Intelligent conveying method and system for high-temperature dough pieces

Abstract

This application discloses an intelligent conveying method and system for high-temperature curved blocks. The method includes: receiving a start command, a pusher pushes the high-temperature curved blocks to a conveyor; receiving first weight data, the conveyor transfers the high-temperature curved blocks to a position on a preset curved plate; if all positions on the curved plate are occupied by high-temperature curved blocks, receiving second weight data and first temperature data, the conveyor transfers the curved plate to a lifting platform; receiving a second command, the lifting platform rises to a target height; receiving second temperature data and a third command, a gantry robot picks up a placement rack and places it on the curved plate; if all placement areas on the curved plate are occupied by placement racks, receiving a fourth command, a lifter raises the curved plate to the height of the stacking position, and an electric conveyor places the curved plate in a first position; receiving the fourth command and a sensing signal, the conveyor transfers all the curved plates stacked on the stacking positions to a docking position with an AGV forklift.

Description

Technical Field

[0001] This application relates to the field of intelligent conveying technology, and in particular to an intelligent conveying method and system for high-temperature curved blocks. Background Technology

[0002] Koji (fermentation starter) is an important fermenting agent in the brewing process. It is mainly made from raw materials such as rice, wheat, or beans, and ferments through inoculation with microorganisms such as Aspergillus, yeast, and lactic acid bacteria. Depending on the fermentation temperature and intended use, koji can be divided into high-temperature koji and low-temperature koji. High-temperature koji is fermented at a higher temperature and is typically used in rapid fermentation processes, such as in the production of certain types of baijiu (Chinese liquor) or soy sauce.

[0003] High-temperature koji blocks typically need to be maintained within a suitable temperature range. Temperatures that are too high or too low will affect the activity of microorganisms within the koji blocks. Excessively high temperatures may cause microorganisms to become overactive, leading to rapid self-consumption of the koji blocks and reduced brewing efficiency. Conversely, excessively low temperatures may slow down microbial activity or even cause them to become dormant, thus prolonging fermentation time or negatively impacting the fermentation outcome.

[0004] Currently, after production, high-temperature koji blocks are typically transported from the fermentation zone to the drying zone using conveyor belts. In the drying zone, the koji blocks are dried to extend their shelf life and facilitate subsequent packaging and transport. Because the koji blocks are at a high temperature after production, the conveyor belt facilitates transport and also helps cool them down, maintaining their temperature within a suitable range. While the conveyor belt does provide some cooling during transport, this cooling is not uniform. The distribution of the koji blocks on the conveyor belt may be uneven, causing some areas to cool too quickly while others remain at a higher temperature. Since high-temperature koji blocks need to be maintained within a narrow temperature range to preserve microbial activity, this uneven cooling can cause some blocks to drop below the acceptable temperature range, thus affecting their fermentation performance.

[0005] In summary, the temperature of the high-temperature koji blocks on the conveyor belt may drop below the acceptable temperature range. Therefore, in most cases, manual batch inspection is required to screen out the substandard koji blocks with lower temperatures. Due to the uneven temperature drop, manual batch inspection alone cannot comprehensively cover all koji blocks on the entire conveyor belt. Manual inspection usually has a certain lag and can only inspect a portion of the samples. This means that after passing inspection, the temperature of koji blocks in other parts of the conveyor belt may continue to drop, and some undetected koji blocks may become substandard by the time they reach the drying area. When these substandard koji blocks enter the drying area, even if the drying process reduces the moisture content, the fermentation performance of these koji blocks has been damaged due to the failure of the initial temperature control, resulting in insufficient microbial activity during subsequent brewing and ultimately affecting product quality.

[0006] There is currently no good solution to the above problems. Summary of the Invention

[0007] This application provides an intelligent conveying method and system for high-temperature curved blocks, which is used to intelligently convey high-temperature curved blocks to ensure the quality of the high-temperature curved blocks after conveying, so as to minimize the probability of unqualified curved blocks and thus reduce the defect rate.

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

[0009] Firstly, a smart conveying method for high-temperature curved blocks is provided, applied to a high-temperature curved block conveying system. The high-temperature curved block conveying system includes a central control unit, a pushing machine, a conveyor, a lifting platform, a first camera, a gantry robot, a hoist, an electric conveyor, and an AGV forklift. The lifting platform is connected to the first camera, the hoist is connected to the electric conveyor, and the pushing machine, the conveyor, the lifting platform, the first camera, the gantry robot, the hoist, the electric conveyor, and the AGV forklift are all connected to the central control unit. The method includes:

[0010] In response to receiving a start command from the central control host, the pusher pushes the high-temperature koji block to the conveyor along a preset path, and the conveyor is equipped with a first weight sensor;

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

[0012] When the high-temperature blocks are placed on the curved positions of 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 worktable.

[0013] The first camera, in response to recognizing the disc, captures an image of the disc;

[0014] In response to receiving a second command from the central control host, the lifting platform rises to a target height to push a preset number of curved blocks into the placement rack. The placement rack includes curved block placement compartments with a number greater than or equal to the number of curved blocks, and each curved block placement compartment is used to place one of the high-temperature curved blocks. Each curved block placement compartment is equipped with a second temperature sensor. The second command is obtained based on the curved block image captured 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 gantry robot picks up the placement rack and places the placement rack on the curved frame. The third instruction is used to instruct the gantry robot to place the placement rack in the corresponding placement area on the curved frame. The third instruction is obtained based on the second temperature data and the position of the curved frame.

[0016] When the placement racks are placed in all the placement areas of the crank racks, in response to receiving the fourth command sent by the central control host, the hoist lifts the crank racks to the height of the stacking position obtained according to the fourth command, and the electric conveyor places the crank racks in the first position of the stacking position. There are at least two stacking positions, and each stacking position is equipped with an infrared sensor.

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

[0018] In one possible implementation of the first aspect, the conveyor conveying the high-temperature curved block to a curved position on a pre-set curved plate in response to receiving first weight data transmitted by the first weight sensor includes:

[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 conveys the high-temperature curve block to the curve position corresponding to the code. If the code is the maximum code, it is determined that the high-temperature curve block is placed on all curve positions on the curve plate, and the first weight data is cleared to zero. The code corresponds one-to-one with 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. In response to receiving second weight data detected by a second weight sensor and first temperature data detected by a first temperature sensor, the conveyor transports the curved block to the lifting worktable, including:

[0021] 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 within the preset temperature range, the conveyor will transport the curve plate to the lifting worktable.

[0022] In another possible implementation 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 curved position and the preset weight unit, and the first temperature data is not within the preset temperature range, the conveyor transports the curved plate to the second position. After receiving the recognition signal transmitted by the second camera, the recycling robot picks up the high-temperature curved block on the curved plate and places it in the recycling area until the high-temperature curved block on the curved plate is picked up. After receiving the signal that the recycling robot has finished picking up the high-temperature curved block, the conveyor transports the curved plate to the preset position.

[0024] In another possible implementation of the first aspect, in response to receiving a second command from the central control host, the lifting platform rises to a target height based on the second command to advance a preset number of curved blocks to the placement rack, comprising:

[0025] The central control unit obtains a second instruction based on the curved disc image captured by the first camera, the second weight data, and the first temperature data, and transmits the second instruction to the lifting work platform;

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

[0027] In another possible implementation of the first aspect, the placement rack includes at least two layers, each layer of the placement rack including at least two of the curved block placement boxes, and the central control host obtains a second instruction based on the curved disc image captured 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 the first number of the high-temperature curved blocks in the curved plate, and obtains the second number of the connected empty curved block placement grids of each layer of the placement rack.

