Device detection method and system

Abstract

The invention discloses a device detection method and system. According to the feeding system, the feeding signals generated when the devices pass through the feeding sensor during feeding are obtained, and when the multiple effective feeding signals are continuously obtained within the preset time, the multiple effective feeding signals are combined into one effective feeding signal, so that interference of the second device under the conditions that the speed of the feeding system is high and the device interval is too small is avoided. And based on the effective feeding signal, the camera assembly is controlled to shoot the device, and finally detection is carried out based on the shot image to obtain a detection result. According to the method, detection errors can be reduced, and the accuracy and reliability of the device detection equipment are improved.

Description

Technical Field

[0001] The present application relates to the field of device detection technology, and in particular to a device detection method and system. Background Art

[0002] Device inspection equipment is commonly found in automated production lines and is used to perform quality inspection, dimension measurement, defect detection, etc. on devices. Device inspection equipment usually includes a loading system responsible for transporting devices from a storage location to a testing location and a trigger system that controls various parts of the device. The trigger system can control the blowing device based on the device inspection results to blow the inspected device into a designated material box.

[0003] The speed of the feeding system in the prior art is relatively high, and if the trigger system does not respond in time, detection errors are likely to occur, resulting in the device detection equipment being unreliable and inaccurate. Therefore, how to enhance the reliability and accuracy of the device detection equipment has become an urgent problem to be solved. Summary of the invention

[0004] Based on the above problems, the present application provides a device detection method and system to enhance the reliability and accuracy of device detection equipment.

[0005] The present application discloses a device detection method, the method comprising:

[0006] Acquire the feeding signal generated when the device passes through the feeding sensor during feeding;

[0007] When multiple valid feeding signals are continuously obtained within a preset time, the multiple valid feeding signals are merged into one valid feeding signal;

[0008] Based on the effective feeding signal, control the camera component to photograph the device;

[0009] Detection is performed based on the captured image to obtain detection results.

[0010] Optionally, the preset time is related to a parameter of the camera component that triggers the start of shooting.

[0011] Optionally, after obtaining the test result, the method further includes:

[0012] Generate a control instruction according to the detection result to control the device to unload materials into a target material box; the target material box is one of a first type of material box and a second type of material box arranged in sequence along the transmission direction of the device;

[0013] Acquire a material unloading signal generated when the device passes through a material unloading sensor during unloading; the material unloading sensor is located at a detection position between a first material unloading position and a second material unloading position;

[0014] Determine whether the material unloading signal is valid, and when the material unloading signal is valid and multiple valid material unloading signals are obtained within the preset time, merge the multiple valid material unloading signals into one valid material unloading signal.

[0015] Optionally, merging the multiple valid loading signals or unloading signals into a corresponding valid loading signal or unloading signal comprises:

[0016] Among the multiple valid material loading signals or material unloading signals, the first valid signal acquired earlier is retained, and the other multiple valid material loading signals except the first valid signal are removed;

[0017] The first valid signal is used as a combined valid material loading signal or material unloading signal.

[0018] Optionally, determining whether the unloading signal is valid includes:

[0019] Obtaining a preset transmission time between the loading sensor and the unloading sensor;

[0020] Determine the theoretical time of the first valid unloading signal according to the preset transmission time and the time of the first valid loading signal;

[0021] If the material unloading sensor detects a valid signal at the theoretical time, it is determined that the detected material unloading signal is valid;

[0022] If the material unloading sensor does not detect a valid signal at the theoretical time, it is determined that all the material unloading signals detected within the preset time are invalid.

[0023] Optionally, the method further includes:

[0024] According to the loading signal, the unloading signal and the control instruction, it is determined whether an unloading abnormality occurs to the device in the current material box.

[0025] Based on the above device detection method, the present application also discloses a device detection system for implementing the above method, the system comprising: a controller and a feeding sensor;

[0026] The feeding sensor is used to obtain a feeding signal generated when the device passes through the feeding sensor during feeding;

[0027] The controller is used to merge multiple valid feeding signals into one valid feeding signal when multiple valid feeding signals are continuously obtained within a preset time;

[0028] The controller is further used to control the camera assembly to photograph the device based on a valid feeding signal;

[0029] The controller is also used to perform detection based on the captured image to obtain a detection result.

