Package spacing adjustment method, system, control device and computer-readable storage medium for a balance wheel sorting system

Abstract

The present invention discloses a package spacing adjustment method, system, control device and computer-readable storage medium of a balance wheel sorting system, wherein the method uses a check photoelectric sensor in front of each balance wheel sorter to detect the actual length of each package and the actual spacing between the package in front of it and the package to determine whether the previous package has stalled. When the stall causes their spacing to not exceed the minimum package sorting spacing, the conveying speed of the balance wheel sorter is adjusted to compensate for the problem of reduced spacing between the packages caused by the stall, effectively ensuring that the actual spacing between the two packages meets the sorting requirements. When the stall causes the actual spacing between the two packages to exceed the minimum package sorting spacing, the two packages are not sorted and refluxed, thereby reducing the problem of erroneous sorting caused by chasing packages due to stalling of the items, improving the accuracy of sorting, reducing the time consumption of abnormal processing after missorting, and being conducive to improving on-site operation efficiency and reducing the cost of manual abnormal processing.

Description

Technical Field

[0001] The present invention relates to the field of logistics, and in particular to a package spacing adjustment method, system, control device and computer-readable storage medium of a pendulum wheel sorting system. Background Art

[0002] The swing wheel sorter realizes the sorting of items by swinging multiple conveyor wheels left and right.

[0003] Since the packaging forms and categories of the items to be sorted are various, there is a possibility that the items will stall or even be stranded during the conveying and sorting process of the pendulum wheel sorter, which may lead to sorting failure or even missorting of the items, seriously affecting the sorting accuracy. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a package spacing adjustment method, system, control device and computer-readable storage medium for a balance wheel sorting system.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A method for adjusting the distance between packages of a balancing wheel sorting system, wherein the balancing wheel sorting system comprises a plurality of balancing wheel sorting machines and conveyors connected alternately, wherein a rechecking photoelectric sensor is provided at each conveyor, and the distance between the rechecking photoelectric sensor and the balancing wheel sorting machine behind it is greater than the standard distance between two packages. In the method, a PLC tracks the position of each package of the route it has obtained, and at least from the second package, when each package passes each rechecking photoelectric sensor, the following process is performed:

[0007] S1, receiving the signal of the M+1th package passing through the Nth verification photoelectric sensor, where M is a positive integer, and determining the actual distance between the M+1th package and the Mth package in front of it;

[0008] S2, determine whether the actual distance between the M+1th package and the Mth package in front of it is less than the minimum sortable distance of the packages; if so, execute S3; if not, execute S4;

[0009] S3, the tracking data of the two packages are cleared, and the system returns the two packages;

[0010] S4, determine whether the balance wheel sorting machine to which the Mth package is about to arrive is the balance wheel sorting machine corresponding to its route, if so, execute S5; if not, execute S6;

[0011] S5, start sorting when the Mth package arrives at the swing wheel sorter;

[0012] S6, according to the determined measured length of the Mth package and the actual distance between the Mth package and the M-1th package and the M+1th package, the conveying speed of the swing wheel sorter is increased to increase the distance between the Mth package and the M+1th package conveyed to the next verification photoelectric sensor within a certain range.

[0013] Preferably, when it is determined that two packages are to be reflowed, the balance wheel sorter in front of the Nth recheck photoelectric sensor that causes the actual distance between the two packages to be too small is recorded, and an alarm is sounded when it is determined that the balance wheel sorter causes this problem continuously or in large quantities.

[0014] Preferably, S6 includes:

[0015] S61, determine whether LM adjustable ≥ LM adjustable holds true, wherein LM adjustable is the maximum adjustable distance of the Mth package calculated based on the actual distance between the M-1th package and the Mth package and the standard distance; LM adjustable is the maximum adjustable distance on the balance wheel sorter calculated based on the actual length measured by the photoelectric sensor of the Mth package after verification; if so, execute S62, if not, execute S63;

[0016] S62, when the Mth package enters the balance wheel sorter, the balance wheel sorter conveys the package at its maximum conveying speed for a preset adjustment time, so that the Mth package is reduced to the standard conveying speed after adjusting the LM adjustable distance;

[0017] S63, when the Mth package enters the balance wheel sorter, the balance wheel sorter conveys the package at a speed between the maximum conveying speed and the standard conveying speed of the balance wheel sorter for a preset adjustment time, so that the Mth package is reduced to the standard conveying speed after adjusting the LM allowable adjustment distance.

