CN112893145A - Sorting system and sorting method based on WIFI communication - Google Patents
Sorting system and sorting method based on WIFI communication Download PDFInfo
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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
- B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
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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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- 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
- B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
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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
- B07C3/20—Arrangements for facilitating the visual reading of addresses, e.g. display arrangements coding stations
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Abstract
According to the sorting system and the sorting method based on WiFi communication, the control center and the trolley PLC establish a communication link through WiFi communication, so that the mode that leaky-wave cables and communication are carried out in the sorting system provided by the prior art is changed, leaky-wave cables do not need to be arranged on the circular track of the sorting system, the complexity of building the sorting system is reduced, and the cost of equipment is reduced. Meanwhile, aiming at the problem of time delay caused by WiFi communication, the technical scheme is characterized in that the running position of the annular trolley is accurately acquired and the control command is sent in advance, so that the PLC of the trolley can acquire the control command before the trolley runs to the corresponding sorting port and control the trolley to deliver the packages to the corresponding sorting port in time, and the technical requirements are met.
Description
Technical Field
The invention relates to the technical field of express parcel sorting, in particular to a sorting system and a sorting method based on WIFI communication.
Background
The crossed annular parcel sorting system is mainly used for sorting express parcels. In the cross annular parcel letter sorting system that prior art provided, be provided with the leaky wave cable along the circular orbit, the leaky wave cable is provided with a plurality of leakage mouths along the direction of laying of cable, and letter sorting system's control center sends control command to the dolly PLC controller along with the motion of annular dolly through the leaky wave cable on, and corresponding letter sorting mouth is delivered to the parcel by dolly PLC controller control annular dolly. However, this method is complicated to lay the cables. Meanwhile, leaky-wave cables are expensive, and equipment cost is high.
Disclosure of Invention
Aiming at the problems that wiring is complex and equipment cost is high due to the fact that leaky-wave cables are used in a crossed annular sorting system in the prior art, WIFI communication is adopted to replace the leaky-wave cables in the sorting system and the method based on WIFI communication, a control center of the sorting system is communicated with a trolley PLC through WIFI, cables do not need to be arranged along an annular track, a communication network is simple and flexible to establish, meanwhile, a WIFI module is low in price relative to the leaky-wave cables, and equipment cost can be reduced. Meanwhile, aiming at the problem of time delay possibly caused by WIFI communication, the sorting method provided by the invention can solve the problem of time delay and accurately deliver the packages to the corresponding sorting ports.
The embodiment of the invention provides a sorting system based on WIFI communication, which is a crossed annular parcel sorting system and comprises an annular track, a plurality of annular trolleys, a control center and a main PLC controller, wherein the annular trolleys, the control center and the main PLC controller are arranged on the annular track;
the annular trolleys are divided into a plurality of annular trolley groups, and the annular trolleys further comprise corresponding trolley PLC controllers, each group of annular trolleys is controlled by one trolley PLC controller, and the trolley PLC controllers are arranged on the corresponding annular trolley groups;
the starting position of the annular track is provided with a main stepping sensor, each annular track is provided with a positioner corresponding to a station, a first annular trolley of each group of annular trolleys is provided with a correlation sensor, and a first annular trolley of the first group of annular trolleys is also provided with an inductor;
the main PLC controller is connected with the main stepping sensor and all the positioners, the control center is connected with the main PLC controller, and the control center is in communication connection with each trolley PLC controller through WIFI;
the main PLC controller is used for acquiring first positioning data of a main stepping sensor, and the first positioning data is data of the initial position of a first annular trolley on the first group of annular trolleys determined by the main stepping sensor when the sensor reaches the initial position;
the control center is used for: acquiring first positioning data from the main PLC, and calculating the corresponding stations of all the annular trolleys according to the arrangement of the annular tracks; positioning the stations where the first annular trolley runs according to the second positioning data of the correlation sensor and the positioner of each station, and calculating the stations where all trolleys run; determining the number of a sorting opening of a parcel according to the parcel single number of the parcel on the annular trolley; acquiring the distance between the annular trolley and the corresponding sorting opening; the method comprises the steps that the distance from an annular trolley to preset positions of a plurality of stations located in front of corresponding sorting ports is obtained in a timed mode, when the annular trolley reaches the preset positions, a control command is sent to a trolley PLC, and the control command comprises a timestamp, the stations where the annular trolley reaches the preset positions, the serial number of the annular trolley, the serial number of the corresponding sorting ports wrapped on the annular trolley and the offset value of the corresponding sorting ports;
the trolley PLC controller is used for: acquiring third positioning data of the station where the annular trolley runs through by using the correlation sensor and the positioner, and calculating the current station of each annular trolley; analyzing the control command, and calculating the delivery time of the annular trolley according to the timestamp of the control command, the station of the annular trolley reaching the preset position, the serial number of the sorting port and the deviant; calculating to obtain the serial number of the annular trolley at the preset position station according to the fact that the annular trolley reaches the preset position station; and verifying whether the delivery time of the trolley is within an allowable error range, if so, verifying whether the serial number of the annular trolley in the control command is consistent with the serial number of the annular trolley calculated by the PLC controller of the trolley, if so, controlling the annular trolley to deliver the package to the corresponding sorting port when the delivery time of the trolley is reached, and otherwise, not delivering the package.
