Spacing-adjustable flexible conveying system and tray

Abstract

The invention relates to the technical field of conveying equipment control, in particular to an interval-adjustable flexible conveying system and a tray. The interval-adjustable flexible conveying system is provided with a feeding module, a sensing module, a visual analysis module, a process analysis module and a control module; the visual analysis module is used for determining an image gray feature region of each side surface stacked image and judging whether the prestress positioning mesh has a stacking collapse risk or not, and the process analysis module is used for determining a stacking collapse risk category according to the area change condition of the image gray feature regions at the end-to-end connection positions of a plurality of transmission roller ways; the action adjusting mode of the feeding module is determined through the control module according to the stacking collapse risk category, then data with high characterization are screened and analyzed according to the stacking state of the prestress positioning mesh, the conveying mode is adaptively adjusted according to the state difference of steel bar stacking, and the conveying efficiency is improved. And the conveying stability of the prestress positioning mesh is improved.

Description

Technical Field

[0001] The invention relates to the technical field of conveying control, and in particular to a flexible conveying system and a pallet with adjustable spacing. Background Art

[0002] In many fields such as construction and manufacturing, the transportation of prestressed positioning mesh is an important part of the production process. Traditional conveying systems often adopt fixed structures and conveying modes, which are difficult to adapt to prestressed positioning meshes of different specifications and different stacking states; with the refinement of production processes and the improvement of the degree of automation, higher requirements are placed on the accuracy, stability and flexibility of prestressed positioning mesh transportation. For example, in the production process of prefabricated building parts, if the prestressed positioning mesh is not stacked neatly or the conveying spacing is unreasonable, it may lead to positioning deviation, collision damage and other problems in subsequent processing procedures, affecting product quality and production efficiency.

[0003] Traditional conveying systems cannot adjust conveying parameters in real time according to the actual status of prestressed positioning mesh. When faced with various types and batches of prestressed positioning mesh, a lot of manual intervention and debugging work is required, which increases labor and time costs. In addition, there is a lack of effective sensing and analysis mechanisms to monitor the stacking status of prestressed positioning mesh, making it difficult to prevent safety hazards and quality problems caused by improper stacking in advance. In order to solve these problems, the development of a flexible conveying system with adjustable spacing and intelligent monitoring and adjustment has become an urgent need in the industry.

[0004] China Patent Publication No.: CN118651590A, the application discloses a movable prestressed positioning mesh storage device, including a support frame, a support beam assembly is arranged on the support frame, the number of the support beam assemblies is two, the two support beam assemblies are arranged in parallel at both ends of the support frame, a tray assembly for placing the prestressed positioning mesh is arranged above the support beam assembly, a driving assembly is arranged on the support frame, and the tray assembly moves along the length direction of the support beam assembly through the driving assembly. The welded prestressed positioning mesh is transported to the tray assembly, and after the prestressed positioning mesh is cooled, it is transported through the tray assembly and enters the next working unit, which plays the role of storage and transportation, and improves production efficiency.

[0005] It can be seen that the prior art still has the following problems:

[0006] The prior art does not take into account the unstable transportation of the stacked prestressed positioning meshes due to the mutual vibration during transportation. The prior art cannot screen data with strong representation for analysis based on the stacking state of the prestressed positioning meshes, and cannot adaptively adjust the transportation mode according to the differences in the state of the stacked steel bars, which affects the stability of the transportation of the prestressed positioning meshes. Summary of the invention

[0007] In order to overcome the problem that the prior art cannot screen data with strong representation for analysis according to the stacking state of the prestressed positioning mesh, and cannot adaptively adjust the conveying mode according to the difference in the state of the steel bar stacking, the present invention provides a flexible conveying system with adjustable spacing, including:

[0008] A feeding module, comprising a plurality of end-to-end connected transmission rollers for driving a plurality of trays to move, and a grabbing mechanism disposed on the transmission rollers for grabbing a prestressed positioning mesh placed on the trays;