[0018] Preferably, in S61,

[0019] L M可调 =L 摆轮 -L M长 -(t MAX调 +t MAX加 +t MAX减 ) × V 标 ;

[0020] t MAX调 = S MAX调 / V MAX调 ;

[0021] S MAX调 =L 摆轮 -L M长 -S MAX加 -S MAX减 ;

[0022] S MAX减 =SMAX加 =(V MAX调 ² -V 标 ²) / 2a 摆轮 ;

[0023] t MAX加 =t MAX减 =(V MAX调 -V 标 ) / a 摆轮 ;

[0024] Among them, L M可调 The maximum adjustable distance of the Mth package on the swing wheel sorter is calculated based on the actual measured length of the Mth package after the verification photoelectric sensor;

[0025] L 摆轮 is the length of the balance wheel;

[0026] L M长 The actual length of the Mth package after the verification photoelectric sensor;

[0027] t MAX调 The time that the package runs at the maximum conveying speed on the swing wheel sorter;

[0028] t MAX加 It is the acceleration time of the parcel from the standard conveying speed to the maximum conveying speed on the swing wheel sorter;

[0029] t MAX减 It is the deceleration time of the parcel from the maximum conveying speed to the standard conveying speed on the swing wheel sorter;

[0030] V 标 It is the standard conveying speed of the swing wheel sorter;

[0031] S MAX调 To wrap around the balance wheel with V MAX调 Speed ​​running distance;

[0032] V MAX调 Adjust the maximum conveying speed for the swing wheel sorter;

[0033] S MAX加 For parcels on the balance wheel sorter from V 标 Adjust to V MAX调 The distance of acceleration;

[0034] S MAX减 For parcels on the balance wheel sorter from V MAX调 Adjust to V 标 The distance of deceleration;

[0035] a 摆轮 is the acceleration and deceleration of the balance wheel conveyor.

[0036] Preferably, in the method for adjusting the package spacing of the balance wheel sorting system, in S61,

[0037] L M允调 =L M-1调 -L 标 ;

[0038] Among them, L M允调 The maximum allowable adjustment distance of the Mth package is calculated based on the actual distance between the M-1th package and the Mth package and the standard distance;

[0039] L M-1调 is the final distance between the adjusted M-1th package and the Mth package;

[0040] L 标 This is the standard spacing between packages.

[0041] Preferably, in S63

[0042] V 调 =(L 摆轮 -L M长 -L M允调 ) / (t V调 +t 加 +t 减 );

[0043] t V调 = S V调 / V 调 ;

[0044] S V调 =L 摆轮 -L M长 -S 加 -S 减

[0045] S 减 =S 加 =(V 调 ² -V 标 ²) / 2a 摆轮 ;

[0046] t 加 = t 减 =(V 调 -V 标 ) / a 摆轮 ;

[0047] Among them, Vadjustment is the adjusted conveying speed of the swing wheel sorter calculated according to the target adjustment spacing;

[0048] L 摆轮 is the length of the balance wheel;

[0049] LM长 The actual length of the Mth package after the verification photoelectric sensor;

[0050] L M允调 The maximum allowable adjustment distance of the Mth package is calculated based on the actual distance between the M-1th package and the Mth package and the standard distance;

[0051] t V调 For packages on the swing wheel sorter to adjust the speed V 调 The time it runs;

[0052] t 加 For parcels on the balance wheel sorter from V 标 Adjust to V 调 Acceleration time;

[0053] t 减 For parcels on the balance wheel sorter from V 调 Adjust to V 标 deceleration time;

[0054] S V调 For parcels on the swing wheel sorter to adjust the speed V 调 Distance run;

[0055] S 加 For parcels on the balance wheel sorter from V 标 Adjust to V 调 The distance of acceleration;

[0056] S 减 For parcels on the balance wheel sorter from V 调 Adjust to V 标 The distance of deceleration;

[0057] V 调 The adjusted conveying speed of the swing wheel sorter calculated according to the target adjustment spacing;

[0058] V 标 It is the standard conveying speed of the swing wheel sorter;

[0059] a 摆轮 is the acceleration and deceleration of the balance wheel conveyor.

[0060] Preferably, in the package spacing adjustment method of the balance wheel sorting system, the route of each package is obtained by a six-sided code reading mechanism during the transportation process.

[0061] Preferably, in the package spacing adjustment method of the balance wheel sorting system, each package is conveyed to the six-sided code reading mechanism after being output by the single-piece separation device.

[0062] Preferably, in the package spacing adjustment method of the balance wheel sorting system, the packages output by the single-piece separation device are transported to the six-sided code reading mechanism after passing through the side machine or the centering machine.

[0063] The package spacing adjustment system of the swing wheel sorting system includes

[0064] The signal receiving and analyzing unit is used to receive the signal of the M+1th package passing through the Nth verification photoelectric sensor, where M is a positive integer, and determine the measured length of the Mth package and its actual distance from the M-1th package and the M+1th package;

[0065] The first judgment unit is used to judge whether the actual distance between the M+1th package and the Mth package in front of it is less than the minimum sortable distance of the packages; if so, send a signal to the return flow unit; if not, send a signal to the second judgment unit;

[0066] The reflux unit is used to clear the tracking data of the two packages, and the system refluxes the two packages;

[0067] The second judgment unit is used to determine whether the balance wheel sorting machine to which the Mth package is about to arrive is the balance wheel sorting machine corresponding to its route, and if so, send a signal to the sorting unit; if not, send a signal to the distance adjustment unit;

[0068] A sorting unit, used to start sorting when the Mth package arrives at the swing wheel sorter;

[0069] The distance adjusting unit adjusts the conveying speed of the balance wheel sorting machine according to the determined measured length of the Mth package and the actual distance between the Mth package and the M-1th package and the M+1th package so that the distance between the Mth package output by the balance wheel sorting machine and the M-1th package and the M+1th package moving to the next verification photoelectric sensor is not less than the minimum sortable distance between the packages.

