CN116371763A - Multi-target sorting control method and device - Google Patents
Multi-target sorting control method and device Download PDFInfo
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- CN116371763A CN116371763A CN202310574009.2A CN202310574009A CN116371763A CN 116371763 A CN116371763 A CN 116371763A CN 202310574009 A CN202310574009 A CN 202310574009A CN 116371763 A CN116371763 A CN 116371763A
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- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000007664 blowing Methods 0.000 claims abstract description 326
- 230000033001 locomotion Effects 0.000 claims abstract description 71
- 238000005507 spraying Methods 0.000 claims abstract description 7
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/367—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a multi-target sorting control method and device. Wherein the method comprises the following steps: detecting a plurality of objects to be sorted on the conveying belt, and determining the object type of the target object; when the object class is the first class, the target object is blown to a first chute corresponding to the target object in a plurality of preset chutes, wherein the plurality of chutes are respectively used for receiving the objects falling on the conveyor belt; acquiring a motion state parameter of a target object after being sprayed by a preset first spraying force; determining a second blowing force for blowing the target object blown by the first blowing force based on the motion state parameter; and adopting the second blowing force to blow the target object blown by the first blowing force, and controlling the target object blown by the second blowing force to fall into the first chute. The invention solves the technical problem of high mismatch rate of multi-target object sorting in the related art.
Description
Technical Field
The invention relates to the technical field of sorting, in particular to a multi-target sorting control method and device.
Background
At present, a sorting machine for a plurality of products often adopts a nozzle to spray objects falling on a conveying belt, so that different products enter different chute, and sorting treatment for the plurality of products is realized. In the related art, the blowing force is controlled in advance according to the size of the object to perform blowing, but because the sizes and shapes of the objects are different, the same blowing force has different blowing effects on different objects, the problem that the blowing force of some special objects is too large or too small to enter a non-corresponding chute, so that the blowing mismatch is caused, and the sorting efficiency is affected often occurs.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the invention provides a multi-target sorting control method and device, which at least solve the technical problem of high mismatch rate of multi-target object sorting in the related art.
According to an aspect of an embodiment of the present invention, there is provided a multi-target sorting control method including: detecting a plurality of objects to be sorted on the conveying belt, and determining the object type of the target object; when the object class is a first class, the target object is blown to a first chute corresponding to the target object in a plurality of preset chute, wherein the chute is used for receiving the objects falling on the conveyor belt respectively; acquiring a motion state parameter of the target object after being sprayed by a preset first spraying force; determining a second blowing force for blowing the target object blown by the first blowing force based on the motion state parameter; and adopting the second blowing force to blow the target object blown by the first blowing force, and controlling the target object blown by the second blowing force to fall into the first chute.
According to another aspect of the embodiment of the present invention, there is provided a multi-target sorting control apparatus including: the conveying equipment is used for conveying the plurality of objects to be sorted distributed on the conveying equipment at a constant speed; the classification detection device is connected with the conveying device and is used for detecting the plurality of objects to be sorted on the conveying device and determining the object type of the target object; the blowing device is connected with the classification detection device and is used for blowing the target object to a first chute corresponding to the target object in a plurality of preset chutes when the object class is a first class, wherein the plurality of chutes are respectively used for receiving the objects falling on the conveying device; the high-speed dynamic detection device is connected with the blowing device and is used for acquiring the motion state parameters of the target object after being blown by the preset first blowing force; the controller is connected with the high-speed dynamic detection equipment and is used for determining a second blowing force for blowing the target object blown by the first blowing force based on the motion state parameter; the blowing equipment is connected with the controller and is further used for blowing the target object blown by the first blowing force by adopting the second blowing force, and controlling the target object blown by the second blowing force to fall into the first chute.
In the embodiment of the invention, a mode of multiple blowing is adopted, and the object type of the target object is determined by detecting a plurality of objects to be sorted on the conveying belt; when the object class is a first class, the target object is blown to a first chute corresponding to the target object in a plurality of preset chute, wherein the chute is used for receiving the objects falling on the conveyor belt respectively; acquiring a motion state parameter of the target object after being sprayed by a preset first spraying force; determining a second blowing force for blowing the target object blown by the first blowing force based on the motion state parameter; and adopting the second blowing force to blow the target object blown by the first blowing force, and controlling the target object blown by the second blowing force to fall into the first chute. The method achieves the aim of controlling the blowing force to be matched with the target object by utilizing the motion state of the target object, achieves the technical effect of improving the accuracy of object sorting, and further solves the technical problem of high mismatching rate of multi-target object sorting in the related art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a flow chart of an alternative multi-objective sort control method provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative multi-objective sort control method provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic illustration of an alternative multi-objective sort control method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an alternative multi-target sort control device provided in accordance with an embodiment of the present invention;
fig. 5 is a schematic diagram of another alternative multi-target sorting control device provided in accordance with an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the related art, three-product dry separation machines for separating three products exist, and a plurality of products transmitted from a conveyor belt are blown in a lower blowing mode, so that the products fall into corresponding chute. The nozzles are provided with two rows of large and small nozzles, and the large nozzles and the small nozzles can be simultaneously blown through combination, so that the large nozzles are blown, and the small nozzles are blown to three dynamics adjustment levels.
