Combined flocking swab automatic conveying device and method

Abstract

The invention relates to a combined type flocking swab automatic conveying device and method, and belongs to the technical field of automatic conveying. The sectional type vibration rail is mounted on the main body conveying frame and is used for bearing and conveying a flocking swab; the sensing monitoring assembly is fixed on the main body conveying frame, is positioned above the sectional type vibration rail, and is used for acquiring flow state data and environmental parameter data of the flocked swab in a non-contact manner; the active intervention assembly is fixed on the main body conveying frame and is used for applying physical or environmental intervention to the flocked swab flow on the sectional type vibration track; and the controller is electrically connected with the sensing monitoring assembly, the active intervention assembly and the sectional type vibration track and used for cooperatively controlling the active intervention assembly and the sectional type vibration track based on the flow state data and the environment parameter data, and prevention is carried out before congestion actually occurs.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation conveying, in particular to a combined automatic conveying device and method for flocking swabs. BACKGROUND

[0002] In the high-speed conveying process of flocking swabs, the traditional conveying equipment can only respond passively to the blockage that has occurred, lacking the ability to predict the abnormality of the flow state in advance, which limits the production efficiency and stability.

[0003] This situation and deficiency are mainly due to the limitations of data acquisition and processing technology. The conventional conveying device cannot make predictive adjustments before congestion occurs. Therefore, when congestion occurs, it is difficult for the manager to quickly obtain accurate information, delaying the implementation of countermeasures.

[0004] The above information disclosed in the above BACKGROUND section is only used to strengthen the understanding of the background of the present disclosure, and therefore it can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] The purpose of the present application is to provide a combined automatic conveying device and method for flocking swabs to solve the problems raised in the above BACKGROUND.

[0006] The technical solution of the present application is as follows: a main conveying frame; a segmented vibration track installed on the main conveying frame for carrying and conveying flocking swabs; a sensing and monitoring assembly fixed to the main conveying frame and located above the segmented vibration track for non-contact acquisition of flow state data and environmental parameter data of the flocking swabs; an active intervention assembly fixed to the main conveying frame for applying physical or environmental intervention to the flocking swab flow on the segmented vibration track; a controller electrically connected to the sensing and monitoring assembly, the active intervention assembly and the segmented vibration track for cooperative control of the active intervention assembly and the segmented vibration track based on the flow state data and environmental parameter data.

[0007] Preferably, the segmented vibration track includes at least three independent track segments, each of which is sequentially connected at the head and tail, and each of which is independently connected with an electromagnetic exciter for driving vibration.

[0008] Preferably, the sensing and monitoring assembly includes: a gantry bracket spanning above the segmented vibration track and fixed to the main conveying frame; A high-speed linear array camera is installed on the gantry, and its lens field of view covers the segmented vibration track. An electrostatic field sensor is fixed on the sidewall of the segmented vibration track for non-contact measurement of the electrostatic charge intensity of the flocking swab group flowing therethrough.

[0009] Preferably, the active intervention assembly includes an ion wind bar fixed on the gantry, and its air outlet faces the segmented vibration track.

[0010] A combined flocking swab automatic conveying method includes the following steps: A data acquisition step is used to acquire, in real time, swab density data representing the swab flow density, swab stability data representing the swab flow stability, and electrostatic intensity data representing the electrostatic interference level through the sensing monitoring assembly. A state judgment step is used to judge whether the swab flow enters a congestion early warning state based on the swab density data and the swab stability data. A regulation decision step is used to further judge whether the congestion reason is electrostatic dominant based on the electrostatic intensity data when the swab flow enters the congestion early warning state. An execution intervention step is used to control the active intervention assembly to apply electrostatic elimination intervention and adjust the vibration parameters of the segmented vibration track to alleviate the congestion when it is judged that the congestion reason is electrostatic dominant, and to adjust the vibration parameters of the segmented vibration track only when it is judged that the congestion reason is not electrostatic dominant.

[0011] Preferably, the swab density data is a local congestion index, which is obtained by dividing the image obtained by the high-speed linear array camera into multiple regions corresponding to the track segments, and calculating the ratio of the number of pixels representing swabs in each region to the total number of pixels in the region.

