Annular automatic seasoning distribution system and method

Abstract

The invention discloses an annular automatic seasoning distribution system and method, and belongs to the technical field of material conveying, the annular automatic seasoning distribution system comprises a central dispatching system, the input end of the central dispatching system is connected with a trigger signal generator of each vibrating screen buffer bin, and the output end of the central dispatching system is connected with a driving controller of each trolley; the central scheduling system comprises a global operation unit and a conflict prediction engine; the global operation unit calculates the maximum allowable displacement based on the material receiving time set, the path set and the real-time load of all the trolleys; the conflict prediction engine is used for generating an ideal track of trolley movement after material receiving, calculating a track overlap ratio and simulating a vehicle interaction state in advance, and the global operation unit ensures that each vehicle runs at a correct space-time coordinate point through real-time displacement authorization, so that automatic totally-closed operation is realized, the materials are not polluted by manual feeding, and the working efficiency is improved. Finally, efficient cooperation of the whole process of loading and unloading is achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of material conveying, and particularly relates to a seasoning annular automatic feeding system and method. BACKGROUND

[0002] In the field of automatic production of seasonings, the annular track conveying system is the core link of efficient distribution of powder finished products such as chicken essence. Multiple track trolleys work cooperatively on a closed loop path to transfer the finished products processed by the vibrating screen buffer bin to the filter buffer bin. However, as the production scale expands and the tastes of seasonings diversify, multiple filter buffer bins are required for the same taste. The existing system has significant technical defects in multi-trolley scheduling, collision avoidance and anti-blocking, which are specifically manifested as follows: The existing technology does not solve the intelligent matching problem of multiple filter buffer bins and multiple trolleys. In the user system, multiple filter buffer bins are required for the same taste, but the traditional scheduling method only supports sequential distribution and cannot automatically switch the target tank according to the full tank signal of the filter buffer bin, which leads to the idling of the trolley in the full tank area, reduces the overall distribution efficiency, and the closed loop structure of the annular track makes the path single, and any local blockage may affect the whole, and the global blockage of the closed loop track has no solution. Due to the one-way flow of the path and the lack of isolation mechanism, a single point failure triggers the "domino effect" to increase the delay of the whole ring; the static scheduling of multi-car collision avoidance is limited, and the fixed partition lock algorithm ignores the dynamic differences in load and speed, resulting in "ghost blocking" of mixed light and heavy vehicles, and the accumulation of vehicles at the peak of material receiving spills back to the unloading area, increasing the risk of system paralysis.

[0003] Therefore, there is an urgent need for a seasoning annular automatic feeding system and method that can avoid blockage. SUMMARY

[0004] To solve the above problems in the prior art, the present application provides a seasoning annular automatic feeding system and method, which solves the problem that the existing annular closed loop trolley is prone to congestion during transportation, resulting in low feeding efficiency.

[0005] The purpose of the present application can be achieved by the following technical solutions: A seasoning annular automatic feeding system is provided with a closed loop track and a plurality of trolleys; a plurality of vibrating screen buffer bin material receiving stations and storage bin unloading stations are distributed along the annular track; a plurality of trolleys circulate on the track; a central scheduling system is provided, the input end of the central scheduling system is connected to the trigger signal generator of each vibrating screen buffer bin, and the output end is connected to the drive controller of each trolley; the central scheduling system includes a global operation unit and a conflict prediction engine; the global operation unit calculates the maximum allowable displacement based on the set of material receiving times, the set of paths and the real-time load of all trolleys; the conflict prediction engine is used to generate the ideal trajectory of the trolley motion after receiving material and calculate the trajectory coincidence degree.

[0006] Preferably, the global operation unit constructs the ideal trajectory function of each trolley: , Wherein is the initial position of trolley i at the time when the receiving is completed; the trolley running speed; t is the current calculation time, is the starting time when trolley i completes the receiving; the unit vector of the movement direction of trolley i; The trajectory coincidence degree of any two trolleys in the time period is calculated: , Wherein τ is the integral time variable; T is the conflict detection time window length; The minimum safety distance threshold; Based on the load The maximum displacement is calculated: ; Wherein The rated speed of the trolley; The i-j time period of driving; C max The maximum load capacity of the trolley; The real-time load of trolley i at time τ; ρ is the current seasoning density.

