CN112547527A - Sorting device and method based on position tracking - Google Patents
Sorting device and method based on position tracking Download PDFInfo
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- CN112547527A CN112547527A CN202011239247.0A CN202011239247A CN112547527A CN 112547527 A CN112547527 A CN 112547527A CN 202011239247 A CN202011239247 A CN 202011239247A CN 112547527 A CN112547527 A CN 112547527A
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- 238000001514 detection method Methods 0.000 claims abstract description 56
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- 238000011144 upstream manufacturing Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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Abstract
The invention discloses a sorting device and a sorting method based on position tracking, wherein the device comprises an encoder, a sorting device and a sorting device, wherein the encoder is connected to a driven shaft at the tail end of a conveyor driving a main line to move and is used for recording the position of a material transported on the main line; the material detection sensors are arranged at the main line inlet, and are respectively marked as a material detection sensor A and a material detection sensor B according to the main line transportation direction, and the distance between the material detection sensor A and the material detection sensor B is smaller than the preset distance; the two groups of material detection sensors are used for assisting the encoder to determine the position of the material; and the actuating mechanism is arranged at the crossing of the branch line and the main line, and drives the materials to the sorting branch line when the materials are transported to the crossing. The invention avoids the problem of material sorting error caused by the misoperation of the material detection sensor.
Description
Technical Field
The invention relates to the technical field of logistics transportation, in particular to a sorting device and method based on position tracking.
Background
In recent years, with the rapid advance of the e-commerce and express industry, the market demand of automatic conveying and sorting equipment serving as one of the core equipment of the logistics system is greatly increased, and the efficiency and the accuracy of material sorting are greatly improved. In general, an automated sortation conveyor system is comprised of: a material detection sensor (usually a photoelectric switch), a shunt actuating mechanism (a balance wheel, a swing arm, a transfer machine and the like), a controller (a PLC and a MCU), an alarm indicator light, a safety device (an emergency stop button, an emergency stop pull rope and the like); some systems also include video surveillance systems. Generally, when the materials run to the corresponding sorting branch road junction, the controller judges that the materials reach the branch road junction according to the change of the signals of the material detection sensors, and the actuating mechanism acts to sort the materials into the branch road junction.
However, in the existing automatic sorting and conveying system, the material detection sensor signal is generally adopted to mark the material arrival road junction, when some systems are provided with dozens or even dozens of road junctions, the adoption of the method can cause the problems of complex construction and easy error, and in the operation process of equipment, if the material detection sensor malfunctions or an upstream execution mechanism is abnormal, the material is not sorted into an upstream road junction, the material still left on a main line can influence the downstream task to generate information disorder, thereby causing the problem of material sorting error.
Disclosure of Invention
The invention aims to provide a sorting device and method based on position tracking, which are used for avoiding the problem that when a material detection sensor malfunctions or an upstream execution mechanism is abnormal, so that materials are not sorted into an upstream passage, the materials still left on a main line influence downstream tasks to generate information confusion, so that the materials are sorted wrongly.
To achieve the above object, the present invention provides a sorting apparatus based on position tracking, the apparatus comprising
The encoder is connected to a driven shaft at the tail end of the conveyor driving the main line to move and used for recording the position of the material transported on the main line;
the material detection sensors are arranged at the main line inlet, and are respectively marked as a material detection sensor A and a material detection sensor B according to the main line transportation direction, and the distance between the material detection sensor A and the material detection sensor B is smaller than the preset distance; the two groups of material detection sensors are used for assisting the encoder to determine the position of the material;
the actuating mechanism is arranged at the crossing of the branch line and the main line, and drives the materials to the sorting branch line when the materials are transported to the crossing.
Optionally, the encoder is fixed on the flexible support, and the encoder is connected with the driven shaft through a coupler; the encoder is an incremental encoder.
Optionally, the material detection sensor a and the material detection sensor B are both a pair of correlation type photoelectric sensors.
