CN111687058A - Multi-element thread servo method and system for logistics sorting - Google Patents
Multi-element thread servo method and system for logistics sorting Download PDFInfo
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- CN111687058A CN111687058A CN202010421222.6A CN202010421222A CN111687058A CN 111687058 A CN111687058 A CN 111687058A CN 202010421222 A CN202010421222 A CN 202010421222A CN 111687058 A CN111687058 A CN 111687058A
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Abstract
The application provides a many first threads servo method and system for commodity circulation letter sorting, applies to commodity circulation letter sorting technical field, and it is many linear type letter sorting logistics lines of control by main control terminal, has changed the distribution of annular letter sorting line in the past, effectual factory building space of utilizing, and the method includes: acquiring commodity information of commodities on a plurality of logistics lines; acquiring a commodity factor in the commodity information; determining an outlet position corresponding to the commodity according to the commodity factor; acquiring the commodity position of the commodity through a preset communication protocol and judging whether the commodity position reaches an exit position; if so, outputting the commodity from an outlet position; otherwise, the signal is transmitted to the next unit outlet.
Description
Technical Field
The application relates to the technical field of logistics sorting, in particular to a multi-element thread servo method and a multi-element thread servo system for logistics sorting.
Background
An Automatic sorting system (Automatic sorting system) is one of the necessary facilities conditions for advanced distribution centers. Has high sorting efficiency, and can be used for 6000 and 12000 boxes in general per hour; the automatic sorting machine is a key factor for improving the logistics distribution efficiency, but with the development of the e-commerce industry, more and more commodities need to be processed by the automatic sorting system, so that the commodities are crowded on a goods channel, and further some commodities cannot be output to corresponding outlets. The feeding port is arranged on a certain fixed point of the circular line, commodities are sequentially fed to each trolley, and the main circular line drives all the trolleys to move along the circular line. When the trolley carrying a certain commodity reaches the outlet of the commodity, the trolley sends out the commodity. The biggest problem is that the annular line is large in size and the utilization rate of a factory building is not high. A large number of small logistics stations cannot use circular lines and still use manual sorting.
Disclosure of Invention
The application aims to solve the technical problem that the utilization rate of the existing circular line factory building is not high, and provides a multi-element thread servo method and a multi-element thread servo system for logistics sorting.
The application adopts the following technical means for solving the technical problems:
the application provides a multivariate thread servo method for logistics sorting, wherein a main control terminal controls a plurality of linear sorting logistics lines, and the method comprises the following steps:
acquiring commodity information of commodities on a plurality of logistics lines;
acquiring a commodity factor in the commodity information;
determining an outlet position corresponding to the commodity according to the commodity factor;
acquiring the commodity position of the commodity through a preset communication protocol and judging whether the commodity position reaches an exit position;
if so, outputting the commodity from an outlet position; otherwise, the signal is transmitted to the next unit outlet.
Further, the communication protocol includes an address bit and a command bit, and the step of obtaining the commodity position of the commodity through a preset communication protocol includes:
the main control terminal outputs a control instruction and/or receives commodity information through loading a command bit of a communication protocol;
and determining the commodity position of the commodity according to commodity information by loading the address bit of the communication protocol.
Further, the communication protocol includes a check digit, and the step of acquiring the commodity position of the commodity and judging whether the commodity position reaches the exit position through a preset communication protocol includes:
the main control terminal determines the commodity position of the commodity on the logistics line from any one or more of the volume, the weight, the friction coefficient, the conveying speed and the conveying acceleration of the commodity by loading the check bits of the communication protocol;
and then, loading a check bit of a communication protocol to determine whether the commodity position on the logistics line reaches the exit position.
Further, the address bits include a broadcast mode and an address data list;
and the main control terminal outputs control instructions to all drivers on all logistics lines recorded on the address data list through a loading broadcast mode.
Further, the communication protocol includes a stop bit, and the step of outputting the commodity from the exit position if the commodity position reaches the exit position includes:
and the main control terminal loads the stop bit of the communication protocol, and when the main control terminal judges that the position of the commodity on the logistics line reaches the exit position, the commodity is output from the exit position.
This application still provides a many first thread servo system for commodity circulation letter sorting, by many linear type letter sorting logistics lines of master control terminal control, the system includes:
the commodity information acquisition unit is used for acquiring commodity information of commodities on a plurality of logistics lines;
the commodity factor determining unit is used for acquiring the commodity factors in the commodity information;
the outlet determining unit is used for determining an outlet position corresponding to the commodity according to the commodity factor;
the protocol unit is used for acquiring the commodity position of the commodity through a preset communication protocol and judging whether the commodity position reaches an exit position;
a processing unit for outputting the commodity from an exit location if yes; otherwise, the signal is transmitted to the next unit outlet.
Further, the communication protocol includes address bits and command bits, and the protocol unit includes:
the command bit subunit is used for outputting a control instruction and/or receiving commodity information by the main control terminal through a command bit loaded with a communication protocol;
and the address bit subunit is used for determining the commodity position of the commodity according to the commodity information by loading the address bit of the communication protocol.
Further, the communication protocol includes check bits, and the protocol unit includes:
the check bit subunit is used for determining the commodity position of the commodity on the logistics line from any one or more of the volume, the weight, the friction coefficient, the conveying speed and the conveying acceleration of the commodity by the main control terminal through loading the check bit of the communication protocol; and then, loading a check bit of a communication protocol to determine whether the commodity position on the logistics line reaches the exit position.
