Aerial track type low-temperature prefabricated ladle point flexible feeding system and feeding method

Abstract

The invention belongs to the technical field of aerial material transportation, and particularly relates to an aerial rail type low-temperature prefabricated package point flexible feeding system and method, and the feeding system comprises an aerial rail module, a stuffing barrel, a feeding module, a communication module and a control module; the air rail module comprises an air rail and a plurality of shuttle vehicles, and the shuttle vehicles are movably arranged on the air rail; the aerial track is provided with a plurality of parking points with adjustable positions; the stuffing barrel is arranged below the shuttle vehicle, and a lifting module is connected between the stuffing barrel and the shuttle vehicle; the feeding module is arranged on the stuffing barrel, and the feeding module is configured to start or stop feeding of the stuffing barrel; the control module is in communication connection with the empty rail module, the stuffing barrel and the feeding module through the communication module.

Description

Technical Field

[0001] The invention belongs to the technical field of aerial material transportation, and in particular relates to an aerial track-type low-temperature prefabricated package point flexible feeding system and a feeding method. Background Art

[0002] The food industry is a typical labor-intensive industry. Its production process involves a variety of raw materials, semi-finished products, and finished products, which brings great challenges to the material flow between different workstations and workshops. In order to meet consumers' pursuit of low-temperature prefabricated buns and tastes, the existing low-temperature prefabricated bun production process has gradually shifted from traditional large-volume orders to multi-variety, small-batch production. In this flexible production context, the forming machine completes the production of multiple buns by switching different fillings and production processes. The traditional filling delivery is mainly completed manually, which cannot meet the needs of large-scale automated production. At the same time, since the forming machine usually requires different types of fillings to process different types of buns, this switching of raw materials also requires the feeding system to have a certain flexible transportation capacity. Common solutions such as pipeline transportation and aerial rail transportation are both solutions for long-distance filling transportation, but pipeline transportation has limited adaptability to the flow performance of different types of fillings, and frequent switching of filling types is more troublesome; while the traditional aerial rail transportation system has poor flexibility and can only transport a single type of raw materials, which is not suitable for the flexible feeding needs of frequent switching in the production process of low-temperature prefabricated buns. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention provides a flexible feeding system for low-temperature prefabricated buns with an aerial track to solve the problems that the pipeline transportation in the prior art has limited adaptability to the flow performance of different types of fillings, the frequent switching of filling types is troublesome, and the traditional aerial track transportation system has poor flexibility and is not suitable for the flexible feeding requirements of frequent switching in the production process of low-temperature prefabricated buns.

[0004] One solution of the present invention provides an aerial track type low-temperature prefabricated bun point flexible feeding system, comprising: an aerial track module, a filling bucket, a feeding module, a communication module and a control module; The aerial track module includes an aerial track and a plurality of shuttle vehicles, wherein the shuttle vehicles are movably arranged on the aerial track; the aerial track is provided with a plurality of parking points with adjustable positions; The filling barrel is arranged below the shuttle vehicle, and a lifting module is connected between the filling barrel and the shuttle vehicle; the feeding module is arranged on the filling barrel, and the feeding module is configured to open or close the feeding of the filling barrel; The control module is communicatively connected with the empty rail module, the filling bucket and the feeding module through the communication module.

[0005] In one of the solutions of the present invention, the control module includes a data receiving unit and a path planning unit; The data receiving unit is used to obtain the material demand information of the target forming machine, the status information of the filling barrel and the current power of the shuttle vehicle transmitted by the communication module; The path planning unit is configured to generate an optimal operation path according to the material demand information of the target forming machine, the state information of the filling barrel and the current power of the shuttle vehicle, and generate an action instruction of a certain shuttle vehicle according to the optimal operation path; The communication module sends the action instruction to the corresponding shuttle vehicle, so that the shuttle vehicle operates according to the action instruction.

[0006] In one of the solutions of the present invention, the aerial track includes a main track and a secondary track, the main track is provided with at least two, and the secondary track is provided between two adjacent main tracks; A steering module is rotatably provided at the connection between the main track and the secondary track, and a transition track connecting the main track and the secondary track is provided on the steering module for switching the shuttle vehicle between the main track and the secondary track.

