Automatic navigation path control method and device for conveying turnover box on roller conveying line

Abstract

The invention relates to the technical field of logistics storage conveying lines, and provides an automatic navigation path control method and device for conveying a turnover box on a roller conveying line, and the method comprises the steps: dynamically generating a path node queue of a transfer machine and a steering machine through obtaining the shunt node information, the target node information of the turnover box and the state information of the conveying line; and setting an optimal path scoring standard, scoring the path node queue based on the scoring standard, obtaining an optimal path direction through data analysis, and realizing automatic navigation of the turnover box. According to the method, the communication data volume is reduced, the problem of shunting failure caused by network delay is solved, meanwhile, the optimal path can be created in real time, the conveying efficiency is improved, flexibility is achieved, the path can be adjusted in real time, and the turnover box can quickly and accurately reach the target node.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics warehousing conveyor lines, and particularly to an automatic navigation path control method and device for transporting turnover boxes on a roller conveyor line. Background Art

[0002] The main function of an accumulation roller conveyor line is to transport turnover boxes. The common ways to transport turnover boxes on an accumulation roller conveyor line are the turnover box without task mode and the turnover box with task mode. The turnover box without task mode means that the turnover box only goes to one target position or the conveyor line freely and evenly distributes to a certain target node. It is often used when the same type of turnover boxes are transported on a certain section of the conveyor line, and the same tasks are performed at each target point, and the turnover box without task mode can be used. The turnover box with task mode means that before the turnover box reaches a certain key branch node, the conveyor line PLC reports the box number of the turnover box to the upper computer, the upper computer issues the task of the current box number to the key branch node to the conveyor line PLC, after the turnover box reaches the key branch node, it continues to be transported according to the path issued by the upper computer, then the conveyor line PLC reports the current box number to the upper computer again, and the upper computer issues the navigation direction of the next key branch node to the conveyor line PLC, and so on, until the navigation task of this turnover box is completed after reaching the target node.

[0003] The existing accumulation roller conveyor line has the problem of a large amount of communication data between the conveyor line PLC and the upper computer. Because there are many nodes and key branch nodes on the conveyor line, and many turnover boxes are running at the same time, the navigation task of each joint node requires three interactions of "the conveyor line reports - the upper computer issues - the conveyor line reports". There are hundreds of turnover boxes at the same time, and the network communication volume is large. The upper computer cannot obtain the status of each node of the conveyor line in real time and cannot allocate the optimal navigation for each turnover box according to the current congestion status. Because a large amount of communication data is required for path navigation, in order to meet the real-time nature and priority reporting of path navigation, the conveyor line PLC cannot report the status of each current node in real time. Sometimes the network communication between the upper computer and the conveyor PLC is congested, resulting in the path issued by the upper computer being later than the time when the turnover box passes through the key branch node, causing the branch to fail. Summary of the Invention

[0004] In view of the above technical problems, the present invention provides an automatic navigation path control method and device for transporting turnover boxes on a roller conveyor line, which are used to solve the problems of a large amount of network communication data between the upper computer and the conveyor line PLC, branch failure caused by network delay, and the inability of the turnover box to automatically navigate to the target node.

[0005] In a first aspect, the automatic navigation path control method for transporting turnover boxes on a roller conveyor line provided by the present invention includes:

[0006] Step S101: Obtain shunt node information, target node information of the turnover box, and conveyor line status information. The shunt node information includes key shunt node information, upstream and downstream relationship information of the transfer machine nodes, upstream and downstream relationship information of the turntable nodes, and upstream and downstream relationship information of the ordinary nodes.

[0007] Step S102: Generate a path node queue for the transfer machine and the turntable according to the shunt node information, target node information of the turnover box, and conveyor line status information.

[0008] Step S103: Receive and set the scoring criteria for the optimal path, which are used to score the path node queue of the transfer machine and the turntable.

[0009] Step S104: Score the path node queue of the transfer machine and the turntable based on the scoring criteria for the optimal path to obtain the scoring results of the path node queue of the transfer machine and the turntable.

[0010] Step S105: Conduct data analysis on the scoring results of the path node queue of the transfer machine and the turntable to obtain the optimal path direction, and navigate the turnover box according to the optimal path direction. When the turnover box reaches the target node, the optimal path navigation ends.

[0011] Furthermore, the present invention provides an automatic navigation path control method for conveying a turnover box on the roller conveyor line. The step S101 includes:

[0012] The key shunt information includes the types of key shunt nodes. The types of key shunt nodes include transfer machines and turntables, and all node information that can be reached in each conveying direction of each shunt device is obtained.

[0013] The upstream and downstream relationship information of the transfer machine nodes includes the incoming box node number of the upstream station, the node number of the current station, the outgoing box node number of the downstream station, the outgoing box node number of the left station, and the outgoing box node number of the right station.

[0014] The upstream and downstream relationship information of the turntable nodes includes the incoming box node number of the upstream station, the node number of the current station, the outgoing box node number of the downstream station, the outgoing box node number of the left station, and the outgoing box node number of the right station.

[0015] The upstream and downstream relationship information of the ordinary nodes includes: the incoming box node number of the upstream station, the node number of the current station, and the outgoing box node number of the downstream station.

[0016] Furthermore, the present invention provides an automatic navigation path control method for conveying a turnover box on the roller conveyor line. The step S102 includes:

[0017] For the transfer machine, obtain the nodes in the outgoing box directions above, below, left, and right of the transfer machine, and place them into the corresponding path queues respectively.

