Capacitor enabling device control system and method based on dynamic path planning

Abstract

The invention discloses a capacitance energizing device control system and method based on dynamic path planning. The system comprises a capacitance conveying module, a capacitance detection module, a capacitance energizing module, an energizing device monitoring module and a central control module. The central control module is bidirectionally connected with the capacitor conveying module, the capacitor detection module, the capacitor enabling module and the enabling device monitoring module; the capacitor energizing module comprises a capacitor energizing device and a to-be-energized capacitor conveying belt; the capacitor conveying module comprises a capacitor conveying network composed of a plurality of conveying devices. The capacitance detection module is used for detecting capacitance passing through each detection point of the capacitance transmission network through detection equipment, acquiring basic data of the capacitance and feeding back position and time information; identifying specification parameters of the capacitors and batch information of the capacitors by shooting the capacitor labels; the enabling device monitoring module is used for monitoring the operation state of the capacitor enabling device.

Description

Technical Field

[0001] The present invention relates to the technical field of capacitor energizing devices, and in particular to a control system and method for a capacitor energizing device based on dynamic path planning. Background Art

[0002] In modern industrial production, capacitors, as important electronic components, play a crucial role in the quality of electronic products. Capacitor energizing is an important link to ensure the performance of capacitors. With the continuous improvement of industrial automation levels, higher requirements are put forward for the efficiency, accuracy, and intelligence of the control system of capacitor energizing devices.

[0003] Currently, traditional control systems for capacitor energizing devices usually adopt fixed path planning and simple monitoring methods when transporting a large number of capacitors for energizing. In terms of path planning, most are pre-set fixed routes, which cannot be dynamically adjusted according to the real-time operating status of the capacitor energizing device, differences in capacitor specifications, and changes in production tasks. Manual intervention is required for decision-making. Capacitors are distributed and transported to the corresponding capacitor energizing devices according to different capacitor specifications, resulting in low capacitor transportation efficiency and lack of intelligence. In the monitoring and feedback link, traditional systems are difficult to comprehensively and real-time obtain the operating data of capacitor energizing devices, and cannot promptly detect equipment failures or abnormal operating states, thus unable to quickly take effective countermeasures, increasing equipment maintenance costs and the risk of production interruptions. In addition, when the system processes multiple batches of capacitors with different specifications and quality requirements simultaneously, traditional control systems lack effective path conflict resolution mechanisms and resource optimization allocation strategies, making it easy for capacitors in each batch to overlap in the transportation process, resulting in problems such as occupation and blockage, and may also cause capacitor collisions and damage, seriously affecting production efficiency and capacitor quality. Therefore, it is urgent to develop a control system and method for capacitor energizing devices that can achieve dynamic path planning, precise monitoring, and efficient resource allocation to meet the needs of modern industrial production. Summary of the Invention

[0004] The present invention provides a control system and method for a capacitor energizing device based on dynamic path planning to solve the above-mentioned existing technical problems.

[0005] The technical solution of the present invention is realized as follows:

[0006] A control system and method for a capacitor energizing device based on dynamic path planning includes a capacitor transportation module, a capacitor detection module, a capacitor energizing module, an energizing device monitoring module, and a central control module; the central control module is bidirectionally connected to the capacitor transportation module, the capacitor detection module, the capacitor energizing module, and the energizing device monitoring module;

[0007] The capacitance energizing module includes a capacitance energizing device and a capacitance conveyor belt to be energized. Limited number electric control partitions are provided at both ends of the capacitance conveyor belt to be energized. The number of capacitors that can be accommodated between the two limited number electric control partitions is equal to the number of capacitors that the capacitance energizing device can simultaneously energize at one time. Photoelectric sensors are provided at both ends of the capacitance conveyor belt to be energized. The photoelectric sensor at the end far from the capacitance energizing device is used to detect whether the capacitors are full, and the photoelectric sensor at the end close to the capacitance energizing device is used to detect whether the capacitors have completely left the capacitance conveyor belt to be energized. The photoelectric sensors are electrically connected to the limited number electric control partitions;