[0007] In one of the schemes of the present invention, the aerial track is correspondingly provided with a charging area, a feeding area, a replenishing area and an idle area, the docking points are arranged on the secondary track, and the docking points at least include a charging docking point, a feeding docking point, a replenishing docking point and an idle docking point; the charging docking point is arranged on one side of the feeding docking point, the replenishing docking point is arranged on the other side of the feeding docking point, and the idle docking point is arranged between the feeding docking point and the charging docking point or between the feeding docking point and the replenishing docking point.

[0008] In one of the schemes of the present invention, an obstacle avoidance device is provided on one side of the shuttle vehicle in the direction of travel, and the obstacle avoidance device is used to identify the relative distance between the current shuttle vehicle and the shuttle vehicle in front, and suspend the operation of the current shuttle vehicle when the relative distance is less than the safety distance; The obstacle avoidance device is electrically connected to the communication module, and when the shuttle vehicle suspends operation, the suspension operation information is sent to the control module through the communication module; Wherein, the obstacle avoidance device is one or more of an infrared obstacle avoidance device, an ultrasonic obstacle avoidance device, a laser obstacle avoidance device or a visual obstacle avoidance device.

[0009] In one of the solutions of the present invention, a driving assembly is provided inside the shuttle vehicle for enabling the shuttle vehicle to run along the aerial track; A rack is provided on the track surface of the aerial track, and a gear is provided at the output end of the driving assembly, the gear meshes with the rack, and is used to make the shuttle vehicle run along the aerial track through meshing transmission when the driving assembly is running; Alternatively, the output end of the driving assembly is configured as a rotating wheel, and the rotating wheel abuts against the track surface of the aerial track.

[0010] In one of the schemes of the present invention, an identification tag is provided on the parking point, and the shuttle vehicle is provided with an identification device corresponding to the identification tag; wherein the identification tag is any one of an RFID tag, a barcode or a QR code, and the identification device is correspondingly configured as an RFID identifier or a camera module.

[0011] In one solution of the present invention, the fixing assembly of the lifting module is connected to the shuttle vehicle, and the lifting member of the lifting module is connected to the filling barrel; wherein the lifting module is a chain lifting module or a screw lifting module; The feeding module comprises a connecting assembly and a rotating member, wherein the connecting assembly is connected to the lifting member of the lifting module, the filling barrel is arranged on the rotating member, and the rotating member is in transmission connection with the connecting assembly, and is used for synchronously driving the filling barrel to flip when the rotating member rotates, so that the filling barrel is tilted for feeding or reset; The filling barrel is provided with a shielding module, which is rotatably arranged at the opening of the filling barrel and is transmission-connected with the feeding module for removing the covering of the shielding module when feeding into the filling barrel.

[0012] In one of the solutions of the present invention, the filling barrel is further provided with a residual material sensor, and the residual material sensor is arranged on a side of the shielding module facing the filling barrel or is arranged inside the filling barrel; The filling barrel is provided with a wireless communication unit, and the residual material sensor is electrically connected to the communication module via the wireless communication unit, so as to obtain the status information of the filling barrel and transmit it to the control module.

[0013] In one of the schemes of the present invention, there is also provided an aerial track type low temperature prefabricated bun point flexible feeding method, which can be used for the aerial track type low temperature prefabricated bun point flexible feeding system described in any of the above multiple schemes, and the method comprises: Real-time monitoring of key equipment status information through the communication module, including the current power of the shuttle, the filling information of the forming equipment, and the filling capacity in the barrel; Monitor whether the control demand in the status information reaches the set trigger threshold, and determine the shuttle's destination based on the detection result; Based on the operation destination and the status information, a plurality of shuttle vehicles are coordinated and dispatched by a path planning method to determine the optimal operation path for each shuttle vehicle; Based on the optimal operation path, an action instruction is sent to each shuttle vehicle through the communication module, and the shuttle vehicle autonomously runs to the destination parking point and performs the predetermined operation; During the operation of the shuttle, the tag reader is used to obtain the identification tag on the track to determine whether it has reached the destination stop.