In the related art, the control method is that objects needing to be blown to the farthest chute are blown with large force, and objects needing to be blown to the middle chute are blown with small and medium force. The objects needing to be blown to the nearest chute are easy to carry out, and the objects are not blown.
However, in practical application, there is a difficulty in that an appropriate force is required to accurately blow the object to the middle chute corresponding to the object blown to the middle chute, and the problem of mismatching is more likely to occur compared with the farthest and nearest chutes. For objects to be blown to the middle chute, the control mode of blowing force in the related technology is to control blowing force in advance according to the size of the objects, but because the sizes and shapes of the objects are different, the same blowing force has different blowing effects (such as flat objects and easy deflection) on the objects with different shapes, the problem that the blowing force of some special objects is excessively large and enters the farthest chute or the blowing force is slightly small and enters the nearest chute often occurs, so that blowing mismatch is caused.
In view of the foregoing, embodiments of the present invention provide a method embodiment for multi-objective sort control, it should be noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order other than that illustrated herein.
Fig. 1 is a flowchart of a multi-target sorting control method according to an embodiment of the present invention, as shown in fig. 1, including the steps of:
step S102, detecting a plurality of objects to be sorted on a conveying belt, and determining object types of target objects;
it will be appreciated that the conveyor belt runs at a speed to convey a plurality of objects to be sorted located thereon to the vicinity of the sorting nozzle, different objects being provided with corresponding trays in advance according to the object categories, in order to determine to which tray the plurality of objects to be sorted should correspond, the plurality of objects to be sorted need to be detected, and the object category of the target object is determined for determining the corresponding tray.
Alternatively, the detection of the plurality of objects to be sorted may be various, for example, by at least one of: and identifying and detecting by adopting detection modes such as images, X rays, infrared rays and the like.
Step S104, when the object type is a first type, the target object is blown to a first chute corresponding to the target object in a plurality of preset chutes, wherein the plurality of chutes are respectively used for receiving the objects falling on the conveyor belt;
it will be appreciated that, depending on the object type of the target object, a first one of the plurality of trays that receives the first type of object is determined, the first one being the sorting destination of the target object described above, and the target object is expected to fall accurately into the first one by the blowing process performed thereon after falling from the conveyor belt.
The plurality of the chute are respectively arranged at different distances from the conveyor belt and at predetermined positions below the conveyor belt in the order of distance.
Step S106, obtaining the motion state parameters of the target object after being sprayed by the preset first spraying force;
it will be appreciated that the object will drop off the conveyor after it has reached its end on the conveyor, and that the object just exiting the conveyor will leave the conveyor in a parabolic manner due to the initial velocity in the horizontal direction, due to the conveyor having a certain velocity. And the first blowing force is adopted to blow the target object falling down from the conveyor belt, the blowing is equivalent to the application of force to the target object, the motion state of the target object can be changed, the motion state parameters of the target object after being blown by the first blowing force need to be determined, and the support is provided for the follow-up deduction of the magnitude of the supplementary blowing force.
The blowing means may be any of various types, and the blowing device may be a nozzle type nozzle, a combination of various types of nozzles having different sizes, or the like.
In an optional embodiment, the acquiring the motion state parameter of the target object after being blown by the preset first blowing force includes: determining a conveying speed of the conveying belt; determining a first acceleration of the target object after being blown by the first blowing force based on the conveying speed and the first blowing force; and taking the first acceleration as the motion state parameter.
It will be appreciated that the speed of the target object on the conveyor belt, without other forces, is consistent with the conveying speed and may be considered to be the initial speed of the target object. After the first blowing is performed, the motion state change of the target object is influenced by the first blowing force, the first acceleration after the first blowing is determined by combining the first blowing force on the basis of the initial speed, and the first acceleration is taken as the motion state parameter of the target object.
It should be noted that the purpose of blowing with the first blowing force is to make the target object receive the force in the horizontal direction, so that the target object does not directly fall into the nearest chute under the action of gravity, and the problem of mismatch is avoided. And the first blowing force may be set to a smaller value as desired so as not to cause the target object to be blown into the chute farther than the corresponding first chute.
In an alternative embodiment, the determining the first acceleration of the target object after being blown by the first blowing force based on the conveying speed and the first blowing force includes: detecting the target object after being blown by the first blowing force within a preset first time period, and determining a first horizontal displacement of the target object within the first time period; the first acceleration is determined based on the first time period, the first horizontal displacement, and the conveying speed.
It can be understood that, for the target object with the same initial speed as the conveyor belt, the first blowing has a horizontal acceleration after being stressed, and in a preset first period of time, the target object after the first blowing performs a first horizontal displacement in the horizontal direction. After obtaining a first duration representing a movement duration, a first horizontal displacement representing a movement distance, and a transfer speed representing an initial speed of the target object, a first acceleration may be obtained according to a basic physics formula, wherein the first acceleration is an acceleration in a horizontal direction. Through the processing, the first acceleration is obtained by utilizing the basic physical formula and the parameters which are easy to collect and represent time and displacement, so that the motion state of the target object after the first blowing is represented, and the second blowing force for carrying out the second blowing is determined.