Further, the address bit subunit has a broadcast mode and an address data list;
the address bit subunit outputs a control instruction to all drivers on all physical lines recorded on the address data list through a load broadcast mode.
Further, the communication protocol includes a stop bit, and the processing unit includes:
and the stop position subunit is used for loading a stop position of a communication protocol by the main control terminal, and outputting the commodity from an exit position when the main control terminal judges that the position of the commodity on the logistics line reaches the exit position.
The application provides a multi-element thread servo method and a multi-element thread servo system for logistics sorting, which have the following beneficial effects:
the utility model provides a many first linear type letter sorting commodity circulation line is controlled by main control terminal to the multivariate thread servo system for commodity circulation letter sorting that this application provided, has changed the distribution of annular letter sorting line in the past, and effectual factory building space who utilizes includes through the method: acquiring commodity information of commodities on a plurality of logistics lines; acquiring a commodity factor in the commodity information; determining an outlet position corresponding to the commodity according to the commodity factor; acquiring the commodity position of the commodity through a preset communication protocol and judging whether the commodity position reaches an exit position; if so, outputting the commodity from an outlet position; otherwise, the signal is transmitted to the next unit outlet.
The current control method used on the circular line is as follows: and the host is connected with a plurality of trolleys through 485 buses. The host computer records the address of the trolley into which each commodity is put, compares whether the running position of the trolley reaches the outlet of the trolley, and sends a discharging instruction if the running position of the trolley reaches the outlet of the trolley. Within one circle of the operation of the circular line, each trolley can only execute 1-2 discharging instructions. The bus communication data volume is not large.
In order to solve the occupancy rate problem of the circular line factory, a multi-unit linear type sorting system consisting of a plurality of trolleys is used. The goods move in a straight line on each unit, which has two actions per unit, 1. reach the destination, and are transported to the outlet. 2. The unreached destination is passed to the next cell. All the units are uniformly sent out instructions by the main control terminal. The system has the greatest advantages of flexible configuration and more or less units. The line body is distributed in a straight line, the space utilization rate is high, the device is very suitable for being used by small and micro logistics stations, but the communication is required between the host and the units at each step of the operation of the commodities, the commodities flow through each unit, the data difference of the volume, the weight, the friction coefficient and the like of the commodities is large, different data (such as speed, acceleration, distance and the like) are pushed for different commodities, the communication data volume is increased again, the original communication protocol is not suitable for a new system any more, and therefore the device also provides a new communication protocol and solves the problem of large communication data volume.
Drawings
FIG. 1 is a schematic flow chart illustrating an embodiment of a multi-thread servo method for sorting logistics according to the present invention;
FIG. 2 is a schematic flow chart illustrating another embodiment of a multi-thread servo method for sorting logistics according to the present application;
fig. 3 is a block diagram illustrating an embodiment of a multi-thread servo system for logistics sorting according to the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.
It is noted that the terms "comprises," "comprising," and "having" and any variations thereof in the description and claims of this application and the drawings described above are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. In the claims, the description and the drawings of the specification of the present application, relational terms such as "first" and "second", and the like, may be used solely to distinguish one entity/action/object from another entity/action/object without necessarily requiring or implying any actual such relationship or order between such entities/actions/objects.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, a flow chart of a multi-thread servo method for logistics sorting according to an embodiment of the present application is shown;
a multi-thread servo method for logistics sorting is characterized in that a main control terminal controls a plurality of linear sorting logistics lines, and the method comprises the following steps:
s100, acquiring commodity information of commodities on a plurality of logistics lines;
s200, acquiring a commodity factor in the commodity information;
s300, determining the corresponding outlet position of the commodity according to the commodity factor;
s400, acquiring the commodity position of the commodity through a preset communication protocol and judging whether the commodity position reaches an exit position;
s500, if yes, outputting the commodity from an outlet position;
s600, if not, transmitting to the next unit outlet.
Specifically, according to the multi-thread servo method for logistics sorting, the master control terminal controls the plurality of linear sorting logistics lines in a 485 half-duplex communication mode, and specifically drives the plurality of linear sorting logistics lines through the direct-current brushless driver and the direct-current brushless motor (hereinafter referred to as the driver and/or the motor). 32 larger logistics line connection drivers are provided, 38400baud is used for the communication baud rate of the main control terminal, no parity check exists, 8 data bits and 1 stop bit are provided; referring to the following table 1, a communication command format of a communication protocol is loaded for the main control terminal of the present application, wherein an initial character is fixed to 0x 02;
TABLE 1
In one embodiment, the communication protocol includes address bits and command bits, and the step of obtaining the commodity position of the commodity through a preset communication protocol includes:
the main control terminal outputs a control instruction and/or receives commodity information through a command bit of a loading communication protocol;
and determining the commodity position of the commodity according to the commodity information by loading the address bit of the communication protocol.
Table 1 addresses as shown in table 2, there are two modes of address bits, the first mode, send 0x00, and 0x00 indicating a broadcast mode, i.e., all drives on the sort line can receive data. In the second mode, the address data contains the drive address, e.g., 0x00,0x 01 (indicating communication with drive number 01);
TABLE 2
As shown in Table 3, the inquiry command is an inquiry command when the inquiry command has a value of 0x 00-0 x7F, and is a parameter setting command when the inquiry command has a value of 0x 80-0 xff.