[0018] Obtain the next station node numbers of the ordinary nodes after the outbox direction nodes of the lifter in the up, down, left, and right directions, and put them into the corresponding path queues;

[0019] Determine whether the node is a lifter or a turntable, and add the outbox direction node path queue of the corresponding device to the direction path queue of the lifter;

[0020] Repeat the steps of obtaining the outbox direction nodes of the lifter in the up, down, left, and right directions for the lifter, respectively putting them into the corresponding path queues, obtaining the next station node numbers of the ordinary nodes after the outbox direction nodes of the lifter in the up, down, left, and right directions, and putting them into the corresponding path queues, determining whether the node is a lifter or a turntable, and adding the outbox direction node path queue of the corresponding device to the direction path queue of the lifter until all paths in the four outbox directions of all lifters are generated.

[0021] Further, the present invention provides the automatic navigation path control method for conveying turnover boxes on the roller conveyor line, and the step S102 includes:

[0022] Obtain the outbox direction nodes of the turntable in the down, left, and right directions, and respectively put them into the corresponding path queues;

[0023] Obtain the next station node numbers of the ordinary nodes after the outbox direction nodes of the turntable in the down, left, and right directions, and put them into the corresponding path queues;

[0024] Determine whether the subsequent node is a lifter or a turntable, and add the outbox direction node path queue of the corresponding device to the direction path queue of the current turntable;

[0025] Repeat the steps of obtaining the outbox direction nodes of the turntable in the down, left, and right directions for the turntable, respectively putting them into the corresponding path queues, obtaining the next station node numbers of the ordinary nodes after the outbox direction nodes of the turntable in the down, left, and right directions, and putting them into the corresponding path queues, determining whether the subsequent node is a lifter or a turntable, and adding the outbox direction node path queue of the corresponding device to the direction path queue of the current turntable until all paths in the three outbox directions of all turntables are generated.

[0026] Further, the present invention provides the automatic navigation path control method for conveying turnover boxes on the roller conveyor line, and the step S102 includes: determining whether the path node queues of all outbox direction paths of all lifters and turntables are generated. If not completed, continuously perform the steps of generating paths until all are generated.

[0027] Further, the present invention provides the automatic navigation path control method for conveying turnover boxes on the roller conveyor line, and the step S103 includes:

[0028] Scoring criteria for the optimal path:

[0029] If the path does not exist, the node is scored 0;

[0030] If the node has no box or is out of the box, it is scored 1;

[0031] If the node has a box and is not out of the box, it is scored 2.

[0032] Furthermore, the present invention provides the automatic navigation path control method for conveying turnover boxes on the roller conveyor line. The step S104 includes:

[0033] After the turnover box is conveyed to the splitter, judge the type of the splitter. The types of the splitter include a transfer machine or a steering machine;

[0034] According to the type of the splitter, retrieve the path map in the corresponding direction and determine the direction with the target node number;

[0035] Accumulate the scores of the path queues in each direction until the score of the target node is reached and stop;

[0036] Judge the direction with the minimum sum of the accumulated scores. The path direction with the lowest score is the optimal path direction.

[0037] Furthermore, the present invention provides the automatic navigation path control method for conveying turnover boxes on the roller conveyor line. The step S104 includes:

[0038] Judge the type of the splitter: When the turnover box is conveyed to the splitter, judge the type of the splitter. The types of the splitter are divided into two types: a transfer machine and a steering machine;

[0039] Retrieve the path map in the corresponding direction:

[0040] For the transfer machine: If the splitter is a transfer machine, retrieve the path maps in the four directions of up, down, left, and right of the transfer machine. Among the path maps in the four directions of up, down, left, and right of the transfer machine, determine the direction including the target node number;

[0041] For the steering machine: If the splitter is a steering machine, retrieve the path maps in the three directions of down, left, and right of the steering machine. Among the path maps in the three directions of down, left, and right of the steering machine, determine the direction including the target node number;

[0042] Determine the path queue: According to the direction including the target node number determined in the previous step, select the corresponding path queue;

[0043] Score accumulation: Starting from the starting node, accumulate the scores of the nodes in the path queue in each direction. The basis for the accumulation is the scoring standard of the optimal path. If the path does not exist, the node is scored 0; if the node has no box or is out of the box, it is scored 1; if the node has a box and is not out of the box, it is scored 2;

[0044] For the transfer machine: If the path queue includes four directions: up, down, left, and right, then the scores of the path queues in these four directions are accumulated respectively until the score of the target node is reached and the accumulation stops;

[0045] For the steering machine: If the path queue includes three directions: down, left, and right, then the scores of the path queues in these three directions are accumulated respectively until the score of the target node is reached and the accumulation stops;

[0046] Determine the optimal path direction: After the scores of all directions are accumulated, compare the accumulated scores of each direction;

[0047] Determine the optimal path: Determine which direction has the smallest accumulated score (0 points means there is no node number in this direction, that is, there is no path, so it should be excluded from the comparison). The path direction with the lowest score is the required optimal path direction.

[0048] Furthermore, the present invention provides the automatic navigation path control method for transporting turnover boxes on the roller conveyor line. The step S105 includes:

[0049] Judge whether the turnover box passes through the target node before reaching the next key branch node;

[0050] If it does not pass through the target node, the turnover box is transported to the next branch node, and the type of the splitter and the subsequent process are rejudged;

[0051] If it passes through the target node, after the turnover box reaches the target node, the optimal path navigation ends.