Optionally, a high speed dynamic camera is used to identify the first horizontal displacement of the target object.
Step S108, based on the motion state parameter, determining a second blowing force for blowing the target object blown by the first blowing force;
it can be understood that, in order to have better sorting accuracy compared with the related art, the embodiment of the present invention does not adopt a fixed blowing force for sorting, but determines the second blowing force for re-blowing based on the motion state parameter after being blown by the first blowing force. Through the processing, the blowing force can be more matched with the actual motion condition of the target object, and the possibility of mismatching is reduced.
In an optional embodiment, the determining, based on the motion state parameter, a second blowing force for blowing the target object after being blown by the first blowing force includes: determining a second acceleration required by the target object to fall into a preset falling point in the first chute from a blowing point, wherein the blowing point is a position of blowing equipment for blowing the target object; determining a total blowing force required to blow the target object to the predetermined landing point based on the first acceleration, the second acceleration, and the first blowing force, and determining the second blowing force based on the total blowing force and the first blowing force.
It will be appreciated that the first blowing force is a predetermined value and is used to avoid that the target object falls nearby into the nearest chute, insufficient to reach the target object into the first chute. Therefore, the supplementary blowing is required. Since the instantaneous speed of the target object after the first injection needs to be acquired at a high speed and the error is large, the accuracy of the second injection force for performing the supplementary injection is considered to be improved based on the parameter with small acquisition error. The total blowing force is further determined by determining the total acceleration, i.e. the second acceleration, required to move the target object from the blowing point to the predetermined landing point. Since the first blowing force is known, the second blowing force can be obtained by removing the first blowing force from the total blowing force, and the target object blown by the first blowing force is blown again.
The target object is moved with the transport speed as the initial speed and the blowing point as the starting point, and the first acceleration is the acceleration in the actual movement with the transport speed as the initial speed and the blowing point as the starting point and the first horizontal displacement. And the second acceleration is the acceleration in the hypothetical movement starting from the transport speed and starting from the injection point and ending at the predetermined landing point, i.e. the total acceleration at which the target object reaches the predetermined landing point. The mass of the target object is unchanged in the blowing process, an identity of the mass identity is established according to Newton's second law, and the total blowing force required for blowing the target object to a preset drop point can be obtained based on the first acceleration, the second acceleration and the first blowing force.
In an alternative embodiment, the determining the second acceleration required for the target object to fall from the blowing point to the predetermined drop point of the first chute includes: acquiring the total displacement time length of the target object, wherein the total displacement time length is the time length for supporting the target object to fall into the first chute by taking the blowing point as a displacement starting point; determining a total horizontal displacement between a predetermined drop point in the first chute and the injection point; the second acceleration is determined based on the total horizontal displacement and the total displacement duration.
It will be appreciated that in order to use the velocity formula for the second acceleration calculation, the required parameters include total displacement duration, total horizontal displacement, and initial velocity. The described motion trajectory is started with the transport speed as the initial speed, with the injection point as the start point and with the predetermined drop point as the end point. It should be noted that, because the first chute is formed by the partition plate, the motion track of the target object cannot be blocked by the partition plate at least, and the target object cannot fall into the first chute even if the target object collides with the partition plate, so that the second acceleration that can fall into the first chute needs to be determined by considering the height difference between the partition plate and the blowing point.
In an optional embodiment, the acquiring the total displacement duration of the target object includes: determining the height of the blowing point and the height of the partition plate of the first chute; obtaining a height difference value based on the height of the blowing point and the height of the partition plate; and determining the total displacement duration based on the height difference and the gravity acceleration.
It can be understood that the movement of the target object can be divided into a horizontal direction and a vertical direction, and the time periods of the two necessarily movement are the same, so that the falling time period in the vertical direction can be obtained by means of the height difference between the injection point and the height of the partition plate, and the falling time period is equal to the total displacement time period, so that the total displacement time period can be obtained. Through the processing, the total displacement duration can be calculated by means of the known height and the known gravity acceleration, so that the error of calculating the blowing force is reduced, and the sorting accuracy is improved.
Optionally, after the total displacement duration is obtained, correcting the total displacement duration by adopting a preset fine adjustment value to obtain corrected total displacement duration, so that the corrected total displacement duration is longer than the total displacement duration.
For the sake of understanding, for example, fig. 2 is a schematic diagram of an alternative multi-target sorting control method according to an embodiment of the present invention, where 1 is a conveyor belt, 2 is a detection system for detecting object types, 3 is a nozzle of a blowing device, 4 is a high-speed dynamic detection system, 5 is a moving target object, and 6 is a first chute, as shown in fig. 2. And after the target object is separated from the conveyor belt, performing first blowing by adopting a first jet force to obtain a first blowing motion track and a corresponding first horizontal displacement. And then performing second blowing, and obtaining the total blowing force by using the second acceleration analyzed by the assumed motion trail in order to determine the second blowing force. The motion trail is assumed to directly enter the first chute after one injection, so that the total acceleration (namely the second acceleration) of the target object in the first chute is obtained, and the total injection force is obtained. And subtracting the first blowing force from the total blowing force to obtain a second blowing force for carrying out supplementary blowing, and completing the second blowing treatment before the target object does not move out of the range of the nozzle, so that the target object falls into the first chute.
