Packing method, device, electronic equipment and storage medium

Abstract

The present invention provides a packing method, device, electronic device and storage medium, which relates to the technical field of packing equipment. Based on the packing system, the packing system includes a feeding device, a transportation device, a handling device and a storage device. The method includes: using the handling device to move the storage device to a preset packing position; obtaining the feeding speed and the transportation speed according to the pre-acquired total weight of the packing; and controlling the operation of the device to pack according to the feeding speed, the preset packing position and the transportation speed. The present invention uses the handling device to move the storage device to a preset packing position, obtains the feeding speed of the feeding device and the transportation speed of the transportation device according to the pre-acquired total weight of the packing, and controls the operation of the device to realize intelligent packing parameter adjustment and intelligent packing, thereby improving packing efficiency. The position of the telescopic end of the transportation device in the storage device is adjusted for packing, so that the materials are packed evenly, and the phenomenon of uneven loading is avoided, thereby increasing the safety of packing and transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of packing equipment, and in particular to a packing method, device, electronic equipment and storage medium. Background Art

[0002] In today's mining production process, efficient and safe packaging of mineral raw materials has become a key link in improving logistics efficiency and reducing costs. As an important industrial raw material, ore loading operations are not only large in volume but also demanding, and are directly related to the safety and economy of subsequent transportation.

[0003] At present, ore packing operations mainly rely on workers to operate loading machinery, such as forklifts or special packers, to deliver ore into containers or truck compartments. The packing efficiency is generally low, and there are significant safety hazards. For example, it is difficult for manual operation to accurately control the amount of ore loaded each time and the packing distribution, resulting in unbalanced loading during packing, which will not only increase the bumps and shaking during transportation, but also cause unstable driving of the vehicle. In severe cases, it will cause rollover accidents and threaten road safety. In addition, existing packing equipment often requires manual pre-adjustment of various parameters of the packer according to different ore types, densities and compartment sizes. This process is time-consuming and labor-intensive, and relies on the operator's experience and judgment. It is easily interfered by individual subjective factors, resulting in uneven packing effects and packing standards. At the same time, frequent manual intervention operations not only reduce work efficiency, but may also further aggravate the unbalanced loading problem due to improper parameter settings, increasing unnecessary operating costs and risks. Summary of the invention

[0004] The problem solved by the invention is how to improve the packing efficiency and safety.

[0005] In order to solve the above problems, the present invention provides a packing method, device, electronic equipment and storage medium.

[0006] In a first aspect, the present invention provides a packing method, based on a packing system, the packing system includes a feeding device, a retractable transport device, a handling device and a storage device, the transport device includes a feeding end and a retractable end, the transport device is used to transport materials from the feeding end to the retractable end, and the packing method includes:

[0007] Using the transport device to move the storage device to a preset packing position;

[0008] Obtaining a feeding speed of the feeding device and a transporting speed of the transporting device according to the pre-acquired total weight of the packing;

[0009] The obtaining of the feeding speed of the feeding device and the transporting speed of the transporting device according to the pre-acquired total weight of the packing comprises:

[0010] Determine the packing conditions according to the total packing weight and the size of the storage device;

[0011] According to the packing working condition, the feeding speed and the transport speed of the corresponding working condition in the historical packing database are retrieved;

[0012] The feeding device is controlled to feed materials according to the feeding speed, and the transportation device is controlled to operate according to the preset box loading position and the transportation speed to adjust the position of the telescopic end of the transportation device in the storage device.

[0013] Optionally, the retrieving the feeding speed and the transport speed of the corresponding working condition in the historical packing database according to the packing working condition comprises:

[0014] If the same working condition as the packing working condition exists in the historical packing database, the feeding speed and the transportation speed of the same working condition are retrieved;

[0015] If there is no operating condition identical to the packaging operating condition in the historical packaging database, determining the similarity between each operating condition in the historical packaging database and the packaging operating condition, and retrieving the feeding speed or the transport speed of the operating condition with the highest similarity to the packaging operating condition;

[0016] When the feeding speed of the working condition with the highest similarity to the box packing working condition is retrieved, the transport speed in the box packing working condition is determined based on the feeding speed;

[0017] When the transport speed of the working condition with the highest similarity to the box packing working condition is retrieved, the feeding speed in the box packing working condition is determined based on the transport speed.

[0018] Optionally, controlling the operation of the transport device according to the preset packing position and the transport speed includes:

[0019] Determine the material drop distance according to the transport speed, the feeding distance and the feeding distance, wherein the feeding distance includes the distance between the feeding device and the transport device, the feeding distance includes the distance between the position where the feeding device feeds to the transport device and the box opening of the storage device, and the material drop distance includes the distance between the telescopic end of the transport device and the box opening when the feeding device is opened or closed;

[0020] When the telescopic end of the transport device is telescoped to a distance between the end and the box opening equal to the material dropping distance, the feeding device is opened or closed.

