WO2021027226A1 - 吊挂系统分拣线的进出站控制方法 - Google Patents

吊挂系统分拣线的进出站控制方法 Download PDF

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Publication number
WO2021027226A1
WO2021027226A1 PCT/CN2019/128197 CN2019128197W WO2021027226A1 WO 2021027226 A1 WO2021027226 A1 WO 2021027226A1 CN 2019128197 W CN2019128197 W CN 2019128197W WO 2021027226 A1 WO2021027226 A1 WO 2021027226A1
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Prior art keywords
conveyor line
storage station
inbound
station
storage
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PCT/CN2019/128197
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English (en)
French (fr)
Inventor
余云林
孙建国
袁峰
袁剑
Original Assignee
浙江瑞晟智能科技股份有限公司
宁波圣瑞思工业自动化有限公司
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Publication of WO2021027226A1 publication Critical patent/WO2021027226A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41H—APPLIANCES OR METHODS FOR MAKING CLOTHES, e.g. FOR DRESS-MAKING OR FOR TAILORING, NOT OTHERWISE PROVIDED FOR
    • A41H42/00—Multi-step production lines for making clothes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]

Definitions

  • the invention belongs to the technical field of hanging conveyor lines, and specifically relates to a method for controlling entry and exit of a sorting line of a hanging system.
  • the garment processing enterprise needs to pack the finished product according to the customer's requirements, and then send it to the customer through logistics.
  • Customers often require packing according to a certain ratio. Different customers have different requirements for packing, and the packing needs of the same batch of goods of the same customer are also diversified.
  • online shopping has become a trend. There are multiple specifications in a box, but the quantity of each is not large.
  • the requirements for the packaging of finished products of clothing enterprises are further increased, which brings about the sorting of finished products of clothing enterprises. This is a higher degree of difficulty, resulting in a reduction in the efficiency of packaging of finished products in garment enterprises.
  • the invention patent with the Chinese patent number 201410326292.8 discloses an automatic sorting system and method.
  • a packing plan is generated according to the user's order, and storage sites are allocated for each specification, and the sorting management system controls the corresponding reserves
  • the station will carry out the outbound operation of the garments corresponding to the quantity of specifications.
  • the automatic sorting system and method can realize the automatic sorting and packaging of garments according to the specifications according to the diversified packing requirements of customers.
  • this kind of automatic sorting system needs to set up a corresponding number of storage stations according to many types of commodities. For large and medium-sized garment processing enterprises, the number of storage stations can reach as many as hundreds. Therefore, the in and out of the sorting line of the hanging system Station control is particularly important.
  • the purpose of the present invention is to provide a method for controlling the entry and exit of the sorting line of a hanging system, which has the characteristics of efficient and accurate sorting.
  • An inbound control method for a sorting line of a hanging system comprising an inbound conveyor line and a number of storage stations connected to the inbound conveyor line, and a number of carriers with carrier identification information are driven by the inbound conveyor line
  • the inbound conveyor line moves at a constant speed.
  • a number of the storage stations are respectively connected to the inbound conveyor line through diverter valves.
  • the inbound conveyor line is provided with a carrier identification device, and the carrier identification device is used to obtain the carrier passing through the inbound conveyor line.
  • the identification information of the carrier of the identification device further includes an encoder used in conjunction with the carrier identification device and the shunt valve;
  • the carrier identification device When the vehicle passes the position S0 of the inbound conveyor line, the carrier identification device obtains the vehicle identification information of the current vehicle.
  • the vehicle identification information includes the storage station position Si to which the current vehicle is allocated and the storage station position Si.
  • Corresponding encoder pulse count L[i] when the current carrier passes through L[i] pulse count of the encoder, the shunt valve at position Si on the inbound conveyor line opens, and the carrier enters the storage station at position Si.
  • the invention uses the encoder pulse count to indicate the distance from the carrier identification position to each storage station.
  • the system obtains the carrier identification information of the current carrier, including the storage station position to which the carrier is allocated Information and the encoder pulse count information corresponding to the storage station position, that is, after the encoder counts the corresponding pulse count from this moment on, the shunt valve assigned to the storage station position is opened to allow the carrier to enter the storage station.
  • the invention is suitable for the sorting line inbound control of the inbound conveyor line of rigid uniform speed transportation, and the inbound control is accurate and efficient.
  • Another technical solution adopted by the present invention is an inbound control method for a sorting line of a hanging system, which includes an inbound conveyor line and a number of storage stations connected to the inbound conveyor line.
  • a carrier identification device is provided on the inbound conveyor line, and the carrier identification device is used to obtain the carrier identification information of the carrier passing the carrier identification device on the inbound conveyor line;
  • Each tow hook on the inbound conveyor line is equipped with a detection chip, and the position corresponding to the carrier identification device and each diverter valve on the inbound conveyor line is provided with a detection sensor for detecting the detection chip.
  • the detection piece of the tow hook has a tow hook number that can be uniquely identified by each detection sensor, and the storage station corresponding to each diverter valve has a storage station number that can be uniquely calibrated;
  • L[n] is the total number of tow hooks on the inbound conveyor line
  • L[i] is used to record the vehicle identification of the vehicle dragged by the tow hook with the tow hook number i obtained by the carrier identification device Information, 1 ⁇ i ⁇ n, the vehicle identification information includes the storage station number to which the current vehicle is allocated;
  • the storage station number corresponding to the current detection sensor is combined with the tow hook detected by the current detection sensor in the array L[n]
  • the storage station number stored in the array element corresponding to the number is compared. If the two storage stations have the same station number, the shunt valve corresponding to the current detection sensor is opened, and the vehicle enters the storage station corresponding to the current detection sensor ; Otherwise, the shunt valve corresponding to the current detection sensor will not act.
  • the present invention uses the detection sensor corresponding to the carrier identification device and each storage station to detect the detection piece of each tow hook on the inbound conveyor line, so as to uniquely identify the tow hook number of each tow hook.
  • the vehicle identification information of the vehicle including the station number of the storage station to which the current vehicle is assigned, is stored in the array corresponding to the tow hook number of the current tow hook. Therefore, when the tow hook passes the corresponding detection of each storage station When the sensor is used, compare the current storage station number with the storage station number stored in the corresponding array of the current towing hook number.
  • the invention is suitable for the inbound control of the sorting line of the flexible towing hook inbound conveyor line, without requiring the uniform speed of the inbound conveyor line, and the inbound control is accurate and efficient.
  • Another technical solution adopted by the present invention is an outbound control method for a sorting line of a hanging system, which includes an outbound conveyor line and a number of storage stations connected to the outbound conveyor line. A number of cross arms on which carriers are mounted, and a number of carriers move cyclically along the outbound conveyor line driven by the cross arms of the closed-loop outbound conveyor line;
  • the conveying direction of several storage stations along the outbound conveyor line is sequentially set from Pn to P1, where n is the total number of storage stations, and a virtual origin is set on the outbound conveyor line behind the storage station Pn or in front of the storage station P1 P0, the serial number of the cross arm at the virtual origin P0 is the counter count value C0;
  • each element in the array L[Cmax] is used to store the use state of the corresponding cross arm, and the use state includes an occupied state and a blank state;
  • the storage station detects the current use status of the crossarm before leaving the station. If the current use status of the crossarm is marked as occupied, the storage station is prohibited from leaving the station until it detects that the current use status of the crossarm is blank;
  • a virtual clearing point Px is also set on the outbound conveyor line.
  • the use state of the crossarm in the array L is cleared to a blank state.
  • the key to the outbound control method of the present invention is that by setting a virtual origin P0 on the outbound conveyor line, a variable C0 passing through the virtual origin P0 is obtained, and the serial number of the crossarm passing through each storage station is obtained based on the variable C0.
  • the serial number of the cross arm passing through the storage station Pi is C0+Ci(C0+Ci ⁇ Cmax) or C0+Ci-Cmax(C0+Ci>Cmax), where Ci is a quantitative value, which means the virtual origin P0 to the storage station
  • Ci is a quantitative value, which means the virtual origin P0 to the storage station
  • the number of cross arms between Pi, and the use status of the front cross arms is stored in the array L[C0+Ci](C0+Ci ⁇ Cmax) or L[C0+Ci-Cmax] according to the current signal pairs of each storage station.