[0070] The control device of the balance wheel sorting system includes

[0071] A memory for storing executable instructions;

[0072] Processor; the processor is configured to execute the steps of any of the above-mentioned methods for adjusting the package spacing of the swing wheel sorting system by executing the executable instructions.

[0073] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the above-mentioned methods for adjusting the package spacing of a balance wheel sorting system.

[0074] The advantages of the technical solution of the present invention are mainly reflected in:

[0075] This solution uses the photoelectric sensor in front of each oscillating wheel sorter to detect the actual length of each package and the actual distance between the package in front of it to determine whether the previous package has stalled. When the stall causes their distance to not exceed the minimum sorting distance of the packages, the conveying speed of the oscillating wheel sorter is adjusted to compensate for the reduced distance between the packages caused by the stall, effectively ensuring that the actual distance between the two packages meets the sorting needs. When the stall causes the actual distance between the two packages to exceed the minimum sorting distance of the packages, the two packages are not sorted and refluxed, thereby reducing the problem of incorrect sorting caused by chasing packages due to stalling of items, improving the accuracy of sorting, and reducing the time consumption of exception handling after wrong sorting, which is conducive to improving on-site operation efficiency and reducing the cost of manual exception handling. At the same time, the oscillating wheel sorter that has stalled is recorded, and the operating status of the equipment is more fully monitored.

[0076] This solution obtains the route through the six-sided code reading mechanism, which can effectively simplify the requirements for loading packages, thereby facilitating the automation of the entire sorting process. Combined with the centering device, the items can be effectively output in the middle position to reduce the difficulty of sorting calculations of the subsequent deflection wheel sorter. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 is a schematic diagram of the balance wheel sorting system of the present invention;

[0078] Figure 2 It is a schematic diagram of the positional relationship between the Mth package and the M-1th package when the M+1th package on the balance wheel sorting system of the present invention passes through the N-1th rechecking photoelectric sensor;

[0079] Figure 3 is a schematic flow chart of the method of the present invention, wherein L M调 The final distance between the Mth package (adjusted) and the M+1th package (not yet adjusted); L M实 is the measured distance between the Mth package (before adjustment) and the M+1th package (before adjustment); L M目 The target distance that needs to be adjusted after calculation for the Mth package. DETAILED DESCRIPTION

[0080] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0081] In the description of the scheme, it should be noted that the terms "center", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of description and simplified description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Moreover, in the description of the scheme, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0082] The balance wheel sorting system disclosed by the present invention is described below in conjunction with the accompanying drawings. Figure 1 As shown, it includes a plurality of alternately arranged balance wheel sorters 10 and conveyors 20. The balance wheel sorters 10 may be various known structures, and the conveyors 20 may be known belt conveyors or roller conveyors, which will not be described in detail here. In front of the first conveyor 20, a code reading conveying device 30 is connected. The code reading conveying device 30 includes at least two sections of belt conveyors, a code reading mechanism, and a scanning photoelectric sensor (not shown in the figure) that triggers the code reading mechanism to read the code. The front of the code reading conveying device 30 is connected to a visual single-piece separation device 40. The visual single-piece separation device 40 is used to pull the batch parcels laid thereon and transport them one by one to the outside of the visual single-piece separation device 40. The specific structure of the visual single-piece separation device 40 is a known technology and will not be described in detail here. Of course, the visual single-piece separation device 40 may also be various known mechanical single-piece separation devices, such as the structure disclosed in the application number 202010150004.3.

[0083] The code reading mechanism of the code reading and conveying device 30 is a six-sided code reading mechanism. The code reading and conveying device 30 using the six-sided code reading mechanism is a known technology and will not be described in detail here. A tracking photoelectric sensor 50 is arranged in front of the code reading mechanism. Of course, in other embodiments, if the packages are conveyed to the code reading mechanism with the two-dimensional code facing upward or facing the side, the code reading mechanism can be a structure that can realize top surface code reading and / or side surface code reading.

[0084] As attached Figure 1 As shown, a side conveyor or a center conveyor 70 is provided between the output end of the visual single piece separation device 40 and the code reading conveying device 30, so that the packages output by the visual single piece separation device 40 can be close to the same position, thereby facilitating the control of subsequent sorting actions.

