Cooperative control method and device for unpacking of multiple ton bags

Abstract

The invention provides a cooperative control method and device for unpacking of multiple ton bags, the cooperative control method and device are applied to a main controller, and the method comprises the steps that if it is detected through a sensor that a target tray enters a feeding bin, and upper ton bags and lower ton bags are stacked in the target tray, an air shower system is controlled to execute pretreatment dust removal operation; after the pretreatment dust removal operation is executed, the upper ton bag and the lower ton bag are moved to the main bag breaking bin through the moving cavity so as to execute bag breaking and discharging operation, the first transferring and discharging operation is prior to the second transferring and discharging operation, the first transferring and discharging operation comprises transferring operation for the upper ton bag and bag breaking and discharging operation, and the second transferring and discharging operation comprises transferring operation for the lower ton bag and bag breaking and discharging operation for the lower ton bag. The second transferring and unloading operation is transferring operation and bag breaking and unloading operation aiming at the lower ton bag. Thus, the main controller controls the multiple devices to achieve continuous automatic treatment of the vertically-stacked ton bags, the compact structure of the single bag breaking bin is kept, meanwhile, efficient lossless separation and discharging of the stacked ton bags are completed, the operation efficiency is improved, and the space layout is saved.

Description

Technical Field

[0001] This application belongs to the technical field of automated equipment, and specifically relates to a collaborative control method and device for unpacking multiple bulk bags. Background Art

[0002] Currently, in the powder and granular material industries, the unpacking operation of stacked bulk bags has long relied on manual operation, suffering from problems such as low efficiency, serious dust pollution, and safety hazards. Usually, automated equipment is used for the unpacking operation of bulk bags, which can replace manual labor to achieve basic discharging functions, improving efficiency to a certain extent and reducing pollution problems.

[0003] However, current automated equipment can only adapt to the unpacking operation of a single bulk bag scenario, with poor equipment utilization rate. Frequent manual intervention is required to achieve the unpacking operation of multiple bulk bags, resulting in low efficiency and high maintenance costs. In addition, current automated equipment has insufficient dust removal ability and a complex structure, making it difficult to meet the high-efficiency operation requirements and environmental requirements of a compact production line. Summary of the Invention

[0004] This application proposes a collaborative control method and device for unpacking multiple bulk bags, aiming to achieve continuous automated processing of stacked bulk bags, and while maintaining the structural compactness of a single bag-breaking bin, complete the efficient and damage-free separation and discharging of stacked bulk bags, improve operation efficiency, and save space layout.

[0005] In a first aspect, an embodiment of this application provides a collaborative control method for unpacking multiple bulk bags. The method is applied to a main controller in an automatic unpacking system. The automatic unpacking system further includes a feed bin, a moving chamber, and a main bag-breaking bin. An air shower system is installed in the feed bin. The method includes:

[0006] If it is detected by a preset sensor that a target tray enters the feed bin, and the target tray stacks an upper bulk bag and a lower bulk bag, control the air shower system to perform pre-treatment dust removal operations on the upper bulk bag and the lower bulk bag. The upper bulk bag is the bulk bag in the upper space of the stacked structure, and the lower bulk bag is the bulk bag in the lower space of the stacked structure;

[0007] After the pre-treatment dust removal operation is completed, move the upper bulk bag and the lower bulk bag to the main bag-breaking bin through the moving chamber to perform bag-breaking and discharging operations. Among them, the first transfer and discharging operation takes precedence over the second transfer and discharging operation. The first transfer and discharging operation is the transfer operation and bag-breaking and discharging operation for the upper bulk bag, and the second transfer and discharging operation is the transfer operation and bag-breaking and discharging operation for the lower bulk bag.

[0008] Second aspect, an embodiment of the present application provides a collaborative control device for unpacking multi-ton bags. The method is applied to a main controller in an automatic unpacking system. The automatic unpacking system further includes a feed bin, a moving chamber, a first bag-breaking bin, and a second bag-breaking bin. An air shower system is installed in the feed bin. The device includes:

[0009] A pretreatment unit, configured to control the air shower system to perform a pretreatment dust removal operation on the upper ton bag and the lower ton bag if it is detected by a preset sensor that a target pallet enters the feed bin and the upper ton bag and the lower ton bag are stacked on the target pallet. The upper ton bag is the ton bag in the upper space of the stacked structure, and the lower ton bag is the ton bag in the lower space of the stacked structure;

[0010] A transfer and bag-breaking unit, configured to, after the pretreatment dust removal operation is completed, move the upper ton bag and the lower ton bag to the main bag-breaking bin through the moving chamber to perform a bag-breaking and discharging operation, wherein the first transfer and discharging operation takes precedence over the second transfer and discharging operation. The first transfer and discharging operation is the transfer operation and the bag-breaking and discharging operation for the upper ton bag, and the second transfer and discharging operation is the transfer operation and the bag-breaking and discharging operation for the lower ton bag.

[0011] Third aspect, an embodiment of the present application provides a controller, including a processor, a memory, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the processor. The programs include instructions for performing the steps in the first aspect of the embodiment of the present application.

[0012] Fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the steps in the first aspect of the embodiment of the present application are implemented.

[0013] Fifth aspect, an embodiment of the present application provides a computer program product, including a computer program / instruction. When the computer program / instruction is executed by a processor, some or all of the steps described in the first aspect of the embodiment of the present application are implemented.

[0014] It can be seen that in the embodiment of the present application, the main controller effectively reduces dust diffusion during the unpacking process by controlling the air shower system for pretreatment dust removal, improves the working environment, and reduces the explosion risk. And the collaborative control of the moving chamber is adopted to realize the automatic transfer and bag-breaking and discharging of multi-ton bags. The upper-layer ton bags are preferentially processed to avoid stacking interference and improve the unpacking efficiency. The full process automation reduces manual intervention, ensuring operation safety and coherence. A hierarchical processing logic is designed for stacked ton bags to optimize the equipment utilization rate and prevent material residue or equipment blockage caused by mutual extrusion of ton bags. The collaborative operation of each module of the system enhances the overall operation stability, reduces equipment wear, and extends the service life, meeting the continuous and efficient unpacking requirements of high-dust industrial scenarios. Description of the Drawings

[0015] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 is a structural block diagram of an automatic unpacking system provided by an embodiment of the present application;

[0017] Figure 2 is a schematic flowchart of a collaborative control method for unpacking multiple ton bags provided by an embodiment of the present application;

[0018] Figure 3 is a schematic diagram of the device structure of an automatic unpacking device provided by an embodiment of the present application;

[0019] Figure 4 is a schematic flowchart of another collaborative control method for unpacking multiple ton bags provided by an embodiment of the present application;

[0020] Figure 5 is a schematic flowchart of another collaborative control method for unpacking multiple ton bags provided by an embodiment of the present application;

[0021] Figure 6 is a block diagram of the functional units of a collaborative control device for unpacking multiple ton bags provided by an embodiment of the present application;

[0022] Figure 7 is a block diagram of the functional units of another collaborative control device for unpacking multiple ton bags provided by an embodiment of the present application;

[0023] Figure 8 is a structural block diagram of a controller provided by an embodiment of the present application. Detailed implementation manners

[0024] In order to enable those skilled in the art of this technology to better understand the solution of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present application.