  • the serial number of the cross arm passing through the storage station Pi is C0-Ci (C0-Ci ⁇ 1) or C0-Ci+Cmax (C0-Ci ⁇ 1), where Ci is Quantitative, representing the number of crossarms from the virtual origin P0 to the storage station Pi, and at the same time, store the use status of the front crossarm in the array L[C0-Ci](C0-Ci ⁇ 1) according to the current battle signal pair of each storage station Or L[C0-Ci+Cmax] (C0-Ci ⁇ 1); where the array position corresponding to the serial number of the current crossarm is stored.
  • a unified algorithm is used to control whether the current storage station allows the vehicle to go out of the station. Specifically, first detect the current use state of the crossarm passing the current storage station, if the current use state of the crossarm For occupation, the vehicle of the current storage station will not leave the station, and the outbound conveyor line will continue to move; if the use status of the front crossarm is blank, the vehicle of the current storage station will leave the station and the serial number of the current storage station The use status in the corresponding array is updated to the occupied status; each time the outbound conveyor line moves a cross arm distance, the variable C0 of the virtual origin P0 will increase by 1, when C0 is greater than the total number of cross arms of the outbound conveyor line, C0 Reset to 1 and recount.
  • each storage station can be accurately and efficiently outbound.
  • Figure 1 is a schematic structural diagram of the sorting line of the hanging system of the present invention.
  • An inbound control method for a sorting line of a hanging system includes an inbound conveyor line and a number of storage stations connected to the inbound conveyor line. In this embodiment, 10 storage stations are taken as an example for illustration.
  • the inbound conveyor line is equipped with a drive (push rod or towing hook) for conveying carriers, and each carrier is equipped with a label, which can be identified by the carrier identification device set on the inbound conveyor line.
  • the carrier identification device may be a code scanner or an RFID card reader.
  • the carrier identification information of each carrier can be obtained by reading the tag, where the carrier identification information includes the location of the storage station to which the current carrier is allocated,
  • An encoder used in conjunction with the carrier identification device and the shunt valve is also provided on the inbound conveyor line.
  • array L[i] is used to store the pulse count corresponding to the encoder when the carrier moves from position S0 to position Si on the inbound conveyor line, 1 ⁇ i ⁇ 10; here needs to be explained
  • L[0] is used to represent the first element of the array.
  • the present invention uses L[1] to represent the first element of the array, and the following is similar.
  • the pulse count in the array L[i] is determined by the distance from position S0 to position Si. For example, the pulse count of the encoder required for the carrier to move from position S0 to position S1 is 100, and the carrier moves from position S0 to position S6.
  • the pulse count of the encoder is 200.
  • the carrier identification device When the carrier passes the position S0 of the inbound conveyor line, the carrier identification device obtains the storage station position Si to which the current carrier is allocated by reading the label of the current carrier, and obtains it in the array L according to the storage station position Si Corresponding encoder pulse count L[i], for example, when the carrier passes the position S0 of the inbound conveyor line, the current carrier is assigned to the storage station at position S6 by reading the tag, and at the same time according to the position S6 in the array L
  • the pulse count stored in L[6] of the corresponding position is 200.
  • the diverter valve at position S6 on the inbound conveyor line opens, and the carrier enters the storage station at position S6.
  • the opening time of the diverter valve of each storage station can be an interval.
  • the diverter valve of the storage station at the aforementioned position S6 can be set to open when the encoder has passed 180 times. The encoder is closed after 220 times to ensure that the vehicle can enter the corresponding storage station during the opening of the diverter valve.
  • This embodiment is suitable for the sorting line inbound control of the inbound conveyor line conveyed at a constant speed, and the inbound control is accurate and efficient.
  • the inbound control method of this embodiment can be set in sections. For example, a carrier identification device and a corresponding encoder are set for every 100 storage stations. More precise control can be implemented on the inbound of the sorting line.
  • FIG. 1 Another method for inbound control of the sorting line of the hanging system, continue to refer to Figure 1, including an inbound conveyor line and a number of storage stations connected to the inbound conveyor line.
  • the inbound conveyor line is equipped with a drag carrier
  • 10 storage stations and 20 tow hooks are used as examples.
  • the storage stations are sequentially numbered S1-S10.
  • Each tow hook can drag at most one vehicle, and each vehicle has A tag is provided, and the tag can be identified by the carrier identification device set on the inbound conveyor line.
  • the carrier identification device can be a code scanner or an RFID reader, which can be obtained by reading the tag
  • the carrier identification information of each carrier where the carrier identification information includes the location of the storage station to which the current carrier is allocated.
  • Each tow hook on the inbound conveyor line is equipped with a detection chip, and the position corresponding to the carrier identification device and each diverter valve on the inbound conveyor line is provided with a detection sensor for detecting the detection chip.
  • the detection piece of the tow hook has a tow hook number that can be uniquely identified by each detection sensor, and the storage station corresponding to each diverter valve has a storage station station number that can be uniquely calibrated.
  • the inbound conveying line is a towing hook line of closed-loop circular conveying.
  • Set the tow hook number of the tow hook to 1-20, and multiple methods can be used to uniquely identify the tow hook number.
  • this embodiment uses a simple and effective detection and identification method to uniquely identify the tow hook number Identify, specifically, set the origin position matched with the detection sensor on the inbound conveyor line. When the origin position passes the detection sensor, its detection signal is different from the detection signal of the towing hook detection piece, so as to facilitate The detection sensor recognizes the origin position.
  • the detection sensor After the detection sensor detects the origin position, when the tow hook behind the origin position passes the current detection sensor, its tow hook number is reset and starts counting from the initial value, and every time the current detection sensor detects a tow hook, The tow hook numbers of the detected tow hooks are incremented one by one, so that the tow hook numbers of each tow hook can be uniquely identified. For example, when the detection sensor detects that the origin position of the inbound conveyor line has passed, the current detection sensor can identify the first tow hook detected after the origin position is detected as the tow hook numbered 1 , The second detected tow hook can be identified as the tow hook with hook number 2, and the sequence is sorted in this order until the origin position is detected again, and the counting is restarted.
  • one detection sensor is provided at the corresponding positions of the carrier identification device and each storage station, and there are 11 detection sensors in total.
  • the detection sensor is a trough-type photoelectric sensor.
  • a certain tow hook or two adjacent tow hooks can be removed on the inbound conveyor line, so that the distance between two adjacent tow hooks in this section is larger than the normal distance between two tow hooks, so that The position is the origin position of the inbound conveyor line.
  • the detection sensor passes this section of the position, it will take longer to detect the towing hook. For example, if two tow hooks are removed, the distance between the two tow hooks before and after the origin is increased by 2 times than the normal tow hook. Under normal circumstances, the time for the detection sensor to detect two adjacent tow hooks is t, and the time for detecting two tow hooks before and after the origin is 3t. , Using this distinction as the origin.
  • the key to the core algorithm of this embodiment is to establish an array L[20], the size of the array L is the total number of tow hooks on the inbound conveyor line, and L[i] is used to record the tow hook number obtained by the carrier identification device as i
  • the vehicle identification information of the vehicle dragged by the tow hook, 1 ⁇ i ⁇ 20, and the vehicle identification information includes the storage station number to which the current vehicle is allocated.
  • the detection sensor at the position of the carrier identification device first identifies and obtains the tow hook number of the current tow hook, for example, the tow hook number is 2, and then the carrier identification device is used to obtain the tow hook position.
  • the vehicle identification information of the dragged vehicle is to establish an array L[20]
  • the size of the array L is the total number of tow hooks on the inbound conveyor line
  • L[i] is used to record the tow hook number obtained by the carrier identification device as i
  • the vehicle is allocated to the storage station at position S5, and the vehicle identification information is stored in the array element L[2], where the position of the array element corresponds to the carrier The tow hook number of the tow hook detected by the detection sensor that identifies the device position. It should be noted that if the current towing hook does not drag a vehicle, the empty vehicle identification information is stored in the array element L[2].