[0030] Optionally, the preset time is related to a parameter of the camera component that triggers the start of shooting.

[0031] Optionally, the system further includes a material feeding sensor, and the controller is used for:

[0032] Generate a control instruction according to the detection result to control the device to unload material into a target material box; the target material box is one of a first type material box and a second type material box arranged in sequence along the transmission direction of the device;

[0033] Acquire a material unloading signal generated when the device passes through a material unloading sensor during unloading; the material unloading sensor is located at a detection position between a first material unloading position and a second material unloading position;

[0034] Determine whether the material unloading signal is valid, and when the material unloading signal is valid and multiple valid material unloading signals are obtained within the preset time, merge the multiple valid material unloading signals into one valid material unloading signal.

[0035] Optionally, the controller is used to:

[0036] Among the multiple valid material loading signals or material unloading signals, the first valid signal acquired earlier is retained, and the other multiple valid material loading signals except the first valid signal are removed;

[0037] The first valid signal is used as a combined valid material loading signal or material unloading signal.

[0038] Optionally, the controller is used to:

[0039] Obtaining a preset transmission time between the loading sensor and the unloading sensor;

[0040] Determine the theoretical time of the first valid unloading signal according to the preset transmission time and the time of the first valid loading signal;

[0041] If the material unloading sensor detects a valid signal at the theoretical time, it is determined that the detected material unloading signal is valid;

[0042] If the material unloading sensor does not detect a valid signal at the theoretical time, it is determined that all the material unloading signals detected within the preset time are invalid.

[0043] Optionally, the controller is further used for:

[0044] According to the loading signal, the unloading signal and the control instruction, it is determined whether an unloading abnormality occurs to the device in the current material box.

[0045] The present application discloses a method and system for device detection. A feeding signal generated when a device passes through a feeding sensor during feeding is obtained. When multiple valid feeding signals are continuously obtained within a preset time, the multiple valid feeding signals are merged into one valid feeding signal, thereby avoiding interference from a second device when the feeding system has a high speed and the device interval is too small. Based on the valid feeding signal, the camera component is controlled to shoot the device, and finally the detection is performed based on the captured image to obtain the detection result. The method described in the present application can reduce detection errors and improve the accuracy and reliability of the device detection equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0047] Figure 1a A schematic diagram of a flow chart of a device detection method disclosed in an embodiment of the present application;

[0048] Figure 1b A schematic diagram of a combined signal disclosed in an embodiment of the present application;

[0049] Figure 2 A schematic flow chart of another device detection method disclosed in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of the structure of a device detection system disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] Embodiment 1: This application discloses a method for device detection.

[0053] For details, please refer to Figure 1a , a device detection method disclosed in this embodiment includes the following steps:

[0054] Step 101: Obtain a loading signal generated when a device passes through a loading sensor during loading.

[0055] In the method described in this embodiment, the feeding sensor is installed at a detection position near the feeding position to ensure the accuracy of the signal and directly sense the feeding status of the device to reduce external interference. As an optional method, the process of the feeding sensor generating a feeding signal can be specifically to use an optical fiber sensor as a feeding sensor. When the device passes through the detection position, the light will be blocked first and then restored, and the feeding sensor judges that the device has passed. Correspondingly, the sensor can also confirm that the device has passed the detection position by taking a photo of the device, reading a barcode, or detecting the change in current when passing. In this embodiment, there is no limitation on the specific type of the feeding sensor and the method of detecting the passing of the device, as long as the feeding situation of the device can be effectively detected.

[0056] In the method described in this embodiment, when the device passes through the detection position, the feeding sensor sends a feeding signal to the controller. For example, if the feeding sensor is an optical fiber sensor, the device passing through will change the optical signal of the sensor, and the feeding sensor will then convert the optical signal into an electrical signal and generate a pulse electrical signal as a feeding signal to send to the controller.

