CN114873294A

CN114873294A - Material storage system, control method thereof and computer-readable storage medium

Info

Publication number: CN114873294A
Application number: CN202210585607.5A
Authority: CN
Inventors: 郑雪平; 郑烜如; 郑华荣
Original assignee: Shanghai Rongmei Agricultural Technology Co ltd
Current assignee: Shanghai Rongmei Agricultural Technology Co ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2022-08-09

Abstract

The application provides a material storage system, a control method thereof and a computer readable storage medium, wherein the method comprises the following steps: acquiring a plurality of blanking positions of a target storage bin corresponding to a material to be stored; generating a conveying control instruction and sending the conveying control instruction to the material storage system so that conveying equipment of the material storage system conveys the material to be stored to the upper part of the target bin; generating a blanking control instruction and sending the blanking control instruction to the material storage system so that blanking equipment of the material storage system performs blanking above each blanking position; and generating a sorting control instruction and sending the sorting control instruction to the material storage system so that sorting equipment of the material storage system sorts the materials of the target bin, thereby changing the conical stacking state of the materials in the target bin. And (3) blanking at a plurality of positions of the target storage bin, and finishing the stacking shape of the materials after blanking to change the naturally formed conical stacking state of the materials.

Description

Material storage system, control method thereof and computer-readable storage medium

Technical Field

The present application relates to the field of automation control and computer vision technologies, and in particular, to a material storage system, a control method thereof, and a computer-readable storage medium.

Background

When unloading in the feed bin, if carry out the unloading at same unloading point (for example feed bin center), then the material piles up easily and forms conical shape, and the material of unloading point department is higher usually, and the material at feed bin edge is lower, and the material distribution in the feed bin is very inhomogeneous, storage space in the make full use of feed bin of failing.

Patent CN205873341U discloses a herringbone blanking device and silo or spherical bin, the herringbone blanking device includes: the herringbone chute comprises a first chute obliquely extending from top to bottom on one side and a second chute obliquely extending from top to bottom on the other side; a movable gate disposed at or adjacent to the intersection center of the herringbone chute and movable between an open position and a closed position, wherein when the movable gate is in the open position, material falls directly through the opening opened by the movable gate; when the movable door is in the closed position, material falls from the lower end of the first chute and the second chute along the lower end of the movable door. The I-shaped blanking device is provided with a plurality of discharging points, so that materials can be more uniformly distributed at the top of the warehouse, the utilization efficiency of the top space of the warehouse is improved, and particularly the utilization efficiency of the top space of a silo or a spherical bin is improved. Although the device can discharge materials from a plurality of discharging points, when the number of the storage spaces is more than one, the material cannot be selectively controlled to be conveyed to one of the storage spaces; in addition, the device only carries out multi-position blanking from the dimension of the blanking points, but the material at each blanking point still has a conical accumulation state.

Based on this, the present application provides a material storage system, a control method thereof, and a computer-readable storage medium to solve the above-mentioned problems in the prior art.

Disclosure of Invention

The application aims to provide a material storage system, a control method thereof and a computer readable storage medium, which can selectively convey materials to a target bin and carry out blanking from a plurality of blanking positions, and change the conical accumulation state of the materials.

The purpose of the application is realized by adopting the following technical scheme:

in a first aspect, the present application provides a method for controlling a material storage system, the method comprising:

acquiring a plurality of blanking positions of a target storage bin corresponding to a material to be stored;

generating a conveying control instruction and sending the conveying control instruction to the material storage system so that conveying equipment of the material storage system conveys the material to be stored to the upper part of the target bin;

generating a blanking control instruction and sending the blanking control instruction to the material storage system so that blanking equipment of the material storage system performs blanking above each blanking position, and the material to be stored enters the target storage bin;

and generating a sorting control instruction and sending the sorting control instruction to the material storage system so that sorting equipment of the material storage system sorts the materials of the target bin, thereby changing the conical stacking state of the materials in the target bin.

The technical scheme has the beneficial effects that: when a batch of materials is to be stored, a plurality of blanking positions (a plurality of blanking positions are 2 or more than 2) of a corresponding target bin (such as a bin with a solid boundary, such as a warehouse, a compartment, a storage tank, a storage cabinet, a self-moving storage vehicle and the like, or a bin with a virtual electronic boundary) are obtained in a targeted manner, blanking is performed at the plurality of positions of the target bin, and the stacking forms of the materials are sorted after blanking to change the naturally formed conical stacking state of the materials. On the one hand, the multipoint blanking enables the material to be distributed more evenly in the whole space of the silo in the blanking stage compared with the blanking at the same position, and the height of the cone formed at a plurality of blanking positions is generally lower than that formed at a single blanking position (under the condition that other parameters of the blanking process are not changed) provided that the total amount of the material to be stored is determined. On the other hand, after the material is discharged, the material is arranged, and the naturally formed conical stacking state is changed through a single intervention means, so that the material can be further uniformly distributed in the whole target bin. Here, the arrangement is, for example, arrangement by a robot arm, leveling by a leveling device, leveling by a rotating device (using centrifugal force), or the like.

In some optional embodiments, the obtaining of the plurality of blanking positions of the target bin corresponding to the material to be stored includes:

determining a target bin corresponding to the material to be stored;

and determining a plurality of blanking positions of the target storage bin.

The technical scheme has the beneficial effects that: the method comprises the steps of obtaining specific blanking positions of materials to be stored, and dividing the process into two stages, wherein the first stage determines a target bin, and the second stage determines a plurality of blanking positions in the target bin. Therefore, the target bin can be determined firstly, and then a plurality of blanking positions can be automatically determined according to a preset rule (for example, the bins can be equally divided, and the centers of the equally divided parts are used as the blanking positions), or the blanking positions can be manually selected. The target bin determination and the multiple blanking positions determination are divided into two stages, so that the manual control or automatic control mode is adopted for processing each stage, and the storage efficiency of the materials is improved on the premise of ensuring the uniform distribution of the materials.

In some optional embodiments, the determining a target bin corresponding to the material to be stored includes:

receiving a selection operation aiming at a target bin by utilizing an interaction device;

in response to the selecting operation, determining the target bin.