[0014] The aerial track type low-temperature prefabricated bun point flexible feeding system and feeding method provided by the present invention can achieve the following beneficial effects: 1. By using the sky rail module to transport the filling barrel for feeding, it does not occupy the ground space and does not affect the flow of people and logistics in the workshop; and by setting up multiple adjustable parking points, it can adapt to the feeding scenarios of various fillings switching; after arriving at the parking point, the lifting module and the feeding module are used to make the filling barrel approach the forming machine barrel and flip the feeding, which meets the needs of automatic filling feeding and is suitable for multi-variety and small-batch automated production.

[0015] 2. By setting up multiple shuttles, since the shuttles can move to different parking points on the track, the system can adapt to the flexible production needs of multiple varieties and small batches, facilitate switching between different feeding areas, and allow multiple shuttles to carry different varieties of fillings, which can effectively solve the problem that the existing technology can only transport a single variety of raw materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 A schematic diagram showing the layout of the aerial track type low-temperature prefabricated package point flexible feeding system of the present invention; Figure 2 A three-dimensional schematic diagram showing the automatic feeding of the shuttle vehicle of the present invention; Figure 3 A schematic diagram showing the top view of the layout of the aerial track type low-temperature prefabricated package point flexible feeding system of the present invention; Figure 4 A schematic diagram showing the structure of the shuttle vehicle of the present invention; Figure 5 A schematic diagram showing the composition of the aerial track type low-temperature prefabricated package point flexible feeding system of the present invention; Figure 6 A schematic diagram showing the composition of the control module of the present invention; Figure 7 A schematic flow diagram showing the feeding method of the present invention.

[0018] The following are the descriptions of the reference numerals: 1-air track module; 11-air track; 12-shuttle car; 13-main track; 14-secondary track; 15-steering module; 16-obstacle avoidance device; 111-charging area; 112-feeding area; 113-replenishing area; 114-idle area; 1101-charging parking point; 1102-feeding parking point; 1103-replenishing parking point; 1104-idle parking point; 2-filling barrel; 21-shielding module; 3-feeding module; 31-connecting assembly; 32-rotating part; 4-communication module; 5-control module; 51-data receiving unit; 52-path planning unit; 6-lifting module. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Please refer to Figure 1-6 One embodiment of the present invention provides an aerial track type low-temperature prefabricated bun point flexible feeding system, including: an aerial track module 1, a filling bucket 2, a feeding module 3, a communication module 4 and a control module 5; The aerial rail module 1 includes an aerial rail 11 and a plurality of shuttle vehicles 12, wherein the shuttle vehicles 12 are movably arranged on the aerial rail 11; the aerial rail 11 is provided with a plurality of parking points with adjustable positions; The filling barrel 2 is arranged below the shuttle vehicle 12, and a lifting module 6 is connected between the filling barrel 2 and the shuttle vehicle 12; the feeding module 3 is arranged on the filling barrel 2, and the feeding module 3 is configured to open or close the feeding of the filling barrel 2; The control module 5 is in communication connection with the empty rail module 1 , the filling barrel 2 and the feeding module 3 through the communication module 4 .

[0021] In this embodiment, automatic transportation and feeding of fillings are achieved through the automated aerial track 11 and shuttle 12, which reduces the need for manual handling and feeding and reduces the labor intensity of workers; at the same time, the automatic feeding of multiple fillings meets the flexible production needs of multiple varieties and small batches, and can quickly respond to the production needs of different buns on the production line. At the same time, since the filling barrel 2 is arranged under the shuttle 12 and the feeding is carried out through the lifting module 6, the dust and pollution of the filling during transportation can be reduced.

[0022] Please refer to Figure 5 and 6 , in one embodiment of the present invention, the control module 5 includes a data receiving unit 51 and a path planning unit 52; The data receiving unit 51 is used to obtain the material demand information of the target forming machine, the status information of the filling barrel 2 and the current power of the shuttle vehicle 12 transmitted by the communication module 4; The path planning unit 52 is configured to generate an optimal operation path according to the material demand information of the target forming machine, the state information of the filling barrel 2 and the current power of the shuttle vehicle 12, and generate an action instruction of a certain shuttle vehicle 12 according to the optimal operation path; The communication module 4 sends the action instruction to the corresponding shuttle vehicle 12, so that the shuttle vehicle 12 operates according to the action instruction.