Step S110, performing second blowing on the target object after the first blowing by adopting the second blowing force, and controlling the target object after the second blowing to fall into the first chute;
it can be appreciated that the second blowing force is used to perform the second blowing on the target object after the first blowing, so that the target object falls into the first chute.
It should be noted that, the time interval between the first blowing and the second blowing is set according to specific requirements, so that the target object does not leave the processing range of the blowing device before the two blowing processes are completed.
In an alternative embodiment, the method further comprises: when the object class is a second class, determining that the target object corresponds to a second chute, wherein the second chute is a chute closest to the conveyor among the plurality of chutes, the second chute is different from the first chute, and the second class is different from the first class; and controlling the target object to fall into the second chute by the conveyor belt in a free falling mode.
It will be appreciated that when the object class of the target object is a second class, the second chute closest to the conveyor is entered, the first class is not the same as the second class, and the second chute is not the same as the first chute. For a second chute with the destination of the target object being the nearest partition, blowing may not be performed, so that the target object of the second category falls in a free-falling manner into the second chute. Through the treatment, the mode of entering the first chute can be distinguished, and the second chute is closer to the conveyor belt than the first chute, so that the phenomenon that the second chute is wrongly blown into other chutes is avoided because blowing is not needed.
In an alternative embodiment, the method further comprises: when the object class is a third class, determining that the target object corresponds to a third chute, wherein the third chute is a chute farthest from the conveyor among the plurality of chutes, the third chute is different from the first chute, and the third class is different from the first class; and adopting a preset third blowing force to blow the target object, and controlling the target object blown by the third blowing force to fall into the third chute, wherein the third blowing force is larger than any one of the first blowing force and the second blowing force.
It will be appreciated that when the object class of the target object is a third class, the third chute which is furthest from the conveyor is entered, and which is not identical to the first chute (and of course is more different to the nearest second chute), and which is also not identical to the first class. The third category of target objects must be blown, and since the location is furthest, the third blowing force will be greater than the first and second blowing forces, and also greater than the sum of the first and second blowing forces (i.e., the total blowing force). By the above-described processing, the third blowing force is directly set to a larger value different from both the first blowing force and the second blowing force, and mismatching into other spouts can be avoided.
In an alternative embodiment, the product sorter may be provided with a first chute, a second chute, a third chute, the second chute being closest to the conveyor, the third chute being furthest from the conveyor, the first chute being located between the second and third chutes. The method comprises the steps of detecting a plurality of objects to be sorted on the conveyor belt, determining that a first type of objects enter a first chute, a second type of objects enter a second chute, and a third type of objects enter a third chute, and according to the method provided by the embodiment, at least three types of objects can be classified, and the three-product sorting machine is provided.
It should be noted that the number of the first chute may be plural, that is, there may be plural first chutes between the second chute and the third chute, where the distances between the plural first chutes and the conveyor belt are different, and the predetermined drop points corresponding to the plural first chutes are also different. For the plurality of first chutes, although the first blowing force is a preset fixed value, since the predetermined drop points corresponding to the plurality of first chutes are different, the required second blowing force calculated according to the manner in the above embodiment is different, and it is possible to achieve blowing of the articles to be sorted into the corresponding first chutes.
Optionally, the product sorter may be configured by combining the first chute with at least one of the second chute and the third chute, that is, the first chute may be combined with the second chute, and the first chute may be combined with the third chute.
Through the steps, the purpose of matching the blowing force with the target object by utilizing the motion state of the target object can be realized, the technical effect of improving the accuracy of object sorting is realized, and the technical problem of high mismatching rate of multi-target object sorting in the related technology is further solved.
Based on the above embodiments and optional embodiments, the present invention proposes an optional implementation manner, applied to a three-product sorter, fig. 3 is an application schematic diagram of an optional multi-target sorting control method provided according to an embodiment of the present invention, as shown in fig. 3, 1 is a conveyor belt, 2 is a detection system for detecting object types, 3 is a nozzle of a blowing device, 4 is a high-speed dynamic detection system, 5 is a moving target object, 7 is a nearest chute, 8 is a middle chute, and 9 is a farthest chute. The lower nozzle design is adopted, products falling from the conveying belt are blown from the lower part, and the nozzles are provided with two rows of large and small nozzles.
After the single-layer group materials on the conveyor belt pass through the detection system 2, the single-layer group materials are respectively judged to be a product 1, a product 2 and a product 3, wherein the product 1 needs to enter the nearest chute 7, the product 2 needs to enter the middle chute 8, and the product 3 needs to enter the farthest chute 9. In fig. 3, (1) shows the movement locus of the product 1, (2) shows the movement locus of the product 2, and (3) shows the movement locus of the product 3, and the blowing modes of the product 1, the product 2, and the product 3 will be described in detail below.
For products 1 that need to enter the nearest chute 7, no blowing process is required, entering the nearest chute 7 directly in a free-falling manner, entering the nearest chute 7 in a parabolic fashion due to the initial conveying speed.
