Sorting machine control method, system and sorting machine

Abstract

The application discloses a sorting machine control method, a sorting machine control system and a sorting machine, and the control method comprises the following steps: S1, after starting the sorting machine, controlling the sorting trolley ring to run at a predetermined ring speed; S2, when receiving a ring emergency braking signal, controlling the primary and secondary cooperation of the linear motor of the sorting machine to generate a reverse thrust according to a stepped reverse thrust control strategy, so that the sorting trolley ring is lowered to a lower limit speed and then stops running; and S3, when receiving a ring normal stop signal, stopping power supply to the primary to make the sorting trolley ring stop running. When emergency braking is needed, the primary and the secondary generate a reverse thrust, so that the stopping of the sorting trolley ring can be effectively accelerated, meanwhile, through the stepped control of the reverse thrust, the smoothness of braking can be realized as much as possible, and the reverse rotation of the sorting trolley ring caused by the excessive reverse thrust can be effectively avoided, so that the reliability of braking is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of logistics sorting, in particular to a sorting machine control method, system and sorting machine. BACKGROUND

[0002] In various sorting machines, such as cross-belt sorting machines, straight narrow-belt sorting machines, and tumbler sorting machines, in order to realize the operation of the sorting trolley loop along the track, in the prior art, a linear motor is used for driving, for example, the driving structure disclosed in the patent with the authorized announcement number CN208257255U. In this structure, the primary of the linear motor is fixed on the track, and the primary of the linear motor is arranged on the sorting trolley.

[0003] This driving mode makes the sorting machine not limited by the length of the sorting trolley loop, and is convenient for assembly and maintenance.

[0004] However, since the working principle of the linear motor is non-contact, the equipment has no mechanical transmission connection, so that when the sorting trolley loop stops running, it can only be stopped freely by inertia.

[0005] This results in that when an emergency occurs, the sorting trolley loop cannot be quickly stopped, and there is a certain safety hazard. SUMMARY

[0006] The purpose of the present application is to solve the above-mentioned problems existing in the prior art, and to provide a sorting machine control method, system and sorting machine.

[0007] The purpose of the present application is achieved by the following technical solutions:

[0008] The sorting machine control method comprises the following steps:

[0009] S1, after starting the sorting machine, controlling the sorting trolley loop to run at a predetermined loop speed;

[0010] S2, when receiving a loop emergency braking signal, controlling the primary and the secondary of the linear motor of the sorting machine to cooperate to generate a reverse thrust to reduce the sorting trolley loop to a lower limit speed, and then stopping power supply to the primary to stop the operation of the sorting trolley loop;

[0011] S3, when receiving a loop normal stop signal, stopping power supply to the primary to stop the operation of the sorting trolley loop.

[0012] Preferably, the predetermined loop speed is between 2 meters / second and 3 meters / second.

[0013] Preferably, the ring line emergency braking signal is generated when an abnormality is detected by a detection sensor of a safety detection mechanism arranged at the front end of the primary of each linear motor.

[0014] Preferably, the distance between the safety detection mechanism and the linear motor is between 3-5 meters.

[0015] Preferably, the safety detection mechanism comprises a fixed seat, a rotating member is pivotally connected to the fixed seat, the rotating member rotates around a rotating shaft parallel to the conveying direction of the sorting trolley, an elastic member is connected between the rotating member and the fixed seat, and the elastic member keeps the rotating member in a position that can be detected by the detection sensor of the fixed seat.

[0016] Preferably, the ring line emergency braking signal is generated when a card is detected by a card detection sensor at the output end of the sorting machine and / or when a manual emergency braking operation is performed.

