Control system and method for material distribution vehicle of cigarette factory

Abstract

The invention provides a control system and method for a material distribution vehicle in a cigarette factory, which can complete automatic control of the material distribution vehicle and reduce manual intervention. A laser radar scanner is arranged right above the conveyor, a metering scale is arranged at the bottom of a belt of the belt conveyor, and a calculation module calculates the uniformity and the stacking volume of cigarettes on the belt conveyor in real time through monitoring data of the laser radar scanner and the metering scale; the distribution request module compares the difference value with a plurality of threshold values to obtain different distribution request requirements; the request stack module obtains material distribution requests of all the belt conveyors, calculates request values of the single belt conveyors according to weights of different types of material distribution requests, and dynamically stacks and sorts according to the request values; and the execution module is used for automatically acquiring stack top data of the dynamic stack sorting, obtaining the number and the position of the belt conveyor corresponding to the stack top data, controlling the transmission speed of the belt conveyor according to the material distribution request, and controlling the material distribution position, the material distribution motion form and the material distribution amount of the material distribution vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of tobacco equipment, and in particular to a control system and method for a material distribution vehicle in a cigarette factory. Background Art

[0002] In the production line of cigarette shreds, the storage cabinet is an important place for storing, mixing and aging tobacco after processing. The processed tobacco leaves or shredded tobacco enter the storage cabinet after being evenly spread. There are two common spreading methods, namely strip spreading and pile spreading.

[0003] In the prior art, a material conveying method, device, system, equipment and storage medium with patent application number 202310874872.X is provided. When it is detected that the demand device has a material demand, the demand device is controlled to send a first material request signal to the target belt segment; the target belt segment is a belt segment connected to the demand device; when it is detected that the target belt segment receives the first material request signal, the target belt segment is controlled to detect whether there is material on the target belt segment, and according to the material detection result, the target belt segment is controlled to convey the material to the demand device.

[0004] There is only one material on the target belt, which cannot meet the tobacco processing needs. It is not disclosed how the materials on the target belt are distributed when there are multiple demand devices and material requirements are put forward at the same time. Summary of the invention

[0005] The purpose of the present invention is to provide a control system and method for a material distributing vehicle in a cigarette factory. The belt conveyor actively calls the material distributing vehicle to pick up material according to different material requirements. The control system analyzes the material requirements and performs priority stacking. The material distributing vehicle distributes material at different speeds, in different amounts and in different forms according to the stacking group request. The automatic control of the material distributing vehicle can be completed, and manual intervention can be reduced.

[0006] The embodiment of the present invention is achieved as follows:

[0007] A control system for a material distributing vehicle in a cigarette factory comprises a material distributing vehicle and a plurality of belt conveyors arranged in parallel below a material distributing port of the material distributing vehicle, wherein a left limit sensor and a right limit sensor are respectively arranged on both sides of the belt conveyor, a laser radar scanner is arranged directly above the belt conveyor, and a weighing scale is arranged at the bottom of the belt of the belt conveyor.

[0008] The control system includes:

[0009] The acquisition module is used to obtain the code, position, transmission speed of the belt conveyor, the left and right limit sensors of the corresponding belt conveyor, the laser radar scanner and the monitoring data of the weighing scale;

[0010] The calculation module uses the laser radar scanner and the measuring scale to monitor the data and calculate the uniformity, stacking volume and weight of cigarettes on the belt conveyor in real time;

[0011] The material distribution request module obtains a difference value by subtracting the calculated uniformity, stacking volume, and weight of cigarettes from the uniformity, stacking volume, and weight of standard cigarettes, and compares the difference value with multiple thresholds to obtain different material distribution request requirements;

[0012] The request stack module obtains the fabric requests of each belt conveyor, calculates the request value of a single belt conveyor according to the weights of different types of fabric requests, and dynamically stacks and sorts them according to the size of the request values;

[0013] The execution module automatically obtains the top data of the dynamic stack sorting, obtains the belt conveyor machine number and position corresponding to the top data of the stack, controls the transmission speed of the belt conveyor according to the material request, controls the material position of the material car, the material movement form and the material amount.

[0014] As a preferred technical solution, the above-mentioned calculation module includes a uniformity calculation unit, which obtains contour point data of the cigarette pile through a laser radar scanner, calculates the standard deviation based on the contour point data, and obtains the discrete situation of the cigarette pile.