Optionally, the preset distance is 140-160 mm.
Optionally, the actuating mechanism is a shift lever or a swing wheel set.
The invention also provides a sorting method based on position tracking, which comprises the following steps
When a material to be sorted triggers a material detection sensor B, acquiring the current position of the material to be sorted;
determining the length of the material to be sorted according to the increment of an encoder during the period from the time when the material to be sorted triggers the material detection sensor B to the time when the material to be sorted is separated from the material detection sensor B;
updating the real-time position of the material to be sorted according to the increment of the real-time encoder;
and judging whether the real-time position of the material to be sorted is located in the position interval of the sorting road junction, if so, driving an actuating mechanism to start acting, and sorting the material to be sorted to a branch line.
Optionally, the length of the material to be sorted is the accumulated length of the material in the previous period plus the increment of the encoder in the current period.
Optionally, the real-time position of the material to be sorted is the current position of the previous period plus the increment of the encoder of the present period.
Optionally, the position interval of the sorting road junction sets a lower limit value for the position of the target road junction to a set upper limit value for the position of the target road junction.
Optionally, when the real-time position of the material to be sorted is greater than the upper limit value of the position interval of the sorting road junction plus the length of the material, the actuating mechanism is driven to return to the original position.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the position tracking-based sorting device and method provided by the invention are only provided with two groups of material detection sensors at the inlet of the main line, the encoder is arranged on the driven shaft at the tail end of the conveyor of the main line, the real-time position of the material to be sorted on each main line is recorded through the triggering of the material detection sensors and the data of the encoder, and any position on the main line can be recorded through the encoder.
The double-material detection sensor additionally arranged at the main line inlet can effectively identify materials, and if false operation occurs, the double-material detection sensor can timely detect and alarm; the size of the material to be sorted can be identified through the double-material detection sensors, so that the actuating mechanism can be driven to act in time according to different sizes of the material, the distance between the material and the thread can be closer, the bearing capacity of the thread material is increased, and sorting efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view showing the structure of the encoder mounting position in the present invention;
FIG. 2 is a schematic view of the structure of the mounting position of the material detecting sensor according to the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of an actuator according to the present invention;
FIG. 4 is a schematic structural diagram of another embodiment of an actuator according to the present invention;
fig. 5 is a flowchart of a location-based tracking sorting method according to the present invention.
Detailed Description
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 only a part of the embodiments of the present invention, 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 invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 4, the present embodiment provides a position tracking-based sorting apparatus including an encoder 1, at least two sets of material detection sensors 2 and 3, and an actuator 4.
As shown in fig. 1, the encoder 1 is connected to a driven shaft 52 at the tail end of a conveyor 51 driving the main line 5 to move, and is used for recording the position of the material transported on the main line 5.
The encoder 1 is fixed on a flexible support 11, and the encoder 1 is connected with the driven shaft 52 through a coupler 12; the encoder 1 is an incremental encoder.
The at least two groups of material detection sensors 2 and 3 are arranged at the inlet of the main line and are respectively marked as a material detection sensor A2 and a material detection sensor B3 according to the transportation direction of the main line 5, and the distance between the material detection sensor A2 and the material detection sensor B3 is smaller than a preset distance which is 140-160 mm; the two sets of material detection sensors 2, 3 are used to assist the encoder 1 in determining the position of the material. In this embodiment, the material detecting sensor a and the material detecting sensor B are both a pair of opposite photoelectric sensors, and certainly, other sensors for detecting materials may be used, and any sensor capable of detecting materials may be applied to the present invention and is within the protection scope of the present invention. When the main line runs, the triggering and stopping of the two groups of material detection sensors 2 and 3 must strictly follow the sequence of the material detection sensor A and the material detection sensor B, the triggering and stopping interval time must be controlled within a specific time (usually 300ms), the triggering of the above conditions is not met, and an alarm is given to prompt a person to check.
