CN113120662B

CN113120662B - Feeding method and system thereof

Info

Publication number: CN113120662B
Application number: CN202110465528.6A
Authority: CN
Inventors: 王培学
Original assignee: Shantou Dongfeng Printing Co Ltd
Current assignee: Hefei Huaguan Packaging Science & Technology Co ltd
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2023-08-04
Anticipated expiration: 2041-04-28
Also published as: CN113120662A

Abstract

The invention is applicable to the technical field of production and manufacture, and provides a feeding method and a feeding system thereof, wherein the feeding method comprises the following steps: if the preset feeding trigger condition is met, controlling the automatic navigation device to move to a target material taking area, and acquiring a target material to be fed from the target material taking area; controlling the automatic navigation device to move to the printing equipment to be fed, wherein the printing equipment to be fed is associated with the feeding triggering condition; controlling an automatic navigation device to align a winding core of a target material with a cantilever shaft on printing equipment, and controlling the target material to move in the axial direction so as to enable the cantilever shaft to be inserted into the winding core; opening an inflation valve corresponding to the cantilever shaft to enable the cantilever shaft to fill the winding core, and controlling the rotation of the target material through the cantilever shaft; and if the material information fed back by the scanning device is received, executing a material management flow based on the material information. The invention ensures that the materials are accurately placed outside the appointed area, can also reduce manual operation, greatly improves the production efficiency and reduces the labor cost.

Description

Feeding method and system thereof

Technical Field

The invention belongs to the technical field of production and manufacturing, and particularly relates to a feeding method and a feeding system.

Background

With the continuous development of automation technology, more and more processes and procedures in the field of production and manufacturing can replace manual operation by a mechanized means, so that the production efficiency is greatly improved, the labor cost is reduced, for example, a cutting procedure can be finished by a cutting machine tool, and a welding procedure can be finished by a welding machine tool. Although the above-described steps may be performed by mechanical means instead of manual operations, some of the steps are still delicate and require a human hand. In the existing feeding technology, since a certain distance is reserved between the fed material and the equipment, the material is generally required to be manually conveyed from the feeding area to the equipment to finish feeding, particularly for the printing equipment, the target material is required to be fixed in a specific area during feeding, and if the target material cannot be aligned with the specific area, abnormal conditions such as paper jam and the like easily occur to the printing equipment, so that the normal use of the equipment is affected. Therefore, the existing printing equipment field still depends on manual completion during feeding operation, so that the labor cost of the feeding process is greatly increased, and the production efficiency is reduced.

Disclosure of Invention

In view of the above, the embodiment of the invention provides a feeding method and a system thereof, which are used for solving the problem that the prior printing equipment field still relies on manual completion during feeding operation, thereby greatly improving the labor cost of the feeding process and reducing the production efficiency.

The first aspect of the embodiment of the invention provides a feeding method which is applied to a feeding system, wherein the feeding system comprises at least one printing device to be fed, an automatic navigation device and a scanning device; the printing apparatus is configured with an inflatable cantilever shaft; the feeding method comprises the following steps:

if the preset feeding trigger condition is met, controlling the automatic navigation device to move to a target material taking area, and acquiring a target material to be fed from the target material taking area;

controlling the automatic navigation device to move to the printing equipment to be fed, which is associated with the feeding triggering condition;

controlling the automatic navigation device to align the winding core of the target material with the cantilever shaft on the printing equipment, and inserting the winding core of the target material into the cantilever shaft;

opening an inflation valve corresponding to the cantilever shaft, so that the cantilever shaft fills the winding core, and controlling the target material to rotate through the cantilever shaft;

if material information fed back by the scanning device is received, executing a material management flow based on the material information; the material information is generated after the scanning device finishes scanning the identification code on the target material in the process of controlling the cantilever shaft to rotate.

The second aspect of the embodiment of the invention provides a feeding control device which is applied to a feeding system, wherein the feeding system comprises the feeding control device, at least one printing device to be fed, an automatic navigation device and a scanning device; the printing equipment is provided with an inflatable cantilever shaft, and the feeding control device comprises:

the material taking control unit is used for controlling the automatic navigation device to move to a target material taking area and acquiring a target material to be fed from the target material taking area if a preset feeding triggering condition is met;

the navigation control unit is used for controlling the automatic navigation device to move to the printing equipment to be fed, which is associated with the feeding triggering condition;

the feeding control unit is used for controlling the automatic navigation device to align the winding core of the target material with the cantilever shaft on the printing equipment and insert the winding core of the target material into the cantilever shaft;

the inflation control unit is used for opening an inflation valve corresponding to the cantilever shaft, so that the cantilever shaft fills the winding core and controls the rotation of the target material through the cantilever shaft;

the material management and control unit is used for executing a material management flow based on the material information if the material information fed back by the scanning device is received; the material information is generated after the scanning device finishes scanning the identification code on the target material in the process of controlling the cantilever shaft to rotate.

A third aspect of the embodiment of the present invention provides a terminal device, which is applied to a feeding system, where the feeding system includes the terminal device, at least one printing device to be fed, an automatic navigation device, and a scanning device; the printing apparatus is configured with an inflatable cantilever shaft, the terminal apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the first aspect when executing the computer program.

A fourth aspect of the embodiments of the present invention provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the first aspect.