[0017] Preferably, the control of the primary and secondary of the linear motor of the sorting machine according to the stepped reverse thrust control strategy to generate a reverse thrust to stop the operation of the ring line of the sorting trolley comprises the following processes:

[0018] S21, the reverse thrust generated by the primary and secondary is set to a first set value, and the ring line speed is detected in real time;

[0019] S22, when it is determined that the ring line speed drops to a first set speed, the reverse thrust generated by the primary and secondary is adjusted to a second set value smaller than the first set value, and the ring line speed is detected in real time;

[0020] S23, when it is determined that the ring line speed drops to a second set speed, the reverse thrust generated by the primary and secondary is adjusted to a third set value smaller than the second set value, and the ring line speed is detected in real time;

[0021] S24, when it is determined that the ring line speed drops to a third set speed, the reverse thrust generated by the primary and secondary of the linear motor is adjusted to a fourth set value smaller than the third set value, and the ring line speed is detected in real time;

[0022] S25, when it is determined that the ring line speed drops to a lower limit speed, the power supply to the primary is stopped to stop the operation of the ring line of the sorting trolley.

[0023] Preferably, during the process of stopping the primary power supply to the sorting trolley ring to stop the operation of the sorting trolley ring, whether the ring emergency braking signal is received in real time is detected, if yes, whether the current ring speed is greater than 1 m / s is judged, if yes, the primary and secondary of the linear motor of the sorting machine are controlled to generate reverse thrust according to the stepped reverse thrust control strategy to reduce the sorting trolley ring to the lower limit speed, and then the primary power supply is stopped to stop the operation of the sorting trolley ring; if no, the primary power supply of the linear motor is continued to be stopped.

[0024] The sorting machine control system comprises:

[0025] The normal operation unit is configured to control the sorting trolley ring to run at a predetermined ring speed after the sorting machine is started.

[0026] The ring emergency braking unit is configured to control the primary and secondary of the linear motor of the sorting machine to generate reverse thrust according to the stepped reverse thrust control strategy to reduce the sorting trolley ring to the lower limit speed, and then stop the primary power supply to stop the operation of the sorting trolley ring when the ring emergency braking signal is received.

[0027] The ring normal stop unit is configured to stop the primary power supply to stop the operation of the sorting trolley ring when the ring normal stop signal is received.

[0028] The sorting machine comprises a memory and a processor, and the memory stores a program that can be processed by the processor.

[0029] The advantages of the technical scheme of the present application mainly include:

[0030] The sorting machine control method of the present application adopts different braking modes according to different signals, when emergency braking is needed, reverse thrust is generated by the primary and secondary to effectively accelerate the stopping of the sorting trolley ring, at the same time, through the stepped control of the reverse thrust, the smoothness of braking can be realized as much as possible, and the reverse rotation of the sorting trolley ring caused by excessive reverse thrust can be effectively avoided, thereby ensuring the reliability of braking.

[0031] The emergency braking signal of the present application can be generated by the safety detection mechanism and the material blocking detection mechanism, which can effectively identify abnormal conditions during the operation of the sorting machine, thereby ensuring automatic identification and automatic processing of abnormal conditions and reducing manual intervention.

[0032] The structure of the safety detection mechanism of the present application can effectively detect and process the objects adsorbed on the secondary, and through the distance setting between the safety detection mechanism and the primary, the collision between the foreign matter adsorbed on the secondary and the primary can be avoided to the greatest extent, which is beneficial to the protection of the primary.

[0033] The application detects whether an emergency braking signal is received in real time when the normal ring stops, and adopts different control modes according to the real-time ring speed, which can effectively avoid the ring reverse caused by emergency braking when the ring speed is low, and improve the reliability. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a side view of the sorting machine of the application for linear narrowband sorting;

[0035] Figure 2 is a schematic view of the ring line of the sorting trolley of the application;

[0036] Figure 3 is a process schematic view of one control mode of the sorting machine control method of the application;

[0037] Figure 4 is a specific process schematic view of the sorting machine control method of the application adopting the stepped reverse thrust control strategy;

[0038] Figure 5 is a time-effect comparison view of the shutdown method of the application;

[0039] Figure 6 is a process schematic view of another control mode of the sorting machine control method of the application;

[0040] Figure 7 is a perspective view of the safety detection mechanism of the application;

[0041] Figure 8 is a schematic view of the safety detection mechanism of the application arranged above the lower linear segment;