The embodiment of the invention also provides a sorting method based on WIFI communication, which is used for the sorting system to solve the problem of time delay when the sorting system adopts the WiFi communication, and comprises the following steps:
s10: the control center determines the initial position of a first annular trolley on the first group of annular trolleys through the main stepping sensor and the first positioning data of the sensor; thereby determining the stations corresponding to all the annular trolleys;
s20: the control center determines the coordinates of the sorting opening;
s30, the control center determines the sorting opening of the annular trolley corresponding to the parcel through the parcel single number of the parcel on the annular trolley;
s40: the control center obtains second positioning data of the correlation sensor and the positioner through the main PLC, calculates a station corresponding to each annular trolley through the first positioning data and the second positioning data, and simultaneously obtains third positioning data of the annular trolley running to the corresponding station through the correlation sensor and the positioner and calculates the current station of each annular trolley;
s50, the control center obtains the distance between the annular trolley and the corresponding sorting opening; the distance from the annular trolley to a preset position is acquired at regular time, and when the annular trolley reaches the preset position, a control command is sent to the trolley PLC controller, wherein the control command comprises a timestamp, a station for the annular trolley to reach the preset position, the serial number of the annular trolley, the serial number of a corresponding sorting port wrapped on the annular trolley and an offset value of the corresponding sorting port; the preset positions are a plurality of station positions located in front of the corresponding sorting ports;
s60, the trolley PLC controller analyzes the control command and calculates the delivery time of the annular trolley according to the timestamp of the control command, the station of the annular trolley reaching the preset position, the serial number of the sorting port and the deviant; calculating to obtain the serial number of the annular trolley according to the fact that the annular trolley reaches a preset position station;
s70, the trolley PLC controller verifies whether the delivery time of the annular trolley is within the allowable error range, if so, S80 is executed, otherwise, S50 is executed again;
s80, verifying whether the number of the annular trolley in the control command is consistent with the number of the annular trolley calculated by the trolley PLC controller, and if so, executing S900; otherwise, re-executing S50;
and S90, when the trolley PLC controller reaches the trolley delivery time, controlling the annular trolley to deliver the packages to the corresponding sorting ports. The embodiment of the invention also provides a storable medium, wherein the storable medium stores an executable program, and when the executable program runs, the sorting method based on the WIFI communication can be realized.
Compared with the prior art, the sorting system and the sorting method based on WiFi communication provided by the embodiment of the invention have the beneficial effects that: through adopting WIFI communications facilities to replace leaky-wave cable, the time delay problem when adopting WIFI communications has been solved simultaneously, can put the parcel to corresponding letter sorting mouth accurately equally for alternately annular letter sorting system need not lay the cable, reduces equipment fixing's complexity, reduces the cost of equipment.
Drawings
Fig. 1 is a schematic structural diagram of a sorting line of a sorting system based on WiFi communication according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a packet supply table structure of a sorting line based on a WiFi communication sorting system according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a sorting method based on WiFi communication according to an embodiment of the present invention;
in the figure, 1, a sorting line; 2. a support; 3. an annular track; 4. a sorting port; 5. an annular trolley; 6. a bag supply table; 7. a scanning device.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "disposed on" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured" to, or "fixedly coupled" to another element, it can be removably secured or non-removably secured to the other element. When an element is referred to as being "connected," "pivotally connected," to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," "up," "down," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
In the embodiments of the present invention, unless otherwise specified, "trolley" and "loop trolley" refer to a device for transporting and delivering packages to a sorting opening in a sorting system, and "rail" and "loop rail" refer to a supporting device for the trolley to run.
