Intelligent conveying method and system for high-temperature yeast blocks

Abstract

The invention discloses an intelligent conveying method and system for high-temperature koji blocks. The method comprises the steps that a starting instruction is received, and a koji pushing machine pushes the high-temperature koji blocks to a conveyor; receiving the first weight data, and conveying the high-temperature koji block to a koji position on a koji disc at a preset position by the conveyor; if the high-temperature koji blocks are placed on the koji positions on the koji disc, the second weight data and the first temperature data are received, and the conveyor conveys the koji disc to the lifting workbench; a second instruction is received, and the lifting workbench ascends to the target height; the second temperature data and the third instruction are received, and the truss manipulator takes the placement frame and places the placement frame on the curved frame; if the placing areas of the koji frames are all provided with the placing frames, a fourth instruction is received, the hoister hoists the koji frames to the height of the stacking position, and the electric conveyor places the koji frames at the first position; and after the fourth instruction and the induction signal are received, the conveyor conveys all the curved frames stacked on the stacking positions to the butt joint position of the AGV forklift.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of intelligent transportation technology, and in particular, to an intelligent transportation method and system for high-temperature curved blocks. Background Art

[0002] Koji is an important fermentation agent in the brewing process. It is mainly made of raw materials such as rice, wheat or beans, and is fermented by inoculating microorganisms such as Aspergillus, yeast and lactic acid bacteria. Koji can be divided into high-temperature koji and low-temperature koji according to the fermentation temperature and purpose. High-temperature koji is a koji fermented at a higher temperature and is usually used in the brewing process of rapid fermentation, such as making certain types of liquor or soy sauce.

[0003] High-temperature koji blocks usually need to be kept within a qualified temperature range. Too high or too low a temperature will affect the activity of microorganisms in the koji blocks. Too high a temperature may cause the microorganisms to be overactive, causing the koji blocks to consume themselves too quickly, reducing brewing efficiency. Too low a temperature may cause the microorganisms to slow down or even go dormant, thereby prolonging the fermentation time or affecting the fermentation effect.

[0004] At present, during the transportation process of high-temperature koji blocks after production, conveyor belts are usually used to transport them from the fermentation area to the drying area, so that the high-temperature koji blocks after fermentation are dried in the drying area, extending the storage time of the koji blocks and facilitating subsequent packaging or transportation. Since the temperature of the high-temperature koji blocks is high after production, the conveyor belt is convenient for transportation on the one hand, and can cool down the high-temperature koji blocks on the other hand, so as to keep the temperature of the high-temperature koji blocks within the qualified temperature range. Although the conveyor belt can play a certain cooling role in the process of transporting the high-temperature koji blocks from the fermentation area to the drying area, this cooling is not uniform. The distribution of koji blocks on the conveyor belt may be uneven, resulting in the koji blocks in some areas cooling down too fast, while other areas remain at a higher temperature. Since the high-temperature koji blocks need to be kept in a narrow temperature range to maintain the activity of microorganisms, this uneven cooling may cause the temperature of some koji blocks to drop below the qualified temperature range, thereby affecting their fermentation performance.

[0005] In summary, the temperature of the high-temperature koji blocks on the conveyor belt may drop below the qualified temperature range. Therefore, in most cases, in order to screen out the unqualified koji blocks with lower temperatures, manual batch inspection is required. Due to the uneven temperature drop, manual batch inspection alone cannot fully cover all the koji blocks on the entire conveyor belt. Manual inspection usually has a certain lag and can only inspect part of the samples, which means that after the inspection is qualified, the temperature of the koji blocks in other parts of the conveyor belt may continue to drop, and some of the koji blocks that have not been detected are already unqualified when they reach the drying area. When these koji blocks that do not meet the temperature standards enter the drying area, even if the drying process can reduce the moisture content, the fermentation performance of these koji blocks has been damaged due to the failure of the previous temperature control, resulting in insufficient microbial activity in subsequent brewing, which ultimately affects product quality.

[0006] There is currently no better solution to the above problems. Summary of the invention

[0007] The embodiments of the present application provide a method and system for intelligently conveying high-temperature curved blocks, which are used to intelligently convey high-temperature curved blocks to ensure the quality of the high-temperature curved blocks after conveyance, so as to minimize the probability of unqualified curved blocks and thereby reduce the defective rate.

[0008] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0009] In a first aspect, a method for intelligently conveying a high-temperature curved block is provided, which is applied to a high-temperature curved block conveying system, wherein the high-temperature curved block conveying system comprises a central control host, a curved pusher, a conveyor, a lifting workbench, a first camera, a truss manipulator, a hoist, an electric conveyor, and an AGV forklift, wherein the lifting workbench is connected to the first camera, the hoist is connected to the electric conveyor, the curved pusher, the conveyor, the lifting workbench, the first camera, the truss manipulator, the hoist, the electric conveyor, and the AGV forklift are all connected to the central control host, and the method comprises:

[0010] In response to receiving the start-up instruction sent by the central control host, the pusher pushes the high-temperature block along a preset path to the conveyor, on which a first weight sensor is provided;

[0011] In response to receiving the first weight data transmitted by the first weight sensor, the conveyor conveys the high-temperature curved block to a curved position on a curved plate at a preset position, wherein the curved plate includes at least two curved positions, and the curved plate is provided with a first temperature sensor and a second weight sensor, and each of the curved positions on the curved plate is provided with a first temperature sensor;

[0012] In the case where the high-temperature curved blocks are placed on the curved positions on the curved plate, in response to receiving the second weight data detected by the second weight sensor and the first temperature data detected by the first temperature sensor, the conveyor transfers the curved plate to the lifting workbench;

[0013] In response to identifying the curved disk, the first camera captures and obtains an image of the curved disk;

[0014] In response to receiving a second instruction from the central control host, the lifting workbench rises to a target height to push a preset number of curved blocks to a placement rack, the placement rack includes curved block placement grids greater than or equal to the number of curved positions, and each of the curved block placement grids is used to place one of the high-temperature curved blocks, each of the curved block placement grids is provided with a second temperature sensor, and the second instruction is obtained based on the curved plate image taken by the first camera, the second weight data, and the first temperature data;

[0015] In response to receiving the second temperature data detected by the second temperature sensor and the third instruction sent by the central control host, the truss manipulator takes the placement rack and places the placement rack on the curved rack, the third instruction is used to instruct the truss manipulator to place the placement rack in the corresponding placement area on the curved rack, and the third instruction is obtained based on the second temperature data and the position of the curved rack;

[0016] In the case where the placement areas of the curved racks are all filled with the placement racks, in response to receiving the fourth instruction sent by the central control host, the lifting machine lifts the curved rack to the height of the stacking position obtained according to the fourth instruction, and the electric conveyor places the curved rack at the first position of the stacking position, there are at least two stacking positions, and each of the stacking positions is provided with an infrared sensor;

[0017] In response to receiving the fourth instruction and the sensing signal of the infrared sensor, the conveyor transfers the curved frames stacked on all the stacking positions to the docking position with the AGV forklift obtained according to the fourth instruction, and the fourth instruction is obtained based on the current positioning of the AGV forklift.

[0018] In a possible implementation of the first aspect, in response to receiving the first weight data transmitted by the first weight sensor, the conveyor conveys the high-temperature curved block to a curved position on a curved plate at a preset position, including:

[0019] After receiving the first weight data, the conveyor divides the first weight data by a preset weight unit to obtain an integer value as the code of the curve position, and transmits the high-temperature curve block to the curve position corresponding to the code, wherein, if the code is the maximum code, it is determined that the high-temperature curve blocks are placed on all the curve positions on the curve disk, and the first weight data is cleared, and the code corresponds one-to-one to the curve position.

[0020] In another possible implementation of the first aspect, the high-temperature curved block conveying system further includes a recovery robot connected to a second camera, and in response to receiving second weight data detected by the second weight sensor and first temperature data detected by the first temperature sensor, the conveyor conveys the curved plate to the lifting workbench, including:

[0021] When the second weight data is equal to the product of the maximum code of the curved position and the preset weight unit, and the first temperature data is within the preset temperature range, the conveyor transfers the curved plate to the lifting workbench.

[0022] In another possible implementation manner of the first aspect, the method further includes:

[0023] When the second weight data is equal to the product of the maximum code of the curve position and the preset weight unit, and the first temperature data is not within the preset temperature range, the conveyor transfers the curve tray to the second position, and the recycling robot, after receiving the identification signal transmitted by the second camera, takes the high-temperature curve block on the curve tray and places it in the recycling area until the high-temperature curve block on the curve tray is taken. After receiving the signal that the recycling robot has taken the curve block, the conveyor transports the curve tray to the preset position.