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

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

[0031] If the third quantity is inconsistent with the first quantity and the second quantity of the empty curved block placement grid of the placement rack in the m-th layer is greater than or equal to the third quantity, the central control host determines the m-th layer as the target layer, where m is a positive integer;

[0032] The central control unit determines, based on the first temperature data, whether there are any high-temperature curved blocks that are not within the preset temperature range;

[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 a 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 unit acquires the height data of the target level and uses the height data and the marking information as the second instruction.

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

[0036] When the third quantity is the same as the first quantity and the second quantity of the empty curved block placement grids of the nth layer of the placement rack is less than the first quantity, the central control host performs high-temperature curved block allocation on the empty curved block placement grids of each layer of the placement rack based on a preset allocation step, so as to place all the high-temperature curved blocks on the curved plate into the empty curved block placement grids.

[0037] If the third quantity is inconsistent with the first quantity and the second quantity of the curved block placement grids of the m-th layer of the placement rack is less than the third quantity, the central control host performs high-temperature curved block allocation on the empty curved block placement grids of each layer of the placement rack based on the allocation step, so as to place all the high-temperature curved blocks on the curved plate into the empty curved block placement grids.

[0038] In another possible implementation 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 second temperature data detected by the second temperature sensor and the third instruction sent by the central control host, the gantry robot picks up the placement rack and places the placement rack on the curved frame, including:

[0039] When the marking information is present on the placement rack, the central control host locates the placement grid of the sifted block based on the marking information and the second temperature data, and generates positioning information, which includes the placement grid of the sifted block and the corresponding placement rack code.

[0040] Based on the positioning information, the central control host generates an abnormal placement area placement instruction to instruct the gantry robot to place the placement frame in the abnormal placement area on the curved frame. If the abnormal placement area is full, the central control host issues a fourth instruction to instruct the gantry robot to place the placement frame in the spare placement area on the curved frame.

[0041] If the marked information is not present on the placement rack, the central control host generates a normal placement area placement instruction to instruct the gantry robot to place the placement rack in the normal placement area on the curved frame. If the normal placement area is full, the central control host issues a fifth instruction to instruct the gantry robot to place the placement rack in the spare placement area on the curved frame.

[0042] In another possible implementation of the first aspect, in response to receiving the fourth instruction and the sensing signal from the infrared sensor, the conveyor transports all the stacked gantry cranes on 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 positioning of the AGV forklift and the positioning of the stacking position, wherein the fourth instruction includes the docking path and the docking position;

[0044] The conveyor determines that the stacked frames are complete based on the sensing signal, and according to the fourth instruction, it transports all the stacked frames on the stacking positions to the docking position with the AGV forklift.

[0045] Secondly, this application provides a high-temperature curved block conveying system, including a central control host, a pushing machine, a conveyor, a lifting worktable, a first camera, a gantry robot, a hoist, an electric conveyor, and an AGV forklift. The lifting worktable is connected to the first camera, the hoist is connected to the electric conveyor, and the pushing machine, the conveyor, the lifting worktable, the first camera, the gantry robot, the hoist, the electric conveyor, and the AGV forklift are all connected to the central control host.

[0046] The above technical solution employs weight and temperature sensors to monitor the weight and temperature of each high-temperature curved block in real time, solving the problem of inaccurate temperature control in traditional conveyor belts. The central control unit receives sensor data and sends commands to automate the entire high-temperature curved block conveying process. Compared to manual batch inspection, the automated system provides full coverage and real-time monitoring, effectively reducing the probability of defective blocks. A first camera enables image recognition of the high-temperature curved blocks for more accurate sorting, avoiding human error. The central control unit controls the stacking and conveying of the curved blocks based on the current positioning of infrared sensors and AGV forklifts, minimizing manual intervention. In summary, through multi-sensor monitoring, automated processes, and intelligent scheduling, the system effectively solves problems such as uneven temperature distribution and incomplete manual inspection in traditional conveyor belt systems, significantly reducing the defect rate, improving product quality stability, and significantly increasing production efficiency.

[0047] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0048] Figure 1 This is a schematic diagram illustrating the function of an AGV forklift provided in an embodiment of this application;

[0049] Figure 2 A schematic diagram illustrating the conveying process of a high-temperature curved block, provided as an embodiment of this application;

[0050] Figure 3 Schematic diagrams of curved blocks, fully loaded curved disks, empty placement racks, fully loaded placement racks, and empty curved racks provided for embodiments of this application;

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

[0052] Figure 5 This is a flowchart illustrating an intelligent conveying method for high-temperature curved blocks provided in an embodiment of this application. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0054] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0055] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0056] To facilitate understanding, the high-temperature curved block conveying system of this application embodiment will be described as follows:

[0057] The high-temperature shaped block conveying system includes a central control unit, a pushing machine, a conveyor, a lifting worktable, a first camera, a gantry robot, a hoist, an electric conveyor, and an AGV forklift. The lifting worktable is connected to the first camera, the hoist is connected to the electric conveyor, and the pushing machine, conveyor, lifting worktable, first camera, gantry robot, hoist, electric conveyor, and AGV forklift are all connected to the central control unit.

[0058] The central control unit, which can be a computer, tablet, or other electronic device used to coordinate and control the operation of various equipment, connects to each device via an industrial communication network and can control each device to achieve automation and intelligent conveying of high-temperature shaped blocks. The pushing machine is used to push the shaped blocks from the production line onto the conveyor system, serving as the initial stage of shaped block conveying. When the shaped blocks reach the predetermined position, the pushing machine initiates its pushing action under the command of the central control unit. The pushing machine is typically hydraulically or electrically driven, with a push rod pushing the shaped blocks to the entrance of the conveyor. The conveyor is used for horizontal transport of shaped blocks within the factory. It receives the shaped blocks from the pushing machine and transports them along a predetermined path to a lifting platform or gantry robot. The conveyor is driven by a motor and moves the shaped blocks forward using chains, belts, or rollers. The central control unit controls the speed and direction of the conveyor to ensure the stability and accuracy of the shaped blocks during conveying.

[0059] The lifting platform is used to adjust the height of the curved blocks, facilitating operation by tools such as gantry robots. It can lift the curved blocks to a specific height or lower them to a suitable working surface. The lifting platform typically uses a hydraulic or screw-lifting device. Under the command of the central control unit, the lifting platform adjusts the height of the curved blocks as needed. It works in conjunction with a first camera to ensure accurate positioning of the curved blocks during the lifting process; the first camera is mainly used to monitor and detect the status, position, and quality of the curved blocks, providing visual feedback to the central control unit to ensure correct placement and handling of the curved blocks. The gantry robot is used to move the curved blocks or place them on a rack. The gantry robot is usually mounted on a fixed track and moves along the track by a motor. The central control unit controls its gripping, moving, and releasing actions to ensure that the curved blocks are accurately transported to the designated location. The hoist is used to transport the curved blocks vertically, typically from the ground floor to higher floors. The hoist uses an electric motor to drive a winch or chain to lift the curved blocks to a designated height or lower them to the target floor. Electric conveyors are used to transport crank racks. Equipped with electric motors, they can run along a set path. AGVs (Automated Guided Vehicles) are used to automatically move crank racks within the factory. AGVs are equipped with lidar, cameras, and other sensors, enabling autonomous navigation and obstacle avoidance. Under the command of the central control unit, the AGVs travel according to preset paths, performing picking, transporting, and unloading operations.