[0042] Figure 9 is a schematic view of the safety detection mechanism of the application arranged below the upper linear segment;

[0043] Figure 10 is a schematic view of the output end of the sorting machine of the application provided with a card piece detection sensor;

[0044] Figure 11 is a top view of the sorting machine of the application connected with a bag supply mechanism upstream;

[0045] Figure 12 is a side view of the visual stack eliminating device of the application;

[0046] Figure 13 is a schematic view of the falling stack eliminating device of the application. DETAILED DESCRIPTION

[0047] The objectives, advantages, and features of this invention will be illustrated and explained through the following non-limiting description of preferred embodiments. These embodiments are merely typical examples of applying the technical solutions of this invention, and all technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of protection claimed by this invention.

[0048] In the description of the solution, it should be noted that the terms "center," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] The sorting machine control method disclosed in this invention will now be described in conjunction with the accompanying drawings. In this embodiment, as shown in the attached drawings... Figure 1 As shown, the sorting machine is illustrated using a linear narrow strip sorting machine 100 as an example, but other feasible sorting machines may be used in other embodiments.

[0050] As attached Figure 1 Appendix Figure 2 As shown, the sorting trolleys of the linear narrow-strip sorting machine 100 are sequentially connected on a track to form a sorting trolley loop. The sorting trolley loop includes an upper straight section 110, a lower straight section 120, and turning connecting sections at both ends. The sorting trolley loop is driven by a linear motor to move along the track. The primary motor 200 is mounted on the track, and its number and installation position are designed according to the length of the sorting trolley loop, and are not limited here. The secondary motor 300 is located at the bottom of the frame of each sorting trolley and corresponds to the position of the primary motor 200. A certain air gap is maintained between the primary motor 200 and the secondary motor 300 so that when the primary motor 200 is energized, it can effectively cooperate with the secondary motor 300 to generate horizontal thrust, thereby moving the sorting trolley loop along the track.

[0051] As attached Figure 3 As shown, the sorting machine control method includes the following steps:

[0052] S1, After the sorting machine is started, the primary motor 200 and the secondary motor 300 work together to generate a positive horizontal thrust to make the sorting trolley loop run. At the same time, the control device controls the sorting trolley loop to run at a predetermined loop speed. The positive thrust is preferably 200 N (Newtons), and the predetermined loop speed is between 2 m / s and 3 m / s, preferably 2 m / s.

[0053] In the running process of the sorting trolley, the control device detects whether an emergency braking signal and a normal stop signal of the loop are received in real time. The emergency braking signal of the loop can be generated by manual emergency braking operation, such as pressing an emergency braking control button or issuing a voice of emergency braking to the controller or clicking an emergency braking control on the touch screen. The normal stop signal of the loop is generated by manual normal braking operation, such as pressing a stop button, a normal braking control button or issuing a voice of stop or normal braking to the controller or clicking a normal braking control or a stop control on the touch screen.

[0054] S2, when the emergency braking signal of the loop is received, the primary 200 and the secondary 300 of the linear motor of the sorting machine are controlled to generate a reverse thrust according to a stepped reverse thrust control strategy to make the sorting trolley loop stop running after the speed is reduced to a lower limit speed, and then the primary 200 is stopped to make the sorting trolley loop stop running.

[0055] As shown in the accompanying drawings, the process of controlling the primary 200 and the secondary 300 of the linear motor of the sorting machine to generate a reverse thrust according to the stepped reverse thrust control strategy to make the sorting trolley loop stop running includes the following steps: Figure 4 S21, the reverse thrust generated by the primary 200 and the secondary 300 is set to a first set value, and the speed of the loop is detected in real time; specifically, the first set value is 300N.

[0056] S22, when it is determined that the speed of the loop is reduced to a first set speed, the reverse thrust generated by the primary 200 and the secondary 300 is adjusted to a second set value smaller than the first set value, and the speed of the loop is detected in real time; the first set speed is preferably 1.5m / s, and the second set value is 200N.