The feeding method and the system thereof provided by the embodiment of the invention have the following beneficial effects:

when the printing equipment is required to be fed, the automatic navigation device is controlled to move to the target feeding area to acquire target materials, the automatic navigation device is controlled to return to the printing equipment, the acquired target materials are placed at a designated position for the printing equipment, and therefore the transfer and feeding operation of the target materials can be completed without manual material handling; in the feeding stage, the automatic navigation device can be controlled to align the winding core of the target material with the cantilever shaft arranged at the designated position, so that the target material can be accurately placed at the designated position, the accuracy of feeding operation is improved, and the influence on the normal use of printing equipment due to inaccurate placement of the target material is avoided; after feeding is completed, the inflatable cantilever shaft is inflated through the inflation valve, so that the target material can be fixed at a designated position, and the target material can be controlled to rotate for printing equipment; and finally, acquiring the material information of the target material through the scanning device, and completing the management of the target material, so that the accurate management and control of the inventory can be realized. Therefore, the feeding system realizes the purpose of automatic feeding through the cooperative operation of the automatic navigation device, the inflatable cantilever shaft and the scanning device, ensures that the materials are accurately placed outside the designated area, can also reduce manual operation, greatly improves the production efficiency and reduces the labor cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a feeding system according to a first embodiment of the present invention;

fig. 2 is a flowchart of an implementation of a feeding method according to a first embodiment of the present invention;

fig. 3 is a flowchart of a specific implementation of a feeding method S105 according to a second embodiment of the present invention;

fig. 4 is a flowchart of a specific implementation of a feeding method according to a third embodiment of the present invention;

fig. 5 is a flowchart of a specific implementation of a feeding method S101 according to a fourth embodiment of the present invention;

fig. 6 is a flowchart of a specific implementation of a feeding method S103 according to a fifth embodiment of the present invention;

fig. 7 is a flowchart of a specific implementation of a feeding method S104 according to a sixth embodiment of the present invention;

fig. 8 is a flowchart of a specific implementation of a feeding method S103 according to a seventh embodiment of the present invention;

FIG. 9 is a block diagram of a feeding control device according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a terminal device according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

When the printing equipment is required to be fed, the automatic navigation device is controlled to move to the target feeding area to acquire target materials, the automatic navigation device is controlled to return to the printing equipment, the acquired target materials are placed at a designated position for the printing equipment, and therefore the transfer and feeding operation of the target materials can be completed without manual material handling; in the feeding stage, the automatic navigation device can be controlled to align the winding core of the target material with the cantilever shaft arranged at the designated position, so that the target material can be accurately placed at the designated position, the accuracy of feeding operation is improved, and the influence on the normal use of printing equipment due to inaccurate placement of the target material is avoided; after feeding is completed, the inflatable cantilever shaft is inflated through the inflation valve, so that the target material can be fixed at a designated position, and the target material can be controlled to rotate for printing equipment; and finally, acquiring the material information of the target material through the scanning device, and completing the management of the target material, so that the accurate management and control of the inventory can be realized. Therefore, the feeding system realizes the purpose of automatic feeding through the cooperative operation of the automatic navigation device, the inflatable cantilever shaft and the scanning device, ensures that materials are accurately placed outside a designated area, can also reduce manual operation, greatly improves the production efficiency and reduces the labor cost, solves the problems that the existing printing equipment field still depends on manual completion when feeding operation is carried out, thereby greatly improving the labor cost of a feeding procedure and reducing the production efficiency.

The embodiment of the invention provides a feeding system, which comprises terminal equipment of the feeding system, at least one printing device to be fed, an automatic navigation device and a scanning device. The terminal equipment is specifically a control device and is used for controlling the feeding process and managing the inventory after the feeding of the target materials is completed. Specifically, the terminal device may be a device capable of performing feeding control, such as a computer, a cloud server, a cloud platform system, and the like; the printing device is specifically a device capable of responding to a printing task, such as a printer, a printing machine and the like, and is provided with an inflatable cantilever shaft, wherein the inflatable cantilever shaft can change the shaft radius of the cantilever shaft through inflation and deflation, the shaft radius of the cantilever shaft can be increased after inflation, and the shaft radius of the cantilever shaft can be reduced after deflation; the automatic navigation device is a device capable of transporting materials, such as an automatic navigation trolley AGV, and can be provided with a component for clamping materials, such as a mechanical arm, optionally, the component for clamping materials can also be a fork support with an inclined plane, and the fork support is inserted to lift the materials required to be clamped; the scanning device can be specifically configured in the area where the cantilever shaft of the printing equipment is located, so that the identification code on the target material placed on the cantilever shaft can be collected.

Exemplary, fig. 1 shows a schematic structural diagram of a feeding system according to an embodiment of the present application. Referring to fig. 1, the feeding system comprises a target material 1 to be fed, an automatic navigation device 20, a cantilever shaft driving motor 3, a wallboard 4, an inflatable cantilever shaft 5, an air inlet pipe 6, an air charging valve 7, a distance sensor 8, a bracket 9, a scanning device 10 and a terminal device 11. Wherein, the target material 1 can be inserted into the cantilever shaft 5 through the automatic navigation device 20 to complete the feeding operation, and the target material 1 can be a paper roll; the automatic navigation device 20 is provided with a fork support 21 which can be used for bearing the target material 1 to be loaded; the cantilever shaft driving motor 3, the air inlet pipe 6, the air charging valve 7 and the distance sensor 8 can be installed on the same wallboard 4, wherein a bracket 9 can be further configured on the wallboard 4, the scanning device 10 is installed on the bracket 9, and the terminal device 11 can be in communication connection with the cantilever shaft driving motor 3, the air charging valve 7, the automatic navigation device 20, the distance sensor 8 and the scanning device 10 to control the operation of the components.

In the embodiment of the present invention, the execution body of the flow is a terminal device, and the terminal device includes but is not limited to: and the equipment capable of executing the feeding control task such as a server, a computer, a smart phone and a tablet personal computer. Fig. 2 shows a flowchart of implementation of the feeding method according to the first embodiment of the present invention, which is described in detail below:

In S101, if a preset loading triggering condition is met, the automatic navigation device is controlled to move to a target material taking area, and a target material to be loaded is obtained from the target material taking area.