[0023] In this embodiment, by acquiring the material demand information of the target molding machine in real time to ensure that the system can respond in a timely manner and meet the specific needs of the molding machine, and receiving the status information of the filling barrel 2 and the current power of the shuttle 12, the system can monitor the key parameters of the entire feeding process in real time, and the path planning unit 52 can dynamically adjust the operation plan of the shuttle 12 according to the real-time data, realize intelligent scheduling, and avoid potential conflicts and collisions between the shuttles 12.

[0024] Please refer to Figure 1-4 In one embodiment of the present invention, the aerial track 11 includes a main track 13 and a secondary track 14, the main track 13 is provided with at least two, and the secondary track 14 is provided between two adjacent main tracks 13; A steering module 15 is rotatably provided at the connection between the main track 13 and the secondary track 14 , and a transition track connecting the main track 13 and the secondary track 14 is provided on the steering module 15 for switching the shuttle vehicle 12 between the main track 13 and the secondary track 14 .

[0025] In this embodiment, the design of the main track 13 and the secondary track 14, the steering module 15 is driven to rotate by a motor, and combined with the transition track in the steering module 15, the transition track is "T"-shaped, so that the shuttle vehicle 12 can flexibly switch between different tracks, and the multiple main tracks 13 improve the transportation capacity of the system, and can handle more shuttle vehicles 12 at the same time.

[0026] In one embodiment of the present invention, the aerial track 11 is correspondingly provided with a charging area 111, a feeding area 112, a replenishing area 113 and an idle area 114, and the docking points are arranged on the secondary track 14, and the docking points at least include a charging docking point 1101, a feeding docking point 1102, a replenishing docking point 1103 and an idle docking point 1104; the charging docking point 1101 is arranged on one side of the feeding docking point 1102, the replenishing docking point 1103 is arranged on the other side of the feeding docking point 1102, and the idle docking point 1104 is arranged between the feeding docking point 1102 and the charging docking point 1101 or between the feeding docking point 1102 and the replenishing docking point 1103.

[0027] In this embodiment, by reasonably arranging the charging area 111, the feeding area 112, the replenishing area 113 and the idle area 114, as well as the corresponding parking points on the aerial track 11, efficient scheduling and management of the shuttle vehicle 12 are achieved; and each parking point is provided with independent identifiable identification content (such as number, location information), so that the shuttle vehicle 12 can stop accurately at a specific parking point.

[0028] In one embodiment of the present invention, an obstacle avoidance device 16 is provided on one side of the shuttle vehicle 12 in the direction of travel, and the obstacle avoidance device 16 is used to identify the relative distance between the current shuttle vehicle 12 and the preceding shuttle vehicle 12, and to suspend the operation of the current shuttle vehicle 12 when the relative distance is less than the safety distance; The obstacle avoidance device 16 is electrically connected to the communication module 4, and when the shuttle vehicle 12 stops running, the communication module 4 sends the suspension operation information to the control module 5; The obstacle avoidance device 16 is one or more of an infrared obstacle avoidance device, an ultrasonic obstacle avoidance device, a laser obstacle avoidance device or a visual obstacle avoidance device.

[0029] In this embodiment, the obstacle avoidance device 16 can monitor the distance between the shuttle vehicle 12 and the shuttle vehicle 12 in front in real time. When the distance is less than the safe distance, the operation of the current shuttle vehicle 12 is automatically suspended, effectively preventing collision accidents and ensuring the safety of personnel and equipment.

[0030] Please refer to Figure 4In one embodiment of the present invention, a driving assembly is provided inside the shuttle vehicle 12 for making the shuttle vehicle 12 run along the aerial track 11; A rack is provided on the track surface of the aerial track 11, and a gear is provided at the output end of the driving assembly, and the gear is meshed with the rack, so as to make the shuttle 12 run along the aerial track 11 through meshing transmission when the driving assembly is running; Alternatively, the output end of the driving assembly is configured as a rotating wheel, and the rotating wheel abuts against the track surface of the aerial track 11 .

[0031] In this embodiment, the meshing transmission mode of the rack and the gear can provide greater friction, ensuring the stability of the shuttle 12 during operation. At the same time, when docked at a parking point, self-positioning can be achieved through meshing to avoid sliding.