[0008] The capacitance conveying module includes a capacitance conveying network composed of multiple conveying devices. The capacitance conveying module can convey the capacitors fed into the system to different capacitance energizing devices, and can also transfer the capacitors between different capacitance energizing devices;

[0009] The capacitance detection module is used to detect the capacitors passing through each detection point of the capacitance conveying network through detection equipment, obtain the basic data of the capacitors and feedback the position and time information; a detection camera is provided to photograph the capacitor labels, measure the dimensions, and count the number of capacitors in the same batch; a photoelectric sensor is provided to detect whether there are capacitors passing through; the specification parameters and batch information of the capacitors are identified by photographing the capacitor labels;

[0010] The energizing device monitoring module is used to monitor the operating status of the capacitance energizing device.

[0011] Further, the conveying device includes a capacitance conveyor belt. The capacitance conveyor belt includes a main conveyor belt, branch conveyor belts, transfer conveyor belts, and discharge conveyor belts. The capacitors to be energized are placed at one end of the main conveyor belt. A number of branch conveyor belts are vertically connected to both sides of the main conveyor belt. The capacitance energizing device is provided on the branch conveyor belts. A discharge conveyor belt is provided at the end of the branch conveyor belt far from the main conveyor belt; the transfer conveyor belts are vertically connected to a number of the branch conveyor belts;

[0012] Steering devices are provided at the vertical intersections of the respective capacitance conveyor belts. The steering devices are used to switch the capacitance conveying direction; electric control baffles are provided between the steering devices and the capacitance conveyor belts.

[0013] Further, the steering device includes a steering base, a lifting mechanism, a straight conveyor belt, and a steering conveyor belt. The lifting mechanism is installed above the steering base. The straight conveyor belt and the steering conveyor belt are both installed on the lifting mechanism. The straight conveyor belt and the steering conveyor belt are driven by different motors and have different heights; the lifting mechanism is used to change the height and switch the straight conveyor belt and the steering conveyor belt connected to the capacitance conveyor belt, and the steering base can change the orientations of the straight conveyor belt and the steering conveyor belt.

[0014] A control method for a capacitor energy - enabling device based on dynamic path planning, which is applied to the above - mentioned control system of a capacitor energy - enabling device based on dynamic path planning, includes the following steps:

[0015] Step S1: Set the basic data of each capacitor energy - enabling device and the conveying device. The basic data of the capacitor energy - enabling device includes the specification parameters and spatial layout information of each capacitor energy - enabling device. The spatial layout information includes the positions of each capacitor energy - enabling device, the distribution and connection relationship of each capacitor conveyor belt, and the current states of each steering device. The specification parameters of the capacitor energy - enabling device include the maximum number of energy - enabling, output voltage, and output current. The basic data of the conveying device includes the starting speed and operating speed of the capacitor conveyor belt, the steering speed and height - switching speed of the steering device.

[0016] Step S2: The capacitor detection module detects the capacitors fed into the capacitor conveying network, obtains the basic data of the capacitors, and transmits the data to the central control module. The basic data of the capacitors includes: the specification parameters of the capacitors and the batch information of the capacitors. The specification parameters include the capacitance, withstand voltage value, and size of the capacitors. The batch information includes the production batch, production date, and quality - grade requirements.

[0017] Step S3: The central control module uses the dynamic path - planning algorithm to plan the conveying path of the capacitors in the capacitor conveying network according to the basic capacitor data and the operating states of each capacitor energy - enabling device fed back by the energy - enabling device monitoring module.

[0018] Step S4: The capacitor conveying module conveys the capacitors to the corresponding capacitor energy - enabling devices through each conveying device according to the planned path.

[0019] Step S5: The capacitor energy - enabling device energizes the conveyed capacitors. The energy - enabling device monitoring module monitors the operating state of the capacitor energy - enabling device in real - time and feeds back the data to the central control module.

[0020] Step S6: The central control module dynamically adjusts the capacitor conveying path and the working tasks of each capacitor energy - enabling device according to the information fed back by the energy - enabling device monitoring module.