[0085] As attached Figure 1As shown, in order to effectively determine the actual stalling condition of the package after passing through each of the swing wheel sorters 10 and confirm the length of the package, a recheck photoelectric sensor 60 is arranged in front of each swing wheel sorter 10. Each of the recheck photoelectric sensors 60 is specifically arranged in the middle of the conveyor 20 between two adjacent swing wheel sorters 10 and slightly behind, and the distance between each recheck photoelectric sensor and the swing wheel sorter behind it is not less than the standard distance between two packages, that is, the distance between two packages outputting the single-piece separation device without stalling, so that when a package triggers a recheck photoelectric sensor, a package in front of it has not yet entered the swing wheel sorter or is about to enter the swing wheel sorter.

[0086] In order to facilitate the subsequent return of the parcels, the last conveyor 20 or the last swing wheel sorter can be connected to the return line, and the return line can convey the parcels to the manual processing area for manual processing.

[0087] More preferably, at least one of the swing wheel sorters 10 and a conveyor 20 is connected via a transmission mechanism to share a power supply.

[0088] In the above-mentioned balance wheel sorting system, the control of the spacing of the packages is an important factor that determines whether the packages are successfully sorted in the balance wheel sorting system. This is because there are differences in the shapes of packages. For some first packages of small size and special shapes, there will be a greater stall problem when they pass through the balance wheel sorting machine 10, which will cause the actual time for the packages to pass through the recheck photoelectric sensors 60 before and after the balance wheel sorting machine 10 to be greater than the theoretical time. At this time, if a second package behind the first package is a non-stall package and the visual single-piece separation device 40 controls the output spacing of the first package and the second package to be the set standard spacing, for example, 500mm, then within the time when the first package triggers the two recheck photoelectric sensors 60, the actual movement time of the second package is greater than the theoretical time for it to trigger the two recheck photoelectric sensors 60, that is, the movement time of the second package in the same time is greater than the theoretical time. The moving stroke of the second package is greater than the moving stroke of the first package. For example, the second package moves 100mm more than the first package. At this time, if the first package is sorted at the sixth swing wheel sorter 10, and the second package is sorted after the sixth swing wheel sorter 10, when the first package passes through the second swing wheel sorter 10, it stalls again. At this time, the distance between the second package and the first package is further reduced to 300. As the first package and the second package continue to pass through the third, fourth, and fifth swing wheel sorters 10, the second package will gradually catch up with the first package, so that the second package and the first package will be attached together or side by side. Therefore, when the first package moves to the swing wheel sorter 10 at its routing position, after the swing wheel sorter 10 starts sorting, both the first package and the second package will be sorted, which causes misclassification and greatly reduces the sorting accuracy.

[0089] Therefore, after obtaining the route of each package through the six-sided code reading device, this solution confirms the change in the distance between each package and the two packages in front and behind it due to stalling through the rechecking photoelectric sensor in front of each swing wheel sorter, thereby controlling the speed of the swing wheel sorter that the package is about to enter, and compensating for the loss of distance between the package and the package behind it caused by stalling by accelerating the package as it passes.

[0090] Usually, stalling mainly occurs when the package passes through the balance wheel sorter. Therefore, in actual use, the corresponding compensation calculation can be started when the second package passes through the second recheck photoelectric sensor. At this time, the package that triggers the second recheck photoelectric sensor has passed through a balance wheel sorter and may be stalled. Of course, the following procedure can also be executed when each package passes through the first recheck photoelectric sensor.

[0091] Specifically, starting from at least the second package, the following process is performed when each package passes through each recheck photoelectric sensor:

[0092] S1, receiving the signal of the M+1th package passing through the Nth verification photoelectric sensor, where M is a positive integer, and determining the actual distance between the M+1th package and the Mth package in front of it;

[0093] S2, determine whether the actual distance between the M+1th package and the Mth package in front of it is less than the minimum sortable distance of the packages; if so, execute S3; if not, execute S4;

[0094] S3, the tracking data of the two packages are cleared, and the system returns the two packages;

[0095] S4, determine whether the balance wheel sorting machine to which the Mth package is about to arrive is the balance wheel sorting machine corresponding to its route, if so, execute S5; if not, execute S6;

[0096] S5, start sorting when the Mth package arrives at the swing wheel sorter;

[0097] S6, according to the determined measured length of the Mth package and the actual distance between the Mth package and the M-1th package and the M+1th package, the conveying speed of the swing wheel sorter is increased to increase the distance between the Mth package and the M+1th package conveyed to the next verification photoelectric sensor within a certain range.

[0098] For example, when passing through the balance wheel sorter, package A does not stall, package B does not stall, and package C does not stall. Packages A, B, and C pass through the six-sided code reading mechanism in turn to obtain routes and confirm that the balance wheel sorters corresponding to their routes are the 4th, 5th, and 3rd respectively.