[0012] Preferably, the swab stability data is a flow state disorder degree, which is obtained by analyzing the overall motion vector field of the swab group between consecutive image frames using an optical flow method, and calculating the dispersion degree of the direction and size of the motion vector field.

[0013] Preferably, the judgment condition of the congestion early warning state is that the local congestion index of any track segment corresponding to the swab density data continuously exceeds a preset density threshold, and the flow state disorder degree corresponding to the swab stability data exceeds a preset stability threshold.

[0014] Preferably, the coordinated adjustment of the vibration parameters of the segmented vibration track includes: reducing the vibration amplitude of the upstream track segment of the track segment in the congestion early warning state, and increasing the vibration amplitude or frequency of the track segment in the congestion early warning state and the downstream track segment thereof.

[0015] The present application improves an automatic combined flocked swab conveying device and method, which has the following improvements and advantages compared with the prior art: 1. The present application changes the control of the swab flow from passive response to proactive adjustment through the cooperative work of the sensing monitoring assembly, the active intervention assembly and the controller. Before congestion occurs, the system can be relieved, thereby improving the continuity and reliability of the conveying process. For example, when the controller judges the congestion risk, it can instruct the segmented vibration track to adjust the vibration parameters, and at the same time control the active intervention assembly, such as an ion wind rod, to intervene in the swab flow, thereby preventing congestion from actually occurring; 2. The present application uses a segmented vibration track, which is composed of at least three independent track segments, each of which is driven by an independent electromagnetic vibrator. This multi-segment independent driving structure provides a physical basis for zoning control strategy. When a congestion sign appears in a track segment, the controller can instruct the upstream track segment to reduce the vibration amplitude to slow down the incoming material, and at the same time instruct the congestion track segment and the downstream track segment to increase the vibration amplitude to accelerate the dispersion. This coordinated adjustment of upstream throttling and downstream acceleration realizes accurate adjustment of local material flow, which is more flexible and effective than an integrated track. 3. The sensing monitoring assembly of the present application combines a high-speed linear array camera and an electrostatic field sensor, which can simultaneously obtain image data representing the physical aggregation state, such as swab density data and swab stability data, and electric field data representing key environmental interference factors. 4. The local congestion index is used for quantification, which is obtained by calculating the ratio of the number of pixels representing swabs in each region in the high-speed linear array camera image to the total number of pixels in the region, which directly reflects the density of the corresponding track segment. The flow state disorder degree is used for quantification, which is obtained by analyzing the motion vector field of the swab group between consecutive image frames by the optical flow method and counting the dispersion degree of the direction and size of the motion vector field. The triggering of the congestion early warning state depends on the double conditions: the local congestion index of any track segment continuously exceeds the preset density threshold, and the flow state disorder degree exceeds the preset stability threshold. This double judgment logic effectively distinguishes between normal fluctuations and real congestion precursors, avoiding false positives. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present application will be further explained in conjunction with the drawings and examples: Figure 1 is a schematic diagram of the overall structure of the device; Figure 2is a structural schematic diagram of a segmented vibration track and related components thereof; Figure 3 is a structural schematic diagram of a gantry and its connection structure; Figure 4 is a structural schematic diagram of a method flow process of the present application; In the figure: 100, main body conveying frame; 200, segmented vibration track; 210, track segment; 220, electromagnetic exciter; 300, sensing and monitoring assembly; 310, gantry; 320, high-speed linear array camera; 330, electrostatic field sensor; 400, active intervention assembly; 410, ion wind rod. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with specific embodiments. Embodiment 1

[0018] Please refer to Figures 1-3 The present application provides a combined automatic conveying device for flocking swabs, comprising: a main body conveying frame 100; a segmented vibration track 200 installed on the main body conveying frame 100 for carrying and conveying flocking swabs; a sensing and monitoring assembly 300 fixed on the main body conveying frame 100 and located above the segmented vibration track 200 for non-contact acquisition of flow state data and environmental parameter data of the flocking swabs; an active intervention assembly 400 fixed on the main body conveying frame 100 for physical or environmental intervention on the flow of flocking swabs on the segmented vibration track 200; a controller electrically connected to the sensing and monitoring assembly 300, the active intervention assembly 400 and the segmented vibration track 200 for cooperative control of the active intervention assembly 400 and the segmented vibration track 200 based on the flow state data and the environmental parameter data.