[0021] Further, step S3 includes:

[0022] Step S3 - 1: For the same batch of capacitors, according to the obtained basic capacitor information, obtain the available capacitor energy - enabling device numbers, and obtain the position information and current usage status of the capacitor energy - enabling devices.

[0023] Step S3 - 2: Generate a transportation plan according to the current position of the capacitors. The transportation plan includes the shortest conveying path for conveying the capacitors to each capacitor energy - enabling device and the estimated passing time points of each conveying device.

[0024] Step S3-3: Calculate the required time for each conveying path according to the speeds of the capacitor conveying belts on each path, the current states of each steering device, and the time required for switching states.

[0025] Step S3-4: Take the conveying path with the shortest required time as the planned path.

[0026] Further, when there are multiple batches of capacitors in the capacitor conveying network, when generating a transportation plan in step S3-2, compare the transportation plans of different batches of capacitors and mark the transportation plans with overlapping paths; the path overlap means passing through the same transportation device in the same time period.

[0027] If the conveying path with the shortest required time calculated in step S3-3 has a risk mark, bypass the path overlap node and regenerate the shortest conveying path as an alternative plan; compare it with the required time of other transportation plans and reconfirm the transportation plan with the shortest required time.

[0028] Further, if the adopted transportation plan has a risk mark, when it is detected that the capacitor moves to before the path divergence point of the original transportation plan and the alternative plan, obtain the current position of another batch of capacitors with overlapping paths in the transportation plan and the current usage of the overlapping transportation device; calculate the time required for the two batches of capacitors to reach the overlapping transportation device according to the original plan based on the currently updated data, execute the original plan for the capacitor with the shorter required time, and execute the alternative plan for the capacitor with the longer required time.

[0029] Further, it further includes step S7: Modify the basic data of each conveying device according to the new data generated during the capacitor conveying process, and detect whether the conveying device fails.

[0030] The said step S7 includes:

[0031] Step S7-1: Obtain the time feedback by the capacitance detection module when the capacitor reaches each conveying device during the conveying process.

[0032] Step S7-2: Calculate the actual required duration for the capacitor to pass through each conveying device.

[0033] Step S7-3: Calculate the estimated required duration for the capacitor to pass through each conveying device according to the estimated time point for reaching the conveying device predicted by the transportation plan, and store the estimated required duration as the basic data of the conveying device.

[0034] Step S7-4: Compare the actual required duration for passing through each conveying device with the estimated required duration, calculate the duration difference, and summarize and generate a data set for statistics.

[0035] Step S7-4: When the difference between the actually required duration and the estimated required duration for a certain conveying device obtained through multiple calculations exceeds the preset warning threshold, if the actually required duration is less than the estimated required duration, the average value of the actually required durations measured multiple times is assigned to the estimated required duration of the conveying device; if the actually required duration is greater than the estimated required duration, an alarm is sent through the central control module to notify the staff to go for maintenance.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows: Aiming at the problems of low capacitance conveying efficiency, easy idling or blockage of equipment caused by traditional fixed path planning, this system collects data in real time through a capacitance detection module and an energizing device monitoring module. The central control module uses a dynamic path planning algorithm, combines the conveyor belt speed and the state of the steering device, and intelligently plans the shortest conveying path to achieve efficient scheduling of capacitance conveying; Aiming at the problem that the traditional system is prone to path overlap and capacitance collision damage when processing multiple batches of capacitors, this solution compares the paths of different batches when formulating the transportation plan, marks the risk areas, dynamically adjusts the paths, and monitors the position and equipment state in real time during transportation, and flexibly decides the execution plan to ensure the capacitance quality and production efficiency; Aiming at the problems of insufficient traditional monitoring feedback and lagging equipment maintenance, the system compares the actual and estimated durations based on the capacitance conveying time data, automatically judges the equipment state when exceeding the threshold, either updates the parameters or issues an alarm, realizes precise maintenance of the conveying equipment, and reduces failures and costs. Brief Description of the Drawings

[0037] Figure 1 is a schematic structural diagram of the capacitance conveying network of a capacitance energizing device control system based on dynamic path planning according to the present invention;

[0038] Figure 2 is a schematic structural diagram of the steering device of a capacitance energizing device control system based on dynamic path planning according to the present invention;

[0039] Figure 3 is a system architecture diagram of a capacitance energizing device control system based on dynamic path planning according to the present invention

[0040] Figure 4 is a schematic diagram of the steps of a capacitance energizing device control method based on dynamic path planning according to the present invention.