[0060] Figure 1 The diagram illustrates the function of the AGV forklift provided in this application embodiment, including: 1. picking up an empty curved pallet; 2. picking up a fully loaded curved pallet that has been conveyed by the elevator to the conveyor; 3. conveying the empty curved pallet to the curing room; 4. conveying the fully loaded curved pallet onto the conveyor.

[0061] In summary, the high-temperature curved block conveying process of this application embodiment can be as follows: Figure 2As shown, the pusher transfers the koji blocks to the transfer line; the koji blocks on the transfer line are transferred to the koji tray by the square reciprocating transfer mechanism; the koji tray moves one position for each group of koji blocks received; after two groups of koji positions on the koji tray are filled, the koji tray moves on the loop line; when the number of koji trays filled with koji blocks reaches a certain amount, they reach the lifting working position in sequence; the koji blocks are pushed into the storage racks in pairs, with a total of 4 layers and 8 blocks; the truss manipulator picks up one storage rack each time, with a total of 8 koji blocks; the truss manipulator works 3 times to fill one koji rack; after the koji rack is filled, it is picked up by the electric conveyor and stacked at the stacking position - 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 koji blocks, fully loaded koji trays, empty storage racks, fully loaded storage racks, and empty koji racks in the above process, as Figure 3 shown. Among them, Figure 3 Figure 1 in it shows high-temperature koji blocks, Figure 2 shows the koji tray full of koji blocks, Figure 3 shows an empty storage rack, Figure 4 shows the storage rack full of koji blocks, and Figure 5 shows an empty koji rack.

[0063] For the above-mentioned square reciprocating transfer mechanism, Figure 4 Figure shows a schematic structural diagram of a square reciprocating transfer mechanism provided by an embodiment of the present application. As Figure 4 shown, the square reciprocating transfer mechanism is a "day" - shaped frame. The frame simultaneously encloses two koji blocks and then transfers them, which is equivalent to a mold. The frame consists of a lifting drive and a horizontal movement drive to form a two - coordinate motion mechanism. 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 high - temperature koji block transportation, Figure 5 Figure schematically shows a flowchart of an intelligent transportation method for high - temperature koji 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 koji blocks, and this method may include the following steps.

[0065] S110. In response to receiving a start instruction sent by the central control host, the pusher pushes the high - temperature koji blocks along a 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 koji blocks to the koji positions on the koji tray at a preset position. Among them, the koji tray includes at least two koji positions, and a first temperature sensor and a second weight sensor are provided on the koji tray, and a first temperature sensor is provided on each koji position on the koji tray;

[0067] S130. When high-temperature blocks are placed on the curved positions of 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 worktable.

[0068] S140, The first camera responds to the recognition of the turntable and captures an image of the turntable;

[0069] S150. In response to receiving the second instruction from the central control host, the lifting worktable rises to the target height to push a preset number of curved blocks into the placement rack. The placement rack includes curved block placement compartments that are greater than or equal to the number of curved blocks, and each curved block placement compartment is used to place a high-temperature curved block. Each curved block placement compartment is equipped with a second temperature sensor. The second instruction is obtained based on the curved block image captured 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 gantry robot picks up the placement rack and places the placement rack on the curved frame. The third instruction is used to instruct the gantry robot to place the placement rack in the corresponding placement area on the curved frame. The third instruction is obtained based on the second temperature data and the position of the curved frame.

[0071] S170. When there are placement racks in the placement area of ​​the crank rack, in response to receiving the fourth command sent by the central control host, the hoist lifts the crank rack to the height of the stacking position obtained according to the fourth command, and the electric conveyor places the crank rack in the first position of the stacking position. There are at least two stacking positions, and each stacking position is equipped with an infrared sensor.

[0072] S180, in response to receiving the fourth instruction and the sensing signal from the infrared sensor, the conveyor transports all the stacked frames on the stacking positions to the docking position with the AGV forklift obtained according to the fourth instruction, which is based on the current positioning of the AGV forklift.

[0073] In response to the start command sent by the central control unit, the pushing machine begins to push the high-temperature currants along a preset path to the conveyor. In this embodiment, the pushing machine uses a smooth and uniform pushing force during the pushing process to avoid damage to the currants. The path of the pushing machine is designed based on the shape and size of the currants to ensure that the currants do not deviate or get stuck during the conveying process. A first weight sensor on the conveyor is used to monitor the weight of the pushed currants in real time to ensure that each currant is within the correct weight range before entering the subsequent processing stage.

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

[0075] The control panel has at least two curved positions, each equipped with a first temperature sensor to monitor whether the temperature of the curved block is within a preset temperature range. A second weight sensor is used to reconfirm the weight of the high-temperature curved block. Through this dual detection mechanism, the mass of each curved block can be effectively monitored before proceeding to the next step of the operation.

[0076] With high-temperature blocks placed at all positions on the curved platen, 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 transports the curved platen to the position of the lifting platform. At this time, the lifting platform is in standby mode, ready to begin the lifting operation after the curved platen reaches its position. This embodiment uses temperature sensors to monitor the block temperature in real time, ensuring that the temperature remains stable during the lifting process of the lifting platform and avoiding a decrease in block quality due to uneven temperature.

[0077] When the curved block reaches above the lifting platform, the first camera starts working, identifying the position of the curved block and capturing an image of it. The images captured by the first camera are transmitted to the central control unit in real time for analysis. The central control unit uses image recognition to determine the number of curved blocks and the position and status of each block.

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

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

[0080] Upon receiving the second command from the central control unit, the lifting platform begins to rise, pushing a preset number of curved blocks into the placement rack. Each curved block placement compartment in the rack is made of high-temperature resistant material and equipped with a second temperature sensor to monitor the real-time temperature of the high-temperature curved blocks. The movement of the lifting platform is controlled by a servo motor, enabling precise height control and ensuring seamless entry of the curved blocks into their designated compartments. The temperature sensor in each compartment transmits the detected temperature data back to the central control unit, ensuring that the high-temperature curved blocks remain under temperature monitoring throughout the entire process.

[0081] Upon receiving the second temperature data from the placement rack and the third instruction from the central control unit, the gantry robot picks up the placement rack and places it on the designated curved frame. A gantry robot is a highly automated device, typically mounted above the production line, capable of moving materials between multiple locations. During operation, the gantry robot, based on the third instruction, grasps the placement rack and places it into the designated placement area on the curved frame. The third instruction is generated based on the temperature data of the curved block and the position of the curved frame to ensure that the temperature of the curved block is within a controllable range and that it can be correctly positioned on the curved frame.

[0082] When the placement area for the jigs is full, upon receiving the fourth command from the central control unit, the hoist begins operation, lifting the jigs to the designated stacking height. Simultaneously, the electric conveyor also starts, moving the jigs to the first position of the stacking area. Each stacking position is equipped with an infrared sensor to detect whether the jigs are correctly positioned and whether there are any offsets or other problems. The stacking area typically houses multiple high-temperature jigs, and each position is equipped with an infrared sensor to monitor the actual placement of the jigs, ensuring a safe and accurate stacking process. The hoist, through a precisely controlled lifting device, raises the jigs to the predetermined height, while the electric conveyor moves the jigs to the designated stacking position, effectively ensuring the automated stacking process and preventing potential stacking errors and safety hazards through infrared sensor monitoring.