[0025] The terms "first", "second", etc. in the description, claims and the above-mentioned drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0026] Reference to "embodiment" herein means that a particular feature, structure or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The phrase appears in various places in the description and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of an automatic unpacking system provided by an embodiment of this application. As Figure 1As shown in the figure, the automatic unpacking system 100 includes a main controller 110, a feeding bin 120, a moving chamber 130, and a main bag-breaking bin 140. The feeding bin 120 further includes an air shower system 121. The main controller 110 is communicatively connected to the feeding bin 120, the moving chamber 130, and the main bag-breaking bin 140. The main controller 110 controls the automatic unpacking system 100 to perform an automatic unpacking operation. The specific control process is as follows: when the target pallet 152 enters the feeding bin 120, if it is detected that the upper and lower ton bags 151 are stacked on the target pallet 152, the main controller 110 will control the air shower system 121 to perform a pre-treatment dust removal operation on the upper and lower ton bags 151. Then, the main controller 110 controls the moving chamber 130 to transfer the upper and lower ton bags 151 after dust removal. After the upper and lower ton bags 151 are transferred to the main bag-breaking bin 140, the main controller 110 will control the main bag-breaking bin 140 to perform a corresponding bag-breaking and discharging operation to output the final material 153. The material 153 may include the items wrapped in the upper and lower ton bags 151 and the empty bags obtained after the main bag-breaking bin 140 breaks the bags. The material output by the bag-breaking bin is directly transported to the downstream equipment through a discharging device (such as a screw conveyor, a pneumatic pipeline, or a vibrating diversion plate). The automatic unpacking system 100 includes one main controller 110. One main controller can be communicatively connected to one or more feeding bins 120. Each feeding bin 120 is connected to one moving chamber 130. Each moving chamber 130 can be connected to one or more main bag-breaking bins 140. The main bag-breaking bin 140 can also be divided into multiple bag-breaking bins. The number of bag-breaking bins can be determined according to the number of ton bag stacking layers included in the upper and lower ton bags 151 that need to perform the unpacking operation. Or, if each ton bag needs to be processed differently, independent bin bodies can be set to adapt to different processes. In addition, it can also be set according to the material characteristics and process requirements. For example, if there are differences in the material types, that is, if the materials in the upper and lower ton bags are different (such as chemical raw materials and food raw materials), they need to be processed in separate bins to avoid cross-contamination. There are differences in the bag-breaking methods. That is, if the upper ton bag needs to be cut at the top and the lower ton bag needs to be torn laterally, independent bin bodies need to be configured with corresponding cutting tools.

[0028] It should be noted that the upper and lower ton bags 151 described in this application do not limit the number of ton bags that can be automatically unpacked to two. Instead, all scenarios of multiple stacked ton bags can apply the automatic unpacking system disclosed in this application for unpacking process treatment.

[0029] Based on this, the embodiments of this application provide a collaborative control method for unpacking multiple ton bags. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0030] Embodiment 1. The context framework of the collaborative control method for unpacking multiple ton bags in the embodiments of this application will be described below.

[0031] Please refer to Figure 2 ,Figure 2 1 is a flow chart of a collaborative control method for unpacking multi-ton bags provided in an embodiment of the present application. The method is applied to a main controller 110 in an automatic unpacking system 100. The automatic unpacking system 100 also includes a feed bin 120, a moving chamber 130 and a main bag breaking bin 140. An air shower system 121 is installed in the feed bin 120. The method includes:

[0032] Step S201: If the preset sensor detects that the target pallet enters the feed bin, and the target pallet has upper ton bags and lower ton bags stacked therein, the air shower system is controlled to perform pre-treatment dust removal operations on the upper ton bags and lower ton bags.

[0033] The upper ton bag is the ton bag in the upper space of the stacking structure, and the lower ton bag is the ton bag in the lower space of the stacking structure. The pre-treatment dust removal operation is used to perform airflow dust removal on the top surface and side surface of the upper ton bag and the side surface of the lower ton bag.

[0034] The type of the pre-installed sensor can be a photoelectric sensor or a weight sensor, which is not limited here. The trigger condition for executing the pre-treatment dust removal operation in this step is that the sensor at the entrance of the feed bin detects that the target pallet is in place, and then determines that the stacking structure on the pallet is complete (including the upper ton bag and the lower ton bag) through the corresponding type data collected by the sensor.

[0035] Among them, the pre-treatment dust removal operation includes starting the air shower device according to preset parameters (e.g., air pressure: 0.3-0.6MPa, dust removal time: 30-60 seconds), and performing upper ton bag dust removal and lower ton bag dust removal respectively. Upper ton bag dust removal includes top surface dust removal (e.g., the top nozzle array performs horizontal reciprocating sweeping to cover the entire top surface area) and side dust removal (e.g., the side nozzle is tilted at a 45° angle, sweeping from top to bottom, focusing on removing dust at seams and folds), and lower ton bag dust removal includes side dust removal (e.g., the side nozzle maintains a preset distance from the bag surface, sweeps from bottom to top, and avoids the contact surface with the upper ton bag). After detecting the dust removal completion signal sent by the air shower system (e.g., triggered after the timing ends or the dust concentration is detected to meet the standard), the main controller executes the following step S202.

[0036] Specifically, when the sensor is a photoelectric sensor, the stacking integrity can be determined by multi-level light beam detection. The corresponding installation configuration is to vertically install two sets of opposing photoelectric sensors on the side wall of the feed bin, respectively aimed at the upper ton bag position and the lower ton bag position of the pallet stack. The specific implementation logic of the sensor detection stacking structure is: when the pallet enters the feed bin, the lower sensor is first blocked by the lower ton bag and outputs signal A; if the upper ton bag is stacked correctly, the upper sensor is then blocked and outputs signal B; when the main controller detects that the A and B signals are simultaneously and continuously greater than the preset market, it is determined that the target pallet has entered the feed bin, and the upper ton bag and the lower ton bag are stacked in the target pallet.

[0037] Specifically, when the sensor is a weight sensor, the stacking integrity can be determined by comparing with a preset weight threshold. According to the standard weight of a single-ton bag and the weight of the target pallet, the stacking integrity threshold range is determined, including the weight fluctuation of the ton bag. The specific implementation logic of the sensor for detecting the stacking structure is as follows: after the pallet enters the feeding bin, the weight sensor collects the total weight data in real time; if the data remains within the threshold range for a preset duration, it is determined that the stacking is complete (including the upper and lower ton bags).

[0038] Step S202: After the pre-treatment dust removal operation is completed, the upper and lower ton bags are moved to the main bag-breaking bin through the moving chamber to perform the bag-breaking and discharging operation.

[0039] Among them, the first transfer and discharging operation takes precedence over the second transfer and discharging operation. The first transfer and discharging operation is the transfer operation and bag-breaking and discharging operation for the upper ton bag, and the second transfer and discharging operation is the transfer operation and bag-breaking and discharging operation for the lower ton bag.

[0040] Among them, the transfer operation refers to the moving chamber moving the upper and lower ton bags. The moving chamber grabs and translates the ton bags to the main bag-breaking bin in sequence through a specific grabbing device and track. The bag-breaking and discharging operation refers to the process of destroying the sealing structure of the ton bag by mechanical or automated means to achieve the rapid and safe discharge of the internal material. Its core purpose is to efficiently release the bulk material for subsequent processing, packaging or transportation.

[0041] Among them, generally speaking, the bag-breaking bin is outside the workshop, and its unstacking station is naturally also outside the workshop. The unstacking station refers to the operation area for fixing the ton bag and assisting the bag-breaking work, usually adjacent to the bag-breaking bin. Step S202 sets up a main bag-breaking bin to perform the bag-breaking and discharging operations for two ton bags. Compared with setting up two bag-breaking bins for the upper and lower ton bags, the additional unstacking station (outside the workshop) bound to it can be deleted. Essentially, through process merging and space integration, the bag-breaking operations originally scattered inside and outside the workshop are concentrated in the same area, thereby reducing the dependence on the external unstacking station. This optimization not only reduces the equipment cost, but also simplifies the material flow path and improves the space utilization rate of the workshop.

[0042] Please refer to Figure 3 , Figure 3 which is a schematic diagram of the device structure of an automatic unpacking device provided by an embodiment of the present application. As Figure 3As shown in the figure, the reference numerals are explained as follows: upper and lower bulk bags - 151; target pallet - 152; automatic unpacking device - 30; cabinet - 310; feed bin - 120; feed bin opening - 1201; discharge bin opening - 1202; feed bin door - 1203; bag-breaking bin - 140; bag-breaking bin opening - 1401; bag-breaking bin door - 1402; bag collection bin - 320; inner cavity - 3201; outer cavity - 3202; hook assembly - 330; shaping structure - 340; lifting structure - 350; moving cavity - 130; conveying device - 370; air shower system - 121; dust removal device - 122; bag-breaking device - 141; bag collection device - 142. The automatic unpacking device 30 refers to the device and equipment in the automatic unpacking system 100 except the main controller 110. Among them, each device in the automatic unpacking device 30 is installed in the cabinet 310. The devices inside, except the previously introduced feed bin 120 (specifically including the feed bin opening - 1201; discharge bin opening - 1202; feed bin door - 1203), the air shower system 121 and its supporting dust removal device 122, the moving cavity 130 and the main bag-breaking bin 140 (specifically including the bag-breaking bin opening - 1401; bag-breaking bin door - 1402; bag-breaking cutter - 1403), also include other device structures. For example, the bag collection bin 320 (specifically including the inner cavity - 3201; outer cavity - 3202), the hook assembly 330; the shaping structure 340; the lifting structure 350; the conveying device 370.