[0015] As a preferred technical solution, the above-mentioned calculation module includes a stacking volume calculation unit, which obtains contour point data of the cigarette pile through a laser radar scanner, performs filtering processing based on the contour point data, obtains a contour image, divides the contour image into discrete grids with a fixed step size, takes each scanning interval of 0.02s as 1 frame, performs three-dimensional reconstruction in combination with the conveyor belt running speed, calculates the sum of the prism volumes corresponding to each grid, and obtains the stacking volume.

[0016] As a preferred technical solution, the above-mentioned cloth request module includes a difference calculation unit and a cloth request demand matching unit. When the cigarette uniformity calculated by the difference calculation unit is less than the cigarette uniformity threshold, the cloth request demand matching unit automatically calls out the control requirements of the transmission speed of the belt conveyor, the cloth movement form of the cloth car, the cloth movement speed of the cloth car and the cloth quantity;

[0017] When the accumulation volume is greater than or less than the cigarette accumulation volume threshold, the material distribution request matching unit automatically calls out the conveying speed control demand of the belt conveyor or the material distribution vehicle material distribution movement speed control demand;

[0018] When the cigarette weight is greater than or less than the cigarette weight threshold, the material distribution request demand matching unit automatically calls out the control requirements of the material distribution vehicle's movement form, movement speed and material distribution amount.

[0019] As a preferred technical solution, the above-mentioned request stack module includes a name unit, a link unit, a request code unit and an instruction adjustment unit. The 5th and 6th bits of the first byte in the name unit represent the priority preemption bit and the priority bit, the 4th bit is the mask bit, and the 0th to 3rd bits are used to store the belt conveyor machine number bit and the position bit; the link unit is used to link the two adjacent requests together to form a link table; the request code unit is used to store various types of control requirement codes required by the belt conveyor; the instruction adjustment unit is used to store the control code corresponding to the request code unit.

[0020] As a preferred technical solution, the laser radar scanner is installed at a height of 90 cm or 120 cm from the belt surface.

[0021] As a preferred technical solution, the belt color of the above-mentioned laser radar scanner is white or bright yellow.

[0022] As a preferred technical solution, the execution module calls the simplest stack after deduplication through Crash clustering.

[0023] As a preferred technical solution, the acquisition module also obtains the relative position of the material distribution vehicle and each belt conveyor, the running speed of the material distribution vehicle, and the amount of cigarettes on the material distribution vehicle.

[0024] The embodiment of the present invention further provides a control method for a material distributing vehicle in a cigarette factory, comprising any of the control systems described above, the control method comprising:

[0025] The acquisition module collects the belt conveyor's code, position, transmission speed, the corresponding left and right limit sensors of the belt conveyor, the laser radar scanner and the measuring scale monitoring data;

[0026] The calculation module calculates the uniformity, stacking volume and weight of cigarettes on the belt conveyor in real time based on the data monitored by the laser radar scanner and the weighing scale;

[0027] The calculated uniformity, stacking volume, weight of the cigarettes are subtracted from the uniformity, stacking volume and weight of the standard cigarettes to obtain a difference, and the difference is compared with multiple thresholds to obtain different cloth request requirements;

[0028] Obtain the fabric requests of each belt conveyor, calculate the request value of a single belt conveyor according to the weights of different types of fabric requests, and dynamically stack and sort according to the size of the request value;

[0029] Automatically obtain the top data of the dynamic stack sorting, get the belt conveyor machine number and position corresponding to the top data, control the transmission speed of the belt conveyor according to the material request, control the material position of the material car, the material movement form and the material amount.

[0030] The beneficial effects of the embodiments of the present invention are:

[0031] The cigarette factory material distribution vehicle control system in the present invention obtains information such as the transmission volume, cigarette uniformity and stacking degree of the corresponding belt conveyor through the laser radar scanner and weighing scale arranged on the belt conveyor, and actively proposes material distribution requirements based on these real-time collected information. The control system automatically adjusts the material distribution vehicle to go to the belt conveyor to perform targeted material distribution curve changes, material distribution speed changes, material distribution amount changes and other adjustments, thereby reducing manual intervention and completing automatic material distribution. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic diagram of a material distribution vehicle and a belt conveyor according to an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of a control system of a material distribution vehicle in a cigarette factory according to an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of a control system computing module according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of a material distribution request module of a control system according to an embodiment of the present invention;

[0037] Figure 5 A schematic diagram of a control system request stack module according to an embodiment of the present invention.