[0041] 1 - Capacitance conveying module, 11 - Main conveyor belt, 12 - Branch conveyor belt, 13 - Transfer conveyor belt, 14 - Discharge conveyor belt, 15 - Steering device, 151 - Steering base, 152 - Lifting mechanism, 153 - Straight conveyor belt, 154 - Steering conveyor belt; 2 - Capacitance detection module; 3 - Capacitance energizing module, 31 - Capacitance energizing device, 32 - Capacitor conveyor belt to be energized, 33 - Limited number electric control partition; 4 - Energizing device monitoring module; 5 - Central control module. Detailed implementation manners

[0042] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the appended claims.

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] As Figures 1 - 3 shown, the present invention provides a control system for a capacitor energy - enabling device based on dynamic path planning, including a capacitor conveying module 1, a capacitor detection module 2, a capacitor energy - enabling module 3, an energy - enabling device monitoring module 4, and a central control module 5; the central control module 5 is bidirectionally connected to the capacitor conveying module 1, the capacitor detection module 2, the capacitor energy - enabling module 3, and the energy - enabling device monitoring module 4;

[0045] The capacitor energy - enabling module 3 includes a capacitor energy - enabling device 31 and a capacitor conveyor belt 32 to be energy - enabled. Limited - number electric control partitions 33 are provided at both ends of the capacitor conveyor belt 32 to be energy - enabled. The number of capacitors that can be accommodated between the two limited - number electric control partitions 33 is equal to the number of capacitors that the capacitor energy - enabling device 31 of the conveying target of the capacitor conveyor belt 32 to be energy - enabled can simultaneously energy - enable at one time. Photoelectric sensors are provided at both ends of the capacitor conveyor belt 32 to be energy - enabled. The photoelectric sensor at the end far from the capacitor energy - enabling device 31 is used to detect whether the capacitors are full, and the photoelectric sensor at the end close to the capacitor energy - enabling device 31 is used to detect whether the capacitors have completely left the capacitor conveyor belt 32 to be energy - enabled. The photoelectric sensors are electrically connected to the limited - number electric control partitions 33;

[0046] The capacitor conveying module 1 includes a capacitor conveying network composed of a plurality of conveying devices. The capacitor conveying module 1 can convey the capacitors fed into the system to different capacitor energy - enabling devices 31, and can also transfer the capacitors between different capacitor energy - enabling devices 31;

[0047] The capacitance detection module 2 is used to detect the capacitance at each detection point of the capacitance delivery network through a detection device, obtain the basic data of the capacitance and feedback the position and time information; the detection device is provided with a detection camera for photographing capacitance labels, measuring dimensions, and counting the number of capacitors in the same batch, and identifying the specification parameters and batch information of the capacitors by photographing the capacitance labels; the detection device is provided with a photoelectric sensor for detecting whether there is a capacitor passing by and counting the number of capacitors passing by; the data detected by the capacitance detection module 2 is fed back to the central control module 5;

[0048] The energy supply device monitoring module 4 is used to monitor the operating state of the capacitance energy supply device 31; by detecting the capacitance voltage, comparing the measured capacitance voltage with the expected energy supply voltage, evaluating the energy supply progress of the current batch of capacitors, predicting how long it will take for the capacitance energy supply device 31 to become idle, and can also be connected to the fault alarm device of the capacitance energy supply device 31 to monitor whether the capacitance energy supply device 31 fails.