[0043] Specifically, the inner cavity 3201 in the bag collection bin 320 can be used to store the empty bulk bags after unloading, which is convenient for subsequent recycling or compression treatment. The outer cavity 3202 can be used to temporarily store the clean bulk bags to be used, ensuring the continuity of the unpacking process. The hook assembly 330 is used to grab the bulk bag sling through a robotic arm or fixture, realizing the precise transfer of the bulk bag between the feed bin, the bag-breaking bin, and the bag collection bin. The shaping structure 340 is used to adjust the shape of the bulk bag (such as unfolding wrinkles and aligning edges), ensuring the precise cutting / tearing position during bag breaking and avoiding material leakage or tool damage. The lifting structure 350 is used to vertically move the bulk bag, for example, lifting the bulk bag in the feed bin to the bag-breaking station. The conveying device 370 is used to convey the material after bag breaking to downstream equipment (such as a mixer, a storage bin), adopting screw, belt, or pneumatic conveying forms to prevent dust from flying.

[0044] Next, in combination with Figure 3 each device structure in the shown automatic unpacking device 30, the specific implementation manners shown in this application are introduced:

[0045] In a possible embodiment, the main bag-breaking bin includes a first bag-breaking bin and a second bag-breaking bin; after the pre-treatment dust removal operation is completed, the upper and lower ton bags are moved to the main bag-breaking bin through the moving cavity to perform the bag-breaking and discharging operation, including: after the pre-treatment dust removal operation is completed, controlling the air shower system to perform the first ton bag dust removal operation on the upper ton bag; after the first ton bag dust removal operation is completed, moving the upper ton bag to the first bag-breaking bin through the moving cavity, and controlling the first bag-breaking bin to perform the bag-breaking and discharging operation on the upper ton bag; and controlling the air shower system to perform the second ton bag dust removal operation on the lower ton bag; moving the lower ton bag to the second bag-breaking bin through the moving cavity, and controlling the second bag-breaking bin to perform the bag-breaking and discharging operation on the lower ton bag.

[0046] Among them, the main bag-breaking bin consists of a first bag-breaking bin (for processing upper ton bags) and a second bag-breaking bin (for processing lower ton bags). Through sequential dust removal, independent transfer, and discharging operations, efficient and non-cross-contaminated processing of stacked ton bags is achieved.

[0047] Among them, the equipment composition corresponding to this embodiment may include: a moving cavity, an air shower system, and a bag-breaking bin. The main controller controls the automatic unpacking system to perform sequential processing on the upper ton bag and the lower ton bag respectively. The starting condition for the sequential processing of the upper ton bag is the pre-treatment dust removal completion signal. The design of the first ton bag dust removal operation corresponding to the upper ton bag is used to make up for the surfaces of the upper ton bag and the lower ton bag that were not processed during the pre-treatment dust removal operation when the upper and lower ton bags are stacked, such as the bottom surface and side surface of the upper ton bag, and the top surface of the lower ton bag. After the first ton bag dust removal operation is completed, the moving cavity grabs the upper ton bag and transfers it along a preset track to the first bag-breaking bin. After entering the first bag-breaking bin, the main controller controls the first bag-breaking bin to start horizontal cutting with the top cutter, and the incision length matches the ton bag size, so that the material in the upper ton bag slides into the downstream equipment. The only difference in the sequential processing corresponding to the upper and lower ton bags is that the lower ton bag is transported to the second bag-breaking bin for bag-breaking and discharging operations, and the design of the second ton bag dust removal operation is used to make up for the surfaces of the upper ton bag and the lower ton bag that were not processed during the pre-treatment dust removal operation and the first ton bag dust removal operation when the upper and lower ton bags are stacked.

[0048] Furthermore, the operation requirements corresponding to this step include strictly prohibiting simultaneous discharging of the two bins, and it is necessary to strictly follow the order of upper → lower ton bags. Compared with the processing flow of a single bag-breaking bin for processing two ton bags, the dual-bin design of the main bag-breaking bin divided into a first bag-breaking bin and a second bag-breaking bin distributes the upper and lower ton bags to independent bag-breaking bins, avoiding the waiting time of single-bin sequential operation, which can effectively improve the processing efficiency, and at the same time support different bag-breaking methods (such as cutting / tearing) to adapt to different material characteristics. In addition, the dual bag-breaking bin design can also prevent cross-contamination. The independent air shower and discharging paths isolate the dust of the upper and lower ton bags, reducing the risk of material mixing. The dual-bin parallel control can also ensure that one bin can still operate while the other bin is being maintained, reducing the downtime loss.

[0049] It can be seen that in this example, the main controller adopts an independent dust removal - bag breaking path to perform corresponding unpacking operations on multiple ton bags respectively. The upper and lower ton bags are independently unloaded through the first and second bag breaking bins after pretreatment, avoiding cross - contamination. In addition, through two - stage directional dust removal (pretreatment + pre - bin dust removal), the floating dust on the surface of the ton bag is accurately removed, reducing the risk of high - dust material leakage. The dual - bin parallel processing mode shortens the waiting time of the ton bag queue and improves the bag breaking efficiency, especially suitable for high - throughput scenarios such as chemical industry and mining.

[0050] In a possible embodiment, the automatic unpacking system further includes a hook assembly 330, and a shaping structure 340 is also installed in the feed bin. After the pretreatment dust removal operation is completed, control the air shower system to perform the first ton bag dust removal operation on the upper ton bag, including: controlling the shaping structure to perform a shaping operation on the upper ton bag; after the shaping operation is completed, control the hook assembly to move down to perform a hooking operation on the upper ton bag; after the hook assembly completes the hooking operation, control the hook assembly to move to lift the upper ton bag to a preset height, and control the air shower system to perform a secondary dust removal operation on the upper ton bag and the lower ton bag.

[0051] Among them, the secondary dust removal operation is used to perform air - flow dust removal on the bottom surface, side surface of the upper ton bag and the top surface of the lower ton bag.

[0052] Among them, the additional device structure design corresponding to this example includes a shaping structure and a hook assembly. The specific structure of the shaping structure can include a pneumatic push rod array and infrared contour detection. The pneumatic push rod array is symmetrically arranged on both sides of the feed bin, and its pushing force can be adjusted, which is used to extrude and correct the deformation of the upper ton bag. The infrared contour detection is used to scan the shape of the ton bag in real time and dynamically adjust the push rod action to the target form. The specific structure of the hook assembly can include a multi - degree - of - freedom robotic arm and a force feedback system. The multi - degree - of - freedom robotic arm supports precise movement along the X, Y, and Z axes, which is used to hook and move the ton bag. The force feedback system is used to detect the tension during hooking to determine that the multi - degree - of - freedom robotic arm has successfully hooked the target ton bag.

[0053] Furthermore, the shaping operation includes, after the pretreatment dust removal is completed, infrared - scanning the contour of the upper ton bag. If offset or wrinkles are detected, start the pneumatic push rods to squeeze inward from both sides for a preset duration until the shape meets the standard. The shaping operation can be set with a safety protection mechanism, that is, when the contact pressure of the push rod is greater than the preset pressure, it automatically retracts, thus preventing the ton bag from being damaged. The hooking operation specifically includes the hook assembly moving down, the double hook claws inserting into the sling loop of the upper ton bag, force - feedback confirmation of stable grasping, and vertically lifting the upper ton bag to a preset height (for example, ≥50 cm from the top surface of the lower ton bag) to avoid movement interference.

[0054] Furthermore, the secondary dust removal operation specifically includes dust removal from the bottom and sides of the upper ton bag and dust removal from the top of the lower ton bag. The specific implementation process of dust removal from the bottom and sides of the upper ton bag is to spray pulsed air downward through the top nozzle group in the air shower system to cover the bottom of the upper ton bag, and to synchronously sweep horizontally through the side nozzles to clean the residual dust. The specific implementation process of dust removal from the top of the lower ton bag is to blow upward at an angle of 45° by the bottom nozzle group to remove the dust on the top of the lower ton bag exposed after the upper ton bag is removed.

[0055] Furthermore, when the main controller in the automatic unpacking system executes this example, fault response measures can also be designed. The specific fault types include hook failure and dust removal failure. When the main controller detects hook failure (actual tension is less than the preset tension) through the force feedback system, it automatically resets and relocates the hook claw. When the dust concentration sensor preset in the air shower system exceeds the standard, the main controller triggers a shutdown and prompts a filter clogging alarm.