[0038] Description of reference numerals: material distribution vehicle 1; belt conveyor 2; left limit sensor 21; right limit sensor 22; identification limiter 23; laser radar scanner 24; weighing scale 25;

[0039] Control system 3; acquisition module 31; calculation module 32; uniformity calculation unit 321; stacking volume calculation unit 322; weight calculation unit 323; cloth request module 33; difference calculation unit 331; cloth request demand matching unit 332; request stack module 34; name unit 341; link unit 342; request code unit 343; instruction adjustment unit 344; execution module 35. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0044] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0045] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0046] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0047] Example 1

[0048] See also Figure 1 and Figure 2 This embodiment provides a control system for a material distribution vehicle in a cigarette factory, including a material distribution vehicle 1 and a plurality of belt conveyors 2 arranged in parallel below the material discharging port of the material distribution vehicle 1. The material distribution vehicle 1 is used to evenly distribute cigarettes on each belt conveyor for even material discharging, and the belt conveyor is used to run cigarettes, and after further cooling, the cigarettes are put into a leaf storage cabinet. Of course, it can also be used for further processing after storage, mixing and alcoholization in the leaf storage cabinet, by opening the leaf storage cabinet, using the material distribution vehicle 1 and the plurality of belt conveyors 2 arranged in parallel, to transport the cigarettes to the position of the equipment to be processed.

[0049] Among them, the left limit sensor 21 and the right limit sensor 22 are respectively arranged on both sides of the belt conveyor 2, and the identification limiter 23 is located on the center line of the belt conveyor 2. The left and right limit sensors 22 are used to cooperate with the running track of the material distribution vehicle 1 to determine the interval of the running track, and the identification limiter 23 is used to quickly locate the material distribution vehicle 1 and quickly move the material distribution vehicle 1 at another position to the position of the belt conveyor 2 where material distribution is required.

[0050] A laser radar scanner 24 is provided perpendicularly to the belt conveyor 2 and directly above the center line of the belt conveyor 2. The laser radar scanner 24 obtains the status of cigarettes on the belt conveyor 2 and calculates the uniformity and stacking volume of cigarettes. The scanning angle of the laser radar scanner 24 can be adjusted according to different heights to ensure that all cigarettes within the width range can be scanned.

[0051] A plurality of weighing scales 25 are provided at the bottom of the belt of the belt conveyor 2 for obtaining the real-time transmission weight of the cigarettes on the belt conveyor 2 .

[0052] The control system 3 includes a collection module 31, a calculation module 32, a cloth request module 33, a request stack module 34 and an execution module 35 which are connected in sequence.

[0053] The acquisition module 31 is used to obtain the code, position, transmission speed, belt transport status of the belt conveyor 2, the monitoring data of the left and right limit sensors 22, the laser radar scanner 24 and the weighing scale 25 of the corresponding belt conveyor, and also obtains the relative position of the material distribution vehicle 1 and each belt conveyor 2, the running speed of the material distribution vehicle 1, the cigarette quantity of the material distribution vehicle 1, etc. The above-mentioned collected signals and data are uploaded to the control system 3, and the control system 3 performs calculation and analysis.

[0054] The calculation module 32 is configured to calculate the uniformity, stacking volume and weight of the cigarettes on the belt conveyor 2 in real time through the monitoring data of the laser radar scanner 24 and the weighing scale 25 .

[0055] In this example, see Figure 3 The calculation module 32 includes a uniformity calculation unit 321, a stacking volume calculation unit 322, and a weight calculation unit 323. The uniformity calculation unit 321 obtains the contour point data of the cigarette pile through the laser radar scanner 24, calculates the standard deviation based on the contour point data, and obtains the discrete situation of the cigarette pile.

[0056] The weight calculation unit 323 obtains an average value of the plurality of weighing scales 25 or obtains a weight calculation value according to the calculation values ​​of the stacking calculation unit and the uniformity calculation unit.