[0049] Further, the conveying device includes a capacitance conveyor belt, and the capacitance conveyor belt includes a main conveyor belt 11, a branch conveyor belt 12, a transfer conveyor belt 13, and a discharge conveyor belt 14. The capacitors to be energized are placed at one end of the main conveyor belt 11. A plurality of branch conveyor belts 12 are vertically connected to both sides of the main conveyor belt 11. The capacitance energy supply device 31 is provided on the branch conveyor belt 12. The discharge conveyor belt 14 is provided at one end of the branch conveyor belt 12 away from the main conveyor belt 11; the transfer conveyor belt 13 is vertically connected to a plurality of the branch conveyor belts 12;

[0050] A steering device 15 is provided at the vertical intersection of each capacitance conveyor belt. The steering device 15 is used to switch the capacitance conveying direction; an electric control baffle is provided between the steering device 15 and the capacitance conveyor belt.

[0051] Further, the steering device 15 includes a steering base 151, a lifting mechanism 152, a straight conveyor belt 153, and a steering conveyor belt 154. The lifting mechanism 152 is installed above the steering base 151. The straight conveyor belt 153 and the steering conveyor belt 154 are both installed on the lifting mechanism 152. The straight conveyor belt 153 and the steering conveyor belt 154 are driven by different motors, and the heights of the straight conveyor belt 153 and the steering conveyor belt 154 are different; the lifting mechanism (152) uses a cylinder. The lifting mechanism 152 is used to change the height and switch the straight conveyor belt 153 and the steering conveyor belt 154 connected to the capacitance conveyor belt. The steering base 151 is driven by a motor to rotate, and the steering base 151 can change the orientations of the straight conveyor belt 153 and the steering conveyor belt 154.

[0052] As Figure 4As shown in the figure, a control method for a capacitor energy supply device based on dynamic path planning is applied to the above-mentioned control system for a capacitor energy supply device based on dynamic path planning, and includes the following steps:

[0053] Step S1: Set the basic data of each capacitor energy supply device 31 and the conveying device. The basic data of the capacitor energy supply device 31 includes the specification parameters and spatial layout information of each capacitor energy supply device 31. The spatial layout information includes the positions of each capacitor energy supply device 31, the distribution and connection relationships of each capacitor conveyor belt, and the current states of each steering device 15. The specification parameters of the capacitor energy supply device 31 include the maximum number of energy supplies, output voltage, and output current. The basic data of the conveying device includes the starting speed and operating speed of the capacitor conveyor belt, and the steering speed and height switching speed of the steering device.

[0054] Step S2: The capacitor detection module 2 detects the capacitors fed into the capacitor conveying network, obtains the basic data of the capacitors, and transmits the data to the central control module 5. The basic data of the capacitors includes: the specification parameters of the capacitors and the batch information of the capacitors. The specification parameters include the capacitance, withstand voltage value, and size of the capacitors. The batch information includes the production batch, production date, and quality grade requirements.

[0055] Step S3: The central control module 5 uses the dynamic path planning algorithm to plan the conveying path of the capacitors in the capacitor conveying network according to the basic capacitor data and the operating states of each capacitor energy supply device 31 fed back by the energy supply device monitoring module 4.

[0056] Step S4: The capacitor conveying module 1 conveys the capacitors to the corresponding capacitor energy supply devices 31 through each conveying device according to the planned path.

[0057] Step S5: The capacitor energy supply device 31 energizes the conveyed capacitors. The energy supply device monitoring module 4 monitors the operating state of the capacitor energy supply device 31 in real time and feeds the data back to the central control module 5.

[0058] Step S6: The central control module 5 dynamically adjusts the capacitor conveying path and the working tasks of each capacitor energy supply device 31 according to the information fed back by the energy supply device monitoring module 4.

[0059] Further, the step S3 includes:

[0060] Step S3-1: For the same batch of capacitors, according to the obtained basic capacitor information, obtain the available numbers of the capacitor energy supply devices 31, and obtain the position information and current usage status of the capacitor energy supply devices 31.

[0061] Step S3-2: Generate a transportation plan based on the current position of the capacitor. The transportation plan includes the shortest transportation path for delivering the capacitor to each capacitor energizing device 31, and the estimated passing time points of each transportation device;

[0062] Step S3-3: Calculate the time required for each transportation path based on the speeds of the capacitor conveyor belts on the path and the current states of each turning device 15 and the time required to switch states;

[0063] Step S3-4: Take the transportation path with the shortest required time as the planned path.