[0057] Step 102: When multiple valid feeding signals are continuously acquired within a preset time, the multiple valid feeding signals are combined into one valid feeding signal.

[0058] In the method described in this embodiment, the controller can perform de-jitter processing and merging processing on the feeding signal. Among them, the main purpose of the de-jitter processing is to ensure the stability of the feeding signal, and to make the signal more stable and reliable by removing short-term fluctuations and jitters in the signal. The merging processing is used to process feeding signals with very close intervals (judged by preset time). Through algorithms or logical judgments, two feeding signals with very close intervals are merged into one feeding signal, thereby reducing system misjudgments and repeated processing. Among them, this embodiment does not specifically limit the specific implementation method of the de-jitter processing, and it is sufficient to be able to stabilize the feeding signal.

[0059] In the method described in this embodiment, the preset time is related to the parameters of the camera component triggering the start of shooting. In practical applications, the intervals between the two devices triggering the feeding signals in sequence can be detected in real time. Taking into account that different models of camera components have different inherent response times, in order to ensure the accuracy and efficiency of the detection system and optimize the system performance, it can be determined whether the signal needs to be merged based on the specific model of the camera component and its inherent response time. The detection system is allowed to flexibly and dynamically adjust the distance between components in the future according to the actual capabilities of the camera component, ensuring that the camera component has enough time to take pictures when the device moves at high speed. Setting a suitable distance between components on the conveyor belt of the detection system can effectively avoid detection errors caused by insufficient response time of the camera component, thereby improving the reliability and accuracy of the detection process.

[0060] As an optional method, the merging process may specifically be that the controller obtains the first valid signal that comes earlier in time among multiple valid feeding signals and retains it, removes multiple valid feeding signals other than the first valid signal, and uses the first valid signal as a valid feeding signal after merging. Figure 1b This is a schematic diagram of the combined signal disclosed in the embodiment of the present application, for example Figure 1b As shown, there is an interval between the two pulses of the loading signal. In actual operation, the trigger mechanism of the camera component has a minimum trigger interval requirement, which is determined by the hardware characteristics and performance parameters of the camera. When the interval between the two pulses is so small that it cannot meet the minimum trigger interval requirement of the camera component, the camera component will not be able to trigger continuously, resulting in the omission of the image corresponding to one of the pulses, that is, one of the loading signals of the two devices will be lost. This will in turn affect the blowing instructions that control the unloading, such as a reduction in the number of instructions and a mismatch with the actual number of devices. The blowing action is executed based on the blowing instruction, and it will not be possible to blow air to each device correctly.

[0061] Therefore, the method described in this embodiment can detect the interval time between two pulses in real time and determine its minimum trigger interval according to the model of the camera component. Figure 1b As shown, when it is detected that the interval time is less than the minimum trigger interval, the detection system will automatically merge the two pulses into one, that is, the feeding signals of the two devices within the preset time are merged into one feeding signal, thereby triggering the shooting of the camera component and the blowing of the solenoid valve only once, effectively avoiding the interference of the second device to the detection system, and ensuring the normal operation of the camera component and the solenoid valve.

[0062] The present embodiment does not set strict restrictions on the specific duration of the interval between two signals, the specific duration of the minimum trigger interval, and the specific implementation method of the merging process, as long as the signal merging can be effectively achieved.

[0063] Step 103: Based on the effective loading signal, control the camera assembly to photograph the device.

[0064] In the method described in this embodiment, when the controller receives the loading signal, it forwards it to the camera assembly to instruct the camera assembly to capture the image of the device. As an optional method, given that the camera assembly includes multiple shooting devices located at different positions, the controller also has the ability to delay the output of the loading signal. Specifically, the controller comprehensively considers parameters including the position layout of each shooting device, the placement position of the solenoid valve, and the running speed of the conveyor belt, and determines when to output the loading signal through precise calculation, thereby triggering each shooting device to take pictures at the appropriate time.

[0065] Step 104: Perform detection based on the captured image to obtain a detection result.