[0057] Specifically, it includes contour point data collection and preprocessing. According to the historical contour point data, the historical contour point data is checked, corrected and the data that does not meet the requirements is deleted. In this embodiment, according to production experience, the cigarette pile height is a null value and the range data of less than 300mm and greater than 500mm is directly deleted, and the historical average cigarette pile data is calculated; then the standard deviation is calculated by statistical methods, so as to obtain the degree of discreteness of the real-time contour point data compared with the historical average cigarette pile data, and obtain the uniformity of the cigarette pile.

[0058] In this embodiment, the laser radar scanner 24 can also be used in combination with MaskR-CNN to calculate the uniformity of the smoke pile.

[0059] The image is collected through the preprocessed contour points. In order to prevent distortion and ensure the accuracy of the semantic segmentation effect, gray bars are first added to the edges of the image to make the incoming image a square. At the same time, it is also necessary to ensure that the side length of the image can be divided by 2 to the sixth power.

[0060] The image with the gray bar added will be passed into the backbone feature extraction network to compress the length and width of the incoming image. The feature layers compressed twice, three times, four times, five times, and six times will be used to construct the feature pyramid structure. When the size of the incoming image is 1024×1024, five common feature layers with sizes of 256×256, 128×128, 64×64, 32×32, and 16×16 will be obtained, which is equivalent to dividing the image into grids of different sizes, and each grid has several prior boxes.

[0061] By using the RPN region proposal network, we can obtain the adjustment parameters of these prior boxes and whether these prior boxes contain objects, and then we can get the proposal boxes.

[0062] The suggestion box can be used to intercept the feature layer, and the intercepted part of the feature layer can reflect different areas of the original image.

[0063] The captured content will be passed to the RoIAlign layer at this time. In order to meet the detection of pictures of different sizes, the RoIAlign layer will adjust the captured feature layers of different sizes to a fixed size, and then use the classification and regression network to determine whether the captured content contains the target and adjust the suggestion box. The adjusted suggestion box is the prediction box. The prediction box can be used to capture on the feature layer. The captured content will be passed to the RoIAlign layer to obtain a local feature layer of the same size, and then the local feature layer will be passed to the semantic segmentation network to obtain the result of semantic segmentation, which improves the ability to detect small targets under multi-scale changes.

[0064] By improving the mask generation network structure to segment tobacco instances, the advantage of the instance mask generated by it is that it fits the tobacco target better, with less missing and redundancy, compared with the general threshold cutting model. By using tobacco volume instead of tobacco mass for uniformity calculation, the detection efficiency is greatly improved compared with manual measurement.

[0065] The accumulation volume calculation unit 322 obtains the contour point data of the cigarette pile through the laser radar scanner 24, performs filtering processing on the contour point data, and obtains a contour image; then, the contour image is divided into discrete grids with a fixed step size, with each scanning interval of 0.02s as 1 frame, and three-dimensional reconstruction is performed in combination with the conveyor belt running speed, and the sum of the prism volumes corresponding to each grid is calculated to obtain the accumulation volume.

[0066] Accordingly, when acquiring the contour image, when there is data missing, the average value of the nearest neighbor value is used as interpolation to supplement the missing data. In principle, the slower the running speed of the belt conveyor 2, the more accurate the calculation is, and the smaller the grid area of ​​the discrete grid, the more accurate the calculation is. In order to balance the calculation accuracy and calculation speed, in this embodiment, the area of ​​the discrete grid is 10mm*10mm, and the running speed of the belt conveyor 2 is controlled at 100-150mm / s.

[0067] When the measurement height of the laser radar scanner 24 increases, the amount of contour point data of the cigarette will also decrease, but the low scanning measurement height will cause partial area occlusion or too much point cloud data, resulting in increased difficulty in point cloud data processing, and there will be certain differences in the proportion of point cloud abnormal values ​​measured at different heights. After testing, when the laser radar scanner 24 is 90cm or 120cm away from the belt surface, the scanning effect is better, with fewer abnormal values ​​and missing values.

[0068] The changing pattern of the brightness of the conveyor belt color and the coefficient of variation are basically consistent. The higher the brightness, the smaller the coefficient of variation. This shows that conveyor belts with high brightness such as white have better overall stability and are beneficial to improving the accuracy of tobacco accumulation volume measurement. In this embodiment, the belt color of the laser radar scanner 24 is white or bright yellow.

[0069] The material request module 33 obtains a difference value by subtracting the calculated uniformity, stacking volume, weight of the cigarettes from the uniformity, stacking volume and weight of the standard cigarettes, and compares the difference value with multiple thresholds to obtain different material request requirements.

