that the goods have been transferred to the first and second transfer devices 110 and 120, and at this time, real-time image information of the goods may be captured by the image capturing device 200.
It should be noted that, if the determination result in the step S01 is negative, the image capturing apparatus 200 may not be operated at this time, so as to prevent the image capturing apparatus 200 from capturing image information without cargo, and save energy consumption.
Referring to step S20 in fig. 6, the transmission parameters of the first transmission device 110 and the transmission parameters of the second transmission device 120 are controlled according to the real-time image information to adjust the position of the cargo.
That is, the controller can control the first transmission device 110 and the second transmission device 120 to transmit and/or steer the goods according to the real-time image information, so as to adjust the goods placement posture, so as to adjust the goods to the designated placement posture. And then can be convenient for subsequent putting in good order of goods to improve and put in good order efficiency.
It should be noted that, no matter how the goods are placed on the first transmission device 110 and the second transmission device 120, the image capturing device 200 captures real-time image information of the goods, and the controller can adjust the postures of the goods according to the real-time image information, and can adjust the goods to different positions to different degrees, so as to adjust a plurality of goods with different positions to the designated positions. In addition, when different goods are targeted, the first transmission device 110 and the second transmission device 120 can be controlled adaptively through real-time image information. That is, the versatility of the transfer line 10 is improved.
Optionally, referring to fig. 7, in this embodiment, when the controller receives the real-time angle value, step S20 may include:
and step S21, controlling the transmission parameters of the first transmission device 110 and the transmission parameters of the second transmission device 120 according to the real-time angle value and the first preset angle value to adjust the placement posture of the cargo.
The controller can determine whether the goods are placed on the first and second transferring devices 110 and 120 in the designated placement posture according to the received real-time angle value. And then the transmission parameters of the first transmission device 110 and the transmission parameters of the second transmission device 120 can be controlled according to the real-time angle value, so that the first transmission device 110 and the second transmission device 120 are controlled to adjust the goods to the specified placing posture, and the goods are conveyed together.
Optionally, in this embodiment, the value of the first preset angle value is 5 °, and it should be understood that, in other embodiments, the value range of the first preset angle value may be 0 to 10 °, that is, the value of the first preset angle value may also be 1 °, 2 °, 3 °, 4 °, 6 °, or 7 °, and the like.
Further, referring to fig. 8, step S21 may include:
step S211, determining whether the real-time angle value matches the first preset angle value.
When the real-time angle value is matched with the first preset angle value, the placing posture of the goods is the appointed placing posture, the goods do not need to be adjusted at the moment, and then the goods are conveyed together through the first transmission device 110 and the second transmission device 120. When the real-time angle value is not matched with the first preset angle value, it is indicated that the placement posture of the goods has a deviation from the designated placement posture, and at this time, the goods can be subjected to steering control through the first transmission device 110 and the second transmission device 120, so that the placement posture of the goods is adjusted to the designated placement posture.
Alternatively, referring to fig. 9, step S211 may include:
step S2111, calculating a difference value between the real-time angle value and a first preset angle value to obtain a first difference value.
The controller can subtract the first preset angle value from the real-time angle value to calculate a first difference value.
Step S2112, determining whether the absolute value of the first difference is less than or equal to a preset difference.
And step S2113, if so, matching the real-time angle value with a first preset angle value.
That is, when the difference between the real-time angle value and the first preset angle value is not large, it is indicated that the offset of the placement posture of the cargo relative to the specified placement posture is small, and at this time, the placement posture of the cargo can be considered as the specified placement posture.
Step S2114, if not, the real-time angle value is not matched with the first preset angle value.
That is, when the difference between the real-time angle value and the first preset angle value is large, it indicates that the placement attitude of the goods is large in offset relative to the specified placement attitude, and the real-time angle value is not matched with the first preset angle value and needs to be adjusted.
Referring to fig. 8, after step S211, the cargo conveying direction-changing control method includes:
step S212, if yes, the first transmission device 110 and the second transmission device 120 are controlled to operate with the same transmission parameters.