For the product 2 which needs to enter the middle chute 8, two-step blowing is needed, and a preset fixed first blowing force is adopted first
The blowing force of the nozzle is controlled to be equal to the opening time of the air injection valve>
The specific relationship can be that
Wherein->
Is a preset valve coefficient. Since the initial speed of the product 2 in the horizontal direction is +.i. to the belt speed of the conveyor belt just after the product has been detached from the conveyor belt and without any blowing>
Are identical. In the case of the first blowing force +.>
After blowing, the instantaneous motion gesture of the product 2 is detected by a high-speed dynamic detection system 4, and the first time length is determined >
First horizontal displacement detected in +.>
. After a first horizontal displacement is obtained>
Belt speed->
First duration +.>
After the equal parameters, a velocity formula can be used to calculate the first acceleration after being blown by the first blowing force>
The specific calculation mode can be as follows:
through the calculation, the actual motion state of the product 2 can be obtained, which is beneficial to calculating how much second blowing force needs to be supplemented so that the product 2 falls into the middle chute 8. By determining the total blowing force required for the product 2 to fall from the nozzle into the intermediate chute 8
Subtracting the first blowing force from the total blowing force>
A complementary second blowing force can be obtained>
。
Due to the difference in height between the nozzle 3 and the partition plate of the intermediate chute 8
It is known that the acceleration of the product 2 in the vertical direction is a gravitational acceleration (it is to be noted that the blowing force is very small for the acceleration on the vertical component of the product 2 and can be neglected), since the total displacement duration +.>
The total displacement length is necessarily the same as the displacement length in the vertical direction, and can be calculated as follows>
：
Wherein,,
gravitational acceleration. In obtaining the total displacement length +.>
Thereafter, due to the total displacement length +.>
A critical value is provided, so that the product 2 just crosses the baffle plate and is blocked to enter the middle chute 8, and in order to reduce the error sorting of the product 2 into the nearest chute 7 caused by the fluctuation of external force (such as wind blowing) in the critical state, the preset fine adjustment value is adopted for the total displacement duration >
Correcting to obtain corrected total displacement duration +.>
So that->
Is greater than->
Namely, the total displacement time length after correction becomes long, the displacement time length in the corresponding horizontal direction becomes long, the product 2 can be separated from the critical state just crossing the partition plate, the probability of false separation is reduced, and the product is stably entered into the middle chute 8. It should be noted that the fine adjustment value is set to be far short of the product2 is adjusted into the furthest chute 9.
Due to the total horizontal displacement of the product 2 from the nozzle outlet to the intermediate chute 8
Is known, belt speed +.>
It is also known that a second acceleration can be obtained using the velocity formula>
(i.e., total acceleration), the specific calculation method may be:
the second acceleration is obtained by
In the course of (1) the described motion trajectory starts at the nozzle 3 and ends at a predetermined drop in the intermediate chute 8, the belt speed +.>
Is the assumed motion trail of the initial velocity.
At the time of obtaining the second acceleration
After that, since the mass of the object of the product 2 is unchanged, the total blowing force can be obtained by establishing an identity using the Newton's second formula>
The specific calculation mode can be as follows:
finally by the total blowing force
Subtracting the first blowing force- >
Obtaining the second blowing force which needs to be supplemented>
I.e.
For the nozzle 3, a second blowing force is performed
Then the additional valve opening time is also required to be +.>
The corresponding calculation formula is ∈>
。
For the product 3 which needs to enter the middle chute 8, a preset third blowing force is adopted to blow the product into the farthest chute 9, and the third blowing force setting value is larger and is at least larger than the sum of the first blowing force and the second blowing force, so that the product 3 cannot fall into the middle chute 8.
In the present embodiment, the blowing force is controlled based on a high-speed dynamic detection method, a high-speed dynamic camera is provided at the nozzle position to calculate the instantaneous movement locus after the object is blown, and the final required actual blowing force is measured based on the calculation result. For an object to be blown to the middle chute, small-force blowing is firstly adopted, then high-speed dynamic analysis is rapidly carried out on the motion gesture instantaneous displacement and the like after the small-force blowing, according to the analysis result, the amount of blowing force required for the object to fall into the middle chute is calculated, then supplementary blowing is immediately carried out, the purpose of high-precision three-product blowing is achieved, and the process is completed in the time that the object is not separated from the blowing position.
At least the following effects are achieved by the above alternative embodiments: the injection force of the middle chute for injection is calculated based on the motion state of an actual product, so that the adaptability to an application scene is stronger, the problem of product mismatch caused by mismatching between a preset fixing force and the actual force required by the product is avoided, and the sorting efficiency and accuracy are improved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
In this embodiment, a multi-target sorting control device is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, and is not described in detail. As used below, the terms "module," "apparatus" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
According to an embodiment of the present invention, there is further provided an apparatus embodiment for implementing a multi-target sorting control method, and fig. 4 is a schematic diagram of a multi-target sorting control apparatus according to an embodiment of the present invention, as shown in fig. 4, and the multi-target sorting control apparatus includes: the device comprises a detection module 402, a classification module 404, a detection module 406, a determination module 408, and a second blowing module 410, wherein the device is a virtual device, which is described in detail below.