[0052] Furthermore, the present invention provides the automatic navigation path control method for transporting turnover boxes on the roller conveyor line. The step S102 includes:

[0053] Judge whether the turnover box reaches the next key branch node: The control system continuously monitors the position of the turnover box on the roller conveyor line, and uses sensors or PLC devices to obtain the current position of the turnover box in real time;

[0054] When the turnover box approaches or reaches the next preset key branch node, the judgment logic is triggered;

[0055] Judge whether the turnover box passes through the target node: According to the generated optimal path information, check whether the turnover box has passed through the target node on the path before reaching the current key branch node;

[0056] If it does not pass through the target node: If the judgment result shows that the turnover box has not passed through the target node, the control continues to execute the navigation task;

[0057] Transport the turnover box to the next branch node, adjust the speed, direction of the roller conveyor line and / or activate the corresponding transfer machine or steering machine;

[0058] When the turnover box reaches the next branch node, re-determine the type of the splitter, and regenerate or adjust the optimal path according to the new position information and the target node information. Repeat the above steps until the turnover box passes through the target node or reaches the next key branch node that needs to be judged;

[0059] If passing through the target node: If the judgment result shows that the turnover box has passed through the target node, the control system ends the current optimal path navigation task;

[0060] After the navigation task ends, the control system can be ready to receive the navigation task of the next turnover box, or enter the standby state to wait for new instructions.

[0061] In a second aspect, the present invention provides an automatic navigation path control device for conveying turnover boxes on a roller conveyor line, which is applied to the automatic navigation path control method for conveying turnover boxes on the roller conveyor line, and includes:

[0062] A data acquisition unit, which acquires branch node information, target node information of the turnover box, and conveyor line state information. The branch node information includes key branch node information, upstream and downstream relationship information of the transfer machine node, upstream and downstream relationship information of the steering machine node, and upstream and downstream relationship information of the ordinary node;

[0063] A node generation unit, which generates a path node queue of the transfer machine and the steering machine according to the branch node information, the target node information of the turnover box, and the conveyor line state information;

[0064] A first data processing unit, which receives and sets the scoring criteria for the optimal path. The scoring criteria for the optimal path are used to score the path node queues of the transfer machine and the steering machine;

[0065] A second data processing unit, which scores the path node queues of the transfer machine and the steering machine based on the scoring criteria for the optimal path, and obtains the scoring results of the path node queues of the transfer machine and the steering machine;

[0066] A path generation unit, which analyzes the data of the scoring results of the path node queues of the transfer machine and the steering machine to obtain the optimal path direction, and navigates the turnover box according to the optimal path direction. When the turnover box reaches the target node, the optimal path navigation ends.

[0067] The present invention provides an automatic navigation path control method and device for conveying turnover boxes on a roller conveyor line, and its beneficial effects are mainly reflected in the following aspects:

[0068] The wire-feeding PLC creates all the paths of the conveyor line based on the relationship between the upstream and downstream nodes of the conveyor line. After the host computer sends the target point to the turnover box with the corresponding box number, the controller automatically creates the optimal path for the turnover box from the current position to the target node. When arriving at each key branch node, it will recreate the optimal path from the current position to the target node, enabling the turnover box to be continuously transported to the target node along the optimal path.

[0069] In the technical solution of the present invention, the host computer only needs to send the target node information of the corresponding box number to the wire-feeding PLC of the conveyor line once, and the wire-feeding PLC of the conveyor line can automatically create the optimal path and automatically navigate to the target node. There is no need for the host computer to send the direction information of the corresponding box number at each branch node. This reduces network communication and prevents the turnover box from missing the branch node due to network communication delay.

[0070] The conveyor path automatically created by the wire-feeding PLC of the conveyor line is better and more efficient than the path created by the host computer. The wire-feeding PLC of the conveyor line can obtain the conveying status of each node of the current conveyor line in real time, so as to create the optimal path in real time at each key branch node passed. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the technical solution of the present invention, the following will briefly introduce the drawings required in the embodiments. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the drawings.

[0072] Figure 1 It is a schematic flowchart of the automatic navigation optimal path control method for transporting turnover boxes on the roller conveyor line provided by the present invention.

[0073] Figure 2 It is a flowchart of creating a key node path map provided by the present invention.

[0074] Figure 3 It is a flowchart of the target node navigation task of the host computer and the wire-feeding PLC of the conveyor line provided by the present invention.

[0075] Figure 4 It is a flowchart of the path scoring mechanism provided by the present invention.

[0076] Figure 5 It is a flowchart of the optimal path navigation provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0077] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. The technical solutions provided by the embodiments of the present invention are described in detail below in conjunction with the drawings.

[0078] See also Figures 1 to 5 The present invention provides an automatic navigation path control method for conveying turnover boxes on a roller conveyor line, comprising:

[0079] Step S101, obtaining branch node information, target node information of turnover boxes and conveyor line status information, the branch node information includes key branch node information, upstream and downstream relationship information of transfer machine nodes, upstream and downstream relationship information of steering machine nodes and upstream and downstream relationship information of common nodes;

[0080] Step S102, generating a path node queue of a transfer machine and a diverter machine according to the branch node information, the target node information of the turnover box, and the conveyor line status information;

[0081] Step S103, receiving and setting the scoring criteria of the optimal path, the scoring criteria of the optimal path is used to score the path node queues of the transfer machine and the diverter;

[0082] Step S104, scoring the path node queues of the transfer machine and the diverter based on the scoring criteria of the optimal path, and obtaining the scoring results of the path node queues of the transfer machine and the diverter;

[0083] Step S105, perform data analysis on the path node queue scoring results of the transfer machine and the diverter to obtain the optimal path direction, navigate the turnover box according to the optimal path direction, and when the turnover box reaches the target node, the optimal path navigation ends.