[0024] In another possible implementation of the first aspect, in response to receiving the second instruction of the central control host, the lifting workbench rises to a target height obtained based on the second instruction to push a preset number of curved blocks to the placement rack, including:

[0025] The central control host obtains a second instruction based on the curved plate image taken by the first camera, the second weight data and the first temperature data, and transmits the second instruction to the lifting workbench;

[0026] The lifting workbench rises to the target height based on the second instruction, and pushes a preset number of curved blocks to the placement rack.

[0027] In another possible implementation manner of the first aspect, the placement rack includes at least two layers, each layer of the placement rack includes at least two curved block placement boxes, and the central control host obtains a second instruction based on the curved plate image taken by the first camera, the second weight data, and the first temperature data, including:

[0028] The central control host performs image recognition on the curved plate image to obtain a first number of the high-temperature curved blocks in the curved plate, and obtains a second number of connected empty curved block placement grids of each layer of the placement rack;

[0029] The central control host divides the second weight data by a preset weight unit to obtain a third quantity, and the third quantity is used to verify whether it is consistent with the first quantity;

[0030] When the third number is consistent with the first number and the second number of the empty curved block placement grids of the placement rack at the nth layer is greater than or equal to the first number, the central control host determines that the nth layer is the target layer, where n is a positive integer;

[0031] When the third number is inconsistent with the first number and the second number of the empty curved block placement grids of the placement rack at the mth layer is greater than or equal to the third number, the central control host determines that the mth layer is the target layer, where m is a positive integer;

[0032] The central control host determines whether there is a high-temperature block that is not within a preset temperature range according to the first temperature data;

[0033] If there is a high-temperature curved block that is not within the preset temperature range, the high-temperature curved block that is not within the preset temperature range is regarded as an abnormal curved block, and marking information is generated to mark the abnormal curved block and the placement rack where the abnormal curved block is located;

[0034] The central control host obtains the height data of the target layer, and uses the height data and the mark information as the second instruction.

[0035] In another possible implementation manner of the first aspect, the method further includes:

[0036] When the third number is consistent with the first number and the second number of the empty song block placement grids of the placement rack on the nth layer is less than the first number, the central control host allocates high-temperature song blocks to the empty song block placement grids of the placement rack on each layer based on a preset allocation step, so as to place all the high-temperature song blocks on the song tray in the empty song block placement grids;

[0037] When the third number is inconsistent with the first number and the second number of the bend block placement grids of the placement rack on the mth layer is less than the third number, the central control host allocates high-temperature bend blocks to the empty bend block placement grids of the placement rack on each layer based on the allocation step to place all the high-temperature bend blocks on the bend disk in the empty bend block placement grids.

[0038] In another possible implementation manner of the first aspect, the placement area includes a spare placement area, a normal placement area, and an abnormal placement area, the third instruction includes an abnormal placement area placement instruction and a normal placement area placement instruction, and in response to receiving the second temperature data detected by the second temperature sensor and the third instruction sent by the central control host, the truss manipulator takes the placement rack and places the placement rack on the curved rack, including:

[0039] In the case where the placement rack has the marking information, the central control host locates the block placement grid where the block to be screened is located based on the marking information and the second temperature data, and generates positioning information, wherein the positioning information includes the block placement grid where the block to be screened is located and the corresponding placement rack code;

[0040] The central control host generates the abnormal placement area placement instruction based on the positioning information to instruct the truss manipulator to place the placement rack in the abnormal placement area on the curved rack, wherein if the abnormal placement area is fully loaded, the central control host issues a fourth instruction to instruct the truss manipulator to place the placement rack in the spare placement area on the curved rack;

[0041] When the marking information does not exist on the placement rack, the central control host generates the normal placement area placement instruction to instruct the truss manipulator to place the placement rack in the normal placement area on the curved rack, wherein if the normal placement area is fully loaded, the central control host issues a fifth instruction to instruct the truss manipulator to place the placement rack in the spare placement area on the curved rack.

[0042] In another possible implementation of the first aspect, in response to receiving the fourth instruction and the sensing signal of the infrared sensor, the conveyor conveys the curved racks stacked on all the stacking positions to the docking position with the AGV forklift obtained according to the fourth instruction, including:

[0043] The central control host generates a docking path and a docking position based on the current position of the AGV forklift and the position of the stacking position, wherein the fourth instruction includes the docking path and the docking position;

[0044] The conveyor determines that the stacking of the curved racks is complete based on the sensing signal, and conveys the curved racks stacked on all the stacking positions to the docking position with the AGV forklift according to the fourth instruction.

[0045] In the second aspect, the present application provides a high-temperature curved block conveying system, including a central control host, a bending pusher, a conveyor, a lifting work platform, a first camera, a truss manipulator, a hoist, an electric conveyor and an AGV forklift, the lifting work platform is connected to the first camera, the hoist is connected to the electric conveyor, the bending pusher, the conveyor, the lifting work platform, the first camera, the truss manipulator, the hoist, the electric conveyor and the AGV forklift are all connected to the central control host.

[0046] Through the above technical solution, weight sensors and temperature sensors are used to monitor the weight and temperature of each high-temperature curved block in real time, solving the problem that the traditional conveyor belt cannot accurately control the temperature. The central control host realizes the automatic control of the entire high-temperature curved block conveying process by receiving sensor data and sending instructions. Compared with manual batch inspection, the automation system can achieve full coverage and real-time monitoring, and can monitor the temperature of the high-temperature curved blocks in real time according to the temperature data, effectively reducing the probability of unqualified curved blocks; the high-temperature curved blocks can be image recognized by the first camera to sort the high-temperature curved blocks more accurately and avoid human errors; the central control host controls the stacking and transportation of the curved rack according to the current positioning of the infrared sensor and the AGV forklift to reduce manual intervention. In summary, through multi-sensor monitoring, automated processes and intelligent scheduling, the problems of uneven temperature and incomplete manual inspection in the traditional conveyor belt system can be effectively solved, the defective rate can be significantly reduced, the stability of product quality can be improved, and production efficiency can be significantly improved.

[0047] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of the function of an AGV forklift provided in an embodiment of the present application;

[0049] Figure 2 A schematic diagram of a high-temperature curved block conveying process provided in an embodiment of the present application;

[0050] Figure 3 Schematic diagram of a bend block, a fully loaded bend tray, an empty rack, a fully loaded rack, and an empty rack provided in an embodiment of the present application;

[0051] Figure 4 A schematic structural diagram of a U-shaped reciprocating translation mechanism provided in an embodiment of the present application;

[0052] Figure 5 A schematic flow chart of a method for intelligently conveying high-temperature curved blocks provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0054] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0055] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0056] For ease of understanding, the high temperature curved block conveying system of the embodiment of the present application is first described as follows:

[0057] The high-temperature curved block conveying system includes a central control host, a curved pusher, a conveyor, a lifting workbench, a first camera, a truss manipulator, a hoist, an electric conveyor and an AGV forklift. The lifting workbench is connected to the first camera, the hoist is connected to the electric conveyor, and the curved pusher, the conveyor, the lifting workbench, the first camera, the truss manipulator, the hoist, the electric conveyor and the AGV forklift are all connected to the central control host.

[0058] Among them, the central control host can be a computer, tablet or other electronic device used to coordinate and control the operation of each device. It is connected to each device through an industrial communication network and can control each device to realize the automation and intelligence of high-temperature curved block transportation; the pusher is used to push the curved block from the production line to the conveying system, which is the initial link of the curved block transportation. When the curved block reaches the predetermined position, the pusher starts the pushing action under the instruction of the central control host. The pusher is usually driven by hydraulic or electric drive, and the push rod pushes the curved block to the entrance of the conveyor; the conveyor is used to transport the curved block horizontally in the factory. It receives the curved block from the pusher and conveys it to the lifting workbench or truss manipulator according to the predetermined path. The conveyor is driven by a motor and relies on chains, belts or rollers to move the curved block forward. The central control host controls the speed and direction of the conveyor to ensure the stability and accuracy of the curved block during the transportation process;

[0059] The lifting table is used to adjust the height of the block, which is convenient for the operation of the truss manipulator, which can lift the block to a specific height or lower it to a suitable working surface. The lifting table usually adopts a hydraulic or spiral lifting device. Under the command of the central control host, the lifting table adjusts the height of the block as needed. It works with the first camera to ensure the accurate positioning of the block during the lifting process; the first camera is mainly used to monitor and detect the state, position and quality of the block, and is used to provide visual feedback to the central control host to ensure the correct placement and handling of the block; the truss manipulator is used to carry the block or place the frame. The truss manipulator is usually installed on a fixed track and moves along the track by a motor drive. The central control host controls its grabbing, moving and releasing actions to ensure that the block is accurately transported to the specified position; the hoist is used to transport the block in the vertical direction, usually used to transport the block from the ground floor to the upper floor. The hoist drives the winch or chain through an electric motor to lift the block to a specified height or lower it to the target floor. Electric conveyors are used to transport curved racks. Electric conveyors are equipped with electric motors and can run along a set path. AGV (Automated Guided Vehicle) forklifts are used to automatically move curved racks within the factory. AGV forklifts are equipped with laser radars, cameras and other sensors, which can autonomously navigate and avoid obstacles. Under the instructions of the central control host, AGV forklifts travel along the preset path to perform pickup, transportation and unloading operations.