[0021] Optionally, the transport speed includes a telescopic speed and a belt speed; and determining the material drop distance according to the transport speed, the feeding distance and the delivery distance includes:

[0022] Obtain twice the value of the feeding distance and the square root of the acceleration of gravity, as well as the ratio of the feeding distance to the belt speed, and add the square root to the ratio to obtain the material drop time, wherein the material drop time includes the time for the material to be transported from the feeding device to the box port via the transport device;

[0023] The product of the material dropping time and the telescopic speed is obtained to obtain the material dropping distance.

[0024] Optionally, the packing system further includes a rotating device, which is arranged on the lower end surface of the transport device at a position corresponding to the feeding device; after the feeding device is controlled to feed according to the feeding speed and the transport device is controlled to operate according to the preset packing position and the transport speed, the system further includes:

[0025] When the telescopic end of the transport device is moved out of the storage device, the transport device is rotated to the next preset packing position by using the rotating device;

[0026] The storage device is transported using the transport device.

[0027] Optionally, the packing system further comprises a material dividing and flattening device provided at a telescopic end of the transport device; and controlling the operation of the transport device according to the preset packing position and the transport speed comprises:

[0028] Calculating the height of the boxes in the storage device according to the pre-acquired storage device size and the total weight of the boxes;

[0029] The height of the material dividing and leveling device is adjusted according to the packing height.

[0030] Optionally, the material dividing and flattening device comprises a material dividing device and a flattening device; the flattening device is rotatably connected to the lower part of the material dividing device; and controlling the operation of the transport device according to the preset packing position and the transport speed comprises:

[0031] When the transport device extends into the storage device, the flattening device is telescoped toward the transport device and adjusted in the opposite direction so that the flattening device is located in a direction where the vertical projection plane of the material dividing device is away from the storage device.

[0032] When the transport device extends out of the storage device, the flattening device is telescoped toward the transport device and adjusted in the opposite direction, so that the flattening device is located in a direction where the vertical projection plane of the material dividing device is close to the storage device.

[0033] In a second aspect, the present invention provides a packing device, based on a packing system, the packing system includes a feeding device, a retractable transport device, a handling device and a storage device, the transport device includes a feeding end and a retractable end, the transport device is used to transport materials from the feeding end to the retractable end, including:

[0034] A transport module, used to move the storage device to a preset packing position using the transport device;

[0035] The adjustment module is used to obtain the feeding speed of the feeding device and the transport speed of the transport device according to the pre-acquired total weight of the packing; the obtaining the feeding speed of the feeding device and the transport speed of the transport device according to the pre-acquired total weight of the packing includes: determining the packing condition according to the total weight of the packing and the size of the storage device; and retrieving the feeding speed and the transport speed of the corresponding condition in the historical packing database according to the packing condition;

[0036] An operation module is used to control the feeding of the feeding device according to the feeding speed, and control the operation of the transportation device according to the preset packing position and the transportation speed, so that the transportation device extends into or out of the storage device for packing.

[0037] In a third aspect, the present invention provides an electronic device, including a memory and a processor;

[0038] The memory is used to store computer programs;

[0039] The processor is used to implement the box packing method as described in the first aspect when executing the computer program.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the packing method as described in the first aspect is implemented.

[0041] The packing method, device, electronic device and storage medium of the present invention have the following beneficial effects: the storage device is moved to the preset packing position by the handling device, the feeding speed of the feeding device and the transportation speed of the transportation device are obtained according to the pre-acquired total weight of the packing, the packing working condition is determined according to the total weight of the packing and the size of the storage device, the feeding speed and transportation speed of the corresponding working condition in the historical packing database are retrieved according to the packing working condition, the calculation pressure is reduced, the feeding device is controlled to feed to the feeding end of the transportation device according to the feeding speed, the transportation device is controlled to operate according to the preset packing position and the transportation speed, the packing parameters are automatically adjusted, and packing errors due to manual setting operations are avoided, resulting in poor packing effects, over-packing, under-packing, and eccentric loading, etc., and intelligent packing parameter adjustment and intelligent packing are realized, effectively improving the packing efficiency. At the same time, the operation of the transportation device is controlled according to the determined transportation speed, and the position of the telescopic end of the transportation device in the storage device is adjusted for packing, which effectively increases the packing accuracy, makes the materials in the storage device evenly packed, avoids eccentric loading, and increases the safety of packing and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a packing method according to an embodiment of the present invention;

[0043] Figure 2 A side view of the packaging system according to an embodiment of the present invention Figure 1 ;

[0044] Figure 3 A side view of the packaging system according to an embodiment of the present invention Figure 2 ;

[0045] Figure 4 A schematic diagram of the top view of the packing system according to an embodiment of the present invention;

[0046] Figure 5 It is a side structural schematic diagram of a packing system according to an embodiment of the present invention;

[0047] Figure 6 It is a structural schematic diagram of a box packing device according to an embodiment of the present invention;

[0048] Figure 7 Schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0050] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0051] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0052] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0053] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0054] In view of the problems existing in the above-mentioned related technologies, this embodiment provides a packing method, device, electronic device and storage medium.