  • the storage station station number corresponding to the current detection sensor corresponds to the tow hook number detected by the current detection sensor in the array L Compare the station numbers of the assigned storage stations stored in the array elements. If the station numbers of the two storage stations are the same, the shunt valve corresponding to the current detection sensor is opened, and the vehicle enters the storage station corresponding to the current detection sensor; otherwise, The shunt valve corresponding to the current detection sensor does not act. For example, when the tow hook passes the detection sensor of the storage station at position S5, the detection sensor first identifies the tow hook number of the tow hook.
  • the detected tow hook number is 1, then it is obtained in the array element L[1] Store the vehicle identification information. If the acquired vehicle identification information is not the current storage station's position S5, then the diverter valve at that position S5 will not operate, the inbound conveyor line continues to be dragged forward, and the current detection sensor continues to detect the next If the towing hook number of a towing hook is 2, the storage vehicle identification information is obtained in the array element L[2]. From the foregoing, it can be seen that the vehicle identification information stored in the array element L[2] is the position S5. The position S5 is the same as the current storage station. Therefore, the diverter valve at this position S5 is opened, and the vehicle enters the storage station S5 corresponding to the current detection sensor to complete the station entry.
  • the present invention uses the detection sensor corresponding to the carrier identification device and each storage station to detect the detection piece of each tow hook on the inbound conveyor line, thereby uniquely identifying the towing hook number of each towing hook, and then obtains the load through the carrier identification device.
  • the vehicle identification information of the vehicle including the station number of the storage station to which the current vehicle is allocated, is stored in the array corresponding to the current tow hook number.
  • the invention is suitable for the inbound control of the sorting line of the flexible towing hook inbound conveyor line, without requiring the uniform speed of the inbound conveyor line, and the inbound control is accurate and efficient.
  • a further preferred solution of the present invention is to accurately control the opening time of the diverter valve of each storage station to prevent the vehicle from entering the station by mistake or entering the station by mistake.
  • the main idea is to set a window period for the diverter valve of each storage station to open, which is shorter than the time for the tow hook to move to the next tow hook position.
  • a number of the tow hooks on the inbound conveyor line are arranged at equal intervals (except for the two tow hooks before and after the origin), and the inbound conveyor line is also provided with an encoder for use with the shunt valve.
  • the pulse count of the encoder For example, set the pulse count of the encoder to 100 when a tow hook moves to the next tow hook position on the inbound conveyor line, the detection sensor detects the tow hook, and the vehicle towed by the tow hook needs to enter the station , Start counting the number of pulses of the encoder.
  • the shunt valve can be opened and closed in any interval between 1 and 100. For example, when the encoder is 10, the shunt valve is opened, and the shunt valve is closed at 60. Of course, it is to ensure the drag If the vehicle towed by the hook has enough time to enter the station.
  • An outbound control method for a sorting line of a hanging system continued referring to Figure 1, which includes an outbound conveyor line and a number of storage stations connected to the outbound conveyor line, and the plurality of storage stations respectively pass through a merging valve or a merging pendulum
  • the rail is connected to the outbound conveyor line, and the output end of the storage station can also be located on the outbound conveyor line.
  • the outbound conveyor line is connected end to end with a number of cross arms for loading carriers, and the plurality of carriers are driven by the cross arms of the closed-loop outbound conveyor line to move cyclically along the outbound conveyor line.
  • the conveying direction of several storage stations along the outbound conveyor line is sequentially set from Pn to P1.
  • the outbound conveyor line is located behind the storage station Pn or in the storage
  • a virtual origin point P0 is set in front of the station P1.
  • the outbound conveyor line in this embodiment is a closed-loop conveyor line, so the virtual origin is located behind the storage station Pn and in front of the storage station P1.
  • the setting position of the counter used to detect the cross arm is the same as the position of the virtual origin P0.
  • the number of cross arms between storage stations P1, P2,..., Pn and P0 is calculated as C1, C2,..., Cn.
  • the serial number of the crossarm is C0
  • the serial number of the crossarm that passes through the storage station Pi is C0+Ci (C0+Ci ⁇ Cmax) or C0+Ci-Cmax (C0+Ci>Cmax)
  • C0 is a variable
  • Ci is a constant , 1 ⁇ i ⁇ n.
  • each element of the array L[Cmax] is used to mark the use state of the corresponding crossarm, the use state includes the occupied state and the blank state, such as L[1], which represents the crossarm with serial number 1. status of use.
  • the counter count value C0 is assigned to the number of the cross arm at the virtual origin P0.
  • the counter count value C0 1
  • the number of the cross arm at the virtual origin is 1, set two
  • the number of cross arms between adjacent storage stations is 1, and the number of cross arms between storage station P1 and virtual origin P0 is 5, that is, C1, C2, ..., C10 are 5, 6, ..., 14, in order
  • the serial numbers of the cross arms corresponding to the storage stations P1, P2, ..., P10 are C0+C1, C0+C2, ..., C0+C10, that is, 6, 7, ..., 15.
  • the sequence numbers of the cross arm corresponding to the storage stations P1, P2,..., P10 are 7, 8,..., 16, and so on.
  • the storage station detects the current use status of the crossarm before leaving the station. If the current use status of the crossarm is marked as occupied, the storage station is prohibited from leaving the station until it detects that the current use status of the crossarm is blank.
  • the counter detects the next cross arm and increases C0 by 1.
  • C0 2.
  • the cross arm of the original storage station P10 moves to the storage station P9, and the current storage station P9 corresponds to the cross arm.
  • storage station P2 needs to go out.
  • the use status stored in the corresponding array element L[6]. If it is detected as blank, P2 is allowed to go out, and the array element L[6] is marked as occupied.
  • the outbound control method is as follows: first, according to the outbound signals of the storage station P2 and the storage station P5, respectively detect the use status of the cross arm corresponding to the storage station P2 and the storage station P5.
  • storage station P2 and storage station P5 can go out at the same time.
  • the usage status of array elements L[12] and L[15] are respectively updated to occupied states.
  • the outbound conveyor line moves forward by one cross arm position C0 becomes 7, and after storage station P2 and storage station P5 leave the station, the array elements L[13] and L[16] are marked as occupied, at this time L[12] , L[13], L[15], L[16] are marked as occupied status.
  • the outbound conveyor line moves forward one cross arm position C0 becomes 8, after storage station P2 and storage station P5 go out, that is, array elements L[14], L[17] are marked as occupied, at this time L[12 ], L[13], L[14], L[15], L[16], L[17] are all marked as occupied.
  • C0 9
  • the array L[15] of the cross arm sequence number 15 corresponding to storage station P2 is detected The use state is occupied, so the storage station P2 is prohibited from going out, and the use state of the array L[18] with the cross arm sequence number 18 corresponding to the storage station P5 is blank, so the storage station P5 is allowed to go out. That is to say, after storage station P2 leaves the carrier with 3 crossarms, the carrier with 1 crossarm is suspended until it is detected that the use status of the crossarm corresponding to storage station P2 is blank. At that time, the vehicle with the remaining 1 crossarm is allowed to continue leaving the station. That is, in terms of outbound priority, the lower the storage station, the higher its outbound priority.
  • the priority setting can also be used to suspend the corresponding storage station outbound through active intervention.
  • the storage station Stop sending outbound signals. There is no need to detect the use status of the cross arm corresponding to the storage station, and no need to perform any operation on the current use status of the cross arm, and the active intervention operation can be restored accordingly.
  • a virtual clearing point Px is also set on the outbound conveyor line.
  • the virtual clearing point is set between P1 and P0.
  • the usage status of the corresponding crossarm in the array L[Cmax] is cleared Is blank.
  • the virtual reset point Px and the virtual origin P0 are set at the same position, that is, the use state of the array element L[C0] corresponding to the cross arm C0 passing through the virtual reset point Px is cleared to a blank state.