The technical scheme has the beneficial effects that: interaction is carried out between the interaction equipment and workers, selection operation of the workers for the target storage bin is received, and therefore the target storage bin is determined in a manual control mode. The method has the advantages that the method is convenient for workers to exert subjective initiative, and the selection problem of the target storage bin is solved by using own experience (especially when the working experience of the workers is decades or even decades) and learned knowledge.

detecting the positions of a plurality of bins by using detection equipment to obtain position information of the bins;

determining the target bin from a plurality of the bins based on bin level information for the plurality of bins.

The technical scheme has the beneficial effects that: the positions of a plurality of bins are detected by a detection device (such as a distance detection device, a visual detection device, etc.) to obtain position information (such as full position, 76% position, 0 position, etc.) of each bin, and one bin is automatically determined from the plurality of bins as a target bin according to the position information, wherein the target bin is, for example, the lowest position of the plurality of bins, and is, for example, the one which can be just filled with the material to be stored. The former has the advantages of sufficient residual space, capability of storing more materials and avoidance of the condition that the materials to be stored need to be stored in a plurality of bins respectively (assuming that the selected storage space is nearly full, the next bin is filled up by a little, the next bin needs to be replaced, if the replaced bin is still full, the third bin needs to be replaced, and the like, the storage efficiency is low). The latter has the advantage that just one bin can be filled, and before the material of the bin is taken out, if a batch of material to be stored comes next, the storage of the material in the bin does not need to be considered, and one less alternative bin is provided, so that the efficiency of next target bin determination is improved.

In some optional embodiments, the transmission control instruction comprises a lifting sub-control instruction and a translation sub-control instruction;

the lifting sub-control instruction is used for controlling a lifting assembly of the conveying equipment to lift the material to be stored from a first position to a second position and convey the material to a translation assembly of the conveying equipment, and the second position is higher than the first position;

the translation sub-control instruction is used for controlling a translation assembly of the conveying equipment to translate the material to be stored from the second position to the position above the target bin.

The technical scheme has the beneficial effects that: when the target bin has a certain height relative to the ground, the lifting assembly can be used for lifting the material to a certain height and then translating the material to the position above the target bin. The division has the occasion of a plurality of feed bins, and the same lifting unit of multiplexing utilizes such a lifting unit to promote all materials of treating the storage to required height, and rethread translation subassembly conveys respectively to the feed bin that corresponds, and the benefit of doing so is for providing solitary lifting unit for every feed bin respectively, and the mode of adopting the aforesaid to promote earlier the translation can greatly reduced equipment cost, installation cost and maintenance cost.

In some optional embodiments, the blanking control instructions include a material distributor control instruction and a material guide control instruction;

the material distribution sub-control instruction is used for controlling a material distribution assembly of the blanking equipment to convey the material to be stored on the conveying assembly to the material guide assembly;

the material guiding sub-control instruction is used for controlling a material guiding assembly of the blanking equipment to carry out blanking above each blanking position.

The technical scheme has the beneficial effects that: the blanking process is divided into two stages of material distribution and material guiding by adopting a modular design concept, and the material distribution stage and the material guiding stage can adopt independent functional modules. In this way, the worker can selectively adjust the material distributing assembly or the material guiding assembly and the corresponding control strategy (for example, working parameters can be included) according to the performance requirement and the cost requirement in the practical application, so that the whole solution is economical and applicable; in the adjusting process, the adjustment for the material distributing stage is not necessarily accompanied by the corresponding adjustment for the material guiding assembly, and similarly, the adjustment for the material guiding stage is not necessarily accompanied by the corresponding adjustment for the material distributing stage, so that the control of the whole blanking process is more flexible, and the most reasonable solution (reasonably, such as simple operation, high cost performance, comprehensive performance, difficult failure, convenient maintenance and the like) is more easily found and obtained.

In some optional embodiments, the material guiding sub-control instructions are used for controlling the material guiding assembly to rotate so that the material outlet of one or more material guiding units of the material guiding assembly reaches the position above each material discharging position and performs material discharging;

the material guiding assembly comprises one or more rotatable material guiding units, the number of the plurality of discharging positions is larger than that of the material guiding units of the material guiding assembly, and each discharging position is located below a rotating path of a discharging port of one or more material guiding units.

The technical scheme has the beneficial effects that: because the number of the discharging positions is greater than that of the material guiding units, the material guiding units can enable the discharging ports of the material guiding units to reach the upper part of each discharging position in a rotating mode so as to perform discharging, and thus, for example, the advantage is that the discharging ports of the material guiding units can respectively reach the upper parts of 9 discharging positions to perform discharging instead of using 9 material guiding units to perform discharging at 9 discharging positions, or the discharging ports of the material guiding units can reach the upper parts of 9 discharging positions through the rotation of 3 material guiding units. Therefore, the material can be fed at more feeding positions through fewer material guide units, and only part or all of the material guide units can rotate, so that the cost performance is high, and the cost is saved. Even if the blanking position is adjusted (the blanking position is still below the rotating path after adjustment), the rotating angle of the material guiding unit can be adjusted in an automatic control mode, and the adjustment is not required to be carried out in a mode of disassembly and assembly. The material guiding unit can also adopt a telescopic structure, so that even if the blanking position is not below the original rotating path, the discharge hole of the material guiding unit can reach a new blanking position in a telescopic material guiding unit mode.

In some alternative embodiments, a plurality of the blanking positions form an arc line, the rotation process of each material guide unit is continuous rotation, and blanking is performed in the continuous rotation process; alternatively, the first and second electrodes may be,

the plurality of blanking positions are arranged in a dispersed mode, the rotating process of each material guide unit adopts discontinuous multiple rotation, and blanking is carried out in a non-rotating time period.

The technical scheme has the beneficial effects that: when the plurality of blanking positions form arcs, continuous rotation can be adopted, blanking can be carried out in the continuous rotation process, blanking can be carried out on the plurality of blanking positions more uniformly, and the blanking efficiency is higher; and the blanking can be carried out in a circulating reciprocating rotation mode. When a plurality of blanking positions are dispersedly arranged (a plurality of isolated scattered points are formed), discontinuous multiple rotation can be adopted, each time the blanking is carried out by a certain angle in a non-rotation time period (such as before rotation starts, after rotation ends and two rotation gaps), and the blanking can be carried out at a plurality of designated blanking positions more uniformly.