The crossed annular parcel sorting system is widely applied to the logistics industry at present, the sorting speed of parcels is greatly promoted, and the requirement of e-commerce development is met. The crossed annular parcel sorting system mainly comprises an annular track, an annular trolley running on the annular track, hardware facilities such as a parcel supply table and a sorting port arranged on the side edge of the annular track, and a control part for controlling the operation of the sorting system. One of the important control flows is to control the ring trolley by the control center to deliver the packages to the sorting opening to which the packages should be delivered when arriving at the sorting opening.
The existing mature technical scheme is that a leaky wave cable is laid along an annular track, and a control center is directly connected with the leaky wave cable through a cable. Because the control center and the leaky wave cable are directly communicated in a wired connection mode, the control signal sent to the leaky wave cable by the control center does not have time delay. And the leaky wave cable is laid along the annular track, so that the communication distance between the leaky wave cable and a trolley PLC (programmable logic controller) arranged on the annular trolley is short, and the signal is relatively stable, therefore, the communication delay between the leaky wave cable and the trolley PLC is generally between 1ms and 2ms, and the worst delay of the test is within 20 ms. The circular trolleys generally run at a constant speed of 2m/s on the circular track, the length of the trolleys is generally 600mm, and therefore, 300ms is consumed for one trolley to pass through one station (generally, one sorting opening corresponds to one station). When the trolley just arrives at the initial position of the sorting port, the control center sends a delivery action command to the annular trolley, and the PLC of the trolley receives the control command after 1-2 ms due to the delay problem. The delay does not affect the package to be delivered to the corresponding sorting port by the annular trolley, even if the worst delay is calculated by receiving a control command after 20ms, the distance traveled by the annular trolley is 40mm and is less than one tenth of the total length of the trolley, and the time and the distance for the trolley to travel through the rest stations are enough for the trolley to accurately deliver the package to the corresponding sorting port.
In the prior art, the leaky wave cable is adopted for transmitting the control signal, the technical requirements are completely met, however, the installation and debugging of the sorting system are complex due to the fact that the cable is laid, and meanwhile, the leaky wave cable is expensive, so that the cost of the whole equipment is high.
In order to solve the problem, the embodiment of the invention provides a new sorting system and a sorting method based on WiFi communication.
Example 1
As shown in fig. 1 and 2, an embodiment 1 of the present invention provides a WiFi communication-based cross-loop parcel sorting system, which includes a control center (not shown), a master PLC controller (not shown), and a sorting line 1. The master PLC controller is used to electrically control the sorting line 1. The letter sorting line is including the support 2 that plays supporting role, set up the looped rail 3 on support 2, along a plurality of letter sorting mouths 4 that the looped rail side set up, the quantity that letter sorting mouth 4 set up generally sets for with the classification that needs the letter sorting. The automatic parcel sorting machine further comprises an annular trolley 5 which is arranged on the annular track 3 and can circularly run along the annular track 3, wherein the annular trolley continuously conveys parcels to the sorting opening 4 from the parcel supply table 6 in the circulating running process and accurately delivers the parcels to the sorting opening 4 corresponding to the parcels under the control of the control center.
At the same time, at the start position of the circular track, a main stepping sensor (not shown) is provided for positioning the start position of the alignment of the trolleys each time the first trolley reaches the start position during the circulation of the circular trolley 5. The main step sensor includes a signal emitter. A positioner (not shown) is also provided on the endless track 3, one for each station. In a preferred embodiment, the positioner is an iron sheet arranged at the side of the circular track and in an L shape.
The annular trolleys 5 arranged on the annular track 3 are provided with a plurality of trolleys according to requirements, and 200 trolleys are arranged in the technical scheme provided by the embodiment. 200 annular trolleys can be divided into a plurality of annular trolley groups, and a trolley PLC (programmable logic controller) (not shown) adopted in the embodiment of the invention can control 24 annular trolleys, so that in order to fully utilize a control port of the trolley PLC, the 200 trolleys are divided into 9 annular trolley groups according to 24 annular trolleys.