[0057] S23, when it is determined that the speed of the loop is reduced to a second set speed, the reverse thrust generated by the primary 200 and the secondary 300 is adjusted to a third set value smaller than the second set value, and the speed of the loop is detected in real time; the second set speed is preferably 1.0m / s, and the third set value is 100N.

[0058] S24, when it is determined that the speed of the loop is reduced to a third set speed, the reverse thrust generated by the primary 200 and the secondary 300 of the linear motor is adjusted to a fourth set value smaller than the third set value, and the speed of the loop is detected in real time; the third set speed is preferably 0.5m / s, and the fourth set value is 50N.

[0059]

[0060] ​S25, when determining that the ring line speed drops to the lower limit speed, stop supplying power to the primary 200 to stop the operation of the sorting trolley ring line. The lower limit speed is preferably 0.25 m / s, at which time the primary 200 and the secondary 300 stop generating thrust.

[0061] S3, upon receiving a ring line normal stop signal, stop supplying power to the primary 200 to stop the operation of the sorting trolley ring line.

[0062] As shown in the accompanying Figure 5 After adopting the above control strategy, the downtime is greatly reduced relative to the time of free sliding deceleration, effectively achieving the purpose of rapid shutdown.

[0063] As shown in the accompanying Figure 6 In the S3, during the process of stopping supplying power to the primary 200 to stop the operation of the sorting trolley ring line, it is detected in real time whether an emergency braking signal of the ring line is received. If yes, it is determined whether the current ring line speed is greater than 1 m / s. If yes, the primary 200 and the secondary 300 of the linear motor of the sorting machine are controlled to generate a reverse thrust according to the stepped reverse thrust control strategy to make the sorting trolley ring line drop to the lower limit speed, and then stop supplying power to the primary 200 to stop the operation of the sorting trolley ring line. If not, continue to stop supplying power to the primary 200 of the linear motor.

[0064] At this time, the reverse thrust that the primary 200 and the secondary 300 of the linear motor need to generate can be determined according to the current ring line speed. For example, when the current ring line speed is 1.7 m / s, the reverse thrust generated is 300 N, and when the current ring line speed is 1.4 m / s, the reverse thrust generated is 200 N.

[0065] Embodiment 2

[0066] In this embodiment, as shown in the accompanying Figure 1 The emergency braking signal of the ring line is generated when the detection sensor 410 of the safety detection mechanism 400 provided at the front end (the position passed first during movement of the sorting trolley is defined as the front) of the primary 200 of each linear motor detects an anomaly. The distance between the safety detection mechanism 400 and the linear motor is between 3-5 meters. In this way, when an anomaly is detected, there is enough buffer zone to enable the foreign matter to achieve emergency stop before contacting the primary 200 of the linear motor.

[0067] The detection sensor 410 of the safety detection mechanism 400 can be a pair of infrared sensors arranged in front of each primary 200, and the detection light of the pair of infrared sensors is parallel to the conveying direction of the sorting trolley. The installation height of the pair of infrared sensors can be adjusted according to the installation position of the primary 200. For example, when the primary 200 is used to drive the sorting trolley on the lower straight section 120, the pair of infrared sensors are located a distance below the primary 200, preferably about 1 mm, and the infrared sensors do not affect the movement of the sorting trolley. When the primary 200 is used to drive the sorting trolley on the upper straight section 110, the pair of infrared sensors are located a distance above the primary 200, preferably about 1 mm, and the infrared sensors do not affect the movement of the sorting trolley. The reason for this arrangement is that the secondary 300 on the sorting trolley has a permanent magnet that can attract various magnetic objects, and the magnetic objects are usually located on the surface of the secondary 300. Therefore, when the secondary 300 moves towards the primary 200, the objects it attracts will collide with the primary 200, causing damage to the primary 200. Therefore, when the secondary 300 surface attracts objects and passes through the pair of infrared sensors, the pair of infrared sensors are triggered, generating a ring line emergency braking signal to stop the sorting trolley ring line.

