Capacitive energizing device control system and method based on dynamic path planning

Abstract

The application discloses a kind of capacitors based on dynamic path planning's energizing device control system and method, including capacitor transport module, capacitor detection module, capacitor energizing module, energizing device monitoring module and central control module;The central control module with capacitor transport module, capacitor detection module, capacitor energizing module and energizing device monitoring module are all bidirectional connection;Capacitor energizing module includes capacitor energizing device and capacitor to be energized conveyor belt;The capacitor transport module includes the capacitor transport network of multiple transport devices;Capacitor detection module is used to detect the capacitor of each detection point of capacitor transport network by detection equipment, obtains the basic data of capacitor and feeds back position and time information;The specification parameters of capacitor and the batch information of capacitor are identified by shooting capacitor label;Energizing device monitoring module is used to monitor the running state of capacitor energizing device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of capacitor energizing device, and particularly to a capacitor energizing device control system and method based on dynamic path planning. BACKGROUND

[0002] In modern industrial production, as an important electronic component, the performance of the capacitor plays a key role in the quality of electronic products, and capacitor energization is an important link to ensure the performance of the capacitor. With the continuous improvement of industrial automation level, higher requirements are put forward for the efficiency, accuracy and intelligent degree of the capacitor energizing device control system.

[0003] At present, the traditional capacitor energizing device control system usually adopts fixed path planning and simple monitoring method when conveying a large number of capacitors for energization. In terms of path planning, it is mostly pre-set fixed route, which cannot be dynamically adjusted according to the real-time running state of the capacitor energizing device, the difference of capacitor specifications and the change of production tasks, and needs manual intervention for decision-making. Different capacitor specifications will lead to the distribution and transportation of capacitors to the corresponding capacitor energizing device, resulting in low efficiency of capacitor transportation and lack of intelligence. In the monitoring feedback link, the traditional system is difficult to comprehensively and real-timely obtain the running data of the capacitor energizing device, and cannot timely discover equipment failure or abnormal running state, so as to cannot quickly take effective measures, increasing the equipment maintenance cost and production interruption risk. In addition, when the system simultaneously processes multiple batches of capacitors with different specifications and quality requirements, the traditional control system lacks effective path conflict solving mechanism and resource optimization configuration strategy, so that the capacitors in each batch are prone to path overlap in the transportation process, resulting in occupation and congestion, etc. It may also cause capacitor collision and damage, seriously affecting production efficiency and capacitor quality. Therefore, it is urgent to develop a capacitor energizing device control system and method capable of realizing dynamic path planning, accurate monitoring and efficient resource allocation to meet the needs of modern industrial production. SUMMARY

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

[0005] The technical scheme of the present application is as follows:

[0006] A capacitor energizing device control system and method based on dynamic path planning, comprising a capacitor conveying 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 with the capacitor conveying module, the capacitor detection module, the capacitor energizing module and the energizing device monitoring module;

[0007] The capacitor energizing module comprises a capacitor energizing device and a capacitor conveying belt to be energized, two ends of the capacitor conveying belt are provided with a limited number of electrically controlled partitions, the number of the capacitors that can be accommodated between the two limited number of electrically controlled partitions is equal to the number of the capacitors that can be simultaneously energized by the capacitor energizing device at one time, both ends of the capacitor conveying belt are provided with photoelectric sensors, the photoelectric sensor away from the capacitor energizing device is used to detect whether the capacitors are full, and the photoelectric sensor close to the capacitor energizing device is used to detect whether the capacitors have completely left the capacitor conveying belt, and the photoelectric sensors are electrically connected with the limited number of electrically controlled partitions;

[0008] The capacitor conveying module comprises a capacitor conveying network composed of a plurality of conveying devices, and the capacitor conveying module can convey the capacitors sent into the system to different capacitor energizing devices, and also can transfer the capacitors between different capacitor energizing devices.

[0009] The capacitor detection module is used for detecting the capacitors passing through each detection point of the capacitor conveying network by a detection device, obtaining the basic data of the capacitors and feeding back the position and time information, and is provided with a detection camera for shooting the capacitor label, measuring the size and counting the number of capacitors in the same batch, and is provided with a photoelectric sensor for detecting whether there is a capacitor passing through, and the specification parameters and batch information of the capacitors are identified by shooting the capacitor label.

[0010] The energizing device monitoring module is used for monitoring the running state of the capacitor energizing device.