That is, if the determination result in step S211 is yes, the cargo does not need to be adjusted in the placement posture at this time, and the cargo is only transported by the first transport device 110 and the second transport device 120. At this time, as shown in fig. 2, arrows extending along a straight line in fig. 2 indicate a conveying direction of the first conveying device 110 and a conveying direction of the second conveying device 120, and the controller controls the conveying parameters of the first conveying device 110 and the second conveying device 120 to be the same so as to convey the goods. It should be noted that, the transmission parameters include a transmission speed and a transmission direction, and the same transmission parameters refer to that the transmission direction and the transmission speed of the first transmission device 110 and the second transmission device 120 are the same, so that the first transmission device 110 and the second transmission device 120 transport the goods while not turning the goods.
Step S213, if not, controlling the first transmission device 110 and the second transmission device 120 to operate with different transmission parameters.
That is, if the determination result in step S211 is no, the placement posture of the cargo has a large offset from the designated placement posture, and the cargo needs to be steered. At this time, the controller controls the first transfer device 110 and the second transfer device 120 to operate at different transfer parameters to achieve the steering of the goods. The different transmission parameters of the first transmission device 110 and the second transmission device 120 may be set as follows: as shown in fig. 4 and 5, arrows extending in a straight line in fig. 4 and 5 indicate a conveying direction of the first conveyor 110 and a conveying direction of the second conveyor 120, and the length of the arrow extending in a straight line indicates the magnitude of the speed, and the longer the arrow extending in a straight line, the higher the speed. The first conveying device 110 and the second conveying device 120 have different conveying speeds and the same conveying direction, and at the moment, a differential speed is formed between the first conveying device 110 and the second conveying device 120, so that the goods are conveyed on the first conveying device 110 and the second conveying device 120 at different speeds, and the purpose of turning the goods can be achieved; or, as shown in fig. 3, the arrows extending along the straight line in fig. 3 indicate the conveying direction of the first conveying device 110 and the conveying direction of the second conveying device 120, the conveying speeds of the first conveying device 110 and the second conveying device 120 are the same, and the conveying directions are opposite, and at this time, since the conveying directions of the goods on the first conveying device 110 and the second conveying device 120 are opposite, the goods can be turned; similarly, when the conveying speeds of the first conveying device 110 and the second conveying device 120 are different and the conveying directions are opposite, the goods can be turned at the same time.
Further, referring to fig. 10, step S213 may include:
step S2131, calculating a real-time angle value minus the first preset angle value to obtain a second difference value.
It should be noted that, at this time, the real-time angle value is not matched with the first preset angle value, and a second difference value is obtained by subtracting the first preset angle value from the real-time angle value, so that the offset of the goods can be reflected according to the second difference value.
Step S2132, controlling the first transmission device 110 and the second transmission device 120 to operate according to the second difference and the second preset angle value, and the different transmission parameters.
The offset of the goods is judged according to the second difference, and the first transmission device 110 and the second transmission device 120 are controlled according to the offset, so that the goods can be adjusted to the specified placing posture quickly.
In this embodiment, the value of the second preset angle value is 45 °, and it should be understood that in other embodiments, the value of the second preset angle value may range from 30 ° to 60 °, that is, the value of the second preset angle value may also be 35 °, 40 °, 50 °, or 55 °, and so on.
Further, in this embodiment, the transmission parameters may include a transmission direction value and a transmission speed value, wherein when the transmission direction values are the same, the first transmission device 110 and the second transmission device 120 transmit the goods in the same transmission direction; when the conveying direction values are different, the first conveying device 110 and the second conveying device 120 steer the goods in opposite conveying directions. Referring to fig. 11, step S2132 may include:
step S21321, determining whether the absolute value of the second difference is greater than or equal to a second preset angle value.
In step S21322, if yes, the first transmission device 110 is controlled to operate at a transmission direction value different from that of the second transmission device 120.
The transmission direction value of the first transmission device 110 is opposite to the transmission direction value of the second transmission device 120, that is, the transmission direction of the first transmission device 110 is different from the transmission direction of the second transmission device 120, that is, in the present embodiment, when the first transmission device 110 is transmitting in the forward direction, the second transmission device 120 is transmitting in the reverse direction; alternatively, when the first transfer device 110 is transferred in the reverse direction, the second transfer device 120 is transferred in the forward direction.
It should be noted that, when the absolute value of the second difference is greater than the second preset angle value, it indicates that the cargo has a larger deflection angle, and at this time, the offset of the cargo needs to be rapidly adjusted in the opposite transmission directions by the first transmission device 110 and the second transmission device 120, so as to rapidly adjust the cargo to the specified placement posture.