[0068] In a more preferred embodiment, as shown in the accompanying drawings, Figure 7 -attached Figure 9 The safety detection mechanism 400 includes a fixed seat 420, which can be fixed on a bracket (not shown in the figure) on the track, and a rotating member 430 is pivotally connected to the fixed seat 420. The rotating member 430 rotates around a rotating shaft 440 parallel to the conveying direction of the sorting trolley. The rotating member 430 is connected to an elastic member 450 on the fixed seat 420, and the elastic member 450 keeps the rotating member 430 in a position that can be detected by the detection sensor 410 on the fixed seat 420.

[0069] Specifically, the fixed seat 420 comprises a connecting flat plate 421, a connecting hole is arranged on the connecting flat plate 421, a U-shaped groove plate 422 is arranged on one side of the connecting flat plate 421, two parallel side plates 423 of the U-shaped groove plate 422 are perpendicular to the conveying direction of the sorting trolley, the rotating shaft 440 is connected between the two side plates 423, the rotating shaft 440 is pivotally connected with the rotating piece 430, the rotating piece 430 comprises a pivot block 431 and a trigger plate 432 connected to the side of the pivot block 431 away from the U-shaped groove plate, a blocking plate 433 is connected below the trigger plate 432, the blocking plate 433 is arranged on the trigger plate 432 in a position-adjustable manner relative to the trigger plate 432 along the length direction of the trigger plate 432, that is, the trigger plate 432 is provided with a waist-shaped hole 434 extending along the length direction thereof, and the blocking plate 433 is connected with the trigger plate 432 through a bolt connected at the waist-shaped hole 434.

[0070] Meanwhile, at least one limiting piece 460 is further arranged on the U-shaped groove plate 422, the limiting piece 460 is a blocking column located on the side of the trigger plate facing the U-shaped groove plate. The elastic piece 450 is a spring and is located on the side of the trigger plate 432 away from the U-shaped groove plate 422, one end of the elastic piece 450 is fixed on the vertical plate below the connecting flat plate 421, the other end of the elastic piece 450 is connected with an adjusting screw rod 470 arranged on the trigger plate 432, the adjusting screw rod 470 is threadedly connected with the trigger plate 432, and the elastic piece 450 enables the side surface of the trigger plate 432 facing the U-shaped groove plate 422 to abut against the limiting piece 460, so that the trigger plate 432 is kept in a vertical state in a normal state. The detection sensor 410 is a proximity sensor, which is located on the same side of the trigger plate 432 as the elastic piece 450, and the proximity sensor can detect the trigger plate 432 in a normal state.

[0071] The installation height of the blocking plate 433 is also designed according to the installation position of the primary 200, as shown in the accompanying drawings. Figure 8 When the primary 200 is used to drive the sorting trolley of the lower linear segment 120, the blocking plate 433 is located below the trigger plate 432, the bottom of the blocking plate 433 is located at a distance below the bottom of the primary, preferably 1 mm, and meanwhile, the bottom of the blocking plate 433 is higher than the secondary sorting trolley on the lower linear segment.

[0072] When the primary 200 is used to drive the sorting trolley of the lower linear segment 120, the blocking plate 433 is located below the trigger plate 432, the bottom of the blocking plate 433 is located at a distance below the bottom of the primary, preferably 1 mm, and meanwhile, the bottom of the blocking plate 433 is higher than the secondary sorting trolley on the lower linear segment. Figure 9As shown, when the primary 200 is used to drive the sorting trolley of the upper straight section 110, the blocking plate 433 is located above the trigger plate 432 and the top of the blocking plate 433 is located a certain distance above the top of the primary 200, preferably 1 mm. At the same time, the top of the blocking plate is located below the bottom of the secondary on the sorting trolley of the upper straight section 120.

[0073] During operation, when foreign objects are adsorbed on the surface of the secondary 300 (the lower surface of the secondary 300 on the sorting cart of the upper straight section 110 or the upper surface of the secondary 300 on the sorting cart of the lower straight section 120), when the secondary 300 moves past the blocking plate 433, the foreign objects come into contact with the blocking plate 433 and are blocked. The foreign objects will push the rotating component 430 to rotate, so that the detection sensor 410 cannot detect the trigger plate 432. At this time, the loop emergency braking signal is generated.