  • An outbound control method for a sorting line of a hanging system continued referring to Figure 1, which includes an outbound conveyor line and a number of storage stations connected to the outbound conveyor line, and the plurality of storage stations respectively pass through a merging valve or a merging pendulum
  • the rail is connected to the outbound conveyor line, and the output end of the storage station can also be located on the outbound conveyor line.
  • the outbound conveyor line is connected end to end with a number of cross arms for loading carriers, and the plurality of carriers are driven by the cross arms of the closed-loop outbound conveyor line to move cyclically along the outbound conveyor line.
  • the conveying direction of several storage stations along the outbound conveyor line is sequentially set from Pn to P1.
  • the outbound conveyor line is located behind the storage station Pn or in the storage
  • a virtual origin point P0 is set in front of the station P1.
  • the outbound conveyor line in this embodiment is a closed-loop conveyor line, so the virtual origin is located behind the storage station Pn and in front of the storage station P1.
  • the setting position of the counter used to detect the cross arm is the same as the position of the virtual origin P0.
  • the difference between this embodiment and the third embodiment lies in the direction from the calculation of the virtual origin P0 to each storage station.
  • the number of cross-arms between P0 and storage stations P1, P2,..., Pn is C1, C2,..., Cn.
  • the outbound conveyor line passes through the virtual origin P0
  • the serial number of the cross arm is C0
  • the serial number of the cross arm passing through the storage station Pi is C0-Ci (C0-Ci ⁇ 1) or C0-Ci+Cmax (C0-Ci ⁇ 1)
  • C0 is a variable
  • Ci is a constant , 1 ⁇ i ⁇ n.
  • each element of the array L[Cmax] is used to mark the use state of the corresponding crossarm, the use state includes the occupied state and the blank state, such as L[1], which represents the crossarm with serial number 1. status of use.
  • the counter count value C0 is assigned to the number of the cross arm at the virtual origin P0.
  • the number of the cross arm at the virtual origin is 1, set two The number of cross arms between adjacent storage stations is 1, and the number of cross arms between the virtual origin P0 and the storage station P10 is 6, that is, C1, C2,..., C10 are 15, 14,..., 6, in order,
  • the serial numbers of the cross arms corresponding to the storage stations P1, P2,..., P10 are C0-C1+Cmax, C0-C2+Cmax,..., C0-C10+Cmax, that is, 6, 7,... ..., 15.
  • the sequence numbers of the cross arm corresponding to the storage stations P1, P2,..., P10 are 7, 8,..., 16, and so on.
  • the storage station detects the current use status of the crossarm before leaving the station. If the current use status of the crossarm is marked as occupied, the storage station is prohibited from leaving the station until it detects that the current use status of the crossarm is blank.
  • storage station P2 needs to go out.

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Abstract

吊挂系统分拣线的进站、出站控制方法，其中一种进站控制方法是通过检测载具识别信息并配合编码器的脉冲计数实现各存储站的进站控制；另一种进站控制方法是通过检测载具识别信息和拖钩的拖钩编号信息，并在每个存储站分别对载具识别信息种的存储站站号与当前存储站的站号比较，以对各存储站的进站进行控制；其中一种出站控制方法，利用虚拟原点的方法标记各横担的使用状态，各存储站出站时对当前横担的使用状态进行检测，以对各存储站的出站进行控制，该吊挂系统分拣线的进站及出站控制方法，其具有高效准确的分拣特点。

Description

吊挂系统分拣线的进出站控制方法 技术领域
本发明属于吊挂输送线技术领域，具体涉及吊挂系统分拣线的进出站控制方法。
背景技术