[0099] They move toward the balance wheel sorter at the same time. Usually, when the package passes the first recheck photoelectric sensor, it rarely stalls because it has not passed the balance wheel sorter. Therefore, when package A passes the second recheck photoelectric sensor, package A has passed the first balance wheel sorter to confirm whether the previous package has stalled. At this time, there is no package in front of package A, so there is no need to adjust. And if package A has stalled, the distance can also be easily adjusted. When package B passes the second recheck photoelectric sensor, the distance between it and package A is confirmed. At this time, since package A does not stall, the distance between package A and package B will not be less than the standard distance, so there is no need to compensate for the distance between it and package A, and it continues to be transported forward. When package C passes the second recheck photoelectric sensor, since package B stalls at the first balance wheel sorter, it can be confirmed that the actual distance between package C and package B is less than the standard distance, and the actual distance between package B and package A is greater than the standard distance. When it is determined that the actual distance between package B and package C is less than the minimum sortable distance of the packages, the tracking data of packages B and C are cleared, so that they automatically flow back along the swing wheel sorting system. When it is determined that the actual distance between package B and package C is greater than the minimum sortable distance of the packages, since the second swing wheel sorter is not the swing wheel sorter corresponding to the route of package B, no sorting is performed. At the same time, according to the measured length confirmed when package B passes through the second verification photoelectric sensor and the actual distance between package A and C, the distance that package B needs to compensate at the second swing wheel sorter is determined. When package B moves to the second swing wheel sorter, the second swing wheel sorter accelerates package B at a speed higher than its standard conveying speed and compensates the corresponding distance. After compensation, the actual distance between package B and package C is restored to the standard distance as much as possible, and the package continues to be conveyed forward.

[0100] When packages A, B, and C continue to move toward the third recheck photoelectric sensor and trigger the third recheck photoelectric sensor in turn, when package C triggers the third recheck photoelectric sensor, the actual distance is judged again, and the distance of package B is adjusted through the third pendulum sorter; when package C reaches the third pendulum sorter, it is sorted; packages A and B continue to be transported forward, and package A passes through the fourth photoelectric sensor, confirming that the fourth pendulum sorter behind the fourth recheck photoelectric sensor is the pendulum sorter corresponding to its route; when package B triggers the fourth recheck photoelectric sensor, the distance between it and package A is judged again, which is greater than the minimum sorting distance of the package. When package A moves to the fourth pendulum sorter, it is sorted. Package B continues to move towards the fifth recheck photoelectric sensor. When it moves to the fifth recheck photoelectric sensor, it confirms that the fifth balance wheel sorter behind it is the balance wheel sorter corresponding to its route. It confirms the distance between it and packages A and C again. At this time, packages A and C have been sorted. There are no packages in front of or behind package B that are affected by its stall. No adjustment is required. Package B moves to the fifth balance wheel sorter for sorting.

[0101] Further, in S3, when it is determined that two parcels are to be reflowed, the balance wheel sorter that causes the distance between the two parcels to be too small is recorded. The balance wheel sorter is a balance wheel sorter in front of the recheck photoelectric sensor through which the parcels pass. When it is determined that the balance wheel sorter causes the problem continuously or in large quantities, an alarm is issued; when the problem is not caused continuously or in large quantities, the sorting failure result data and the information of the small distance between the Mth parcel and the M+1th parcel are fed back to the WCS.

[0102] The S6 includes:

[0103] S61, determine L M允调 ≥L M可调 Is it true, where L M允调 It is the maximum spacing allowed for the Mth package to be adjusted, calculated based on the actual spacing between the M-1th package and the Mth package and the standard spacing; L M可调 The maximum adjustable spacing on the balance wheel sorting machine is calculated based on the actual length of the Mth package measured by the photoelectric sensor; if it is established, execute S62, if not, execute S63;

[0104] S62, when the Mth package enters the balance wheel sorter, the balance wheel sorter conveys the package at its maximum conveying speed for a preset adjustment time, so that the Mth package is adjusted L M可调 After the distance, it is reduced to the standard conveying speed;

[0105] S63, when the Mth package enters the balance wheel sorting machine, the balance wheel sorting machine conveys the package at a speed between the maximum conveying speed and the standard conveying speed of the balance wheel sorting machine for a preset adjustment time, so that the Mth package is adjusted L M允调After a certain distance, it will reduce to standard conveying speed.

[0106] Among them, in the S61, the L M可调 Calculated according to the following formula:

[0107] L M可调 =L 摆轮 -L M长 -(t MAX调 +t MAX加 +t MAX减 ) × V 标 ;

[0108] t MAX调 = S MAX调 / V MAX调 ;

[0109] S MAX调 =L 摆轮 -L M长 -S MAX加 -S MAX减 ;

[0110] S MAX减 =S MAX加 =(V MAX调 ² -V 标 ²) / 2a 摆轮 ;

[0111] t MAX加 =t MAX减 =(V MAX调 -V 标 ) / a 摆轮 ;

[0112] Among them, L M可调 The maximum adjustable distance of the Mth package on the swing wheel sorter is calculated based on the actual measured length of the Mth package after the verification photoelectric sensor;

[0113] L 摆轮 is the length of the balance wheel;

[0114] L M长 The actual length of the Mth package after the verification photoelectric sensor;

[0115] t MAX调 The time that the package runs at the maximum conveying speed on the swing wheel sorter;

[0116] t MAX加 It is the acceleration time of the parcel from the standard conveying speed to the maximum conveying speed on the swing wheel sorter;