Meanwhile, a sensor (not shown) is provided on a first annular cart defined as the first group of annular carts for interacting with the main step sensor to locate the first annular cart in a start position when it passes the main step sensor. In a preferred embodiment of the inductor, an iron sheet in the shape of an "L" is used. And blocking a signal of a signal emitter of the main stepping sensor through the iron sheet so as to determine that the annular trolley provided with the iron sheet is at the initial position. Meanwhile, a correlation sensor (not shown) is arranged on the first annular trolley of each annular trolley group. The correlation sensor comprises a signal emitter and a signal receiver, and the signal emitter, the signal receiver and the positioner form a set of signal feedback system to realize the positioning effect together. Therefore, when each group of annular trolley groups passes through the positioner, the positioning can be carried out once, all the opposite ejectors and all the positioners are positioned, and the first trolley can be timely positioned to the stations where all the trolleys are positioned and the distances between the trolleys and the sorting port through the positioning starting position. All positioning data are collected by the main PLC controller and are acquired by the control center. Meanwhile, when the correlation sensor and the positioner on each group of trolleys are positioned, the positioning information is also collected by the PLC of the trolleys, so that the PLC can acquire the positioning data at each time in real time.
The main PLC controller is connected with the main stepping sensor and all the positioners and is used for acquiring the positioning data of the main stepping sensor and all the positioners; the control center is connected with the main PLC and used for acquiring positioning data collected by the main PLC.
In the preferred implementation scheme provided by the embodiment of the invention, a leaky-wave cable is not used as a scheme for communication connection between a control center and a trolley PLC, but WiFi communication connection is adopted. I.e. in the space around the sorting line, such as above the sorting line, WiFi equipment (not shown) is arranged. The control center can be a computer, a tablet computer or a special terminal device, and can operate a control program and control the sorting lines. The control center and the WiFi equipment can be connected through WiFi communication, and also can be connected through a network cable or other communication cables. In order to avoid transmission delay, the embodiment of the invention adopts a wired connection mode, namely, a network cable or other communication cable connection mode. Be provided with the wiFi module on the dolly PLC controller on every group annular dolly, it can communicate with wiFi equipment through the wiFi agreement to realize and control center between the communication connection.
The control center runs a control program, and the control program can realize the following functions when executing a control task: acquiring first positioning data of the initial position of a first annular trolley on the first group of annular trolleys from the main PLC, and determining the stations corresponding to all the annular trolleys according to the arrangement of the annular track; positioning the stations where the first annular trolley runs according to the second positioning data of the correlation sensor and the positioner of each station, and calculating the stations where all trolleys run; the parcel single number is obtained through the scanning equipment 7, the sorting opening number of the parcel is determined according to the parcel single number of the parcel, and when the parcel is delivered to the annular trolley, the parcel single number and the trolley ID are related, so that the position of the parcel is positioned through a station of the annular trolley in the annular track. Acquiring the distance between the annular trolley and the corresponding sorting opening; the method comprises the steps of obtaining the distance from an annular trolley to a preset position at regular time, and sending a control command to a trolley PLC controller when the annular trolley reaches the preset position, wherein the control command comprises a timestamp, a station for the annular trolley to reach the preset position, the serial number of the annular trolley, the serial number of a corresponding sorting port wrapped on the annular trolley and an offset value of the corresponding sorting port. Wherein, every station corresponds with a dolly along orbital length direction's length, and every letter sorting mouth can correspond the setting with the station. However, since the size of the sorting openings may not be the same as the length of the workstations, there may be an offset between each sorting opening and the corresponding workstation, and the location of the sorting openings may be located by determining the offset between them. Meanwhile, the above-mentioned first positioning data, second positioning data and third positioning data are mainly for describing that the acquiring party and the function of the given positioning data are different, but the format and the generating mode of the data may be different or completely the same, and this embodiment does not limit this.