Step S21323, if not, controlling the first transmission device 110 and the second transmission device 120 to operate with the same transmission direction value and different transmission speed values.
When the absolute value of the second difference is smaller than the second preset angle value, indicating that the cargo deflection angle is smaller, the first transmission device 110 and the second transmission device 120 are controlled to operate at different transmission speed values, so that a differential speed exists between the first transmission device 110 and the second transmission device 120, and the cargo can be steered. Since the deflection angle of the cargo is small, the cargo can be quickly adjusted to a designated placement position by the differential motion between the first transmission device 110 and the second transmission device 120, and the cargo can be conveyed while being steered by the first transmission device 110 and the second transmission device 120 by using the same transmission direction value by the first transmission device 110 and the second transmission device 120. And then when guaranteeing goods quick adjustment and placing the gesture, can improve the conveying efficiency of goods.
It should be noted that, in some embodiments, the controller may further control the magnitude of the differential speed between the first transmission device 110 and the second transmission device 120 according to the magnitude of the second difference, for example, when the second difference is larger, the difference between the transmission speed value of the first transmission device 110 and the transmission speed value of the second transmission device 120 may be controlled to be larger, so as to quickly adjust the placement posture of the cargo. When the second difference is smaller, the difference between the transmission speed value of the first transmission device 110 and the transmission speed value of the second transmission device 120 can be controlled to be smaller, so that the situation that the goods are oversteered can be avoided while the goods are quickly adjusted to the appointed placing posture, and the turning speed is improved, and the turning stability is ensured.
It should be understood that in some embodiments, in step S2132, only one adjustment may be used, for example, only the first transmission device 110 and the second transmission device 120 are used to control the cargo turning with different transmission direction values; alternatively, only the first and second conveyors 110 and 120 are used to control the cargo steering with the same conveying direction value and different conveying speed values.
In some embodiments, the real-time angle values obtained are different due to the different directions in which the current placement attitude of the cargo is deflected relative to the designated placement attitude. In this embodiment, the deflection amount of the current cargo placement posture relative to the designated placement posture is a counterclockwise deflection, so that the real-time angle value is increased relative to the first preset angle value, and the second difference value is a positive value. Similarly, when the goods are placed in the downward posture, the deflection amount of the goods relative to the specified posture is clockwise deflection, so that the real-time angle value is reduced relative to the first preset angle value, and the second difference value is a negative value.
Optionally, referring to fig. 12, step S21323 may further include:
step S21324, determine whether the second difference is greater than zero.
That is, whether the deflection direction of the goods is judged through whether the second difference value is larger than zero or not so as to control the steering of the goods according to the deflection direction of the goods, and the steering efficiency of the goods can be improved.
In step S21325, if yes, the transmission speed value of the first transmission device 110 is controlled to be greater than the transmission speed value of the second transmission device 120.
That is, when the second difference is greater than zero, it indicates that the real-time angle value is greater than the first preset angle value, that is, it indicates that the deflection amount of the cargo deflects counterclockwise, and at this time, by controlling the transmission speed value of the first transmission device 110 to be greater than the transmission speed value of the second transmission device 120, the cargo is rotated clockwise by the first transmission device 110 with a faster speed, as shown in fig. 4, an arrow extending along a curve in fig. 4 indicates a rotation direction of the cargo under the driving action of the first transmission device 110 and the second transmission device 120. And then can be fast with the placing posture adjustment of goods to appointed placing posture.
Step S21326, if not, controlling the transmission speed value of the second transmission device 120 to be greater than the transmission speed value of the first transmission device 110.
That is, at this time, the second difference is smaller than zero, which indicates that the real-time angle value is smaller than the first preset angle value, that is, indicates that the deflection amount of the cargo deflects clockwise, and at this time, the transmission speed value of the second transmission device 120 can be controlled to be larger than the transmission speed value of the first transmission device 110, so that the second transmission device 120 with a higher speed realizes that the cargo rotates counterclockwise, as shown in fig. 5, the arrow extending along the curve in fig. 5 indicates the rotation direction of the cargo under the driving action of the first transmission device 110 and the second transmission device 120, and further, the placement posture of the cargo can be quickly adjusted to the designated placement posture.