[0056] It can be seen that in this example, the automatic unpacking system optimizes the shape of the upper ton bag by adding a shaping structure, improves the hooking stability of the hooking component, and reduces the risk of bag breakage. And by combining the main controller to execute the hierarchical dust removal strategy with the first pretreatment and secondary dust removal, it strengthens the dust removal effect, reduces the dust pollution and safety hazards during the unpacking process. The hooking component can avoid the entanglement and interference between the upper and lower ton bags through precise positioning and coordinated movement, ensuring the smoothness of the independent processing flow. And, by performing secondary dust removal, it is possible to perform secondary cleaning on the residual dust after the ton bag is displaced, further ensuring the cleanliness of the unloading. In this way, it reduces manual intervention, improves the unpacking efficiency and equipment safety, while optimizing the ton bag separation accuracy and reducing the risk of material cross-contamination, meeting the high-efficiency unpacking requirements in high-dust industrial scenarios.

[0057] In a possible embodiment, a lifting structure 350 is also installed in the feed bin, and the target tray is placed on the lifting structure 350; controlling the shaping structure 340 to perform a shaping operation on the upper ton bag includes: obtaining the stacked height of the upper ton bag and the lower ton bag, and obtaining the first shaping height of the first shaping position set by the shaping structure corresponding to the upper ton bag; determining the lifting height according to the first shaping height, the initial height of the target tray stored in advance and the stacked height; and controlling the lifting structure to lift the target tray according to the lifting height so that the upper ton bag is located at the first shaping position; controlling the shaping structure to shape the upper ton bag according to the preset shape; if it is detected by the sensor that the external shape of the upper ton bag conforms to the preset shape, controlling the lifting structure to return to its original position.

[0058] Among them, in this example, by setting a lifting structure in the feed bin and through the coordinated control of the lifting structure and the shaping structure, the height of the target tray is dynamically adjusted to ensure that the upper ton bag is accurately positioned at the preset shaping station and the shape calibration is completed, providing a stable foundation for subsequent dust removal, grasping and unloading.

[0059] Among them, the main controller first obtains the total stacking height of the upper and lower ton bags through the preset laser ranging sensor, and calls the preset first shaping height (set according to the ton bag size and shaping mechanism stroke), and then performs the lifting height calculation. Secondly, the main controller controls the lifting structure to lift the target pallet through the first shaping height, so that the upper ton bag reaches the first shaping position, and then performs the shaping operation through the shaping structure (for example, the pneumatic / hydraulic push rod squeezes the upper ton bag from both sides, and corrects the deformation according to the preset shape (such as the rectangular outline) for 5-15 seconds). Finally, the main controller performs morphological verification and reset, which can be specifically scanned by a 3D contour sensor on the surface of the ton bag. If the shape error is less than 5%, it is determined to meet the standard and trigger the lifting structure to return to its position. Compared with the unpacking system with a fixed control process, the main controller in this example can automatically calculate the lifting amount according to the real-time stacking height, compatible with different ton bag specifications (such as 1-2 layers of stacking), without manual intervention, and closed-loop control of the push rod pressure and contour feedback to ensure the stability of the ton bag shape, reduce the risk of grabbing offset, and effectively reduce the failure rate. In addition, when the main controller controls the lifting structure to lift, an anti-collision mechanism can be set. That is, when the infrared sensor detects an obstacle in real time during the lifting process, the main controller triggers millimeter-level fine-tuning to avoid it.

[0060] It can be seen that in this example, by adding a lifting structure to adaptively adjust the height of the pallet, the ton bag is accurately positioned to the shaping position, ensuring that the shaping operation matches the actual shape of the bag body and improving the shaping accuracy. In addition, the sensor is combined with real-time detection and preset shape comparison to dynamically control the lifting and homing to avoid stacking error accumulation and reduce the need for manual calibration. The main controller optimizes the stability of the ton bag shape by controlling the automatic height adjustment and shaping, improves the subsequent hook success rate, reduces the risk of bag breakage, and shortens the shaping cycle, improving the unpacking efficiency and equipment coordination.

[0061] In one possible embodiment, the air shower system is controlled to perform a second ton bag dust removal operation on the lower ton bag, including: obtaining the descending path of the shaping structure and the current position of the upper ton bag; if the sensor detects that the current position is not on the descending path, then obtaining the second shaping height of the second shaping position set by the shaping structure corresponding to the lower ton bag; according to the second shaping height, simultaneously controlling the shaping structure to descend and controlling the lifting structure to lift the target pallet so that the lower ton bag is located at the second shaping position; and controlling the shaping structure to perform a shaping operation on the lower ton bag according to a preset form; after the shaping operation is completed, controlling the hook assembly to move downward to perform a hooking operation on the lower ton bag; after the hook assembly completes the hooking operation, controlling the hook assembly to move to move the lower ton bag up to the preset height, and controlling the air shower system to perform three dust removal operations on the lower ton bag.

[0062] Among them, three dust removal operations are used to perform airflow dust removal on the bottom surface of the lower ton bag.

[0063] Among them, in this embodiment, through the coordinated positioning and hierarchical dust removal control of the shaping structure - lifting structure, precise shaping, grasping, and deep cleaning of the lower ton bag are realized, ensuring the efficiency and cleanliness of the independent processing process of stacked ton bags. The operation process of the main controller includes safety path detection and shaping positioning, shaping and grasping of the lower ton bag, and three dust removal operations.

[0064] Furthermore, the data processing process of safety path detection is as follows: The main controller detects the current position of the upper ton bag through a laser sensor and determines whether it is on the descending path of the shaping structure (safe state (not in the path): allowing the shaping of the lower ton bag to be performed; risk state (path interference): triggering an alarm and pausing the process, requiring manual intervention); obtains the second shaping height of the lower ton bag and the current stacking height, and then calculates the lifting amount of the lifting structure; the descent of the shaping structure and the lifting of the lifting structure are carried out simultaneously, so that the lower ton bag accurately reaches the second shaping position.

[0065] Furthermore, the shaping and grasping of the lower ton bag include a shaping operation and a hook - grabbing operation. Among them, the shaping operation includes pneumatic push rods squeezing the lower ton bag in a preset shape (such as a square bottom) for a preset duration, and then a 3D contour sensor verifies that the shape error < 5%, otherwise triggering secondary shaping. The hook - grabbing operation includes the hook assembly moving downward, grasping the sling loop of the lower ton bag, force - feedback confirming that the grasping force is the preset ton bag weight, and vertically lifting to a preset height from the ground to avoid downstream equipment. The three dust removal operations include the bottom spray head group of the air shower system spraying high - pressure pulsed air upward (covering the bottom surface of the lower ton bag) for a preset duration. At the same time, a negative pressure adsorption device is started to collect the stripped dust into a centralized filter bag.

[0066] It can be seen that in this example, the main controller ensures the precise positioning and shaping of the lower ton bag through dynamic avoidance detection and lifting coordinated control, avoiding structural interference. Also, through three dust removals to strengthen the removal of residual dust, combined with the hook - taking and shifting processes after shaping, the stability and cleanliness of the lower ton bag processing are improved. Automated shaping and path adaptive adjustment can reduce manual intervention, optimize the unpacking coherence, reduce the risk of secondary dust pollution, and ensure efficient and safe operation.

[0067] In a possible embodiment, the automatic unpacking system further includes a mobile device (which can correspond to Figure 3In the moving cavity 130), the moving device is connected to the hook assembly, and the first bag-breaking bin further includes a feeding device; after the first ton bag dust removal operation is completed, the upper ton bag is moved to the first bag-breaking bin through the moving cavity, and the first bag-breaking bin is controlled to perform a bag-breaking and discharging operation on the upper ton bag, including: controlling the moving device to move along the moving cavity to move the upper ton bag from the original working position of the moving device to the bag-breaking working position in the first bag-breaking bin, and performing a bag-breaking operation on the upper ton bag at the bag-breaking working position; after the bag-breaking operation is completed, controlling the moving device to move along the moving cavity to move the upper ton bag from the bag-breaking working position to the discharging working position in the first bag-breaking bin, and controlling the hook assembly to perform a decoupling operation to make the upper ton bag fall to a preset discharging position; and, controlling the moving device to move along the moving cavity to the original working position, and controlling the feeding device to perform a discharging operation on the upper ton bag.

[0068] Wherein, the moving device is used to tow the hook assembly to move the upper ton bag or the lower ton bag, and the feeding device is used to perform a discharging operation, and the discharging operation is to transport the material from the upper ton bag or the lower ton bag to the target processing equipment. The discharging position is located above the relative space of the feeding hopper provided by the feeding device.