TABLE 3
Specifically, the method comprises the following steps:
when the command bit is transmitted 0x00 and the data segment bit is transmitted 0x00,0x00,0x00, it indicates the protocol version number of the inquiry drive, and when the drive responds, the 2 nd byte of the data bit is the major version number and the 3 rd byte is the minor version number. For example: 0x00,0x 01, 0x02 is Ver1.2;
when the command bit is sent with 0x01 and the data segment bit is sent with 0x00,0x00 and 0x00, the hardware version of the driver is inquired, and when the driver responds, the 2 nd byte of the data bit is the main version number and the 3 rd byte is the sub version number. For example: 0x00,0x 01, 0x02 is Ver1.2;
when the command bit is sent with 0x02 and the data segment bit is sent with 0x00,0x00 and 0x00, the software version of the driver is inquired, and when the driver responds, the 2 nd byte of the data bit is the major version number and the 3 rd byte is the minor version number. For example: 0x00,0x 01, 0x02 is Ver1.2;
when the command bit is transmitted 0x0F and the data segment bit is transmitted 0x00,0x00,0x00, it indicates that the drive production time is queried and the drive responds with the 2 nd byte of the data bit being XX year and the 3 rd byte being XX month. For example: 0x00,0x 0A, 0x07 for 7 months of 2010;
when the command bit is sent with 0x02 and the data segment bit is sent with 0x00,0x00 and 0x00, the software version of the driver is inquired, and when the driver responds, the 2 nd byte of the data bit is the major version number and the 3 rd byte is the minor version number. For example: 0x00,0x 01, 0x02 is Ver1.2;
as shown in table 4, the query driver software sets:
TABLE 4
When the command bit is sent to be 0x20, the data segment bit is sent to be 0x00,0x00 and 0x00, the highest rotating speed set by the inquiring driver is represented, and when the driver responds, the 2 nd byte and the 3 rd byte of the data bit jointly represent the rotating speed, and the value range is 0x 00-0 xBB8, namely 0-3000rpm (revolutions per minute). For example: 0x00,0x 03, 0x02 indicates that the highest rotational speed of the current drive setting is 770 rpm;
when the command bit is sent 0x21 and the data segment bit is sent 0x00,0x00,0x00, indicating the acceleration time set by the polling driver, the 2 nd byte and the 3 rd byte of the data bit collectively indicate the acceleration time, one unit every 0.01 second, when the driver responds. The value range is 0-0x1F4, namely the slowest acceleration time is 0.01 second multiplied by 500rpm to 5 seconds. For example: 0x00,0x00,0x 01 indicates an acceleration time of 5 seconds;
when the command bit is sent 0x22 and the data segment bit is sent 0x00,0x00,0x00, indicating the set deceleration time of the polling drive, the 2 nd byte and the 3 rd byte of the data bit together indicate the acceleration time, one unit per 0.01 second, when the drive responds. The value range is 0-0x1F4, namely the slowest acceleration time is 0.01 second multiplied by 500rpm to 5 seconds. For example: 0x00,0x00,0x 01 indicates an acceleration time of 5 seconds;
when the command bit is sent with 0x24, the data segment bit is sent with 0x00,0x00,0x00, it represents the running distance set by the inquiring driver, when the driver responds, the 2 nd byte and 3 rd byte of the data bit together represent the distance, each 1/6 circles is a unit, the value range is: 0-0x1770, i.e. the maximum number of turns: 1/6 times 6000 is 1000 turns. For example: 0x00,0x00,0x 01 indicates that the motor runs for 1/6 turns, namely 60 degrees;
when the command bit is sent 0x29 and the data segment bits are sent 0x00,0x00,0x00, it indicates the start torque set by the inquiring drive, and when the drive responds, the 3 rd byte of the data bit indicates the start torque. For example: 0x00,0x00,0x 20 indicates a motor starting torque of 20;
as shown in table 5, the current state of the drive and motor is queried:
TABLE 5
When the command bit is sent 0x40 and the data segment bit is sent 0x00,0x00,0x00, indicating inquiry of the drive supply voltage, the drive responds that the 2 nd and 3 rd bytes of the data bit collectively indicate the supply voltage. The value range is 0-0x 64, namely 0-100V. For example: 0x00,0x00,0x 18 indicates that the driver supply voltage is 24V;
when the command bit is sent with 0x41 and the data segment bit is sent with 0x00,0x00 and 0x00, the current rotating speed of the motor is inquired, and the driver responds, the 2 nd byte and the 3 rd byte of the data bit jointly represent the rotating speed of the motor. The value range is 0-0xBB8, namely 0-3000 rpm. For example: 0x00,0x 03, 0x02 indicates that the highest rotational speed of the current drive setting is 770 rpm;
when the command bit is sent 0x42, the data segment bit is sent 0x00,0x00,0x00, which indicates the current rotation direction of the motor is queried, and the driver responds, the 3 rd byte of the data bit indicates the motor direction. The value range is 0-0x 01, namely 0x00,0x00,0x00 represents CW (clockwise rotation), 0x00,0x00,0x 01 represents CCW (counterclockwise rotation). For example: 0x00,0x00,0x00 indicate the current clockwise rotation of the motor;
when the command bit is sent 0x4E and the data segment bit is sent 0x00,0x00,0x00, it indicates that the query driver is reporting an error and the driver responds that the 3 rd byte of the data bit is valid. 0xE 1: the driver voltage is too low; 0xE 2: overcurrent blocking; 0xE 3: blocking the regeneration overvoltage; 0xE 4: overload protection; 0xE 5: detecting the overspeed; 0xE 6: a sensor anomaly; 0xE 7: CPU exception; 0xE 8: the speed error is excessively large and abnormal. For example: 0x00,0x00, 0xE1 indicates that the driver voltage is too low;
as shown in table 6, driver and motor parameters were set;
TABLE 6