[0055] like Figure 1 As shown, an embodiment of the present invention provides a packing method based on a packing system, and the specific structure is as follows Figure 2As shown, the packing system includes a feeding device (such as a vibrating feeder, a hopper, etc.), a retractable transport device (such as a belt transport arm with a retractable arm), a handling device (such as an IGV trolley) and a storage device (such as a container), the transport device includes a feeding end (an end close to the feeding device) and a retractable end (an end away from the feeding device), and the transport device is used to transport materials from the feeding end to the retractable end. Figure 2 In the figure, A represents a feeding device, B represents a transport device, C represents a handling device, and D represents a storage device. The feeding device provides materials to the feeding end of the transport device, and the telescopic part of the telescopic end of the transport device is arranged to move along the material conveying direction thereof and corresponds to a preset boxing position. When boxing is performed, the transport device is operated, and the telescopic part is telescoped to transport the materials from the feeding end of the transport device to the telescopic end. The telescopic part is telescoped to control the position of the telescopic end of the transport device in the storage device at the preset boxing position to perform boxing.

[0056] The packing method comprises:

[0057] Step S1: using the transport device to move the storage device to a preset packing position.

[0058] Specifically, before packing, since the position of the feeding device is fixed and the telescopic transport distance of the transport device is limited, in this embodiment, a plurality of preset packing positions are set around the transport device, such as Figure 4 In G, H and I, after the storage device at the first preset packing position is packed, the direction of the transport device can be moved to pack the storage device at the next preset packing position, so as to avoid waiting for the replacement of the storage device after the packing is completed, thereby improving the packing efficiency. It should be noted that the preset packing position is set according to the telescopic transportation distance of the feeding device and the transport device. For example, the distance between the edge of the preset packing position away from the direction of the transport device and the feeding device does not exceed the total length of the transport device after it is fully extended, and the distance between the edge of the preset packing position close to the direction of the transport device and the feeding device needs to exceed the length of the transport device after it is fully retracted. The storage devices currently used are usually containers, which need to be used in conjunction with mobile devices, such as hoisting machines, but these mobile devices usually require manual operation, and when placing the container at the preset packing position, errors may occur, resulting in the occurrence of eccentric loading when the subsequent transport device is packing, etc. Therefore, this embodiment adopts an intelligent handling device (such as an IGV trolley), and the handling device transports the storage device to the preset packing position according to the preset packing position setting input in advance for packing. After the packing is completed, the handling device moves the storage device to the designated location.

[0059] Step S2: obtaining a feeding speed of the feeding device and a transporting speed of the transporting device according to the pre-acquired total weight of the packaging.

[0060] Specifically, before packing, the running speed of the feeding device and the transport device should be adjusted according to the total packing weight of the storage device. The total packing weight, storage device size, packing height and other information can be manually set, or a visual sensor can be set at the end of the handling device, the transport device and other positions to take pictures and identify the indication area set on the tailgate of the storage device to obtain the size of the storage device and the total packing weight of the materials, and then adjust the feeding speed and transportation speed according to the total packing weight to ensure that the feeding device and the transport device work together for packing. For example, when the storage device is large in size and the total weight of the materials is large, the feeding speed and / or transportation speed will be increased accordingly. When the storage device is small in size and the total weight of the materials is small, the feeding speed and / or transportation speed will be reduced accordingly. The specific values ​​are calculated and adjusted according to the actual situation.

[0061] Step S3, controlling the feeding device to feed materials according to the feeding speed, and controlling the operation of the transport device according to the preset packing position and the transport speed, so as to adjust the position of the telescopic end in the storage device.

[0062] Specifically, the feeding device and the transport device are controlled to operate according to the obtained feeding speed and transport speed, so that the retractable transport device extends into or out of the storage device. During the extension and retraction of the transport device, the material is transported from the feeding end to the storage device at the telescopic end for boxing, so that the boxing distribution in the storage device is more uniform. It should be noted that the telescopic end of the transport device is boxed when it is extended and retracted in the storage device, or is boxed only during the one-way operation of extending or retracting in the storage device. Correspondingly, the feeding speed and the transport speed need to be adjusted according to the boxing scheme. For example, if the telescopic end of the transport device is boxed during the extension and retraction of the storage device, in order to ensure uniform forward distribution, the boxing is carried out according to half of the total boxing weight during the one-way extension or retraction, and the feeding speed and the transport speed are adjusted according to half of the total boxing weight to ensure that the material is evenly boxed into the storage device during the extension and retraction of the transport device. If packing is only carried out during the one-way extension or retraction process in the storage device, the packing is carried out according to the total packing weight and the one-way extension distance, the feeding speed is increased and the transportation speed is reduced to ensure that the materials are evenly packed into the storage device during the one-way extension and retraction process of the transportation device.