In some optional embodiments, the material guiding assembly is provided with N material guiding units, where N is an integer greater than 1;

the number of the plurality of blanking positions is k multiplied by N, the rotation process of the N material guide units adopts discontinuous k times of rotation, blanking is carried out in a non-rotation time period, and k is an integer larger than 1.

The technical scheme has the beneficial effects that: the number of the blanking positions is an integral multiple of the material guide units (for example, 9 blanking positions, 3 material guide units, or 6 blanking positions and 2 material guide units), at the moment, the specified blanking positions can be reached in a fractional rotation mode, blanking is carried out in a non-rotation time period, so that the materials form a plurality of cones by taking the specified blanking positions as the center, and then the materials in specific cone accumulation states are sorted in a targeted mode by using the sorting equipment.

In some optional embodiments, the material guiding sub-control instruction is used for controlling a plurality of material guiding units of the material guiding assembly to simultaneously perform blanking above a plurality of blanking positions;

the material guide assembly comprises a plurality of material guide units with fixed positions, and the plurality of blanking positions are positioned below the discharge holes of the plurality of material guide units.

The technical scheme has the beneficial effects that: the material guiding assembly is provided with a plurality of material guiding units with fixed positions, the material is discharged from the discharge ports of the material guiding units which are fixedly arranged, the material guiding assembly is suitable for application scenes without frequent replacement of discharging positions, and the cost is relatively low because a rotating structure is not required.

In some alternative embodiments, the material guiding sub-control instructions are used for controlling the material guiding assembly to rotate so that the end of a rotatable belt of the material guiding assembly reaches above each material discharging position and performs material discharging;

the material guide assembly comprises a rotatable belt, and a plurality of discharging positions are located below a rotating path of the end portion of the rotatable belt.

The technical scheme has the beneficial effects that: utilize a rotatable belt that sets up alone to carry out the unloading, and rotatable belt can all carry out the unloading on two direction of delivery, from this, greatly enriched the scope of setting up of unloading position, make things convenient for the staff to select suitable unloading position in a flexible way. When the rotatable belt adopts (length direction) extending structure, as long as extending structure possesses enough size, the scope that its tip can reach can be the optional position in the feed bin, conveniently carries out the unloading in the optional position from this to accomplish the storage task of waiting to save the material.

In some optional embodiments, the material guiding sub-control instruction is configured to:

controlling a first belt of the material guide assembly to convey the material to be stored to a second belt;

controlling a second belt of the material guide assembly to convey along a first conveying direction of the second belt, conveying a part of the material to be stored to one end of the second belt, and discharging;

and controlling a second belt of the material guide assembly to convey along a second conveying direction of the second belt, conveying the other part of the material to be stored to the other end part of the second belt, and discharging.

The material guide assembly comprises a first belt and a second belt, the conveying directions of the first belt and the second belt are not parallel, the second belt is located below the end portion of the first belt, and the plurality of blanking positions are located below two end portions of the second belt.

The technical scheme has the beneficial effects that: the two belts (the first belt and the second belt) which are independently arranged (and the conveying equipment) are used for discharging, so that the material guiding process from top to bottom can be divided into two stages by the two belts (different in height), the first stage conveys the materials to the second belt from the first belt, and the second stage conveys the materials to the positions below two end parts of the second belt from the second belt so that the materials enter the storage bin. The two stages can be carried out synchronously (the first belt and the second belt are conveyed simultaneously), or asynchronously (the first belt is conveyed firstly, the second belt is conveyed later, and the two belts are not conveyed simultaneously, for example, materials with preset mass corresponding to the first blanking position can be conveyed from the first belt to the second belt and then conveyed from the second belt to the first blanking position, and so on, and then the materials corresponding to the second, third, … … and last blanking position are conveyed to the corresponding blanking positions respectively), so that the materials falling into each blanking position can be controlled accurately. In the asynchronous conveying process, all materials to be stored can be conveyed to the second belt by the first belt at one time, and the second belt carries out blanking at each blanking position respectively. To sum up, the double-layer belt can be flexibly utilized, the conveying mode of the belt is planned according to the requirement of the double-layer belt, and the requirement in practical application is met.

In some optional embodiments, the material guiding sub-control instructions are further used for moving the first belt and the second belt to enable two ends of the second belt to respectively reach the upper part of each blanking position before the first belt is conveyed;

wherein the first belt and the second belt are movable and the relative positions of the first belt and the second belt are kept unchanged, and the plurality of blanking positions are located below the moving paths of the two ends of the second belt.

The technical scheme has the beneficial effects that: the relative positions of the first belt and the second belt are kept unchanged (which can be realized by fixedly connecting the first belt and the second belt or respectively controlling the first belt and the second belt), and if the relative positions of the first belt and the second belt are continuously changed, the situation that the material on the first belt directly falls into a non-specified blanking position without the second belt due to machine failure, human error and the like may occur, or even the material may fall out of a target bin. Generally, when the timeliness of materials is high (for example, mushroom raw materials have a high requirement on freshness), workers usually want to be able to achieve "first in first out", that is, materials stored first are used first, and then materials stored later are used, then each batch of materials to be stored should be uniformly managed and stored to the corresponding target bin according to the storage date, and once the materials enter other bins, a situation that the goods are not aligned may occur (for example, the storage date corresponding to one bin next to the target bin is used for indicating that the materials stored therein are stored at 2022 year 4 month 13 day, and in fact, the materials in which a part of the materials are stored at the target bin at 2022 year 4 month 12 day drift into the bin), which affects the accuracy of material taking, and thus threatens the normal proceeding of the final subsequent processes and reduces the quality of the final product.

In a second aspect, the present application provides a material storage system comprising a conveying device, a blanking device, and a collating device;

the material storage system further comprises a memory and a processor, the memory stores a computer program, and the processor realizes the steps of the control method of any one material storage system when executing the computer program.

In a third aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method of controlling a material storage system as described above.

Drawings

The present application is further described below with reference to the accompanying drawings and embodiments.

Fig. 1 shows a flow chart of a control method of a material storage system provided in the present application.

Fig. 2 shows a schematic structural diagram of a material storage system provided in the present application.