[0032] In one embodiment of the present invention, an identification tag is provided at the parking point, and the shuttle vehicle 12 is provided with an identification device corresponding to the identification tag; wherein the identification tag is any one of an RFID tag, a barcode or a QR code, and the identification device is correspondingly configured as an RFID identifier or a camera module.

[0033] In this embodiment, the identification tag is provided to provide a unique identification for each parking point, so that the shuttle 12 can accurately identify its own position, thereby reducing the time loss caused by inaccurate positioning or manual operation delays.

[0034] Please refer to Figure 1 and 3 In one of the implementation scenarios of this embodiment, the design of the aerial track 11 needs to pass through the molding machine, manual feeding and other areas, and set a number of parking points on the track, including four types of idle parking points 1104, feeding parking points 1102, feeding parking points 1103, and charging parking points 1101. An RFID tag is set at each parking point of the aerial track 11, and different types of parking point information are accessed through custom coding. At the same time, an RFID reader is installed at the bottom of the shuttle 12. When the shuttle 12 runs on the track, the RFID reader obtains the RFID tag information on the track, clarifies the current parking point information, and determines whether it has reached the destination parking point. If the shuttle 12 reaches the destination parking point, it stops moving forward and performs corresponding actions such as idle, feeding, feeding, and charging.

[0035] In one embodiment of the present invention, the fixing assembly of the lifting module 6 is connected to the shuttle vehicle 12, and the lifting member of the lifting module 6 is connected to the filling barrel 2; wherein the lifting module 6 is a chain lifting module or a screw lifting module; The feeding module 3 includes a connecting component 31 and a rotating member 32, wherein the connecting component 31 is connected to the lifting member of the lifting module 6, and the filling barrel 2 is arranged on the rotating member 32, and the rotating member 32 is transmission-connected with the connecting component 31, and is used for synchronously driving the filling barrel 2 to turn over when the rotating member 32 rotates, so that the filling barrel 2 is tilted for feeding or reset; The filling barrel 2 is provided with a shielding module 21, which is rotatably arranged at the opening of the filling barrel 2, and the shielding module 21 is transmission-connected with the feeding module 3, so as to remove the covering of the shielding module 21 when feeding the filling barrel 2.

[0036] In this embodiment, a chain lifting module is used, and the motor in the chain lifting module is arranged in a fixed component. The rotor of the motor is meshed with the chain for transmission, and the other end of the chain is connected to the lifting member, so that when the motor is running, the height of the lifting member is lifted and lowered by the retraction and extension of the chain. Alternatively, a screw lifting module is used, and the height of the fixed component is lifted and lowered by the motor arranged in the fixed component through a transmission screw, thereby realizing precise lifting and lowering control of the filling barrel 2. The filling barrel 2 can be lifted to a suitable height as needed, so as to adapt to the feeding operation of the molding machines of different heights; and the shielding module 21 is used to prevent the filling from splashing or being contaminated during the transportation process before feeding.

[0037] In one embodiment of the present invention, the filling barrel 2 is further provided with a residual material sensor, and the residual material sensor is arranged on a side of the shielding module 21 facing the filling barrel 2 or is arranged inside the filling barrel 2; The filling barrel 2 is provided with a wireless communication unit, and the residual material sensor is electrically connected to the communication module 4 via the wireless communication unit, so as to obtain the status information of the filling barrel 2 and transmit it to the control module 5 .

[0038] In this embodiment, the remaining material information is transmitted to the control module 5 through the wireless communication unit, and the system can timely understand the remaining material status of each filling barrel 2, so as to make timely replenishment decisions and avoid production interruptions due to material shortages; at the same time, the control module 5 can optimize the scheduling plan of the shuttle vehicle 12 according to the data provided by the remaining material sensor, and give priority to replenishing the filling barrels 2 with less remaining material.

[0039] Please refer to Figure 7 In one embodiment of the present invention, there is also provided an aerial track type low temperature prefabricated bun point flexible feeding method, which can be used for the aerial track type low temperature prefabricated bun point flexible feeding system described in any of the above multiple embodiments, and the method comprises: S10, monitoring the status information of key equipment in real time through the communication module, wherein the status information includes the current power of the shuttle, the filling information of the forming equipment, and the filling capacity in the barrel; S20, monitoring whether the control demand in the status information reaches the set trigger threshold, and determining the running destination of the shuttle vehicle according to the detection result; S30, based on the operation destination and the state information, coordinate and dispatch multiple shuttle vehicles through a path planning method to determine the optimal operation path for each shuttle vehicle; S40, based on the optimal operation path, sending an action instruction to each shuttle vehicle through the communication module, so that the shuttle vehicle autonomously runs to the destination parking point and performs a predetermined operation; During the operation of the shuttle, the tag reader is used to obtain the identification tag on the track to determine whether it has reached the destination stop.