[0070] In this example, see Figure 4 The cloth request module 33 includes a difference calculation unit 331 and a cloth request demand matching unit 332 .

[0071] When the cigarette uniformity calculated by the difference calculation unit 331 is less than the cigarette uniformity threshold, the material request demand matching unit 332 automatically calls out the control requirements of the transmission speed of the belt conveyor 2, the material movement form of the material distribution vehicle 1, the material movement speed of the material distribution vehicle 1, and the material quantity; for example, when the cigarette uniformity is less than the cigarette uniformity threshold, the material request demand matching unit 332 automatically obtains the code for calling out the control requirements of the transmission speed of the belt conveyor 2, the material movement form of the material distribution vehicle 1, the material movement speed of the material distribution vehicle 1, and the material quantity according to the threshold interval of the uniformity difference. For example, the control requirement code A1 of the transmission speed of the belt conveyor 2 is increased, and the material movement form of the material distribution vehicle 1 is B1, etc.

[0072] When the stacking volume is greater than or less than the cigarette stacking volume threshold, the material request demand matching unit 332 automatically calls out the transport speed control demand of the belt conveyor 2 or the material movement speed control demand of the material cart 1; for example, when the stacking volume is greater than the cigarette stacking volume threshold, the transport speed control demand code A2 for reducing the belt conveyor 2 is automatically called out.

[0073] When the cigarette weight is greater than or less than the cigarette weight threshold, the cloth request demand matching unit 332 automatically calls out the control demand for the movement form, movement speed and cloth amount of the cloth carrier 1. For example, when the cigarette weight is greater than the cigarette weight threshold, the control demand code C1 for reducing the cloth amount is called out, and so on.

[0074] The request stack module 34 obtains the cloth request of each belt conveyor 2, calculates the request value of a single belt conveyor 2 according to the weight of different types of cloth requests, and dynamically stacks and sorts according to the size of the request value.

[0075] The request stack module 34 includes a name unit 341 , a link unit 342 , a request code unit 343 , and an instruction adjustment unit 344 , which are stacked in order from top to bottom.

[0076] The 5th and 6th bits of the first byte in the name unit 341 represent the priority bit and the priority bit, the 4th bit is the mask bit, and the 0th to 3rd bits are used to store the machine number and position of belt conveyor 2; for example, 0103021 means that belt conveyor 2 No. 01 is at an interval of 103 belt conveyors 2 away from the fabric car, and no masking is required. After occupying two priority positions, it is currently in the first position.

[0077] Of course, No. 01 belt conveyor 2 can also be numbered directly by a, b, c, etc.

[0078] The link unit 342 is used to link the two adjacent requests together to form a link table, linking the adjacent belt conveyor 2 to be laid, avoiding the tasks being mixed in a disorderly manner in the control system 3, and when there is a belt conveyor 2 to be repaired, the link unit can quickly disconnect the chain and automatically link to the next belt conveyor to be repaired.

[0079] The request code unit 343 is used to store various types of control demand codes required by the belt conveyor 2, such as A1 B1C1 D1, which represents increasing the transmission speed of the belt conveyor 2, selecting the B1 type cloth movement mode, reducing the cloth amount, and increasing the running speed of the cloth vehicle 1.

[0080] When the calculation of uniformity, stacking volume, and weight all involve the same type of instructions, such as A1 B1A1 D1, each stack frame is weighted hierarchically according to its position: the improved algorithm dynamically adjusts the weights from the top of the stack to the bottom of the stack from high to low, giving higher weights to frames closer to the top of the stack to emphasize their importance in distinguishing priorities.

[0081] The instruction adjustment unit 344 is used to store the control code corresponding to the request code unit 343 , and obtain the adjustment interval control code of the request code unit 343 according to the difference calculated by the difference calculation unit 331 .

[0082] For example, when the code of the instruction adjustment unit 344 is 1111, the transmission speed of the belt conveyor 2 increases by 10 mm / s, the B1 type material distribution movement mode is selected, the material distribution amount is reduced to 1L / s, and the running speed of the material distribution vehicle 1 increases by 10 mm / s. For example, when the cigarette uniformity is less than the cigarette uniformity threshold, the transmission speed of the belt conveyor 2 is reduced, the material distribution movement form of the material distribution vehicle 1 is changed from S-shaped to Z-shaped or straight-shaped, etc., the material discharging time of the end material distribution machine is reduced, thereby avoiding excessive material at the end, and the movement speed and distribution amount of the material distribution vehicle 1 are increased to further thin the material.