[0069] Wherein, in this embodiment, through the coordinated control of the moving device and the feeding device, the whole process of bag-breaking to discharging of the ton bag is automated, ensuring the efficient transfer of the material to the downstream equipment. At the same time, the automatic return of the moving device optimizes the operation rhythm and reduces the equipment idle rate. In this example, the structure of the newly added moving device is a bidirectional slide rail driven by a servo motor, integrating a hook fixing frame and an anti-disengagement lock. The function achieved is to accurately position the hook assembly and the ton bag along the moving cavity path, supporting the reciprocating movement between the bag-breaking working position (position A) and the discharging working position (position B). And, the feeding device may specifically include a feeding hopper and a vibrating mechanism. The feeding hopper is a conical stainless steel hopper, and the bottom is connected to a screw conveyor or a pneumatic pipeline. The vibrating mechanism is driven by an eccentric wheel and is used to assist the material to separate from the empty bag and slide into the feeding hopper.

[0070] Furthermore, the operation process of this example includes: the main controller controls the moving device to move the upper ton bag from the original working position (position 0) along the slide rail to the bag-breaking working position (position A) (while performing positioning calibration through a preset laser sensor, that is, detecting the working position mark); when it is detected that the moving device reaches the bag-breaking working position, controlling the tool at the top of the bag-breaking bin to horizontally cut the ton bag, and starting the vibrating mechanism to assist the preliminary release of the material; the moving device carries the cut ton bag from position A to the discharging working position (position B), ensuring that the bottom of the ton bag is aligned above the feeding hopper, and then controlling the hook assembly to perform a decoupling operation to let the ton bag freely fall above the feeding hopper; controlling the moving device to return to the original working position (position 0) to prepare for the next operation, and at the same time, the conveying equipment below the feeding hopper is started to transport the material to the target processing equipment. In the control process of the main controller, the return of the moving device and the discharging are executed synchronously, which can effectively reduce the equipment idle rate.

[0071] It can be seen that in this example, the main controller realizes the full automation of the process of breaking open the upper-ton bag and discharging the material by controlling the mobile device for precise positioning and staged transfer, reducing manual intervention. Moreover, the separate design of the bag-breaking and discharging stations avoids cross-contamination, and the hook-unhooking and coordinated feeding device ensures that the material accurately falls into the feed hopper, improving the discharging efficiency and material utilization rate. The process segment control executed by the main controller optimizes the unpacking rhythm, reduces material residue and equipment loss, and is applicable to industrial unpacking scenarios with high precision and high throughput.

[0072] It can be seen that in the process of this embodiment, the main controller performs multi-stage air-flow directional dust removal (covering the top and side surfaces) by controlling the air shower system, efficiently removing the dust on the surfaces of the upper and lower ton bags, reducing the risks of material contamination and dust explosion. Moreover, the main controller realizes the independent transfer and sequential discharging of the stacked ton bags by relying on the dynamic path planning of the mobile cavity and the double-station bag-breaking bin design, avoiding cross-contamination and improving the processing efficiency to ensure the continuity, cleanliness and safety of the automatic unpacking process. At the same time, the modular design reduces the equipment failure rate and the risk of secondary pollution, adapting to the requirements of high-precision production lines.

[0073] Embodiment 2: The cooperative control method for unpacking multiple ton bags in the embodiments of the present application will be described below in combination with the design of the recovery bin.

[0074] Please refer to Figure 4 , Figure 4 which is a schematic flow chart of another cooperative control method for unpacking multiple ton bags provided by the embodiments of the present application. The method is applied to the main controller 110 in the automatic unpacking system 100. The automatic unpacking system 100 further includes a feed bin 120, a mobile cavity 130 and a main bag-breaking bin 140. An air shower system 121 is installed in the feed bin 120. The method includes:

[0075] Step S401, if it is detected by a preset sensor that a target pallet enters the feed bin, and there are upper ton bags and lower ton bags stacked on the target pallet, then control the air shower system to perform a pre-treatment dust removal operation on the upper ton bags and the lower ton bags.

[0076] Among them, the upper ton bag is the ton bag in the upper space of the stacked structure, and the lower ton bag is the ton bag in the lower space of the stacked structure. The pre-treatment dust removal operation is used to perform air-flow dust removal on the top surface and side surfaces of the upper ton bag and the side surfaces of the lower ton bag.

[0077] Step S402, after the pre-treatment dust removal operation is completed, move the upper ton bags and the lower ton bags to the main bag-breaking bin through the mobile cavity to perform the bag-breaking and discharging operation.

[0078] Among them, the first transfer and discharging operation takes precedence over the second transfer and discharging operation. The first transfer and discharging operation is the transfer operation and bag-breaking and discharging operation for the upper ton bag, and the second transfer and discharging operation is the transfer operation and bag-breaking and discharging operation for the lower ton bag.

[0079] Step S403: After the bag-breaking and discharging operation is completed, the upper ton bag and the lower ton bag are collected through the moving cavity and the recovery bin.

[0080] The specific implementation manner of step S403 is as follows:

[0081] In a possible embodiment, the automatic unpacking system includes a recovery bin. The moving cavity includes a main line, a first branch line, and a second branch line. The main line is respectively connected to the first branch line and the second branch line. The first branch line is connected to the first bag-breaking bin, and the second branch line is connected to the second bag-breaking bin. The method further includes: controlling the moving device to sequentially pass through the second branch line, the main line, and the first branch line to return to the bag-breaking station corresponding to the upper ton bag; when it is detected that the discharging operation for the upper ton bag ends, controlling the hook assembly to perform a hooking operation on the upper ton bag and move to the recovery bin to perform an unhooking operation to complete the collection operation for the upper ton bag; controlling the moving device to sequentially pass through the first branch line, the main line, and the second branch line to return to the bag-breaking station corresponding to the lower ton bag; when the discharging operation for the lower ton bag ends, controlling the hook assembly to perform a hooking operation on the lower ton bag and move to the recovery bin to perform an unhooking operation to complete the collection operation for the lower ton bag.

[0082] Among them, the independent recovery bin and the branch line cooperate to complete the automatic collection of empty bags, avoiding manual recovery intervention. The parallel path of the double bag-breaking bins optimizes the processing sequence of the upper and lower ton bags, prevents station conflicts, and ensures smooth operation.

[0083] Among them, in this embodiment, through the coordinated control of the multi-level trunk line path planning of the moving cavity (main line + first / second branch line) and the independent recovery bin, the automatic recovery of empty bags of the upper and lower ton bags and the efficient reuse of workstations are realized, ensuring the continuity and safety of the parallel operation of the double bag-breaking bins. Specifically, it includes two processes, one is the empty bag recovery path control, and the other is the bag collection operation.

[0084] Further, the empty bag recycling path control includes the recycling of upper ton bags and lower ton bags. Among them, the mobile device returns to the first bag-breaking bin along the second branch line → main line → first branch line, grabs the empty bag and transfers it to the recycling bin to unhook, so as to complete the recycling of upper ton bags, and the path priority ensures no conflict at the workstations. The mobile device returns to the second bag-breaking bin along the first branch line → main line → second branch line to complete the recycling of lower ton bags, and the independent path avoids interference with the recycling of upper ton bags. The bag collection operation includes hook grasping and unhook positioning. Hook grasping means that when the main controller receives the unloading completion signal sent by the infrared sensor after detecting the unloading completion, it controls the hook to accurately grasp the empty bag, and then controls the hook to move above the guiding groove arranged in the recycling bin. Then, after the empty bag is unhooked, it slides into the compression area.

[0085] Among them, the main controller can set an anti-conflict mechanism during the data processing in this embodiment, that is, the real-time position of the mobile device is synchronized to the central controller, and the dual-bin recycling path dynamically avoids, so that the workstation conflict rate is reduced to 0. In addition, through the setting of the independent loop of the branch line, the no-load travel of the mobile cavity can be effectively reduced, and the empty bag recycling efficiency and equipment utilization rate can be improved.

[0086] It can be seen that in this example, through the multi-branch line path planning, the efficient circulation of the mobile device is realized, the no-load time is reduced, and the continuity of unpacking is improved. Moreover, the automatic bag collection and the accurate reset of the workstations reduce the equipment idle rate, shorten the operation cycle, improve the overall efficiency, and combined with the path closed-loop management executed by the main controller, it can also reduce the equipment wear and extend the system life, and is applicable to high-frequency unpacking scenarios.