服装加工企业在服装加工完成后，需要根据客户的要求对成品进行装箱，然后通过物流发送给客户。客户往往要求按照一定的配比进行装箱，不同的客户对于装箱的要求往往是不同的，且同一个客户的同一批货的装箱需求也是多样化的。特别是随着电子商务的发展，网上购物成为风潮，一箱中有多个规格，但每种量都不大，对于服装企业成品装箱的要求进一步提高，给服装企业成品分拣工作带来了较高的难度，从而造成了服装企业成品装箱的效率降低。中国专利号为201410326292.8的发明专利公开一种自动分拣系统及方法，在分拣管理系统中，根据用户的订单生成装箱方案，并为每个规格分配存储站点，分拣管理系统控制相应储备站将对应规格数量的服装进行出站操作，该自动分拣系统及方法，根据客户多样化的装箱需求，实现服装按规格自动分拣和包装。但是这类自动分拣系统根据众多商品种类需要设置相应数量的存储站，对于大中型服装加工企业而言，存储站的数量可达数百条之多，因而对吊挂系统分拣线的进出站控制显得尤为重要。
发明内容
针对上述现有技术存在的不足，本发明的目的是提供一种吊挂系统分拣线的进站及出站控制方法，其具有高效准确的分拣特点。
为了实现上述目的，本发明所采用的技术方案是。
一种吊挂系统分拣线的进站控制方法，包括进站输送线以及与该进站输送线相连的若干存储站，具有载具识别信息的若干载具在进站输送线的带动下沿进站输送线匀速移动，若干所述存储站分别通过分流阀与进站输送线连接，进站输送线上设置有载体识别装置，所述载体识别装置用于获取进站输送线上经过该载体识别装置的载具的识别信息，还包括与所述载体识别装置以及所述分流阀配合使用的编码器；
设定进站输送线上的载体识别装置的位置为S0，沿进站输送线运行方向，设定进站输送线上与若干存储站相连的位置距离位置S0由近至远依序为S1到Sn，n为存储站的总数，建立数组L[n]，n≥1，L[i]用于存储载具在进站输送线上从位置S0移动到位置Si时所述编码器所对应的脉冲计数，1≤i≤n；
当载具经过进站输送线的位置S0时，载体识别装置获取当前载具的载具识别信息，该载具识别信息包括当前载具被分配到的存储站位置Si和与该存储站位置Si对应的编码器脉冲计数L[i]，当前载具在编码器经过L[i]次脉冲计数时，进站输送线上位置Si的分流阀打开，载具进入位置Si的存储站。
本发明利用编码器脉冲计数来表示载体识别位置至各存储站的距离，当载具经过载体识别位置时，系统获取当前载具的载具识别信息，包括该载具被分配到的存储站位置信息以及与该存储站位置对应的编码器脉冲计数信息，即从此刻起在编码器计数相应的脉冲计数后打开该被分配到的存储站位置的分流阀，以使载具进入该存储站。本发明适用于刚性匀速输送的进站输送线的分拣线进站控制，其进站控制准确高效。
本发明所采用的另一技术方案是，一种吊挂系统分拣线的进站控制方法，包括进站输送线以及与该进站输送线相连的若干存储站，进站输送线上设有 用于拖动载具的若干拖钩，具有载具识别信息的若干载具在进站输送线的拖钩带动下沿进站输送线移动，若干所述存储站分别通过分流阀与进站输送线连接，进站输送线上设置有载体识别装置，所述载体识别装置用于获取进站输送线上经过该载体识别装置的载具的载具识别信息；
进站输送线上每个拖钩均设有检测片，进站输送线上与所述载体识别装置以及每个所述分流阀对应的位置均设置有用于检测所述检测片的检测传感器，所述拖钩的检测片具有能被各检测传感器唯一识别的拖钩编号，每个分流阀所对应的存储站具有能被唯一标定的存储站站号；
建立数组L[n]，n为进站输送线上的拖钩总数，L[i]用于记录所述载体识别装置获取的拖钩编号为i的拖钩拖动的载具的载具识别信息，1≤i≤n，该载具识别信息包括当前载具被分配到的所述存储站站号；
当进站输送线上的每个拖钩经过所述分流阀对应位置的检测传感器时，将当前检测传感器所对应的存储站站号与数组L[n]中当前检测传感器所检测到的拖钩编号所对应数组元素中存储的被分配到的存储站站号进行比较，如果两个存储站站号相同，则当前检测传感器所对应的分流阀打开，载具进入当前检测传感器所对应的存储站；否则，当前检测传感器所对应的分流阀不动作。
本发明利用与载体识别装置以及各存储站相对应的检测传感器检测进站输送线上的各拖钩的检测片，从而对各拖钩的拖钩编号进行唯一识别，在通过载体识别装置获取载具的载具识别信息，包括当前载具被分配到的存储站站号，并将其存储至当前拖钩的拖钩编号所对应的数组中，因此当拖钩经过各存储站相对应的检测传感器时，将当前存储站站号与当前拖钩的拖钩编号对应数组中存储的存储站站号进行比较，如果相同则判定当前载具应进入当 前存储站，同时打开该存储站的分流阀；否则，分流阀不动作，拖钩进入下一个存储站相对应的检测传感器重复上述判断步骤。本发明适用于柔性的拖钩进站输送线分拣线进站控制，无需要求进站输送线的匀速运行，其进站控制准确高效。
本发明所采用的另一技术方案是，一种吊挂系统分拣线的出站控制方法，包括出站输送线以及与该出站输送线相连的若干存储站，出站输送线上设有用于挂载载具的若干横担，若干载具在闭环的出站输送线的横担带动下沿出站输送线循环移动；
设定出站输送线上横担的数量为Cmax，出站输送线上设有用于检测横担的计数器，设定该计数器的计数值为C0，每当该计数器检测到一个横担通过时，所述计数值C0增加1；当C0＞Cmax时，计数值C0重置为1，并重新开始计数；
若干存储站沿出站输送线的输送方向依序设定为Pn到P1，n为存储站的总数，出站输送线上位于存储站Pn的后方或位于存储站P1的前方设定一个虚拟原点P0，虚拟原点P0处横担的序号为计数器计数值C0；
根据各存储站至虚拟原点P0间隔的横担数，计算存储站P1、P2、……、Pn相应的横担的序号；
建立数组L[Cmax]，数组L[Cmax]中各元素用于存储相应横担的使用状态，所述使用状态包括占用状态和空白状态；
存储站在出站前检测当前横担的使用状态，如果当前横担的使用状态被标记为占用状态，则该存储站禁止出站，直至检测到当前横担的使用状态为空白状态；
当存储站Pi出站时，将当前横担序号在数组L中的使用状态标记为占用 状态，直至存储站Pi出站完成；
出站输送线上还设定有虚拟清零点Px，当横担经过虚拟清零点Px时，在数组L中该横担的使用状态被清除为空白状态。
本发明所述的出站控制方法的关键在于，在出站输送线上通过设置虚拟原点P0，得到一个经过该虚拟原点P0的变量C0，基于该变量C0对经过各存储站的横担的序号进行标定，例如经过存储站Pi的横担的序号为C0+Ci(C0+Ci≤Cmax)或C0+Ci-Cmax(C0+Ci＞Cmax)，其中Ci为定量，表示虚拟原点P0到存储站Pi之间的横担数，同时根据各存储站当前的出战信号对将前横担的使用状态存储至数组L[C0+Ci](C0+Ci≤Cmax)或L[C0+Ci-Cmax](C0+Ci＞Cmax)中；还可以是，经过存储站Pi的横担的序号为C0-Ci(C0-Ci≥1)或C0-Ci+Cmax(C0-Ci＜1)，其中Ci为定量，表示虚拟原点P0到存储站Pi之间的横担数，同时根据各存储站当前的出战信号对将前横担的使用状态存储至数组L[C0-Ci](C0-Ci≥1)或L[C0-Ci+Cmax](C0-Ci＜1)中；其中存贮位置当前横担的序号所对应的数组位置。最后当横担经过各存储站时，通过统一的算法来控制当前存储站是否允许载具出站，具体地，首先检测经过当前存储站的当前横担的使用状态，如果当前横担的使用状态为占用，则当前存储站的载具不出站，出站输送线继续移动；如果前横担的使用状态为空白，则当前存储站的载具出站，且当前存储站的横担序号所对应的数组中的使用状态更新为占用状态；每当出站输送线移动一个横担距离时，虚拟原点P0的变量C0都会递增加1，当C0大于出站输送线的横担总数时，C0重置为1且重新计数。需要说明的是，当横担经过最远端的存储站P1后，横担的使用状态需要被清除至空白状态，因而需在出站输送线上设定有虚拟清零点Px，优选的，该虚拟清零点Px与虚拟原点P0可以设定为同一位置。通过本发明的 出站控制方法，可使各存储站准确高效地出站。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明的吊挂系统分拣线的结构示意图。
具体实施方式
以下所述仅为本发明的较佳实施例，并不因此而限定本发明的保护范围。
实施方式一：