[0083] The execution module 35 automatically obtains the top data of the dynamic stack sorting, obtains the machine number and position of the belt conveyor 2 corresponding to the top data, controls the transmission speed of the belt conveyor 2 according to the cloth request, controls the cloth position, cloth movement form and cloth amount of the cloth car 1. The execution module 35 calls the simplest stack after deduplication through Crash clustering.

[0084] This embodiment collects the simplest crash call stack and hierarchically weights it, then uses a fully connected hierarchical clustering algorithm to traverse the values, selects multiple similarity measurement methods to jointly find the optimal number of clusters, and realizes clustering and deduplication of Crash.

[0085] The control system 3 of the cigarette factory's material distribution vehicle 1 in the present invention obtains information such as the transmission volume, cigarette uniformity and stacking degree of the corresponding belt conveyor 2 through the laser radar scanner 24 and the weighing scale 25 arranged on the belt conveyor 2, and actively proposes material distribution requirements based on these real-time collected information. The control system 3 automatically adjusts the material distribution vehicle 1 to go to the belt conveyor 2 to perform targeted material distribution curve changes, material distribution speed changes, material distribution amount changes, etc., thereby reducing manual intervention and completing automatic material distribution.

[0086] Example 2

[0087] The embodiment of the present invention further provides a control method for a material distributing vehicle 1 of a cigarette factory, including the control system 3 in the first embodiment, and the control method includes:

[0088] The acquisition module 31 acquires the code, position, transmission speed of the belt conveyor 2, and the monitoring data of the left and right limit sensors 22, the laser radar scanner 24 and the weighing scale 25 of the corresponding belt conveyor;

[0089] The calculation module 32 calculates the uniformity, stacking volume and weight of the cigarettes on the belt conveyor 2 in real time based on the monitoring data of the laser radar scanner 24 and the weighing scale 25;

[0090] The calculated uniformity, stacking volume, weight of the cigarettes are subtracted from the uniformity, stacking volume and weight of the standard cigarettes to obtain a difference, and the difference is compared with multiple thresholds to obtain different cloth request requirements;

[0091] Obtain the cloth requests of each belt conveyor 2, calculate the request value of a single belt conveyor 2 according to the weights of different types of cloth requests, and dynamically stack and sort according to the size of the request value;

[0092] Automatically obtain the top data of the dynamic stack sorting, obtain the machine number and position of the belt conveyor 2 corresponding to the top data, control the transmission speed of the belt conveyor 2 according to the cloth request, control the cloth position, cloth movement form and cloth amount of the cloth car 1.

[0093] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0094] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or it can be an electrical, mechanical or other form of connection.

[0095] The units described as separate components may or may not be physically separated. As a unit, it can be appreciated by those skilled in the art that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0096] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0097] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control system for a material distributing vehicle in a cigarette factory, comprising a material distributing vehicle and a plurality of parallel belt conveyors arranged below a material distributing port of the material distributing vehicle, characterized in that: The belt conveyor is provided with a left limit sensor and a right limit sensor on both sides, a laser radar scanner is provided directly above the belt conveyor, and a weighing scale is provided at the bottom of the belt of the belt conveyor. The control system comprises: An acquisition module, which is used to obtain the code, position, transmission speed of the belt conveyor, the left and right limit sensors of the corresponding belt conveyor, the laser radar scanner and the measuring scale monitoring data; A calculation module, which calculates the uniformity, stacking volume and weight of cigarettes on the belt conveyor in real time through the monitoring data of the laser radar scanner and the weighing scale; The material distribution request module obtains a difference value by subtracting the calculated uniformity, stacking volume, and weight of cigarettes from the uniformity, stacking volume, and weight of standard cigarettes, and compares the difference value with multiple thresholds to obtain different material distribution request requirements; The request stack module obtains the fabric requests of each belt conveyor, calculates the request value of a single belt conveyor according to the weights of different types of fabric requests, and dynamically stacks and sorts them according to the size of the request values; The execution module automatically obtains the top data of the dynamic stack sorting, obtains the belt conveyor machine number and position corresponding to the top data of the stack, controls the transmission speed of the belt conveyor according to the material distribution request, controls the material distribution position of the material distribution vehicle, the material distribution movement form and the material distribution amount.