[0019] In the high-speed conveying process of the flocked swab, the conventional conveying device can only respond passively to the blockage that has occurred, and lacks the ability to make prior judgment on the abnormal flow state, which limits the production efficiency and stability; the embodiment provides a combined flocked swab automatic conveying device, which solves the problem through the cooperation of various components; wherein the main conveying frame 100 provides a stable installation reference for the whole device, ensuring the accuracy of the positions of various functional components. The segmented vibration track 200 carries and conveys the flocked swab and is the carrier of material movement; the sensing and monitoring assembly 300 is used to collect the state data and environmental parameter data of the flocked swab flow, providing a data basis for subsequent judgment; the active intervention assembly 400 intervenes in the swab flow according to the judgment result and is the execution mechanism for adjusting the flow state; the controller is the core of data processing and instruction issuance, which is electrically connected with the above-mentioned components, cooperates with the segmented vibration track 200 and the active intervention assembly 400 based on the data collected by the sensing and monitoring assembly 300, and controls the action of the segmented vibration track 200 and the active intervention assembly 400, with the purpose of changing the control of the swab flow from passive response to predictive active adjustment, so as to resolve the congestion before it occurs, and improve the continuity and reliability of the conveying process.

[0020] The segmented vibration track 200 includes at least three track segments 210 independent of each other, each track segment 210 is sequentially spliced at the head and tail, and each track segment 210 is independently connected with an electromagnetic exciter 220 for driving vibration thereof.

[0021] The design of the segmented vibration track 200 aims to realize fine and differentiated conveying control of the swab flow; the segmented vibration track 200 is composed of at least three track segments 210 independent of each other, these track segments 210 are sequentially spliced at the head and tail, but there is a small gap in physics to block the vibration conduction. The electromagnetic exciter 220, such as a common electromagnet combined with a spring steel sheet, is independently connected below each track segment 210 for independently driving the track segment 210 above; such a multi-segment independent driving structure provides a physical basis for the controller to execute a zoning control strategy, so that when a track segment 210 shows signs of congestion, the controller can instruct the electromagnetic exciters 220 of the upstream track segments 210 to reduce the vibration amplitude to slow down the incoming material, while instructing the electromagnetic exciters 220 of the congested track segment 210 and the downstream track segments 210 to increase the vibration amplitude to accelerate the dispersion, realizing accurate adjustment of the local material flow, and this adjustment method is more flexible and effective compared with an integrated track.

[0022] The sensing and monitoring assembly 300 includes: The gantry support 310 spans above the segmented vibration track 200 and is fixed to the main conveying frame 100; The high-speed linear array camera 320 is installed on the gantry support 310, and the lens field of view covers the segmented vibration track 200; Electrostatic field sensor 330 is fixed to the side wall of segmented vibration track 200, used for non-contact measurement of the static charge intensity of the flocking swab group flowing through.

[0023] Sensing and monitoring assembly 300 is used to obtain the composite data dimensions required for decision making, wherein gantry 310 is horizontally arranged above segmented vibration track 200, providing an unobstructed and stable mounting platform for other sensing components; high-speed line array camera 320, such as Basler ace series acA2040-90um model, is installed at the center of the crossbeam of gantry 310, and the lens field of view can completely cover all track segments 210, used for continuously capturing the global overhead image of the swab flow, which is the original data source for calculating the flow density and stability; electrostatic field sensor 330, such as a non-contact electrostatic potentiometer based on field effect tube principle, is fixed to the side wall of track segment 210, with its probe directly facing the swab group flowing through, used for real-time measurement of the static charge intensity generated by friction and other reasons. Through the combination of high-speed line array camera 320 and electrostatic field sensor 330, sensing and monitoring assembly 300 can simultaneously obtain image data representing the physical aggregation state and electric field data representing key environmental interference factors, providing data support for the main controller to make accurate state judgment and cause analysis.

[0024] Active intervention assembly 400 includes ion wind rod 410, which is fixed to gantry 310 and has its air outlet facing segmented vibration track 200.