When the command bit sends 0x80, the maximum rotating speed of the motor is set, the 2 nd byte and the 3 rd byte of the data segment bit jointly represent the rotating speed, and the value range is as follows: 0-0xBB8, i.e., 0-3000 rpm. The initial value was 0xBB8(3000 rpm). When the driver is set to require driver acknowledge and the driver receives the setting normally, the data bits are returned to 0x00,0x00,0x 00. When the received information data is abnormal, the data bit returns to 0x00,0x 99 and 0x 99;
when the command bit is sent at 0x81, indicating that the acceleration time of the motor is set, the 2 nd byte and the 3 rd byte of the data segment bit together indicate the time, one unit every 0.01 second. The value range is 0-0x1F4, i.e. the slowest acceleration time is 0.01 seconds × 500rpm ═ 5 seconds, and the initial value is 0x000032(0.5 s). When the driver is set to require driver acknowledge and the driver receives the setting normally, the data bits are returned to 0x00,0x00,0x 00. When the received information data is abnormal, the data bit returns to 0x00,0x 99 and 0x 99;
when the command bit is sent at 0x82, indicating that the motor deceleration time is set, the 2 nd byte and the 3 rd byte of the data segment bit together indicate time, with one unit every 0.01 second. The value range is 0-0x1F4, i.e. the slowest acceleration time is 0.01 seconds × 500rpm ═ 5 seconds, and the initial value is 0x000032(0.5 s). When the driver is set to require driver acknowledge and the driver receives the setting normally, the data bits are returned to 0x00,0x00,0x 00. When the received information data is abnormal, the data bit returns to 0x00,0x 99 and 0x 99;
when the command bit is transmitted 0x83 indicating that the motor rotation direction is set, the data segment bits are transmitted 0x00,0x00,0x00 indicating CW (clockwise rotation), 0x00,0x00,0x 01 indicating CCW (counterclockwise rotation), and the initial value is 0x00 (CW). When the driver is set to require driver acknowledge and the driver receives the setting normally, the data bits are returned to 0x00,0x00,0x 00. When the received information data is abnormal, the data bit returns to 0x00,0x 99 and 0x 99;
when the command bit is sent to 0x84, the command bit indicates the set motor running circle number, the 2 nd byte and the 3 rd byte of the data segment bit together indicate the circle number (indicating the total number of turns from starting to stopping), every 1/6 turns are a unit, and the value range is: 0-0x001770, i.e. the maximum number of turns: 1/6 times 6000 is 1000 turns. The rotation speed is the maximum rotation speed. When the command is received, the current running state of the motor is not influenced.
When the command bit is sent 0x88, indicating that the motor pole pair number and soft address are set, the 1 st byte of the data segment bit is fixed to 0x00, the 2 nd byte indicates soft address, and the 3 rd byte indicates pole pair number. When the driver is set to require driver acknowledge and the driver receives the setting normally, the data bits are returned to 0x00,0x00,0x 00. When the received information data is abnormal, the data bit returns to 0x00,0x 99 and 0x 99;
when the command bit sends 0xcb, indicating that motor start torque is set, the data segment bit indicates start torque only at byte 3. For example: 0x00,0x00,0x 20 indicates a motor starting torque of 20;
when the command bit sends 0x90, indicating whether the set driver is responding, the data segment bit sends 0x00,0x00,0x00 no response with respect to the set command driver. 0x00,0x00, and 0x01 respond to the setup command driver, and the initial values are 0x00,0x00, and 0x01 (response). When the driver normally receives the setting, the driver returns to 0x00,0x00,0x00, and when there is an abnormality in the received information data, the driver returns to 0x00,0x 99, 0x 99.
When the command bit sends 0x90, indicating whether the set driver is responding, the data segment bit sends 0x00,0x00,0x00 no response with respect to the set command driver. 0x00,0x00, and 0x01 respond to the setup command driver, and the initial values are 0x00,0x00, and 0x01 (response). When the driver normally receives the setting, the driver returns to 0x00,0x00,0x00, and when there is an abnormality in the received information data, the driver returns to 0x00,0x 99, 0x 99.
As shown in table 7, the control motor and drive commands:
TABLE 7
When the command bit sends 0xA0, indicating that the number of turns of the motor clockwise is set, the 2 nd and 3 rd bytes of the data bit together indicate the number of turns (indicating the total number of turns from start to stop), and every 1/6 turns is a unit, and the value ranges from: 0-0x001770, i.e. the maximum number of turns: 1/6 circles multiplied by 6000 circles are 1000 circles, and the rotating speed is the maximum rotating speed. When receiving the command, if the motor does not stop in the rotation, the motor continues to rotate and starts counting, and the motor stops after the counting is finished. When the driver response is required and the driver normally receives the setting, the process returns to 0x00,0x00,0x00, and when the received information data is abnormal, the process returns to 0x00,0x 99, 0x 99.
When the command bit sends 0xA1, indicating the number of turns the motor is set to rotate counterclockwise, the 2 nd and 3 rd bytes of the data bit together indicate the number of turns (indicating the total number of turns from start to stop), and every 1/6 turns is a unit, and the value ranges from: 0-0x001770, i.e. the maximum number of turns: 1/6 circles multiplied by 6000 circles are 1000 circles, and the rotating speed is the maximum rotating speed. When receiving the command, if the motor does not stop in the rotation, the motor continues to rotate and starts counting, and the motor stops after the counting is finished. When the driver response is required and the driver normally receives the setting, the process returns to 0x00,0x00,0x00, and when the received information data is abnormal, the process returns to 0x00,0x 99, 0x 99.