[0011] Further, the conveying device comprises a capacitor conveying belt, the capacitor conveying belt comprises a main conveying belt, a branch conveying belt, a transfer conveying belt and a discharging conveying belt, the capacitors to be energized are put into one end of the main conveying belt, a plurality of branch conveying belts are vertically connected on both sides of the main conveying belt, the capacitor energizing device is arranged on the branch conveying belt, and the discharging conveying belt is arranged at one end of the branch conveying belt away from the main conveying belt; the transfer conveying belt is vertically connected with a plurality of branch conveying belts.

[0012] A turning device is arranged at the vertical intersection of each capacitor conveying belt, and the turning device is used for switching the conveying direction of the capacitors; an electrically controlled baffle is arranged between the turning device and the capacitor conveying belt.

[0013] Further, the turning device comprises a turning base, a lifting mechanism, a straight conveying belt and a turning conveying belt, the lifting mechanism is installed above the turning base, the straight conveying belt and the turning conveying belt are both installed on the lifting mechanism, the straight conveying belt and the turning conveying belt are driven by different motors and have different heights; the lifting mechanism is used for changing the height and switching the straight conveying belt and the turning conveying belt connected with the capacitor conveying belt, and the turning base can change the orientation of the straight conveying belt and the turning conveying belt.

[0014] A capacitive energizing device control method based on dynamic path planning, applied to the capacitive energizing device control system based on dynamic path planning, comprising the following steps:

[0015] Step S1: Set the basic data of each capacitive energizing device and conveying device, the basic data of the capacitive energizing device includes the specification parameters and spatial layout information of each capacitive energizing device, the spatial layout information includes the position of each capacitive energizing device, the distribution and connection relationship of each capacitive conveying belt and the current state of each turning device; the specification parameters of the capacitive energizing device include the maximum energizing number, output voltage and output current; the basic data of the conveying device includes the starting speed and running speed of the capacitive conveying belt, the turning speed and height switching speed of the turning device;

[0016] Step S2: The capacitive detection module detects the capacitors sent into the capacitive 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 capacity, voltage resistance value and size of the capacitors; the batch information includes production batch, production date and quality grade requirement;

[0017] Step S3: The central control module plans the conveying path of the capacitors in the capacitive conveying network by using a dynamic path planning algorithm according to the capacitive basic data and the running state of each capacitive energizing device fed back by the energizing device monitoring module;

[0018] Step S4: The capacitive conveying module conveys the capacitors to the corresponding capacitive energizing device through each conveying device according to the planned path;

[0019] Step S5: The capacitive energizing device energizes the conveyed capacitors, the energizing device monitoring module monitors the running state of the capacitive energizing device in real time, and feeds back the data to the central control module;

[0020] Step S6: The central control module dynamically adjusts the capacitive conveying path and the work task of each capacitive energizing device according to the information fed back by the energizing device monitoring module.

[0021] Further, the step S3 comprises:

[0022] Step S3-1: For the same batch of capacitors, according to the obtained capacitive basic information, the available capacitive energizing device number is obtained, and the position information and current use state of the capacitive energizing device are obtained;

[0023] Step S3-2: According to the current position of the capacitors, a transportation scheme is generated, the transportation scheme includes the shortest conveying path of conveying the capacitors to each capacitive energizing device, and the estimated passing time point of passing through each conveying device;

[0024] Step S3-3: Calculate the required time of each transport path according to the speed of each capacitor transport belt on the path and the current state of each turning device and the time required for switching state;

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

[0026] Further, when there are multiple batches of capacitors in the capacitor transport network at the same time, when generating the transport scheme in step S3-2, the transport schemes of capacitors of different batches are compared, and the transport schemes with path overlap are marked as risky; the path overlap refers to passing through the same transport device at the same time period;

[0027] If the transport path with the shortest required time calculated in step S3-3 is marked as risky, bypass the path overlap node to regenerate the shortest transport path as an alternative scheme; compare the required time with other transport schemes to reconfirm the transport scheme with the shortest required time.

[0028] Further, if the adopted transport scheme is marked as risky, when it is detected that the capacitor moves to the path divergence point of the original transport scheme and the alternative scheme, obtain the current location of the other batch of capacitors in the transport scheme with path overlap and the current use of the overlapping transport device; calculate the time for the two batches of capacitors to reach the overlapping transport device according to the original scheme according to the updated data, and execute the original scheme for the capacitors with shorter required time and execute the alternative scheme for the capacitors with longer required time.