[0084] Specifically, the present invention provides the automatic navigation path control method for conveying turnover boxes on the roller conveyor line, and the step S101 includes:

[0085] The key branch information includes the key branch node types, which include transfer machines and turners, and obtains all node information that can be reached in each conveying direction of each branch device;

[0086] The upstream and downstream relationship information of the transfer machine node includes the node number of the upper station box inlet, the node number of the current station, the node number of the lower station box outlet, the node number of the left station box outlet, and the node number of the right station box outlet;

[0087] The upstream and downstream relationship information of the steering gear node includes the incoming box node number of the upstream station, the node number of the current station, the outgoing box node number of the downstream station, the outgoing box node number of the left station, and the outgoing box node number of the right station;

[0088] The upstream and downstream relationship information of the ordinary node includes: the incoming box node number of the upstream station, the node number of the current station, and the outgoing box node number of the downstream station.

[0089] Specifically, the present invention provides the automatic navigation path control method for conveying turnover boxes on the roller conveyor line. The step S102 includes:

[0090] For the transfer machine, obtain the outgoing box direction nodes above, below, left, and right of the transfer machine, and respectively put them into the corresponding path queues;

[0091] Obtain the downstream station node numbers of the ordinary nodes after obtaining the outgoing box direction nodes above, below, left, and right of the transfer machine, and put them into the corresponding path queues;

[0092] Determine whether the node is a transfer machine or a steering gear, and add the path queues of the outgoing box direction nodes of the corresponding equipment to the direction path queue of the transfer machine;

[0093] Repeat the steps of obtaining the outgoing box direction nodes above, below, left, and right of the transfer machine for the transfer machine, and respectively putting them into the corresponding path queues, obtaining the downstream station node numbers of the ordinary nodes after obtaining the outgoing box direction nodes above, below, left, and right of the transfer machine, and putting them into the corresponding path queues, determining whether the node is a transfer machine or a steering gear, and adding the path queues of the outgoing box direction nodes of the corresponding equipment to the direction path queue of the transfer machine until all paths in the four outgoing box directions of all transfer machines are generated.

[0094] Specifically, the present invention provides the automatic navigation path control method for conveying turnover boxes on the roller conveyor line. The step S102 includes:

[0095] For the steering gear, obtain the outgoing box direction nodes below, left, and right of the steering gear, and respectively put them into the corresponding path queues;

[0096] Obtain the downstream station node numbers of the ordinary nodes after obtaining the outgoing box direction nodes below, left, and right of the steering gear, and put them into the corresponding path queues;

[0097] Determine whether the subsequent node is a transfer machine or a steering gear, and add the path queues of the outgoing box direction nodes of the corresponding equipment to the direction path queue of the current steering gear;

[0098] Repeat the steps of obtaining the lower, left, and right out-box direction nodes of the steering gear, and respectively putting them into the corresponding path queues, obtaining the next station node numbers of the ordinary nodes after the lower, left, and right out-box direction nodes of the steering gear, and putting them into the corresponding path queues, determining whether the subsequent node is a transfer machine or a steering gear, and adding the out-box direction node path queues of the corresponding equipment to the direction path queue of the current steering gear until all paths in the three out-box directions of all steering gears are generated.

[0099] Specifically, the present invention provides the automatic navigation path control method for transporting turnover boxes on the roller conveyor line. The step S102 includes: determining whether the path node queues in all directions of all transfer machines and steering gears are generated. If not completed, continue the steps of generating paths until all are generated.

[0100] Specifically, the present invention provides the automatic navigation path control method for transporting turnover boxes on the roller conveyor line. The step S103 includes:

[0101] Scoring criteria for the optimal path:

[0102] If the path has no nodes, score 0 points;

[0103] If the node has no box or is at the out-box, score 1 point;

[0104] If the node has a box and is not at the out-box, score 2 points.

[0105] Specifically, the present invention provides the automatic navigation path control method for transporting turnover boxes on the roller conveyor line. The step S104 includes:

[0106] After the turnover box is transported to the splitter, determine the splitter type. The splitter type includes a transfer machine or a steering gear;

[0107] According to the splitter type, retrieve the path map in the corresponding direction to determine the direction with the target node number;

[0108] Accumulate the scores of the path queues in each direction until the score of the target node is reached and stop;

[0109] Judge the direction with the minimum sum of accumulated scores. The path direction with the lowest score is the optimal path direction.

[0110] Specifically, the present invention provides the automatic navigation path control method for transporting turnover boxes on the roller conveyor line. The step S104 includes:

[0111] Judge the splitter type: When the turnover box is transported to the splitter, judge the type of the splitter. The types of the splitter are divided into two types: transfer machine and steering gear;

[0112] Retrieve the path map in the corresponding direction:

[0113] For the transfer machine: If the splitter is the transfer machine, retrieve the path maps in the four directions of up, down, left, and right of the transfer machine. Among the path maps in the four directions of up, down, left, and right of the transfer machine, determine the direction that includes the target node number.

[0114] For the steering machine: If the splitter is the steering machine, retrieve the path maps in the three directions of down, left, and right of the steering machine. Among the path maps in the three directions of down, left, and right of the steering machine, determine the direction that includes the target node number.

[0115] Determine the path queue: According to the direction including the target node number determined in the previous step, select the corresponding path queue.

[0116] Score accumulation: Starting from the starting node, accumulate the scores of the nodes in the path queue of each direction. The basis for accumulation is the scoring criteria of the optimal path. Nodes where the path does not exist are scored 0; nodes without a box or at the outbox are scored 1; nodes with a box and not at the outbox are scored 2.

[0117] For the transfer machine: If the path queue includes the four directions of up, down, left, and right, accumulate the scores of the path queues in these four directions respectively until the score of the target node is reached and then stop.

[0118] For the steering machine: If the path queue includes the three directions of down, left, and right, accumulate the scores of the path queues in these three directions respectively until the score of the target node is reached and then stop.