As an alternative embodiment, the object detection sensors may also be 3 or more than 3 groups. As long as the identification of the position of the material can be achieved.
The actuating mechanism 4 is arranged at the crossing of the branch line 6 and the main line 5, and when materials are transported to the crossing, the actuating mechanism 4 drives the materials to the sorting branch line 6. As shown in fig. 3 and 4, the actuator 4 is a lever or a swing wheel set.
As shown in fig. 5, this embodiment further provides a location-based tracking sorting method, which is implemented by applying the location-based tracking sorting apparatus described above, and the method includes:
step 101: when a material to be sorted triggers a material detection sensor B, acquiring the current position of the material to be sorted;
in the embodiment, an incremental encoder is additionally arranged on a driven shaft at the tail end of a mainline conveyor, a PLC high-speed counting module is used for recording the pulse number of the encoder as a current value, the current value of the high-speed counting module is detected every period through a PLC program to calculate the increment of the encoder, when materials sequentially trigger a material detection sensor A and a material detection sensor B, and when the materials trigger the material detection sensor B, the whole group of task data of the materials is written into a mainline task information table, and the current position of the materials is recorded; the whole set of task data is an encoder data set from the encoder data when the material detection sensor A is triggered to the encoder data when the material detection sensor B is triggered; and recording the current position of the material as 0, namely the initial position of the material.
Step 102: determining the length of the material to be sorted according to the increment of an encoder during the period from the time when the material to be sorted triggers the material detection sensor B to the time when the material to be sorted is separated from the material detection sensor B;
and (3) beginning to count the length of the material, if the material is separated from the double sensors at the main line inlet end according to the sequence A-B, when the material triggers the sensor B, recording that the length of the material is 0, before the material is separated from the sensor B, the length of the material MaterLen is the length of the material accumulated in the upper period and the length of the encoder Increment ENC _ Increment in the period, and after the material is separated from the sensor B, the length of the material is not accumulated any more, and counting the total length of the material. The material length information is written into the mainline task information table along with the writing, and the position field in the mainline task information table is accumulated along with the running of the equipment.
Step 103: updating the real-time position of the material to be sorted according to the increment of the real-time encoder;
and updating the real-time position of the material according to the calculated encoder Increment in each period, wherein the real-time position ActPos is the current position PrePos of the upper period and the encoder Increment ENC _ Increment of the period.
Step 104: and judging whether the real-time position of the material to be sorted is located in the position interval of the sorting road junction, if so, driving an actuating mechanism to start acting, and sorting the material to be sorted to a branch line.
When the material position moves to the sorting crossing, namely the real-time position ActPos > sets a lower limit value PortPos _ Preset _ Min for the position of the target crossing, and the current position ActPos < (the position of the target crossing sets an upper limit value PortPos _ Preset _ Max, the driving executing mechanism starts to act, and when the current position ActPos > the position of the sorting crossing to be sorted sets an upper limit value PortPos _ Preset _ Max + material length Materlen, the driving executing mechanism returns to the original position.
Because the materials to be sorted on the main line are judged by the positions recorded by the encoders, the space for detecting the photoelectric sensor is not required to be reserved, so that the distance between the main line materials at the same conveying speed can be closer, and the total efficiency of sorting the main line is improved.
In the present specification, the emphasis points of the embodiments are different from those of the other embodiments, and the same and similar parts among the embodiments may be referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A sorting device based on position tracking is characterized in that the device comprises
The encoder is connected to a driven shaft at the tail end of the conveyor driving the main line to move and used for recording the position of the material transported on the main line;
the material detection sensors are arranged at the main line inlet, and are respectively marked as a material detection sensor A and a material detection sensor B according to the main line transportation direction, and the distance between the material detection sensor A and the material detection sensor B is smaller than the preset distance; the two groups of material detection sensors are used for assisting the encoder to determine the position of the material;
the actuating mechanism is arranged at the crossing of the branch line and the main line, and drives the materials to the sorting branch line when the materials are transported to the crossing.