Fig. 3 shows a schematic structural diagram of a storage bin provided by the present application.

Fig. 4 shows a schematic structural diagram of a plurality of bins provided by the present application.

Fig. 5 shows a schematic flowchart of determining a blanking position according to the present application.

Fig. 6 shows a schematic flow chart of determining a target silo according to the present application.

Fig. 7 shows a schematic flow chart of another targeted silo determination provided in the present application.

Fig. 8 shows a schematic structural diagram of a conveying apparatus provided in the present application.

Fig. 9 shows a schematic structural diagram of a conveying apparatus and a blanking apparatus provided by the present application.

Fig. 10 is a schematic view illustrating a material guide assembly having a rotatable material guide unit according to the present application.

Fig. 11 is a schematic view illustrating a material guide assembly having a plurality of rotatable material guide units according to the present application.

Fig. 12 is a schematic view illustrating a material guide assembly having a plurality of fixed position material guide units according to the present application.

Figure 13 illustrates a schematic view of a material guide assembly with a rotatable belt according to the present application.

Fig. 14 is a schematic view showing a structure of a material guide assembly having a first belt and a second belt according to the present application.

Fig. 15 is a schematic structural diagram of a program product for implementing a control method of a material storage system according to the present application.

In the figure: 100. a storage bin; 101. a blanking position; 200. a material storage system; 210. a transfer device; 211. a lifting assembly; 212. a translation assembly; 220. blanking equipment; 221. a material distributing component; 222. a material guiding assembly; 2221. a material guiding unit; 223. a rotatable belt; 224. a first belt; 225. a second belt; 230. arranging equipment; 300. a program product; 400. an interactive device; 500. a detection device; 600. a transport vehicle.

Detailed Description

The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.

Referring to fig. 1 to 3, fig. 1 shows a flow diagram of a control method of a material storage system 200 provided by the present application, fig. 2 shows a structural diagram of a material storage system 200 provided by the present application, and fig. 3 shows a structural diagram of a storage bin 100 provided by the present application. The method comprises the following steps:

step S101: obtaining a plurality of blanking positions 101 of a target storage bin 100 corresponding to a material to be stored;

step S102: generating a conveying control instruction and sending the conveying control instruction to the material storage system 200 so that the conveying equipment 210 of the material storage system 200 conveys the material to be stored to the upper part of the target bin 100;

step S103: generating a blanking control instruction and sending the blanking control instruction to the material storage system 200, so that blanking equipment 220 of the material storage system 200 performs blanking above each blanking position 101, and the material to be stored enters the target storage bin 100;

step S104: a sorting control instruction is generated and sent to the material storage system 200, so that the sorting device 230 of the material storage system 200 sorts the material of the target bin 100, thereby changing the conical stacking state of the material in the target bin 100.

Therefore, when a batch of materials is to be stored, a plurality of blanking positions 101 (a plurality of which are 2 or more than 2) of a target bin 100 (for example, a bin 100 with a solid boundary such as a warehouse, a compartment, a storage tank, a storage cabinet, a self-moving storage vehicle, or the like, or a bin 100 with a virtual electronic boundary) corresponding to the batch of materials are obtained, blanking is performed at a plurality of positions of the target bin 100, and the stacking state of the materials is arranged after blanking so as to change the naturally formed conical stacking state of the materials.

On the one hand, the multipoint blanking enables the material to be distributed more evenly in the whole space of the silo 100 in the blanking stage than in the same position, and the height of the cone formed at the plurality of blanking positions 101 is generally lower than that formed at a single blanking position 101 (under the condition that other parameters of the blanking process are not changed), provided that the total amount of the material to be stored is determined.

On the other hand, the finishing is carried out after the material is discharged, and the naturally formed conical stacking state is changed through a single intervention means, so that the material can be further uniformly distributed in the whole target bin 100. Here, the arrangement is, for example, arrangement by a robot arm, leveling by a leveling device, leveling by a rotating device (using centrifugal force), or the like. In some embodiments, the top of the trimmed target bin 100 forms a shape similar to a plane, i.e., the top is in a relatively flat state. In other embodiments, the top of the trimmed target bin 100 forms a shape similar to a circular truncated cone.

The material storage system 200 in the present application refers to a system for storing materials, which may include a conveying apparatus 210, a blanking apparatus 220, and a sorting apparatus 230.

The material is not limited in the present application, and may be, for example, mushroom raw material (or mushroom ingredient), fertilizer raw material, or the like. When the material is a mushroom feedstock, it may, for example, comprise one or more of cotton hulls, wood chips, corn flour, soybean meal, bran.

The top of the silo 100 is generally open for receiving material conveyed by the material storage system 200. The opening of the storage bin 100 can be a normally open opening, or an opening capable of automatically controlling an opening and closing state.

Each of the silos 100 may be in the shape of a hollow cylinder with an opening, a hollow cuboid with an opening, or other polyhedral shapes, which is not limited in this application.

The number of the bins 100 is not limited in the present application, and may be, for example, 1 or more. Since the target silo 100 is one of the silos 100, when the number of silos 100 is 1, the only silo 100 is used as the target silo 100.

In one embodiment, the number of bins 100 is 2. In another embodiment, the number of bins 100 is 12.

Referring to fig. 4, fig. 4 shows a schematic structural diagram of a plurality of bins 100 provided in the present application. In yet another embodiment, a total of 6 adjacent bins 100 are provided.

In yet another embodiment, there are 6 adjacent bins 100, and each bin 100 divides two compartments.

The dividing manner of the silo 100 is not limited in the present application, and the silo 100 may be physically divided or may be a virtualized silo 100. When the physical division is adopted, the bins 100 independent of each other can be formed by adopting a wall, a baffle, a cloth, and the like.

The multiple silos 100 may be completely isolated from each other or may share a roof area and material storage system 200 in the form of compartments. The material storage system 200 may now span the top of a plurality of bins 100, although the material storage system 200 may have a portion of its structure distributed outside of the bins 100, for example the transfer apparatus 210 of the material storage system 200 may be directly connected to a discharge site for transferring material discharged by the transport vehicle 600 to each bin 100. Alternatively, the conveyor apparatus 210 of the material storage system 200 may also be connected to (or disposed below the ends of) other conveyor belts for conveying material on the other conveyor belts to each of the bins 100. When the material that haulage vehicle 600 lifted off has the wrapping bag, can utilize automatic broken bagging apparatus to break the bag to the wrapping bag, also can adopt artifical broken bagging method to break the bag, this application does not set up the limit to this.