In this embodiment, the terminal device may be preconfigured with a loading trigger condition, and if it is detected that the current moment meets any preset loading trigger condition, it identifies that the printing device is out of stock, and cannot complete a specified print job, and loading operation needs to be performed on the printing device. The above-mentioned loading triggering condition may be an event triggering condition, for example, after detecting that the material has been consumed, the printing device may send a loading request to the terminal device, and after receiving the loading request, the terminal device determines that the above-mentioned loading triggering condition is met, and executes a loading flow; for another example, the terminal device may obtain a scene image of a place where the printing device places the material through the scanning device, determine whether the printing device has a material shortage condition according to the scene image, if it is determined that the material shortage condition exists, identify that the above-mentioned feeding triggering condition is satisfied, and execute the feeding process. Optionally, the loading trigger condition may be a time trigger condition, and the loading system is configured with a plurality of loading trigger time nodes, and if it is detected that the current time reaches any preset loading trigger time node, the loading trigger condition is identified to be met, and the loading operation is performed.

Optionally, the target material may be roll paper, etc. and may be paper of different materials according to different printing tasks, and of course, if under a special printing task, the target material may also be roll cloth, or may also be cloth of different materials according to the requirement of the printing task to complete the printing task.

In this embodiment, when it is determined that the preset loading trigger condition is currently met, the terminal device may send a material taking instruction to the automatic navigation device, so as to control the automatic navigation device to move to a preset target material taking area, and obtain a target material to be supplemented from the target material taking area.

In one possible implementation, the take-out instruction may carry the device identifier of the printing device to which the feed is desired. The device identifier may be carried when the printing device sends a feeding request to the terminal device. If the terminal device stores a material usage state list of each printing device, the printing device in a material shortage state can be identified based on the material usage state list, and a corresponding material taking instruction is generated for each printing device in the material shortage state, wherein the device identifier carried in the material taking instruction is specifically used for indicating the printing device in the material shortage state in the material usage state list.

In one possible implementation, if there are multiple types of materials that can be fed, and different types of materials are placed in different areas, the material taking instruction may further include an area identifier, where the area identifier is used to indicate a moving target material taking area. Different areas can be associated with different material types, the terminal equipment can determine the area where the target material is placed by inquiring the corresponding relation between the areas and the material types, and the area identification of the target material taking area is added into the material taking instruction and sent to the automatic navigation device.

In one possible implementation manner, the automatic navigation device may store an area map corresponding to the current scene, after receiving a material taking command sent by the terminal device, the automatic navigation device may mark a target location in the area map according to the material taking command, determine a movement track to the target location based on a preset navigation algorithm, and move the automatic navigation device to the target material taking area based on the movement track.

In one possible implementation manner, the area map may also be stored in the terminal device, in which case the terminal device may acquire a real-time position of the automatic navigation device, and send a movement instruction to the automatic navigation device based on the real-time position, so as to control the automatic navigation device to move to the target material taking area.

Optionally, the material taking instruction may be sent without a terminal device, the printing device may send the material taking instruction to the automatic navigation device when detecting that there is a shortage of material currently, and after receiving the material taking instruction, the automatic navigation device may identify the printing device sent to the material taking instruction as the printing device for required material loading, and then the automatic navigation device may move to a target material taking area to obtain a target material, and perform a material loading operation on the printing device with the obtained target material.

In one possible implementation manner, the automatic navigation device is internally provided with a positioning module and/or a motion sensor, and the pose information of the automatic navigation device can be determined through the module, and the automatic navigation device is controlled to move to the target material taking area based on the pose information.

It should be noted that, the starting position of the automatic navigation device may be located at any position, for example, may be located in the area where the printing device to be fed is located, or may be located in the area where another printing device that has completed feeding is located, and of course, the automatic navigation device may also be located in the target material taking area where the target material is located.

In S102, the automatic navigation device is controlled to move to the printing device to be loaded associated with the loading triggering condition.

In this embodiment, after the automatic navigation device obtains the target material in the target material taking area, the terminal device may control the automatic navigation device to move to the printing device where the feeding is required, so as to perform the feeding operation. Optionally, after obtaining the target material, the automatic navigation device may send a material taking completion instruction to the terminal device, where the terminal device may send the device identifier of the printing device to be fed to the automatic navigation device, and the automatic navigation device may determine, according to the device identifier of the printing device, the installation position where the printing device is located in a preset area map, and move the installation position where the printing device is located.

In one possible implementation manner, the loading triggering condition may carry an equipment identifier of a printing device to be loaded, when the terminal device detects that the loading triggering condition is met, the terminal device may extract the equipment identifier carried by the terminal device and send the equipment identifier to an automatic navigation device, for example, the equipment identifier is packaged in a material taking instruction and sends the material taking instruction to the automatic navigation device, and the automatic navigation device may determine the printing device to be loaded through the equipment identifier and move to the determined area where the printing device is located after the material taking is completed. Of course, the printing device to be fed may also directly send the device identifier to the automatic navigation device, and the specific implementation process is as described above, which is not described herein again.

In S103, the automatic navigation device is controlled to align the core of the target material with the cantilever shaft on the printing apparatus, and insert the core of the target material into the cantilever shaft.

In this embodiment, the terminal device may control the automatic navigation device to perform a feeding operation, where the feeding operation specifically includes placing the obtained target material at a specified position on the printing device. In this case, a cantilever shaft can be arranged in the region of the printing apparatus, which cantilever shaft is used in particular for hanging the material required for printing, such as a roll paper. The terminal equipment can control the automatic navigation device to align the winding cores in the acquired target materials with the cantilever shaft of the printing equipment, and insert the target materials into the cantilever shaft, so that the target materials can be fixed on the cantilever shaft, and the feeding operation is completed. Optionally, after detecting that the automatic navigation device moves to the designated position corresponding to the printing device, the automatic navigation device can align the winding core of the target material with the cantilever shaft of the printing device through the built-in visual identification module, and insert the winding core of the target material onto the cantilever shaft so as to fix the target material.