[0119] Judge the optimal path direction: After completing the score accumulation of all directions, compare the sum of the score accumulations of each direction.

[0120] Determine the optimal path: Judge which direction has the smallest sum of score accumulations. A score of 0 indicates that there is no node number in this direction, that is, there is no path, so it should be excluded from the comparison. The path direction with the lowest score is the required optimal path direction.

[0121] Specifically, the automatic navigation path control method for transporting turnover boxes on the roller conveyor line provided by the present invention, the step S105 includes:

[0122] Judge whether the turnover box passes through the target node before reaching the next key branch node.

[0123] If it does not pass through the target node, the turnover box is transported to the next branch node, and the splitter type and subsequent processes are rejudged.

[0124] If it passes through the target node, after the turnover box reaches the target node, the optimal path navigation ends.

[0125] Specifically, the present invention provides an automatic navigation path control method for conveying turnover boxes on a roller conveyor line. The step S102 includes:

[0126] Determine whether the turnover box has reached the next key branch node: The control system continuously monitors the position of the turnover box on the roller conveyor line and uses sensors or PLC devices to obtain the current position of the turnover box in real time;

[0127] When the turnover box approaches or reaches the next preset key branch node, trigger the judgment logic;

[0128] Determine whether the turnover box has passed through the target node: According to the generated optimal path information, check whether the turnover box has passed through the target node on the path before reaching the current key branch node;

[0129] If it has not passed through the target node: If the judgment result shows that the turnover box has not passed through the target node, the control continues to execute the navigation task;

[0130] Convey the turnover box to the next branch node, adjust the speed, direction of the roller conveyor line and / or activate the corresponding transfer machine or steering machine;

[0131] When the turnover box reaches the next branch node, re-determine the type of the splitter and re-generate or adjust the optimal path according to the new position information and target node information, and repeat the above steps until the turnover box passes through the target node or reaches the next key branch node that needs to be judged;

[0132] If it has passed through the target node: If the judgment result shows that the turnover box has passed through the target node, the control system ends the current optimal path navigation task;

[0133] After the navigation task ends, the control system can be ready to receive the navigation task of the next turnover box or enter the standby state to wait for new instructions.

[0134] In a second aspect, the present invention provides an automatic navigation path control device for conveying turnover boxes on a roller conveyor line, which is applied to the automatic navigation path control method for conveying turnover boxes on the roller conveyor line, and includes:

[0135] A data acquisition unit, which acquires branch node information, target node information of the turnover box, and conveyor line status information. The branch node information includes key branch node information, upstream and downstream relationship information of transfer machine nodes, upstream and downstream relationship information of steering machine nodes, and upstream and downstream relationship information of ordinary nodes;

[0136] A node generation unit, which generates a path node queue of transfer machines and steering machines according to the branch node information, target node information of the turnover box, and conveyor line status information;

[0137] A first data processing unit receives and sets a scoring standard for an optimal path, wherein the scoring standard for the optimal path is used to score the path node queues of the transfer machine and the steering machine;

[0138] The second data processing unit scores the path node queues of the transfer machine and the steering machine based on the scoring criteria of the optimal path to obtain the scoring results of the path node queues of the transfer machine and the steering machine;

[0139] The path generation unit performs data analysis on the path node queue scoring results of the transfer machine and the steering machine to obtain the optimal path direction, and navigates the turnover box according to the optimal path direction. When the turnover box reaches the target node, the optimal path navigation ends.

[0140] In order to better understand the purpose of the present invention, the present invention is described in further detail below.

[0141] The control method of the technical solution of the present invention:

[0142] Create a key branch node map:

[0143] The key branch nodes include two types of equipment: transfer machines and diverters. The transfer machines have four conveying directions: up, down, left, and right, and the diverters have three directions: down, left, and right. The key to creating a key branch node map is to know all the nodes that can be reached by each conveying direction of each branch device (transfer machine, diverter). The upstream and downstream relationship information of ordinary nodes includes the node number of the upper station box inlet, the node number of this station, and the node number of the lower station box outlet. Ordinary nodes include linear conveyors, long belt conveyors, and combined conveyors. The upstream and downstream relationship information of the transfer machine node includes the node number of the upper station box outlet, the node number of the lower station box outlet, the node number of the left station box outlet, the node number of the right station box outlet, the node number of the upper station box inlet, the node number of the lower station box inlet, the node number of the left station box inlet, the node number of the right station box inlet, and the node number of this station. The upstream and downstream relationship information of the diverter node includes the node number of the upper station box inlet, the node number of the lower station box outlet, the node number of the left station box outlet, the node number of the right station box outlet, and the node number of this station.

[0144] Host computer and conveyor line PLC target node navigation task:

[0145] Create a path map for key branch nodes. After obtaining the node for the upper outgoing box direction of the transfer machine, put it into the path queue of the node for the upper outgoing box direction of the transfer machine; after obtaining the node for the lower outgoing box direction of the transfer machine, put it into the path queue of the node for the lower outgoing box direction of the transfer machine; after obtaining the node for the left outgoing box direction of the transfer machine, put it into the path queue of the node for the left outgoing box direction of the transfer machine; after obtaining the node for the right outgoing box direction of the transfer machine, put it into the path queue of the node for the right outgoing box direction of the transfer machine; determine whether the upper, lower, left, and right outgoing box node numbers of all transfer machines have been obtained. If not completed, repeat the above four steps until completed.