[0007] Preferably, it also includes a hierarchical controller, which controls the trolley form strategy based on the trajectory coincidence degree; when the coincidence degree is less than 30%, the free bucket mode is triggered, and each trolley runs according to the maximum allowed displacement; when 30% < coincidence degree ≤ 70%, the speed coordination algorithm is started, and the empty slot is staggered by adjusting the acceleration of adjacent trolleys; when the coincidence degree is greater than or equal to 70%, the trolley located at the front end of the running direction is driven to drive away from the receiving area in advance.

[0008] Preferably, the trolley path detection is realized by the following way: embedding RFID tags with partition identification in the ring track at equal intervals; each trolley is configured with a dual-mode positioning terminal and synchronously collects: the partition code of the RFID tag and the coordinates calculated by the UWB base station, and fuses to generate time-space trajectory points with partition identification.

[0009] Preferably, it includes an ultrasonic unit and a discharge distributor; the ultrasonic unit is used to receive the ultrasonic level data of each filtered buffer bin in real time; when it is detected that the level of any tank is greater than the level threshold, the filtered buffer bin state mapping table is marked as full; the discharge distributor is provided with a same group switching module, when the preferred filtered buffer bin is full, the same group switching module distributes the trolley to the filtered buffer bin with the least path obstacles in the same flavor.

[0010] Preferably, the path obstacle is at least the physical distance of the trolley to each pre-unloading tank, and the number of full filter buffer bins and the number of queued trolleys in front of the path are superimposed.

[0011] Preferably, a dynamic partition module is used to divide the circular track into a receiving area, a buffer waiting area and an unloading area in real time; the full state of the filter buffer bin detected by the ultrasonic unit is obtained in real time, and the boundary of the unloading area is contracted to the last non-full filter buffer bin station; when a new empty tank appears, the boundary of the unloading area is expanded to the tank station; the buffer waiting area is compressed or expanded according to the number of activated vibration screen buffer bins in the receiving area.

[0012] Preferably, the trolley needs to be re-planned each time it enters the buffer waiting area.

[0013] Preferably, the minimum advance departure time is calculated according to the overlap degree, and the vibration screen buffer bin is controlled to reduce the feeding rate according to a smooth curve before departure.

[0014] A seasoning circular automatic feeding method, comprising the following steps, S1: loading: collecting the trigger signal of the vibration screen buffer bin in real time, and controlling the trolley to sequentially enter the receiving area from the buffer waiting area to receive the material; S2: path generation: calculating the pre-travel time according to the loading capacity of the trolley, calculating the motion path of any trolley based on the pre-travel time, and generating the trajectory coincidence degree of all trolleys; S3: path planning: controlling the trolley to travel to the buffer waiting area based on the trajectory coincidence degree matrix, and clearing the path of the trolley in the buffer waiting area; S4: unloading: the trolley selects a target filter buffer bin according to the type of loaded seasoning, and generates an unloading path to enter the unloading area from the buffer waiting area to unload; S5: unloading is completed, and the S1-S4 is recycled.

[0015] The beneficial effects of the present application are: The dynamic displacement control and conflict prediction double mechanism of the present application establishes a safety space isolation zone for each vehicle through the maximum allowed displacement, eliminating the possibility of collision from the physical layer; the trajectory coincidence degree calculation constructs a time and space shunt channel, effectively resolving congestion hotspots, especially the load adaptive speed regulation strategy, which accurately matches the vehicle performance with the track capacity; the vehicle interaction state is also simulated in advance, and the global operation unit ensures that each vehicle runs at the correct time and space coordinate point through real-time displacement authorization, realizes automatic full-closed operation, makes the material not be polluted by manual feeding, and finally realizes efficient cooperation of the whole process of loading and unloading. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to facilitate the understanding of those skilled in the art, the present application will be further described below with reference to the drawings.