[0009] A sensing module, comprising a plurality of image acquisition units arranged at the end-to-end connection positions of the conveying rollers for photographing the side stacking images of the prestressed positioning mesh sheets stacked on the pallet, and an acceleration monitoring unit arranged inside the pallet for monitoring the acceleration of different areas of the pallet;

[0010] A visual analysis module connected to the sensing module is used to determine the image grayscale feature area based on the stacked images of each side, and to determine whether the prestressed positioning mesh has a risk of stacking and collapsing based on the area comparison of the grayscale feature area before and after the end-to-end connection position of the transmission roller;

[0011] A process analysis module, which is connected to the visual analysis module, and is used to determine the stacking collapse risk category according to the area change of the image grayscale feature area at the end-to-end connection positions of a plurality of transmission rollers;

[0012] A control module, which is connected to the process analysis module and the feeding module, is used to determine the action adjustment mode of the feeding module according to the stacking collapse risk category, including:

[0013] Adjusting the spacing between the current pallet and the adjacent pallet to a stable conveying spacing, wherein the stable conveying spacing is determined according to the length of the conveying roller;

[0014] Or, the posture control parameters of the gripping mechanism are determined based on the difference in acceleration at different positions of the tray, and the posture control parameters include the tilt angle and tilt direction of the gripping mechanism relative to the horizontal plane.

[0015] Furthermore, the acceleration monitoring units are distributed inside different areas of the pallet to monitor the acceleration of different areas of the pallet in a direction perpendicular to the horizontal ground.

[0016] Furthermore, the visual analysis module is used to determine the grayscale feature area of ​​the image, wherein:

[0017] The visual analysis module divides each side stacked image into a plurality of sub-regions, and determines the region consisting of sub-regions that meet the grayscale screening condition as the image grayscale feature region;

[0018] The grayscale screening condition is that the grayscale value of the sub-region is less than a preset grayscale reference value.

[0019] Furthermore, the visual analysis module is also used to obtain the absolute value of the area difference of the grayscale feature area before and after the end-to-end connection position of the transmission roller, and determine whether the prestressed positioning mesh has the risk of stacking and collapsing according to the maximum value of the absolute value of the area difference, wherein:

[0020] If the maximum absolute value of the area difference satisfies the risk assessment condition, the visual analysis module determines that the prestressed positioning mesh has a risk of collapse due to stacking;

[0021] The risk assessment condition is that the maximum absolute value of the area difference is greater than a preset area difference threshold.

[0022] Furthermore, the process analysis module is also used to sequentially obtain the absolute values ​​of the area differences of the grayscale feature regions according to the order in which the pallet passes through the head-to-tail connected positions of each transmission roller, so as to form an absolute value series of the area differences;

[0023] If the absolute value series of the area difference values ​​is not an increasing series, the process analysis module determines that the stacking collapse risk category is a stacking collapse risk weakly dominant category;

[0024] If the absolute value series of the area difference values ​​is an increasing series, the process analysis module determines that the overlapping collapse risk category is a strongly dominant overlapping collapse risk category.

[0025] Furthermore, the control module is used to determine the action adjustment mode of the feeding module, wherein:

[0026] If the stacking collapse risk category is a stacking collapse risk weakly dominant category, the control module adjusts the spacing distance between the current pallet and the adjacent pallet to a stable conveying spacing;

[0027] If the stacking collapse risk category is a stacking collapse risk strong dominant category, the control module determines the posture control parameters of the gripping mechanism based on the acceleration difference at different positions of the pallet.

[0028] Furthermore, the control module is also used to determine the stable conveying spacing, and the stable conveying spacing is half of the sum of the lengths of the conveying rollers where two adjacent pallets are located.

[0029] Furthermore, the control module is used to determine the inclination direction of the gripping mechanism relative to the horizontal plane, wherein:

[0030] The control module is also used to obtain the acceleration of different positions of the pallet in a direction perpendicular to the horizontal ground in real time, calculate the acceleration difference at each position according to the maximum acceleration and the minimum acceleration, and control the tilt direction of the gripping mechanism to tilt toward the position of the maximum acceleration difference.