[0060] Figure 1 A schematic diagram of the functions of the AGV forklift provided in an embodiment of the present application is shown, including: 1. Picking up an empty curved tray; 2. Picking up a fully loaded curved tray transmitted from an elevator to a conveyor; 3. Transporting the empty curved tray to a curved room; 4. Transporting the fully loaded curved tray to the conveyor.

[0061] In summary, the conveying process of the high temperature curved block in the embodiment of the present application can be as follows: Figure 2As shown, the pushing machine translates the curved blocks to the transfer line; the curved blocks on the transfer line are translated to the curved plate by the square-shaped reciprocating translation mechanism; the curved plate moves one position for each group received; after two groups of positions on the curved plate are filled, the curved plate moves on the loop line; when the number of curved plates filled with curved blocks reaches a certain amount, they reach the lifting working position in sequence; the curved blocks are pushed into the placement racks in pairs, with a total of 4 layers and 8 blocks; the truss manipulator picks up one placement rack each time, with a total of 8 curved blocks; the truss manipulator works 3 times to fill one curved rack; after the curved rack is filled, it is taken to the stacking position by the electric conveyor for stacking - after stacking 3 layers at the stacking position, it is conveyed by the conveyor to the docking position of the RGV forklift.

[0062] For the curved blocks, fully loaded curved plates, empty placement racks, fully loaded placement racks, and empty curved racks in the above process, as Figure 3 shown. Among them, Figure 3 Figure 1 in it represents high-temperature curved blocks, Figure 2 represents the curved plate full of curved blocks, Figure 3 represents the empty placement rack, Figure 4 represents the placement rack full of curved blocks, and Figure 5 represents the empty curved rack.

[0063] For the above-mentioned square-shaped reciprocating translation mechanism, Figure 4 Figure shows the structural schematic diagram of a square-shaped reciprocating translation mechanism provided by an embodiment of the present application. As Figure 4 shown, the square-shaped reciprocating translation mechanism is an "8"-shaped frame, which simultaneously encloses two curved blocks and then translates them, equivalent to a mold. The frame consists of a lifting drive and a horizontal movement drive to form a two-coordinate motion mechanism, and the operation trajectory of the frame is controlled by the central control host and sensors to move along the "square" - shaped trajectory.

[0064] According to the above process of transporting high-temperature curved blocks, Figure 5 Figure schematically shows the flow schematic diagram of an intelligent transportation method for high-temperature curved blocks according to an embodiment of the present application. As Figure 5 shown, an embodiment of the present application provides an intelligent transportation method for high-temperature curved blocks, and this method may include the following steps.

[0065] S110. In response to receiving the start instruction sent by the central control host, the pushing machine pushes the high-temperature curved blocks along the preset path to the conveyor, and a first weight sensor is provided on the conveyor;

[0066] S120. In response to receiving the first weight data transmitted by the first weight sensor, the conveyor transfers the high-temperature curved blocks to the positions on the curved plate at the preset position. Among them, the curved plate includes at least two positions, and a first temperature sensor and a second weight sensor are provided on the curved plate, and a first temperature sensor is provided on each position on the curved plate;

[0067] S130, when high-temperature curved blocks are placed on all the curved positions on the curved plate, in response to receiving the second weight data detected by the second weight sensor and the first temperature data detected by the first temperature sensor, the conveyor transports the curved plate to the lifting workbench;

[0068] S140, in response to recognizing the curved disk, the first camera captures and obtains an image of the curved disk;

[0069] S150, in response to receiving the second instruction from the central control host, the lifting workbench rises to the target height to push a preset number of curved blocks to the placement rack, the placement rack includes curved block placement grids greater than or equal to the number of curved positions, and each curved block placement grid is used to place a high-temperature curved block, each curved block placement grid is provided with a second temperature sensor, and the second instruction is obtained based on the curved plate image taken by the first camera, the second weight data and the first temperature data;

[0070] S160, in response to receiving the second temperature data detected by the second temperature sensor and the third instruction sent by the central control host, the truss manipulator takes the placement rack and places the placement rack on the curved rack, the third instruction is used to instruct the truss manipulator to place the placement rack in a corresponding placement area on the curved rack, and the third instruction is obtained based on the second temperature data and the position of the curved rack;

[0071] S170, when all the placement areas of the curved racks are filled with placement racks, in response to receiving a fourth instruction sent by the central control host, the elevator lifts the curved rack to a height of the stacking position obtained according to the fourth instruction, and the electric conveyor places the curved rack at a first position of the stacking position, there are at least two stacking positions, and each stacking position is provided with an infrared sensor;

[0072] S180. In response to receiving the fourth instruction and the sensing signal of the infrared sensor, the conveyor transfers the curved racks stacked on all stacking positions to the docking position with the AGV forklift obtained according to the fourth instruction, and the fourth instruction is obtained based on the current positioning of the AGV forklift.

[0073] In response to receiving the start command sent by the central control host, the pusher starts to push the high-temperature curved block to the conveyor along a preset path. In this embodiment, the pusher uses a smooth and uniform thrust during the pushing process to avoid damage to the curved block. The path of the pusher is designed based on the shape and size of the curved block to ensure that the curved block will not shift or get stuck during the conveying process. The first weight sensor provided on the conveyor is used to monitor the weight of the curved block pushed up in real time to ensure that each curved block is within the correct quality range before entering the subsequent processing stage.

[0074] When the first weight data transmitted by the first weight sensor is received and confirmed by the central control host, the conveyor starts to accurately transfer the high-temperature curved block to the preset curved position on the curved plate.

[0075] There are at least two positions on the koji plate, each of which is equipped with a first temperature sensor to monitor whether the temperature of the koji block is within a preset temperature range. The second weight sensor is used to reconfirm the weight of the high-temperature koji block. Through the dual detection mechanism, the quality of each koji block can be effectively monitored before entering the next step of operation.

[0076] When high-temperature blocks are placed on all the positions of the curved plate, the conveyor responds to the second weight data received from the second weight sensor and the first temperature data received from the first temperature sensor, and conveys the curved plate to the position of the lifting table. At this time, the lifting table is in a standby state, ready to start the lifting operation after the curved plate is in place. This embodiment monitors the temperature of the blocks in real time through the temperature sensor to ensure that the temperature remains stable during the lifting process of the lifting table, avoiding the quality reduction of the blocks due to uneven temperature.

[0077] When the curved plate reaches the top of the lifting workbench, the first camera starts to work. The first camera is used to identify the position of the curved plate and take pictures of the curved plate. The images taken by the first camera are transmitted to the central control host in real time for analysis. The central control host determines the number of curved blocks and the position and status of each curved block through image recognition.

[0078] In this embodiment, the central control host can determine whether the bend plate is in the correct position through image recognition and analyze whether the arrangement of the bend blocks meets the requirements. If the image shows that the arrangement or number of the bend blocks is abnormal, the central control host can issue an adjustment instruction to ensure the continuity and accuracy of the production process.

[0079] Specifically, the central control host uses a pre-stored standard curved disc template for template matching. By comparing the matching degree between the curved disc image captured by the first camera and the standard template, it is determined whether the curved disc is in the correct position. If the curved disc deviates from the predetermined position, the central control host detects the offset and issues a correction instruction. In addition, the central control host identifies the position and shape of each curved block in the curved disc image through edge detection and contour extraction. The central control host can compare the detected curved block position with the predetermined curved position coordinates to determine whether the curved blocks are arranged neatly and identify the number of curved blocks. If the image recognition result shows that both the curved disc and the curved blocks meet the requirements, the central control host issues an instruction to continue production. If an abnormality is detected, the central control host issues a correction instruction, such as adjusting the position of the curved disc or rearranging the curved blocks.

[0080] After receiving the second command from the central control host, the lifting table starts to rise to push a preset number of blocks into the placement rack. Each block placement grid in the placement rack is made of high-temperature resistant material and is equipped with a second temperature sensor to monitor the real-time temperature of the high-temperature blocks. The movement of the lifting table is controlled by a servo motor, which can achieve precise control of the height of the lifting table to ensure that the blocks can seamlessly enter the block placement grid of the placement rack. The temperature sensor in each block placement grid transmits the second temperature data back to the central control host after detecting it, ensuring that the high-temperature blocks are always in a temperature monitoring state throughout the process.