2. The control system of the cigarette factory material distribution vehicle according to claim 1, characterized in that: The calculation module comprises a uniformity calculation unit, which obtains contour point data of the cigarette pile through a laser radar scanner, calculates a standard deviation according to the contour point data, and obtains the discrete situation of the cigarette pile.

3. The control system of the cigarette factory material distribution vehicle according to claim 1, characterized in that: The calculation module includes a stacking volume calculation unit, which obtains contour point data of the cigarette pile through a laser radar scanner, performs filtering processing based on the contour point data to obtain a contour image, divides the contour image into discrete grids with a fixed step size, takes each scanning interval of 0.02s as 1 frame, performs three-dimensional reconstruction in combination with the conveyor belt running speed, calculates the sum of the prism volumes corresponding to each grid, and obtains the stacking volume.

4. The control system of the cigarette factory material distribution vehicle according to claim 1, characterized in that: The material distribution request module includes a difference calculation unit and a material distribution request demand matching unit. When the cigarette uniformity calculated by the difference calculation unit is less than the cigarette uniformity threshold, the material distribution request demand matching unit automatically calls out the control requirements of the transmission speed of the belt conveyor, the material distribution vehicle material distribution movement form, the material distribution vehicle material distribution movement speed and the material distribution amount; When the stacking volume is greater than or less than the cigarette stacking volume threshold, the material distribution request matching unit automatically calls out the conveying speed control demand of the belt conveyor or the material distribution vehicle material distribution movement speed control demand; When the cigarette weight is greater than or less than the cigarette weight threshold, the material distribution request demand matching unit automatically calls out the control requirements of the material distribution vehicle movement form, movement speed and material distribution amount.

5. The control system of the cigarette factory material distribution vehicle according to claim 1, characterized in that: The request stack module includes a name unit, a link unit, a request code unit and an instruction adjustment unit. The 5th and 6th bits of the first byte in the name unit represent the priority preemption bit and the priority bit, the 4th bit is the mask bit, and the 0th to 3rd bits are used to store the belt conveyor machine number bit and the position bit; the link unit is used to link the two adjacent requests together to form a link table; the request code unit is used to store various types of control requirement codes required by the belt conveyor; the instruction adjustment unit is used to store the control code corresponding to the request code unit.

6. The control system of the cigarette factory material distribution vehicle according to claim 1, characterized in that: The laser radar scanner is installed at a height of 90 cm or 120 cm from the belt surface.

7. The control system of the cigarette factory material distribution vehicle according to claim 1, characterized in that: The belt color of the laser radar scanner is white or bright yellow.

8. The control system of the cigarette factory material distribution vehicle according to claim 1, characterized in that: The execution module calls the simplest stack after deduplication through Crash clustering.

9. The control system of the cigarette factory material distribution vehicle according to claim 1, characterized in that: The acquisition module also obtains the relative position of the material distribution vehicle and each belt conveyor, the running speed of the material distribution vehicle, and the amount of cigarettes on the material distribution vehicle.

10. A control method for a material distribution vehicle in a cigarette factory, characterized in that: The control system comprising any one of claims 1 to 9, wherein the control method comprises: The acquisition module collects the belt conveyor's code, position, transmission speed, the corresponding left and right limit sensors of the belt conveyor, the laser radar scanner and the measuring scale monitoring data; Calculate the uniformity, stacking volume and weight of the cigarettes on the belt conveyor based on the monitoring data of the laser radar scanner and the weighing scale in real time through a calculation module; The calculated uniformity, stacking volume, weight of the cigarettes are subtracted from the uniformity, stacking volume and weight of the standard cigarettes to obtain a difference, and the difference is compared with multiple thresholds to obtain different cloth request requirements; Obtain the fabric requests of each belt conveyor, calculate the request value of a single belt conveyor according to the weights of different types of fabric requests, and dynamically stack and sort according to the size of the request value; Automatically obtain the top data of the dynamic stack sorting, obtain the belt conveyor machine number and position corresponding to the top data, control the transmission speed of the belt conveyor according to the cloth request, control the cloth position of the cloth car, the cloth movement form and the cloth amount.

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