[0017] Fig. 1 A schematic diagram of the components of a ring-shaped automatic condiment dispensing system provided in one embodiment of the present invention; Fig. 2 This is a schematic diagram of the material receiving and unloading structure of a trolley provided in one embodiment of the present invention; Fig. 3 This is a schematic diagram of the circular track running structure of the trolley provided in one embodiment of the present invention; Legend: 1. Circular track; 2. Trolley; 3. Filter buffer bin; 4. Vibrating screen buffer bin. DETAILED DESCRIPTION

[0018] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0019] Due to the fixed closed-loop path, when multiple vibrating screen buffer bins 4 are triggered simultaneously or collectively unloaded, high-frequency workstations are prone to chain congestion. The waiting of the first trolley 2 forces the subsequent fleet to slow down and stall, causing exponential efficiency decline. Even more serious is the lack of a global speed coordination mechanism. Lightly loaded trolleys 2, due to their maneuverability, constantly catch up to the heavier vehicles ahead, triggering a "ghost traffic jam" effect similar to that on highways, causing a sharp drop in overall track throughput. In the event of a sudden failure, traditional systems can only initiate global braking and are unable to resolve the congestion through localized paths, often paralyzing the entire loop.

[0020] like Figs. 1-3 As shown, a condiment annular automatic dispensing system is provided with a closed-loop annular track 1 and a plurality of trolleys 2; a plurality of vibrating screen buffer bin 4 material receiving stations and a storage bin unloading station are distributed along the annular track 1; the plurality of trolleys 2 circulate on the track; the system includes a central dispatching system, the input end of the central dispatching system is connected to the trigger signal generator of each vibrating screen buffer bin 4, and the output end is connected to the drive controller of each trolley 2; the central dispatching system includes a global operation unit and a conflict prediction engine; the global operation unit calculates the maximum allowable displacement based on the material receiving time set, path set and real-time load of all trolleys 2; the conflict prediction engine is used to generate the ideal trajectory of the trolley 2 after receiving the material and calculate the trajectory overlap; The global computing unit collects the material receiving time, planned path, and load data of all carts 2 in real time. It dynamically calculates the maximum allowable displacement of each cart 2 using the track topology model. This calculation fully considers the impact of load differences on maneuverability: lightly loaded carts 2 are allocated greater movement permissions to improve response speed, while heavily loaded carts 2 automatically extend their safe braking distance to spatially mitigate rear-end collision risks. The conflict prediction engine further generates the ideal spatiotemporal trajectory of cart 2 after receiving the material. If it detects that the overlap of multiple vehicle trajectories exceeds a safety threshold, such as a path intersection or track merge conflict, it immediately initiates dynamic priority adjustments to assign priority to vehicles approaching the unloading station, delaying the departure of non-urgent tasks, or achieving staggered traffic flow through micro-speed control.

[0021] In summary, this embodiment uses a dual mechanism of dynamic displacement control and conflict prediction to establish a safe spatial isolation zone for each vehicle through the maximum allowable displacement, eliminating the possibility of collision from a physical perspective; trajectory overlap calculation constructs a spatiotemporal diversion channel, effectively breaking down congestion hotspots. In particular, the load-adaptive speed regulation strategy ensures that vehicle performance precisely matches the track capacity; it also simulates vehicle interaction states in advance, and the global computing unit ensures that each vehicle operates at the correct spatiotemporal coordinate point through real-time displacement authorization, ultimately achieving efficient coordination of the entire loading and unloading process.

[0022] In one embodiment, the global computing unit constructs the ideal trajectory function for each car 2: , Where t is the initial position of trolley 2i at the time of material receiving completion; t is the running speed of trolley 2; t is the current calculation time, The function dynamically encodes the direction of motion of Car 2i as a unit vector, freeing trajectory prediction from the discrete constraints of fixed track nodes and enabling prediction of arbitrary positions within continuous space. A global calibrated speed is used to unify the motion baseline of all Cars 2, eliminating the interference of individual speed regulation noise on conflict detection. This approach completely solves the computing bottleneck caused by storing massive amounts of path point data in traditional path planning, reducing computational complexity and enabling full-time trajectory generation with only the starting position and the material pickup time.