[0081] After receiving the second temperature data in the placement rack and the third instruction from the central control host, the truss robot picks up the placement rack and places it on the designated curved rack. The truss robot is a highly automated device, usually installed above the production line, capable of moving materials between multiple locations. During operation, the truss robot will grab the placement rack and place it in the designated placement area of ​​the curved rack according to the third instruction. The generation of the third instruction is based on the temperature data of the curved block and the position of the curved rack to ensure that the temperature of the curved block is within a controllable range when it is placed and that it can be correctly placed on the curved rack.

[0082] When the placement area of ​​the curved rack is full of racks, after receiving the fourth instruction from the central control host, the elevator starts working and lifts the curved rack to the specified stacking position height. At this time, the electric conveyor is also started synchronously to move the curved rack to the first position of the stacking position. Each stacking position is equipped with an infrared sensor to detect whether the curved rack is correctly in place and whether there is any offset or other problems. The stacking position is usually the storage location of multiple high-temperature curved racks. Each stacking position is equipped with an infrared sensor to monitor the actual placement of the curved rack to ensure that the stacking process of the curved rack is safe and accurate. The elevator lifts the curved rack to a predetermined height through a precisely controlled lifting device, and the electric conveyor is responsible for moving the curved rack to the specified position of the stacking position, effectively ensuring that the stacking process of the curved rack is automated, and through the monitoring of the infrared sensor, possible stacking errors and safety hazards are avoided.

[0083] After receiving the fourth instruction from the central control host and the sensing signal from the infrared sensor, the conveyor transfers all the curved racks stacked on the stacking position to the docking position with the AGV forklift. At this time, the AGV forklift is already on standby at the designated position, ready for docking operations. The conveyor ensures that the curved rack can reach the docking position smoothly through precise path planning. The AGV forklift accurately docks with the conveyor according to its current positioning and the instructions of the central control host to complete the transfer task of the curved rack, which not only improves the handling efficiency of the curved blocks, but also reduces the uncertainty and error rate in manual operation, ensuring the stable handling of the curved blocks at high temperatures.

[0084] This embodiment uses weight sensors and temperature sensors to monitor the weight and temperature of each high-temperature curved block in real time, solving the problem that the traditional conveyor belt cannot accurately control the temperature. The central control host realizes the automatic control of the entire high-temperature curved block conveying process by receiving sensor data and sending instructions. Compared with manual batch inspection, the automation system can achieve full coverage and real-time monitoring, and can monitor the temperature of the high-temperature curved blocks in real time according to the temperature data, effectively reducing the probability of unqualified curved blocks; the high-temperature curved blocks can be image recognized by the first camera to sort the high-temperature curved blocks more accurately and avoid human errors; the central control host controls the stacking and transportation of the curved rack according to the current positioning of the infrared sensor and the AGV forklift to reduce manual intervention. In summary, through multi-sensor monitoring, automated processes and intelligent scheduling, the problems of uneven temperature and incomplete manual inspection in the traditional conveyor belt system can be effectively solved, the defective rate can be significantly reduced, the stability of product quality can be improved, and the production efficiency can be significantly improved.

[0085] In one implementation of this embodiment, in response to receiving the first weight data transmitted by the first weight sensor, the conveyor conveys the high-temperature curved block to a curved position on the curved plate at a preset position, including the following steps:

[0086] S210. After receiving the first weight data, the conveyor divides the first weight data by the preset weight unit to obtain an integer value as the code of the curve position, and transmits the high-temperature curve block to the curve position corresponding to the code. If the code is the maximum code, it is determined that all the curve positions on the curve disk are placed with high-temperature curve blocks, and the first weight data is cleared, and the code corresponds to the curve position one by one.

[0087] After receiving the first weight data transmitted by the first weight sensor, the conveyor performs calculation operations according to the first weight data. Specifically, the first weight data is divided by the preset weight unit, and the integer value obtained is the code of a certain position on the curved disk. There is a one-to-one correspondence between the position code and the position, that is, different integer values ​​correspond to different positions. This encoding method ensures that each curved block can be accurately placed on a specific position. For example, assuming that the preset weight unit is 50 grams, and the weight of the curved block measured by the first weight sensor is 200 grams, then the calculated integer value is 200 / 50=4, which means that the curved block should be placed on the position numbered 4 on the curved disk. During the conveying process, the conveyor will transfer the high-temperature curved block to the corresponding position according to this code to ensure the accuracy and consistency of the placement of the curved block.

[0088] In the above operation mode, if the calculated encoding value is the maximum encoding value, it means that all the positions on the crankshaft have been placed with high-temperature crankshafts. At this time, the central control host will clear the first weight data to ensure that the next weight data collection and calculation are not affected by the previous data. For example, if the maximum encoding value is 8, there may be 8 positions on the crankshaft. If the calculated result is 8, it means that all the positions on the crankshaft have been placed with crankshafts. Next, a clearing operation is required to prepare for the next round of crankshaft placement.

[0089] After the curve position code is calculated and the curve block is successfully placed, the step of continuing to execute in response to receiving the first weight data transmitted by the first weight sensor, the conveyor transfers the high-temperature curve block to the curve position on the curve plate at a preset position, thereby ensuring the continuity and efficiency of the entire processing flow.

[0090] This embodiment ensures the accurate placement of each block through precise weight measurement and coding calculation, thereby improving the utilization rate of the plate and the efficiency of block processing. The precise correspondence between the position of the block on the plate and the coding ensures that the block can accurately enter the preset position, and will not cause deviation or efficiency reduction in subsequent operations due to incorrect placement, significantly improving the accuracy and efficiency of high-temperature blocks in the transportation and processing process.

[0091] In one implementation of this embodiment, the high-temperature curved block conveying system further includes a recovery robot, which is connected to the second camera. In response to receiving the second weight data detected by the second weight sensor and the first temperature data detected by the first temperature sensor, the conveyor conveys the curved plate to the lifting workbench, including the following steps:

[0092] S310, when the second weight data is equal to the product of the maximum code of the curved position and the preset weight unit, and the first temperature data is within the preset temperature range, the conveyor transfers the curved plate to the lifting workbench.

[0093] In the high-temperature block conveying system, the recovery manipulator is connected to the second camera to monitor and assist the recovery operation. When the second weight data is equal to the product of the maximum code of the block and the preset weight unit, and the first temperature data is within the preset temperature range, it is determined that the block tray is full and the block temperature is suitable for processing, and then the block tray is transferred to the lifting workbench for the next step.

[0094] Specifically, the preset weight unit represents the weight of a standard song block in the system, for example, it can be set to 50 grams. The maximum code of the song position represents the total number of song positions that can be accommodated on the song disk, for example, the maximum code is 8. If the total weight detected by the second weight sensor is equal to the sum of the 8 song positions, that is, 8 times 50 grams is 400 grams, it can be determined that all the song positions on the song disk have been filled.

[0095] After confirming that the weight of the koji disk meets the requirement, it is further determined whether the first temperature data is within a preset temperature range. For example, if the preset temperature range is set to 200 to 300 degrees Celsius, and the temperature detected by the first temperature sensor is within this range, it is determined that the temperature of the high-temperature koji block is qualified.

[0096] When the above two conditions are met, the conveyor starts to transfer the curved plate to the lifting workbench.

[0097] In this embodiment, after confirming that the bent plate is fully loaded and the temperature of the high-temperature bent block is qualified, the conveyor will transfer the bent plate to the lifting workbench, which greatly reduces the risk of misoperation and improves the automation level and operation efficiency of the high-temperature bent block transportation. Through real-time monitoring, the transmission of the bent block can be completed efficiently while ensuring the quality of the high-temperature bent block.

[0098] In one implementation of this embodiment, the following steps are also included:

[0099] S410. When the second weight data is equal to the product of the maximum code of the curved position and the preset weight unit, and the first temperature data is not within the preset temperature range, the conveyor transfers the curved tray to the second position. After receiving the identification signal transmitted by the second camera, the recycling robot takes the high-temperature curved blocks on the curved tray and places them in the recycling area until the high-temperature curved blocks on the curved tray are taken. After receiving the signal that the recycling robot has taken the completed blocks, the conveyor transfers the curved tray to the preset position.

[0100] In the high-temperature block conveying system, when the second weight data is equal to the product of the maximum code of the block position and the preset weight unit, and the first temperature data is not within the preset temperature range, the conveyor conveys the block to the second position. At this time, although the weight of the current block meets the requirements, the temperature is not within the preset temperature range, and the block is an unqualified block.

[0101] In order to ensure the safe recycling of high-temperature blocks that do not meet the temperature requirements. First, determine the second weight data, which is obtained by multiplying the maximum code of the block by the preset weight unit. For example, if the preset weight unit is 50 grams and the maximum code of the block is 8, then when the weight detected by the second weight sensor is 400 grams, the system determines that all the blocks on the disc have been filled with blocks. At the same time, the temperature of the current block is detected by the first temperature sensor. If the temperature is not within the preset temperature range, for example, the preset temperature range is 200 to 300 degrees Celsius, and the current temperature is 150 degrees Celsius, the current block is determined to be an unqualified block.