一种吊挂系统分拣线的进站控制方法，参见图1，包括进站输送线以及与该进站输送线相连的若干存储站，本实施方式中以10个存储站为例进行说明，进站输送线上设有用于输送载具的驱动器(推杆或拖钩)，每个载具都设置有一个标签，可通过设置在进站输送线上的载体识别装置对该标签进行识别，具体地，载体识别装置可以为扫码枪或RFID读卡器，可通过读取所述标签来获得各载体的载体识别信息，其中载体识别信息包括当前载具被分配到的存储站的位置，在进站输送线上还设置有与所述载体识别装置以及所述分流阀配合使用的编码器。
如图1所示，设定进站输送线上的载体识别装置的位置为S0，沿载具运行方向，设定进站输送线上与若干存储站相连的位置距离位置S0由近至远依序为S1到S10。
建立数组L[10]，数组L[i]用于存储载具在进站输送线上从位置S0移动到位置Si时所述编码器所对应的脉冲计数，1≤i≤10；这里需要说明的是，在某些程序语言中，以L[0]表示数组的第一个元素，为方便理解和说明，本发明以L[1]表示数组的第一个元素，以下类同。数组L[i]中的脉冲计数根据位置S0到位置Si的距离而定，例如载具从位置S0移动到位置S1所需编码 器的脉冲计数为100，载具从位置S0移动到位置S6所需编码器的脉冲计数为200。当载具经过进站输送线的位置S0时，载体识别装置通过读取当前载具的标签来获取当前载具被分配到的存储站位置Si，并根据该存储站位置Si在数组L中获取对应的编码器脉冲计数L[i]，例如当载具经过进站输送线的位置S0时，通过读取标签获得当前载具被分配到位置S6的存储站，同时根据该位置S6在数组L中获得其对应位置的L[6]存储的脉冲计数200，当前载具在编码器经过200次脉冲计数时，进站输送线上位置S6的分流阀打开，载具进入位置S6的存储站。
需要进一步说明的是，作为进一步优化的方案，各存储站的分流阀打开的时间可以为一个区间，例如在前述位置S6的存储站的分流阀可以设定在编码器经过180次时打开，在编码器经过220次时关闭，以确保载具可以在分流阀的打开期间进入相应的存储站。
本实施方式适用于匀速输送的进站输送线的分拣线进站控制，其进站控制准确高效。一般进站输送线的分拣线存储站多达数百条，本实施方式的进站控制方法可以进行分段设置，例如每100条存储站设置一个载体识别装置和与其对应的编码器，这样可对分拣线的进站实行更精确的控制。
实施方式二：
另一种吊挂系统分拣线的进站控制方法，继续参见图1，包括进站输送线以及与该进站输送线相连的若干存储站，进站输送线上设有用于拖动载具的若干拖钩，本实施方式中以10个存储站、20个拖钩为例进行说明，存储站依序编号为S1-S10，每个拖钩最多拖动一个载具，每个载具都设置有一个标签，可通过设置在进站输送线上的载体识别装置对该标签进行识别，具体地，载体识别装置可以为扫码枪或RFID读卡器，可通过读取所述标签来获得各载体 的载体识别信息，其中载体识别信息包括当前载具被分配到的存储站的位置。
进站输送线上每个拖钩均设有检测片，进站输送线上与所述载体识别装置以及每个所述分流阀对应的位置均设置有用于检测所述检测片的检测传感器，所述拖钩的检测片具有能被各检测传感器唯一识别的拖钩编号，每个分流阀所对应的存储站具有能被唯一标定的存储站站号。
本实施方式种，进站输送线为闭环循环输送的拖钩线。设定拖钩的拖钩编号为1-20，对拖钩编号的唯一识别可采用多种方法，优选的，本实施方式以一种简单有效的检测识别方法对拖钩的拖钩编号进行唯一识别，具体地，在进站输送线上设置与检测传感器相配合的原点位置，当该原点位置经过所述检测传感器时，其检测信号与拖钩检测片的检测信号有所区别，以便于所述检测传感器识别到该原点位置。当所述检测传感器检测到该原点位置后，位于该原点位置后面的拖钩经过当前检测传感器时其拖钩编号被重置，从初始值开始计数，且当前检测传感器每检测到一个拖钩，该被检测到的拖钩的拖钩编号逐次递增，这样即可对各拖钩的拖钩编号实现唯一识别。例如，当所述检测传感器检测到进站输送线的原点位置经过时，当前检测传感器对检测到原点位置后的第一个被检测到的拖钩即可识别为拖钩编号为1的拖钩，第二个被检测到的拖钩即可识别为拖钩编号为2的拖钩，如此顺次排序，直到再次检测到原点位置时，重新计数。需要说明的是，本实施方式中，载体识别装置和各存储站的对应位置各设置一个检测传感器，共有11个检测传感器，为适应拖钩输送线，所述检测传感器选用槽型光电传感器。
为降低硬件成本，可以采用拆除进站输送线上某个拖钩或相邻两个拖钩，使该段位置相邻两个拖钩的间距比正常的两拖钩的间距大，使该段位置为进站输送线的原点位置，检测传感器在经过该段位置时，需要更长时间才会检 测到拖钩。比如拆掉两个拖钩，原点前后两拖钩比正常拖钩间距增大2倍，正常情况下，检测传感器检测相邻两拖钩的时间为t,检测原点前后两拖钩的时间为3t，以此区别作为原点。
本实施方式的核心算法关键在于：建立数组L[20]，数组L的大小为进站输送线上的拖钩总数，L[i]用于记录所述载体识别装置获取的拖钩编号为i的拖钩拖动的载具的载具识别信息，1≤i≤20，该载具识别信息包括当前载具被分配到的所述存储站站号。当拖钩经过安装载体识别装置位置时，位于载体识别装置位置的检测传感器首先识别并获取当前拖钩的拖钩编号，例如该拖钩编号为2，然后再利用载体识别装置获取该拖钩所拖动的载具的载具识别信息，例如该载具被分配到位置为S5的存储站，将该载具识别信息存储到数组元素L[2]中，这里数组元素的位置对应于按照载体识别装置位置的检测传感器所检测到的拖钩的拖钩编号。需要说明的是，如果当前拖钩没有拖动载具，则将空的载具识别信息存储到数组元素L[2]中。
当进站输送线上的每个拖钩经过所述分流阀对应位置的检测传感器时，将当前检测传感器所对应的存储站站号与数组L中当前检测传感器所检测到的拖钩编号所对应数组元素中存储的被分配到的存储站站号进行比较，如果两个存储站站号相同，则当前检测传感器所对应的分流阀打开，载具进入当前检测传感器所对应的存储站；否则，当前检测传感器所对应的分流阀不动作。例如，当拖钩经过位置为S5的存储站的检测传感器时，该检测传感器首先识别拖钩的拖钩编号，例如检测到的拖钩编号为1，则在数组元素L[1]中获取其存储载具识别信息，如果获取到的载具识别信息不是当前存储站的位置S5，那么该位置S5处的分流阀不动作，进站输送线继续向前拖动，当前检测传感器继续检测到下一个拖钩的拖钩编号为2，则在数组元素L[2]中获取 其存储载具识别信息，由前述可知，在数组元素L[2]中存储的载具识别信息为位置S5，其与当前存储站的位置S5相同，因而该位置S5处的分流阀打开，载具进入当前检测传感器所对应的存储站S5，完成进站。
本发明利用与载体识别装置以及各存储站相对应的检测传感器检测进站输送线上的各拖钩的检测片，从而对各拖钩的拖钩编号进行唯一识别，再通过载体识别装置获取载具的载具识别信息，包括当前载具被分配到的存储站站号，并将其存储至当前拖钩的拖钩编号所对应的数组中。本发明适用于柔性的拖钩进站输送线分拣线进站控制，无需要求进站输送线的匀速运行，其进站控制准确高效。
本发明进一步优选的方案，是对各存储站的分流阀打开时间的精确控制，避免载具漏进站或误进站。主要构思是设置各存储站的分流阀打开的窗口期，该窗口期要小于拖钩移动至下一拖钩位置的时间。具体地，进站输送线上若干所述拖钩成等间距布置(原点前后两拖钩除外)，进站输送线上还设置有与所述分流阀配合使用的编码器。例如设定进站输送线上一个拖钩移动至相邻下一拖钩位置期间所述编码器的脉冲计数为100，检测传感器检测到拖钩，且该拖钩拖行的载具需进站，开始计编码器的脉冲数，分流阀可在1～100之间的任意区间内打开和关闭，比如编码器在10的时候分流阀打开，在60的时候分流阀关闭，当然是在保证拖钩拖行的载具足够时间进站的前提下。
实施方式三：
一种吊挂系统分拣线的出站控制方法，继续参见图1，其包括出站输送线以及与该出站输送线相连的若干存储站，若干所述存储站分别通过合流阀或合流摆轨与出站输送线连接，也可以将储存站输出端间隙位于出站输送线上。出站输送线上首尾相连的设有用于挂载载具的若干横担，若干载具在闭环的 出站输送线的横担带动下沿出站输送线循环移动，设定出站输送线上横担的数量为Cmax，本实施方式中，Cmax＝20，出站输送线上设有用于检测横担的计数器，设定该计数器的计数值为C0，每当该计数器检测到一个横担通过时，所述计数值C0增加1，当C0＞Cmax时，计数值C0重置为初始值1，并重新开始计数。