[0029] Further, it further includes step S7: according to the new data generated in the capacitor transport process, correct the basic data of each transport device, and detect whether the transport device fails;

[0030] The step S7 includes:

[0031] Step S7-1: Obtain the time fed back by the capacitor detection module when the capacitor reaches each transport device in the capacitor transport process;

[0032] Step S7-2: Calculate the actual required time length of the capacitor passing through each transport device;

[0033] Step S7-3: Calculate the estimated required time length of the capacitor passing through each transport device according to the estimated time point of reaching the transport device estimated by the transport scheme, and store the estimated required time length as the basic data of the transport device;

[0034] Step S7-4: Compare the actual required time length and the estimated required time length of passing through each transport device, calculate the time length difference, and generate a data set for statistics;

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

[0036] Compared with the prior art, the beneficial effects of the present application are: in view of the problems of low efficiency of traditional fixed path planning, easy idling or blockage of equipment, the system collects data in real time through the capacitance detection module and the energized device monitoring module, and the central control module uses a dynamic path planning algorithm, combines the conveying belt speed and the state of the steering device, intelligently plans the shortest conveying path, and realizes efficient scheduling of capacitance conveying; in view of the problem that the traditional system is prone to path overlap when processing multiple batches of capacitors, leading to damage to the capacitors, the scheme compares the paths of different batches when developing the transportation scheme, marks the risk area, dynamically adjusts the path, and real-time monitors the position and equipment state during transportation, flexible decision-making and execution of the scheme, to ensure the quality of the capacitors and production efficiency; in view of the problem of insufficient monitoring feedback and lagging equipment maintenance, the system compares the actual and estimated time length based on the capacitance conveying time data, automatically judges the equipment state when the threshold value is exceeded, or updates the parameters, or sends an alarm, realizes accurate maintenance of the conveying equipment, and reduces faults and costs. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0039] Figure 3 is a system architecture diagram of a capacitance energized device control system based on dynamic path planning of the present application

[0040] Figure 4 is a step schematic diagram of a capacitance energized device control method based on dynamic path planning of the present application.

[0041] 1-capacitance conveying module, 11-main conveying belt, 12-branch conveying belt, 13-transfer conveying belt, 14-discharge conveying belt, 15-steering device, 151-steering base, 152-lifting mechanism, 153-straight conveying belt, 154-steering conveying belt; 2-capacitance detection module; 3-capacitance energizing module, 31-capacitance energized device, 32-capacitance conveying belt to be energized, 33-number-limiting electric control partition; 4-energized device monitoring module; 5-central control module. DETAILED DESCRIPTION

[0042] The exemplary embodiments will be described in detail hereinbelow with reference to the drawings. In the following description, the same numbers refer to the same or similar elements throughout the drawings. The embodiments described in the following exemplary embodiments are not meant to represent all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatuses consistent with some aspects of the present disclosure as detailed in the appended claims.

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0044] As shown in Figures 1-3 The present application provides a capacitive energizing device control system based on dynamic path planning, which comprises a capacitive conveying module 1, a capacitive detection module 2, a capacitive energizing module 3, an energizing device monitoring module 4 and a central control module 5; the central control module 5 is bidirectionally connected with the capacitive conveying module 1, the capacitive detection module 2, the capacitive energizing module 3 and the energizing device monitoring module 4;

[0045] The capacitive energizing module 3 comprises a capacitive energizing device 31 and a capacitive conveying belt 32 to be energized, and a plurality of number-limiting electric control partitions 33 are arranged at both ends of the capacitive conveying belt 32 to be energized, and the number of capacitors that can be accommodated between the two number-limiting electric control partitions 33 is equal to the number of capacitors that can be simultaneously energized by the capacitive energizing device 31 of the target to be conveyed by the capacitive conveying belt 32 to be energized in a single time, photoelectric sensors are arranged at both ends of the capacitive conveying belt 32 to be energized, the photoelectric sensor at the end away from the capacitive energizing device 31 is used to detect whether the capacitors are full, and the photoelectric sensor at the end close to the capacitive energizing device 31 is used to detect whether the capacitors have completely left the capacitive conveying belt 32 to be energized, and the photoelectric sensors are electrically connected with the number-limiting electric control partitions 33;

[0046] The capacitive conveying module 1 comprises a capacitive conveying network composed of a plurality of conveying devices, and the capacitive conveying module 1 can convey the capacitors sent into the system to different capacitive energizing devices 31, and also can transfer the capacitors between different capacitive energizing devices 31;

[0047] The capacitor detection module 2 is used for detecting the capacitor passing through each detection point of the capacitor conveying network by a detection device, obtaining the basic data of the capacitor and feeding back the position and time information; the detection device is provided with a detection camera for shooting the capacitor label, measuring the size and counting the number of capacitors in the same batch, and identifying the specification parameters and batch information of the capacitor by shooting the capacitor label; the detection device is provided with a photoelectric sensor for detecting whether there is a capacitor passing through and counting the number of capacitors passing through; the data detected by the capacitor detection module 2 is fed back to the central control module 5;

[0048] The energizing device monitoring module 4 is used for monitoring the running state of the capacitor energizing device 31; by detecting the capacitor voltage, comparing the measured capacitor voltage with the expected energizing voltage, evaluating the energizing progress of the current batch of capacitors, predicting how long the capacitor energizing device 31 needs to be idle, and connecting with the fault alarm device of the capacitor energizing device 31, monitoring whether the capacitor energizing device 31 fails.