[0102] In this case, the conveyor transfers the bend tray from the current working area to the second location to recycle and process the bend blocks. After receiving the identification signal transmitted by the second camera, the recycling robot begins to pick up the high-temperature bend blocks on the bend tray one by one. The second camera can accurately identify the position of the bend blocks and provide real-time visual feedback to the recycling robot to ensure that the robot can accurately pick up each bend block. In this embodiment, in order to prevent misoperation, the camera not only identifies the position of the bend blocks, but also monitors the details of the recycling robot's picking process, such as the angle of the bend blocks and whether there is any offset.

[0103] The recycling area is used to temporarily store the blocks that do not meet the temperature requirements. When all blocks are successfully taken and moved to the recycling area, the recycling robot will send a signal to the conveyor to confirm that the recycling operation is complete. After receiving this signal, the conveyor will transport the empty plate to the preset position again.

[0104] In this implementation, when the weight of the block meets the requirements but the temperature is not within the preset range, the system can intelligently identify and guide the block to the recycling process, avoiding possible production risks. The cooperation between the recycling manipulator and the camera ensures the accurate recycling and safe handling of the block. At the same time, the entire operation process is highly automated, reducing human intervention and improving the stability and production efficiency of the system. Ultimately, this solution not only enhances the ability to handle unqualified blocks, but also further optimizes the system's resource utilization and production management.

[0105] In one implementation of this embodiment, in response to receiving a second instruction from the central control host, the lifting table rises to a target height obtained based on the second instruction to push a preset number of curved blocks to the placement rack, including the following steps:

[0106] S510, the central control host obtains a second instruction based on the curved plate image taken by the first camera, the second weight data and the first temperature data, and transmits the second instruction to the lifting workbench;

[0107] S520, the lifting workbench rises to the target height based on the second instruction, and pushes a preset number of curved blocks to the placement rack.

[0108] First, the central control host generates a second instruction by comprehensively analyzing the image of the curved plate taken by the first camera, the second weight data and the first temperature data. The image of the curved plate taken by the first camera is used to provide the number of curved blocks on the curved plate. Through image recognition, the central control host can identify the position, number and surface state of the curved blocks. At the same time, the second weight data reflects the total weight of the curved blocks on the curved plate. By comparing with the preset weight unit, it is determined whether the curved plate is fully loaded or partially loaded. The first temperature data is used to confirm whether the temperature of the curved block is within the preset temperature range. If the first temperature data is within the preset temperature range, it means that the curved block is a qualified curved block. The central control host can generate a second instruction for controlling the action of the lifting workbench based on the comprehensive analysis of the above data. The second instruction includes the target height and the number of curved blocks.

[0109] Then, after receiving the second instruction transmitted by the central control host, the lifting platform begins to rise according to the instruction until it reaches the preset target height. The target height is usually set based on the number of stacked blocks or the height of the placement rack. For example, if the target height is set to 10 cm, this means that the lifting platform needs to rise to this height in order to push the block to the placement rack. During the ascent, the lifting platform's precise control system will adjust its lifting speed and stop point according to the target height requirements to ensure that the block can be smoothly and accurately pushed to the placement rack.

[0110] After the lifting table reaches the target height, the preset number of blocks are pushed to the placement rack. For example, if the preset number is 3 blocks, the lifting table can push the 3 blocks from the plate to the placement rack in sequence according to the positions of the blocks sent by the central control host.

[0111] The central control host of this embodiment can intelligently generate a second instruction based on the real-time acquired block image, weight and temperature data to ensure that the block is smoothly pushed to the placement rack by the lifting workbench. This not only improves the accuracy of automated operations, but also reduces the need for manual intervention, thereby improving the efficiency of the entire high-temperature block transportation process.

[0112] In one implementation of this embodiment, the placement rack includes at least two layers, each layer of the placement rack includes at least two curved block placement boxes, and the central control host obtains the second instruction based on the curved plate image taken by the first camera, the second weight data and the first temperature data, including the following steps:

[0113] S610: The central control host performs image recognition on the image of the bend tray to obtain a first number of high-temperature bend blocks in the bend tray, and obtains a second number of connected empty bend block placement grids on each layer of the placement rack;

[0114] S620: The central control host divides the second weight data by a preset weight unit to obtain a third quantity, and the third quantity is used to verify whether it is consistent with the first quantity;

[0115] S630: When the third number is consistent with the first number and the second number of empty curved block placement grids of the placement rack on the nth layer is greater than or equal to the first number, the central control host determines that the nth layer is the target layer, where n is a positive integer;

[0116] S640: When the third number is inconsistent with the first number and the second number of empty curved block placement grids of the m-th layer placement rack is greater than or equal to the third number, the central control host determines the m-th layer as the target layer, where m is a positive integer;

[0117] S650: The central control host determines whether there is a high-temperature block that is not within a preset temperature range according to the first temperature data;

[0118] S660: If there is a high-temperature curved block that is not within the preset temperature range, the high-temperature curved block that is not within the preset temperature range is regarded as an abnormal curved block, and marking information is generated to mark the abnormal curved block and the placement rack where the abnormal curved block is located;

[0119] S670: The central control host obtains the height data of the target layer, and uses the height data and the marking information as the second instruction.

[0120] The central control host performs image recognition on the image of the curved plate taken by the first camera to obtain the number of high-temperature curved blocks in the curved plate, which is called the first number. The central control host can accurately distinguish the curved blocks from the background based on image recognition, and calculate the number of curved blocks actually existing on the current curved plate. At the same time, the central control host can obtain the number of empty curved block placement grids on each layer of the placement rack, which is called the second number. The placement rack is usually composed of multiple levels, and each layer has multiple placement grids for storing curved blocks. The number of empty curved block placement grids determines whether the layer can accommodate new curved blocks.

[0121] In this embodiment, a multi-layer convolutional neural network (CNN) may be used for image recognition, and combined with two-dimensional matrix operations to calculate the number of empty curved block placement grids, thereby improving the accuracy and speed of recognition.

[0122] Specifically, the central control host first marks the positions of high-temperature curved blocks in the curved disk image and the empty curved block placement grids on each layer of the placement rack to obtain a data set for training the CNN model.

[0123] The CNN model in this embodiment includes an input layer for inputting processed image data, usually a two-dimensional grayscale image or a three-channel RGB image; multiple convolution layers for extracting image features. The convolution kernel of each layer extracts features of different scales, such as edges, textures, etc.; a pooling layer for reducing the size of the feature map through a maximum pooling or average pooling layer, reducing the amount of calculation while retaining important features; a fully connected layer for flattening the features extracted by the convolution layer and the pooling layer, and mapping them to a high-dimensional space through a fully connected layer for classification or regression tasks; an output layer for predicting the number and position of high-temperature curved blocks in the curved disk, as well as the number of empty curved block placement grids on each layer of the placement rack.

[0124] The CNN model is trained using the labeled data set to obtain the first number of high-temperature curved blocks. After that, the state of each layer of the placement rack is represented as a two-dimensional matrix, where each element represents the state of a placement grid (for example, 1 indicates occupied and 0 indicates idle).

[0125] According to the location information of the high-temperature curved blocks output by the CNN model, it is mapped to the corresponding matrix elements. By scanning the two-dimensional matrix, continuous free grids are detected. The number of continuous empty curved blocks can be quickly calculated using the sliding window algorithm; the number of empty curved blocks on each layer of the placement rack is accumulated and compared with the number of curved blocks predicted by the CNN model to obtain the second number of empty curved block placement grids.

[0126] In step S620, the central control host divides the second weight data by the preset weight unit to obtain the third quantity. The total weight on the bend plate (i.e., the second weight data) is divided by the preset weight unit to calculate the theoretical number of bend blocks, i.e., the third quantity, to verify whether the first quantity obtained by image recognition is consistent with the third quantity obtained by weight calculation. If they are consistent, it means that both the image recognition and the weight data are accurate, and subsequent operations can be continued. Assuming that the preset weight unit is 50 grams and the second weight data is 500 grams, the calculated third quantity should be 10 bend blocks.

[0127] When the third number is consistent with the first number and the number of empty curved block placement grids on a certain layer of the placement rack is greater than or equal to the first number, the central control host determines that the layer is the target level, and the height data of the target level will be used in subsequent instructions. This means that when the number of curved blocks is correct and there is enough space on the placement rack, the specific level position is determined to receive these curved blocks to avoid placing the curved blocks on a full level or at an inappropriate height, thereby ensuring the safe placement of the curved blocks. For example, if the first number and the third number are both 10, and a certain layer of the placement rack has 12 empty curved block placement grids, this layer will be determined as the target level.