The trolley PLC controller is used for: acquiring third positioning data of the station where the annular trolley runs through by using the correlation sensor and the positioner, and calculating the current station of each annular trolley; analyzing the control command, and calculating the delivery time of the annular trolley according to the timestamp of the control command, the station of the annular trolley reaching the preset position, the serial number of the sorting port and the deviant; calculating to obtain the serial number of the annular trolley at the preset position station according to the fact that the annular trolley reaches the preset position station; and verifying whether the delivery time of the trolley is within an allowable error range, if so, verifying whether the serial number of the annular trolley in the control command is consistent with the serial number of the annular trolley calculated by the PLC controller of the trolley, if so, controlling the annular trolley to deliver the package to the corresponding sorting port when the delivery time of the trolley is reached, and otherwise, not delivering the package. Under the normal condition, through the setting, control center is under the condition that has the time delay, and control command still can arrive dolly PLC controller in advance for dolly PLC controller can in time control annular dolly and deliver the parcel to corresponding letter sorting mouth. However, in some cases, such as when a communication line fails or when a delay time is greater than a predetermined range due to signal delay, the control command may arrive after the cart has passed through the corresponding sorting opening, or may be resolved. Therefore, after the PLC calculates the delivery time of the annular trolley, the PLC further verifies whether the time is within an allowed error range, namely, whether the delivery time passes is judged, if not, the PLC controls the annular trolley to deliver the packages at the corresponding delivery time, and if so, the PLC does not generate a control command and waits for the control command of the control center again.
The trolley PLC controller calculates the delivery time of the annular trolley according to the timestamp of the control command, the station of the annular trolley reaching the preset position, the serial number of the sorting port and the deviant, and specifically comprises the following steps: and determining the distance from the preset position to the sorting port through the preset position station, the sorting port number and the deviation value, thereby determining the distance between the annular trolley and the sorting port to be delivered by the package carried on the annular trolley. The PLC of the trolley calculates the time T1' that the annular trolley reaches the corresponding sorting opening as (S + L)/V, wherein S is the distance from the preset position to the station corresponding to the sorting opening corresponding to the parcel, L is the deviant, and V is the running speed of the annular trolley on the annular track; the delivery time T2 is calculated by the formula T2 ═ T1+ T1', where T1 is the time stamp, i.e. the time when the control centre passes the preset position of the loop. In this embodiment, the predetermined position is a distance from the first three stations of the corresponding sorting opening. The first three stations are the annular trolleys which can reach the corresponding sorting ports after passing through the three stations after reaching the preset position. Of course, other positions are possible, but the three stations are provided mainly taking into account the following factors: when the control center calculates the time of the packages reaching the corresponding sorting ports and sends the time to the trolley PLC controller, under the condition of delay influence, the control signals can still be transmitted to the trolley PLC controller when the annular trolley does not reach the corresponding sorting ports. So that the PLC controller of the trolley can have enough time to control the annular trolley to deliver the packages to the corresponding sorting ports when the annular trolley reaches the corresponding sorting ports. I.e. the preset position cannot be too close to the corresponding sorting opening.
According to the sorting system based on WiFi communication, WiFi communication is adopted to replace leaky-wave cable communication, and the problems of complex wiring and high cost are solved. Meanwhile, aiming at the problem of time delay caused by WiFi communication, the scheme provided by the embodiment of the invention positions the position of the trolley for multiple times by arranging the positioner at each station on the annular track, and sends a control signal to the trolley PLC in advance when the trolley does not reach the corresponding sorting port, so that the trolley PLC can still receive a control command in advance under the condition of time delay, and the annular trolley is driven to deliver the package to the corresponding sorting port under the control of the control command.
After analysis, after WiFi communication is adopted, the time delay of a control signal reaching the PLC of the trolley is between 5ms and 100ms, and the time delay condition is related to WiFi equipment of different manufacturers and different models. If we still adopt the leaky-wave cable mode, the control center sends a control command to the trolley PLC controller when the trolley just arrives at the corresponding sorting port. Then in the worst delay case, for example, the delay time is 100ms, and at this time, when the cart PLC controller receives the control command, the cart has already passed 200mm of the workstation and has already passed one third of the workstation, that is, one third of the sorting opening. In the process of delivering the packages to the sorting mouths by the trolley, the packages can be delivered to the remaining two thirds of the sorting mouth mouths. Due to inertia, the package is likely to be delivered to the next sorting opening instead of the corresponding sorting opening, or to be delivered to the next sorting opening, which results in delivery failure or delivery error. And by adopting the mode of sending the control command in advance, the trolley PLC controller can acquire the delivery time in advance and can deliver the packages in time within the specified delivery time, thereby avoiding the occurrence of delivery failure or delivery error.