[0031] Furthermore, the control module is used to determine the inclination angle of the gripping mechanism relative to the horizontal plane, and the inclination angle is positively correlated with the maximum value of the acceleration difference.

[0032] Furthermore, the present invention also provides a pallet, comprising:

[0033] The tray body is used to stack the prestressed positioning mesh;

[0034] The acceleration monitoring unit is arranged in different areas inside the pallet body to monitor the acceleration of different areas of the pallet in a direction perpendicular to the horizontal ground.

[0035] Compared with the prior art, the beneficial effect of the present invention lies in that a feeding module, a sensing module, a visual analysis module, a process analysis module and a control module are provided in the present invention; the image grayscale feature area of ​​each side stacked image is determined through the visual analysis module and whether the prestressed positioning mesh has a risk of stacking collapse is determined; the stacking collapse risk category is determined according to the area change of the image grayscale feature area at the end-to-end connected positions of several transmission rollers through the process analysis module; the action adjustment mode of the feeding module is determined according to the stacking collapse risk category through the control module, thereby realizing the screening of highly representative data according to the stacking state of the prestressed positioning mesh for analysis, and the adaptive adjustment of the conveying mode according to the difference in the state of the steel bar stacking, thereby improving the stability of the conveying of the prestressed positioning mesh.

[0036] In particular, the present invention determines the grayscale feature area of ​​the image through the grayscale value of the sub-area of ​​the side stacked image. It can be understood that the local area with high stacking density will produce more occlusions, resulting in smaller grayscale values, and the mesh stacked with low density is easier for light to penetrate, and its grayscale value is larger. Furthermore, by analyzing the grayscale feature areas in these different situations, the stacking tightness of the prestressed metal mesh is quantified.

[0037] In particular, the present invention determines whether the prestressed positioning mesh has a risk of stacking and collapse by using the absolute value of the area difference of the grayscale characteristic areas before and after the end-to-end connection position of the transmission roller. By comparing the absolute value of the area difference of the grayscale characteristic areas before and after the end-to-end connection position of the transmission roller, the state change of the prestressed positioning mesh at the end-to-end connection position of the transmission roller can be monitored in real time. The larger the absolute value of the area difference of the grayscale characteristic areas, the more obvious the change in the stacking state of the prestressed positioning mesh at the end-to-end connection position of the transmission roller. It can be understood that when the prestressed positioning mesh with a relatively stable stacking state passes through the end-to-end connection position of the transmission roller, the tight state of the mesh will not fluctuate greatly. By judging the stacking state in which the tight state of the mesh fluctuates greatly as having a risk of stacking and collapse, potential risks can be discovered in a timely manner, thereby improving the sensitivity of the entire conveying system to risks.

[0038] In particular, the present invention obtains the absolute values ​​of the area differences of the grayscale feature areas in sequence according to the order in which the pallet passes the head-to-tail positions of each transmission roller to determine the risk category of stacking collapse. It can be understood that if the shaking of the prestressed positioning meshes stacked on the pallet at the head-to-tail positions of each transmission roller becomes more and more obvious, then the absolute values ​​of the area differences of the grayscale feature areas obtained in sequence according to the order in which the pallet passes the head-to-tail positions of each transmission roller will become larger and larger, that is, if the composed series is increasing, it means that the risk of stacking collapse of the mesh is gradually worsening and increasing; if the composed series is not increasing, it means that the stacking collapse of the mesh is interfered by unstable factors; thereby, the system can proactively and effectively intervene in the risk and adaptively adjust the transportation method according to the difference in the state of the stacked steel bars.

[0039] In particular, when the risk of collapse of the stacked prestressed positioning mesh is not obvious, the present invention adjusts the spacing between the current pallet and the adjacent pallet to a stable conveying spacing, so that the conveying of each pallet is not disturbed by the vibration of other pallets, thereby eliminating the influence of interference factors on the stacking stability of the prestressed positioning mesh, and further, realizes the adaptive adjustment of the conveying mode according to the difference in the state of the stacked steel bars, thereby improving the stability and reliability of the entire conveying process.