[0023] Calculate the time interval between any two vehicles Trajectory overlap within: ; Where τ is the integral time variable; T is the length of the conflict detection time window; A minimum safety distance threshold is introduced. A function is introduced to convert the safety distance into a binary decision condition, and directly output the cumulative length of the dangerous approach of the two vehicles within the time window. At the same time, a dynamic integral boundary is designed to cover any combination of material receiving timing, avoiding detection blind spots, overcoming the defect that the traditional ring track 1 can only monitor the instantaneous distance, and accurately capturing through the space overlap amount, predicting the movement time of each vehicle from the speed of material receiving, and calculating the track of each trolley 2 running in the ideal state after receiving the material, thereby predicting the congestion section, and avoiding invisible congestion.

[0024] Based on the load Calculate the maximum displacement: ; Wherein is the rated speed of the trolley 2; is the i-j time period of travel; is the maximum load capacity of the trolley 2; is the real-time load of the trolley 2i at time τ; ρ is the current seasoning density; through the load negative feedback term, the displacement authority of the full load trolley 2 is automatically compressed, and a longer braking distance is forced to be reserved; and a density factor is introduced to adaptively adjust the influence of different material characteristics such as high density of chicken essence and low density of spice leaves on displacement, avoid over-restricting light material trolleys 2, and solve the braking failure and collision caused by ignoring the load inertia of the traditional system: when the trolley 2 is empty, the maximum maneuverability is released, and when the trolley 2 is full, the speed is forced to be reduced, ensuring that the emergency braking distance is always less than the real-time vehicle spacing, and completely eliminating the risk of overload rear-end collision.

[0025] In an embodiment, a hierarchical controller is further included, which controls the trolley 2 form strategy based on the trajectory coincidence degree; when the coincidence degree is less than 30%, the free bucket mode is triggered, and each trolley 2 runs at the maximum allowed displacement, allowing each trolley 2 to run at the maximum allowed displacement at full speed, releasing the track passing potential by maximizing the displacement authority, solving the problem of efficiency loss caused by excessive conservative speed adjustment of the traditional system in low-risk period; when 30% < coincidence degree ≤ 70%, the speed coordination algorithm is started, the acceleration of adjacent trolleys 2 is adjusted to realize the staggered positioning of empty slots, and the acceleration of adjacent trolleys 2 is dynamically adjusted to make the rear vehicle decelerate and the front vehicle accelerate to create a safe form space, overcoming the defect that the fixed vehicle spacing strategy cannot resolve fluctuating congestion in the medium-risk scenario; when the coincidence degree is greater than or equal to 70%, the trolley 2 located at the front end of the running direction is driven to drive away from the material receiving area in advance, and the vehicle located at the front end of the running direction is forced to drive away from the material receiving area in advance, breaking the "head vehicle blocking effect", and avoiding the spread of high-risk congestion at the material receiving station to cause a full ring deadlock.

[0026] The traditional trajectory prediction is caused by the "ghost area jump" caused by the positioning signal jump such as RFID missed reading, which causes the ideal trajectory function to appear mutation distortion, and seriously reduces the conflict prediction accuracy. In an embodiment, the path detection of the trolley 2 is realized by the following method: embedding RFID tags with partition identification in the ring track 1 at equal intervals; each trolley 2 is configured with a dual-mode positioning terminal and synchronously collects: the partition code of the RFID tag and the coordinates calculated by the UWB base station, and fuses to generate a time-space trajectory point with partition identification; through the time-space fusion of the RFID partition identification and the centimeter-level coordinates of the UWB, the trajectory point with accurate partition label is generated, so that the ideal trajectory Pi(t) constructed by the global operation unit has topological continuity: when the UWB is temporarily disabled in the metal interference area, the RFID partition code immediately anchors the calculation reference, ensures the stable continuity of the data source of the ideal trajectory calculation, and eliminates the misjudgment risk caused by the trajectory breakpoint.