The number of the blanking positions 101 is not limited in the present application, and may be, for example, 2, 3, 6, 9, 12, 20, 100, 1000, or the like.

The plurality of blanking positions 101 in the target storage bin 100 may be uniformly distributed or non-uniformly distributed, which is not limited in this application.

With continued reference to fig. 3, in one embodiment, 6 blanking locations 101 are provided in the target bin 100, arranged in 2 rows and 3 columns.

Referring to fig. 5, fig. 5 shows a schematic flow chart of determining the blanking position 101 according to the present application. In some optional embodiments, the step S101 may include:

step S201: determining a target storage bin 100 corresponding to the material to be stored;

step S202: a plurality of blanking positions 101 of the target silo 100 are determined.

Therefore, the process of acquiring the specific blanking positions 101 is divided into two stages for the material to be stored, wherein the first stage determines the target bin 100, and the second stage determines the plurality of blanking positions 101 in the target bin 100. Therefore, the target bin 100 can be determined, and then the plurality of blanking positions 101 can be automatically determined according to a preset rule (for example, the bin 100 can be equally divided, and the center of each equally divided part is used as the blanking position 101), or the plurality of blanking positions 101 can be manually selected.

The target storage bin 100 and the plurality of blanking positions 101 are divided into two stages, so that each stage is conveniently processed in a manual control or automatic control mode, and the storage efficiency of the materials is improved on the premise of ensuring uniform distribution of the materials.

Referring to fig. 2 and 6, fig. 6 is a schematic diagram illustrating a process of determining a target bin 100 according to the present application. In some optional embodiments, the step S201 may include:

step S301: receiving, with the interaction device 400, a selection operation for the target bin 100;

step S302: in response to the selection operation, the target bin 100 is determined.

Therefore, the interaction device 400 is used for interacting with a worker, receiving the selection operation of the worker for the target bin 100, and determining the target bin 100 in a manual control mode. The advantage of this approach is that it is convenient for the staff to develop their subjective initiative, and to use his own experience (especially when the staff has a working experience of more than ten years or even more than several decades) and learned knowledge to solve the selection problem of the target silo 100.

While the present application is not limited to the interactive device 400, in some alternative embodiments, the interactive device 400 is communicatively coupled to the material storage system 200, and may interact with the material storage system 200.

In some alternative embodiments, the interaction device 400 is, for example, a workbench (also called a console, a control center, a console, etc.) with an interaction function, which is fixedly arranged in the warehouse or outside the warehouse.

In other alternative embodiments, the interaction device 400 is, for example, a smart terminal device having an interaction function, such as a mobile phone, a tablet computer, a notebook computer, a desktop computer, and a smart wearable device.

Referring to fig. 2 and 7, fig. 7 is a schematic flow chart illustrating another targeted silo 100 provided in the present application. In some optional embodiments, the step S201 may include:

step S401: detecting the positions of a plurality of bins 100 by using a detection device 500 to obtain position information of the bins 100;

step S402: determining the target bin 100 from the plurality of bins 100 based on the bin level information of the plurality of bins 100.

Thus, the positions of the plurality of bins 100 are detected by the detecting device 500 (e.g. the distance detecting device 500, the visual detecting device 500, etc.) to obtain position information of each bin 100 (the position information is used to indicate the proportion of the stored material to the whole bin 100, and may be expressed as full bin, 76% position, 0 position, etc.), and one of the bins 100 is automatically determined as the target bin 100 from the plurality of bins 100 according to the position information, wherein the target bin 100 is, for example, the lowest position of the plurality of bins 100, and is, for example, the one that can be just filled with the material to be stored this time.

The former (the lowest bin of the bins 100 is determined as the target bin 100) has the advantages of sufficient remaining space, capability of storing more materials, and avoidance of the need of storing the materials to be stored in the bins 100 respectively (assuming that the selected storage space is nearly full, a little bit of the materials are filled, the next bin 100 needs to be replaced, if the replaced bin 100 is still full, the third bin 100 needs to be replaced, and so on, and the storage efficiency is low).

The latter (determining one bin 100 that can be filled with the material to be stored at the time as the target bin 100) has the advantage that one bin 100 can be filled at the time, and before the material of the one bin 100 is taken out, if another batch of the material to be stored comes, the storage in the one bin 100 does not need to be considered, and one less alternative bin 100 is provided, so that the efficiency of determining the target bin 100 at the next time is improved.

In one embodiment, the detection apparatus 500 may be mounted on top of the cartridge 100.

Referring to fig. 8, fig. 8 shows a schematic structural diagram of a transfer device 210 provided in the present application. In some optional embodiments, the transmission control instruction comprises a lifting sub-control instruction and a translation sub-control instruction;

the lifting sub-control command is used for controlling the lifting component 211 of the conveying device 210 to lift the material to be stored from a first position to a second position and convey the material to the translation component 212 of the conveying device 210, wherein the second position is higher than the first position;

the translation sub-control instruction is used for controlling the translation assembly 212 of the conveying device 210 to translate the material to be stored from the second position to above the target bin 100.

Thus, when the target bin 100 has a certain height relative to the ground, the lifting assembly 211 can be used to lift the material to a certain height and then translate the material above the target bin 100. On the occasion that a plurality of feed bins 100 are divided, the same lifting assembly 211 is reused, all materials to be stored are lifted to the required height by the aid of the lifting assembly 211, and then are respectively conveyed to the corresponding feed bins 100 through the translation assembly 212, so that the advantage is that compared with the mode that the single lifting assembly 211 is respectively provided for each feed bin 100, the mode that the equipment cost, the installation cost and the maintenance cost are greatly reduced by the aid of the mode that the materials are firstly lifted and then translated.

The conveyor apparatus 210 is not limited in this application and may include one or more belts (also known as conveyor belts, etc.). The lifting assembly 211 of the conveyor 210 is not limited and may be a lifting belt for lifting material from a lower position to a higher position. The translating assembly 212 of the transfer apparatus 210 is not limited in this application and may be a feeding belt for translating the material to be transferred over the target bin 100.