[0040] In particular, the present invention obtains the acceleration of different positions of the pallet in the direction perpendicular to the horizontal ground, and analyzes the acceleration difference of different areas of the pallet along the direction perpendicular to the horizontal plane during the transportation process. It can be understood that the larger the acceleration difference is, the more obvious the up and down fluctuation of the pallet is, that is, the more frequently the stacking state of the prestressed positioning mesh here changes, the worse the stability of the stacking structure here is, and the grasping mechanism is required to stabilize the stacking structure of this area in advance during the grasping process. By pressing down this area in advance, the internal structure of the prestressed positioning mesh in this area can be ensured to be tighter, and further, the conveying mode is adaptively adjusted according to the difference in the state of the stacking of the steel bars, thereby improving the stability and reliability of the entire conveying process. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a system block diagram of a flexible conveying system with adjustable spacing according to an embodiment of the present invention;

[0042] Figure 2 A logic flow chart of a visual analysis module according to an embodiment of the present invention for determining whether a prestressed positioning mesh has a risk of collapse due to stacking;

[0043] Figure 3 A logic flow chart of determining the stack collapse risk category by the process analysis module of an embodiment of the present invention;

[0044] Figure 4 This is a logic flow chart of the control module in an embodiment of the present invention determining the action adjustment method of the feeding module. DETAILED DESCRIPTION

[0045] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0047] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0048] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] See also Figure 1 As shown, it is a system block diagram of a flexible conveying system with adjustable spacing according to an embodiment of the present invention. A flexible conveying system with adjustable copper spacing according to the present invention comprises:

[0050] A feeding module, comprising a plurality of end-to-end connected transmission rollers for driving a plurality of trays to move, and a grabbing mechanism disposed on the transmission rollers for grabbing a prestressed positioning mesh placed on the trays;

[0051] Specifically, the present invention does not limit the specific structure of the transmission roller. The transmission roller is widely used in the field of industrial production. This is the existing technology and will not be described in detail here.

[0052] Specifically, the present invention does not limit the specific structure of the grabbing mechanism. In practice, it is a clamp or a mechanical arm that can grab the prestressed positioning mesh from the pallet. This is a prior art and will not be described in detail here.

[0053] A sensing module, comprising a plurality of image acquisition units arranged at the end-to-end connection positions of the conveying rollers for photographing the side stacking images of the prestressed positioning mesh sheets stacked on the pallet, and an acceleration monitoring unit arranged inside the pallet for monitoring the acceleration of different areas of the pallet;

[0054] Specifically, the present invention does not limit the image acquisition unit. Preferably, it can be an industrial high-definition camera, which will not be described in detail here.

[0055] Specifically, the present invention does not limit the specific structure of the acceleration monitoring unit, which can be an accelerometer. The accelerometer detects the real-time acceleration values ​​of each area of ​​the pallet to characterize the force impact on the pallet caused by the fluctuation of the stacking state of the prestressed positioning mesh during the movement of the conveyor roller. Accelerometers are widely used in the field of intelligent monitoring of industrial production and will not be described here.

[0056] A visual analysis module connected to the sensing module is used to determine the image grayscale feature area based on the stacked images of each side, and to determine whether the prestressed positioning mesh has a risk of stacking and collapsing based on the area comparison of the grayscale feature area before and after the end-to-end connection position of the transmission roller;

[0057] A process analysis module, which is connected to the visual analysis module, and is used to determine the stacking collapse risk category according to the area change of the image grayscale feature area at the end-to-end connection positions of a plurality of transmission rollers;

[0058] Specifically, the present invention does not limit the visual analysis module and the process analysis module. In implementation, it can be an image processor connected to a camera, which pre-stores the relevant grayscale value analysis algorithm, completes the grayscale value analysis calculation of the image, and outputs the analysis results. This is the prior art and will not be repeated here.