[0074] As attached Figure 7 As shown, a connector 480 is also provided on the side of the U-shaped groove plate 422 facing away from the rotating member 430. A brush 490 is provided on the connector 480. The bristles 491 of the brush 490 extend and protrude beyond the blocking plate 433. That is, when the blocking plate 433 is below the trigger plate 432, the bristles 491 of the brush 490 extend below the blocking plate 433. When the blocking plate 433 is above the trigger plate 432, the bristles 491 of the brush 490 extend above or above the blocking plate 433. Furthermore, the brush 490 is located in front of the rotating member 430, meaning that the secondary 300 will pass through the brush 490 before passing through the rotating member 430. In this way, the brush 490 can block foreign objects and reduce the probability that foreign objects will move to the primary 200 with the secondary 300.

[0075] Example 3

[0076] In this embodiment, as shown in the appendix Figure 10 As shown, a lower package chute or lower package conveyor 500 is also connected to the output end of the linear narrow belt sorter 100. At the same time, a package detection sensor 600 is also provided at the connection position between the sorter and the lower package chute or lower package conveyor 500 to detect whether there is a package stuck between the linear narrow belt sorter 100 and the lower package chute or lower package conveyor 500. When the package detection sensor 600 detects that there is a package stuck between the linear narrow belt sorter 100 and the lower package chute or lower package conveyor 500, it generates the loop emergency braking signal. If the package detection sensor 600 or self-reflective sensor continuously detects goods for a period of time, it can be determined that there is a package stuck between the linear narrow belt sorter 100 and the lower package chute or lower package conveyor 500.

[0077] Example 4

[0078] As attached Figure 11 -Appendix Figure 13 As shown, an inlet conveyor 700 is provided at one end of the linear narrow strip sorting machine 100. The input end of the inlet conveyor 700 is connected to a barcode scanning conveyor mechanism 800. The barcode scanning conveyor mechanism 800 can be a known six-sided barcode scanning conveyor device, and more preferably, it can be a six-sided barcode scanning DWS device. Its specific structure is known technology and will not be described in detail here. The input end of the barcode scanning conveyor mechanism 800 is connected to a known visual single-item separation device 900. The input end of the visual single-item separation device is connected to a visual stacking elimination device A00. The visual stacking elimination device A00 includes multiple sequentially arranged ramp sections A10. Each ramp section A10 includes a row of ramp machines. Each ramp machine has an independent power source. At the same time, a 3D camera is provided above each ramp section A10. The 3D camera at each ramp section A10 identifies whether there is a stack of packages in each ramp section A10. If so, the stacked packages are separated by the acceleration, deceleration and / or differential motion of the ramp machine in that ramp section A10.

[0079] Furthermore, the input end of the visual stacking elimination device A00 is also connected to the drop stacking elimination device B00. The drop stacking elimination device B00 includes multiple horizontally arranged stacking conveyors B10. The output end of each stacking conveyor B10 is located above the input end of the stacking conveyor B10 connected downstream, and the two are connected by a ramp B20, which enables flexible separation of stacked items.

[0080] The input end of the stacking conveyor B10 is connected to the upper package conveyor C00.

[0081] Using two types of stacking removal devices can effectively ensure the removal of stacked items, thereby improving the accuracy of subsequent sorting and reducing the parcel return rate.

[0082] Example 5

[0083] This embodiment discloses a sorting machine control system, including:

[0084] The normal operation unit is used to control the sorting trolley loop to run at a predetermined loop speed after the sorting machine is started.

[0085] The loop emergency braking unit is used to control the primary 200 and secondary 300 of the linear motor of the sorting machine to generate reverse thrust in accordance with the stepped reverse thrust control strategy when the loop emergency braking signal is received, so that the sorting trolley loop is reduced to the lower limit speed and then the power supply to the primary 200 is stopped so that the sorting trolley loop stops running.