In other alternative embodiments, a lowering assembly and a translation assembly 212 may be provided when the conveyor apparatus 210 is required to convey material from a high to a low position.

In still other alternative embodiments, only translation assembly 212 may be provided when conveyor apparatus 210 does not require height position adjustment of the material.

Referring to fig. 9, fig. 9 shows a schematic structural diagram of a conveying device 210 and a blanking device 220 provided by the present application (circles in the figure represent individual materials). In some optional embodiments, the blanking control instructions include a material distributor control instruction and a material guide control instruction;

the material distributing sub-control instruction is used for controlling a material distributing component 221 of the blanking device 220 to convey the material to be stored on the conveying component to the material guiding component 222;

the feeding sub-control command is used for controlling the feeding assembly 222 of the feeding device 220 to feed materials above each feeding position 101.

Therefore, the modular design concept is adopted, the blanking process is divided into two stages of material distribution and material guiding, and the material distribution stage and the material guiding stage can adopt independent functional modules. In this way, the worker can selectively adjust the material separating assembly 221 or the material guiding assembly 222 and the corresponding control strategy (for example, the working parameters can be included) according to the performance requirement and the cost requirement in the practical application, so that the overall solution is economically applicable; and in the adjustment process, the adjustment to the material distribution stage is not necessarily accompanied by the corresponding adjustment to the material guide assembly 222, and similarly, the adjustment to the material guide stage is not necessarily accompanied by the corresponding adjustment to the material distribution stage, so that the control of the whole blanking process is more flexible, and the most reasonable solution (reasonably, for example, simple operation, high cost performance, comprehensive performance, difficult failure, convenient maintenance, etc.) is more easily found.

The material distributing assembly 221 of the blanking device 220 is not limited in the present application, and may be, for example, a material distributor in patent C N209367248U-a screw rod material distributor of an ore conveying belt, or a material distributing plate in patent CN 211109648U-a conveying belt for pumpkin seed production convenient for picking by a picking robot.

Referring to fig. 10 and 11, fig. 10 illustrates a structural view of a guide assembly 222 having one rotatable guide unit 2221 provided in the present application, and fig. 11 illustrates a structural view of a guide assembly 222 having a plurality of rotatable guide units 2221 provided in the present application. In some optional embodiments, the material guiding sub-control instructions are used to control the material guiding assembly 222 to rotate so that the discharge holes of one or more material guiding units 2221 of the material guiding assembly 222 reach above each of the discharging positions 101 and perform discharging;

the material guiding assembly 222 includes one or more rotatable material guiding units 2221, the number of the plurality of blanking positions 101 is greater than the number of the material guiding units 2221 of the material guiding assembly 222, and each blanking position 101 is located below the rotating path of the discharge hole of one or more material guiding units 2221.

Therefore, since the number of the feeding positions 101 is greater than that of the material guiding units 2221, the material guiding units 2221 can rotate to make their discharge ports reach the upper side of each feeding position 101 for feeding, which is advantageous in that, for example, instead of using 9 material guiding units 2221 to feed at 9 feeding positions 101, the discharge ports of 1 material guiding unit 2221 can respectively reach the upper sides of 9 feeding positions 101 for feeding, or the discharge ports of 3 material guiding units 2221 can reach the upper sides of 9 feeding positions 101 for feeding. (the numbers 1, 3, 9 in the above embodiments are by way of example only and not by way of limitation)

Therefore, the material can be fed at more feeding positions 101 through fewer material guide units 2221, and only part or all of the material guide units 2221 can rotate, so that the cost performance is high, and the cost is saved. Even if the feeding position 101 is adjusted (the feeding position is still below the rotating path after adjustment), the rotating angle of the material guiding unit 2221 can be adjusted in an automatic control mode, and the feeding position does not need to be adjusted in a mode of disassembly and assembly.

The material guiding unit 2221 may also adopt a telescopic structure, so that even if the blanking position 101 is not below the original rotation path, the material outlet of the material guiding unit 2221 can reach a new blanking position 101 by means of the telescopic material guiding unit 2221.

The material guiding unit 2221 is not limited in this application, and may be in the shape of a half-open slide (similar to a discharge assembly of a cement tanker), or in the shape of a pipe. When the material is easy to accumulate and block in the pipeline, the shape of the slide is preferably selected.

In some alternative embodiments, a plurality of the feeding positions 101 form an arc, and the rotation of each of the material guiding units 2221 is continuous rotation, and feeding is performed during the continuous rotation; alternatively, the first and second electrodes may be,

the plurality of blanking positions 101 are dispersedly arranged, and each material guide unit 2221 rotates for a plurality of times in a discontinuous rotation process, so that blanking is performed in a non-rotating time period.

Therefore, when the plurality of blanking positions 101 form an arc line, continuous rotation can be adopted and blanking can be performed in the continuous rotation process, so that blanking can be performed on the plurality of blanking positions 101 more uniformly, and the blanking efficiency is higher; and the blanking can be carried out in a mode of circulating reciprocating rotation.

When the plurality of blanking positions 101 are dispersedly arranged (a plurality of isolated scattered points are formed), discontinuous multiple rotation can be adopted, each time the blanking position rotates for a certain angle, the blanking is carried out in a non-rotating time period (such as before the rotation starts, after the rotation finishes, and two rotation gaps), the blanking can be carried out on the plurality of designated blanking positions 101 more uniformly, and the material at the blanking positions 101 rotates once after reaching the preset material height, material quality or material volume.

The detection mode of the material height at each blanking position 101 can be detected by using a distance detection device 500 (e.g., a distance sensor), and one or more distance detection devices 500 can be installed on the top of the storage bin 100; machine vision techniques can also be used for detection, specifically, a camera (for example, an optical camera and/or an infrared camera can be included) is used for acquiring an image at the blanking position 101 in real time, and the image is input into the height detection model to predict the material height at the blanking position 101. The height detection model can be obtained by training a preset deep learning model by using a training set. The training set may include a plurality of training data, each of which includes a training image and its corresponding labeling data of the material height. The training process of the height detection model may adopt the prior art, and is not described herein again.