[0083] Upon receiving the fourth command from the central control unit and the sensing signal from the infrared sensors, the conveyor transports all the curved frames stacked on the stacking positions to the docking position with the AGV forklift. At this time, the AGV forklift is already waiting in its designated position, ready for the docking operation. Through precise path planning, the conveyor ensures that the curved frames arrive at the docking position smoothly. The AGV forklift, based on its current positioning and the command from the central control unit, accurately docks with the conveyor to complete the transfer task of the curved frames. This not only improves the efficiency of curved frame handling but also reduces the uncertainty and error rate of manual operation, ensuring the stable handling of curved frames at high temperatures.

[0084] This embodiment employs weight and temperature sensors to monitor the weight and temperature of each high-temperature curved block in real time, solving the problem of inaccurate temperature control in traditional conveyor belts. The central control unit receives sensor data and sends commands to automate the entire high-temperature curved block conveying process. Compared to manual batch inspection, the automated system provides full coverage and real-time monitoring, and can monitor the temperature of high-temperature curved blocks in real time based on temperature data, effectively reducing the probability of defective blocks. A first camera enables image recognition of the high-temperature curved blocks for more accurate sorting, avoiding human error. The central control unit controls the stacking and conveying of the curved blocks based on the current positioning of the infrared sensors and AGV forklifts, reducing manual intervention. In summary, through multi-sensor monitoring, automated processes, and intelligent scheduling, the system effectively solves problems such as uneven temperature and incomplete manual inspection in traditional conveyor belt systems, significantly reducing the defect rate, improving product quality stability, and significantly increasing production efficiency.

[0085] In one embodiment of this invention, in response to receiving first weight data transmitted by a first weight sensor, the conveyor transports the high-temperature curved block to a curved position on a preset curved plate, 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 the 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 the curve position on the curve plate is placed with a high-temperature curve block, and the first weight data is cleared to zero. The code and the curve position correspond one-to-one.

[0087] After receiving the first weight data transmitted by the first weight sensor, the conveyor performs calculations based on this data. Specifically, the first weight data is divided by a preset weight unit, and the resulting integer value is the code for a specific position on the turntable. There is a one-to-one correspondence between the turntable code and the turntable position; different integer values ​​correspond to different turntable positions. This coding method ensures that each turntable block is accurately placed in its specific position. For example, assuming the preset weight unit is 50 grams, and the first weight sensor measures the weight of the turntable block to be 200 grams, the calculated integer value is 200 / 50 = 4. This means that the turntable block should be placed in position 4 on the turntable. During the conveying process, the conveyor will use this code to transport the high-temperature turntable block to the corresponding position, ensuring the accuracy and consistency of the turntable block placement.

[0088] In the above operating mode, if the calculated code value is the maximum code value, it means that all positions on the turntable have been placed with high-temperature blocks. At this time, the central control unit will reset the first weight data to zero to ensure that the next weight data collection and calculation is not affected by the previous data. For example, if the maximum code value is 8, then there may be 8 positions on the turntable. If the calculation result is 8, it indicates that all positions on the turntable have been placed with blocks, and the next step is to reset the code to prepare for the next round of block placement.

[0089] After calculating the curvature code and successfully placing the curvature block, the process continues in response to receiving the first weight data transmitted by the first weight sensor. The conveyor then transports the high-temperature curvature block to the curvature position on the preset curvature disk, ensuring the continuity and efficiency of the entire process.

[0090] This implementation method ensures the accurate placement of each curved block through precise weight measurement and coding calculation, thereby improving the utilization rate of the curved block tray and the efficiency of curved block processing. The precise correspondence between the curved block position and the code on the tray guarantees that the curved block can accurately enter the preset position, preventing deviations or efficiency reductions in subsequent operations due to incorrect placement, and significantly improving the accuracy and efficiency of high-temperature curved blocks in the transportation and processing process.

[0091] In one embodiment of this invention, the high-temperature curved block conveying system further includes a retrieval robot connected to a second camera. In response to receiving second weight data detected by a second weight sensor and first temperature data detected by a first temperature sensor, the conveyor transports the curved block to a lifting worktable, 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 will transfer the curved plate to the lifting worktable.

[0093] In the high-temperature curved block conveying system, a recovery robot is connected to a second camera to monitor and assist in the recovery operation. When the second weight data equals 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, it is determined that the curved plate is full and the temperature of the curved block is suitable for processing. Then, the curved plate is conveyed to the lifting worktable for the next step of the operation.

[0094] Specifically, the preset weight unit represents the weight of a standard track within the system, for example, it can be set to 50 grams. The maximum track code represents the total number of tracks that can be accommodated on the track deck, 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 tracks, that is, 8 multiplied by 50 grams equals 400 grams, it can be determined that all tracks on the track deck have been filled.

[0095] After confirming that the weight of the high-temperature block meets the requirements, it is further determined whether the first temperature data is within the 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, then the temperature of the high-temperature block is determined to be qualified.

[0096] When both of the above conditions are met, the conveyor begins to transfer the curved plate to the lifting worktable.

[0097] In this implementation method, after confirming that the curved plate is fully loaded and the temperature of the high-temperature curved blocks is within acceptable limits, the conveyor transfers the curved plate to the lifting worktable, significantly reducing the risk of misoperation and improving the automation level and operational efficiency of high-temperature curved block conveying. Through real-time monitoring, the transfer of curved blocks can be completed efficiently while ensuring the quality of the high-temperature curved blocks.

[0098] In one embodiment of this example, 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 will transport the curved disk to the second position. After receiving the recognition signal transmitted by the second camera, the recovery robot will pick up the high-temperature curved block on the curved disk and place it in the recovery area until the high-temperature curved block on the curved disk is picked up. After receiving the signal that the recovery robot has finished picking up the high-temperature curved block, the conveyor will transport the curved disk to the preset position.

[0100] In a high-temperature curved block conveying system, when the second weight data equals 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 will move the curved block to the second position. At this time, although the weight of the current curved block meets the requirements, its temperature is not within the preset temperature range, and the curved block is a defective curved block.

[0101] To ensure the safe recycling of high-temperature blocks that do not meet temperature requirements, the system first determines a second weight data point by multiplying the maximum code of the block position by a preset weight unit. For example, if the preset weight unit is 50 grams and the maximum code of the block position is 8, then when the second weight sensor detects a weight of 400 grams, the system determines that all blocks on the block are filled. Simultaneously, the temperature of the current block is detected by a first temperature sensor. If the temperature is outside the preset temperature range (e.g., 200 to 300 degrees Celsius, while the current temperature is 150 degrees Celsius), the current block is deemed unqualified.

[0102] In this configuration, the conveyor transports the curved disk from the current working area to a second location for the recycling and processing of the curved blocks. After receiving the identification signal transmitted from the second camera, the recycling robot begins to pick up the high-temperature curved blocks one by one from the disk. The second camera can accurately identify the position of the curved blocks and provide real-time visual feedback to the recycling robot, ensuring that the robot can accurately pick up each block. In this embodiment, to prevent misoperation, the camera not only identifies the position of the curved blocks but also monitors details during the recycling robot's picking process, such as the angle of the curved blocks and whether there is any deviation.

[0103] The recycling area is used to temporarily store slabs that do not meet the temperature requirements. Once all slabs have been successfully retrieved and moved to the recycling area, the recycling robot will send a signal to the conveyor to confirm that the recycling operation is complete. Upon receiving this signal, the conveyor will transport the empty slabs back to the preset position.