[0059] A control module, which is connected to the process analysis module and the feeding module, is used to determine the action adjustment mode of the feeding module according to the stacking collapse risk category, including:

[0060] Adjusting the spacing between the current pallet and the adjacent pallet to a stable conveying spacing, wherein the stable conveying spacing is determined according to the length of the conveying roller;

[0061] Or, the posture control parameters of the gripping mechanism are determined based on the difference in acceleration at different positions of the tray, and the posture control parameters include the tilt angle and tilt direction of the gripping mechanism relative to the horizontal plane.

[0062] Specifically, the present invention does not limit the specific structure of the control module, which can be composed of logic components. The logic components can be field programmable logic components, microprocessors, processors used in computers, etc., which will not be repeated here.

[0063] Specifically, the acceleration monitoring units are distributed inside different areas of the pallet to monitor the acceleration of different areas of the pallet in a direction perpendicular to the horizontal ground.

[0064] Specifically, the visual analysis module is used to determine the grayscale feature area of ​​the image, wherein:

[0065] The visual analysis module divides each side stacked image into a plurality of sub-regions, and determines the region consisting of sub-regions that meet the grayscale screening condition as the image grayscale feature region;

[0066] The grayscale screening condition is that the grayscale value of the sub-region is less than a preset grayscale reference value.

[0067] In implementation, a preset grayscale reference value is used as a judgment standard, and its value can be calculated based on preliminary tests. The average grayscale values ​​of sub-areas of the side stacked images of several pallets conveying prestressed positioning meshes of the same specifications are precalculated, and the average grayscale values ​​of the sub-areas are determined as the grayscale reference value. A grayscale reference value is provided here, and preferably, the grayscale reference value is 45.

[0068] Specifically, the present invention determines the grayscale feature area of ​​the image through the grayscale value of the sub-area of ​​the side stacked image. It can be understood that the local area with high stacking density will produce more occlusions, resulting in smaller grayscale values, and the mesh stacked with low density is easier for light to penetrate, and its grayscale value is larger. Furthermore, by analyzing the grayscale feature areas in these different situations, the stacking tightness of the prestressed metal mesh is quantified.

[0069] Specifically, see Figure 2 As shown, it is a logic flow chart of the visual analysis module of the embodiment of the present invention for determining whether the prestressed positioning mesh has the risk of stacking and collapsing. The visual analysis module is also used to obtain the absolute value of the area difference of the grayscale feature area before and after the end-to-end connection position of the transmission roller, and determine whether the prestressed positioning mesh has the risk of stacking and collapsing according to the maximum value of the absolute value of the area difference, wherein,

[0070] If the maximum absolute value of the area difference satisfies the risk assessment condition, the visual analysis module determines that the prestressed positioning mesh has a risk of collapse due to stacking;

[0071] If the maximum absolute value of the area difference does not meet the risk assessment condition, the visual analysis module determines that the prestressed positioning mesh has no risk of collapse due to stacking;

[0072] The risk assessment condition is that the maximum absolute value of the area difference is greater than a preset area difference threshold S1.

[0073] Specifically, the preset area difference threshold can be determined based on the total area S of the side stacking image of the stacked prestressed positioning meshes, S1=λ×S, wherein λ is the area difference threshold value factor, and the value range of λ is [0.08, 0.12], preferably, λ=0.09.

[0074] Specifically, the present invention determines whether the prestressed positioning mesh has a risk of stacking and collapse by using the absolute value of the area difference of the grayscale feature areas before and after the end-to-end position of the transmission roller. By comparing the absolute value of the area difference of the grayscale feature areas before and after the end-to-end position of the transmission roller, the state change of the prestressed positioning mesh at the end-to-end position of the transmission roller can be monitored in real time. The larger the absolute value of the area difference of the grayscale feature areas, the more obvious the change in the stacking state of the prestressed positioning mesh at the end-to-end position of the transmission roller. It can be understood that when the prestressed positioning mesh with a relatively stable stacking state passes through the end-to-end position of the transmission roller, the tight state of the mesh will not produce large fluctuations. By judging the stacking state in which the tight state of the mesh produces large fluctuations as having a risk of stacking and collapse, potential risks can be discovered in a timely manner, thereby improving the sensitivity of the entire conveying system to risks.