[0027] In an embodiment, it includes an ultrasonic unit and a discharge distributor; the ultrasonic unit is used to receive the ultrasonic wave level data of each filter buffer bin 3 in real time; when it is detected that the level of any tank is greater than the level threshold, the filter buffer bin 3 state mapping table is marked as a full material state; the discharge distributor is provided with a same group switching module, when the preferred filter buffer bin 3 is full, the same group switching module distributes the trolley 2 to the filter buffer bin 3 with the least path obstacle in the same flavor; the ultrasonic unit collects the filter buffer bin 3 level data every 5 seconds, when it is detected that the level is over the threshold, the filter buffer bin 3 state mapping table is immediately marked as a full material state, and a command of stopping feeding is sent to the feeding trolley 2, so as to avoid feeding the filter buffer bin 3 which is already full of material by the trolley 2, realize accurate digitalization of inventory, and solve the problem of broken discharge chain caused by artificial inspection response lag. The traditional method depends on artificial verification, which takes a long time, and now the ultrasonic wave is used for real-time monitoring and the state mapping table is updated at a millisecond level, so that the response speed of the discharge instruction is improved, and the continuous operation of the production line is ensured. Secondly, it avoids the systemic paralysis caused by a single filter buffer bin 3: the same group switching module activates the redundant channel of the filter buffer bin 3 with the same flavor, and automatically distributes to the nearest and least conflict standby tank, eliminates the track congestion caused by blind switching, and the path obstacle value model preferentially selects the filter buffer bin 3 with moderate distance and low path coincidence degree, to avoid secondary congestion.

[0028] In an embodiment, the path obstacle is at least the physical distance of the computing trolley 2 to reach each pre-unloading tank, and the number of full filter buffer bins 3 and the number of queued trolleys 2 in front of the path are superimposed, a three-dimensional dynamic weight factor is introduced, and the intelligent optimization of the unloading path is realized: the track arc length of the current position of the computing trolley 2 to the target filter buffer bin 3 is calculated, reflecting the basic transportation cost, the full tank number penalty layer: the number of filter buffer bins 3 marked as full on the path is counted, and each full tank accumulates a penalty value according to the obstacle weight coefficient β, to avoid guiding the trolley 2 to an invalid unloading point; the queuing vehicle dynamic layer: the number of queued trolleys 2 in front is obtained in real time through the central dispatching system, and each queued vehicle superimposes an obstacle value according to the congestion coefficient γ, accurately quantifying the instantaneous congestion pressure; the final obstacle value formula: obstacle value = physical distance + β × full tank number + γ × queued vehicle number, realizing multi-dimensional comprehensive decision-making, updating the full tank state in real time through ultrasonic level data, and predicting the queuing trend through the track overlap degree of the conflict prediction engine, finally realizing global optimization of the unloading path.

[0029] In an embodiment, the dynamic partition module divides the ring track 1 into a receiving area, a buffer waiting area and an unloading area in real time; the full state of the filter buffer bin 3 detected by the ultrasonic unit is obtained in real time, the boundary of the unloading area is contracted to the last non-full filter buffer bin 3 station, and when a new idle bin appears, the boundary of the unloading area is expanded to the bin station; the buffer waiting area is compressed or expanded according to the number of activated vibration screen buffer bins 4; through real-time linkage of ultrasonic level data and vibration screen buffer bin 4 operation state, the resource mismatch problem caused by traditional fixed partition is completely solved; in addition, based on the full state detected by the ultrasonic unit, the boundary of the unloading area is automatically contracted to the last non-full bin station, and when a new idle bin appears, the boundary is expanded to the station, realizing zero-idle management of unloading resources, and the boundary of the unloading area intelligently expands and contracts with the filter buffer bin 3 state; the buffer area is automatically scaled according to the number of activated vibration screen buffer bins 4, forming a self-adaptive allocation mechanism for track space; the unloading area breathes driven by ultrasonic level data, and the buffer area scaling threshold is guided by the track overlap degree of the conflict prediction engine, so that the track turnover rate is improved through dynamic partition.