[0086] The loop normal stopping unit is configured to stop supplying power to the primary 200 to stop the sorting trolley loop from running when a loop normal stopping signal is received.

[0087] The sorting machine comprises a memory and a processor, the memory storing a program processable by the processor, wherein the program is executed to implement the control system of any of the above.

[0088] The present application has various embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present application.

Claims

1. A method of controlling a sorter, characterized by, Comprising the following steps: S1, after the sorting machine starts, control the sorting trolley ring line to run at a predetermined ring line speed; S2, when receiving a ring line emergency braking signal, control the primary and secondary of the linear motor of the sorting machine to generate a reverse thrust according to a stepped reverse thrust control strategy to make the sorting trolley ring line stop running at a lower limit speed, then stop supplying power to the primary to make the sorting trolley ring line stop running; S3, when receiving a ring line normal stop signal, stop supplying power to the primary to make the sorting trolley ring line stop running; The process of controlling the primary and secondary of the linear motor of the sorting machine to generate a reverse thrust according to a stepped reverse thrust control strategy to make the sorting trolley ring line stop running includes the following steps: S21, make the reverse thrust generated by the primary and secondary a first set value, and detect the ring line speed in real time; S22, when it is determined that the ring line speed drops to a first set speed, adjust the reverse thrust generated by the primary and secondary to a second set value smaller than the first set value, and detect the ring line speed in real time; S23, when it is determined that the ring line speed drops to a second set speed, adjust the reverse thrust generated by the primary and secondary to a third set value smaller than the second set value, and detect the ring line speed in real time; S24, when it is determined that the ring line speed drops to a third set speed, adjust the reverse thrust generated by the primary and secondary of the linear motor to a fourth set value smaller than the third set value, and detect the ring line speed in real time; S25, when it is determined that the ring line speed drops to a lower limit speed, stop supplying power to the primary to make the sorting trolley ring line stop running.

2. The sorter control method of claim 1, wherein: The predetermined ring line speed is between 2 meters / second and 3 meters / second.

3. The sorter control method of claim 1, wherein: The ring line emergency braking signal is generated when the detection sensor of the safety detection mechanism arranged at the front end of the primary of each linear motor detects an anomaly.

4. The sorter control method of claim 3, wherein: The distance between the safety detection mechanism and the linear motor is between 3-5 meters.

5. The sorter control method of claim 3, wherein: The safety detection mechanism comprises a fixed seat, a rotating member is pivotally connected to the fixed seat, the rotating member rotates around a rotating shaft parallel to the conveying direction of the sorting trolley, an elastic member is connected to the rotating member on the fixed seat, and the elastic member makes the rotating member normally at a position detected by the detection sensor on the fixed seat.

6. The sorter control method of claim 1, wherein: The ring line emergency braking signal is generated when the detection sensor of the safety detection mechanism arranged at the front end of the primary of each linear motor detects an anomaly.

7. The sorter control method of claim 1, wherein: In the process of stopping supplying power to the primary to make the sorting trolley ring line stop running, whether a ring line emergency braking signal is received is detected in real time, if yes, whether the current ring line speed is greater than 1 meter / second is judged, if yes, the primary and secondary of the linear motor of the sorting machine are controlled to generate a reverse thrust according to a stepped reverse thrust control strategy to make the sorting trolley ring line stop running at a lower limit speed, then stop supplying power to the primary to make the sorting trolley ring line stop running; if no, continue to stop supplying power to the primary of the linear motor.

8. The sorting machine control system of the sorting machine control method according to claim 1, characterized by, Comprising: The normal operation unit is used to control the sorting trolley ring to run at a predetermined ring speed after the sorting machine is started; The ring emergency braking unit is used to control the primary and secondary of the linear motor of the sorting machine to generate a reverse thrust according to a stepped reverse thrust control strategy when a ring emergency braking signal is received, so that the sorting trolley ring is lowered to a lower limit speed and then stopped, and the primary is stopped to stop the operation of the sorting trolley ring. The ring normal stop unit is used to stop the primary to stop the operation of the sorting trolley ring when a ring normal stop signal is received.

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