[0025] The specific components of active intervention assembly 400 are to perform targeted physical intervention. In this embodiment, active intervention assembly 400 includes ion wind rod 410; ion wind rod 410 is fixed to gantry 310 and is positioned side by side with high-speed line array camera 320, with its air outlet facing the entire segmented vibration track 200; the function of ion wind rod 410 is to generate a positive and negative ion airflow that can neutralize the electric charge; when the controller determines that congestion is related to high-intensity static electricity according to the readings of electrostatic field sensor 330, ion wind rod 410 is started, and the airflow generated by ion wind rod 410 directly acts on the swab group on segmented vibration track 200, aiming to eliminate or weaken the static electricity that causes mutual adsorption between swabs and affects normal flow, which is a key execution component for realizing the cause-oriented intervention strategy. Embodiment 2

[0026] Please refer to Figure 4 A combined flocking swab automatic conveying method, comprising the following steps: Data acquisition step, for acquiring swab density data representing the swab flow density, swab stability data representing the swab flow stability, and electrostatic intensity data representing the electrostatic interference level in real time through sensing and monitoring assembly 300; A state judging step is configured to judge whether the swab flow enters a congestion early-warning state based on the swab density data and the swab stability data. A regulation decision step is configured to further judge whether the congestion reason is electrostatic-dominant based on the electrostatic intensity data when the swab flow enters the congestion early-warning state. An intervention executing step is configured to control the active intervention assembly 400 to apply electrostatic elimination intervention and adjust the vibration parameters of the segmented vibration track 200 to alleviate the congestion when the congestion reason is judged to be electrostatic-dominant, and to adjust the vibration parameters of the segmented vibration track 200 only when the congestion reason is judged to be non-electrostatic-dominant.

[0027] The combined automatic swab conveying method is characterized by a multi-stage, data-based closed-loop regulation process. The data acquisition step continuously obtains three types of key data through the sensing monitoring assembly 300: the swab density data reflecting the degree of material aggregation, the swab stability data reflecting the flow stability of the material, and the electrostatic intensity data reflecting the electrostatic influence. The state judging step analyzes the first two types of data by the controller, such as the Siemens S7-1200 series PLC, to identify whether the flow state deviates from the normal range and enters the congestion early-warning state. Once the early-warning state is entered, the regulation decision step is started, and the controller introduces the third type of data, i.e., the electrostatic intensity data, to determine whether the root cause of the early-warning is physical congestion or electrostatic adsorption. The intervention executing step implements different strategies according to the decision results: if the electrostatic-dominant is judged, the controller will simultaneously start the active intervention assembly 400 for electrostatic elimination and adjust the vibration parameters of the segmented vibration track 200; if the non-electrostatic-dominant is judged, only the vibration parameters are adjusted. This method combines phenomenon recognition, cause diagnosis, and classified intervention to make the regulation of the conveying process more targeted and efficient.

[0028] The swab density data is a local congestion index, which is obtained by dividing the image obtained by the high-speed linear camera 320 into multiple regions corresponding to the track segments 210 and calculating the ratio of the number of pixels representing swabs in each region to the total number of pixels in the region.

[0029] The quantification of the swab density data is achieved by calculating the local congestion index. After the controller receives the real-time image taken by the high-speed linear array camera 320, it virtually divides the complete image into multiple regions along the swab conveying direction in the internal logic, and each virtual region corresponds to a physical track segment 210. The image processing algorithm in the controller calculates the total number of pixel points identified as the tufted swab in each region in real time, compares it with the total number of pixels in the region, and obtains the ratio. This ratio is the local congestion index of the track segment 210. The index intuitively reflects the density of the swab on the corresponding physical track segment 210, and provides an accurate quantitative basis for determining which segment starts to accumulate material.

[0030] The swab stability data is the flow disorder degree, which is obtained by analyzing the overall motion vector field of the swab group between consecutive image frames using the optical flow method, and counting the dispersion degree of the direction and size of the motion vector field.

[0031] The acquisition of the swab stability data is completed by calculating the flow disorder degree. The controller uses its processing capability to compare and analyze a series of consecutive image frames transmitted by the high-speed linear array camera 320, uses the optical flow method algorithm to track the movement pattern of the swab group in the image, and generates a vector field describing the overall movement trend, where each vector represents the movement direction and speed of the local swab group. The controller then counts the dispersion degree or standard deviation of the direction and size of all motion vectors in the entire vector field. This statistical result is defined as the flow disorder degree. When all the swabs are stable, moving in the same direction and at the same speed, the vector field is relatively uniform, the dispersion degree is low, and the flow disorder degree value is also low. Conversely, when there is backflow, stagnation or dramatic speed fluctuations, the vector field becomes chaotic, the dispersion degree is high, and the flow disorder degree value increases accordingly, indicating that the stability of the swab flow is declining.