When the command bit sends 0xA2, indicating that the motor start stop command is set, the data bits send 0x00,0x00,0x00 indicating start. The motor starts to rotate to the maximum speed according to the preset acceleration time and the rotation direction and continuously rotates; 0x00,0x00,0x 01 indicates stop. At this time, the motor starts to rotate to stop according to the preset deceleration time. When the driver response is required and the driver normally receives the setting, the process returns to 0x00,0x00,0x00, and when the received information data is abnormal, the process returns to 0x00,0x 99, 0x 99.
When the command bit sends 0xA3, the clockwise rated rotating speed of the motor is set, the 2 nd byte and the 3 rd byte of the data segment bit jointly represent the rotating speed, and the value range is as follows: 0-0xBB8, namely 0-3000rpm, the running distance is a fixed distance, when the command is received, if the motor is in the rotation, the motor does not stop, continues to rotate, starts counting, and stops after the command is completed. When the driver response is required and the driver normally receives the setting, the process returns to 0x00,0x00,0x00, and when the received information data is abnormal, the process returns to 0x00,0x 99, 0x 99.
When the command bit sends 0xA4, the motor anticlockwise rated rotating speed is set, the 2 nd byte and the 3 rd byte of the data segment bit jointly represent the rotating speed, and the value range is as follows: 0-0xBB8, namely 0-3000rpm, the running distance is a fixed distance, when the command is received, if the motor is in the rotation, the motor does not stop, continues to rotate, starts counting, and stops after the command is completed. When the driver response is required and the driver normally receives the setting, the process returns to 0x00,0x00,0x00, and when the received information data is abnormal, the process returns to 0x00,0x 99, 0x 99.
In one embodiment, the communication protocol includes a check bit, and the step of obtaining the commodity position of the commodity and determining whether the commodity position reaches the exit position through a preset communication protocol includes:
the main control terminal determines the commodity position of the commodity on the logistics line from any one or more of the volume, the weight, the friction coefficient, the conveying speed and the conveying acceleration of the commodity through loading the check bits of the communication protocol;
and then, the check bit of the communication protocol is loaded to determine whether the commodity position on the logistics line reaches the exit position.
In one embodiment, the address bits include a broadcast mode and an address data list;
the main control terminal outputs a control command to all drivers on all physical distribution lines recorded on the address data list through a load broadcast mode.
In one embodiment, the communication protocol includes a stop bit, and the step of outputting the item from the exit location if the item location reaches the exit location includes:
the main control terminal loads the stop bit of the communication protocol, and when the main control terminal judges that the position of the commodity on the logistics line reaches the exit position, the commodity is output from the exit position.
In summary, the utility model provides a many first type letter sorting thing streamline is controlled by main control terminal to the multivariate thread servo system for commodity circulation letter sorting that this application provided, has changed the distribution of annular letter sorting line in the past, and effectual factory building space of utilizing includes through the method: acquiring commodity information of commodities on a plurality of logistics lines; acquiring a commodity factor in the commodity information; determining an outlet position corresponding to the commodity according to the commodity factor; acquiring the commodity position of the commodity through a preset communication protocol and judging whether the commodity position reaches an exit position; if so, outputting the commodity from an outlet position; otherwise, the signal is transmitted to the next unit outlet.
The current control method used on the circular line is as follows: and the host is connected with a plurality of trolleys through 485 buses. The host computer records the address of the trolley into which each commodity is put, compares whether the running position of the trolley reaches the outlet of the trolley, and sends a discharging instruction if the running position of the trolley reaches the outlet of the trolley. Within one circle of the operation of the circular line, each trolley can only execute 1-2 discharging instructions. The bus communication data volume is not large.
In order to solve the occupancy rate problem of the circular line factory, a multi-unit linear type sorting system consisting of a plurality of trolleys is used. The goods move in a straight line on each unit, which has two actions per unit, 1. reach the destination, and are transported to the outlet. 2. The unreached destination is passed to the next cell. All the units are uniformly sent out instructions by the main control terminal. The system has the greatest advantages of flexible configuration and more or less units. The line body is distributed in a straight line, the space utilization rate is high, the device is very suitable for being used by small and micro logistics stations, but the communication is required between the host and the units at each step of the operation of the commodities, the commodities flow through each unit, the data difference of the volume, the weight, the friction coefficient and the like of the commodities is large, different data (such as speed, acceleration, distance and the like) are pushed for different commodities, the communication data volume is increased again, the original communication protocol is not suitable for a new system any more, and therefore the device also provides a new communication protocol and solves the problem of large communication data volume.
Referring to fig. 2, there is shown a flow chart of another embodiment of the multi-thread servo method for sorting logistics according to the present application;
the application provides a multivariate thread servo method for logistics sorting, which comprises the following steps:
s1: acquiring commodity information of sorted commodities;
s2: acquiring a commodity factor in the commodity information;
s3: acquiring a preset outlet position corresponding to the sorted commodity according to the commodity factor;
s4: acquiring a commodity position of the sorted commodity;
s5: judging whether the calculated commodity position is equal to the exit position or not;
s6: if so, transporting the sorted goods out of the exit location;
s7: and if not, the sorted goods are conveyed to the outlet position for carrying out.