[0128] Next, if the third number is inconsistent with the first number, but the number of empty blocks in a layer is greater than or equal to the third number, then the layer will be determined as the target layer. This usually occurs when the image recognition and weight calculation results are inconsistent, perhaps because the weight of some blocks does not meet the standard, or there is an error in camera recognition. By giving priority to weight data, it is ensured that the blocks can be placed in the appropriate position and the impact of errors is reduced. For example, if the third number is 8 and the first number is 10, the system will determine the layer based on the third number, with the layer with 8 empty blocks as the target layer.

[0129] The central control host will determine whether the block is within the preset temperature range based on the first temperature data. If there are high-temperature blocks whose temperatures are out of range, these blocks will be considered abnormal blocks. During the production process, blocks with temperatures that are too high or too low may affect their quality and safety, so these abnormal blocks need to be marked. Through this judgment, it is ensured that abnormal blocks can be identified and corresponding measures can be taken in the subsequent processing process.

[0130] Next, the central control host will mark the abnormal blocks and generate marking information. This marking information will be used in subsequent operations, especially when placing blocks, to help identify and handle these abnormal blocks. The marking information usually includes the location of the block, the temperature abnormality, and the treatment measures that need to be taken. For example, if a block has a high temperature, it may need to be placed in a special isolation area to prevent it from affecting other blocks. The generation and transmission of marking information ensures the traceability and security of the entire process.

[0131] Finally, the central control host obtains the height data of the target level and transmits this height data together with the previously generated marking information as the second instruction to the relevant equipment. The height data is used to control the movement of the lifting table or other mechanical devices to ensure that the block can be accurately placed on the placement rack at the target level. At the same time, the marking information is used to guide the operator or the automation system to handle abnormal blocks.

[0132] In this embodiment, the high-temperature curved block conveying system can realize the accurate identification, weight verification, layer selection, and marking and processing of abnormal curved blocks of high-temperature curved blocks, which not only improves the automation level of the production line, but also enhances the control of the quality and safety of the curved blocks, realizes efficient curved block allocation and management, reduces the risk of incorrect placement, optimizes the production process, and improves the conveying efficiency of high-temperature curved blocks.

[0133] In one implementation of this embodiment, the following steps are also included:

[0134] S710: When the third number is consistent with the first number and the second number of the empty song block placement grids of the n-th layer placement rack is less than the first number, the central control host allocates high-temperature song blocks to the empty song block placement grids of each layer placement rack based on a preset allocation step, so as to place all high-temperature song blocks on the song tray in the empty song block placement grids;

[0135] S720. When the third number is inconsistent with the first number and the second number of the song block placement grids of the m-th layer placement rack is less than the third number, the central control host allocates high-temperature song blocks to the empty song block placement grids of each layer placement rack based on the allocation step to place all high-temperature song blocks on the song disk in the empty song block placement grids.

[0136] Affected by the possible artificial placement of curved blocks in the curved block placement grid, when the third number is consistent with the first number and the number of empty curved block placement grids on the n-th layer of the placement rack is less than the first number, the central control host can allocate high-temperature curved blocks to the empty curved block placement grids on each layer of the placement rack based on the preset allocation steps. In this case, although the actual number of high-temperature curved blocks on the curved plate (i.e., the first number) is consistent with the number of curved blocks calculated by weight (i.e., the third number), the available empty curved blocks on the n-th layer of the placement rack are not enough to accommodate all the curved blocks. In order to deal with this situation, the central control host adopts an allocation algorithm to disperse the high-temperature curved blocks in the empty curved blocks on the multi-layer placement rack.

[0137] In specific implementation, a layer-by-layer scanning method can be adopted to search for empty blocks on each layer from bottom to top, and then allocate blocks according to the preset allocation steps. For example, if there are 3 empty blocks on one layer and 2 empty blocks on another layer, and there are a total of 5 blocks to be placed, then these blocks will be evenly allocated to the two layers. The advantage of this allocation method is that it maximizes the use of the space on the placement rack while ensuring the stability and safety of the block placement.

[0138] The allocation steps may be: 1. Sort the number of empty song block placement grids E on each layer of the placement rack from large to small. 2. Obtain the number of empty song block placement grids on each layer and its corresponding layer number (index value); 3. Initialize a remaining song block variable, with the initial value being the total number of high-temperature song blocks Q on the song disk; 4. In order to facilitate the management of the temperature of the high-temperature song blocks, starting from the top layer including the empty song blocks, song blocks are allocated layer by layer from low to high according to the temperature. If E is greater than or equal to the remaining song blocks Q, all the remaining song blocks are placed in the empty song blocks of the current layer, and the allocation process is terminated. If E is less than the remaining song blocks Q, all the empty song block placement grids of the current layer are filled, and the remaining song blocks are updated to the remaining song blocks-E, and the allocation to the next layer is continued.

[0139] When the third number is inconsistent with the first number and the number of empty curved blocks on the m-th layer of the placement rack is less than the third number, the central control host will allocate the high-temperature curved blocks to the empty curved blocks on the multi-layer placement rack based on the same allocation steps. Here, since the first number obtained by image recognition is inconsistent with the third number obtained by weight calculation, the central control host may rely more on weight data (i.e., the third number) to determine the number of curved blocks that need to be placed. However, the number of empty curved blocks on the m-th layer is not enough to accommodate all the curved blocks, so the central control host needs to find additional empty curved blocks in other layers to complete the placement of the curved blocks. In the specific implementation process, it may be necessary to check all the placement racks layer by layer to find the empty curved blocks that can accommodate the remaining curved blocks, and allocate them according to certain priority rules (such as giving priority to the empty curved blocks on the lower shelf to improve the stability of placement). For example, assuming that the first number is 10, the third number is 8, and there are only 6 empty curved blocks on the m-th layer, then the central control host will prioritize placing 6 curved blocks on the m-th layer, and the remaining 2 curved blocks will be placed in the empty curved blocks of other layers according to the allocation rules. This ensures that even in the case of inconsistent data, the blocks can be allocated reasonably and placement errors can be reduced.

[0140] This embodiment can flexibly perform the allocation operation of high-temperature blocks when facing different numbers of blocks and rack space conditions, effectively avoiding errors in block placement due to insufficient placement space or inconsistent data. In addition, the allocation step can improve the space utilization rate of the rack, ensuring that each block can be safely and reasonably stored, and ultimately improving the efficiency and stability of the entire production line.

[0141] In one implementation of this embodiment, the placement area includes a spare placement area, a normal placement area, and an abnormal placement area, the third instruction includes an abnormal placement area placement instruction and a normal placement area placement instruction, and in response to receiving the second temperature data detected by the second temperature sensor and the third instruction sent by the central control host, the truss manipulator takes the placement rack and places the placement rack on the curved rack, including the following steps:

[0142] S810: When there is marking information on the placement rack, the central control host locates the block placement grid where the to-be-screened block is located based on the marking information and the second temperature data, and generates positioning information, the positioning information including the block placement grid where the to-be-screened block is located and the corresponding placement rack code;

[0143] S820, the central control host generates an abnormal placement area placement instruction based on the positioning information to instruct the truss manipulator to place the placement rack in the abnormal placement area on the curved rack, wherein if the abnormal placement area is fully loaded, the central control host issues a fourth instruction to instruct the truss manipulator to place the placement rack in the spare placement area on the curved rack;

[0144] S830. When there is no marking information on the placement rack, the central control host generates a normal placement area placement instruction to instruct the truss robot to place the placement rack in the normal placement area on the curved rack. If the normal placement area is fully loaded, the central control host issues a fifth instruction to instruct the truss robot to place the placement rack in the spare placement area on the curved rack.

[0145] When there is marking information on the placement rack, the central control host locates the specific position of the block to be screened by reading the marking information and combining it with the temperature data sent back by the second temperature sensor. Since each block placement grid on the placement rack has a unique identifier, the central control host first parses the marking information, determines the abnormal block and the placement rack of the abnormal block, and then associates the second temperature data with the placement grid to be screened. Assuming that an abnormal temperature of a block is detected in a certain block placement grid, the block is an unqualified block. The positioning information generated by the central control host includes the block placement grid where the unqualified block is placed and the corresponding placement rack code to ensure that in subsequent operations, the truss manipulator can accurately locate and perform the picking and placement tasks. For example, the block temperature of a block on a certain placement rack is not within the preset temperature range. At this time, the central control host generates a positioning information containing the block placement grid and the corresponding placement rack code for the truss manipulator to place it in the placement area later.

[0146] After the central control host obtains the positioning information, it generates a placement instruction for the abnormal placement area based on the positioning information. The abnormal placement area is generally used to store unqualified high-temperature curved blocks. The central control host instructs the truss manipulator to place the placement rack marked as abnormal in the abnormal placement area on the curved rack. In operation, the truss manipulator completes the placement according to the previously generated placement rack code and placement grid position.