[0064] Further, when there are multiple batches of capacitors in the capacitor transportation network, when generating the transportation plan in Step S3-2, compare the transportation plans of different batches of capacitors, and mark the transportation plans with overlapping paths; the path overlap means passing through the same transportation device during the same time period;

[0065] If the shortest transportation path calculated in Step S3-3 has a risk mark, bypass the overlapping path nodes and regenerate the shortest transportation path as an alternative plan; compare it with the required times of other transportation plans, and reconfirm the transportation plan with the shortest required time.

[0066] Further, if the adopted transportation plan has a risk mark, when it is detected that the capacitor moves to a point before the path divergence of the original transportation plan and the alternative plan, obtain the current positions of the other batch of capacitors with overlapping paths in the transportation plan and the current usage of the overlapping transportation device; calculate the time for the two batches of capacitors to reach the overlapping transportation device according to the original plan based on the currently updated data, execute the original plan for the capacitors with the shorter required time, and execute the alternative plan for the capacitors with the longer required time.

[0067] Further, it further includes Step S7: Modify the basic data of each transportation device according to the new data generated during the capacitor transportation process, and detect whether the transportation device fails;

[0068] The said Step S7 includes:

[0069] Step S7-1: Obtain the time feedback by the capacitance detection module 2 when the capacitor reaches each transportation device during the transportation process;

[0070] Step S7-2: Calculate the actual required duration for the capacitor to pass through each transportation device;

[0071] Step S7-3: Calculate the estimated required duration for the capacitor to pass through each transportation device based on the estimated time point of reaching the transportation device predicted by the transportation plan, and store the estimated required duration as the basic data of the transportation device;

[0072] Step S7-4: Compare the actual required duration of each conveying device on the path with the estimated required duration, calculate the duration difference, and summarize and generate a data set for statistics;

[0073] Step S7-4: When the difference between the actual required duration and the estimated required duration of passing through a certain conveying device is calculated multiple times and exceeds the preset warning threshold, if the actual required duration is less than the estimated required duration, then assign the average value of the actually measured required durations to the estimated required duration of the conveying device; if the actual required duration is greater than the estimated required duration, then send an alarm through the central control module 5 to notify the staff to go for maintenance.

[0074] The beneficial effects of a control system and method for a capacitance energy supply device based on dynamic path planning of the present invention are as follows: Aiming at the problems of low capacitance conveying efficiency, easy idling or blockage of equipment caused by traditional fixed path planning, this system collects data in real time through a capacitance detection module and an energy supply device monitoring module. The central control module uses a dynamic path planning algorithm, combines the conveyor belt speed and the state of the steering device, and intelligently plans the shortest conveying path to achieve efficient scheduling of capacitance conveying; Aiming at the problem that the traditional system is prone to path overlap and capacitance collision damage when processing multiple batches of capacitances, this solution compares different batch paths when formulating the transportation plan, marks the risk areas, dynamically adjusts the path, and monitors the position and equipment state in real time during transportation, and flexibly makes decisions on the execution plan to ensure the capacitance quality and production efficiency; Aiming at the problems of insufficient traditional monitoring feedback and lagging equipment maintenance, the system compares the actual and estimated durations based on the capacitance conveying time data, automatically judges the equipment state when exceeding the threshold, either updates the parameters or issues an alarm, realizes precise maintenance of the conveying equipment, and reduces failures and costs.

[0075] The foregoing examples are illustrative only and are used to explain some features of the method of the present invention. The appended claims are intended to claim as broad a scope as can be conceived, and the embodiments presented herein are merely illustrative of the selected implementation manners according to the combinations of all possible embodiments. Therefore, the applicant's intention is that the appended claims are not limited by the selection of examples illustrating the features of the present invention. Some numerical ranges used in the claims also include sub-ranges within them, and variations within these ranges should also be construed as being covered by the appended claims whenever possible.