A detection module 402, configured to detect a plurality of objects to be sorted on the conveyor belt, and determine an object class of the target object;
the classification module 404 is connected to the detection module 402, and is configured to blow the target object to a first chute corresponding to the target object in a preset plurality of chutes when the object class is the first class, where the plurality of chutes are respectively configured to receive objects falling on the conveyor belt;
the detection module 406 is connected with the classification module 404, and is configured to obtain a motion state parameter of the target object after being blown by the preset first blowing force;
a determining module 408, coupled to the detecting module 406, for determining, based on the motion state parameter, a second blowing force for blowing the target object blown by the first blowing force;
and the second blowing module 410 is connected to the determining module 408, and is configured to blow the target object blown by the first blowing force by using the second blowing force, and control the target object blown by the second blowing force to fall into the first chute.
In the multi-target sorting control device provided by the embodiment of the invention, a detection module 402 is used for detecting a plurality of objects to be sorted on a conveyor belt and determining the object type of a target object; the classification module 404 is connected to the detection module 402, and is configured to blow the target object to a first chute corresponding to the target object in a preset plurality of chutes when the object class is the first class, where the plurality of chutes are respectively configured to receive objects falling on the conveyor belt; the detection module 406 is connected with the classification module 404, and is configured to obtain a motion state parameter of the target object after being blown by the preset first blowing force; a determining module 408, coupled to the detecting module 406, for determining, based on the motion state parameter, a second blowing force for blowing the target object blown by the first blowing force; and the second blowing module 410 is connected to the determining module 408, and is configured to blow the target object blown by the first blowing force by using the second blowing force, and control the target object blown by the second blowing force to fall into the first chute. The method achieves the aim of controlling the blowing force to be matched with the target object by utilizing the motion state of the target object, achieves the technical effect of improving the accuracy of object sorting, and further solves the technical problem of high mismatching rate of multi-target object sorting in the related art.
According to an embodiment of the present invention, there is further provided an apparatus embodiment for implementing a multi-target sorting control method, and fig. 5 is a schematic diagram of another multi-target sorting control apparatus according to an embodiment of the present invention, as shown in fig. 5, and the multi-target sorting control apparatus includes: the conveying device 502, the classification detecting device 504, the blowing device 506, the high-speed dynamic detecting device 508, and the controller 510 are physical devices, which will be described in detail below.
The conveying device 502 is used for conveying the plurality of objects to be sorted distributed on the conveying device at a constant speed;
a classification detecting device 504, connected to the conveying device 502, for detecting the plurality of objects to be sorted on the conveying device, and determining an object class of the target object;
the blowing device 506 is connected to the classification detecting device 504, and is configured to blow the target object to a first chute corresponding to the target object in a preset plurality of chutes when the object class is the first class, where the plurality of chutes are respectively used for receiving the objects falling on the conveying device;
the high-speed dynamic detection device 508 is connected with the blowing device 506 and is used for acquiring the motion state parameters of the target object after being blown by the preset first blowing force;
A controller 510, connected to the high-speed dynamic detection device 508, for determining a second blowing force for blowing the target object blown by the first blowing force based on the motion state parameter;
the blowing device 506 is connected to the controller 510, and is further configured to blow the target object blown by the first blowing force by using the second blowing force, and control the target object blown by the second blowing force to fall into the first chute.
It will be appreciated that the conveyor 502 may be in the form of a conveyor belt that transports the plurality of objects to be sorted, with a single layer distributed thereon, at a uniform speed such that the plurality of objects to be sorted move toward the chute. The sorting and detecting device 504 is connected to the conveying device 502, and detects the objects to be sorted on the conveying device 502 one by one, so as to obtain the object types of the target objects in the objects to be sorted. Because the correspondence between different object types and different chutes is preset, when the object type of the target object is determined to be the first type, the blowing device 506 needs to blow the target object of the first type into the corresponding first chute, and uses the preset first blowing force to blow the target object, so that the target object falling from the conveying device 502 is applied with the first force, so that the target object does not fall in a parabolic form under the action of gravity only, and the first blowing force is set with a preset smaller value in the chute closer to the conveying device 502 than the first chute, which is beneficial to reducing the possibility of mismatching. The high-speed dynamic detection device 508 is disposed above the blowing device 506, and can detect a motion track of the target object, and after the blowing device 506 uses the first blowing force to blow, the high-speed dynamic detection device 508 is triggered to start to detect, so as to obtain a motion state parameter of the target object blown by the first blowing force. The controller 510 receives the motion state parameter collected by the high-speed motion detection device 508, and calculates and processes the second blowing force for re-blowing the target object after the first blowing force according to the motion state parameter. Because the first blowing force is insufficient to directly send the target object into the first chute, supplementary blowing is needed, compared with the blowing force adopting a fixed value in the related art, the device in the embodiment calculates according to the actual motion state parameters, is favorable for being closer to the supplementary blowing requirement of the target object, and provides support for improving the sorting accuracy. After the controller 510 calculates the second blowing force, the blowing device 506 is controlled to perform blowing processing with the second blowing force, so that the target object blown by the second blowing force falls into the first chute.