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

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

[0106] S510: The central control unit obtains a second command based on the crank image captured by the first camera, the second weight data, and the first temperature data, and transmits the second command to the lifting worktable.

[0107] S520: The lifting worktable rises to the target height based on the second command and pushes a preset number of curved blocks into the placement rack.

[0108] First, the central control unit generates a second command by comprehensively analyzing the curved plate image captured by the first camera, the second weight data, and the first temperature data. The curved plate image captured by the first camera provides the number of curved blocks on the plate. Through image recognition, the central control unit can identify the position, number, and surface condition of the curved blocks. Simultaneously, the second weight data reflects the total weight of the curved blocks on the plate. By comparing it with a preset weight unit, it determines whether the plate has reached a fully loaded or partially loaded state. The first temperature data is used to confirm whether the temperature of the curved blocks is within a preset temperature range. If the first temperature data is within the preset temperature range, it indicates that the curved blocks are qualified. Based on the comprehensive analysis of the above data, the central control unit generates a second command to control the lifting platform's movement. The second command includes the target height and the number of curved blocks, among other things.

[0109] Next, after receiving the second instruction from the central control unit, the lifting platform begins its ascent operation according to the instructions until it reaches the preset target height. The target height is typically 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 centimeters, this means the lifting platform needs to rise to this height to push the blocks onto the placement rack. During the ascent, the lifting platform's precision control system adjusts its lifting speed and stop point according to the target height requirement, ensuring the blocks are smoothly and accurately pushed onto the placement rack.

[0110] Once the lifting platform reaches the target height, it will push a preset number of curved blocks onto the placement rack. For example, if the preset number is 3 curved blocks, the lifting platform can push these 3 curved blocks from the curved plate to the placement rack sequentially according to the position of the curved blocks sent by the central control host.

[0111] In this embodiment, the central control unit can intelligently generate a second instruction based on the real-time acquired images, weight, and temperature data of the curved blocks to ensure that the curved blocks are smoothly pushed to the placement rack by the lifting worktable. This not only improves the accuracy of automated operation but also reduces the need for manual intervention, thereby increasing the efficiency of the entire high-temperature curved block conveying process.

[0112] In one embodiment of this invention, the placement rack includes at least two layers, and each layer includes at least two curved block placement boxes. The central control unit obtains a second command based on the curved disc image captured 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 curved plate image to obtain the first number of high-temperature curved blocks in the curved plate, and obtains the second number of connected empty curved block placement grids in each layer of placement rack;

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

[0115] S630. When the third quantity is the same as the first quantity and the second quantity of empty curved block placement grids of the nth layer placement rack is greater than or equal to the first quantity, the central control host determines the nth layer as the target layer, where n is a positive integer.

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

[0117] S650 and central control unit determine whether there are high-temperature curved blocks that are not within the preset temperature range based on the first temperature data;

[0118] S660. If there are high-temperature blocks that are not within the preset temperature range, treat the high-temperature blocks that are not within the preset temperature range as abnormal blocks and generate marking information to mark the abnormal blocks and the placement rack where the abnormal blocks are located.

[0119] S670: The central control unit acquires the height data of the target level and uses the height data and marking information as the second instruction.

[0120] The central control unit performs image recognition on the curved disc image captured by the first camera to obtain the number of high-temperature curved blocks within the disc, referred to as the first quantity. Based on image recognition, the central control unit can accurately distinguish curved blocks from the background and calculate the actual number of curved blocks currently present on the disc. Simultaneously, the central control unit can obtain the number of empty curved block slots on each shelf; this number is called the second quantity. The shelf typically consists of multiple layers, with multiple slots on each layer for storing curved blocks. The number of empty curved block slots determines whether that layer can accommodate new curved blocks.

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

[0122] Specifically, the central control unit first labels the positions of the high-temperature curved blocks in the curved disk image and the empty curved block placement grids of each layer of the placement rack to obtain a dataset, which is used to train the CNN model.

[0123] The CNN model in this embodiment includes an input layer for inputting processed image data, typically a two-dimensional grayscale image or a three-channel RGB image; multiple convolutional layers for extracting image features. Each convolutional kernel extracts features at different scales, such as edges and textures; pooling layers for reducing the size of the feature maps through max pooling or average pooling, reducing computation while preserving important features; fully connected layers for flattening the features extracted by the convolutional and pooling layers and mapping them to a high-dimensional space for classification or regression tasks; and an output layer for predicting the number and location of high-temperature curved blocks in the curved disk, as well as the number of empty curved block placement slots in each placement rack.

[0124] The CNN model was trained using the labeled dataset to obtain the first number of high-temperature blocks. Then, the state of each layer of the placement rack was represented as a two-dimensional matrix, where each element represents the state of a placement cell (e.g., 1 means occupied, 0 means vacant).

[0125] Based on the position information of the high-temperature curved blocks output by the CNN model, they are mapped onto the corresponding matrix elements. Consecutive empty cells are detected by scanning the two-dimensional matrix. The number of consecutive empty curved blocks can be quickly calculated using a sliding window algorithm. The number of empty curved blocks in each layer of the placement rack is accumulated and compared with the number of curved blocks predicted by the CNN model to obtain a second number of empty curved block placement cells.

[0126] In step S620, the central control unit divides the second weight data by a preset weight unit to obtain the third quantity. The total weight on the turntable (i.e., the second weight data) is divided by the preset weight unit to calculate the theoretical number of turntable blocks, i.e., the third quantity, to verify whether the first quantity obtained through image recognition matches the third quantity calculated from the weight. If they match, it indicates that both the image recognition and the weight data are accurate, and subsequent operations can continue. Assuming the preset weight unit is 50 grams and the second weight data is 500 grams, then the calculated third quantity should be 10 turntable blocks.

[0127] When the third quantity matches the first quantity, and the number of empty slots on a certain shelf is greater than or equal to the first quantity, the central control unit determines that shelf as the target shelf. The height data of the target shelf will be used in subsequent instructions. This means that, given the correct number of blocks and sufficient space on the shelf, a specific shelf position is determined to receive these blocks, avoiding placing blocks on full shelves or at unsuitable heights, thus ensuring the safe placement of the blocks. For example, if both the first and third quantities are 10, and a shelf has 12 empty slots, then that shelf will be designated as the target shelf.

[0128] Next, if the third quantity differs from the first quantity, but the number of empty cube placement slots in a certain layer is greater than or equal to the third quantity, then that layer will be determined as the target layer. This situation typically occurs when image recognition and weight calculation results are inconsistent, possibly due to discrepancies between the weights of some cubes and the standard, or errors in camera recognition. By prioritizing weight data, the system ensures that cubes can be placed in the appropriate positions, reducing the impact of errors. For example, if the third quantity is 8 and the first quantity is 10, the system will determine the layer based on the third quantity, using the layer with 8 empty cubes as the target layer.

[0129] The central control unit will determine whether the curved blocks are within the preset temperature range based on the initial temperature data. If any curved blocks are found to be outside this range, they will be considered abnormal. During production, excessively high or low temperatures can affect the quality and safety of the curved blocks; therefore, these abnormal blocks need to be marked. This determination ensures that abnormal blocks can be identified and appropriate measures taken during subsequent processing.