[0066] In the method described in this embodiment, the camera assembly transmits the photographed device to a detection device (such as a computer) for further analysis. The detection device uses image processing technology and other related means to process the received image and finally obtain the detection result of the device. As an optional method, defect detection and property detection of the device can be performed based on the captured image, wherein the property detection includes the distance between the pins, the number of pins, etc.

[0067] In the method described in this embodiment, after obtaining the detection result, a control instruction can be generated according to the detection result to control the device to unload into the target material box, wherein the target material box is one of the first type of material box and the second type of material box arranged in sequence along the device transmission direction. The unloading signal generated by the unloading sensor when the device is unloaded is obtained, wherein the unloading sensor is located at the detection position between the first unloading position and the second unloading position. Then determine whether the unloading signal is valid. When the unloading signal is valid and multiple valid unloading signals are obtained within a preset time, the multiple valid unloading signals are merged into one valid unloading signal. The signal merging step here is the same as the merging of the loading signal, which will not be repeated here.

[0068] In the method described in this embodiment, the method for determining whether the unloading signal is valid may specifically be to obtain the preset transmission time between the loading sensor and the unloading sensor, and determine the theoretical time of the first valid unloading signal according to the preset transmission time and the time of the first valid loading signal. If the unloading sensor detects a valid signal at the theoretical time, it is determined that the detected unloading signal is valid; if the unloading sensor does not detect a valid signal at the theoretical time, it is determined that all unloading signals detected within the preset time are invalid.

[0069] As an optional method, for example, three devices with a small distance between them are on a conveyor belt of a detection system, and the three signals generated when they pass through the sensor in sequence are all within a preset time.

[0070] There is a first situation: the device is detected as needing to be unloaded into the first type of material box. Then, when the three devices pass through the first unloading position, the device discharged first is unloaded into the first type of material box, and the remaining two devices are unloaded into the long-blow material box after passing through the unloading sensor. Among them, the devices on the conveyor belt that have not been unloaded into the first type of material box or the second type of material box will reach the long-blow unloading position with the conveyor belt and be unloaded into the long-blow material box for subsequent re-detection. In this first situation, since the device discharged first has not passed through the unloading sensor, the unloading sensor cannot detect the unloading signal corresponding to the device at the theoretical time, that is, no valid signal is detected at the theoretical time. Subsequently, the unloading sensor detects the two unloading signals corresponding to the remaining two devices in sequence within the preset time and regards them as invalid.

[0071] There is a second situation: the device is detected as needing to be unloaded into the second type of material box, then the three devices pass through the unloading sensor in sequence, among which the device discharged first is unloaded into the second type of material box, and the remaining two devices are unloaded into the long blow material box. In this second situation, if the unloading sensor detects a valid signal at the theoretical moment, it will be regarded as a valid unloading signal. The three valid unloading signals detected by the unloading sensor in sequence within the preset time will be merged into one.

[0072] In the method described in this embodiment, it can be determined whether a material unloading abnormality occurs in the device in the current material box according to the loading signal, unloading signal and control instruction. Among them, the unloading process can be specifically to unload the device into the target material box based on the control instruction. As an optional method, the device can be blown into the material box by blowing air through a solenoid valve, or the unloading of the device can be controlled by an interception device (such as a plate). There is no specific limitation on the unloading method of the device and the equipment used for unloading, and it is sufficient to complete the unloading according to the current control instruction.

[0073] In the method described in this embodiment, the material box that the device actually enters, that is, the current material box, is determined based on a valid material unloading signal. Accordingly, the current material box is a first-class material box or a second-class material box. Based on the current material box and the target material box, it can be determined whether the device has a material unloading abnormality. For example, when the target material box and the current material box are consistent, it is determined that the device has no material unloading abnormality. When the target material box and the current material box are inconsistent, it is determined that the device has a material unloading abnormality.

[0074] The method described in this embodiment can merge two signals that are too close to each other into one through merging processing, thereby avoiding the influence of the second device due to the close distance to the first device, and significantly improving the stability and reliability of the device. In addition, the method described in this embodiment can be flexibly configured, and through real-time detection of device intervals, according to the camera component model used and its inherent response time, the device interval can be dynamically adjusted to adapt to the working characteristics of different camera components, ensuring a smooth and efficient detection process.