The detection mode for the material quality at each blanking position 101 can be detected by a pressure sensor. The mass of the material can also be calculated based on the density and volume of the material. The material density can be obtained by adopting a preset density numerical value or by adopting machine vision technology estimation. When the machine vision technology is adopted to estimate the material density, the adopted measuring mode is non-contact, the material does not need to be taken out, and a detection device does not need to be inserted into the material, so that the material can be prevented from being polluted.

The detection mode for the material volume at each blanking position 101 can be detected by using a camera or a 3D detection device 500. The 3D detection device 500 is, for example, a 3D profiler, a CT scanner, an X-ray scanner, a nuclear magnetic resonance device, an ultrasound device, or the like.

The advantage of the continuous rotation process is that the efficiency of the blanking is high, but when the material is low in density and light in weight, the centrifugal force caused by the rotation may cause the material to drift at a high position, fall slowly, and even drift out of the designated bin 100. It should be noted that the worker can determine the appropriate blanking scheme according to the density of the material. For example, for materials with low density, the materials can be fed in a non-rotating time period by adopting discontinuous multiple rotations.

In some optional embodiments, the material guiding assembly 222 is provided with N material guiding units 2221, where N is an integer greater than 1;

the number of the plurality of feeding positions 101 is k × N, the rotation process of the N material guide units 2221 adopts k discontinuous rotations, and feeding is performed in a non-rotation time period, where k is an integer greater than 1.

Therefore, the number of the blanking positions 101 is an integral multiple of the number of the material guiding units 2221 (for example, the number of the blanking positions 101 is 9, the number of the material guiding units 2221 is 3, or the number of the blanking positions 101 is 6, and the number of the material guiding units 2221 is 2), at this time, the designated blanking positions 101 can be reached in a fractional rotation manner, blanking is performed in a non-rotation time period, so that the material forms a plurality of cones with the plurality of designated blanking positions 101 as the center, and the material in a specific cone stacking state is specifically sorted by using the sorting device 230, which has the advantages that blanking can be performed at the designated plurality of blanking positions 101 distributed dispersedly, the used sorting device 230 can sort the material of each blanking position 101 respectively, and the requirement on a single sorting device 230 is relatively low.

Referring to fig. 12, fig. 12 is a schematic view illustrating a guide assembly 222 having a plurality of fixed guide units 2221 according to the present invention. In some optional embodiments, the material guiding sub-control instructions are used to control a plurality of material guiding units 2221 of the material guiding assembly 222 to simultaneously perform blanking above a plurality of blanking positions 101;

the material guiding assembly 222 includes a plurality of material guiding units 2221 with fixed positions, and the plurality of blanking positions 101 are located below the discharge ports of the plurality of material guiding units 2221.

Therefore, the material guiding assembly 222 is provided with a plurality of material guiding units 2221 with fixed positions, and the material is discharged from the discharge ports of the material guiding units 2221 with fixed positions, so that the material guiding assembly is suitable for application scenes without frequently replacing the discharging position 101, and the cost is relatively low because a rotating structure is not needed.

Referring to fig. 13, fig. 13 is a schematic view showing a material guide assembly 222 having a rotatable belt 223 according to the present application. In some alternative embodiments, the material guiding sub-control instructions are used for controlling the material guiding assembly 222 to rotate so that the end of the rotatable belt 223 of the material guiding assembly 222 reaches above each material discharging position 101 and performs material discharging;

wherein, the material guiding assembly 222 comprises a rotatable belt 223, and a plurality of the blanking positions 101 are positioned below the rotating path of the end of the rotatable belt 223.

From this, utilize a rotatable belt 223 of independent setting to carry out the unloading, and rotatable belt 223 can all carry out the unloading on two direction of transfer, from this, has richened the scope that sets up of unloading position 101 greatly, makes things convenient for the staff to select suitable unloading position 101 in a flexible way. When the rotatable belt 223 adopts a (length direction) extensible structure, as long as the extensible structure has enough size, the range that the end part of the extensible structure can reach can be any position in the storage bin 100, so that the blanking can be conveniently carried out at any position, and the storage task of the material to be stored can be completed.

Referring to fig. 14, fig. 14 is a schematic view illustrating a material guide assembly 222 having a first belt 224 and a second belt 225 according to the present application. In some optional embodiments, the material guiding sub-control instruction is configured to:

controlling the first belt 224 of the material guide assembly 222 to transfer the material to be stored to the second belt 225;

controlling the second belt 225 of the material guide assembly 222 to convey along a first conveying direction of the second belt 225, conveying a part of the material to be stored to one end of the second belt 225 and discharging;

and controlling the second belt 225 of the material guide assembly 222 to convey along the second conveying direction of the second belt 225, conveying another part of the material to be stored to the other end of the second belt 225 and discharging.

The material guiding assembly 222 comprises a first belt 224 and a second belt 225, the conveying directions of which are not parallel, the second belt 225 is positioned below the end of the first belt 224, and the plurality of feeding positions 101 are positioned below the two ends of the second belt 225.

Thus, by using two belts (the first belt 224 and the second belt 225) separately provided (from the transfer device 210) for blanking, the two belts (with different heights) can divide the guiding process from top to bottom into two stages, the first stage transferring the material from the first belt 224 to the second belt 225, and the second stage transferring the material from the second belt 225 to below the two ends thereof, so that the material enters into the silo 100.

The two stages can be performed synchronously (the first belt 224 and the second belt 225 are conveyed simultaneously), or asynchronously (the first belt 224 is conveyed first, the second belt 225 is conveyed later, and the two belts are not conveyed simultaneously, for example, the material with the predetermined mass corresponding to the first blanking position 101 can be conveyed from the first belt 224 to the second belt 225 first, the second belt 225 is not conveyed in the period, the first belt 224 stops conveying, the second belt 225 is conveyed to the first blanking position 101, and so on, the materials corresponding to the second, third, … … and last blanking position 101 are conveyed to the corresponding blanking position 101 respectively), so that the material falling into each blanking position 101 can be controlled accurately.

In the asynchronous conveying process, all the materials to be stored can be conveyed to the second belt 225 at one time by the first belt 224, and the materials are respectively discharged at each discharging position 101 by the second belt 225.