Claims

1. A control system for a capacitor energy supply device based on dynamic path planning, characterized in that: It includes a capacitor conveying module (1), a capacitor detection module (2), a capacitor energizing module (3), an energizing device monitoring module (4), and a central control module (5); the central control module (5) is bidirectionally connected to the capacitor conveying module (1), the capacitor detection module (2), the capacitor energizing module (3), and the energizing device monitoring module (4); The capacitor energizing module (3) includes a capacitor energizing device (31) and a capacitor conveyor belt to be energized (32). Limited number electric control partitions (33) are provided at both ends of the capacitor conveyor belt to be energized (32). The number of capacitors that can be accommodated between the two limited number electric control partitions (33) is equal to the number of capacitors that the capacitor energizing device (31) can simultaneously energize at one time. Photoelectric sensors are provided at both ends of the capacitor conveyor belt to be energized (32). The photoelectric sensor at the end far from the capacitor energizing device (31) is used to detect whether the capacitors are full, and the photoelectric sensor at the end close to the capacitor energizing device (31) is used to detect whether the capacitors have completely left the capacitor conveyor belt to be energized (32). The photoelectric sensor is electrically connected to the limited number electric control partition (33); The capacitor conveying module (1) includes a capacitor conveying network composed of multiple conveying devices. The capacitor conveying module (1) can convey the capacitors fed into the system to different capacitor energizing devices (31), and can also transfer the capacitors between different capacitor energizing devices (31); The capacitor detection module (2) is used to detect the capacitors passing through each detection point of the capacitor conveying network through detection equipment, obtain the basic data of the capacitors and feedback the position and time information; a detection camera is provided for photographing the capacitor labels, measuring the dimensions, and counting the number of capacitors in the same batch; A photoelectric sensor is provided for detecting whether there are capacitors passing by; The energizing device monitoring module (4) is used to monitor the operating status of the capacitor energizing device (31).

2. The control system of a capacitor energy - enabling device based on dynamic path planning according to claim 1, characterized in that: The conveying device includes a capacitor conveyor belt. The capacitor conveyor belt includes a main conveyor belt (11), branch conveyor belts (12), transfer conveyor belts (13), and a discharge conveyor belt (14). The capacitors to be energized are placed at one end of the main conveyor belt (11). A number of branch conveyor belts (12) are vertically connected to both sides of the main conveyor belt (11). The capacitor energizing device (31) is provided on the branch conveyor belt (12). The discharge conveyor belt (14) is provided at the end of the branch conveyor belt (12) far from the main conveyor belt (11); the transfer conveyor belt (13) is vertically connected to a number of the branch conveyor belts (12); Steering devices (15) are provided at the vertical intersections of the capacitor conveyor belts. The steering devices (15) are used to switch the capacitor conveying direction; an electric control baffle is provided between the steering device (15) and the capacitor conveyor belt.

3. The control system of a capacitance energy - enabling device based on dynamic path planning according to claim 2, characterized in that: The steering device (15) includes a steering base (151), a lifting mechanism (152), a straight conveyor belt (153), and a steering conveyor belt (154). The lifting mechanism (152) is installed above the steering base (151). The straight conveyor belt (153) and the steering conveyor belt (154) are both installed on the lifting mechanism (152). The straight conveyor belt (153) and the steering conveyor belt (154) are driven by different motors and have different heights. The lifting mechanism (152) is used to change the height and switch between the straight conveyor belt (153) and the steering conveyor belt (154) connected to the capacitor conveyor belt. The steering base (151) can change the orientations of the straight conveyor belt (153) and the steering conveyor belt (154).