In the embodiment of the present application, the article information is information used to represent the sorted articles, for example, the article information includes names, sizes, categories, weights, destinations, and the like of the sorted articles, the article information may include at least one of the above listed or unlisted information, for example, the article information of the sorted article a may include only names, specifically: an apple. The commodity factor is information for further subdividing the commodity information, and may be the same information as the commodity information or different information from the commodity information. For example, the commodity information and the commodity factor of the commodity a are the same and are both: apple, apple; the commodity information of the commodity B is different from the commodity factor, wherein the commodity information is the name of the commodity B and specifically comprises the following steps: watermelon, and the commodity factor is the destination of commodity B, specifically: shenzhen. The commodity factor can be specifically selected according to needs, for example, the commodity factor can be: size, type, weight, price, transport route (land/air/water), etc.
When the commodity factor of the sorted commodity is obtained, the preset exit position corresponding to the sorted commodity can be obtained according to the commodity factor at this time, for example, when the commodity factor for obtaining the sorted commodity B is "shenzhen", the exit position corresponding to the sorted commodity B can be obtained as follows: shenzhen transports export. After the preset outlet position is obtained, the commodity position where the sorted commodity is located at the moment is obtained again, and the distance between the outlet position and the commodity position is calculated, for example, the sorted commodity B is located at the position B at the moment, and the preset outlet position is as follows: shenzhen transports export, and the distance between export position and commodity position is b.
Then, judging whether the distance is equal to zero, namely judging whether B is equal to 0, and when B is equal to 0, indicating that the sorted goods B are in a Shenzhen conveying outlet, and conveying the sorted goods out of the outlet; when B ≠ 0, it indicates that a certain distance exists between the real-time position (position B) of the sorted goods B and the "shenzhen conveyance exit" position at this time, and the sorted goods are conveyed to the exit position for conveyance.
In the embodiment of the present application, before the step of acquiring the commodity information of the sorted commodity in the step S1, the method further includes the steps of:
acquiring all the commodity information of all the sorted commodities;
analyzing all the commodity factors in each commodity information;
classifying all the commodity factors;
and presetting corresponding outlet positions for all the sorted commodities according to the classification condition.
In the embodiment of the application, all commodity information attached to all sorted commodities is firstly acquired, all commodity factors contained in each commodity information are analyzed, and all commodity factors are classified, so that all sorted commodities can be classified; and then presetting corresponding outlet positions for all sorted commodities according to the classification conditions.
For example, if N sorted commodities need to be sorted and transported, each commodity has commodity information, so that N commodity information is shared, and each commodity information has a commodity factor, so that N commodity factors are shared. The commodity information is a name of each sorted commodity, and the commodity factor is a destination of each sorted commodity, at this time, N commodity factors (that is, destinations) may be categorized, for example, the number of the destinations of the N sorted commodities is 3, specifically: beijing, Shanghai and Shenzhen, also N letter sorting commodity have 3 kinds of commodity factors in total, and the export position that corresponds is preset to N letter sorting commodity according to the condition of categorizing of commodity factor this moment, also preset 3 export positions to N letter sorting commodity, do respectively: the Beijing transportation outlet, the Shanghai transportation outlet and the Shenzhen transportation outlet.
In an embodiment of the present application, before the obtaining all the commodity information of all the sorted commodities, the method further includes:
classifying all of said sorted items according to the same criteria;
determining a commodity factor corresponding to each sorted commodity according to the classification condition;
configuring at least one piece of commodity information for each sorted commodity; wherein the commodity information includes the commodity factor corresponding to at least one of the sorted commodities.
In some embodiments, the sorting operator may set new article information and article factors for all sorted articles, for example, the article information carried by the sorted article C is: the apple, the commodity factor of oneself is: apple, and sort operating personnel repackage sorting goods C, new commodity information is: fruit, and the new commercial factors are: shenzhen.
In the embodiment of the present application, all sorted goods may be classified according to the criteria of the destination, such as: shenzhen and Beijing, it can be determined that the commodity factors of all sorted commodities are "Shenzhen" and "Beijing" at this time, and then one commodity information is configured for all sorted commodities, that is, "Shenzhen" and "Beijing".
In an embodiment of the present application, the configuring at least one item information for each of the sorted items includes:
configuring at least two commodity information for each sorted commodity;
and correspondingly configuring unequal weights for each commodity information.
In the embodiment of the present application, each sorted commodity may include 2 or more than 2 commodity information, for example, the commodity information of the sorted commodity D is: apple (name) and Shenzhen (destination), different weights can be set for the apple (name) and the Shenzhen (destination), and by setting different weights, selection can be facilitated when different standards are faced. For example, when all sorted goods are sorted according to destinations, the weight of the apple option in the goods information can be set to 0.3, and the weight of shenzhen is 0.7; when all sorted commodities are classified according to names, the weight of the apple option in the commodity information can be set to be 0.7, and the weight of Shenzhen is 0.3.
In this embodiment of the present application, after the step of correspondingly configuring mutually unequal weights for each of the commodity information respectively, the method further includes the steps of:
configuring at least two commodity factors for each commodity information;
and respectively and correspondingly configuring unequal weights for each commodity factor.
In the embodiment of the present application, each sorted goods may include 2 or more than 2 goods factors, for example, the goods factors of the sorted goods D are: apple (name) and Shenzhen (destination), different weights can be set for the apple (name) and the Shenzhen (destination), and by setting different weights, selection can be facilitated when different standards are faced. For example, when all sorted commodities are sorted according to destinations, the weight of the apple option in the commodity factor can be set to 0.4, and the weight of shenzhen is 0.6; when all sorted commodities are classified according to names, the weight of the apple option in the commodity factor can be set to be 0.6, and the weight of Shenzhen is 0.4.