The combination of the plurality of entity devices such as the conveying device 502, the classification detecting device 504, the blowing device 506, the high-speed dynamic detecting device 508, the controller 510 and the like enables the accuracy of the objects to be sorted processed in the multi-target sorting control device to be higher. In the related art, a fixed blowing force is adopted, so that objects with special shapes, such as flat objects, are easy to be blown to turn over, and the deviation from the expected motion state is large, so that the problem of sorting mismatch is caused. In the embodiment of the device, the blowing equipment 506 is controlled to perform the blowing process twice, wherein the second blowing process is calculated based on the motion state parameters of the target object after the first blowing process, so that the actual motion track of the target object has better sensing capability, the determined supplementary blowing force is more accurate, the purpose of controlling the blowing force to be matched with the target object by utilizing the motion state of the target object is achieved, the technical effect of improving the accuracy of object sorting is achieved, and the technical problem of high mismatch rate of multi-target object sorting in the related art is solved.
In an alternative embodiment, the apparatus further comprises: the controller 510 is further configured to determine that the target object corresponds to a second chute when the object type is a second type, where the second chute is a chute that is closest to the conveying device 502 among the plurality of chutes, and the second chute is different from the first chute, and the second type is different from the first type; the blowing device 506 is further configured to control the target object to fall from the conveying device 502 into the second chute in a free-falling manner.
It will be appreciated that when the object class of the target object is detected as being the second class, it is determined that the target object needs to enter the corresponding second chute. The second chute is a chute that is different from the first chute and is closest to the transfer apparatus 502. Then, instead of performing the blowing process, the blowing device 506 may directly adopt a free-falling manner, and the control target object enters the second chute in a parabolic manner after falling from the conveying device 502.
In an alternative embodiment, the apparatus further comprises: the controller 510 is further configured to determine that the target object corresponds to a third chute when the object type is a third type, where the third chute is a chute that is farthest from the conveying device 502 among the plurality of chutes, and the third chute is different from the first chute, and the third type is different from the first type; the blowing device 506 is further configured to blow the target object with a preset third blowing force, and control the target object blown with the third blowing force to fall into the third chute, where the third blowing force is greater than any one of the first blowing force and the second blowing force.
It will be appreciated that when the object class of the target object is detected as being the third class, it is determined that the target object needs to enter the corresponding third chute. The third chute is a chute that is different from the first chute and is furthest from the transfer apparatus 502. The required blowing force is larger than the first blowing force or the second blowing force, and the target object enters the first chute relatively close due to the sum of the first blowing force and the second blowing force, so that the third blowing force is at least larger than the sum of the first blowing force and the second blowing force, and the target object enters the third chute farther than the first chute.
It should be noted that each of the above modules may be implemented by software or hardware, for example, in the latter case, it may be implemented by: the above modules may be located in the same processor; alternatively, the various modules described above may be located in different processors in any combination.
It should be noted that the above-mentioned detection module 402, the classification module 404, the detection module 406, the determination module 408, and the second blowing module 410 correspond to the steps S102 to S110 in the embodiment, and the above-mentioned modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the disclosure of the above-mentioned embodiments. It should be noted that the above modules may be run in a computer terminal as part of the apparatus.
It should be noted that, the optional or preferred implementation manner of this embodiment may be referred to the related description in the embodiment, and will not be repeated herein.
The multi-target sorting control apparatus may further include a processor and a memory, the detection module 402, the classification module 404, the detection module 406, the determination module 408, the second blowing module 410, and the like are all stored as program units in the memory, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel may be provided with one or more. The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
Embodiments of the present invention provide a nonvolatile storage medium having a program stored thereon, which when executed by a processor, implements a multi-target sort control method.
The embodiment of the invention provides an electronic device, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the following steps are realized when the processor executes the program: detecting a plurality of objects to be sorted on the conveying belt, and determining the object type of the target object; when the object class is a first class, the target object is blown to a first chute corresponding to the target object in a plurality of preset chute, wherein the chute is used for receiving the objects falling on the conveyor belt; acquiring a motion state parameter of the target object after being sprayed by a preset first spraying force; determining a second blowing force for blowing the target object blown by the first blowing force based on the motion state parameter; and adopting the second blowing force to blow the target object blown by the first blowing force, and controlling the target object blown by the second blowing force to fall into the first chute. The device herein may be a server, a PC, etc.
The invention also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with the method steps of: detecting a plurality of objects to be sorted on the conveying belt, and determining the object type of the target object; when the object class is a first class, the target object is blown to a first chute corresponding to the target object in a plurality of preset chute, wherein the chute is used for receiving the objects falling on the conveyor belt; acquiring a motion state parameter of the target object after being sprayed by a preset first spraying force; determining a second blowing force for blowing the target object blown by the first blowing force based on the motion state parameter; and adopting the second blowing force to blow the target object blown by the first blowing force, and controlling the target object blown by the second blowing force to fall into the first chute.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.