It should be understood that, in other embodiments, the settings of step S21325 and step S21326 may be eliminated.
In order to execute the cargo conveying steering control method, please refer to fig. 13, and fig. 13 is a schematic diagram illustrating functional modules of a cargo conveying steering control device provided in an embodiment of the present application. The goods conveying steering control device is applied to the steering conveying line 10, and the goods conveying steering control device provided by the embodiment of the application is used for executing the goods conveying steering control method. It should be noted that the basic principle and the generated technical effects of the cargo conveying steering control device provided by the present embodiment are substantially the same as those of the above embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and reference may be made to the corresponding contents in the above embodiments.
This goods transport steering control device includes: a receiving module 91 and a control module 92.
The receiving module 91 is configured to receive real-time image information.
Optionally, the receiving module 91 may be specifically configured to execute step S10 in each of the above-mentioned figures, so as to achieve a corresponding technical effect.
The control module 92 is configured to control the transmission parameters of the first transmission device 110 and the second transmission device 120 according to the real-time image information to adjust the placement posture of the cargo.
Optionally, the control module 92 may be specifically configured to execute step S20 in each of the above-mentioned figures, so as to achieve a corresponding technical effect.
In summary, the steering conveying line 10, the goods conveying steering control method and the goods conveying steering control device provided in this embodiment can detect real-time image information of goods on the first conveying device 110 and the second conveying device 120 through the image detection device, and the controller can control the transmission parameters of the first conveying device 110 and the transmission parameters of the second conveying device 120 according to the real-time image information, so as to achieve the purpose of accurately adjusting the placing postures of the goods on the first conveying device 110 and the second conveying device 120. And the steering accuracy of the goods can be improved by controlling the first and second transmission devices 110 and 120 according to the real-time image information, thereby improving the steering effect of the goods. After realizing goods attitude adjustment, can carry out the pile up with the goods high-efficiently, and can put up the pile up with the posture of placing of difference with a plurality of goods according to actual conditions. By the cargo conveying steering control method, cargo steering efficiency can be improved, and cargo conveying efficiency and stacking efficiency are improved. In addition, the goods conveying steering control method can be suitable for various goods with different shapes, namely the universality of the steering conveying line 10 is improved. When the deflection angle of the goods is large, the first transmission device 110 and the second transmission device 120 are controlled to realize the steering of the goods in opposite transmission directions, so that the steering efficiency of the goods can be improved; in addition, when the deflection angle of the goods is small, the first conveying device 110 and the second conveying device 120 are controlled to operate at different conveying speed values, so that the first conveying device 110 and the second conveying device 120 can realize the turning of the goods in a differential mode, meanwhile, the goods can be conveyed while being turned through the same conveying direction value of the first conveying device 110 and the second conveying device 120, and further, the conveying efficiency of the goods can be improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods 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 addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules 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.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A goods conveying steering control method is applied to a steering conveying line and is characterized in that the steering conveying line comprises an image acquisition device, a controller, a first transmission device and a second transmission device which are arranged in parallel and are parallel to each other, the first transmission device and the second transmission device can be used for jointly transmitting goods, the image acquisition device is electrically connected with the controller and can be used for acquiring real-time image information of the goods and sending the real-time image information to the controller, and the controller can control the first transmission device and the second transmission device to operate according to the real-time image information;
the cargo conveying steering control method comprises the following steps:
receiving the real-time image information;
controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time image information to adjust the placement posture of the goods;
the real-time image information includes a real-time angle value of the cargo;
the step of controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time image information to adjust the placement posture of the cargo comprises the following steps:
controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time angle value and a first preset angle value so as to adjust the placing posture of the goods;
the step of controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time angle value and the first preset angle value to adjust the placing posture of the goods comprises the following steps:
judging whether the real-time angle value is matched with the first preset angle value or not;
if so, controlling the first transmission device and the second transmission device to operate with the same transmission parameters;
if not, controlling the first transmission device and the second transmission device to operate according to different transmission parameters according to the real-time angle value and the first preset angle value;
the step of controlling the first transmission device and the second transmission device to operate with different transmission parameters according to the real-time angle value and the first preset angle value comprises the following steps:
calculating the real-time angle value minus the first preset angle value to obtain a second difference value;
controlling the first transmission device and the second transmission device to operate with different transmission parameters according to the second difference value and a second preset angle value;
the transmission parameters include a transmission speed value and a transmission direction value, and the step of controlling the first transmission device and the second transmission device to operate with different transmission parameters according to the second difference value and the second preset angle value includes:
judging whether the absolute value of the second difference value is greater than or equal to the second preset angle value;
if so, controlling the first transmission device to operate at a transmission direction value different from that of the second transmission device;
if not, controlling the first transmission device and the second transmission device to operate at the same transmission direction value and different transmission speed values according to the second difference value.