[0087] It can be seen that in the process of this embodiment, in step S401, the dust on the top / side of the upper ton bag and the side of the lower ton bag is removed by the directional air flow of the air shower system, the dust removal efficiency is improved, and the risk of material pollution and dust explosion is reduced; in step S402, based on the priority sequential transfer (upper bag first) and the design of the independent bag-breaking bin, cross-contamination is avoided and the processing speed is increased; and in step S403, through the cooperation of the mobile cavity and the recycling bin for bag collection, the automatic recycling of empty bags is realized, the manual intervention and secondary dust generation are reduced, and while effectively improving the overall process automation rate, the equipment idle rate is reduced, taking into account both efficiency and the cleanliness of the production environment.

[0088] Embodiment 3. The collaborative control method for multi-ton bag unpacking in the embodiments of the present application will be described below in combination with the safety monitoring design.

[0089] Please refer to Figure 5 , Figure 5 which is a schematic flowchart of another collaborative control method for multi-ton bag unpacking provided by the embodiments of the present application. The method is applied to the main controller 110 in the automatic unpacking system 100. The automatic unpacking system 100 further includes a feed bin 120, a mobile cavity 130 and a main bag-breaking bin 140. An air shower system 121 is installed in the feed bin 120. The method includes:

[0090] Step S501: If it is detected by a preset sensor that the target tray enters the feeding bin, and there are upper and lower ton bags stacked on the target tray, then control the air shower system to perform a pre-treatment dust removal operation on the upper and lower ton bags.

[0091] Among them, the upper ton bag is the ton bag in the upper space of the stacking structure, and the lower ton bag is the ton bag in the lower space of the stacking structure. The pre-treatment dust removal operation is used to perform air flow dust removal on the top surface and side surfaces of the upper ton bag and the side surface of the lower ton bag.

[0092] Step S502: Control the safety monitoring device to monitor the unpacking process performed by the automatic unpacking system.

[0093] Among them, step S502 is started after step S501 is completed and is synchronized with step S503.

[0094] The following introduces the specific implementation method of this step S502:

[0095] In a possible embodiment, the automatic unpacking system further includes a safety monitoring device; after controlling the air shower system to perform a pre-treatment dust removal operation on the upper and lower ton bags, the method further includes: obtaining the initial positions of the upper and lower ton bags and the preset unpacking process information; determining the reference ton bag positions corresponding to each operation process according to the initial positions of the ton bags and the unpacking process information; sending the reference ton bag positions corresponding to each operation process to the safety monitoring device; after detecting that any one of the operation processes is completed, sending a safety monitoring instruction carrying the target operation process executed this time to the safety monitoring device; if the operation safety result indicates that the current ton bag position is not correctly located at the corresponding reference ton bag position, then suspend the execution of the subsequent operation processes according to the unpacking process information and perform an alarm operation to notify the relevant operators that there is a safety fault in the automatic unpacking system.

[0096] Among them, the unpacking process information is used to indicate the operation process when the automatic unpacking machine performs unpacking on the upper and lower ton bags. The operation process includes the first ton bag dust removal operation, the second ton bag dust removal operation, the bag-breaking unloading operation for the upper ton bag, and the bag-breaking unloading operation for the lower ton bag. The ton bag position is used to indicate the predicted spatial position where the upper and lower ton bags are located in the corresponding operation process. The safety monitoring instruction is used to instruct the safety monitoring device to determine the operation safety result corresponding to the target operation process according to the reference ton bag position. The operation safety result is used to indicate whether the current ton bag position of the upper and lower ton bags is correctly located at the reference ton bag position corresponding to the target operation process.

[0097] Among them, after the pre-treatment dust removal operation of the air shower system is completed, the main controller first performs data initialization operations to obtain the initial position (for example, recording the initial stacking positions of the upper and lower ton bags through lidar or vision sensors) and load process information (specifically including the preset unpacking process (dust removal → bag breaking → discharging) and the corresponding reference ton bag positions (spatial coordinates + attitude angles)). After the main controller completes the data initialization operations, it executes the operation of generating safety monitoring instructions. Specifically, after each operation stage (such as the first ton bag dust removal, upper ton bag discharging) ends, the main controller sends the target operation process and the reference ton bag position to the safety monitoring device. Finally, the corresponding position verification and response are realized through the safety monitoring device. The safety monitoring device can specifically detect the current ton bag position through millimeter wave radar or UWB positioning technology, compare it with the reference position, and then determine the judgment result. Specifically, if the deviation between the current ton bag position and the reference position is less than the preset value, the judgment result is determined to be safe, and an interaction with the main controller is carried out to proceed to the next process. If the deviation between the current ton bag position and the reference position is greater than the preset value (the deviation or angle exceeds the limit), the judgment result is determined to be abnormal, the operation is paused, and an alarm operation is triggered.

[0098] It can be seen that in this example, the main controller sets a safety monitoring device in the automatic unpacking system to continuously track the matching degree between the ton bag position and the preset process, dynamically verify the safety of each operation stage, ensure the precise execution of the unpacking process, and at the same time ensure the safety of personnel and equipment through the abnormal interruption and alarm mechanism.

[0099] Step S503: After the pre-treatment dust removal operation is completed, the upper and lower ton bags are moved to the main bag-breaking bin through the moving cavity to perform the bag-breaking and discharging operations.

[0100] Among them, the first transfer and discharging operation takes precedence over the second transfer and discharging operation. The first transfer and discharging operation is the transfer operation and bag-breaking and discharging operation for the upper ton bag, and the second transfer and discharging operation is the transfer operation and bag-breaking and discharging operation for the lower ton bag.

[0101] It can be seen that in the process of this embodiment, step S501 efficiently removes the dust on the surfaces of the upper and lower ton bags through directional airflow, significantly reducing the risk of material pollution and explosion; step S502 ensures the stability of the unpacking process through real-time safety monitoring; step S503, which is executed synchronously, transfers and discharges in sequence through the moving cavity and has a two-station discharging, shortening the overall cycle time and improving the processing efficiency. The full-process automation coordination achieved by the overall operation process can greatly reduce manual intervention and ensure high-cleanliness and high-safety continuous operation.

[0102] The following is an embodiment of the apparatus of the present application. The apparatus embodiment of the present application and the method embodiment of the present application belong to the same concept and are used to execute the method described in the embodiments of the present application. For the sake of convenience of description, only the parts related to the apparatus embodiment of the present application are shown in the apparatus embodiment of the present application. For the specific technical details not disclosed, please refer to the description of the method embodiment of the present application, and details will not be repeated here.

[0103] A collaborative control device for unpacking multiple bulk bags provided in an embodiment of the present application is applied to the main controller 110 in the automatic unpacking system 100. Specifically, the collaborative control device for unpacking multiple bulk bags is used to execute the steps executed by the main controller 110 in the above-mentioned collaborative control method for unpacking multiple bulk bags. The collaborative control device for unpacking multiple bulk bags provided in the embodiment of the present application may include modules corresponding to the respective steps.

[0104] In the embodiment of the present application, the functional modules of the collaborative control device for unpacking multiple bulk bags can be divided according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. The division of modules in the embodiment of the present application is illustrative and is only a logical function division. In actual implementation, there may be other division methods.

[0105] In the case of dividing each functional module corresponding to each function, Figure 6 is a block diagram of the functional unit composition of a collaborative control device for unpacking multiple bulk bags provided in an embodiment of the present application; the collaborative control device for unpacking multiple bulk bags is applied to Figure 1 the main controller 110 in the automatic unpacking system 100 shown in the figure. The automatic unpacking system 100 further includes a feed bin 120, a moving chamber 130, and a main bag-breaking bin 140. An air shower system 121 is installed in the feed bin 120. The collaborative control device 60 for unpacking multiple bulk bags includes: a pretreatment unit 601, configured to control the air shower system to perform a pretreatment dust removal operation on the upper bulk bag and the lower bulk bag if it is detected by a preset sensor that a target tray enters the feed bin and there are an upper bulk bag and a lower bulk bag stacked on the target tray. The upper bulk bag is the bulk bag in the upper space of the stacked structure, and the lower bulk bag is the bulk bag in the lower space of the stacked structure; a transfer and bag-breaking unit 602, configured to, after the pretreatment dust removal operation is completed, move the upper bulk bag and the lower bulk bag to the main bag-breaking bin through the moving chamber to perform a bag-breaking and discharging operation, where the first transfer and discharging operation takes precedence over the second transfer and discharging operation. The first transfer and discharging operation is the transfer operation and the bag-breaking and discharging operation for the upper bulk bag, and the second transfer and discharging operation is the transfer operation and the bag-breaking and discharging operation for the lower bulk bag.