[0040] In one of the implementation scenarios of this embodiment, the control module first integrates the information of the communication module, including the current power of each shuttle, the filling information of the forming machine, the filling capacity in the filling barrel, etc., to determine the running destination of each shuttle. Furthermore, the control module confirms the optimal running path of each shuttle through a path planning method, and the communication module sends instructions to the controller inside each shuttle to perform corresponding actions, and the shuttle autonomously runs to the destination parking point and starts corresponding operations. At the same time, in order to avoid collisions between multiple shuttles on the track, an obstacle avoidance device is installed on the shuttle to detect the distance to the shuttle in front in real time. When it is less than the safe distance, the operation is suspended, thereby realizing a self-organized and coordinated operation mode of multiple shuttles going to multiple destinations.

[0041] In one embodiment of the present invention, the shuttle vehicle autonomously runs to the destination parking point and performs predetermined operations, including any one or more of the following: When the shuttle arrives at the feeding stop, the lifting device controls the filling barrel to move smoothly down to the specified height, and the motor flips the filling barrel to realize automatic dumping.

[0042] Alternatively, corresponding shielding and assisting devices may be added to the filling barrel to adapt to the flow properties of different types of fillings, avoid spilling of fillings, and improve the efficiency of automatic pouring.

[0043] Alternatively, after the pouring is completed, the filling barrel is controlled by the lifting device to move upward steadily and stops after reaching a designated position.

[0044] Alternatively, in order to maintain a reasonable filling capacity in the filling barrels mounted on all shuttle vehicles, the filling barrels that are short of material need to run to the filling stop, and the filling barrels need to be lowered to a reasonable height by a lifting device. The front-line personnel on the ground will perform filling operations such as replacing the filling barrels and adding fillings, and update the data information of the filling barrels (such as identifiable label content, which is used for the control module to obtain the remaining filling amount).

[0045] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An aerial track-type low-temperature prefabricated bun point flexible feeding system, characterized in that: include: Empty rail module, filling bucket, feeding module, communication module and control module; The aerial track module includes an aerial track and a plurality of shuttle vehicles, wherein the shuttle vehicles are movably arranged on the aerial track; the aerial track is provided with a plurality of parking points with adjustable positions; The filling barrel is arranged below the shuttle vehicle, and a lifting module is connected between the filling barrel and the shuttle vehicle; the feeding module is arranged on the filling barrel, and the feeding module is configured to open or close the feeding of the filling barrel; The control module is communicatively connected with the empty rail module, the filling bucket and the feeding module through the communication module.

2. The aerial track type low temperature prefabricated bun point flexible feeding system as claimed in claim 1 is characterized in that: The control module includes a data receiving unit and a path planning unit; the data receiving unit is used to obtain the material demand information of the target forming machine, the status information of the filling barrel and the current power of the shuttle vehicle transmitted by the communication module; The path planning unit is configured to generate an optimal operation path according to the material demand information of the target forming machine, the state information of the filling barrel and the current power of the shuttle vehicle, and generate an action instruction of a certain shuttle vehicle according to the optimal operation path; The communication module sends the action instruction to the corresponding shuttle vehicle, so that the shuttle vehicle operates according to the action instruction.

3. The aerial track type low temperature prefabricated bun point flexible feeding system as claimed in claim 1 or 2, characterized in that: The aerial track includes a main track and a secondary track, the main track is provided with at least two, and the secondary track is provided between two adjacent main tracks; A steering module is rotatably provided at the connection between the main track and the secondary track, and a transition track connecting the main track and the secondary track is provided on the steering module for switching the shuttle vehicle between the main track and the secondary track.