[0063] In this embodiment, the storage device is moved to a preset packing position by using the handling device, the feeding speed of the feeding device and the transport speed of the transport device are obtained according to the pre-acquired total packing weight, the packing working condition is determined according to the total packing weight and the size of the storage device, the feeding speed and transport speed of the corresponding working condition in the historical packing database are retrieved according to the packing working condition, the calculation pressure is reduced, the feeding device is controlled to feed to the feeding end of the transport device according to the feeding speed, the transport device is controlled to operate according to the preset packing position and the transport speed, the packing parameters are automatically adjusted, and packing errors due to manual setting operations are avoided, resulting in poor packing results, over-packing, under-packing, and eccentric loading, etc., and intelligent packing parameter adjustment and intelligent packing are realized to effectively improve the packing efficiency. At the same time, the operation of the transport device is controlled according to the determined transport speed, and the position of the telescopic end of the transport device in the storage device is adjusted for packing, which effectively increases the packing accuracy, makes the materials in the storage device evenly packed, avoids eccentric loading, and increases the safety of packing and transportation.

[0064] Optionally, obtaining the feeding speed of the feeding device and the transporting speed of the transporting device according to the pre-acquired total weight of the packaging includes:

[0065] Determine the packing conditions according to the total packing weight and the size of the storage device;

[0066] The feeding speed and the transport speed of the corresponding working condition in the historical packing database are retrieved according to the packing working condition.

[0067] Specifically, after each operation of the packing system, the operating parameters, total packing weight, storage device size, etc. are saved in the database to obtain a historical packing database. In order to save computing efficiency, this embodiment determines the packing conditions according to the total packing weight and the storage device size, and then searches the historical packing database according to the packing conditions, directly retrieves the feeding speed, transportation speed or other related parameters of the same conditions (same total packing weight and storage device size), and directly applies them to the current packing process to avoid repeated calculations and waste of computing power. In addition, if there are no identical conditions in the historical packing database, the operating speeds initially set for the feeding device and the transportation device can be used, and real-time adjustments can be made during the subsequent packing process; or recalculated according to the total packing weight and the storage device size.

[0068] It should be noted that there are fewer types and sizes of storage devices (such as containers) for the same type of materials (such as non-ferrous minerals), and therefore fewer corresponding working conditions. In the commonly used packing process, the feeding speed and transportation speed of the same working condition can usually be retrieved from the historical packing database.

[0069] Optionally, the retrieving the feeding speed and the transport speed of the corresponding working condition in the historical packing database according to the packing working condition comprises:

[0070] If the same working condition as the packing working condition exists in the historical packing database, the feeding speed and the transportation speed of the same working condition are retrieved.

[0071] If there is no operating condition identical to the packaging condition in the historical packaging database, the similarity between each operating condition in the historical packaging database and the packaging condition is determined, and the feeding speed or the transportation speed of the operating condition with the highest similarity to the packaging condition is retrieved.

[0072] When the feeding speed of the working condition with the highest similarity to the packing working condition is retrieved, the transport speed in the packing working condition is determined based on the feeding speed.

[0073] When the transport speed of the working condition with the highest similarity to the packing working condition is retrieved, the feeding speed in the packing working condition is determined based on the transport speed.

[0074] Specifically, if there is a working condition identical to the current packing condition in the historical packing database, the feeding speed, transportation speed and related parameters of the same working condition are directly retrieved and applied to the current packing process. If there is no working condition identical to the current packing condition in the historical packing database, in order to increase the efficiency of parameter calculation, the total packing weight and storage device size are compared with the total packing weight and storage device size of each working condition in the historical packing database, and the similarity between the current packing condition and each working condition is calculated. Any parameter in the working condition with the highest similarity, i.e., the feeding speed or transportation speed, is selected, and another parameter is calculated based on the selected feeding speed or transportation speed according to the total packing weight and storage device size. When the feeding speed is retrieved, the transportation speed in the current packing condition is determined based on the feeding speed. When the transportation speed is retrieved, the feeding speed in the current packing condition is determined based on the transportation speed, so that the calculated parameters are more in line with the current packing condition and the packing accuracy is improved.

[0075] It should be noted that the telescopic transport device of this embodiment is, for example, a belt transport arm with a telescopic arm, and its transport speed includes the belt speed and the telescopic speed. When any one parameter (feeding speed or transport speed) is obtained, the other parameter (transportation speed or feeding speed) is calculated according to the following first formula, and the first formula includes:

[0076] GV 伸 / 2L=V 皮 V 给 ,

[0077] Among them, G represents the total weight of the packing, V 伸 represents the telescopic speed, L represents the length of the storage device, V 皮 Indicates the belt speed, V 给 Indicates the feeding speed.