[0075] Embodiment 2: This application discloses another device detection method, please refer to Figure 2 The method described in this embodiment introduces the entire process of device detection.

[0076] Step 201: Acquire two feeding signals generated in sequence when the device passes through the feeding sensor during feeding.

[0077] Step 202: Detect the interval between two feeding signals.

[0078] Step 203: Determine whether the interval is less than a preset time. If yes, proceed to step 204. If no, proceed to step 205.

[0079] Step 204: Combine the two feeding signals and proceed to step 206.

[0080] Step 205: Send two loading signals to the camera assembly in sequence.

[0081] Step 206: Send the combined loading signal to the camera assembly.

[0082] Step 207: The camera component photographs the device according to the received loading signal, and obtains a detection result based on the photographed image.

[0083] Step 208: Control the unloading of the device according to the detection result, and determine whether the unloading sensor detects a valid signal at the theoretical time. If yes, proceed to step 209. If not, proceed to step 210.

[0084] Step 209: The signal detected by the material feeding sensor within a preset time is combined with the effective signal.

[0085] Step 210: All signals detected by the material discharge sensor within a preset time are deemed invalid.

[0086] Based on the device detection method disclosed in the above embodiment, this embodiment correspondingly discloses a device detection system for implementing the above method. Figure 3 , the device detection system comprises: a controller 301 and a feeding sensor 302;

[0087] The feeding sensor 302 is used to obtain a feeding signal generated when the device passes through the feeding sensor 302 during feeding;

[0088] The controller 301 is used to merge multiple valid feeding signals into one valid feeding signal when multiple valid feeding signals are continuously obtained within a preset time;

[0089] The controller 301 is further used to control the camera assembly to photograph the device based on a valid feeding signal;

[0090] The controller 301 is also used to perform detection based on the captured image to obtain a detection result.

[0091] Optionally, the preset time is related to a parameter of the camera component that triggers the start of shooting.

[0092] Optionally, the system further includes a material feeding sensor, and the controller 301 is used for:

[0093] Generate a control instruction according to the detection result to control the device to unload material into a target material box; the target material box is one of a first type material box and a second type material box arranged in sequence along the transmission direction of the device;

[0094] Acquire a material unloading signal generated when the device passes through a material unloading sensor during unloading; the material unloading sensor is located at a detection position between a first material unloading position and a second material unloading position;

[0095] Determine whether the material unloading signal is valid, and when the material unloading signal is valid and multiple valid material unloading signals are obtained within the preset time, merge the multiple valid material unloading signals into one valid material unloading signal.

[0096] Optionally, the controller 301 is used to:

[0097] Among the multiple valid material loading signals or material unloading signals, the first valid signal acquired earlier is retained, and the other multiple valid material loading signals except the first valid signal are removed;

[0098] The first valid signal is used as a combined valid material loading signal or material unloading signal.

[0099] Optionally, the controller 301 is used to:

[0100] Obtaining a preset transmission time between the loading sensor 302 and the unloading sensor;

[0101] Determine the theoretical time of the first valid unloading signal according to the preset transmission time and the time of the first valid loading signal;

[0102] If the material unloading sensor detects a valid signal at the theoretical time, it is determined that the detected material unloading signal is valid;

[0103] If the material unloading sensor does not detect a valid signal at the theoretical time, it is determined that all the material unloading signals detected within the preset time are invalid.

[0104] Optionally, the controller 301 is further configured to:

[0105] According to the loading signal, the unloading signal and the control instruction, it is determined whether an unloading abnormality occurs to the device in the current material box.

[0106] The embodiments in this specification are described in a progressive manner. As for the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the methods.

[0107] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0108] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0109] The features described in the embodiments of this specification can be replaced or combined with each other, so that professional and technical personnel in this field can implement or use the present application.

[0110] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device detection method, characterized in that: include: Acquire the feeding signal generated when the device passes through the feeding sensor during feeding; When multiple valid feeding signals are continuously obtained within a preset time, the multiple valid feeding signals are merged into one valid feeding signal; Based on the effective feeding signal, control the camera component to photograph the device; Detection is performed based on the captured image to obtain detection results.