[0146] If completed, obtain the node number of the outbound direction at the lower station of the steering gear and put it into the path queue of the outbound direction nodes at the lower station of the steering gear; obtain the node number of the outbound direction at the left station of the steering gear and put it into the path queue of the outbound direction nodes at the left station of the steering gear; obtain the node number of the outbound direction at the right station of the steering gear and put it into the path queue of the outbound direction nodes at the right station of the steering gear; determine whether all the node numbers of the outbound nodes at the lower, left, and right stations of the steering gear have been obtained. If not completed, repeat the above three steps until all are completed.

[0147] If completed, obtain the node number of the next station of the ordinary node behind the outbound direction node at the upper station of the transfer vehicle and put it into the path queue of the upper station direction of the transfer vehicle; obtain the node number of the next station of the ordinary node behind the outbound direction node at the lower station of the transfer vehicle and put it into the path queue of the lower station direction of the transfer vehicle; obtain the node number of the next station of the ordinary node behind the outbound direction node at the left station of the transfer vehicle and put it into the path queue of the left station direction of the transfer vehicle; obtain the node number of the next station of the ordinary node behind the outbound direction node at the right station of the transfer vehicle and put it into the path queue of the right station direction of the transfer vehicle; determine whether all the node numbers of the next stations of the ordinary nodes behind the outbound direction nodes at the upper, lower, left, and right stations of the transfer vehicle have been obtained. If not completed, repeat the above four steps until all are completed.

[0148] If completed, obtain the node number of the next station of the ordinary node behind the outbound direction node at the lower station of the steering gear and put it into the path queue of the lower station direction of the steering gear; obtain the node number of the next station of the ordinary node behind the outbound direction node at the left station of the steering gear and put it into the path queue of the left station direction of the steering gear; obtain the node number of the next station of the ordinary node behind the outbound direction node at the right station of the steering gear and put it into the path queue of the right station direction of the steering gear; determine whether all the node numbers of the next stations of the ordinary nodes behind the outbound direction nodes at the lower, left, and right stations of the steering gear have been obtained. If not completed, repeat the above three steps until all are completed.

[0149] If completed, generate all paths for the four out-box directions of all transfer machines. Determine whether the node after the ordinary node in the out-box direction queue of the transfer machine is a transfer machine or a steering machine. If it is a transfer machine, add the four out-box direction node path queues of the transfer machine in the direction of the transfer machine at this station to the path queue in the direction of the transfer machine at this station. If it is a steering machine, add the three out-box direction node path queues of the steering machine in the direction of the transfer machine at this station to the path queue in the direction of the transfer machine at this station. Next, determine whether the node after the ordinary node in the out-box direction queue of the lower transfer machine is a transfer machine or a steering machine. If it is a transfer machine, add the four out-box direction node path queues of the transfer machine in the lower direction of the transfer machine at this station to the path queue in the lower direction of the transfer machine at this station. If it is a steering machine, add the three out-box direction node path queues of the steering machine in the lower direction of the transfer machine at this station to the path queue in the lower direction of the transfer machine at this station. Next, determine whether the node after the ordinary node in the out-box direction queue of the left transfer machine is a transfer machine or a steering machine. If it is a transfer machine, add the four out-box direction node path queues of the transfer machine in the left direction of the transfer machine at this station to the path queue in the left direction of the transfer machine at this station. If it is a steering machine, add the three out-box direction node path queues of the steering machine in the left direction of the transfer machine at this station to the path queue in the left direction of the transfer machine at this station. Next, determine whether the node after the ordinary node in the out-box direction queue of the right transfer machine is a transfer machine or a steering machine. If it is a transfer machine, add the four out-box direction node path queues of the transfer machine in the right direction of the transfer machine at this station to the path queue in the right direction of the transfer machine at this station. If it is a steering machine, add the three out-box direction node path queues of the steering machine in the right direction of the transfer machine at this station to the path queue in the right direction of the transfer machine at this station.

[0150] Generate all paths for the three out-box directions of all steering machines. Determine whether the node after the ordinary node in the out-box direction queue of the steering machine is a transfer machine or a steering machine. If it is a transfer machine, add the four out-box direction node queues of the transfer machine in the lower station direction of this steering machine to the path queue in the lower station direction of this steering machine. If it is a steering machine, add the three out-box direction node queues of the steering machine in the lower station direction of this station to the path queue in the lower station direction of this steering machine. Next, determine whether the node after the ordinary node in the out-box direction queue of the left steering machine is a transfer machine or a steering machine. If it is a transfer machine, add the four out-box direction node queues of the transfer machine in the left station direction of this steering machine to the path queue in the left station direction of this steering machine. If it is a steering machine, add the three out-box direction node queues of the steering machine in the left station direction of this station to the path queue in the left station direction of this steering machine. Next, determine whether the node after the ordinary node in the out-box direction queue of the right steering machine is a transfer machine or a steering machine. If it is a transfer machine, add the four out-box direction node queues of the transfer machine in the right station direction of this steering machine to the path queue in the right station direction of this steering machine. If it is a steering machine, add the three out-box direction node queues of the steering machine in the right station direction of this station to the path queue in the right station direction of this steering machine.

[0151] Determine whether to generate the path node queues for all directions of all transfer machines and shunt machines. If not completed, start again from generating all path steps in the four out-box directions of all transfer machines until the path node queues for the four directions of all transfer machines and the path node queues for the three directions of the shunt machines are generated. If the generation is completed, create the critical shunt node path map and end.

[0152] The host computer only needs to send the target node information corresponding to the box number to the conveyor line PLC once, and the conveyor line PLC automatically navigates the turnover box to the target node. It is not necessary for the host computer to send the direction information corresponding to the box number at each shunt node. This reduces network communication and prevents the turnover box from missing the shunt node due to network communication delay.