In this embodiment, the manner in which the automatic navigation device inserts the winding core of the target material into the cantilever shaft is specifically: after the winding core of the target material is aligned with the cantilever shaft, the target material can be controlled to approach the cantilever shaft in the axial direction of the cantilever shaft until the winding core of the target material is completely inserted into the cantilever shaft, for example, the winding core cannot be continuously approaching the cantilever shaft, and at the moment, the winding core is identified to be completely inserted into the cantilever shaft.

In one possible implementation manner, the manner in which the automatic navigation device aligns the winding core of the target material with the cantilever shaft may specifically be: the automatic navigation device can raise the target material to a specified height, and the position of the cantilever shaft is generally fixed, so that the target material is raised to the specified height, and when the form of the target material is stable, the winding core can be aligned with the cantilever shaft. The specified height may be determined according to the size of the target material and the mounting position of the cantilever shaft. Different target materials can be associated with corresponding sizes, and the terminal equipment can determine the size of the target material by inquiring a corresponding relation table of the materials and the sizes, so that the required ascending designated height is determined. Of course, when the automatic navigation device acquires the target material, the actual size of the target material can be acquired through the visual identification module.

In one possible implementation manner, after reaching the area where the printing device to be fed is located, the automatic navigation device may send an arrival information to the terminal device, and after receiving the arrival information, the terminal device may control the automatic navigation device to perform the feeding operation, that is, perform the operation of S103.

In S104, the corresponding air valve of the cantilever shaft is opened, so that the cantilever shaft fills the winding core, and the cantilever shaft controls the rotation of the target material.

In this embodiment, after the target material is placed at the specified position, i.e. after the winding core of the target material is inserted into the cantilever shaft, the target material needs to be further fixed, so that the terminal device can open the inflation valve corresponding to the cantilever shaft, and further, the terminal device can open the inflation motor to inflate the cantilever shaft. Because in order to facilitate the insertion of the winding core of the target material into the cantilever shaft, the initial state of the cantilever shaft is in a deflation state, and at this time, the radius of the cantilever shaft is smaller, i.e. a certain gap exists between the cantilever shaft and the winding core. At this time, the rotation of the cantilever shaft drives the target material to rotate, so that when the terminal device rotates at a certain speed by controlling the cantilever shaft, the target material also rotates at the same speed.

In S105, if material information fed back by the scanning device is received, executing a material management flow based on the material information; the material information is generated after the scanning device finishes scanning the identification code on the target material in the process of controlling the cantilever shaft to rotate.

In this embodiment, after the terminal device inflates the cantilever shaft, the terminal device may control the cantilever shaft to rotate at a preset speed, where the rotation speed may be slower, and the specific rotation speed may be determined according to the acquisition frame rate of the scanning device, and if the acquisition frame rate is higher, the corresponding rotation speed may be faster. The identification code of the target material can be adhered to the surface of the target material, so that the scanning device can scan the identification code on the target material in the process of rotating according to the cantilever shaft, generate material information about the target material and send the material information to the terminal equipment.

In this embodiment, after receiving the material information fed back by the scanning device, the terminal device may perform material management on the target material based on the material information, for example, update the inventory of the target material, and determine whether to perform shipment or not based on the updated inventory information.

As can be seen from the above, the feeding system of the feeding method provided by the embodiment of the invention is internally provided with the automatic navigation device, when the printing equipment is required to be fed, the automatic navigation device is controlled to move to the target feeding area to obtain the target material, the automatic navigation device is controlled to return to the printing equipment, and the obtained target material is placed at a designated position for the printing equipment, so that the transfer and feeding operation of the target material can be completed without manually carrying the material; in the feeding stage, the automatic navigation device can be controlled to align the winding core of the target material with the cantilever shaft arranged at the designated position, so that the target material can be accurately placed at the designated position, the accuracy of feeding operation is improved, and the influence on the normal use of printing equipment due to inaccurate placement of the target material is avoided; after feeding is completed, the inflatable cantilever shaft is inflated through the inflation valve, so that the target material can be fixed at a designated position, and the target material can be controlled to rotate for printing equipment; and finally, acquiring the material information of the target material through the scanning device, and completing the management of the target material, so that the accurate management and control of the inventory can be realized. Therefore, the feeding system realizes the purpose of automatic feeding through the cooperative operation of the automatic navigation device, the inflatable cantilever shaft and the scanning device, ensures that the materials are accurately placed outside the designated area, can also reduce manual operation, greatly improves the production efficiency and reduces the labor cost.

Fig. 3 shows a flowchart of a specific implementation of the feeding method S105 according to the second embodiment of the present invention. Referring to fig. 3, with respect to the embodiment described in fig. 2, in a feeding method provided in this embodiment, S105 includes: s1051 to S1054 are specifically described below:

further, if the material information fed back by the scanning device is received, a material management process is executed based on the material information, including:

in S1051, a first material type corresponding to the target material is determined from the material information.

In this embodiment, the identification code attached to the target material may be used to indicate the material type of the target material, that is, the first material type, so that the first material type may be determined by scanning the material information determined by the identification code of the target material. Optionally, the material information may further include information such as a material number, a production time, a manufacturer, a production address, etc. of the target material, and the specifically carried information may be set according to actual needs. Wherein, the identification code can be a two-dimensional code, a bar code and the like.

In this embodiment, the terminal device may determine whether the currently loaded target material is consistent with the material to be loaded, so whether the first material type determined based on the material information of the target material is matched with the second material type of the loading trigger condition, if so, S1052 is executed, otherwise, if not, S1053 is executed.

In S1052, if the first material type is matched with the second material type corresponding to the loading trigger condition, the inventory information corresponding to the target material is updated based on the material information.