[0075] Specifically, see Figure 3 As shown, it is a logic flow chart of determining the stacking collapse risk category by the process analysis module of an embodiment of the present invention, and the process analysis module is also used to sequentially obtain the absolute values ​​of the area differences of the grayscale feature regions according to the sequence of the positions where the pallets pass through each conveying roller, so as to form an absolute value series of area differences;

[0076] If the absolute value series of the area difference values ​​is not an increasing series, the process analysis module determines that the stacking collapse risk category is a stacking collapse risk weakly dominant category;

[0077] If the absolute value series of the area difference values ​​is an increasing series, the process analysis module determines that the overlapping collapse risk category is a strongly dominant overlapping collapse risk category.

[0078] In practice, if the total area of ​​the side stacking images of the stacked prestressed positioning mesh is S, the absolute values ​​of the area differences of the grayscale feature areas are obtained in the order of the positions where the pallets pass through the end-to-end connection of each transmission roller, which are 0.065S, 0.08S, 0,096S, 0.11S. Then the sequence is [0.065S, 0.08S, 0,096S, 0.11S]. Since the number sequence is an increasing sequence, the stacking collapse risk category can be determined. It is a strongly dominant category for the risk of stacking collapse. If the absolute values ​​of the area differences of the grayscale feature areas are obtained in the order of the beginning and end positions of the pallets passing through each conveyor roller, which are 0.075S, 0.085S, 0.08S, and 0.088S, then the composed number series is [0.075S, 0.085S, 0.08S, 0.088S]. Since the number series is not an increasing series, it can be determined that the risk category of stacking collapse is a weakly dominant category for the risk of stacking collapse.

[0079] Specifically, the present invention obtains the absolute values ​​of the area differences of the grayscale feature areas in the order in which the pallet passes the head-to-tail positions of each transmission roller to determine the risk category of stacking collapse. It can be understood that if the shaking of the prestressed positioning meshes stacked on the pallet at the head-to-tail positions of each transmission roller becomes more and more obvious, then the absolute values ​​of the area differences of the grayscale feature areas obtained in the order in which the pallet passes the head-to-tail positions of each transmission roller will become larger and larger, that is, if the composed series is increasing, it means that the risk of stacking collapse of the mesh is gradually worsening and increasing; if the composed series is not increasing, it means that the stacking collapse of the mesh is interfered by unstable factors; thereby, the system can proactively and effectively intervene in the risk and adaptively adjust the transportation method according to the difference in the state of the stacked steel bars.

[0080] Specifically, see Figure 4As shown, it is a logic flow chart of the control module of the embodiment of the present invention determining the action adjustment mode of the feeding module, wherein the control module is used to determine the action adjustment mode of the feeding module, wherein:

[0081] If the stacking collapse risk category is a stacking collapse risk weakly dominant category, the control module adjusts the spacing distance between the current pallet and the adjacent pallet to a stable conveying spacing;

[0082] If the stacking collapse risk category is a stacking collapse risk strong dominant category, the control module determines the posture control parameters of the gripping mechanism based on the acceleration difference at different positions of the pallet.

[0083] Specifically, when the risk of collapse of the stacked prestressed positioning mesh is not obvious, the present invention adjusts the spacing between the current pallet and the adjacent pallet to a stable conveying spacing, so that the conveying of each pallet is not disturbed by the vibration of other pallets, thereby eliminating the influence of interference factors on the stacking stability of the prestressed positioning mesh. Furthermore, it realizes the adaptive adjustment of the conveying mode according to the difference in the state of the stacked steel bars, thereby improving the stability and reliability of the entire conveying process.