In the embodiment of the present application, the acquiring of the commodity information of the sorted commodity in step S1 includes the steps of:
acquiring all the commodity information of the sorted commodities;
acquiring the weight corresponding to each commodity information;
arranging all the weights in descending order;
arranging all the commodity information according to all the weight arrangement sequences;
and keeping the commodity information at the first position, and deleting all other commodity information.
In the embodiment of the application, the commodity information corresponding to the sorted commodities corresponds to a weight, and at this time, the commodity information with the largest weight can be obtained through the steps. For example, there are 3 pieces of article information of the sorted article E, which are in turn: apple (name), Shenzhen (destination) and Shanxi (producing area), the respective corresponding weights are: 0.3,0.5 and 0.2. At this time, the commodity information of the sorted commodity E is Shenzhen (destination).
In the embodiment of the present application, the acquiring of the commodity factor in the commodity information in step S2 includes the steps of:
acquiring all the commodity factors of the commodity information;
acquiring the weight corresponding to each commodity factor;
arranging all the weights in descending order;
arranging all the commodity factors according to all the weight arrangement sequences;
and keeping the commodity factor at the first position, and deleting all other commodity factors.
In the embodiment of the application, the commodity factors included in the commodity information are all corresponding to a weight, and at this time, the commodity factor with the largest weight can be obtained through the steps. For example, the commodity factors of the commodity information "shenzhen" (destination) have 2, which are: the weights corresponding to the south mountain area (the area where the destination belongs) and the Shenzhen university (the specific address of the destination) are as follows: 0.4 and 0.6. At this time, the commodity factor of the commodity information "Shenzhen" (destination) is Shenzhen university (destination specific address).
In this embodiment of the application, the step S3 of obtaining the preset exit position corresponding to the sorted goods according to the goods factor includes the steps of:
acquiring a mapping relation between the commodity factor and the exit position;
and searching the outlet position corresponding to the commodity factor according to the mapping relation.
In the embodiment of the present application, the relationship between the commodity factor and the exit position forms a mapping when sorting the sorted commodities, for example, the mapping can be represented in a list form, and at this time, the exit position corresponding to the sorted commodity can be obtained only by querying the exit position corresponding to the commodity factor in the list.
In the embodiment of the present application, the transporting of the sorted goods to the exit location in step S8 includes the steps of:
acquiring the preset outlet position of the sorted commodity;
acquiring a commodity position of the sorted commodity;
determining the moving direction and the moving distance of the sorted commodities according to the outlet position and the commodity position;
determining a motion control instruction of the sorted commodity according to the motion direction and the motion distance;
and controlling the sorted goods to move to the outlet position by adopting the motion control instruction.
In the embodiment of the application, the outlet position and the commodity position of the sorted commodity are analyzed, so that the movement direction and the movement distance of the sorted commodity are determined, the movement control instruction of the sorted commodity is further determined according to the movement direction and the movement distance, and then the movement control instruction is adopted to control the sorted commodity to move to the outlet position.
Referring to fig. 3, a block diagram of a multi-thread servo system for logistics sorting according to the present invention is provided, and the present application further provides a multi-thread servo system for logistics sorting, which is configured to execute the above multi-thread servo method for logistics sorting, wherein a main control terminal controls a plurality of linear sorting logistics lines, and the system includes:
a commodity information acquiring unit 10 for acquiring commodity information of commodities on a plurality of logistics lines;
a commodity factor determining unit 20, configured to obtain a commodity factor in the commodity information;
an exit determining unit 30, configured to determine, according to the commodity factor, an exit position corresponding to the commodity;
the protocol unit 40 is configured to obtain a commodity position of a commodity through a preset communication protocol and determine whether the commodity position reaches an exit position;
a processing unit 50 for outputting the commodity from the outlet position if yes; otherwise, the signal is transmitted to the next unit outlet.
In one embodiment, the communication protocol includes address bits and command bits, and the protocol unit includes:
the command bit subunit is used for outputting a control instruction and/or receiving commodity information by the main control terminal through a command bit loaded with a communication protocol;
and the address bit subunit is used for determining the commodity position of the commodity according to the commodity information by loading the address bit of the communication protocol.
In one embodiment, the communication protocol includes check bits, and the protocol unit includes:
the check bit subunit is used for determining the commodity position of the commodity on the logistics line from any one or more of the volume, the weight, the friction coefficient, the conveying speed and the conveying acceleration of the commodity through the check bit loaded with the communication protocol by the main control terminal; and then, the check bit of the communication protocol is loaded to determine whether the commodity position on the logistics line reaches the exit position.
In one embodiment, the address bit subunit has a broadcast mode and an address data list;
the address bit subunit outputs a control instruction to all drivers on all physical lines recorded on the address data list by loading the broadcast mode.
In one embodiment, the communication protocol includes a stop bit, and the processing unit includes:
and the stop position subunit is used for loading a stop position of a communication protocol by the main control terminal, and outputting the commodity from the exit position when the main control terminal judges that the position of the commodity on the logistics line reaches the exit position.
In summary, the multivariate thread servo system for logistics sorting provided by the application changes the distribution of the previous annular sorting lines and effectively utilizes the factory space, and the method comprises the following steps: acquiring commodity information of commodities on a plurality of logistics lines; acquiring a commodity factor in the commodity information; determining an outlet position corresponding to the commodity according to the commodity factor; acquiring the commodity position of the commodity through a preset communication protocol and judging whether the commodity position reaches an exit position; if so, outputting the commodity from an outlet position; otherwise, the signal is transmitted to the next unit outlet.