Example 2
Embodiment 2 of the present invention provides a sorting method based on WiFi communication, which is applied to the sorting system in embodiment 1. As shown in fig. 3, the method comprises the following steps:
s10: the control center determines the initial position of a first annular trolley on the first group of annular trolleys through the main stepping sensor and the first positioning data of the sensor; thereby determining the stations corresponding to all the annular trolleys;
s20: the control center determines the coordinates of the sorting opening;
s30, the control center determines the sorting opening of the annular trolley corresponding to the parcel through the parcel single number of the parcel on the annular trolley;
s40: the control center obtains second positioning data of the correlation sensor and the positioner through the main PLC, calculates a station corresponding to each annular trolley through the first positioning data and the second positioning data, and obtains third positioning data of the annular trolley running to the corresponding station through the correlation sensor and the positioner and calculates the station of each annular trolley through the trolley PLC;
s50, the control center obtains the distance between the annular trolley and the corresponding sorting opening; the distance from the annular trolley to a preset position is acquired at regular time, and when the annular trolley reaches the preset position, a control command is sent to the trolley PLC controller, wherein the control command comprises a timestamp, a station for the annular trolley to reach the preset position, the serial number of the annular trolley, the serial number of a corresponding sorting port wrapped on the annular trolley and an offset value of the corresponding sorting port; the preset positions are a plurality of station positions located in front of the corresponding sorting ports;
s60, the trolley PLC controller analyzes the control command and calculates the delivery time of the annular trolley according to the timestamp of the control command, the station of the annular trolley reaching the preset position, the serial number of the sorting port and the deviant; calculating to obtain the serial number of the annular trolley according to the fact that the annular trolley reaches a preset position station;
s70, the PLC verifies whether the delivery time of the annular trolley is within the allowable error range, if so, the PLC executes S80, otherwise, the PLC executes S50 again;
s80, verifying whether the number of the annular trolley in the control command is consistent with the number of the annular trolley calculated by the trolley PLC controller, and if so, executing S900; otherwise, re-executing S50;
and S90, when the trolley PLC controller reaches the trolley delivery time, controlling the annular trolley to deliver the packages to the corresponding sorting ports.
Before executing step S50, the control center further executes the following steps:
s41: judging the number of turns of the wrapping operation, if the number of turns of the wrapping operation is larger than the preset number of turns, executing the step S100, otherwise, executing the step S50; wherein, in a preferred real-time mode, the preset number of turns is 4 turns;
s100: delivering the package to a manual sorting gate.
After step S41 is added, steps S70 and S80 are adjusted accordingly, and the flow after adjustment is as follows:
s70, the PLC verifies whether the delivery time of the annular trolley is within the allowable error range, if so, the PLC executes S80, otherwise, the PLC executes S41 again;
s80, verifying whether the number of the annular trolley in the control command is consistent with the number of the annular trolley calculated by the trolley PLC controller, and if so, executing S900; otherwise, S41 is re-executed.
The same parts as those in embodiment 1 in this embodiment are not described herein again.
The embodiment of the invention also provides a storable medium, wherein the storable medium stores an executable program, and when the executable program runs, the sorting method based on the WIFI communication in the embodiment 2 can be realized.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (7)
1. A sorting system based on WIFI communication is characterized in that the sorting system is a crossed annular parcel sorting system and comprises an annular track, a plurality of annular trolleys arranged on the annular track, a control center and a main PLC controller;
the annular trolleys are divided into a plurality of annular trolley groups, and the annular trolleys further comprise corresponding trolley PLC controllers, each group of annular trolleys is controlled by one trolley PLC controller, and the trolley PLC controllers are arranged on the corresponding annular trolley groups;
the starting position of the annular track is provided with a main stepping sensor, each annular track is provided with a positioner corresponding to a station, a first annular trolley of each group of annular trolleys is provided with a correlation sensor, and a first annular trolley of the first group of annular trolleys is also provided with an inductor;
the main PLC controller is connected with the main stepping sensor and all the positioners, the control center is connected with the main PLC controller, and the control center is in communication connection with each trolley PLC controller through WIFI;
the main PLC controller is used for acquiring first positioning data of a main stepping sensor, and the first positioning data is data of the initial position of a first annular trolley on the first group of annular trolleys determined by the main stepping sensor when the sensor reaches the initial position;
the control center is used for: acquiring first positioning data from the main PLC, and calculating the corresponding stations of all the annular trolleys according to the arrangement of the annular tracks; positioning the stations where the first annular trolley runs according to the second positioning data of the correlation sensor and the positioner of each station, and calculating the stations where all trolleys run; determining the number of a sorting opening of a parcel according to the parcel single number of the parcel on the annular trolley; acquiring the distance between the annular trolley and the corresponding sorting opening; the method comprises the steps that the distance from an annular trolley to preset positions of a plurality of stations located in front of corresponding sorting ports is obtained in a timed mode, when the annular trolley reaches the preset positions, a control command is sent to a trolley PLC, and the control command comprises a timestamp, the stations where the annular trolley reaches the preset positions, the serial number of the annular trolley, the serial number of the corresponding sorting ports wrapped on the annular trolley and the offset value of the corresponding sorting ports;
the trolley PLC controller is used for: acquiring third positioning data of the station where the annular trolley runs through by using the correlation sensor and the positioner, and calculating the current station of each annular trolley; analyzing the control command, and calculating the delivery time of the annular trolley according to the timestamp of the control command, the station of the annular trolley reaching the preset position, the serial number of the sorting port and the deviant; calculating to obtain the serial number of the annular trolley according to the fact that the annular trolley reaches a preset position station; and verifying whether the delivery time of the trolley is within an allowable error range, if so, verifying whether the serial number of the annular trolley in the control command is consistent with the serial number of the annular trolley calculated by the PLC controller of the trolley, if so, controlling the annular trolley to deliver the package to the corresponding sorting port when the delivery time of the trolley is reached, and otherwise, not delivering the package.