[0078] After derivation, the final expression formula is obtained:

[0079] G=V 皮 V 给 2L / V 伸 .

[0080] In addition, whether the operating parameters of the same working conditions are used for packing, or the operating parameters calculated according to the above formula are used for packing, in the subsequent operation process, the transportation parameters and feeding speed can be calculated and adjusted according to the above formula during the packing process based on the actual situation. For example, when the total weight of the packing remains unchanged and you want to improve the packing efficiency, you can increase the feeding speed, belt speed and telescopic speed according to the above formula; if you want to increase the belt speed, in order to ensure that the total weight of the packing remains unchanged, adjust the feeding speed accordingly to reduce and / or increase the telescopic speed. The above formula is used to ensure that the feeding speed and transportation speed calculated and adjusted each time can achieve the optimal loading effect, improve the packing accuracy, and avoid the occurrence of overloading to a certain extent.

[0081] Optionally, the transport speed includes a telescopic speed and a belt speed; and controlling the operation of the transport device according to the preset boxing position and the transport speed includes:

[0082] The material drop distance is determined according to the transport speed, the feeding distance and the delivery distance, including:

[0083] Obtain twice the value of the feeding distance and the square root of the acceleration of gravity, as well as the ratio of the feeding distance to the belt speed, add the square root to the ratio to obtain the material drop time, wherein the feeding distance includes the distance between the feeding device and the transport device, such as Figure 3 In h, the feeding distance includes the distance between the position where the feeding device feeds the material on the transport device and the box opening of the storage device, such as Figure 3 Middle 送 The material dropping distance includes the distance between the telescopic end of the transport device and the box opening when the feeding device is opened or closed, and the material dropping time includes the time for the material to be transported from the feeding device to the box opening via the transport device.

[0084] The product of the material dropping time and the telescopic speed is obtained to obtain the material dropping distance.

[0085] When the telescopic end of the transport device is telescoped to a distance between the end and the box opening equal to the material dropping distance, the feeding device is opened or closed.

[0086] Specifically, since the transport device is at a certain distance from the box opening of the storage device at the preset box loading position, the telescopic part of the transport device needs to be extended a certain distance before it can reach the box opening position for loading, that is, the transport device reaches the box opening of the storage device after running for a period of time. If the feeding device and the transport device are operated at the same time, the material has reached the end of the telescopic part of the transport device before the transport device is extended to the box opening, causing the material to fall outside the storage device, resulting in a waste of resources. Therefore, it is necessary to adjust the opening time of the feeding device so that the material can fall accurately into the storage device.

[0087] Get twice the value of the feeding distance and the square root of the acceleration of gravity, get the ratio of the feeding distance to the belt speed, add the square root and the ratio to get the material drop time, and get the material drop distance based on the product of the material drop time and the telescopic speed, which can be expressed as follows:

[0088] +l 送 / V 皮 =T 掉 ,

[0089] T 掉 V 伸 =l 掉 ,

[0090] Among them, h represents the feeding distance, g represents the acceleration of gravity, that is, g=9.81m / s 2 , l 送 Indicates the feeding distance, T 掉 Indicates the material drop time, l 掉 Indicates the material drop distance.

[0091] The material dropping distance calculated by the above formula indicates the distance that the telescopic part of the transport device is extended and retracted during the time when the material drops from the feeding device to the end of the telescopic part of the transport device. The operation process includes: the telescopic part of the transport device runs toward the storage device, and when the distance between the telescopic end of the transport device and the box opening is the material dropping distance, the feeding device is turned on, and then when the telescopic end of the transport device runs to the box opening position, the material just falls from the transport device; or the telescopic part of the transport device is retracted and runs, and when the distance between the telescopic end of the transport device and the box opening is the material dropping distance, the feeding device is closed, and then when the telescopic end of the transport device is retracted to the box opening position, all the excess material on the transport device just falls into the storage device. Even when the transport device moves to the next preset packing position later, it will not cause material dropping or waste of resources. While avoiding waste of resources, the edge part of the storage device can also be packed, effectively solving the problem of unbalanced packing.

[0092] It should be noted that a distance sensor such as an infrared laser sensor, an ultrasonic sensor, etc. may be provided at the end of the telescopic part of the transport device to measure the distance between the end of the telescopic part of the transport device and the box opening of the storage device in real time.