[0084] Specifically, the control module is also used to determine the stable conveying spacing, which is half of the sum of the lengths of the conveying rollers where two adjacent pallets are located.

[0085] During implementation, if the current pallet A with stacked prestressed positioning mesh has the risk of stacking and collapsing, the two pallets B and C adjacent to pallet A are determined, and the transmission rollers where pallet A, pallet B, and pallet C are located are determined to be a, b, and c respectively. Then, the spacing distance between pallet A and pallet B is controlled to be half of the sum of the lengths of transmission roller a and transmission roller b, and the spacing distance between pallet A and pallet C is controlled to be half of the sum of the lengths of transmission roller a and transmission roller c.

[0086] Specifically, the control module is used to determine the inclination direction of the gripping mechanism relative to the horizontal plane, wherein:

[0087] The control module is also used to obtain the acceleration of different positions of the pallet in a direction perpendicular to the horizontal ground in real time, calculate the acceleration difference at each position according to the maximum acceleration and the minimum acceleration, and control the tilt direction of the gripping mechanism to tilt toward the position of the maximum acceleration difference.

[0088] Specifically, the control module is used to determine the inclination angle of the gripping mechanism relative to the horizontal plane, and the inclination angle is positively correlated with the maximum value of the acceleration difference.

[0089] Specifically, the present invention obtains the acceleration of different positions of the pallet in the direction perpendicular to the horizontal ground, and analyzes the acceleration difference of different areas of the pallet along the direction perpendicular to the horizontal plane during the transportation process. It can be understood that the larger the acceleration difference is, the more obvious the up and down fluctuation of the pallet is, that is, the more frequently the stacking state of the prestressed positioning mesh here changes, the worse the stability of the stacking structure here is, and the grasping mechanism is required to stabilize the stacking structure of this area in advance during the grasping process. By pressing down this area in advance, the internal structure of the prestressed positioning mesh in this area can be ensured to be tighter, and then, the conveying mode is adaptively adjusted according to the difference in the state of the stacking of the steel bars, thereby improving the stability and reliability of the entire conveying process.

[0090] Specifically, the present invention further provides a pallet, comprising:

[0091] The tray body is used to stack the prestressed positioning mesh;

[0092] The acceleration monitoring unit is arranged in different areas inside the pallet body to monitor the acceleration of different areas of the pallet in a direction perpendicular to the horizontal ground.

[0093] Specifically, the present invention does not limit the specific structure of the acceleration monitoring unit, which can be an accelerometer. The accelerometer detects the real-time acceleration values ​​of each area of ​​the pallet to characterize the force impact on the pallet caused by the fluctuation of the stacking state of the prestressed positioning mesh during the movement of the conveyor roller. Accelerometers are widely used in the field of intelligent monitoring of industrial production and will not be described here.

[0094] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible conveying system with adjustable spacing, characterized in that: include: A feeding module, comprising a plurality of end-to-end connected transmission rollers for driving a plurality of trays to move, and a grabbing mechanism disposed on the transmission rollers for grabbing a prestressed positioning mesh placed on the trays; A sensing module, comprising a plurality of image acquisition units arranged at the end-to-end connection positions of the conveying rollers for photographing the side stacking images of the prestressed positioning mesh sheets stacked on the pallet, and an acceleration monitoring unit arranged inside the pallet for monitoring the acceleration of different areas of the pallet; A visual analysis module connected to the sensing module is used to determine the image grayscale feature area based on the stacked images of each side, and to determine whether the prestressed positioning mesh has a risk of stacking and collapsing based on the area comparison of the grayscale feature area before and after the end-to-end connection position of the transmission roller; A process analysis module, which is connected to the visual analysis module, and is used to determine the stacking collapse risk category according to the area change of the image grayscale feature area at the end-to-end connection positions of a plurality of transmission rollers; A control module, which is connected to the process analysis module and the feeding module, is used to determine the action adjustment mode of the feeding module according to the stacking collapse risk category, including: Adjusting the spacing between the current pallet and the adjacent pallet to a stable conveying spacing, wherein the stable conveying spacing is determined according to the length of the conveying roller; Or, the posture control parameters of the gripping mechanism are determined based on the difference in acceleration at different positions of the tray, and the posture control parameters include the tilt angle and tilt direction of the gripping mechanism relative to the horizontal plane.