[0030] In an embodiment, the trolley 2 needs to re-plan the path every time it enters the buffer waiting area, and when the trolley 2 enters the buffer area from the unloading area, the system actively clears the original unloading path calculation data, and forces the path planning to restart from zero state; the receiving area path engine is bound in real time, the receiving path is generated based on the latest activated vibration screen buffer bin 4 position and material type, and seamless switching from “buffering to receiving” is realized, and this mechanism is symmetrically applied to the transition from the receiving area to the unloading area, forming a full closed-loop refresh architecture.

[0031] In an embodiment, the minimum advance departure time is calculated according to the overlap degree, and the vibration screen buffer bin 4 is controlled to reduce the feeding rate according to a smooth curve before departure.

[0032] A seasoning annular automatic feeding method, comprising the following steps, S1: loading: collecting the trigger signal of the vibrating screen buffer bin 4 in real time, controlling the trolley 2 to sequentially drive into the receiving area from the buffer waiting area to receive the material, and loading the trolley 2 in the buffer area to drive into the receiving area based on the millisecond scheduling of the vibrating screen buffer bin 4 trigger signal; S2: travel path generation: calculating the pre-travel time according to the loaded material weight of the trolley 2 in the receiving area, calculating the motion path of any trolley 2 based on the pre-travel time, and generating the ideal trajectory coincidence degree of all trolleys 2, and comparing the trajectory coincidence degree between the adjacent two trolleys 2 in the order of the running direction of the trolley 2, and predicting the degree of possible collision or congestion of the trolley 2 starting at the same speed; S3: zero path planning: controlling the trolley 2 to travel to the buffer waiting area based on the trajectory coincidence degree matrix, and clearing the path of the trolley 2 in the buffer waiting area, and re-planning the paths of the receiving area and the unloading area, and calculating the path of the unloading area to zero and associating it to the path calculation of the receiving area, so that the trolley 2 enters the receiving area to receive the material; Similarly, the trolley 2 enters the receiving area from the buffer area, so as to separate the loading and unloading tasks of the trolley 2; S4: unloading: the trolley 2 selects the target filter buffer bin 3 according to the loaded seasoning type, and generates the unloading path to drive into the unloading area from the buffer waiting area to unload; S5: unloading is completed, and the trolley 2 circulates in the closed loop track to load and unload, improving the efficiency of material transportation.

[0033] The above is only a preferred embodiment of the present application, not any form of limitation on the present application, although the present application has been disclosed as above, however, it is not intended to limit the present application, any person skilled in the art, without departing from the scope of the technical solution of the present application, can make some changes or modifications to the above disclosed technical content to make equivalent embodiments with equivalent changes, but as long as it does not deviate from the technical solution of the present application, any modification, equivalent change and modification of the above embodiment according to the technical essence of the present application, all still belong to the scope of the technical solution of the present application.

Claims

1. A condiment annular automatic dispensing system, comprising a closed-loop annular track and a plurality of trolleys; a plurality of vibrating screen buffer bin receiving stations and storage bin unloading stations are distributed along the annular track; the plurality of trolleys circulate on the track; and the system is characterized in that: It includes a central dispatching system, the input end of which is connected to the trigger signal generator of each vibrating screen buffer bin, and the output end is connected to the drive controller of each trolley; the central dispatching system includes a global operation unit and a conflict prediction engine; The global operation unit calculates the maximum allowable displacement based on the material receiving time set, path set and real-time load of all trolleys; the conflict prediction engine is used to generate the ideal trajectory of the trolley movement after receiving the material and calculate the trajectory overlap.