[0117] t MAX减 It is the deceleration time of the parcel from the maximum conveying speed to the standard conveying speed on the swing wheel sorter;

[0118] V 标 It is the standard conveying speed of the swing wheel sorter;

[0119] S MAX调 To wrap around the balance wheel with V MAX调 Speed ​​running distance;

[0120] V MAX调 Adjust the maximum conveying speed for the swing wheel sorter;

[0121] S MAX加 For parcels on the balance wheel sorter from V 标 Adjust to V MAX调 The distance of acceleration;

[0122] S MAX减 For parcels on the balance wheel sorter from V MAX调 Adjust to V 标 The distance of deceleration;

[0123] a 摆轮 is the acceleration and deceleration of the balance wheel conveyor.

[0124] In S61, the L M允调 Calculated according to the following formula:

[0125] L M允调 =L M-1调 -L 标 ;

[0126] Among them, L M允调 The maximum allowable adjustment distance of the Mth package is calculated based on the actual distance between the M-1th package and the Mth package and the standard distance;

[0127] L M-1调 is the final distance between the adjusted M-1th package and the Mth package;

[0128] L 标 This is the standard spacing between packages.

[0129] The S63

[0130] V 调 =(L 摆轮 -L M长 -L M允调 ) / (t V调 +t 加 +t 减 );

[0131] t V调 = S V调 / V 调 ;

[0132] S V调 =L 摆轮 -L M长 -S 加 -S 减

[0133] S 减 =S 加 =(V 调 ² -V 标 ²) / 2a 摆轮 ;

[0134] t 加 = t 减 =(V 调 -V 标 ) / a 摆轮 ;

[0135] Among them, V 调 The adjusted conveying speed of the swing wheel sorter calculated according to the target adjustment spacing;

[0136] L 摆轮 is the length of the balance wheel;

[0137] L M长 The actual length of the Mth package after the verification photoelectric sensor;

[0138] L M允调 The maximum allowable adjustment distance of the Mth package is calculated based on the actual distance between the M-1th package and the Mth package and the standard distance;

[0139] t V调 For parcels on the swing wheel sorter to adjust the speed V 调 The time it runs;

[0140] t 加 For parcels on the balance wheel sorter from V 标 Adjust to V 调 Acceleration time;

[0141] t 减 For parcels on the balance wheel sorter from V 调 Adjust to V 标 deceleration time;

[0142] S V调 For parcels on the swing wheel sorter to adjust the speed V 调 Distance run;

[0143] S 加 For parcels on the balance wheel sorter from V 标 Adjust to V 调 The distance of acceleration;

[0144] S 减For parcels on the balance wheel sorter from V 调 Adjust to V 标 The distance of deceleration;

[0145] V 调 The adjusted conveying speed of the swing wheel sorter calculated according to the target adjustment spacing;

[0146] V 标 It is the standard conveying speed of the swing wheel sorter;

[0147] a 摆轮 is the acceleration and deceleration of the balance wheel conveyor.

[0148] Of course, after confirming the distance that the parcel needs to be adjusted in the current balance wheel sorting machine, the corresponding adjustment distance can be achieved by dynamically selecting the adjustment speed of the balance wheel sorting machine and the running time at the adjustment speed. Therefore, there is no specific restriction on the adjustment speed and time.

[0149] When the entire balance wheel grading system is working, the sorting process is as follows:

[0150] S01, after the system starts and runs normally, multiple flat items are introduced into the visual single-piece separation device 40; when introducing items into the visual single-piece separation device 40, it can be achieved by manual or automated equipment, and there is no overlap of items entering the visual single-piece separation device 40.

[0151] S02, after the articles are introduced into the visual single-piece separation device 40, they are output one by one;

[0152] S03, the items output by the visual single-piece separation device 40 are centered by the centering conveyor 70 and then output to the belt conveyor of the code reading conveying device 30.

[0153] S04, when the item is conveyed by the belt conveyor and passes through the tracking photoelectric sensor, the PLC tracks the position of the item. Of course, the tracking of the item can also be started at other times, such as when the PLC obtains the item route later.

[0154] S05, when the item passes through the scanning photoelectric sensor at the barcode reading and conveying device 30, the barcode reading structure reads the barcode and transmits it to the WCS, and the WCS obtains the route of the item and transmits it to the PLC.

[0155] S06, PLC tracks, adjusts and sorts each package according to the above process S1-S7.