[0032] As a specific calculation method, the dispersion degree can be quantified by calculating the standard deviation of the size of all motion vectors, which can be performed by the controller as follows: calculate the average value of the size of all motion vectors in the field of view Then calculate the standard deviation according to the following formula This value is defined as the flow disorder degree:

[0033] Wherein: represents the flow disorder degree; represents the total number of motion vectors analyzed by the optical flow method; represents the size of the motion vector, i.e. the movement rate of the local swab group; represents the size of all ​An arithmetic mean of the motion vector sizes.

[0034] By this method, the macroscopic disordered state is converted into precise and repeatable numerical values, providing a stable data foundation for subsequent state judgment.

[0035] The judgment condition of the congestion early warning state is that the local congestion index of any track segment 210 corresponding to the swab density data continuously exceeds the preset density threshold, and the flow state disorder degree corresponding to the swab stability data exceeds the preset stability threshold.

[0036] The triggering of the congestion early warning state relies on the judgment logic of double conditions to increase the reliability of the judgment; the controller continuously monitors the local congestion index of all track segments 210 and the global flow state disorder degree; only when the local congestion index of a certain track segment 210 stably exceeds the pre-set density threshold for a certain duration, and the global flow state disorder degree also exceeds the corresponding stability threshold within the same time period, the controller will determine that the entire system has entered the congestion early warning state; this combination of local density exceeding and overall flow instability judgment method can effectively distinguish between normal transportation fluctuations and real congestion precursors, avoid misjudgment due to the instantaneous jump of a single indicator, and ensure that the intervention measures are only started when necessary.

[0037] The preset density threshold and the preset stability threshold can be determined by a field calibration method, which is as follows: during the device debugging stage, start from a lower feed speed and gradually increase. At the same time, the controller continuously records the corresponding local congestion index and flow state disorder degree; when the critical state of physical congestion or obvious flow obstruction on the conveying track is observed, record the data at this moment; take 110% to 130% of the maximum value of the recorded data in the stable flow interval before the critical state as the initial early warning threshold; for example, if the maximum local congestion index during stable flow is 0.6, the preset density threshold can be set between 0.66 and 0.78. Through this experimental calibration, it can be ensured that the set threshold value meets the actual characteristics of the current conveying material and equipment, and has clear engineering guidance significance.

[0038] The coordinated adjustment of the vibration parameters of the segmented vibration track 200 includes: reducing the vibration amplitude of the upstream track segment 210 of the track segment 210 in the congestion early warning state, and increasing the vibration amplitude or frequency of the track segment 210 in the congestion early warning state and its downstream track segment 210.

[0039] The coordinated adjustment of the vibration parameters of the segmented vibration track 200 is an execution strategy for dynamically relieving congestion; when the controller confirms that a track segment 210 enters a congestion early warning state, it will immediately send differentiated control instructions to the electromagnetic vibrators 220 connected to each track segment 210. The controller instructs the track segment 210 upstream of the track segment 210 in the congestion early warning state, i.e., the previous track segment 210 in the incoming direction, to reduce the vibration amplitude of its electromagnetic vibrator 220, with the purpose of reducing the material flow entering the congestion area. At the same time, the controller instructs the track segment 210 in the congestion state and all track segments 210 downstream of it to increase the vibration amplitude or frequency of their electromagnetic vibrators 220, with the purpose of enhancing the conveying power and actively dispersing and accelerating the gathered swabs out of the congestion area. This coordinated regulation of upstream throttling and downstream acceleration can create space for congestion relief and actively clear the backlog, effectively resolving potential blockages.

[0040] As a preferred control strategy, the adjustment amount of the vibration parameters is not fixed but is associated with the severity of congestion. The controller can linearly or segmentally calculate the adjustment amount of the vibration amplitude according to the percentage by which the local congestion index exceeds the preset density threshold. For example, when the congestion index exceeds the threshold by 10%, the upstream amplitude is reduced by 5% and the downstream amplitude is increased by 10%; when the threshold is exceeded by 30%, the upstream amplitude is reduced by 15% and the downstream amplitude is increased by 30%. This proportional adjustment according to the degree of deviation enables the intervention intensity to dynamically match the level of congestion risk, achieving more precise and efficient control and avoiding under-regulation or over-regulation.