In this embodiment, if the first material type is matched with the second material type, it indicates that the current material to be fed is consistent with the material type to be fed, that is, the feeding operation is not abnormal, and the subsequent printing device can respond to the printing task through the fed target material, that is, the target material can be normally used. Based on the above, the terminal device may update the inventory information of the target material, so that the inventory information is consistent with the current usage situation of the target material. The updated content may specifically be: reducing the number of remaining inventory, increasing the number of used inventory, etc.

In S1053, if the first material type does not match the second material type, a material taking failure instruction is sent to the automatic navigation device, so that the automatic navigation device moves the target material to the target material taking area, and the material matching the second material type is acquired again in the target material taking area.

In this embodiment, if the first material type is not matched with the second material type, it indicates that the current material type is inconsistent with the material type to be fed, that is, the feeding operation is abnormal, and the reason for the abnormal feeding operation may be that the obtained area where the target material is placed is abnormal, for example, the area where the second material type to be fed is placed in the area a, and the first material type of the target material should be stored in the area B under normal conditions. However, due to the operation of the storage operation, the target material of the first material type is stored in the area a, and when the automatic navigation device moves to the area a to obtain the material corresponding to the second material type, the target material of the first material type which is stored in error may be taken out, and in this case, the condition that the material type of the target material is inconsistent with the material type to be fed may occur; for another example, if the area for taking the material is not the target taking area indicated in advance due to abnormal navigation, the obtained target material is not the material stored in the target taking area, and the material types are different.

In this embodiment, when the terminal device identifies that the acquired material is not the material to be acquired, a failure instruction is generated, and the failure instruction is sent to the automatic navigation device, so that the automatic navigation device can acquire the target material to be fed from the target material taking area again, and automatic repair of the abnormal material taking situation is achieved.

In one possible implementation manner, the terminal device may take the target material that is currently loaded off the cantilever shaft, return the target material that is currently loaded to the area associated with the first material type, and move the target material to the area associated with the second material type, that is, the target material taking area, to re-acquire the material.

In this embodiment, the terminal device may count the abnormal treatment discarding situations, count the number of times of obtaining the material by the abnormality, and if the number of times is greater than a preset abnormality threshold, execute the operation of S1054; otherwise, if the number of times is smaller than or equal to the abnormal threshold value, continuing to the target material taking area to obtain the material of the second material type.

In S1054, if the number of consecutive transmissions of the cancel failure instruction exceeds a preset abnormality threshold, abnormality response information about the target take-out area is generated.

In this embodiment, if the terminal device identifies that none of the materials continuously going to the target material taking area is a material of the second material type that needs to be obtained, the terminal device indicates that the abnormal situation cannot be handled through autonomous repair, and at this time, an abnormal response message may be generated to notify the user to handle the abnormal situation. The abnormal response information may be transmitted to a user terminal of the maintenance person.

In the embodiment of the application, whether the first material type of the obtained target material is matched with the second material type of the required material is compared, so that the material fed at the time can be abnormally identified, the occurrence probability of material taking errors is reduced, and the accuracy of material taking operation is improved.

Fig. 4 shows a flowchart of a specific implementation of a feeding method according to a third embodiment of the present invention. Referring to fig. 4, with respect to the embodiment shown in fig. 2, after the feeding method provided in this embodiment receives the material information fed back by the scanning device, the material management process is executed based on the material information, which further includes: s401 to S403 are specifically described below:

further, after the material management process is executed based on the material information if the material information fed back by the scanning device is received, the method further includes:

in S401, the information tag of the sub-material consumed by the target material when the printing device performs the printing task is acquired by the scanning device.

In this embodiment, each smallest usage unit (i.e., sub-material) in the target material is configured with a corresponding information tag, so as to facilitate management of usage conditions of the target material. For example, if the target material is a roll paper, a corresponding information label may be attached to a fixed position of each meter of the roll paper, the roll paper may rotate along with the cantilever shaft during the roll paper consumption process of the printing device, and the scanning device may scan to obtain a new information label every time a meter of the roll paper is consumed, i.e. obtain the information label of the consumed sub-material.

In S402, a consumption record for the print job is generated based on the information tags of all the sub-materials.

In this embodiment, after obtaining one information tag, the scanning device may send the information tag to the terminal device, and the terminal device may determine, according to all received information tags in the printing task process, a material condition consumed by the present task, and generate a corresponding consumption record, so that inventory management can be performed on each printing task.

In S403, the inventory information corresponding to the target material is updated according to the consumption record.

In this embodiment, the terminal device may update the inventory information of the target material according to the generated consumption record after each print job is completed. The specific update operation may be: determining the consumption of the target material, reducing the amount of existing inventory, and increasing the amount of consumed inventory.

In the embodiment of the application, the corresponding information mark is configured on each minimum material unit, and the consumption record can be generated by scanning the information label when the printing task is responded, so that the consumption condition of each printing task can be subjected to inventory management, and the instantaneity and the accuracy of the inventory management are improved.

Fig. 5 shows a flowchart of a specific implementation of a feeding method S101 according to a fourth embodiment of the present invention. Referring to fig. 5, with respect to the embodiment described in fig. 2, a feeding method S101 provided in this embodiment includes: s1011 to S1014, the details are as follows:

further, if the preset loading triggering condition is met, controlling the automatic navigation device to move to a target material taking area, and acquiring a target material to be loaded from the target material taking area, including:

in S1011, if it is detected that the automatic navigation device reaches the target material taking area, a material taking scene image is obtained through an image acquisition module in the automatic navigation device.

In this embodiment, the terminal device may send a material taking instruction to the automatic navigation device, and the automatic navigation device may move to a target material taking area where the target material is stored in response to the material taking instruction. The automatic navigation device can be provided with a positioning module, if the position information fed back by the positioning module is detected to enter the target material taking area, the automatic navigation device is identified to have the target material taking area, and an image acquisition module of the automatic navigation device can be started to acquire a material taking scene image. The image acquisition module can be a camera or other visual recognition modules.