2. The sorting device based on position tracking according to claim 1, wherein the encoder is fixed on a flexible support, and the encoder is connected with the driven shaft through a coupling; the encoder is an incremental encoder.
3. The sorting device based on position tracking according to claim 1, wherein the material detecting sensor A and the material detecting sensor B are both a pair of correlation type photoelectric sensors.
4. The location-based tracking and sorting apparatus as claimed in claim 1, wherein the predetermined distance is 140 mm and 160 mm.
5. The location-based tracking sorter according to claim 1 wherein the actuator is a toggle or oscillating wheel set.
6. A sorting method based on position tracking is characterized in that the method comprises
When a material to be sorted triggers a material detection sensor B, acquiring the current position of the material to be sorted;
determining the length of the material to be sorted according to the increment of an encoder during the period from the time when the material to be sorted triggers the material detection sensor B to the time when the material to be sorted is separated from the material detection sensor B;
updating the real-time position of the material to be sorted according to the increment of the real-time encoder;
and judging whether the real-time position of the material to be sorted is located in the position interval of the sorting road junction, if so, driving an actuating mechanism to start acting, and sorting the material to be sorted to a branch line.
7. The location-based tracking sorting method of claim 6, wherein the material length of the material to be sorted is an up-cycle accumulated material length plus a home-cycle encoder increment.
8. The location-based tracking sorting method of claim 6, wherein the real-time location of the material to be sorted is a current location of an upper period plus a present period encoder increment.
9. The location-based tracking sorting method of claim 6, wherein the location interval of the sorting crossing sets a lower limit value for the location of the target crossing to an upper limit value for the location of the target crossing.
10. The location-based tracking sorting method of claim 6, wherein when the real-time location of the material to be sorted is greater than the upper limit value of the location interval of the sorting road junction plus the length of the material, the actuating mechanism is driven to return to the original location.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011239247.0A CN112547527A (en) | 2020-11-09 | 2020-11-09 | Sorting device and method based on position tracking |
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| CN202011239247.0A CN112547527A (en) | 2020-11-09 | 2020-11-09 | Sorting device and method based on position tracking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023155521A1 (en) * | 2022-02-16 | 2023-08-24 | 北京京东乾石科技有限公司 | Sorting system, sorting method, control method and storage medium |
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| CN110102506A (en) * | 2019-05-22 | 2019-08-09 | 廖泽华 | A kind of method for sorting |
| CN110142215A (en) * | 2019-03-26 | 2019-08-20 | 顺丰科技有限公司 | A kind of sorting line wraps up bearing calibration and the device of moving distance error |
| CN111871835A (en) * | 2020-07-15 | 2020-11-03 | 深圳路辉物流设备有限公司 | Method and device for correcting package moving distance error of sorting production line and storage medium |
| CN215278582U (en) * | 2020-11-09 | 2021-12-24 | 华晟（青岛）智能装备科技有限公司 | Based on position tracking sorting device |
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- 2020-11-09 CN CN202011239247.0A patent/CN112547527A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142215A (en) * | 2019-03-26 | 2019-08-20 | 顺丰科技有限公司 | A kind of sorting line wraps up bearing calibration and the device of moving distance error |
| CN110102506A (en) * | 2019-05-22 | 2019-08-09 | 廖泽华 | A kind of method for sorting |
| CN111871835A (en) * | 2020-07-15 | 2020-11-03 | 深圳路辉物流设备有限公司 | Method and device for correcting package moving distance error of sorting production line and storage medium |
| CN215278582U (en) * | 2020-11-09 | 2021-12-24 | 华晟（青岛）智能装备科技有限公司 | Based on position tracking sorting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023155521A1 (en) * | 2022-02-16 | 2023-08-24 | 北京京东乾石科技有限公司 | Sorting system, sorting method, control method and storage medium |
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