4. The aerial track type low temperature prefabricated bun point flexible feeding system as claimed in claim 3 is characterized in that: The aerial track is correspondingly provided with a charging area, a feeding area, a replenishing area and an idle area, the docking points are arranged on the secondary track, and the docking points at least include a charging docking point, a feeding docking point, a replenishing docking point and an idle docking point; the charging docking point is arranged on one side of the feeding docking point, the replenishing docking point is arranged on the other side of the feeding docking point, and the idle docking point is arranged between the feeding docking point and the charging docking point or between the feeding docking point and the replenishing docking point.

5. The aerial track type low temperature prefabricated bun point flexible feeding system as claimed in claim 4 is characterized in that: The shuttle vehicle is provided with an obstacle avoidance device on one side of the traveling direction, and the obstacle avoidance device is used to identify the relative distance between the current shuttle vehicle and the shuttle vehicle in front, and suspend the operation of the current shuttle vehicle when the relative distance is less than the safety distance; The obstacle avoidance device is electrically connected to the communication module, and when the shuttle vehicle suspends operation, the suspension operation information is sent to the control module through the communication module; Wherein, the obstacle avoidance device is one or more of an infrared obstacle avoidance device, an ultrasonic obstacle avoidance device, a laser obstacle avoidance device or a visual obstacle avoidance device.

6. The aerial track type low temperature prefabricated bun point flexible feeding system as claimed in claim 4 is characterized in that: A driving assembly is provided inside the shuttle vehicle for enabling the shuttle vehicle to run along the aerial track; A rack is provided on the track surface of the aerial track, and a gear is provided at the output end of the driving assembly, the gear meshes with the rack, and is used to make the shuttle vehicle run along the aerial track through meshing transmission when the driving assembly is running; Alternatively, the output end of the driving assembly is configured as a rotating wheel, and the rotating wheel abuts against the track surface of the aerial track.

7. The aerial track type low temperature prefabricated bun point flexible feeding system as claimed in claim 5, characterized in that: An identification tag is provided at the parking point, and the shuttle vehicle is provided with an identification device corresponding to the identification tag; wherein the identification tag is any one of an RFID tag, a barcode or a QR code, and the identification device is correspondingly configured as an RFID identifier or a camera module.

8. The aerial track type low temperature prefabricated bun point flexible feeding system as claimed in claim 1, characterized in that: The fixing assembly of the lifting module is connected to the shuttle vehicle, and the lifting member of the lifting module is connected to the filling barrel; wherein the lifting module is a chain lifting module or a screw lifting module; The feeding module comprises a connecting assembly and a rotating member, wherein the connecting assembly is connected to the lifting member of the lifting module, the filling barrel is arranged on the rotating member, and the rotating member is in transmission connection with the connecting assembly, and is used for synchronously driving the filling barrel to flip when the rotating member rotates, so that the filling barrel is tilted for feeding or reset; The filling barrel is provided with a shielding module, which is rotatably arranged at the opening of the filling barrel and is transmission-connected with the feeding module for removing the covering of the shielding module when feeding into the filling barrel.

9. The aerial track type low temperature prefabricated bun point flexible feeding system as claimed in claim 8, characterized in that: The filling barrel is also provided with a residual material sensor, which is arranged on a side of the shielding module facing the filling barrel or inside the filling barrel; The filling barrel is provided with a wireless communication unit, and the residual material sensor is electrically connected to the communication module via the wireless communication unit, so as to obtain the status information of the filling barrel and transmit it to the control module.

10. An aerial track type low temperature prefabricated bun point flexible feeding method, which can be used for the aerial track type low temperature prefabricated bun point flexible feeding system according to any one of claims 1 to 9, characterized in that: The method comprises: Real-time monitoring of key equipment status information through the communication module, including the current power of the shuttle, the filling information of the forming equipment, and the filling capacity in the barrel; Monitor whether the control demand in the status information reaches the set trigger threshold, and determine the shuttle's destination based on the detection result; Based on the operation destination and the status information, a plurality of shuttle vehicles are coordinated and dispatched by a path planning method to determine the optimal operation path for each shuttle vehicle; Based on the optimal operation path, an action instruction is sent to each shuttle vehicle through the communication module, and the shuttle vehicle autonomously runs to the destination parking point and performs the predetermined operation; During the operation of the shuttle, the tag reader is used to obtain the identification tag on the track to determine whether it has reached the destination stop.

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