[0106] In a possible embodiment, the main bag-breaking bin includes a first bag-breaking bin and a second bag-breaking bin; after the pre-treatment dust removal operation is completed, the upper and lower ton bags are moved to the main bag-breaking bin through the moving cavity to perform the bag-breaking and discharging operation. Specifically, the transfer bag-breaking unit 602 is configured to: after the pre-treatment dust removal operation is completed, control the air shower system to perform the first ton bag dust removal operation on the upper ton bag; after the first ton bag dust removal operation is completed, move the upper ton bag to the first bag-breaking bin through the moving cavity, and control the first bag-breaking bin to perform the bag-breaking and discharging operation on the upper ton bag; and control the air shower system to perform the second ton bag dust removal operation on the lower ton bag; move the lower ton bag to the second bag-breaking bin through the moving cavity, and control the second bag-breaking bin to perform the bag-breaking and discharging operation on the lower ton bag.

[0107] In a possible embodiment, the automatic unpacking system further includes a hook assembly, and a shaping structure is also installed in the feed bin; when controlling the air shower system to perform the first ton bag dust removal operation on the upper ton bag after the pre-treatment dust removal operation is completed, the transfer bag-breaking unit 602 is specifically configured to: control the shaping structure to perform a shaping operation on the upper ton bag; after the shaping operation is completed, control the hook assembly to move down to perform a hooking operation on the upper ton bag; after the hook assembly completes the hooking operation, control the hook assembly to move to lift the upper ton bag to a preset height, and control the air shower system to perform a secondary dust removal operation on the upper ton bag and the lower ton bag.

[0108] In a possible embodiment, a lifting structure is also installed in the feed bin, and the target tray is placed on the lifting structure; when controlling the shaping structure to perform a shaping operation on the upper ton bag, the transfer bag-breaking unit 602 is specifically configured to: obtain the stacking height of the upper ton bag and the lower ton bag, and obtain the first shaping height at which the first shaping position set by the shaping structure for the upper ton bag is located. Determine the lifting height according to the first shaping height, the initial height of the target tray stored in advance, and the stacking height; and control the lifting structure to lift the target tray according to the lifting height so that the upper ton bag is located at the first shaping position; control the shaping structure to shape the upper ton bag according to a preset shape; if it is detected by a sensor that the external shape of the upper ton bag conforms to the preset shape, control the lifting structure to return to its original position.

[0109] In a possible embodiment, when controlling the air shower system to perform the second dust removal operation on the lower ton bag, the transfer and bag-breaking unit 602 is specifically configured to: obtain the descending path of the shaping structure and the current position of the upper ton bag; if it is detected by the sensor that the current position is not on the descending path, obtain the second shaping height at the second shaping position set by the shaping structure for the lower ton bag; according to the second shaping height, simultaneously control the shaping structure to descend and control the lifting structure to lift the target tray, so that the lower ton bag is located at the second shaping position; and control the shaping structure to perform a shaping operation on the lower ton bag according to a preset form; after the shaping operation is completed, control the hook assembly to move downward to perform a hooking operation on the lower ton bag; after the hook assembly completes the hooking operation, control the hook assembly to move to lift the lower ton bag to a preset height, and control the air shower system to perform three dust removal operations on the lower ton bag.

[0110] In a possible embodiment, the automatic unpacking system further includes a moving device, the moving device is connected to the hook assembly, and the moving device is used to tow the hook assembly to move the upper ton bag or the lower ton bag. The first bag-breaking bin further includes a feeding device, and the feeding device is used to perform a discharging operation, and the discharging operation is to transport the material from the upper ton bag or the lower ton bag to the target processing equipment; when the first dust removal operation on the ton bag is completed, in terms of moving the upper ton bag to the first bag-breaking bin through the moving cavity and controlling the first bag-breaking bin to perform a bag-breaking and discharging operation on the upper ton bag, the transfer and bag-breaking unit 602 is specifically configured to: control the moving device to move along the moving cavity to move the upper ton bag from the original station of the moving device to the bag-breaking station in the first bag-breaking bin, and perform a bag-breaking operation on the upper ton bag at the bag-breaking station; after the bag-breaking operation is completed, control the moving device to move along the moving cavity to move the upper ton bag from the bag-breaking station to the discharging station in the first bag-breaking bin, and control the hook assembly to perform an unhooking operation to make the upper ton bag fall to a preset discharging position, and the discharging position is located above the relative space of the feeding hopper set by the feeding device; and control the moving device to move along the moving cavity to the original station, and control the feeding device to perform a discharging operation on the upper ton bag.

[0111] In a possible embodiment, the automatic unpacking system includes a recycling bin. The moving cavity includes a main line, a first branch line, and a second branch line. The main line is connected to the first branch line and the second branch line respectively. The first branch line is connected to the first bag-breaking bin, and the second branch line is connected to the second bag-breaking bin. The transfer bag-breaking unit 602 is specifically further configured to: control the moving device to sequentially pass through the second branch line, the main line, and the first branch line to return to the bag-breaking station corresponding to the upper ton bag; when detecting that the discharging operation for the upper ton bag ends, control the hook assembly to perform a hooking operation on the upper ton bag and move to the recycling bin to perform an unhooking operation to complete the bag collection operation for the upper ton bag; control the moving device to sequentially pass through the first branch line, the main line, and the second branch line to return to the bag-breaking station corresponding to the lower ton bag; when the discharging operation for the lower ton bag ends, control the hook assembly to perform a hooking operation on the lower ton bag and move to the recycling bin to perform an unhooking operation to complete the bag collection operation for the lower ton bag.

[0112] In the case of using integrated units, such as Figure 7 shown, Figure 7 is a functional unit composition block diagram of another collaborative control device for unpacking multiple ton bags provided by an embodiment of the present application. In Figure 7 , the collaborative control device 60 for unpacking multiple ton bags includes: a processing module 720 and a communication module 710. The processing module 720 is used to control and manage the actions of the collaborative control device 60 for unpacking multiple ton bags. For example, the steps of the preprocessing unit 601 and the transfer bag-breaking unit 602, and / or for performing other processes of the technologies described herein. The communication module 710 is used to support the interaction between the collaborative control device for unpacking multiple ton bags and other devices. As Figure 7 shown, the collaborative control device for unpacking multiple ton bags may include a storage module 730. The storage module 730 is used to store the program code and data of the collaborative control device for unpacking multiple ton bags.

[0113] Among them, the processing module 720 may be a processor or a controller. For example, it may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logic blocks, modules, and circuits described in combination with the disclosure of the present application. The processor may also be a combination for implementing computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, and so on. The communication module 710 may be a transceiver, an RF circuit, or a communication interface, etc. The storage module 730 may be a memory.

[0114] Among them, all relevant contents of each scenario involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be elaborated here. The above collaborative control device 60 for unpacking multi-ton bags can execute the above Figure 2 shown collaborative control method for unpacking multi-ton bags.

[0115] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0116] Figure 8 is a structural block diagram of a controller provided by an embodiment of the present application. As Figure 8 shown, the controller 80 may include one or more of the following components: a processor 810, and a memory 820 coupled to the processor 810. The memory 820 may store one or more computer programs 821, and the one or more computer programs 821 may be configured to be executed by one or more processors 810 to implement the methods described in the above embodiments. Here, the controller 80 is the main controller 110 in the above embodiments.

[0117] The processor 810 may include one or more processing cores. The processor 810 connects various parts within the entire controller 80 through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 820, and by invoking data stored in the memory 820, it executes various functions of the controller 80 and processes data. Optionally, the processor 810 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 810 may integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the display content; the modem is used to process wireless communications. It can be understood that the above modem may not be integrated into the processor 810 and may be implemented separately through a communication chip.

[0118] The memory 820 may include random access memory (RAM) and may also include read-only memory (ROM). The memory 820 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 820 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for implementing at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above various method embodiments, etc. The data storage area may also store data created by the controller 80 during use.

[0119] It can be understood that the controller 80 may include more or fewer structural elements than those shown in the above structural block diagram, which is not limited herein.

[0120] The embodiments of the present application also provide a computer storage medium, on which computer programs / instructions are stored. When the computer programs / instructions are executed by a processor, they implement some or all of the steps of any of the methods described in the above method embodiments.