[0156] Example 2

[0157] This embodiment discloses a package spacing adjustment system of a balance wheel sorting system, comprising:

[0158] A signal receiving and analyzing unit, used to receive the signal of the M+1th package passing through the Nth verification photoelectric sensor, where M is a positive integer, and determine the actual distance between the M+1th package and the Mth package in front of it;

[0159] The first judgment unit is used to judge whether the actual distance between the M+1th package and the Mth package in front of it is less than the minimum sortable distance of the packages; if so, send a signal to the return flow unit; if not, send a signal to the second judgment unit;

[0160] The reflux unit is used to clear the tracking data of the two packages, and the system refluxes the two packages;

[0161] The second judgment unit is used to determine whether the balance wheel sorting machine to which the Mth package is about to arrive is the balance wheel sorting machine corresponding to its route, and if so, send a signal to the sorting unit; if not, send a signal to the distance adjustment unit;

[0162] A sorting unit, used to start sorting when the Mth package arrives at the swing wheel sorter;

[0163] The distance adjusting unit adjusts the conveying speed of the balance wheel sorting machine according to the determined measured length of the Mth package and the actual distance between the Mth package and the M-1th package and the M+1th package so that the distance between the Mth package output by the balance wheel sorting machine and the M-1th package and the M+1th package moving to the next verification photoelectric sensor is not less than the minimum sortable distance between the packages.

[0164] Example 3

[0165] This embodiment discloses a control device for a balance wheel sorting system, comprising:

[0166] A memory for storing executable instructions;

[0167] Processor; the processor is configured to execute the steps of the package spacing adjustment method of the balance wheel sorting system of Example 1 by executing the executable instructions.

[0168] Example 4

[0169] This embodiment discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for adjusting the package spacing of the balance wheel sorting system of Embodiment 1 are implemented.

[0170] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A method for adjusting the package spacing of a balance wheel sorting system, wherein the balance wheel sorting system comprises a plurality of alternately connected balance wheel sorting machines and conveyors, each of which is provided with a check photoelectric sensor, and is characterized in that: In the method, the PLC tracks the location of each package that has been routed, and starts from at least the second package, and performs the following process when each package passes each verification photoelectric sensor: S1, receiving the signal of the M+1th package passing through the Nth verification photoelectric sensor, where M is a positive integer, and determining the actual distance between the M+1th package and the Mth package in front of it; S2, determine whether the actual distance between the M+1th package and the Mth package in front of it is less than the minimum sortable distance of the packages; if so, execute S3; if not, execute S4; S3, the tracking data of the two packages are cleared, and the system returns the two packages; S4, determine whether the balance wheel sorting machine to which the Mth package is about to arrive is the balance wheel sorting machine corresponding to its route, if so, execute S5; if not, execute S6; S5, start sorting when the Mth package arrives at the swing wheel sorter; S6, according to the determined measured length of the Mth package and the actual distance between the Mth package and the M-1th package and the M+1th package, the conveying speed of the swing wheel sorter is increased to increase the distance between the Mth package and the M+1th package conveyed to the next verification photoelectric sensor within a certain range.

2. The package spacing adjustment method of the balance wheel sorting system according to claim 1, characterized in that: When it is determined that two packages are to be reflowed, the balance wheel sorter in front of the Nth recheck photoelectric sensor that causes the actual distance between the two packages to be too small is recorded, and an alarm is triggered when it is determined that the balance wheel sorter causes this problem continuously or in large quantities.

3. The package spacing adjustment method of the balance wheel sorting system according to claim 1, characterized in that: The S6 includes: S61, determine L M允调 ≥L M可调 Is it true, where L M允调 It is the maximum spacing allowed for the Mth package to be adjusted, calculated based on the actual spacing between the M-1th package and the Mth package and the standard spacing; L M可调 The maximum adjustable spacing on the balance wheel sorter is calculated based on the actual length of the Mth package measured by the recheck photoelectric sensor; if established, execute S62; if not, execute S63; S62, when the Mth package enters the balance wheel sorter, the balance wheel sorter conveys the package at its maximum conveying speed for a preset adjustment time, so that the Mth package is adjusted L M可调 After the distance, it is reduced to the standard conveying speed; S63, when the Mth package enters the balance wheel sorting machine, the balance wheel sorting machine conveys the package at a speed between the maximum conveying speed and the standard conveying speed of the balance wheel sorting machine for a preset adjustment time, so that the Mth package is adjusted L M允调 After a certain distance, it will be reduced to the standard conveying speed.

4. The package spacing adjustment method of the balance wheel sorting system according to claim 3, characterized in that: In the S61, L M可调 =L 摆轮 -L M长 -(t MAX调 +t MAX加 +t MAX减 )×V 标 ; t MAX调 = S MAX调 / V MAX调 ; S MAX调 =L 摆轮 -L M长 -S MAX加 -S MAX减 ; With MAX减 =S MAX加 =(V MAX调 ² -V 标 ²) / 2a 摆轮 ; t MAX加 =t MAX减 =(V MAX调 -V 标 ) / a 摆轮 ; Among them, L M可调 The maximum adjustable distance of the Mth package on the balance wheel sorter is calculated based on the actual measured length of the Mth package after the verification photoelectric sensor; L 摆轮 is the length of the balance wheel; L M长 The actual length of the Mth package after the verification photoelectric sensor; t MAX调 The time that the package runs at the maximum conveying speed on the swing wheel sorter; t MAX加 It is the acceleration time of the parcel from the standard conveying speed to the maximum conveying speed on the swing wheel sorter; t MAX减 It is the deceleration time of the parcel from the maximum conveying speed to the standard conveying speed on the swing wheel sorter; V 标 It is the standard conveying speed of the swing wheel sorter; S MAX调 To wrap around the balance wheel with V MAX调 Speed ​​running distance; V MAX调 Adjust the maximum conveying speed for the swing wheel sorter; S MAX加 For parcels on the balance wheel sorter from V 标 Adjust to V MAX调 The distance of acceleration; S MAX减 For parcels on the balance wheel sorter from V MAX调 Adjust to V 标 The distance of deceleration; a 摆轮 is the acceleration and deceleration of the balance wheel conveyor.