[0153] The calculation unit of the line efficiency is boxes per hour. Therefore, for the definition of the optimal path, it should be time-optimal, that is, the time to reach the target node through the optimal path is the shortest. Nodes where the path does not exist are scored 0, nodes without a box or at the out-box are scored 1, and nodes with a box and not at the out-box are scored 2. The time required for a node with a box and not at the out-box is greater than or equal to twice the time of a node without a box or at the out-box. The lower the score, the shorter the passing time.

[0154] Optimal target navigation path: After the turnover box is conveyed to the splitter, determine the type of the splitter. If the splitter is a transfer machine, retrieve which direction of the path maps in the up, down, left, and right directions of the transfer machine has the target node number. The path queues in the four out-box directions accumulate scores in sequence until the score of the target node is reached and then stop. If the splitter is a turning machine, retrieve which direction of the path maps in the down, left, and right directions of the turning machine has the target node number. The path queues in the three directions accumulate scores in sequence until the score of the target node is reached and then stop. Then determine which direction has the smallest accumulated score sum, excluding 0 points. (0 points means there is no node number in this direction and there is no path). The lower the score, the shorter the time required to reach the target node. That is, the path direction with the lowest score is the optimal path direction. The turnover box is navigated according to the optimal path. Determine whether the turnover box passes through the target node before reaching the next critical shunt node. If it does not pass through the target node, the turnover box is conveyed to the next shunt node, and then after reaching the splitter, re-determine the type of the splitter and the subsequent process. If it passes through the target node, after the turnover box reaches the target node, the optimal path navigation ends.

Claims

1. An automatic navigation path control method for conveying turnover boxes on a roller conveyor line, characterized in that, Including: Step S101, obtaining shunt node information, target node information of the turnover box, and conveyor line status information. The shunt node information includes key shunt node information, upstream and downstream relationship information of the transfer machine nodes, upstream and downstream relationship information of the turntable nodes, and upstream and downstream relationship information of the common nodes; Step S102, generating a path node queue for the transfer machine and the turntable according to the shunt node information, target node information of the turnover box, and conveyor line status information; Step S103, receiving and setting the scoring criteria for the optimal path, where the scoring criteria for the optimal path are used to score the path node queue of the transfer machine and the turntable; Step S104, scoring the path node queue of the transfer machine and the turntable based on the scoring criteria for the optimal path to obtain the scoring result of the path node queue of the transfer machine and the turntable; Step S105, performing data analysis on the scoring result of the path node queue of the transfer machine and the turntable to obtain the optimal path direction, and navigating the turnover box according to the optimal path direction. When the turnover box reaches the target node, the optimal path navigation ends.

2. The automatic navigation path control method for conveying turnover boxes on a roller conveyor line according to claim 1, characterized in that, The said step S101 includes: The key shunt information includes the key shunt node type, the key shunt node type includes the transfer machine and the turntable, and all node information that can be reached in each conveying direction of each shunt device is obtained; The upstream and downstream relationship information of the transfer machine nodes includes the incoming box node number of the upstream station, the node number of the current station, the outgoing box node number of the downstream station, the outgoing box node number of the left station, and the outgoing box node number of the right station; The upstream and downstream relationship information of the turntable nodes includes the incoming box node number of the upstream station, the node number of the current station, the outgoing box node number of the downstream station, the outgoing box node number of the left station, and the outgoing box node number of the right station; The upstream and downstream relationship information of the common nodes includes: the incoming box node number of the upstream station, the node number of the current station, and the outgoing box node number of the downstream station.

3. The automatic navigation path control method for conveying turnover boxes on a roller conveyor line according to claim 1, characterized in that, The said step S102 includes: For the transfer machine, obtaining the nodes in the outgoing box directions of the upper, lower, left, and right of the transfer machine and respectively putting them into the corresponding path queues; Obtaining the outgoing box node number of the downstream station of the common node after obtaining the nodes in the outgoing box directions of the upper, lower, left, and right of the transfer machine and putting it into the corresponding path queue; Judging whether the node is a transfer machine or a turntable, and adding the path queue of the outgoing box nodes of the corresponding device to the direction path queue of the transfer machine; Repeating the steps of for the transfer machine, obtaining the nodes in the outgoing box directions of the upper, lower, left, and right of the transfer machine and respectively putting them into the corresponding path queues, obtaining the outgoing box node number of the downstream station of the common node after obtaining the nodes in the outgoing box directions of the upper, lower, left, and right of the transfer machine and putting it into the corresponding path queue, judging whether the node is a transfer machine or a turntable, and adding the path queue of the outgoing box nodes of the corresponding device to the direction path queue of the transfer machine until all paths in the four outgoing box directions of all transfer machines are generated.

4. The automatic navigation path control method for conveying turnover boxes on a roller conveyor line according to claim 3, wherein The said step S102 includes: For the turntable, obtaining the nodes in the outgoing box directions of the lower, left, and right of the turntable and respectively putting them into the corresponding path queues; Obtaining the outgoing box node number of the downstream station of the common node after obtaining the nodes in the outgoing box directions of the lower, left, and right of the turntable and putting it into the corresponding path queue; Judging whether the subsequent node is a transfer machine or a turntable, and adding the path queue of the outgoing box nodes of the corresponding device to the current direction path queue of the turntable; Repeat the steps of obtaining the lower, left, and right outbox direction nodes of the steering gear, putting them into the corresponding path queues respectively, obtaining the next station node numbers of the ordinary nodes after the lower, left, and right outbox direction nodes of the steering gear, putting them into the corresponding path queues, determining whether the subsequent node is a transfer machine or a steering gear, and adding the outbox direction node path queues of the corresponding equipment to the direction path queue of the current steering gear until all paths in the three outbox directions of all steering gears are generated.