[0121] An embodiment of the present application also provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any one of the methods described in the foregoing method embodiments.

[0122] It should be understood that in various embodiments of the present application, the order numbers of the foregoing processes do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0123] In several embodiments provided by the present application, it should be understood that the disclosed methods, devices, and systems can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for example, the division of units is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can be physically included separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0126] The integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units are stored in a storage medium and include several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute some steps of the methods according to various embodiments of the present invention. The foregoing storage medium includes: USB flash drive, mobile hard disk, magnetic disk, optical disk, volatile memory, or non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM), etc., and various media that can store program codes.

[0127] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various modifications and alterations, including combinations of the above different functions and implementation steps, including software and hardware implementation manners, all within the protection scope of the present invention.

Claims

1. A collaborative control method for unpacking multi-ton bags, characterized in that, The method is applied to the main controller in an automatic unpacking system, and the automatic unpacking system further includes a feeding bin, a moving chamber, and a main bag-breaking bin. A air shower system is installed in the feeding bin. The method includes: If it is detected by a preset sensor that a target tray enters the feeding bin, and there are upper and lower ton bags stacked on the target tray, then control the air shower system to perform a pre-treatment dust removal operation on the upper and lower ton bags. The upper ton bag is the ton bag in the upper space of the stacked structure, and the lower ton bag is the ton bag in the lower space of the stacked structure; After the pre-treatment dust removal operation is completed, move the upper and lower ton bags to the main bag-breaking bin through the moving chamber to perform a bag-breaking and discharging operation. Among them, the first transfer and discharging operation takes precedence over the second transfer and discharging operation. The first transfer and discharging operation is the transfer operation and the bag-breaking and discharging operation for the upper ton bag, and the second transfer and discharging operation is the transfer operation and the bag-breaking and discharging operation for the lower ton bag.

2. The method according to claim 1, wherein The main bag-breaking bin includes a first bag-breaking bin and a second bag-breaking bin. After the pre-treatment dust removal operation is completed, moving the upper and lower ton bags to the main bag-breaking bin through the moving chamber to perform a bag-breaking and discharging operation includes: After the pre-treatment dust removal operation is completed, control the air shower system to perform a first ton bag dust removal operation on the upper ton bag; After the first ton bag dust removal operation is completed, move the upper ton bag to the first bag-breaking bin through the moving chamber, and control the first bag-breaking bin to perform a bag-breaking and discharging operation on the upper ton bag; and, Control the air shower system to perform a second ton bag dust removal operation on the lower ton bag; Move the lower ton bag to the second bag-breaking bin through the moving chamber, and control the second bag-breaking bin to perform a bag-breaking and discharging operation on the lower ton bag.

3. The method according to claim 2, wherein The automatic unpacking system further includes a hook assembly, and a shaping structure is also installed in the feeding bin. After the pre-treatment dust removal operation is completed, controlling the air shower system to perform a first ton bag dust removal operation on the upper ton bag includes: Control the shaping structure to perform a shaping operation on the upper ton bag; After the shaping operation is completed, control the hook assembly to move down to perform a hooking operation on the upper ton bag; After the hook assembly completes the hooking operation, control the hook assembly to move to lift the upper ton bag to a preset height, and control the air shower system to perform a secondary dust removal operation on the upper and lower ton bags.

4. The method according to claim 3, characterized in that, A lifting structure is also installed in the feeding bin, and the target tray is placed on the lifting structure; Controlling the shaping structure to perform a shaping operation on the upper ton bag includes: Obtain the stacking height of the upper and lower ton bags, and obtain the first shaping height at the first shaping position set by the shaping structure corresponding to the upper ton bag; Determine the lifting height according to the first shaping height, the initial height of the target tray stored in advance, and the stacking height; and, Control the lifting structure to lift the target tray according to the lifting height, so that the upper ton bag is located at the first shaping position; Control the shaping structure to shape the upper ton bag according to a preset shape; If it is detected by the sensor that the external shape of the upper ton bag conforms to the preset shape, control the lifting structure to return to its original position.

5. The method according to claim 4, wherein The control for the air shower system to perform the second ton bag dust removal operation on the lower ton bag includes: Obtain the descending path of the shaping structure and the current position of the upper ton bag; If it is detected by the sensor that the current position is not on the descending path, obtain the second shaping height at the second shaping position set by the shaping structure for the lower ton bag; According to the second shaping height, simultaneously control the shaping structure to descend and control the lifting structure to lift the target tray, so that the lower ton bag is located at the second shaping position; and, Control the shaping structure to perform a shaping operation on the lower ton bag according to a preset form; After the shaping operation is completed, control the hook assembly to move down to perform a hooking operation on the lower ton bag; After the hook assembly completes the hooking operation, control the hook assembly to move to lift the lower ton bag to the preset height, and control the air shower system to perform three dust removal operations on the lower ton bag.

6. The method according to claim 5, wherein The automatic unpacking system further includes a moving device, the moving device is connected to the hook assembly, the moving device is used to tow the hook assembly to move the upper ton bag or the lower ton bag, the first bag-breaking bin further includes a feeding device, the feeding device is used to perform a discharging operation, and the discharging operation is to transport materials from the upper ton bag or the lower ton bag to a target processing device; after the first ton bag dust removal operation is completed, move the upper ton bag to the first bag-breaking bin through the moving cavity, and control the first bag-breaking bin to perform a bag-breaking and discharging operation on the upper ton bag, including: Control the moving device to move along the moving cavity to move the upper ton bag from the original station of the moving device to the bag-breaking station in the first bag-breaking bin, and perform a bag-breaking operation on the upper ton bag at the bag-breaking station; After the bag-breaking operation is completed, control the moving device to move along the moving cavity to move the upper ton bag from the bag-breaking station to the discharging station in the first bag-breaking bin, and control the hook assembly to perform an unhooking operation so that the upper ton bag falls to a preset discharging position, and the discharging position is above the relative space of the feeding hopper provided by the feeding device; and, Control the moving device to move along the moving cavity to the original station, and control the feeding device to perform a discharging operation on the upper ton bag.

7. The method according to claim 6, characterized in that, The automatic unpacking system includes a recycling bin, the moving cavity includes a main line, a first branch line and a second branch line, the main line is respectively connected to the first branch line and the second branch line, the first branch line is connected to the first bag-breaking bin, the second branch line is connected to the second bag-breaking bin, and the method further includes: Control the mobile device to pass through the second branch line, the main line, and the first branch line in sequence to return to the bag-breaking station corresponding to the upper ton bag; When it is detected that the discharging operation for the upper ton bag ends, control the hook assembly to perform the hooking operation on the upper ton bag and move to the recycling bin to perform the unhooking operation, so as to complete the bag-collecting operation for the upper ton bag; Control the mobile device to pass through the first branch line, the main line, and the second branch line in sequence to return to the bag-breaking station corresponding to the lower ton bag; When the discharging operation for the lower ton bag ends, control the hook assembly to perform the hooking operation on the lower ton bag and move to the recycling bin to perform the unhooking operation, so as to complete the bag-collecting operation for the lower ton bag.

8. A collaborative control device for unpacking multi-ton bags, characterized in that, The device is applied to the main controller in an automatic unpacking system, and the automatic unpacking system further includes a feed bin, a moving chamber, a first bag-breaking bin, and a second bag-breaking bin. An air shower system is installed in the feed bin; the device includes: A pretreatment unit, configured to control the air shower system to perform a pretreatment dust removal operation on the upper ton bag and the lower ton bag if it is detected by a preset sensor that a target pallet enters the feed bin and the upper ton bag and the lower ton bag are stacked on the target pallet. The upper ton bag is the ton bag in the upper space of the stacking structure, and the lower ton bag is the ton bag in the lower space of the stacking structure; A transfer and bag-breaking unit, configured to, after the pretreatment dust removal operation is completed, move the upper ton bag and the lower ton bag to the main bag-breaking bin through the moving chamber to perform a bag-breaking and discharging operation, wherein the first transfer and discharging operation takes precedence over the second transfer and discharging operation. The first transfer and discharging operation is the transfer operation and the bag-breaking and discharging operation for the upper ton bag, and the second transfer and discharging operation is the transfer operation and the bag-breaking and discharging operation for the lower ton bag.

9. A controller, characterized in that, It includes a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the processor. The programs include instructions for performing the steps in the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that Store a computer program for electronic data exchange, wherein the computer program causes a computer to execute the method according to any one of claims 1-7.

Images