[0130] Next, the central control unit will mark the abnormal blocks and generate marking information. This marking information will be used in subsequent operations, especially during block placement, to help identify and handle these abnormal blocks. The marking information typically includes the block's location, temperature anomaly, and the necessary corrective actions. For example, if a block's temperature is too high, 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 unit acquires the height data of the target level and transmits this height data, along with the previously generated marking information, as a second instruction to the relevant equipment. The height data is used to control the movement of the lifting platform or other mechanical devices, ensuring that the curved blocks are accurately placed on the target level's mounting rack. Simultaneously, the marking information guides operators or automated systems in handling abnormal curved blocks.

[0132] In this embodiment, the high-temperature curved block conveying system can accurately identify, verify the weight of, select the level of, and mark and handle abnormal curved blocks. This 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 distribution and management of curved blocks, reduces the risk of misplacement, optimizes the production process, and improves the conveying efficiency of high-temperature curved blocks.

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

[0134] S710. When the third quantity is the same as the first quantity and the second quantity of empty curved block placement grids of the nth layer of the placement rack is less than the first quantity, the central control host allocates high-temperature curved blocks to the empty curved block placement grids of each layer of the placement rack based on the preset allocation steps, so as to place all high-temperature curved blocks on the curved plate into the empty curved block placement grids.

[0135] S720. When the third quantity is inconsistent with the first quantity and the second quantity of the curved block placement grid of the m-th layer of the placement rack is less than the third quantity, the central control host allocates high-temperature curved blocks to the empty curved block placement grid of each layer of the placement rack based on the allocation steps, so as to place all the high-temperature curved blocks on the curved disk into the empty curved block placement grid.

[0136] Due to the possibility of manual placement of curved blocks into the placement slots, when the third quantity matches the first quantity and the number of empty curved block slots on the nth layer of the placement rack is less than the first quantity, the central control unit can allocate high-temperature curved blocks to the empty curved block slots on each layer of the placement rack based on a preset allocation procedure. In this case, although the actual number of high-temperature curved blocks on the curved disk (i.e., the first quantity) matches the number of curved blocks calculated by weight (i.e., the third quantity), the available empty curved blocks on the nth layer of the placement rack are insufficient to accommodate all the curved blocks. To address this situation, the central control unit employs an allocation algorithm to distribute the high-temperature curved blocks among the empty curved blocks on multiple layers of the placement rack.

[0137] In practice, a layer-by-layer scanning method can be adopted, searching for empty blocks in each layer from bottom to top, and then distributing the blocks according to a preset allocation procedure. For example, if one layer has 3 empty blocks and another layer has 2 empty blocks, and a total of 5 blocks need to be placed, then these blocks will be evenly distributed between the two layers. The advantage of this allocation method is that it maximizes the use of the placement rack space while ensuring the stability and safety of the block placement.

[0138] The allocation steps can be as follows: 1. Sort the number E of empty block placement slots in each layer of the rack from largest to smallest. 2. Obtain the number of empty block placement slots in each layer and its corresponding layer number (index value); 3. Initialize a remaining block variable, with the initial value being the total number Q of high-temperature blocks on the rack; 4. To facilitate the management of the temperature of the high-temperature blocks, starting from the top layer including empty blocks, allocate blocks layer by layer according to temperature from low to high. If E is greater than or equal to the remaining block Q, place all remaining blocks into the empty blocks of the current layer and end the allocation process. If E is less than the remaining block Q, fill all empty block placement slots in the current layer, update the remaining blocks to the remaining blocks - E, and continue allocating to the next layer.

[0139] When the third quantity differs from the first quantity and the number of empty slots for curved blocks on the m-th layer is less than the third quantity, the central control unit will allocate the high-temperature curved blocks to the empty slots on the multi-layer placement racks based on the same allocation steps. Here, because the first quantity obtained from image recognition is inconsistent with the third quantity calculated from weight, the central control unit may rely more on the weight data (i.e., the third quantity) to determine the number of curved blocks to be placed. However, the number of empty slots on the m-th layer is insufficient to accommodate all the curved blocks, so the central control unit needs to find additional empty slots on other layers to complete the placement of the curved blocks. In specific implementation, it may be necessary to check all placement racks layer by layer to find empty slots that can accommodate the remaining curved blocks, and allocate them according to certain priority rules (such as prioritizing the use of empty slots on lower layers to improve placement stability). For example, assuming the first quantity is 10, the third quantity is 8, and there are only 6 empty slots on the m-th layer, the central control unit will prioritize placing the 6 slots on the m-th layer, and the remaining 2 slots will be placed in empty slots on other layers according to the allocation rules. This ensures that even with inconsistent data, blocks can be allocated reasonably, reducing placement errors.

[0140] This implementation allows for flexible allocation of high-temperature curing blocks when faced with varying quantities and rack space, effectively preventing placement errors due to insufficient space or inconsistent data. Furthermore, the allocation process improves rack space utilization, ensuring each curing block is stored safely and efficiently, ultimately enhancing the efficiency and stability of the entire production line.

[0141] In one embodiment of this invention, 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. In response to receiving second temperature data detected by the second temperature sensor and the third instruction sent by the central control host, the gantry robot picks up the placement rack and places it on the curved frame, including the following steps:

[0142] S810. When there is marking information on the placement rack, the central control host locates the placement grid of the sieved block based on the marking information and the second temperature data, and generates positioning information, which includes the placement grid of the sieved block and the corresponding placement rack code.

[0143] S820: Based on positioning information, the central control host generates an abnormal placement area placement command to instruct the gantry robot to place the placement frame in the abnormal placement area on the curved frame. If the abnormal placement area is full, the central control host issues a fourth command to instruct the gantry robot to place the placement frame in the spare placement area on the curved frame.

[0144] S830. If there is no marking information on the placement rack, the central control host generates a normal placement area placement command to instruct the gantry robot to place the placement rack in the normal placement area on the curved frame. If the normal placement area is full, the central control host issues a fifth command to instruct the gantry robot to place the placement rack in the spare placement area on the curved frame.

[0145] When a marking is present on the placement rack, the central control unit (CCU) reads this marking information and combines it with temperature data from the second temperature sensor to pinpoint the exact location of the block to be screened. Since each block placement slot on the rack has a unique identifier, the CCU first parses the marking information to identify abnormal blocks and their corresponding racks, then associates the second temperature data with the placement slot. If an abnormal temperature is detected in a block placement slot, that block is considered defective. The positioning information generated by the CCU includes the placement slot for the defective block and the corresponding rack code, ensuring that the gantry robot can accurately locate and perform pick-up and placement tasks in subsequent operations. For example, if the temperature of a block on a rack is outside the preset temperature range, the CCU generates positioning information containing the placement slot and the corresponding rack code for the gantry robot to place it in the placement area.

[0146] Once the central control unit obtains the positioning information, it generates placement instructions for the abnormal placement area based on this information. The abnormal placement area is typically used to store substandard high-temperature curved blocks. The central control unit instructs the gantry robot to place the placement rack marked as abnormal into the abnormal placement area on the curved block. During operation, the gantry robot completes the placement according to the pre-generated placement rack code and placement grid position.

[0147] If the abnormal placement area is full (i.e., all available placement positions are occupied), the central control unit will generate a new fourth command, instructing the gantry robot to move the placement rack to the backup placement area. The backup placement area typically acts as a buffer, providing temporary storage space when the abnormal placement area is saturated. This operation effectively avoids system stalls caused by overload in the abnormal placement area, while also ensuring efficient processing. For example, if the abnormal placement area has 10 empty slots, and 11 abnormal blocks requiring processing are detected, the central control unit will assign the first 10 blocks to the abnormal placement area, while the last block will be placed in the backup placement area, ensuring that all blocks receive appropriate processing.