In S1012, outputting the identifiable object in the material taking scene image through a visual identification algorithm preset by the automatic navigation device.

In this embodiment, the automatic navigation device may be configured with a preset visual recognition algorithm, and the image recognition may be performed on the material taking scene image by using the visual recognition algorithm, so as to determine the identifiable object included in the photographed scene image. The visual recognition algorithm can specifically determine the object type according to the contour information and the color information of the object shot in the material taking scene image, and configures a corresponding object label for each identifiable object, and the object label can specifically be used for determining the object type of the identifiable object.

In S1013, if the identifiable object includes an object of a winding core type, the material taking position is determined based on an area where the object of the winding core type is located.

In this embodiment, after determining the object types of the identifiable objects in the material taking scene image, the terminal device may determine whether the identifiable objects of the winding core type exist, and if so, identify that the material taking scene image includes the target material, and may perform the material taking operation. Specifically, the automatic navigation device may determine an area where the object of the winding core type is located in the material taking scene image, and take the area as an area where the target area is located, so as to obtain the material taking position.

In S1014, the fork of the automatic navigation device is controlled to move to the material taking position to obtain the target material.

In this embodiment, a fork support is disposed in the automatic navigation device, and the fork support is disposed with an inclined plane, so as to support a cylindrical target material. Based on the above, the automatic navigation device can move the fork support to the position where the target material is located based on the material taking position, so that the target material can be supported, and the target material can be taken out from the target material taking area.

In the embodiment of the application, when the automatic navigation device reaches the target material taking area, whether the current scene contains the target material or not is judged by collecting the material taking scene image, so that the purpose of accurately taking materials is achieved, and the accuracy of taking materials is improved.

Fig. 6 shows a flowchart of a specific implementation of a feeding method S103 according to a fifth embodiment of the present invention. Referring to fig. 6, with respect to the embodiment described in fig. 2, a feeding method S103 provided in this embodiment includes: s1031 to S1032 are specifically described as follows:

further, the feeding system further comprises a distance sensor; the cantilever shaft and the distance sensor are arranged on the same wallboard;

The controlling the automatic navigation device to align the winding core of the target material with the cantilever shaft on the printing equipment and insert the winding core of the target material into the cantilever shaft includes:

in S1031, the sensing distance value fed back by the distance sensor is monitored while controlling the target material to move in the axial direction of the cantilever shaft.

In this embodiment, the distance sensor and the cantilever shaft are mounted on the same wall board, and when the automatic navigation device inserts the target material into the cantilever shaft, the sensing distance value corresponding to the distance sensor can be read to determine the distance between the target material and the wall surface, so as to determine whether the target doll is boring and has been completely inserted into the cantilever shaft.

In S1032, if the sensed distance values monitored in the preset jitter period are all consistent, it is identified that the cantilever shaft has been inserted into the winding core.

In this embodiment, if the terminal device recognizes that the sensing distance value remains unchanged within the preset duration, that is, the sensing distance value tends to be stable, it indicates that the target material has been completely inserted into the cantilever shaft, and at this time, the operation of S104 may be performed.

In the embodiment of the application, the distance between the target material and the wallboard is acquired through the distance sensor, when no change of the distance is detected, the cantilever shaft is determined to be completely inserted into the winding core, and the target material is identified to be fixedly mounted on the cantilever shaft, so that whether the target material is fixed or not is quickly determined.

Fig. 7 shows a flowchart of a specific implementation of a feeding method S104 according to a sixth embodiment of the present invention. Referring to fig. 7, with respect to the embodiment described in any one of fig. 2 to 5, a feeding method S104 provided in this embodiment includes: s1041 to S1043 are specifically described below:

in S1041, an opening command is sent to the inflation valve to control the inflation valve to perform an inflation operation on the cantilever shaft.

In this embodiment, the terminal device may send an opening instruction to the inflation valve to open the inflation valve, so that gas may enter the cantilever shaft through the air inlet corresponding to the inflation valve, thereby implementing inflation of the cantilever shaft.

In S1042, during the inflation operation, the rotation of the cantilever shaft is controlled at a preset rotation speed, and the rotation state of the target material is monitored.

In this embodiment, the terminal device may control the rotation of the cantilever shaft with a preset rotation speed during the inflation of the cantilever shaft. If the cantilever shaft is inflated and filled with the winding core, the target material rotates at a preset rotation speed according to the cantilever shaft, so that the terminal equipment can determine whether the inflation is completed by identifying the rotation state of the target material.

In S1043, if it is identified that the rotation state of the target material is uniform rotation, a closing instruction is sent to the air charging valve.

In this embodiment, if the terminal device recognizes that the rotation speed of the target material and the cantilever shaft rotate at the same speed, it recognizes that the cantilever shaft has been inflated, and can fix the target material, and at this time, it can send a closing instruction to the inflation valve.

In the embodiment of the application, whether the cantilever shaft is inflated or not can be determined by identifying the rotation state of the target material, and the aim of accurately controlling the cantilever shaft is fulfilled.

Fig. 8 shows a flowchart of a specific implementation of a feeding method S103 according to a seventh embodiment of the present invention. Referring to fig. 8, with respect to the embodiment described in any one of fig. 2 to 5, a feeding method S103 provided in this embodiment includes: s801 to S802 are specifically described below:

in S801, the diameter length of the winding core is determined.

In S802, a displacement height is determined based on the diameter length, and the automatic navigation device is controlled to raise the target material to the displacement height to align the winding core with the cantilever shaft.