The current control method used on the circular line is as follows: and the host is connected with a plurality of trolleys through 485 buses. The host computer records the address of the trolley into which each commodity is put, compares whether the running position of the trolley reaches the outlet of the trolley, and sends a discharging instruction if the running position of the trolley reaches the outlet of the trolley. Within one circle of the operation of the circular line, each trolley can only execute 1-2 discharging instructions. The bus communication data volume is not large.
In order to solve the occupancy rate problem of the circular line factory, a multi-unit linear type sorting system consisting of a plurality of trolleys is used. The goods move in a straight line on each unit, which has two actions per unit, 1. reach the destination, and are transported to the outlet. 2. The unreached destination is passed to the next cell. All the units are uniformly sent out instructions by the main control terminal. The system has the greatest advantages of flexible configuration and more or less units. The line body is distributed in a straight line, the space utilization rate is high, the device is very suitable for being used by small and micro logistics stations, but the communication is required between the host and the units at each step of the operation of the commodities, the commodities flow through each unit, the data difference of the volume, the weight, the friction coefficient and the like of the commodities is large, different data (such as speed, acceleration, distance and the like) are pushed for different commodities, the communication data volume is increased again, the original communication protocol is not suitable for a new system any more, and therefore the device also provides a new communication protocol and solves the problem of large communication data volume.
Although embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A multi-thread servo method for logistics sorting is characterized in that a main control terminal controls a plurality of linear sorting logistics lines, and the method comprises the following steps:
acquiring commodity information of commodities on a plurality of logistics lines;
acquiring a commodity factor in the commodity information;
determining an outlet position corresponding to the commodity according to the commodity factor;
acquiring the commodity position of the commodity through a preset communication protocol and judging whether the commodity position reaches an exit position;
if so, outputting the commodity from an outlet position; otherwise, the signal is transmitted to the next unit outlet.
2. The multi-thread servo method for logistics sorting according to claim 1, wherein the communication protocol comprises address bits and command bits, and the step of obtaining the position of the goods through a predetermined communication protocol comprises:
the main control terminal outputs a control instruction and/or receives commodity information through loading a command bit of a communication protocol;
and determining the commodity position of the commodity according to commodity information by loading the address bit of the communication protocol.
3. The multi-thread servo method for logistics sorting according to claim 1 or 2, wherein the communication protocol comprises a check bit, and the step of obtaining the commodity position of the commodity and determining whether the commodity position reaches the exit position through a preset communication protocol comprises:
the main control terminal determines the commodity position of the commodity on the logistics line from any one or more of the volume, the weight, the friction coefficient, the conveying speed and the conveying acceleration of the commodity by loading the check bits of the communication protocol;
and then, loading a check bit of a communication protocol to determine whether the commodity position on the logistics line reaches the exit position.
4. The multi-thread servo method for logistic sorting according to claim 2, wherein the address bits comprise a broadcasting mode and an address data list;
and the main control terminal outputs control instructions to all drivers on all logistics lines recorded on the address data list through a loading broadcast mode.
5. The multi-thread servo method for logistic sorting according to claim 1, wherein the communication protocol comprises a stop bit, and the step of outputting the commodity from the exit position if the commodity position reaches the exit position comprises:
and the main control terminal loads the stop bit of the communication protocol, and when the main control terminal judges that the position of the commodity on the logistics line reaches the exit position, the commodity is output from the exit position.
6. The utility model provides a many first thread servo system for commodity circulation letter sorting which characterized in that, by many linear type letter sorting commodity circulation lines of master control terminal control, the system includes:
the commodity information acquisition unit is used for acquiring commodity information of commodities on a plurality of logistics lines;
the commodity factor determining unit is used for acquiring the commodity factors in the commodity information;
the outlet determining unit is used for determining an outlet position corresponding to the commodity according to the commodity factor;
the protocol unit is used for acquiring the commodity position of the commodity through a preset communication protocol and judging whether the commodity position reaches an exit position;
a processing unit for outputting the commodity from an exit location if yes; otherwise, the signal is transmitted to the next unit outlet.
7. The multi-thread servo system for logistic sorting according to claim 6, wherein the communication protocol comprises address bits and command bits, and the protocol unit comprises:
the command bit subunit is used for outputting a control instruction and/or receiving commodity information by the main control terminal through a command bit loaded with a communication protocol;
and the address bit subunit is used for determining the commodity position of the commodity according to the commodity information by loading the address bit of the communication protocol.
8. The multi-thread servo system for logistic sorting according to claim 6 or 7, wherein the communication protocol comprises check bits, and the protocol unit comprises:
the check bit subunit is used for determining the commodity position of the commodity on the logistics line from any one or more of the volume, the weight, the friction coefficient, the conveying speed and the conveying acceleration of the commodity by the main control terminal through loading the check bit of the communication protocol; and then, loading a check bit of a communication protocol to determine whether the commodity position on the logistics line reaches the exit position.
9. The multi-thread servo system for logistic sorting according to claim 7, wherein the address bit subunit has a broadcasting mode and an address data list;
the address bit subunit outputs a control instruction to all drivers on all physical lines recorded on the address data list through a load broadcast mode.
10. The multi-thread servo system for logistic sorting according to claim 6, wherein the communication protocol comprises a stop bit, and the processing unit comprises:
and the stop position subunit is used for loading a stop position of a communication protocol by the main control terminal, and outputting the commodity from an exit position when the main control terminal judges that the position of the commodity on the logistics line reaches the exit position.
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