2. The WIFI communication based sorting system of claim 1, wherein the inductor is an L-shaped iron piece.
3. The WIFI communication based sorting system of claim 1, wherein the locator is an L-shaped iron piece.
4. The WIFI communication based sortation system as claimed in claim 1, wherein said predetermined location is a location further from three workstations to a sorting gate.
5. A sorting method based on WIFI communication is characterized in that: sorting system for WIFI based communication according to any of the claims 1 to 4,
the method comprises the following steps:
s10: the control center determines the initial position of a first annular trolley on the first group of annular trolleys through the main stepping sensor and the first positioning data of the sensor; thereby determining the stations corresponding to all the annular trolleys;
s20: the control center determines the coordinates of the sorting opening;
s30, the control center determines the sorting opening of the annular trolley corresponding to the parcel through the parcel single number of the parcel on the annular trolley;
s40: the control center obtains second positioning data of the correlation sensor and the positioner through the main PLC, calculates a station corresponding to each annular trolley through the first positioning data and the second positioning data, and simultaneously obtains third positioning data of the annular trolley running to the corresponding station through the correlation sensor and the positioner and calculates the current station of each annular trolley;
s50, the control center obtains the distance between the annular trolley and the corresponding sorting opening; the distance from the annular trolley to a preset position is acquired at regular time, and when the annular trolley reaches the preset position, a control command is sent to the trolley PLC controller, wherein the control command comprises a timestamp, a station for the annular trolley to reach the preset position, the serial number of the annular trolley, the serial number of a corresponding sorting port wrapped on the annular trolley and an offset value of the corresponding sorting port; the preset positions are a plurality of station positions located in front of the corresponding sorting ports;
s60, the trolley PLC controller analyzes the control command and calculates the delivery time of the annular trolley according to the timestamp of the control command, the station of the annular trolley reaching the preset position, the serial number of the sorting port and the deviant; calculating to obtain the serial number of the annular trolley according to the fact that the annular trolley reaches a preset position station;
s70, the PLC verifies whether the delivery time of the annular trolley is within the allowable error range, if so, the PLC executes S80, otherwise, the PLC executes S50 again;
s80, verifying whether the number of the annular trolley in the control command is consistent with the number of the annular trolley calculated by the trolley PLC controller, and if so, executing S90; otherwise, re-executing S50;
and S90, when the trolley PLC controller reaches the trolley delivery time, controlling the annular trolley to deliver the packages to the corresponding sorting ports.
6. The WIFI communication based sorting method of claim 5, wherein: before executing step S50, the control center further executes the following steps:
s41: judging the number of turns of the wrapping operation, if the number of turns of the wrapping operation is larger than the preset number of turns, executing the step S100, otherwise, executing the step S50;
s100: delivering the package to a manual sorting gate.
7. A storable medium storing an executable program which, when executed, can implement the WIFI communication based sorting method according to any one of claims 5 to 6.
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| CN115069567A (en) * | 2022-04-28 | 2022-09-20 | 广州艮业信息科技有限公司 | Package sorting method and system based on linear cross belt |
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