5. The automatic navigation path control method for conveying turnover boxes on a roller conveyor line according to claim 4, wherein, The step S102 includes: determining whether path node queues for all directions of all transfer machines and steering gears are generated. If not completed, continue the steps of generating paths until all are generated.

6. The automatic navigation path control method for conveying turnover boxes on the roller conveyor line according to claim 1, characterized in that, The step S103 includes: Scoring criteria for the optimal path: Paths without nodes are scored 0 points; Nodes without boxes or in the outbox are scored 1 point; Nodes with boxes and not in the outbox are scored 2 points.

7. The automatic navigation path control method for conveying turnover boxes on a roller conveyor line according to claim 1, characterized in that, The step S104 includes: After the turnover box is transported to the splitter, determine the splitter type. The splitter types include transfer machines or steering gears; According to the splitter type, retrieve the path map of the corresponding direction and determine the direction with the target node number; Accumulate the scores for the path queues in each direction until the score of the target node is reached and stop; Determine the direction with the smallest sum of accumulated scores. The path direction with the lowest score is the optimal path direction.

8. The automatic navigation path control method for conveying turnover boxes on a roller conveyor line according to claim 7, wherein, The step S104 includes: Determine the splitter type: When the turnover box is transported to the splitter, determine the type of the splitter. The types of splitters are divided into two types: transfer machines and steering gears; Retrieve the path map of the corresponding direction: For transfer machines: If the splitter is a transfer machine, retrieve the path maps of the upper, lower, left, and right four directions of the transfer machine. Among the path maps of the upper, lower, left, and right four directions of the transfer machine, determine the direction including the target node number; For steering gears: If the splitter is a steering gear, retrieve the path maps of the lower, left, and right three directions of the steering gear. Among the path maps of the lower, left, and right three directions of the steering gear, determine the direction including the target node number; Determine the path queue: According to the direction including the target node number determined in the previous step, select the corresponding path queue; Score accumulation: Starting from the starting node, accumulate the scores of the nodes in the path queue in each direction. The basis for accumulation is the scoring criteria for the optimal path. Paths without nodes are scored 0 points; nodes without boxes or in the outbox are scored 1 point; nodes with boxes and not in the outbox are scored 2 points; For transfer machines: If the path queue includes the upper, lower, left, and right four directions, accumulate the scores of the path queues in these four directions respectively until the score of the target node is reached and stop; For steering gears: If the path queue includes the lower, left, and right three directions, accumulate the scores of the path queues in these three directions respectively until the score of the target node is reached and stop; Determine the optimal path direction: After the scores of all directions are accumulated, compare the sums of the accumulated scores of each direction; Determine the optimal path: Determine which direction has the smallest sum of accumulated scores. 0 points means there is no node number in this direction, that is, there is no path, so it should be excluded from the comparison. The path direction with the lowest score is the required optimal path direction.

9. The automatic navigation path control method for conveying turnover boxes on a roller conveyor line according to claim 1, characterized in that, The step S105 includes: Determine whether the turnover box passes through the target node before reaching the next key branch node; If it does not pass through the target node, the turnover box is conveyed to the next branch node, and the type of the splitter and the subsequent process are re-determined; If it passes through the target node, after the turnover box reaches the target node, the optimal path navigation ends.

10. The automatic navigation path control method for conveying turnover boxes on a roller conveyor line according to claim 9, characterized in that, The step S102 includes: Determine whether the turnover box reaches the next key branch node: The control system continuously monitors the position of the turnover box on the roller conveyor line and obtains the current position of the turnover box in real time by using sensors or PLC devices; When the turnover box approaches or reaches the next preset key branch node, the judgment logic is triggered; Determine whether the turnover box passes through the target node: According to the generated optimal path information, check whether the turnover box has passed through the target node on the path before reaching the current key branch node; If it does not pass through the target node: If the judgment result shows that the turnover box has not passed through the target node, the control continues to execute the navigation task; Convey the turnover box to the next branch node, adjust the speed, direction of the roller conveyor line and / or activate the corresponding transfer machine or steering machine; When the turnover box reaches the next branch node, re-determine the type of the splitter, and re-generate or adjust the optimal path according to the new position information and target node information, and repeat the above steps until the turnover box passes through the target node or reaches the next key branch node to be judged; If it passes through the target node: If the judgment result shows that the turnover box has passed through the target node, the control system ends the current optimal path navigation task; After the navigation task ends, the control system can be ready to receive the navigation task of the next turnover box or enter the standby state to wait for new instructions.

11. An automatic navigation path control device for conveying turnover boxes on a roller conveyor line, which is applied to the automatic navigation path control method for conveying turnover boxes on the roller conveyor line as described in any one of claims 1 to 10, characterized in that, It includes: A data acquisition unit that acquires branch node information, target node information of the turnover box, and conveyor line status information. The branch node information includes key branch node information, upstream and downstream relationship information of the transfer machine node, upstream and downstream relationship information of the steering machine node, and upstream and downstream relationship information of the ordinary node; A node generation unit that generates a path node queue of the transfer machine and the steering machine according to the branch node information, target node information of the turnover box, and conveyor line status information; A first data processing unit that receives and sets the scoring criteria for the optimal path, and the scoring criteria for the optimal path are used to score the path node queue of the transfer machine and the steering machine; A second data processing unit that scores the path node queue of the transfer machine and the steering machine based on the scoring criteria for the optimal path to obtain the scoring result of the path node queue of the transfer machine and the steering machine; A path generation unit that performs data analysis on the scoring result of the path node queue of the transfer machine and the steering machine to obtain the optimal path direction, and navigates the turnover box according to the optimal path direction. After the turnover box reaches the target node, the optimal path navigation ends.

Images