To sum up, the double-layer belt can be flexibly utilized, the conveying mode of the belt is planned according to the requirement of the double-layer belt, and the requirement in practical application is met.

The first belt 224 and the second belt 225 in the present application may be, for example, belts with two ends (e.g., rectangular belts with two ends), or more ends may be provided according to the requirements of the practical application. When the first belt 224 and the second belt 225 are endless belts, since the blanking cannot be realized by self-conveying, a material distributing assembly 221 (a distributor, a material distributing plate, etc.) needs to be provided for the blanking.

The angle formed by the first belt 224 and the second belt 225 is not limited, and in one embodiment, the straight lines in which the conveying directions of the two belts are perpendicular to each other.

In some optional embodiments, the material guiding sub-control instructions are further configured to move the first belt 224 and the second belt 225 to enable two ends of the second belt 225 to reach above each of the blanking positions 101 respectively before the first belt 224 is conveyed;

wherein the first belt 224 and the second belt 225 are movable and the relative positions of the two are kept constant, and the plurality of blanking positions 101 are located below the moving path of the two ends of the second belt 225.

Thus, the relative positions of the first belt 224 and the second belt 225 are maintained (which may be achieved by fixedly connecting the two belts or by separately controlling the two belts), and as the first belt 224 is conveyed, the material is separated from the end of the first belt 224 and falls into a fixed position of the second belt 225 (e.g., a middle portion of the second belt 225), and then is conveyed by the second belt 225 to enter the target bin 100.

If the relative positions of the first belt 224 and the second belt 225 are changed continuously, the situation that the material on the first belt 224 falls into the non-designated blanking position 101 directly without the second belt 225 due to machine failure, human error and the like may occur, and even the material may fall out of the target bin 100.

Generally speaking, when the timeliness requirement of the material is high (for example, mushroom raw material has a high requirement on freshness), the worker usually wants to realize "first in first out", that is, the first stored material is used first, and then the second stored material is used later, so that each batch of material to be stored should be uniformly managed according to the storage date and stored in the corresponding target bin 100. Once the material to be stored enters the other bins 100 except the target bin 100, a situation of out-of-board cargo may occur (for example, a storage date corresponding to one bin 100X beside the target bin 100 is used to indicate that the stored material is stored in 13 days 4 and 4 months 2022, and actually a part of the material stored in the target bin 100 originally in 12 days 4 and 4 months 2022 is drifting into the bin 100X), which affects the accuracy of material taking, and further threatens the normal proceeding of the final subsequent process and reduces the quality of the final product.

With continuing reference to fig. 2, fig. 2 shows a schematic structural diagram of a material storage system 200 provided in the present application, and a specific implementation manner of the schematic structural diagram is consistent with the implementation manner and the achieved technical effect described in the foregoing method implementation manner, and a part of the content is not described again.

The material storage system 200 comprises a conveying device 210, a blanking device 220 and a sorting device 230;

the material storage system 200 further comprises a memory storing a computer program and a processor implementing the steps of the control method of any one of the material storage systems 200 described above when executing the computer program.

The present application further provides a computer-readable storage medium, where the computer-readable storage medium is used for storing a computer program, and when the computer program is executed, the steps of any one of the methods are implemented, and a specific implementation manner of the method is consistent with the implementation manner and the achieved technical effect described in the implementation manner of the method, and some details are not repeated.

Referring to fig. 15, fig. 15 is a schematic structural diagram of a program product 300 for implementing a control method of a material storage system according to the present application. The program product 300 may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product 300 of the present invention is not so limited, and in this application, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Program product 300 may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that can communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the C language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

While the present application is described in terms of various aspects, including exemplary embodiments, the principles of the invention should not be limited to the disclosed embodiments, but are also intended to cover various modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims

1. A method of controlling a material storage system, the method comprising:

2. The method for controlling the material storage system according to claim 1, wherein the obtaining of the plurality of blanking positions of the target bin corresponding to the material to be stored comprises:

determining a target bin corresponding to the material to be stored;

and determining a plurality of blanking positions of the target storage bin.

3. The method for controlling the material storage system according to claim 2, wherein the determining the target bin corresponding to the material to be stored includes:

in response to the selecting operation, determining the target bin.

4. The method for controlling the material storage system according to claim 2, wherein the determining the target bin corresponding to the material to be stored includes:

determining the target bin from a plurality of the bins based on bin level information for the plurality of the bins.

5. The method of controlling a material storage system according to claim 1, wherein the transfer control command comprises a lift sub control command and a pan sub control command;

6. The control method of the material storage system according to claim 1, wherein the blanking control command comprises a material distributor control command and a material guide control command;

7. The control method of the material storage system as claimed in claim 6, wherein the material guiding sub-control command is used for controlling the material guiding assembly to rotate so that the material outlet of one or more material guiding units of the material guiding assembly reaches above each material discharging position and performs material discharging;

8. The control method of the material storage system as claimed in claim 7, wherein a plurality of the discharging positions form an arc, the rotation process of each of the material guiding units is continuous rotation, and discharging is performed during the continuous rotation process; alternatively, the first and second electrodes may be,

9. The control method of a material storage system as claimed in claim 7, wherein the material guiding assembly is provided with N number of the material guiding units, N being an integer greater than 1;

10. The control method of the material storage system as claimed in claim 6, wherein the material guiding sub-control command is used to control a plurality of material guiding units of the material guiding assembly to simultaneously perform blanking above a plurality of blanking positions;

11. The control method of the material storage system as claimed in claim 6, wherein the material guiding sub-control command is used for controlling the material guiding assembly to rotate so that the end of the rotatable belt of the material guiding assembly reaches above each material discharging position and performs material discharging;

12. The method of controlling a material storage system of claim 6, wherein the material sub-control instructions are configured to:

13. The method of claim 12, wherein the leader control instructions are further configured to move the first belt and the second belt to bring both ends of the second belt above each of the blanking positions, respectively, prior to the first belt being conveyed;

14. A material storage system is characterized by comprising conveying equipment, blanking equipment and arranging equipment;

the material storage system further comprises a memory storing a computer program and a processor implementing the steps of the control method of the material storage system according to any one of claims 1-13 when executing the computer program.

15. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when being executed by a processor, carries out the steps of the method for controlling a material storage system according to any one of claims 1 to 13.