[0148] If no markings are found on the placement rack, the central control unit generates a placement instruction for the normal placement area. The normal placement area is used to store curved blocks that have not detected any anomalies. At this point, the gantry robot, according to the instruction, places the placement rack in the normal placement area of ​​the curved block rack, ensuring that the process can continue normally in subsequent steps. For example, a curved block with a standard temperature range of 200℃ to 400℃ will be placed directly in the normal placement area. If the normal placement area is full, meaning all normal curved block placement positions are occupied, the central control unit issues a fifth instruction, instructing the gantry robot to place the placement rack in the backup placement area. The backup placement area acts as a buffer, temporarily storing these compliant curved blocks to ensure that the production process is not interrupted due to space constraints.

[0149] This implementation method effectively improves the management efficiency of high-temperature curing blocks by parsing the tag information and using secondary temperature data. Whether it's the screening and processing of abnormal curing blocks or the orderly storage of normal curing blocks, the entire process is automated, avoiding the uncertainties caused by human intervention. Simultaneously, the design of the spare storage area ensures that when either the abnormal or normal storage area is full, there is still sufficient space for temporary storage, avoiding system congestion or stagnation. This not only improves the safety of high-temperature curing block placement but also optimizes the continuity and efficiency of the entire curing block production process.

[0150] In one embodiment of this invention, in response to receiving a fourth command and a sensing signal from an infrared sensor, the conveyor transports all the stacked scaffolds on the stacking positions to the docking position with the AGV forklift obtained according to the fourth command, including the following steps:

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

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

[0153] After receiving the fourth instruction, the central control unit generates a docking path and docking position based on the current location of the AGV forklift and the location of the stacking position. An AGV forklift is an automated guided vehicle that typically navigates using preset paths and landmarks. To ensure the AGV forklift can accurately dock with the location of the crook, the central control unit first reads the AGV forklift's real-time position data, which can be obtained from an onboard positioning system such as LiDAR or inertial navigation. Then, the central control unit analyzes the geographical location of the stacking position, which can be obtained from data stored in the production management system.

[0154] The central control unit compares the current position of the AGV forklift with the position of the stacking location, 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 location is on the north side, the central control unit will generate a path through the central aisle of the factory and determine the docking position of the AGV forklift, such as 1 meter in front of the stacking location, to ensure that the forklift can successfully pick up the curved frame. The generation of the docking path and docking position ensures that the AGV forklift can accurately locate the curved frame stacking position, thereby efficiently completing the transportation task.

[0155] Specifically, the central control unit (CCU) uses path planning algorithms to determine the optimal path for the AGV forklift from its current position to the target stacking location. The specific steps are as follows: 1. The CCU acquires a factory map. Typically, there is a pre-built 3D map of the factory, which the CCU uses for path planning. The 3D map includes the locations of all fixed facilities, passageways, and various obstacles within the factory. The current position of the AGV forklift is determined in real-time on this map by its built-in positioning system (such as SLAM technology). 2. The CCU generates the optimal path using the factory map and dynamic obstacles. Specifically, the CCU can combine heuristic functions to find the optimal path. Dynamic obstacles can include other AGV forklifts, moving obstacles, etc. 3. To make the AGV forklift's path execution smoother, the CCU uses Bézier curves to smooth the optimal path, avoiding sharp turns or complex paths. 4. The CCU determines the AGV forklift's speed based on the optimal path. Specifically, on longer straight paths, 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 AGV forklift's path, the central control unit generates a docking position command to ensure the AGV forklift can accurately dock with the stacking position. Specifically, since the AGV forklift's position is obtained in real time through positioning systems such as GPS and LiDAR, while the stacking position is a known fixed point, the central control unit calculates the required adjustment direction and movement distance of the AGV based on the coordinate difference between the AGV's current position and the stacking position, and calculates the final position the AGV forklift needs to reach, for example, 1 meter in front of the stacking position. This position is determined based on the optimal distance for the forklift to perform the retrieval operation, taking into account factors such as the forklift's length, turning radius, and docking angle.

[0156] For step 2 above, the central control unit first divides the factory map into grids or nodes, each node representing a possible location for an AGV forklift. A heuristic function is used to estimate the cost (usually distance) from the current node n to the target node. In this embodiment, the heuristic function includes the Manhattan distance. The central control unit calculates a cost function, which represents the actual path cost from the starting point to the current node n, calculated based on the path distance and time. Finally, the central control unit determines the node that minimizes the total evaluation function value based on the total evaluation function, and performs path searching based on the node that minimizes the total evaluation function value. Specifically, the total evaluation function is used to determine the priority of nodes, and the search prioritizes the node that minimizes the total evaluation function value. That is, starting from the starting point, the search gradually expands to neighboring 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 AGV forklifts and fixed sensors (such as LiDAR and cameras) in the factory, detect surrounding dynamic obstacles, and quickly update the existing path using the D Lite algorithm after detecting a dynamic obstacle. When the AGV forklift detects an approaching dynamic obstacle, it can use a preset obstacle avoidance algorithm to avoid collisions over a short distance.

[0157] In the above implementation, the central control unit monitors the AGV's movement status, speed, and changes in the surrounding environment in real time. If obstacles or other unexpected situations are detected on the path, the path will be replanned immediately. When the AGV forklift approaches the target position, the central control unit slows down and uses short-range sensors to perform precise distance measurements to ensure that the forklift can accurately align with the stacking position.

[0158] Subsequently, based on the signals from the infrared sensors, the conveyor determines that the stacking process of the curved frames is complete. Following the fourth command sent by the central control unit, it transports all the curved frames at the stacking positions to the docking position with the AGV forklift. The infrared sensors, installed at the stacking positions, monitor whether stacking is complete. When the infrared sensors detect that the curved frames have been stacked, they send a signal back to the conveyor's control system to confirm the end of the stacking process. Then, the conveyor starts and, according to the previously generated fourth command, begins transporting the stacked curved frames to the docking position with the AGV forklift. For example, if the infrared sensors detect that five curved frames have been stacked, the conveyor starts and moves these five frames to the docking position at a set speed, ensuring that the AGV forklift can accurately retrieve the stacked curved frames.

[0159] The automated conveyor system in this embodiment effectively ensures that the curved frames are transported to the AGV forklifts on time and accurately. The use of infrared sensors effectively improves the efficiency and accuracy of the curved frame transportation process, ensuring the continuity and stability of the production line while reducing operating costs.

[0160] This application embodiment also provides a high-temperature curved block conveying system, including a central control host, a pushing machine, a conveyor, a lifting worktable, a camera, a gantry robot, a hoist, an electric conveyor, and an AGV forklift. The lifting worktable is connected to the camera, the hoist is connected to the electric conveyor, and the pushing machine, conveyor, lifting worktable, camera, gantry robot, hoist, electric conveyor, and AGV forklift are all connected to the central control host.

[0161] This application also provides a machine-readable storage medium storing instructions that cause a machine to execute the above-described intelligent conveying method for high-temperature curved blocks.