Claims (11)
1. A multi-target sorting control method, comprising:
detecting a plurality of objects to be sorted on the conveying belt, and determining the object type of the target object;
when the object class is a first class, the target object is blown to a first chute corresponding to the target object in a plurality of preset chute, wherein the chute is used for receiving the objects falling on the conveyor belt respectively;
acquiring a motion state parameter of the target object after being sprayed by a preset first spraying force;
determining a second blowing force for blowing the target object blown by the first blowing force based on the motion state parameter;
and adopting the second blowing force to blow the target object blown by the first blowing force, and controlling the target object blown by the second blowing force to fall into the first chute.
2. The method according to claim 1, wherein the obtaining the motion state parameter of the target object after being blown by the preset first blowing force includes:
determining a conveying speed of the conveyor belt;
determining a first acceleration of the target object after being blown by the first blowing force based on the conveying speed and the first blowing force;
And taking the first acceleration as the motion state parameter.
3. The method of claim 2, wherein the determining a first acceleration of the target object after being blown by the first blowing force based on the conveying speed and the first blowing force comprises:
detecting the target object after being blown by the first blowing force in a preset first time period, and determining a first horizontal displacement of the target object in the first time period;
the first acceleration is determined based on the first time period, the first horizontal displacement, and the conveying speed.
4. The method of claim 2, wherein the determining a second blowing force to blow the target object blown by the first blowing force based on the motion state parameter comprises:
determining a second acceleration required by the target object to fall into a preset falling point in the first chute from a blowing point, wherein the blowing point is a position of blowing equipment for blowing the target object;
determining a total blowing force required to blow the target object to the predetermined landing point based on the first acceleration, the second acceleration, and the first blowing force,
The second blowing force is determined based on the total blowing force and the first blowing force.
5. The method of claim 4, wherein the determining a second acceleration required for the target object to fall from a blowing point to a predetermined drop point of the first chute comprises:
acquiring total displacement time of the target object, wherein the total displacement time is time for supporting the target object to fall into the first chute by taking the blowing point as a displacement starting point;
determining a total horizontal displacement between a predetermined drop point in the first chute and the injection point;
the second acceleration is determined based on the total horizontal displacement and the total displacement duration.
6. The method of claim 5, wherein the obtaining the total displacement duration of the target object comprises:
determining the blowing point height of the blowing point and the partition plate height of the first chute;
obtaining a height difference value based on the height of the blowing point and the height of the partition plate;
the total displacement duration is determined based on the altitude difference and the gravitational acceleration.
7. The method according to any one of claims 1 to 6, further comprising:
When the object class is a second class, determining that the target object corresponds to a second chute, wherein the second chute is a chute closest to the conveyor belt in the plurality of chutes, the second chute is different from the first chute, and the second class is different from the first class;
and controlling the target object to fall into the second chute by the conveyor belt in a free falling manner.
8. The method according to any one of claims 1 to 6, further comprising:
when the object class is a third class, determining that the target object corresponds to a third chute, wherein the third chute is a chute farthest from the conveyor among the plurality of chutes, the third chute is different from the first chute, and the third class is different from the first class;
and adopting a preset third blowing force to blow the target object, and controlling the target object blown by the third blowing force to fall into the third chute, wherein the third blowing force is larger than any one of the first blowing force and the second blowing force.
9. A multi-target sorting control device, comprising:
the conveying equipment is used for conveying the plurality of objects to be sorted distributed on the conveying equipment at a constant speed;
the classification detection device is connected with the conveying device and is used for detecting the plurality of objects to be sorted on the conveying device and determining the object type of the target object;
the blowing device is connected with the classification detection device and is used for blowing the target object to a first chute corresponding to the target object in a plurality of preset chutes when the object class is a first class, wherein the plurality of chutes are respectively used for receiving the objects falling on the conveying device;
the high-speed dynamic detection device is connected with the blowing device and is used for acquiring the motion state parameters of the target object after being blown by the preset first blowing force;
the controller is connected with the high-speed dynamic detection equipment and is used for determining a second blowing force for blowing the target object blown by the first blowing force based on the motion state parameter;
the blowing equipment is connected with the controller and is further used for blowing the target object blown by the first blowing force by adopting the second blowing force, and controlling the target object blown by the second blowing force to fall into the first chute.
10. The multi-target sorting control device of claim 9, wherein the device further comprises:
the controller is further configured to determine that the target object corresponds to a second chute when the object class is a second class, where the second chute is a chute that is closest to the conveying device among the plurality of chutes, the second chute is different from the first chute, and the second class is different from the first class;
the blowing equipment is also used for controlling the target object to fall into the second chute by the conveying equipment in a free falling mode.
11. The multi-target sorting control device of claim 9, wherein the device further comprises:
the controller is further configured to determine that the target object corresponds to a third chute when the object class is a third class, where the third chute is a chute that is farthest from the conveying device among the plurality of chutes, the third chute is different from the first chute, and the third class is different from the first class;
the blowing equipment is further used for blowing the target object by adopting a preset third blowing force, and controlling the target object after being blown by the third blowing force to fall into the third chute, wherein the third blowing force is larger than any one of the first blowing force and the second blowing force.
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| CN116713215A (en) * | 2023-08-07 | 2023-09-08 | 天津美腾科技股份有限公司 | Multi-target sorting control system and method |
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