[0093] Optionally, the box packing system further comprises a rotating device, such as Figure 2 E in the figure represents a rotating device; the rotating device is arranged at a position corresponding to the feeding device on the lower end surface of the transport device; after the feeding device is controlled to feed according to the feeding speed and the transport device is controlled to run according to the preset boxing position and the transport speed, it also includes:

[0094] When the telescopic end of the transport device is moved out of the storage device, the transport device is rotated to the next preset packing position by using the rotating device;

[0095] The storage device is transported using the transport device.

[0096] Specifically, the rotating device can perform rotation adjustment on the transport device, such as Figure 4 As shown, when the telescopic end of the transport device is moved out of the storage device, it means that the storage device has been packed. At this time, the storage device at the next preset packing position needs to be packed. Then, with the rotating device as the origin, the angle of the transport device is rotated and adjusted to rotate the transport device from the previous preset packing position to the next preset packing position. While the transport device is rotating, the handling device transports the packed storage device to a designated location for storage, etc., and then transports the empty storage device to the corresponding preset packing position. The handling process of the handling device and the rotation process of the transport device are carried out simultaneously, which effectively reduces time costs and improves packing efficiency. It should be noted that in the prior art, the method of transporting storage devices is usually used for packing, that is, after a storage device is packed, it is transported away, and then another storage device is transported to the location for packing, but the time consumed in the transportation process is relatively long, which greatly reduces the packing efficiency, or the feeding device and the transportation device are transported to the packing position to pack the storage device, but the feeding device and the transportation device are usually integrated, and the volume is large, which is more difficult to move, and the manpower and material resources required are large, and there will be large bumps and shakes during the transportation of the device, causing the material to fall or the various devices to malfunction. This embodiment provides a rotating device to rotate and adjust the transportation device to a preset packing position. Compared with the method of transporting the feeding device and the transportation device, and the method of transporting the storage device, the rotation adjustment method can effectively reduce the bumps generated during transportation and increase the packing efficiency.

[0097] Optionally, the packing system further comprises a material dividing and flattening device provided at a telescopic end of the transport device; and controlling the operation of the transport device according to the preset packing position and the transport speed comprises:

[0098] The packing height in the storage device is calculated according to the pre-acquired storage device size and the total packing weight.

[0099] The height of the material dividing and leveling device is adjusted according to the packing height.

[0100] Specifically, if the transport device is telescopically extended in one trip to pack only half of the total weight of the packing, the height position of the material dividing and leveling device is adjusted to correspond to half of the total height of the materials during the one-way operation of the transport device, so as to meet the corresponding leveling requirements; if the transport device is telescopically extended in one trip to pack the total weight of the packing, the material dividing and leveling device is adjusted to the total height of the materials during the operation of the transport device. This effectively avoids material collapse and dust caused by the material dividing and leveling device being set too high.

[0101] It should be noted that, due to certain errors in actual operation, the "height" in this embodiment may not be a fixed value, but may also be a height range, that is, the height range of the box in the storage device is calculated according to the pre-acquired storage device size and the total weight of the box; the height range of the material dividing and leveling device is adjusted according to the box height. It can be adjusted according to actual conditions and is not specifically limited here.

[0102] In addition, the height of the material dividing and leveling device can be adjusted by a lifting frame arranged below the rotating device.

[0103] Optionally, the material dividing and warehouse closing device includes a material dividing device and a warehouse closing device, such as Figure 5 In the embodiment, F represents a material distribution device, and J represents a warehouse closing device; the warehouse closing device is rotatably connected to the lower part of the material distribution device; and the operation of the transportation device is controlled according to the preset packing position and the transportation speed, including:

[0104] When the transport device extends into the storage device, the flattening device is telescoped toward the transport device and adjusted in the opposite direction so that the flattening device is located in a direction where the vertical projection plane of the material dividing device is away from the storage device.

[0105] When the transport device extends out of the storage device, the flattening device is telescoped toward the transport device and adjusted in the opposite direction, so that the flattening device is located in a direction where the vertical projection plane of the material dividing device is close to the storage device.

[0106] Specifically, when the transport device extends into the storage device, the material is dropped by the transport device for packing by default, and the flattening device is adjusted in the opposite direction of the transport device to flatten the dropped material to ensure uniform packing of the material. Figure 5As shown in the middle figure (a). When the transport device extends out of the storage device, the material is dropped by the transport device for packing by default, and the flattening device is adjusted in the opposite direction of the transport device to flatten the dropped material to ensure uniform packing of the material. At this time, the position of the flattening device is as follows Figure 5 As shown in the middle figure (b), when the flattening device is used to flatten the packed materials, the materials accumulated after the material separation can be effectively flattened, so that the materials are scattered to both sides (i.e., the width direction of the storage device), so that the weight in the width direction of the storage device is uniform, and the unbalanced load phenomenon in the width direction of the storage device is avoided.

[0107] Additionally, the material distribution device may be provided with, for example, three material distribution openings, which are sequentially provided along the width direction of the storage device, so that the material distribution in the width direction of the storage device is more uniform.