5. The method for adjusting the package spacing of the balance wheel sorting system according to claim 4, characterized in that: In the S61, L M允调 =L M-1调 -L 标 ; Among them, L M允调 The maximum allowable adjustment distance of the Mth package is calculated based on the actual distance between the M-1th package and the Mth package and the standard distance; L M-1调 is the final distance between the adjusted M-1th package and the Mth package; L 标 This is the standard spacing between packages.

6. The method for adjusting the package spacing of the balance wheel sorting system according to claim 5, characterized in that: The S63 V 调 =(L 摆轮 -L M长 -L M允调 ) / (t V调 +t 加 +t 减 ); t V调 = S V调 / V 调 ; S V调 =L 摆轮 -L M长 -S 加 -S 减 With 减 =S 加 =(V 调 ² -V 标 ²) / 2a 摆轮 ; t 加 = t 减 =(V 调 -V 标 ) / a 摆轮 ; Among them, V 调 The adjusted conveying speed of the swing wheel sorter calculated according to the target adjustment spacing; L 摆轮 is the length of the balance wheel; L M长 The actual length of the Mth package after the verification photoelectric sensor; L M允调 The maximum allowable adjustment distance of the Mth package is calculated based on the actual distance between the M-1th package and the Mth package and the standard distance; t V调 For parcels on the swing wheel sorter to adjust the speed V 调 The time it runs; t 加 For parcels on the balance wheel sorter from V 标 Adjust to V 调 Acceleration time; t 减 For parcels on the balance wheel sorter from V 调 Adjust to V 标 deceleration time; S V调 For parcels on the swing wheel sorter to adjust the speed V 调 Distance run; S 加 For parcels on the balance wheel sorter from V 标 Adjust to V 调 The distance of acceleration; S 减 For parcels on the balance wheel sorter from V 调 Adjust to V 标 The distance of deceleration; V 调 The adjusted conveying speed of the swing wheel sorter calculated according to the target adjustment spacing; V 标 It is the standard conveying speed of the swing wheel sorter; a 摆轮 is the acceleration and deceleration of the balance wheel conveyor.

7. The method for adjusting the package spacing of a balance wheel sorting system according to any one of claims 1 to 5, characterized in that: The route of each package is obtained by a six-sided code reading mechanism during the transportation process.

8. The method for adjusting the package spacing of the balance wheel sorting system according to claim 7, characterized in that: Each of the packages is outputted by the single piece separation device and then conveyed to the six-sided code reading mechanism.

9. The method for adjusting the package spacing of the balance wheel sorting system according to claim 7, characterized in that: The parcel outputted by the single piece separation device is conveyed to the six-sided code reading mechanism after passing through the edge machine or the centering machine.

10. The package spacing adjustment system of the swing wheel sorting system is characterized by: A method for adjusting the package spacing of a balance wheel sorting system according to any one of claims 1 to 9, comprising: A signal receiving and analyzing unit, used to receive the signal of the M+1th package passing through the Nth verification photoelectric sensor, where M is a positive integer, and determine the actual distance between the M+1th package and the Mth package in front of it; The first judgment unit is used to judge whether the actual distance between the M+1th package and the Mth package in front of it is less than the minimum sortable distance of the packages; if so, send a signal to the return flow unit; if not, send a signal to the second judgment unit; The reflux unit is used to clear the tracking data of the two packages, and the system refluxes the two packages; The second judgment unit is used to determine whether the balance wheel sorting machine to which the Mth package is about to arrive is the balance wheel sorting machine corresponding to its route, and if so, send a signal to the sorting unit; if not, send a signal to the distance adjustment unit; A sorting unit is used to start sorting when the Mth package arrives at the swing wheel sorter corresponding to the route; The distance adjustment unit is used to speed up the conveying speed of the swing wheel sorter according to the determined measured length of the Mth package and the actual distance between the Mth package and the M-1th package and the M+1th package, so as to increase the distance between the Mth package and the M+1th package conveyed to the next verification photoelectric sensor within a certain range.

11. The control device of the balance wheel sorting system includes A memory for storing executable instructions; Processor; the processor is configured to execute the steps of the package spacing adjustment method of the balance wheel sorting system according to any one of claims 1-9 by executing the executable instructions.

12. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method for adjusting the package spacing of the balance wheel sorting system according to any one of claims 1 to 9 are implemented.

Images