2. The condiment annular automatic dispensing system according to claim 1, characterized in that: The global computing unit constructs the ideal trajectory function for each car: ， in is the initial position of trolley i at the moment of material receiving; The running speed of the car; t is the current calculation time, The starting time when trolley i completes receiving the material; The unit vector of the direction of motion of car i; Calculate the time interval between any two vehicles Trajectory overlap within: ， Where τ is the integral time variable; T conflict detection time window length; Minimum safety distance threshold; Based on load capacity Calculate the maximum displacement: ； in is the rated speed of the trolley; is the ij time period of travel; is the maximum load capacity of the trolley; The real-time load of cart i at time τ; ρ is the current seasoning density.

3. The condiment annular automatic dispensing system according to claim 1, characterized in that: It also includes a hierarchical controller, which controls several trolley formation strategies based on trajectory overlap; when the overlap is less than 30%, the free barrel mode is triggered, and each trolley runs according to the maximum allowable displacement; when 30%<overlap≤70%, the speed coordination algorithm is started, and the empty slot staggering is achieved by adjusting the acceleration of adjacent trolleys; when the overlap is ≥70%, the trolley at the front end of the running direction is driven away from the material receiving area in advance.

4. The condiment annular automatic dispensing system according to claim 1, characterized in that: The vehicle path detection is achieved by embedding RFID tags with partition identification at equal intervals on the circular track; each vehicle is equipped with a dual-mode positioning terminal and synchronously collects: the partition code of the RFID tag and the coordinates calculated by the UWB base station, and fuses them to generate spatiotemporal trajectory points with partition identification.

5. The condiment annular automatic dispensing system according to claim 3, characterized in that: It includes an ultrasonic unit and a discharge distributor; the ultrasonic unit is used to receive the ultrasonic material level data of each filter buffer bin in real time; when it is detected that the material level of any tank is greater than the material level threshold, it is marked as a full material state in the filter buffer bin status mapping table; the discharge distributor is provided with a same-group switching module, when the preferred filter buffer bin is full of material, the same-group switching module distributes the trolley to the filter buffer bin with the least path obstacles among the same flavor.

6. The condiment annular automatic dispensing system according to claim 5, characterized in that: The minimum path obstacle is to calculate the physical distance that the trolley needs to reach each pre-unloading tank, and add the number of filter buffer bins that are full on the path and the number of trolleys queued in front.

7. The condiment annular automatic dispensing system according to claim 5, characterized in that: It also includes a dynamic partitioning module that divides the circular track into a receiving area, a buffer waiting area and a unloading area in real time; obtains the full status of the filter buffer bin detected by the ultrasonic unit in real time, shrinks the unloading area boundary to the last non-full filter buffer bin station, and when a new idle tank appears, the unloading area boundary is extended to the tank station; and defines the compression or expansion of the buffer waiting area according to the number of activated vibrating screen buffer bins in the receiving area.

8. The condiment annular automatic dispensing system according to claim 7, characterized in that: Every time the car enters the buffer waiting area, it needs to replan its path.

9. The condiment annular automatic dispensing system according to claim 1, characterized in that: The minimum early departure time is calculated based on the degree of overlap, and the vibrating screen buffer bin is controlled to reduce the feed rate according to a smooth curve before leaving the site.

10. A method for automatically distributing condiments in an annular manner, applicable to any of the automatic distributing condiments in an annular manner as claimed in claims 1 to 9, characterized in that: The following steps are included: S1: Loading: Real-time collection of the trigger signal of the vibrating screen buffer bin, and control of the trolley to sequentially drive from the buffer waiting area to the receiving area to receive the materials; S2: Driving path generation: Calculate the pre-travel time according to the load of the trolley, calculate the movement path of any trolley based on the pre-travel time, and generate the trajectory overlap of all trolleys; S3: Clearing path planning: Based on the trajectory coincidence matrix, the car is hierarchically controlled to travel to the buffer waiting area, and the path of the car in the buffer waiting area is cleared; S4: Unloading: The trolley selects the target filter buffer bin according to the type of seasoning loaded, generates an unloading path, and drives from the buffer waiting area to the unloading area to unload; S5: Unloading is completed, and the above S1-S4 are cycled.

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