[0147] If the abnormal placement area is full (that is, all available placement positions are occupied), the central control host will generate a new fourth instruction to instruct the truss robot to move the placement frame to the spare placement area. The spare placement area is usually used as a buffer zone to provide temporary storage space when the abnormal placement area is saturated. Through this operation, the system stagnation problem caused by overload of the abnormal area can be effectively avoided, and the efficiency of processing is also guaranteed. For example, if there are 10 empty spaces in the abnormal placement area, and 11 abnormal curved blocks that need to be processed are currently detected, the central control host will arrange the first 10 curved blocks to enter the abnormal placement area, and the last curved block will be placed in the spare placement area to ensure that all curved blocks can be properly processed.

[0148] If there is no marking information on the placement rack, the central control host generates a placement instruction for the normal placement area. The normal placement area is used to store curved blocks that have not detected any abnormalities. At this time, the truss robot places the placement rack in the normal placement area of ​​the curved rack according to the instruction to ensure that it can continue normally in the subsequent process. For example, a curved block with a standard temperature in the range of 200°C to 400°C will be placed directly in the normal placement area. If the normal placement area is full, that is, all the placement positions of normal curved blocks are occupied, the central control host will issue a fifth instruction to notify the truss robot to place the placement rack in the spare placement area. The spare placement area acts as a buffer to temporarily store these compliant curved blocks to ensure that the production process is not interrupted due to space problems.

[0149] This implementation method effectively improves the management efficiency of high-temperature curved blocks through the analysis of marking information and the second temperature data. Whether it is the screening and processing of abnormal curved blocks or the orderly storage of normal curved blocks, the entire process is carried out automatically, avoiding the uncertainty caused by human intervention. At the same time, the design of the spare placement area ensures that when the abnormal or normal placement area is full, there is still enough space for temporary storage, avoiding the problem of system blockage or stagnation, which not only improves the safety of high-temperature curved block placement, but also optimizes the continuity and efficiency of the entire curved block production process.

[0150] In one implementation of this embodiment, in response to receiving the fourth instruction and the sensing signal of the infrared sensor, the conveyor conveys all the stacked curved racks at the stacking positions to the docking position with the AGV forklift obtained according to the fourth instruction, including the following steps:

[0151] S910, the central control host generates a docking path and a docking position based on the current position of the AGV forklift and the position of the stacking position, wherein the fourth instruction includes the docking path and the docking position;

[0152] S920: The conveyor determines that the stacking of the curved racks is complete based on the sensing signal, and transfers the curved racks stacked on all stacking positions to the docking position with the AGV forklift according to the fourth instruction.

[0153] After receiving the fourth instruction, the central control host generates a docking path and a docking position based on the current position of the AGV forklift and the position of the stacking position. The AGV forklift is an automated guided transport vehicle that usually navigates through preset paths and landmarks. In order to ensure that the AGV forklift can accurately dock to the location of the curved frame, the central control host first reads the real-time position data of the AGV forklift, which can be obtained from the vehicle positioning system, such as laser radar, inertial navigation system, etc. Then, the central control host can analyze the geographical location of the stacking position, which can be obtained through the data stored in the production management system.

[0154] The central control host compares the current position of the AGV forklift with the position of the stacking position, calculates the optimal path, and generates detailed docking position instructions. For example, if the AGV forklift is located on the south side of the factory and the stacking position is on the north side, the central control host will generate a path through the central aisle of the factory and determine the position where the AGV forklift needs to dock, such as 1 meter in front of the stacking position, to ensure that the forklift can smoothly pick up the curved rack. The generation of the docking path and docking position ensures that the AGV forklift can accurately locate the stacking position of the curved rack, thereby efficiently completing the transportation task.

[0155] Specifically, the central control host uses a path planning algorithm to determine the optimal path for the AGV forklift from the current position to the target stacking position. The specific steps are as follows: 1. The central control host obtains the factory map, where there is usually a pre-built three-dimensional map inside the factory, and the three-dimensional map is used by the central control host for path planning. The three-dimensional map includes the locations of all fixed facilities, passages and various obstacles in the factory. The current position of the AGV forklift is calibrated in real time on this map by its own positioning system (such as SLAM technology). 2. The central control host generates the optimal path through the factory map and dynamic obstacles. Specifically, the central control host can find the optimal path in combination with the heuristic function. The dynamic obstacles can be other AGV forklifts, mobile obstacles, etc. 3. In order to make the AGV forklift more stable when executing the path, the central control host will use the Bezier curve to smooth the optimal path to avoid sharp turns or complex paths. 4. The central control host determines the speed of the AGV forklift through the optimal path. Specifically, on a longer straight path, the AGV forklift is controlled to travel at a higher speed, while in complex areas, the AGV forklift is controlled to slow down. 5. After determining the path of the AGV forklift, the central control host generates a docking position instruction to ensure that the AGV forklift can dock accurately at the stacking position. Specifically, since the position of the AGV forklift is obtained in real time through positioning systems such as GPS and laser radar, and the position of the stacking position is a known fixed point, the central control host calculates the direction and moving distance that the AGV needs to adjust based on the coordinate difference between the current position of the AGV and the position of the stacking position, and calculates the final position that the AGV forklift needs to reach, such as 1 meter in front of the stacking position. This position is determined based on the optimal distance when the forklift performs the access operation to the stacking position, taking into account factors such as the length of the forklift, the turning radius, and the docking angle.

[0156] For the second step above, the central control host first divides the factory map into grids or nodes, each node representing a location that an AGV forklift may pass through. The heuristic function is used to estimate the cost (usually the distance) from the current node n to the target node. The heuristic function in this embodiment includes the Manhattan distance. The central control host calculates the cost function, which represents the actual path cost from the starting point to the current node n, which is calculated based on the distance and time of the path. Finally, the central control host determines the node that minimizes the total evaluation function value based on the total evaluation function, and performs a path search based on the node that minimizes the total evaluation function value. Specifically, the total evaluation function is used to determine the priority of the node, and prioritizes searching for the node that minimizes the total evaluation function value. That is, starting from the starting point, gradually expand to adjacent nodes until the path to the target node is found. In the above path, the central control host can monitor the environment in real time through the AGV forklift and fixed sensors in the factory (such as lidar and cameras), detect dynamic obstacles around, and use the D Lite algorithm to quickly update the existing path after detecting dynamic obstacles. When the AGV forklift detects the approach of dynamic obstacles, it can use the preset obstacle avoidance algorithm to avoid collision in a short distance.

[0157] In the above implementation, the central control host will monitor the AGV's motion state, speed, and changes in the surrounding environment in real time. If an obstacle or other unexpected situation is detected on the path, the path will be replanned immediately. When the AGV forklift approaches the target location, the central control host will slow down and use short-range sensors to perform accurate distance measurements to ensure that the forklift can accurately dock at the stacking position.

[0158] Afterwards, the conveyor determines that the stacking process of the curved racks has been completed based on the sensing signal of the infrared sensor, and according to the fourth instruction sent by the central control host, it transfers all the curved racks on the stacking position to the docking position with the AGV forklift. The infrared sensor is installed on the stacking position to monitor whether the stacking is completed. When it senses that the curved racks have been stacked, the infrared sensor will feed back the signal to the control system of the conveyor to confirm that the stacking process is over. Subsequently, the conveyor will start and start to transfer the stacked curved racks to the docking position of the AGV forklift according to the fourth instruction generated previously. For example, if the infrared sensor detects that 5 curved racks have been stacked, the conveyor will start and move the 5 curved racks to the docking position at the set speed to ensure that the AGV forklift can accurately take away the stacked curved racks.

[0159] The automatic transmission of the conveyor in this embodiment effectively ensures that the curved frame can be transported to the AGV forklift on time and accurately. The use of infrared sensors effectively improves the efficiency and accuracy of the curved frame transportation process, ensures the continuity and stability of the production line, and reduces operating costs.

[0160] An embodiment of the present application also provides a high-temperature curved block conveying system, including a central control host, a curved block pusher, a conveyor, a lifting workbench, a camera, a truss manipulator, a hoist, an electric conveyor and an AGV forklift, the lifting workbench is connected to the camera, the hoist is connected to the electric conveyor, the curved block pusher, the conveyor, the lifting workbench, the camera, the truss manipulator, the hoist, the electric conveyor and the AGV forklift are all connected to the central control host.

[0161] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned high-temperature curved block intelligent conveying method.