若干存储站沿出站输送线的输送方向依序设定为Pn到P1，本实施方式中存储站的总数为10,因此n＝10，出站输送线上位于存储站Pn的后方或位于存储站P1的前方设定一个虚拟原点P0，需要说明的是，本实施方式中的出站输送线是一个闭环输送线，因此虚拟原点位于存储站Pn的后方与位于存储站P1的前方实际上是同一概念，为便于说明，用于检测横担的计数器的设置位置与虚拟原点P0位置相同。
沿出站输送线的输送方向,计存储站P1、P2、……、Pn到P0之间的横担数量为C1、C2、……、Cn，当出站输送线运行时，经过虚拟原点P0的横担的序号为C0，经过存储站Pi的横担的序号为C0+Ci(C0+Ci≤Cmax)或C0+Ci-Cmax(C0+Ci＞Cmax)，C0为变量，其中Ci为常量，1≤i≤n。
建立数组L[Cmax]，数组L[Cmax]每一个元素用于标记对应横担的使用状态，所述使用状态包括占用状态和空白状态，比如L[1]，代表序号为1的横担的使用状态。
例如，当横担经过计数器位置时，将计数器的计数值C0赋予虚拟原点P0处的横担的序号，当计数器计数值C0＝1时，虚拟原点处的横担的序号为1，设定两相邻存储站之间的横担数量为1，存储站P1至虚拟原点P0之间的横担数量为5，即C1、C2、……、C10依序为5、6、……、14，此时，存储站P1、P2、……、P10所对应的横担的序号则为C0+C1、C0+C2、……、C0+C10，即 为6、7、……、15。当计数器检测到下一个横担经过时，C0增加1，此时，存储站P1、P2、……、P10所对应的横担的序号则为7、8、……、16，依次类推。
存储站在出站前检测当前横担的使用状态，如果当前横担的使用状态被标记为占用状态，则该存储站禁止出站，直至检测到当前横担的使用状态为空白状态。当存储站Pi出站时，将序号为C0+Ci的横担的使用状态L[C0+Ci]标记为占用状态，直至存储站Pi出站完成。例如当CO＝1时，存储站P10需要出站，此时，P10存储站首先检测当前横担的使用状态，即检测序号为C0+C10＝1+14＝15(序号为15)对应的数组元素L[15]所存储的使用状态，如果检测为空白，则P10允许出站，并将数组元数L[15]标记为占用状态。当横担移动一个位置后，计数器检测到下一个横担，使C0增加1，此时C0＝2，此时原存储站P10的横担移动到存储站P9，存储站P9当前所对应的横担的序号为C0+C9＝2+13＝15，即存储站P9当前所对应的横担的使用状态为数组元数L[15]存储的使用状态，如果此时存储站P9需要出站，会首先检测数组元数L[C0+C9]即L[15]的使用状态，由前述可知，其使用状态为占用状态，因此存储站P9禁止出站。
又例如，当C0＝20时，存储站P2需要出站，此时，存储站P2首先检测当前横担的使用状态，即检测序号为C0+C2-Cmax＝20+6-20＝6(序号为6)对应的数组元素L[6]所存储的使用状态，如果检测为空白，则P2允许出站，并将数组元数L[6]标记为占用状态。当横担移动一个位置后，计数器检测到下一个横担，使C0增加1，此时C0＝21，如前述可知，当C0＞Cmax时，C0被重置为1，因而此时C0＝1，且此时存储站P1对应横担序号为C0+C1＝1+5＝6，如果此时存储站P1需要出站，存储站P1首先检测当前横担的使用状态，即检 测序号为C0+C1(序号为6)对应的数组元素L[6]所存储的使用状态，由前述可知，数组元素L[6]的使用状态为占用状态，因此存储站P1被禁止出站。
又例如当C0＝6时，存储站P2和存储站P5需要同时出站，并且存储站P2出站需要使用4个横担，存储站P5出站需要使用5个横担，这种情况下的出站控制方法为：首先根据存储站P2和存储站P5的出站信号，分别检测存储站P2和存储站P5所对应的横担的使用状态，为便于说明，本实施方式中设定当C0＝6时，所有横担的使用状态均为空白状态，根据前述内容可知，存储站P2所对应的横担序号为C0+C2＝6+6＝12，存储站P5所对应的横担序号为C0+C5＝6+9＝15，此时储站P2和存储站P5可以同时出站，出站后将数组元素L[12]和L[15]的使用状态分别更新为占用状态。出站输送线向前移动一个横担位置C0变为7，储站P2和存储站P5出站后，即数组元素L[13]、L[16]标记为占用状态，此时L[12]、L[13]、L[15]、L[16]被标记为占用状态。出站输送线再向前移动一个横担位置C0变为8，储站P2和存储站P5出站后，即数组元素L[14]、L[17]标记为占用状态，此时L[12]、L[13]、L[14]、L[15]、L[16]、L[17]均被标记为占用状态。当出站输送线继续运行一个横担距离后，C0＝9，此时存储站P2所对应的横担序号为C0+C2＝9+6＝15，存储站P5所对应的横担序号为C0+C5＝9+9＝18，此时分别检测存储站P2和存储站P5所对应的横担的使用状态，可知，检测存储站P2所对应的横担序号为15的数组L[15]的使用状态为占用状态，因此存储站P2禁止出站，而检测存储站P5所对应的横担序号为18的数组L[18]的使用状态为空白状态，因此存储站P5允许出站。也就是说，存储站P2在出站3个横担的载具后，还剩下1个横担的载具被中止出站，直到检测到存储站P2所对应横担的使用状态为空白状态时，该剩下的1个横担的载具才被允许继续出站。即从出站优先级而言， 存储站越靠后，其出站优先级越高，当然该优先级的设定还可以通过主动介入的方式中止相应的存储站出站，此时该存储站停止发出出站信号。无需检测该存储站所对应的横担的使用状态，也不需要对当前横担的使用状态进行任何操作，就可以对该主动介入操作进行相应的恢复操作。
出站输送线上还设定有虚拟清零点Px，虚拟清零点设置在P1至P0之间，当横担经过虚拟清零点Px时，将数组L[Cmax]中相应横担的使用状态被清除为空白状态。本实施方式中，虚拟清零点Px与虚拟原点P0的设定位置相同，即经过虚拟清零点Px的横担C0对应的数组元素L[C0]的使用状态被清除为空白状态。
实施方式四：
一种吊挂系统分拣线的出站控制方法，继续参见图1，其包括出站输送线以及与该出站输送线相连的若干存储站，若干所述存储站分别通过合流阀或合流摆轨与出站输送线连接，也可以将储存站输出端间隙位于出站输送线上。出站输送线上首尾相连的设有用于挂载载具的若干横担，若干载具在闭环的出站输送线的横担带动下沿出站输送线循环移动，设定出站输送线上横担的数量为Cmax，本实施方式中，Cmax＝20，出站输送线上设有用于检测横担的计数器，设定该计数器的计数值为C0，每当该计数器检测到一个横担通过时，所述计数值C0增加1，当C0＞Cmax时，计数值C0重置为初始值1，并重新开始计数。
若干存储站沿出站输送线的输送方向依序设定为Pn到P1，本实施方式中存储站的总数为10,因此n＝10，出站输送线上位于存储站Pn的后方或位于存储站P1的前方设定一个虚拟原点P0，需要说明的是，本实施方式中的出站输送线是一个闭环输送线，因此虚拟原点位于存储站Pn的后方与位于存储站 P1的前方实际上是同一概念，为便于说明，用于检测横担的计数器的设置位置与虚拟原点P0位置相同。
本实施例与实施方式三的区别在于计算虚拟原点P0至各存储站的方向不同。沿出站输送线的输送方向,计P0到存储站P1、P2、……、Pn之间的横担数量为C1、C2、……、Cn，当出站输送线运行时，经过虚拟原点P0的横担的序号为C0，经过存储站Pi的横担的序号为C0-Ci(C0-Ci≥1)或C0-Ci+Cmax(C0-Ci＜1)，C0为变量，其中Ci为常量，1≤i≤n。
建立数组L[Cmax]，数组L[Cmax]每一个元素用于标记对应横担的使用状态，所述使用状态包括占用状态和空白状态，比如L[1]，代表序号为1的横担的使用状态。
例如，当横担经过计数器位置时，将计数器的计数值C0赋予虚拟原点P0处的横担的序号，当计数器计数值C0＝1时，虚拟原点处的横担的序号为1，设定两相邻存储站之间的横担数量为1，虚拟原点P0至存储站P10之间的横担数量为6，即C1、C2、……、C10依序为15、14、……、6，此时，存储站P1、P2、……、P10所对应的横担的序号则为C0-C1+Cmax、C0-C2+Cmax、……、C0-C10+Cmax，即为6、7、……、15。当计数器检测到下一个横担经过时，C0增加1，此时，存储站P1、P2、……、P10所对应的横担的序号则为7、8、……、16，依次类推。