2. The method according to claim 1, characterized in that The preset time is related to the parameters of the camera component that triggers the start of shooting.

3. The method according to claim 1, characterized in that After obtaining the test results, the method further includes: Generate a control instruction according to the detection result to control the device to unload materials into a target material box; the target material box is one of a first type of material box and a second type of material box arranged in sequence along the transmission direction of the device; Acquire a material unloading signal generated when the device passes through a material unloading sensor during unloading; the material unloading sensor is located at a detection position between a first material unloading position and a second material unloading position; Determine whether the material unloading signal is valid, and when the material unloading signal is valid and multiple valid material unloading signals are obtained within the preset time, merge the multiple valid material unloading signals into one valid material unloading signal.

4. The method according to claim 1 or 3, characterized in that: The multiple valid material loading signals or material unloading signals are combined into a corresponding valid material loading signal or material unloading signal, comprising: Among the multiple valid material loading signals or material unloading signals, the first valid signal acquired earlier is retained, and the other multiple valid material loading signals except the first valid signal are removed; The first valid signal is used as a combined valid material loading signal or material unloading signal.

5. The method according to claim 3, characterized in that: The step of determining whether the material unloading signal is valid comprises: Obtaining a preset transmission time between the loading sensor and the unloading sensor; Determine the theoretical time of the first valid unloading signal according to the preset transmission time and the time of the first valid loading signal; If the material unloading sensor detects a valid signal at the theoretical time, it is determined that the detected material unloading signal is valid; If the material unloading sensor does not detect a valid signal at the theoretical time, it is determined that all the material unloading signals detected within the preset time are invalid.

6. The method according to claim 5, characterized in that The method further comprises: According to the loading signal, the unloading signal and the control instruction, it is determined whether an unloading abnormality occurs to the device in the current material box.

7. A device detection system, characterized in that: Used to implement the method described in any one of claims 1 to 6, the system comprises: a controller and a feeding sensor; The feeding sensor is used to obtain a feeding signal generated when the device passes through the feeding sensor during feeding; The controller is used to merge multiple valid feeding signals into one valid feeding signal when multiple valid feeding signals are continuously obtained within a preset time; The controller is further used to control the camera assembly to photograph the device based on a valid feeding signal; The controller is also used to perform detection based on the captured image to obtain a detection result.

8. The system according to claim 7, characterized in that The preset time is related to the parameters of the camera component that triggers the start of shooting.

9. The system according to claim 7, characterized in that The system further includes a material discharge sensor, and the controller is used for: Generate a control instruction according to the detection result to control the device to unload material into a target material box; the target material box is one of a first type material box and a second type material box arranged in sequence along the transmission direction of the device; Acquire a material unloading signal generated when the device passes through a material unloading sensor during unloading; the material unloading sensor is located at a detection position between a first material unloading position and a second material unloading position; Determine whether the material unloading signal is valid, and when the material unloading signal is valid and multiple valid material unloading signals are obtained within the preset time, merge the multiple valid material unloading signals into one valid material unloading signal.

10. The system according to claim 7 or 9, characterized in that: The controller is used to: Among the multiple valid material loading signals or material unloading signals, the first valid signal acquired earlier is retained, and the other multiple valid material loading signals except the first valid signal are removed; The first valid signal is used as a combined valid material loading signal or material unloading signal.

11. The system according to claim 9, characterized in that The controller is used to: Obtaining a preset transmission time between the loading sensor and the unloading sensor; Determine the theoretical time of the first valid unloading signal according to the preset transmission time and the time of the first valid loading signal; If the material unloading sensor detects a valid signal at the theoretical time, it is determined that the detected material unloading signal is valid; If the material unloading sensor does not detect a valid signal at the theoretical time, it is determined that all the material unloading signals detected within the preset time are invalid.

12. The system according to claim 11, characterized in that The controller is also used for: According to the loading signal, the unloading signal and the control instruction, it is determined whether an unloading abnormality occurs to the device in the current material box.

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