2. The cargo conveying steering control method according to claim 1, wherein the step of determining whether the real-time angle value matches the first preset angle value comprises:
calculating a difference value between the real-time angle value and the first preset angle value to obtain a first difference value;
judging whether the absolute value of the first difference is smaller than or equal to a preset difference;
if so, matching the real-time angle value with the first preset angle value;
if not, the real-time angle value is not matched with the first preset angle value.
3. The cargo conveying steering control method according to claim 1, wherein the step of controlling the first and second conveying devices to operate at the same conveying direction value and different conveying speed values according to the second difference value comprises:
judging whether the second difference value is larger than zero;
if so, controlling the transmission speed value of the first transmission device to be larger than the transmission speed value of the second transmission device;
if not, controlling the transmission speed value of the second transmission device to be larger than the transmission speed value of the first transmission device.
4. The cargo conveying steering control method according to claim 1, wherein the steering conveyor line further comprises a photoelectric detection device, the photoelectric detection device is arranged close to the first conveying device, and the photoelectric detection device is used for sending out a confirmation signal when the cargo is conveyed to the first conveying device and the second conveying device;
before the step of receiving the real-time image information, the cargo conveyance steering control method further includes:
judging whether the confirmation signal is received or not;
and if so, executing the step of receiving the real-time image information.
5. The goods conveying and steering control device is characterized by being applied to a steering conveying line, wherein the steering conveying line comprises an image acquisition device, a controller, a first transmission device and a second transmission device which are arranged in parallel and are parallel to each other, the first transmission device and the second transmission device can be used for jointly transmitting goods, the image acquisition device is electrically connected with the controller and can be used for acquiring real-time image information of the goods and sending the real-time image information to the controller, and the controller can control the first transmission device and the second transmission device to operate according to the real-time image information;
the cargo conveying steering control device includes:
the receiving module is used for receiving real-time image information, and the real-time image information comprises a real-time angle value of the goods;
the control module is used for controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time image information so as to adjust the placement posture of the goods; the control module is further used for controlling the transmission parameters of the first transmission device and the transmission parameters of the second transmission device according to the real-time angle value and the first preset angle value so as to adjust the placing posture of the goods;
the control module is further used for judging whether the real-time angle value is matched with the first preset angle value, controlling the first transmission device and the second transmission device to operate with the same transmission parameter if the real-time angle value is matched with the first preset angle value, and controlling the first transmission device and the second transmission device to operate with different transmission parameters according to the real-time angle value and the first preset angle value if the real-time angle value is not matched with the first preset angle value;
the control module is further configured to calculate a second difference value by subtracting the first preset angle value from the real-time angle value, and further configured to control the first transmission device and the second transmission device to operate with different transmission parameters according to the second difference value and the second preset angle value;
the control module is further configured to determine whether an absolute value of the second difference is greater than or equal to a second preset angle value, control the first transmission device to operate at a transmission direction value different from that of the second transmission device if the determination result is yes, and control the first transmission device and the second transmission device to operate at the same transmission direction value and at different transmission speed values according to the second difference if the determination result is not yes.
6. A steering conveying line is characterized by comprising an image acquisition device, a controller, a first transmission device and a second transmission device which are arranged in parallel and are parallel to each other, wherein the first transmission device and the second transmission device can be used for jointly transmitting cargos, the image acquisition device is electrically connected with the controller and can be used for acquiring real-time image information of the cargos and sending the real-time image information to the controller, and the controller can execute the cargo conveying steering control method as claimed in any one of claims 1 to 4.
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| CN115571596B (en) * | 2022-12-09 | 2023-05-19 | 昆明途恒科技有限公司 | Article steering mechanism |
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