4. A control method for a capacitor energizing device based on dynamic path planning, applied to a control system for a capacitor energizing device based on dynamic path planning according to any one of claims 1-3 above, includes the following steps: Step S1: Set the basic data of each capacitor energizing device (31) and the conveying device. The basic data of the capacitor energizing device (31) includes the specification parameters and spatial layout information of each capacitor energizing device (31). The spatial layout information includes the positions of each capacitor energizing device (31), the distribution and connection relationships of each capacitor conveyor belt, and the current states of each steering device (15). Step S2: The capacitor detection module (2) detects the capacitors fed into the capacitor conveying network, obtains the basic data of the capacitors, and transmits the data to the central control module (5). The basic data of the capacitors includes: the specification parameters of the capacitors and the batch information of the capacitors. The specification parameters include the capacitance, withstand voltage value, and size of the capacitors. The batch information includes the production batch, production date, and quality grade requirements. Step S3: The central control module (5) plans the conveying path of the capacitors in the capacitor conveying network by using a dynamic path planning algorithm according to the capacitor basic data and the operating states of each capacitor energizing device (31) fed back by the energizing device monitoring module (4). Step S4: The capacitor conveying module (1) conveys the capacitors to the corresponding capacitor energizing devices (31) through each conveying device according to the planned path. Step S6: The capacitor energizing device (31) energizes the conveyed capacitors. The energizing device monitoring module (4) monitors the operating state of the capacitor energizing device (31) in real time and feeds the data back to the central control module (5). Step S7: The central control module (5) dynamically adjusts the capacitor conveying path and the working tasks of each capacitor energizing device (31) according to the information fed back by the energizing device monitoring module (4).

5. The control method of a capacitor energy supply device based on dynamic path planning according to claim 4, wherein: The step S3 includes: Step S3-1: For the same batch of capacitors, according to the obtained capacitor basic information, obtain the numbers of available capacitor energizing devices (31), and obtain the position information and current usage status of the capacitor energizing devices (31). Step S3-2: Generate a transportation plan according to the current position of the capacitor. The transportation plan includes the shortest transportation path for transporting the capacitor to each capacitor energizing device (31), and the estimated passing time points of each transportation device; Step S3-3: Calculate the time required for each transportation path according to the speeds of the capacitor conveyor belts on the path, the current states of each steering device (15), and the time required for state switching; Step S3-4: Take the transportation path with the shortest required time as the planned path.

6. The control method of a capacitor energy supply device based on dynamic path planning according to claim 5, wherein: When there are multiple batches of capacitors in the capacitor transportation network, when generating the transportation plan in Step S3-2, compare the transportation plans of different batches of capacitors, and mark the transportation plans with overlapping paths; the path overlap means passing through the same transportation device in the same time period; If the transportation path with the shortest required time calculated in Step S3-3 has a risk mark, bypass the path overlap node and regenerate the shortest transportation path as an alternative plan; compare it with the required times of other transportation plans, and reconfirm the transportation plan with the shortest required time.

7. The control method of a capacitor energy - enabling device based on dynamic path planning according to claim 6, wherein: If the adopted transportation plan has a risk mark, when it is detected that the capacitor moves to a point before the path divergence of the original transportation plan and the alternative plan, obtain the current positions of the other batch of capacitors with overlapping paths in the transportation plan and the current usage of the overlapping transportation device; calculate the time for the two batches of capacitors to reach the overlapping transportation device according to the original plan based on the currently updated data, execute the original plan for the capacitors with the shorter required time, and execute the alternative plan for the capacitors with the longer required time.

8. The control method of a capacitor energy supply device based on dynamic path planning according to claim 7, characterized in that: It further includes Step S7: Correct the basic data of each transportation device according to the new data generated during the capacitor transportation process, and detect whether the transportation device fails; The said Step S7 includes: Step S7-1: Obtain the time fed back by the capacitance detection module (2) when the capacitor arrives at each transportation device during the transportation process; Step S7-2: Calculate the actual required duration for the capacitor to pass through each transportation device; Step S7-3: Calculate the estimated required duration for passing through each transportation device according to the estimated time points for arriving at the transportation device estimated in the transportation plan, and store the estimated required duration as the basic data of the transportation device; Step S7-4: Compare the actual required duration for passing through each transportation device with the estimated required duration, calculate the duration difference, and summarize and generate a data set for statistics; Step S7-4: When the difference between the actual required duration and the estimated required duration for passing through a certain transportation device obtained by multiple calculations exceeds the preset warning threshold, if the actual required duration is less than the estimated required duration, assign the average value of the actually measured required durations to the estimated required duration of the transportation device; if the actual required duration is greater than the estimated required duration, send an alarm through the central control module (5) to notify the staff to go for maintenance.

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