2. The flexible conveying system with adjustable spacing according to claim 1, characterized in that: The acceleration monitoring units are distributed inside different areas of the pallet to monitor the acceleration of different areas of the pallet in a direction perpendicular to the horizontal ground.

3. The flexible conveying system with adjustable spacing according to claim 2, characterized in that: The visual analysis module is used to determine the grayscale feature area of ​​the image, wherein: The visual analysis module divides each side stacked image into a plurality of sub-regions, and determines the region consisting of sub-regions that meet the grayscale screening condition as the image grayscale feature region; The grayscale screening condition is that the grayscale value of the sub-region is less than a preset grayscale reference value.

4. The flexible conveying system with adjustable spacing according to claim 3 is characterized in that: The visual analysis module is also used to obtain the absolute value of the area difference of the grayscale feature area before and after the end-to-end connection position of the transmission roller, and determine whether the prestressed positioning mesh has a risk of stacking and collapse according to the maximum value of the absolute value of the area difference, wherein: If the maximum absolute value of the area difference satisfies the risk assessment condition, the visual analysis module determines that the prestressed positioning mesh has a risk of collapse due to stacking; The risk assessment condition is that the maximum absolute value of the area difference is greater than a preset area difference threshold.

5. The flexible conveying system with adjustable spacing according to claim 4, characterized in that: The process analysis module is also used to sequentially obtain the absolute values ​​of the area differences of the grayscale feature regions according to the order in which the pallets pass through the positions connected to the end of each conveying roller, so as to form an absolute value series of area differences; If the absolute value series of the area difference values ​​is not an increasing series, the process analysis module determines that the stacking collapse risk category is a stacking collapse risk weakly dominant category; If the absolute value series of the area difference values ​​is an increasing series, the process analysis module determines that the overlapping collapse risk category is a strongly dominant overlapping collapse risk category.

6. The flexible conveying system with adjustable spacing according to claim 5, characterized in that: The control module is used to determine the action adjustment mode of the feeding module, wherein: If the stacking collapse risk category is a stacking collapse risk weakly dominant category, the control module adjusts the spacing distance between the current pallet and the adjacent pallet to a stable conveying spacing; If the stacking collapse risk category is a stacking collapse risk strong dominant category, the control module determines the posture control parameters of the gripping mechanism based on the acceleration difference at different positions of the pallet.

7. The flexible conveying system with adjustable spacing according to claim 6, characterized in that: The control module is also used to determine the stable conveying spacing, which is half of the sum of the lengths of the conveying rollers where two adjacent pallets are located.

8. The flexible conveying system with adjustable spacing according to claim 6, characterized in that: The control module is used to determine the tilt direction of the gripping mechanism relative to the horizontal plane, wherein: The control module is also used to obtain the acceleration of different positions of the pallet in a direction perpendicular to the horizontal ground in real time, calculate the acceleration difference at each position according to the maximum acceleration and the minimum acceleration, and control the tilt direction of the gripping mechanism to tilt toward the position of the maximum acceleration difference.

9. The flexible conveying system with adjustable spacing according to claim 8, characterized in that: The control module is used to determine the inclination angle of the gripping mechanism relative to the horizontal plane, and the inclination angle is positively correlated with the maximum value of the acceleration difference.

10. A pallet, used to implement the flexible conveying system with adjustable spacing as described in any one of claims 1 to 9, characterized in that: include: The tray body is used to stack the prestressed positioning mesh; The acceleration monitoring unit is arranged in different areas inside the pallet body to monitor the acceleration of different areas of the pallet in a direction perpendicular to the horizontal ground.

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