[0108] Optionally, the packing system further includes a weighing device; after controlling the operation of the transport device according to the preset packing position and the transport speed, further includes:

[0109] The storage device is transported to the weighing device by using the transport device.

[0110] The weighing device is used to obtain the weights of the four corners of the storage device, and the weight difference between every two corners is determined.

[0111] Whether the packing of the storage device is qualified is judged according to the weight difference and the preset difference, so as to verify the packing effect of the storage device and avoid the phenomenon of uneven loading during packing.

[0112] Optionally, judging whether the packing of the storage device is qualified according to the weight difference and the preset difference includes:

[0113] If any of the weight differences is greater than the preset difference, it is determined that the storage device is not properly packed and there is an overload on the storage device, which may cause an accident during subsequent transportation. The storage device is then transported to the preset packing position for repacking using the transport device.

[0114] If all the weight differences are less than or equal to the preset difference, it is determined that the storage device is packed properly and there is no unbalanced loading in the storage device.

[0115] like Figure 6 As shown, a packing device 600 provided in an embodiment of the present invention is based on a packing system, the packing system includes a feeding device, a retractable transport device, a handling device and a storage device, the transport device includes a feeding end and a retractable end, the transport device is used to transport materials from the feeding end to the retractable end, including:

[0116] A transport module 610, used to move the storage device to a preset packing position using the transport device;

[0117] An adjustment module 620, configured to obtain a feeding speed of the feeding device and a transporting speed of the transporting device according to a pre-acquired total weight of the packaging;

[0118] The operation module 630 is used to control the feeding of the feeding device according to the feeding speed, and control the operation of the transportation device according to the preset packing position and the transportation speed to adjust the position of the telescopic end of the transportation device in the storage device.

[0119] like Figure 7 As shown, an electronic device 700 provided by an embodiment of the present invention includes a memory 710 and a processor 720; the memory 710 is used to store a computer program; the processor 720 is used to implement the above-mentioned packing method when executing the computer program.

[0120] In other words, an electronic device 700 includes a memory 710 and a processor 720 coupled to the memory 710; the memory 710 is configured to store a computer program; and the processor 720 is configured to perform the following operations when executing the computer program:

[0121] Using the transport device to move the storage device to a preset packing position;

[0122] Obtaining a feeding speed of the feeding device and a transporting speed of the transporting device according to the pre-acquired total weight of the packing;

[0123] The feeding device is controlled to feed materials according to the feeding speed, and the transportation device is controlled to operate according to the preset box loading position and the transportation speed to adjust the position of the telescopic end of the transportation device in the storage device.

[0124] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned box packing method is implemented.

[0125] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0126] Using the transport device to move the storage device to a preset packing position;

[0127] Obtaining a feeding speed of the feeding device and a transporting speed of the transporting device according to the pre-acquired total weight of the packing;

[0128] The feeding device is controlled to feed materials according to the feeding speed, and the transportation device is controlled to operate according to the preset box loading position and the transportation speed to adjust the position of the telescopic end of the transportation device in the storage device.

[0129] An electronic device 700 that can be used as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 700 is intended to represent various forms of digital electronic computer equipment, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 700 can also represent various forms of transport devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present invention described herein and / or required.

[0130] The electronic device 700 includes a computing unit, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0131] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0132] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A packing method, characterized in that: Based on a packing system, the packing system includes a feeding device, a retractable transport device, a handling device and a storage device, the transport device includes a feeding end and a retractable end, the transport device is used to transport materials from the feeding end to the retractable end, and the packing method includes: Using the transport device to move the storage device to a preset packing position; Obtaining a feeding speed of the feeding device and a transporting speed of the transporting device according to the pre-acquired total weight of the packing; The obtaining of the feeding speed of the feeding device and the transporting speed of the transporting device according to the pre-acquired total weight of the packing comprises: Determine the packing conditions according to the total packing weight and the size of the storage device; According to the packing working condition, the feeding speed and the transport speed of the corresponding working condition in the historical packing database are retrieved; Controlling the feeding device to feed materials according to the feeding speed, and controlling the operation of the transport device according to the preset boxing position and the transport speed, so as to adjust the position of the telescopic end of the transport device in the storage device; The controlling the operation of the transport device according to the preset packing position and the transport speed comprises: Determine the material drop distance according to the transport speed, the feeding distance and the feeding distance, wherein the feeding distance includes the distance between the feeding device and the transport device, the feeding distance includes the distance between the position where the feeding device feeds to the transport device and the box opening of the storage device, and the material drop distance includes the distance between the telescopic end of the transport device and the box opening when the feeding device is opened or closed; Determining the material drop distance according to the transport speed, the feeding distance and the delivery distance comprises: Obtain twice the value of the feeding distance and the square root of the gravitational acceleration, as well as the ratio of the feeding distance to the belt speed, and add the square root to the ratio to obtain the material drop time, wherein the material drop time includes the time for the material to be transported from the feeding device to the box port via the transport device; Obtain the product of the material dropping time and the telescopic speed to obtain the material dropping distance, wherein the transport speed includes the telescopic speed and the belt speed; When the telescopic end of the transport device is telescoped to a distance between the end and the box opening equal to the material dropping distance, the feeding device is opened or closed.