In this embodiment, the terminal device may determine the corresponding diameter length of the winding core according to the material type of the target material, or by obtaining the material size of the target material, where the diameter lengths of the winding cores are different, and the rising heights of the automatic navigation device when aligning the cantilever shaft and the winding core may be different, so the terminal device may dynamically adjust the displacement height according to the diameter lengths, and control the automatic navigation device to rise the target material to the corresponding displacement height, so that the winding core and the cantilever shaft may be aligned with each other.

In the embodiment of the application, the lifting height is adjusted according to the diameter of the winding core, so that the target material can be accurately lifted to the corresponding height to be aligned with the cantilever shaft.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present invention.

Fig. 9 shows a block diagram of a feeding control device according to an embodiment of the present invention, where each unit included in the terminal device is configured to execute each step in the embodiment corresponding to fig. 1. Please refer to fig. 2 and the related description of the embodiment corresponding to fig. 2. For convenience of explanation, only the portions related to the present embodiment are shown.

Referring to fig. 9, the feeding control device is applied to a feeding system, and the feeding system comprises the feeding control device, at least one printing device to be fed, an automatic navigation device and a scanning device; the printing equipment is provided with an inflatable cantilever shaft, and the feeding control device comprises:

the material taking control unit 91 is configured to control the automatic navigation device to move to a target material taking area if a preset material loading triggering condition is met, and obtain a target material to be loaded from the target material taking area;

The navigation control unit 92 is configured to control the automatic navigation device to move to the printing device to be fed associated with the feeding trigger condition;

a feeding control unit 93, configured to control the automatic navigation device to align the core of the target material with the cantilever shaft on the printing apparatus, and insert the core of the target material into the cantilever shaft;

the inflation control unit 94 is configured to open an inflation valve corresponding to the cantilever shaft, so that the cantilever shaft fills the winding core, and control the rotation of the target material through the cantilever shaft;

the material management and control unit 95 is configured to execute a material management flow based on the material information if material information fed back by the scanning device is received; the material information is generated after the scanning device finishes scanning the identification code on the target material in the process of controlling the cantilever shaft to rotate.

Optionally, the material control unit 95 includes:

the first material type identification unit is used for determining a first material type corresponding to the target material from the material information;

the inventory updating unit is used for updating inventory information corresponding to the target materials based on the material information if the first material type is matched with the second material type corresponding to the loading triggering condition;

The abnormal response unit is used for sending a material taking failure instruction to the automatic navigation device if the first material type is not matched with the second material type, so that the automatic navigation device moves the target material to the target material taking area, and the material matched with the second material type is acquired again in the target material taking area;

and the abnormal response information generation unit is used for generating abnormal response information about the target material taking area if the continuous sending times of the cancellation failure instruction exceeds a preset abnormal threshold value.

Optionally, the feeding control device further includes:

the information label identification unit is used for acquiring information labels of sub-materials consumed by the target materials when the printing equipment executes a printing task through the scanning device;

a consumption record generation unit for generating a consumption record for the print job based on the information tags of all the sub-materials;

and the consumption record updating unit is used for updating the inventory information corresponding to the target material according to the consumption record.

Optionally, the material taking control unit 91 includes:

the material taking scene image acquisition unit is used for acquiring a material taking scene image through an image acquisition module in the automatic navigation device if the automatic navigation device is detected to reach the target material taking area;

The identifiable object identification unit is used for outputting identifiable objects in the material taking scene image through a visual identification algorithm preset by the automatic navigation device;

the material taking position determining unit is used for determining the material taking position based on the area where the winding core type object is located if the identifiable object comprises the winding core type object;

and the target material identification unit is used for controlling the fork support of the automatic navigation device to move to the material taking position so as to acquire the target material.

Optionally, the feeding system further comprises a distance sensor; the cantilever shaft and the distance sensor are arranged on the same wallboard;

the feeding control unit 93 includes:

the sensing distance value monitoring unit is used for monitoring the sensing distance value fed back by the distance sensor when the target material is controlled to move in the axial direction of the cantilever shaft;

and the stability judging unit is used for identifying that the cantilever shaft is inserted into the winding core if the sensing distance values monitored in the preset shaking time are consistent.

Optionally, the inflation control unit 94 includes:

the opening instruction sending unit is used for sending an opening instruction to the inflation valve so as to control the inflation valve to perform inflation operation on the cantilever shaft;

The rotation state identification unit is used for controlling the rotation of the cantilever shaft at a preset rotating speed in the process of carrying out the inflation operation and monitoring the rotation state of the target material;

and the closing instruction sending unit is used for sending a closing instruction to the inflation valve if the rotation state of the target material is identified to be uniform rotation.

Optionally, the feeding control unit 93 includes:

a diameter length determining unit for determining a diameter length of the winding core;

and the displacement height determining unit is used for determining the displacement height based on the diameter length and controlling the automatic navigation device to lift the target material to the displacement height so as to align the winding core to the cantilever shaft.

Therefore, the feeding control device provided by the embodiment of the invention can realize the purpose of automatic feeding through the cooperative operation of the automatic navigation device, the inflatable cantilever shaft and the scanning device, ensure that the materials are accurately placed outside the designated area, reduce manual operation, greatly improve the production efficiency and reduce the labor cost.

Fig. 10 is a schematic diagram of a terminal device according to another embodiment of the present invention. As shown in fig. 10, the terminal device 10 of this embodiment includes: a processor 100, a memory 101 and a computer program 102, such as a loading program, stored in the memory 101 and executable on the processor 100. The steps in the above embodiments of the loading method are implemented when the processor 100 executes the computer program 102, for example, S101 to S105 shown in fig. 2. Alternatively, the processor 100 may perform the functions of the units in the above-described device embodiments, such as the functions of the modules 91 to 95 shown in fig. 9, when executing the computer program 102.