存储站在出站前检测当前横担的使用状态，如果当前横担的使用状态被标记为占用状态，则该存储站禁止出站，直至检测到当前横担的使用状态为空白状态。当存储站Pi出站时，将当前横担的序号对应的数组元素标记为占用状态，直至存储站Pi出站完成。例如当CO＝1时，存储站P10需要出站，此时，P10存储站首先检测当前横担的使用状态，即检测序号为C0-C10+Cmax ＝1-6+20＝15(序号为15)对应的数组元素L[15]所存储的使用状态，如果检测为空白，则P10允许出站，并将数组元数L[15]标记为占用状态。当横担移动一个位置后，计数器检测到下一个横担，使C0增加1，此时C0＝2，此时原存储站P10的横担移动到存储站P9，存储站P9当前所对应的横担的序号为C0-C9+Cmax＝2-7+20＝15，即存储站P9当前所对应的横担的使用状态为数组元数L[15]存储的使用状态，如果此时存储站P9需要出站，会首先检测数组元数L[C0-C9+Cmax]即L[15]的使用状态，由前述可知，其使用状态为占用状态，因此存储站P9禁止出站。
又例如，当C0＝20时，存储站P2需要出站，此时，存储站P2首先检测当前横担的使用状态，即检测序号为C0-C2＝20-14＝6(序号为6)对应的数组元素L[6]所存储的使用状态，如果检测为空白，则P2允许出站，并将数组元数L[6]标记为占用状态。当横担移动一个位置后，计数器检测到下一个横担，使C0增加1，此时C0＝21，如前述可知，当C0＞Cmax时，C0被重置为1，因而此时C0＝1，且此时存储站P1对应横担序号为C0-C1+Cmax＝1-15-20＝6，如果此时存储站P1需要出站，存储站P1首先检测当前横担的使用状态，即检测序号为C0-C1+Cmax(序号为6)对应的数组元素L[6]所存储的使用状态，由前述可知，数组元素L[6]的使用状态为占用状态，因此存储站P1被禁止出站。
以上所述仅是本发明的较佳实施方式，故凡依本发明专利申请范围所述的构造、特征及原理所做的等效变化或修饰，均包括于本发明专利申请范围内。

Claims (8)

  1. 一种吊挂系统分拣线的进站控制方法，包括进站输送线以及与该进站输送线相连的若干存储站，具有载具识别信息的若干载具在进站输送线的带动下沿进站输送线匀速移动，若干所述存储站分别通过分流阀与进站输送线连接，其特征在于：
    进站输送线上设置有载体识别装置，所述载体识别装置用于获取进站输送线上经过该载体识别装置的载具的识别信息，还包括与所述载体识别装置以及所述分流阀配合使用的编码器；
    设定进站输送线上的载体识别装置的位置为S0，沿进站输送线运行方向，设定进站输送线上与若干存储站相连的位置距离位置S0由近至远依序为S1到Sn，n为存储站的总数，建立数组L[n]，n≥1，L[i]用于存储载具在进站输送线上从位置S0移动到位置Si时所述编码器所对应的脉冲计数，1≤i≤n；当载具经过进站输送线的位置S0时，载体识别装置获取当前载具的载具识别信息，该载具识别信息包括当前载具被分配到的存储站位置Si和与该存储站位置Si对应的编码器脉冲计数L[i]，当前载具在编码器经过L[i]次脉冲计数时，进站输送线上位置Si的分流阀打开，载具进入位置Si的存储站。
  2. 一种吊挂系统分拣线的进站控制方法，包括进站输送线以及与该进站输送线相连的若干存储站，进站输送线上设有用于拖动载具的若干拖钩，具有载具识别信息的若干载具在进站输送线的拖钩带动下沿进站输送线移动，若干所述存储站分别通过分流阀与进站输送线连接，其特征在于：
    进站输送线上设置有载体识别装置，所述载体识别装置用于获取进站输送线上经过该载体识别装置的载具的载具识别信息；
    进站输送线上每个拖钩均设有检测片，进站输送线上与所述载体识别装置以及每个所述分流阀对应的位置均设置有用于检测所述检测片的检测传感器，所述拖钩的检测片具有能被各检测传感器唯一识别的拖钩编号，每个分流阀所对应的存储站具有能被唯一标定的存储站站号；
    建立数组L[n]，n为进站输送线上的拖钩总数，L[i]用于记录所述载体识别装置获取的拖钩编号为i的拖钩拖动的载具的载具识别信息，1≤i≤n，该载具识别信息包括当前载具被分配到的所述存储站站号；
    当进站输送线上的每个拖钩经过所述分流阀对应位置的检测传感器时，将当前检测传感器所对应的存储站站号与数组L[n]中当前检测传感器所检测到的拖钩编号所对应数组元素中存储的被分配到的存储站站号进行比较，如果两个存储站站号相同，则当前检测传感器所对应的分流阀打开，载具进入当前检测传感器所对应的存储站；否则，当前检测传感器所对应的分流阀不动作。
  3. 根据权利要求2所述的一种吊挂系统分拣线的进站控制方法，其特征在于：进站输送线上设有用于唯一识别拖钩的拖钩编号的原点位置，当所述检测传感器检测到该原点位置后，位于该原点位置后面的拖钩经过当前检测传感器时其拖钩编号被重置为初始值，且当前检测传感器每检测到一个拖钩，该被检测到的拖钩的拖钩编号逐次递增。
  4. 根据权利要求2所述的一种吊挂系统分拣线的进站控制方法，其特征在于：进站输送线上若干所述拖钩成等间距布置，进站输送线上还设置有与所述分流阀配合使用的编码器，设定进站输送线上一个拖钩移动至相邻下一拖钩位置期间所述编码器的脉冲计数为Ns，当所述分流阀打开时，该分流阀的打开期间所述编码器的脉冲计数小于Ns。
  5. 一种吊挂系统分拣线的出站控制方法，包括出站输送线以及与该出站输送 线相连的若干存储站，出站输送线上设有用于挂载载具的若干横担，若干载具在闭环的出站输送线的横担带动下沿出站输送线循环移动，其特征在于：
    设定出站输送线上横担的数量为Cmax，出站输送线上设有用于检测横担的计数器，设定该计数器的计数值为C0，每当该计数器检测到一个横担通过时，所述计数值C0增加1；当C0＞Cmax时，计数值C0重置为1，并重新开始计数；
    若干存储站沿出站输送线的输送方向依序设定为Pn到P1，n为存储站的总数，出站输送线上位于存储站Pn的后方或位于存储站P1的前方设定一个虚拟原点P0，虚拟原点P0处横担的序号为计数器计数值C0；
    根据各存储站至虚拟原点P0间隔的横担数，计算存储站P1、P2、……、Pn相应的横担的序号；
    建立数组L[Cmax]，数组L[Cmax]中各元素用于存储相应横担的使用状态，所述使用状态包括占用状态和空白状态；
    存储站在出站前检测当前横担的使用状态，如果当前横担的使用状态被标记为占用状态，则该存储站禁止出站，直至检测到当前横担的使用状态为空白状态；
    当存储站Pi出站时，将当前横担序号在数组L中的使用状态标记为占用状态，直至存储站Pi出站完成；
    出站输送线上还设定有虚拟清零点Px，当横担经过虚拟清零点Px时，在数组L中该横担的使用状态被清除为空白状态。
  6. 根据权利要求5所述的一种吊挂系统分拣线的出站控制方法，其特征在于：计算各存储站相应的横担序号方法为，沿出站输送线输送方向，计存储站P1、P2、……、Pn到P0之间的横担数量为C1、C2、……、Cn，存储站Pi的横担 的序号为C0+Ci(C0+Ci≤Cmax)或C0+Ci-Cmax(C0+Ci＞Cmax)，C0为变量，Ci为常量，1≤i≤n；
    当存储站Pi出站时，将空白状态的，序号为C0+Ci(C0+Ci≤Cmax)或C0+Ci-Cmax(C0+Ci＞Cmax)的横担对应的数组元素L[C0+Ci](C0+Ci≤Cmax)或L[C0+Ci-Cmax](C0+Ci＞Cmax)的使用状态标记为占用状态。
  7. 根据权利要求5所述的一种吊挂系统分拣线的出站控制方法，其特征在于：计算各存储站相应的横担序号方法为，沿出站输送线输送方向，计P0到存储站P1、P2、……、Pn之间的横担数量为C1、C2、……、Cn，存储站Pi的横担的序号为C0-Ci(C0-Ci≥1)或C0-Ci+Cmax(C0-Ci＜1)，C0为变量，其中Ci为常量，1≤i≤n；
    当存储站Pi出站时，将空白状态的，序号为C0-Ci(C0-Ci≥1)或C0-Ci+Cmax(C0-Ci＜1)的横担对应的数组元素L[C0-Ci](C0-Ci≥1)或L[C0-Ci+Cmax](C0-Ci＜1)的使用状态标记为占用状态。
  8. 根据权利要求5-7任一所述的一种吊挂系统分拣线的出站控制方法，其特征在于：虚拟清零点Px与虚拟原点P0设定位置相同。
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