[0162] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0163] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0164] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0165] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0168] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0169] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0170] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method of intelligent delivery of high temperature briquettes, characterized by, An application is made in a high-temperature refractory block conveying system. The high-temperature refractory block conveying system includes a central control unit, a refractory block pusher, a conveyor, a lifting platform, a first camera, a gantry robot, a hoist, an electric conveyor, and an AGV forklift. The lifting platform is connected to the first camera, the hoist is connected to the electric conveyor, and the refractory block pusher, the conveyor, the lifting platform, the first camera, the gantry robot, the hoist, the electric conveyor, and the AGV forklift are all connected to the central control unit. The method includes: In response to receiving a start command from the central control host, the pusher pushes the high-temperature koji block to the conveyor along a preset path, and the conveyor is equipped with a first weight sensor; In response to receiving the first weight data transmitted by the first weight sensor, the conveyor transports the high-temperature curved block to a curved position on a preset position on a curved disk, wherein the curved disk includes at least two curved positions, and the curved disk is provided with a first temperature sensor and a second weight sensor, and each curved position on the curved disk is provided with a first temperature sensor; When the high-temperature blocks are placed on the curved positions of 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 worktable. The first camera, in response to recognizing the disc, captures an image of the disc; In response to receiving a second command from the central control host, the lifting platform rises to a target height to push a preset number of curved blocks into the placement rack. The placement rack includes curved block placement compartments with a number greater than or equal to the number of curved blocks, and each curved block placement compartment is used to place one of the high-temperature curved blocks. Each curved block placement compartment is equipped with a second temperature sensor. The second command is obtained based on the curved block image captured 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 gantry robot picks up the placement rack and places the placement rack on the curved frame. The third instruction is used to instruct the gantry robot to place the placement rack in the corresponding placement area on the curved frame. The third instruction is obtained based on the second temperature data and the position of the curved frame. When the placement racks are placed in all the placement areas of the crank racks, in response to receiving the fourth command sent by the central control host, the hoist lifts the crank racks to the height of the stacking position obtained according to the fourth command, and the electric conveyor places the crank racks in the first position of the stacking position. There are at least two stacking positions, and each stacking position is equipped with an infrared sensor. In response to receiving the fourth instruction and the sensing signal from the infrared sensor, the conveyor transports all the stacked frames on the stacking positions to the docking position with the AGV forklift obtained according to the fourth instruction, which is based on the current positioning of the AGV forklift.

2. The method of claim 1, wherein, In response to receiving first weight data transmitted by the first weight sensor, the conveyor transports the high-temperature curved block to a curved position on a preset curved plate, including: 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 conveys the high-temperature curve block to the curve position corresponding to the code. If the code is the maximum code, it is determined that the high-temperature curve block is placed on all curve positions on the curve plate, and the first weight data is cleared to zero. The code corresponds one-to-one with the curve position.

3. The method of claim 2, wherein, The high-temperature curved block conveying system also includes a recovery robot arm connected to a second camera. 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 transports the curved block to the lifting worktable, including: 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 within the preset temperature range, the conveyor will transport the curve plate to the lifting worktable.

4. The method of claim 3, wherein, The method further includes: 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 transports the curved plate to the second position. After receiving the recognition signal transmitted by the second camera, the recycling robot picks up the high-temperature curved block on the curved plate and places it in the recycling area until the high-temperature curved block on the curved plate is picked up. After receiving the signal that the recycling robot has finished picking up the high-temperature curved block, the conveyor transports the curved plate to the preset position.

5. The method of claim 1, wherein, In response to receiving a second command from the central control unit, the lifting platform rises to a target height based on the second command to push a preset number of curved blocks into the placement rack, including: The central control unit obtains a second instruction based on the curved disc image captured by the first camera, the second weight data, and the first temperature data, and transmits the second instruction to the lifting work platform; The lifting platform rises to the target height based on the second command and pushes a preset number of curved blocks into the placement rack.

6. The method of claim 5, wherein, The placement rack includes at least two layers, and each layer of the placement rack includes at least two of the curved block placement boxes. The central control host obtains a second command based on the curved disc image captured 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 the first number of the high-temperature curved blocks in the curved plate, and obtains the second number of the connected empty curved block placement grids of each layer of the placement rack. The central control unit divides the second weight data by a preset weight unit to obtain a third quantity, which is used to verify whether it is consistent with the first quantity. When the third quantity is the same as the first quantity and the second quantity of the empty curved block placement grids of the nth layer of the placement rack is greater than or equal to the first quantity, the central control host determines the nth layer as the target layer, where n is a positive integer; If the third quantity is inconsistent with the first quantity and the second quantity of the empty curved block placement grid of the placement rack in the m-th layer is greater than or equal to the third quantity, the central control host determines the m-th layer as the target layer, where m is a positive integer; The central control unit determines, based on the first temperature data, whether there are any high-temperature curved blocks that are not within the preset temperature range; 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 a marking information is generated to mark the abnormal curved block and the placement rack where the abnormal curved block is located. The central control unit acquires the height data of the target level and uses the height data and the marking information as the second instruction.

7. The method of claim 6, wherein, The method further includes: When the third quantity is the same as the first quantity and the second quantity of the empty curved block placement grids of the nth layer of the placement rack is less than the first quantity, the central control host performs high-temperature curved block allocation on the empty curved block placement grids of each layer of the placement rack based on a preset allocation step, so as to place all the high-temperature curved blocks on the curved plate into the empty curved block placement grids. If the third quantity is inconsistent with the first quantity and the second quantity of the curved block placement grids of the m-th layer of the placement rack is less than the third quantity, the central control host performs high-temperature curved block allocation on the empty curved block placement grids of each layer of the placement rack based on the allocation step, so as to place all the high-temperature curved blocks on the curved plate into the empty curved block placement grids.

8. The method of claim 6, wherein, 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. 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 gantry robot picks up the placement rack and places it on the curved frame, including: When the marking information is present on the placement rack, the central control host locates the placement grid of the sifted block based on the marking information and the second temperature data, and generates positioning information, which includes the placement grid of the sifted block and the corresponding placement rack code. Based on the positioning information, the central control host generates an abnormal placement area placement instruction to instruct the gantry robot to place the placement frame in the abnormal placement area on the curved frame. If the abnormal placement area is full, the central control host issues a fourth instruction to instruct the gantry robot to place the placement frame in the spare placement area on the curved frame. If the marked information is not present on the placement rack, the central control host generates a normal placement area placement instruction to instruct the gantry robot to place the placement rack in the normal placement area on the curved frame. If the normal placement area is full, the central control host issues a fifth instruction to instruct the gantry robot to place the placement rack in the spare placement area on the curved frame.

9. The method of claim 1, wherein, In response to receiving the fourth command and the sensing signal from the infrared sensor, the conveyor transports all the stacked frames on the stacking positions to the docking position with the AGV forklift obtained according to the fourth command, including: The central control host generates a docking path and a docking position based on the current positioning of the AGV forklift and the positioning of the stacking position, wherein the fourth instruction includes the docking path and the docking position; The conveyor determines that the stacked frames are complete based on the sensing signal, and according to the fourth instruction, it transports all the stacked frames on the stacking positions to the docking position with the AGV forklift.

10. A high-temperature curved block conveying system, characterized in that, The intelligent conveying method for high-temperature curved blocks according to any one of claims 1-9 includes a central control host, a pushing machine, a conveyor, a lifting worktable, a first camera, a gantry robot, a hoist, an electric conveyor, and an AGV forklift. The lifting worktable is connected to the first camera, the hoist is connected to the electric conveyor, and the pushing machine, the conveyor, the lifting worktable, the first camera, the gantry robot, the hoist, the electric conveyor, and the AGV forklift are all connected to the central control host.

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