[0162] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0163] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0164] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0165] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0166] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0167] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0168] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0169] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0170] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. An intelligent method for conveying high-temperature curved blocks, characterized in that: Applied to a high-temperature curved block conveying system, the high-temperature curved block conveying system includes a central control host, a curved pusher, a conveyor, a lifting workbench, a first camera, a truss manipulator, a hoist, an electric conveyor and an AGV forklift, the lifting workbench is connected to the first camera, the hoist is connected to the electric conveyor, the curved pusher, the conveyor, the lifting workbench, the first camera, the truss manipulator, the hoist, the electric conveyor and the AGV forklift are all connected to the central control host, and the method includes: In response to receiving the start-up instruction sent by the central control host, the pusher pushes the high-temperature block along a preset path to the conveyor, on which a first weight sensor is provided; In response to receiving the first weight data transmitted by the first weight sensor, the conveyor conveys the high-temperature curved block to a curved position on a curved plate at a preset position, wherein the curved plate includes at least two curved positions, and the curved plate is provided with a first temperature sensor and a second weight sensor, and each of the curved positions on the curved plate is provided with a first temperature sensor; In the case where the high-temperature curved blocks are placed on the curved positions on the curved plate, in response to receiving the second weight data detected by the second weight sensor and the first temperature data detected by the first temperature sensor, the conveyor transfers the curved plate to the lifting workbench; In response to identifying the curved disk, the first camera captures and obtains a curved disk image; In response to receiving a second instruction from the central control host, the lifting workbench rises to a target height to push a preset number of curved blocks to a placement rack, the placement rack includes curved block placement grids greater than or equal to the number of curved positions, and each of the curved block placement grids is used to place one of the high-temperature curved blocks, each of the curved block placement grids is provided with a second temperature sensor, and the second instruction is obtained based on the curved plate image taken by the first camera, the second weight data, and the first temperature data; In response to receiving the second temperature data detected by the second temperature sensor and the third instruction sent by the central control host, the truss manipulator takes the placement rack and places the placement rack on the curved rack, the third instruction is used to instruct the truss manipulator to place the placement rack in the corresponding placement area on the curved rack, and the third instruction is obtained based on the second temperature data and the position of the curved rack; In the case where the placement areas of the curved racks are all filled with the placement racks, in response to receiving the fourth instruction sent by the central control host, the lifting machine lifts the curved rack to the height of the stacking position obtained according to the fourth instruction, and the electric conveyor places the curved rack at the first position of the stacking position, there are at least two stacking positions, and each of the stacking positions is provided with an infrared sensor; In response to receiving the fourth instruction and the sensing signal of the infrared sensor, the conveyor transfers the curved frames stacked on all the stacking positions to the docking position with the AGV forklift obtained according to the fourth instruction, and the fourth instruction is obtained based on the current positioning of the AGV forklift.

2. The method according to claim 1, characterized in that In response to receiving the first weight data transmitted by the first weight sensor, the conveyor conveys the high-temperature curved block to a curved position on a curved plate at a preset position, comprising: After receiving the first weight data, the conveyor divides the first weight data by a preset weight unit to obtain an integer value as the code of the curve position, and transmits the high-temperature curve block to the curve position corresponding to the code, wherein, if the code is the maximum code, it is determined that the high-temperature curve blocks are placed on all the curve positions on the curve disk, and the first weight data is cleared, and the code corresponds one-to-one to the curve position.

3. The method according to claim 2, characterized in that The high-temperature curved block conveying system further includes a recovery manipulator connected to a second camera, and in response to receiving the second weight data detected by the second weight sensor and the first temperature data detected by the first temperature sensor, the conveyor conveys the curved plate to the lifting workbench, including: When the second weight data is equal to the product of the maximum code of the curved position and the preset weight unit, and the first temperature data is within the preset temperature range, the conveyor transfers the curved plate to the lifting workbench.

4. The method according to claim 3, characterized in that The method further comprises: When the second weight data is equal to the product of the maximum code of the curve position and the preset weight unit, and the first temperature data is not within the preset temperature range, the conveyor transfers the curve tray to the second position, and the recycling robot, after receiving the identification signal transmitted by the second camera, takes the high-temperature curve block on the curve tray and places it in the recycling area until the high-temperature curve block on the curve tray is taken. After receiving the signal that the recycling robot has taken the curve block, the conveyor transports the curve tray to the preset position.

5. The method according to claim 1, characterized in that In response to receiving the second instruction from the central control host, the lifting workbench rises to a target height obtained based on the second instruction to push a preset number of curved blocks to the placement rack, including: The central control host obtains a second instruction based on the curved plate image taken by the first camera, the second weight data and the first temperature data, and transmits the second instruction to the lifting workbench; The lifting workbench rises to the target height based on the second instruction, and pushes a preset number of curved blocks to the placement rack.

6. The method according to claim 5, characterized in that The placement rack includes at least two layers, each layer of the placement rack includes at least two curved block placement boxes, and the central control host obtains a second instruction based on the curved plate image taken by the first camera, the second weight data, and the first temperature data, including: The central control host performs image recognition on the curved plate image to obtain a first number of the high-temperature curved blocks in the curved plate, and obtains a second number of connected empty curved block placement grids of each layer of the placement rack; The central control host divides the second weight data by a preset weight unit to obtain a third quantity, and the third quantity is used to verify whether it is consistent with the first quantity; When the third number is consistent with the first number and the second number of the empty curved block placement grids of the placement rack at the nth layer is greater than or equal to the first number, the central control host determines that the nth layer is the target layer, where n is a positive integer; When the third number is inconsistent with the first number and the second number of the empty curved block placement grids of the placement rack at the mth layer is greater than or equal to the third number, the central control host determines that the mth layer is the target layer, where m is a positive integer; The central control host determines whether there is a high-temperature block that is not within a preset temperature range according to the first temperature data; If there is a high-temperature curved block that is not within the preset temperature range, the high-temperature curved block that is not within the preset temperature range is regarded as an abnormal curved block, and marking information is generated to mark the abnormal curved block and the placement rack where the abnormal curved block is located; The central control host obtains the height data of the target layer, and uses the height data and the mark information as the second instruction.

7. The method according to claim 6, characterized in that The method further comprises: When the third number is consistent with the first number and the second number of the empty song block placement grids of the placement rack on the nth layer is less than the first number, the central control host allocates high-temperature song blocks to the empty song block placement grids of the placement rack on each layer based on a preset allocation step, so as to place all the high-temperature song blocks on the song tray in the empty song block placement grids; When the third number is inconsistent with the first number and the second number of the bend block placement grids of the placement rack on the mth layer is less than the third number, the central control host allocates high-temperature bend blocks to the empty bend block placement grids of the placement rack on each layer based on the allocation step to place all the high-temperature bend blocks on the bend disk in the empty bend block placement grids.

8. The method according to claim 6, characterized in that The placement area includes a spare placement area, a normal placement area, and an abnormal placement area, the third instruction includes an abnormal placement area placement instruction and a normal placement area placement instruction, and in response to receiving the second temperature data detected by the second temperature sensor and the third instruction sent by the central control host, the truss manipulator takes the placement rack and places the placement rack on the curved rack, including: In the case where the placement rack has the marking information, the central control host locates the block placement grid where the block to be screened is located based on the marking information and the second temperature data, and generates positioning information, wherein the positioning information includes the block placement grid where the block to be screened is located and the corresponding placement rack code; The central control host generates the abnormal placement area placement instruction based on the positioning information to instruct the truss manipulator to place the placement rack in the abnormal placement area on the curved rack, wherein if the abnormal placement area is fully loaded, the central control host issues a fourth instruction to instruct the truss manipulator to place the placement rack in the spare placement area on the curved rack; When the marking information does not exist on the placement rack, the central control host generates the normal placement area placement instruction to instruct the truss manipulator to place the placement rack in the normal placement area on the curved rack, wherein if the normal placement area is fully loaded, the central control host issues a fifth instruction to instruct the truss manipulator to place the placement rack in the spare placement area on the curved rack.

9. The method according to claim 1, characterized in that: In response to receiving the fourth instruction and the sensing signal of the infrared sensor, the conveyor conveys the curved racks stacked on all the stacking positions to the docking position with the AGV forklift obtained according to the fourth instruction, including: The central control host generates a docking path and a docking position based on the current position of the AGV forklift and the position of the stacking position, wherein the fourth instruction includes the docking path and the docking position; The conveyor determines that the stacking of the curved racks is complete based on the sensing signal, and conveys the curved racks stacked on all the stacking positions to the docking position with the AGV forklift according to the fourth instruction.

10. A high-temperature curved block conveying system, characterized in that: The intelligent conveying method of high-temperature curved blocks applied to any one of claims 1 to 9 comprises a central control host, a bending pusher, a conveyor, a lifting work platform, a first camera, a truss manipulator, a hoist, an electric conveyor and an AGV forklift, wherein the lifting work platform is connected to the first camera, the hoist is connected to the electric conveyor, the bending pusher, the conveyor, the lifting work platform, the first camera, the truss manipulator, the hoist, the electric conveyor and the AGV forklift are all connected to the central control host.

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