[0041] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A combined flocked swab automatic conveying device, characterized in that, include: Main conveyor frame (100); A segmented vibrating track (200) is installed on the main conveying frame (100) for carrying and conveying flocked swabs; The sensing and monitoring assembly (300) is fixed on the main conveying frame (100) and located above the segmented vibration track (200), and is used for non-contact collection of flow status data and environmental parameter data of flocked swabs; An active intervention assembly (400), fixed to the main conveying frame (100), is used to apply physical or environmental intervention to the flocked swab flow on the segmented vibration track (200); The controller is electrically connected to the sensing and monitoring assembly (300), the active intervention assembly (400), and the segmented vibration track (200), and is used to coordinately control the active intervention assembly (400) and the segmented vibration track (200) based on the flow state data and environmental parameter data.

2. The combined flocked swab automatic conveying device according to claim 1, characterized in that, The segmented vibration track (200) includes at least three independent track segments (210), each track segment (210) is spliced ​​together end to end, and each track segment (210) is independently connected to an electromagnetic exciter (220) for driving its vibration.

3. The combined flocked swab automatic conveying device according to claim 1, characterized in that, The sensing and monitoring assembly (300) includes: The gantry support (310) spans across the segmented vibrating track (200) and is fixed to the main conveying frame (100). A high-speed linear array camera (320) is mounted on the gantry bracket (310), and its lens field of view covers the segmented vibration track (200). An electrostatic field sensor (330) is fixed to the side wall of the segmented vibration track (200) for non-contact measurement of the electrostatic charge intensity of a flocked swab group flowing through it.

4. The combined flocked swab automatic conveying device according to claim 3, characterized in that, The active intervention assembly (400) includes an ion bar (410) which is fixed to the gantry bracket (310) and its outlet faces the segmented vibration track (200).

5. A combined flocked swab automatic conveying method, applied to the combined flocked swab automatic conveying device described in claim 1, characterized in that, Includes the following steps: The data acquisition step is used to acquire swab density data, which characterizes swab flow density, swab stability data, which characterizes swab flow stability, and electrostatic intensity data, which characterizes electrostatic interference level, in real time through the sensor monitoring assembly (300). The status determination step is used to determine whether the swab flow has entered a congestion warning state based on the swab density data and the swab stability data. The control decision-making step is used to further determine whether the cause of congestion is electrostatic based on the electrostatic intensity data when the swab flow enters the congestion warning state. The intervention steps are implemented to control the active intervention assembly (400) to apply electrostatic elimination intervention when the cause of the congestion is determined to be electrostatic, and to coordinately adjust the vibration parameters of the segmented vibration track (200) to relieve the congestion; when the cause of the congestion is determined to be non-electrostatic, only the vibration parameters of the segmented vibration track (200) are coordinatedly adjusted.

6. The automatic conveying method for combined flocked swabs according to claim 5, characterized in that, The swab density data is a local congestion index, which is obtained by dividing the image acquired by the high-speed linear array camera (320) into multiple regions corresponding to the track segment (210), and calculating the ratio of the number of pixels representing swabs in each region to the total number of pixels in that region.

7. The automatic conveying method for a combined flocked swab according to claim 5, characterized in that, The swab stability data is the flow disorder, which is obtained by analyzing the overall motion vector field of the swab group between consecutive image frames using optical flow method, and statistically analyzing the dispersion of the direction and magnitude of the motion vector field.

8. The automatic conveying method for a combined flocked swab according to claim 5, characterized in that, The conditions for determining the congestion warning state are: the local congestion index of any track segment (210) corresponding to the swab density data continuously exceeds the preset density threshold, and the flow disorder corresponding to the swab stability data exceeds the preset stability threshold.

9. The automatic conveying method for a combined flocked swab according to claim 5, characterized in that, The coordinated adjustment of the vibration parameters of the segmented vibration track (200) includes: reducing the vibration amplitude of the upstream track segment (210) of the track segment (210) under congestion warning, and increasing the vibration amplitude or frequency of the track segment (210) itself and its downstream track segment (210) under congestion warning.

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