Illustratively, the computer program 102 may be partitioned into one or more units that are stored in the memory 101 and executed by the processor 100 to accomplish the present invention. The one or more elements may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 102 in the terminal device 10. For example, the computer program 102 may be divided into a material take-off control unit, a navigation control unit, a material feed control unit, an inflation control unit, and a material management unit, each of which functions as described above.

The terminal device may include, but is not limited to, a processor 100, a memory 101. It will be appreciated by those skilled in the art that fig. 10 is merely an example of the terminal device 10 and is not limiting of the terminal device 10, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.

The processor 100 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 101 may be an internal storage unit of the terminal device 10, such as a hard disk or a memory of the terminal device 10. The memory 101 may also be an external storage device of the terminal device 10, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal device 10. Further, the memory 101 may also include both an internal storage unit and an external storage device of the terminal device 10. The memory 101 is used for storing the computer program and other programs and data required by the terminal device. The memory 101 may also be used to temporarily store data that has been output or is to be output.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.

Claims

1. The feeding method is applied to a feeding system and is characterized in that the feeding system comprises at least one printing device to be fed, an automatic navigation device and a scanning device; the printing apparatus is configured with an inflatable cantilever shaft; the feeding method comprises the following steps:

if material information fed back by the scanning device is received, executing a material management flow based on the material information; the material information is generated after the scanning device finishes scanning the identification code on the target material in the process of controlling the cantilever shaft to rotate;

And if the material information fed back by the scanning device is received, executing a material management flow based on the material information, wherein the material management flow comprises the following steps:

determining a first material type corresponding to the target material from the material information;

if the first material type is matched with the second material type corresponding to the feeding trigger condition, updating inventory information corresponding to the target material based on the material information;

if the first material type is not matched with the second material type, sending a material taking failure instruction to the automatic navigation device so that the automatic navigation device moves the target material to the target material taking area, and acquiring the material matched with the second material type in the target material taking area again, wherein the material taking method comprises the following steps of: taking down the target material fed at this time from the cantilever shaft, returning the target material fed at this time to an area associated with a first material type, and moving the target material to the area associated with a second material type to obtain a material matched with the second material type;

and if the continuous sending times of the material taking failure instruction exceed a preset abnormal threshold value, generating abnormal response information about the target material taking area.

2. The feeding method according to claim 1, further comprising, after the performing a material management process based on the material information if the material information fed back by the scanning device is received:

acquiring information labels of sub-materials consumed by the target materials when the printing equipment executes a printing task through the scanning device;

generating a consumption record for the print job based on the information tags for all of the sub-materials;

and updating inventory information corresponding to the target materials according to the consumption records.

3. The feeding method according to claim 1, wherein if a preset feeding trigger condition is met, controlling the automatic navigation device to move to a target material taking area, and obtaining a target material to be fed from the target material taking area, includes:

if the automatic navigation device is detected to reach the target material taking area, acquiring a material taking scene image through an image acquisition module in the automatic navigation device;

outputting identifiable objects in the material taking scene image through a visual identification algorithm preset by the automatic navigation device;

if the identifiable object comprises an object of a winding core type, determining a material taking position based on an area where the object of the winding core type is located;

And controlling the fork support of the automatic navigation device to move to the material taking position so as to obtain the target material.

4. The feeding method as set forth in claim 1, wherein the feeding system further comprises a distance sensor; the cantilever shaft and the distance sensor are arranged on the same wallboard;

monitoring an induction distance value fed back by the distance sensor when the target material is controlled to move in the axial direction of the cantilever shaft;

and if the sensing distance values monitored in the preset shaking time are consistent, identifying that the cantilever shaft is inserted into the winding core.

5. The method of any one of claims 1-4, wherein opening the corresponding inflation valve of the cantilever shaft to allow the cantilever shaft to fill the winding core and controlling the rotation of the target material by the cantilever shaft comprises:

sending an opening instruction to the inflation valve to control the inflation valve to perform inflation operation on the cantilever shaft;

In the process of carrying out the inflation operation, controlling the cantilever shaft to rotate at a preset rotating speed, and monitoring the rotating state of the target material;

and if the rotation state of the target material is identified to be uniform rotation, sending a closing instruction to the air charging valve.

6. The method of any one of claims 1-4, wherein controlling the automatic navigation device to align the core of the target material to the cantilever shaft on the printing apparatus comprises:

determining the diameter and the length of the winding core;

and determining a displacement height based on the diameter length, and controlling the automatic navigation device to lift the target material to the displacement height so as to align the winding core to the cantilever shaft.

7. The feeding control device is applied to a feeding system and is characterized by comprising the feeding control device, at least one printing device to be fed, an automatic navigation device and a scanning device; the printing equipment is provided with an inflatable cantilever shaft, and the feeding control device comprises:

the material management and control unit is used for executing a material management flow based on the material information if the material information fed back by the scanning device is received; the material information is generated after the scanning device finishes scanning the identification code on the target material in the process of controlling the cantilever shaft to rotate;

the material management and control unit includes:

An abnormal response unit, configured to send a material taking failure instruction to the automatic navigation device if the first material type is not matched with the second material type, so that the automatic navigation device moves the target material to the target material taking area, and acquire the material matched with the second material type in the target material taking area again, where the abnormal response unit includes: taking down the target material fed at this time from the cantilever shaft, returning the target material fed at this time to an area associated with a first material type, and moving the target material to the area associated with a second material type to obtain a material matched with the second material type;

and the abnormal response information generation unit is used for generating abnormal response information about the target material taking area if the continuous sending times of the material taking failure instruction exceed a preset abnormal threshold value.

8. The terminal equipment is applied to a feeding system and is characterized by comprising the terminal equipment, at least one printing device to be fed, an automatic navigation device and a scanning device; the printing device is configured with an inflatable cantilever shaft, the terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor executing the steps of the method according to any one of claims 1 to 6.

9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 6.