2. The packing method according to claim 1, characterized in that: The step of retrieving the feeding speed and the transportation speed of the corresponding working condition in the historical packing database according to the packing working condition comprises: If the same working condition as the packing working condition exists in the historical packing database, the feeding speed and the transportation speed of the same working condition are retrieved; If there is no operating condition identical to the packaging operating condition in the historical packaging database, determining the similarity between each operating condition in the historical packaging database and the packaging operating condition, and retrieving the feeding speed or the transport speed of the operating condition with the highest similarity to the packaging operating condition; When the feeding speed of the working condition with the highest similarity to the box packing working condition is retrieved, the transport speed in the box packing working condition is determined based on the feeding speed; When the transport speed of the working condition with the highest similarity to the box packing working condition is retrieved, the feeding speed in the box packing working condition is determined based on the transport speed.

3. The packing method according to claim 1, characterized in that: The packing system further includes a rotating device, which is arranged at a position on the lower end surface of the transport device corresponding to the feeding device; after the feeding device is controlled to feed according to the feeding speed and the transport device is controlled to operate according to the preset packing position and the transport speed, the system further includes: When the telescopic end of the transport device is moved out of the storage device, the transport device is rotated to the next preset packing position by using the rotating device; The storage device is transported using the transport device.

4. The packing method according to claim 1, characterized in that: The packing system further includes a material dividing and flattening device disposed at the telescopic end of the transport device; and controlling the operation of the transport device according to the preset packing position and the transport speed includes: Calculating the height of the boxes in the storage device according to the pre-acquired storage device size and the total weight of the boxes; The height of the material dividing and leveling device is adjusted according to the packing height.

5. The packing method according to claim 4, characterized in that: The material dividing and leveling device comprises a material dividing device and a leveling device; the leveling device is rotatably connected to the lower part of the material dividing device; and the operation of the transport device is controlled according to the preset packing position and the transport speed, comprising: When the transport device extends into the storage device, the flattening device is adjusted in the opposite direction of the transport device so that the flattening device is located in the direction where the vertical projection of the material distributing device is away from the storage device; When the transport device extends out of the storage device, the flattening device is telescoped toward the transport device and adjusted in the opposite direction, so that the flattening device is located in a direction where the vertical projection plane of the material dividing device is close to the storage device.

6. A packing device, characterized in that: Based on a box packing system, the box packing system includes a feeding device, a retractable transport device, a handling device and a storage device, the transport device includes a feeding end and a retractable end, and the transport device is used to transport materials from the feeding end to the retractable end, including: A transport module, used to move the storage device to a preset packing position using the transport device; The adjustment module is used to obtain the feeding speed of the feeding device and the transport speed of the transport device according to the pre-acquired total weight of the packing; the obtaining the feeding speed of the feeding device and the transport speed of the transport device according to the pre-acquired total weight of the packing includes: determining the packing condition according to the total weight of the packing and the size of the storage device; and retrieving the feeding speed and the transport speed of the corresponding condition in the historical packing database according to the packing condition; An operation module is used to control the feeding of the feeding device according to the feeding speed, and control the operation of the transportation device according to the preset packing position and the transportation speed, so as to adjust the position of the telescopic end of the transportation device in the storage device; the control of the operation of the transportation device according to the preset packing position and the transportation speed includes: determining the drop distance according to the transportation speed, the feeding distance and the feeding distance, wherein the feeding distance includes the distance between the feeding device and the transportation device, the feeding distance includes the distance between the position where the feeding device feeds to the transportation device and the box opening of the storage device, and the drop distance includes the telescopic end of the transportation device when the feeding device is turned on or off. The distance between the end and the box opening; the determining of the material dropping distance according to the transport speed, feeding distance and feeding distance includes: obtaining twice the feeding distance and the square root of the acceleration of gravity, and the ratio of the feeding distance to the belt speed, adding the square root to the ratio to obtain the material dropping time, wherein the material dropping time includes the time for the material to be transported from the feeding device to the box opening via the transport device; obtaining the product of the material dropping time and the telescopic speed to obtain the material dropping distance, wherein the transport speed includes the telescopic speed and the belt speed; when the telescopic end of the transport device is telescoped to a distance between it and the box opening that is the material dropping distance, opening or closing the feeding device.

7. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to implement the box packing method according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the packing method according to any one of claims 1 to 5 is implemented.

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