[0049] Further, the conveying device comprises a capacitor conveying belt, the capacitor conveying belt comprises a main conveying belt 11, a branch conveying belt 12, a transfer conveying belt 13 and a discharge conveying belt 14, the capacitors to be energized are put in from one end of the main conveying belt 11, a plurality of branch conveying belts 12 are vertically connected on both sides of the main conveying belt 11, the capacitor energizing device 31 is arranged on the branch conveying belt 12, and the discharge conveying belt 14 is arranged at one end of the branch conveying belt 12 away from the main conveying belt 11; the transfer conveying belt 13 is vertically connected with a plurality of branch conveying belts 12;

[0050] A turning device 15 is arranged at the vertical intersection of each capacitor conveying belt, and the turning device 15 is used for switching the conveying direction of the capacitor; an electric control baffle is arranged between the turning device 15 and the capacitor conveying belt.

[0051] Further, the turning device 15 comprises a turning base 151, a lifting mechanism 152, a straight conveying belt 153 and a turning conveying belt 154, the lifting mechanism 152 is installed above the turning base 151, the straight conveying belt 153 and the turning conveying belt 154 are both installed on the lifting mechanism 152, the straight conveying belt 153 and the turning conveying belt 154 are driven by different motors, and the heights of the straight conveying belt 153 and the turning conveying belt 154 are different; the lifting mechanism 152 adopts a pneumatic cylinder, and is used for changing the height and switching the straight conveying belt 153 and the turning conveying belt 154 connected with the capacitor conveying belt; the turning base 151 is driven to rotate by a motor, and the turning base 151 can change the orientation of the straight conveying belt 153 and the turning conveying belt 154.

[0052] As Figure 4As shown, a capacitive energizing device control method based on dynamic path planning is applied to the capacitive energizing device control system based on dynamic path planning, and comprises the following steps:

[0053] Step S1: Set the basic data of each capacitive energizing device 31 and the conveying device, the basic data of the capacitive energizing device 31 includes the specification parameters and spatial layout information of each capacitive energizing device 31, the spatial layout information includes the position of each capacitive energizing device 31, the distribution and connection relationship of each capacitive conveying belt and the current state of each turning device 15; the specification parameters of the capacitive energizing device 31 include the maximum energizing number, output voltage and output current; the basic data of the conveying device includes the starting speed and running speed of the capacitive conveying belt, the turning speed and height switching speed of the turning device;

[0054] Step S2: The capacitive detection module 2 detects the capacitors sent into the capacitive 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 capacity, voltage value and size of the capacitors; the batch information includes production batch, production date and quality grade requirement;

[0055] Step S3: The central control module 5 plans the conveying path of the capacitors in the capacitive conveying network according to the capacitive basic data and the running state of each capacitive energizing device 31 fed back by the energizing device monitoring module 4, using a dynamic path planning algorithm;

[0056] Step S4: The capacitive conveying module 1 conveys the capacitors to the corresponding capacitive energizing device 31 through each conveying device according to the planned path;

[0057] Step S5: The capacitive energizing device 31 energizes the capacitors conveyed, the energizing device monitoring module 4 monitors the running state of the capacitive energizing device 31 in real time, and feeds back the data to the central control module 5;

[0058] Step S6: The central control module 5 dynamically adjusts the capacitive conveying path and the work task of each capacitive energizing device 31 according to the information fed back by the energizing device monitoring module 4.

[0059] Further, the step S3 comprises:

[0060] Step S3-1: For capacitors of the same batch, according to the obtained capacitive basic information, obtain the available capacitive energizing device 31 number, obtain the position information and current use state of the capacitive energizing device 31;

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

[0062] Step S3-3: Calculate the time required for each conveying path based on the speed of each capacitor conveyor belt on the path and the current state and switching time of each steering device 15.

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

[0064] Furthermore, when multiple batches of capacitors exist simultaneously in the capacitor delivery network, during the generation of the transportation plan in step S3-2, the transportation plans of different batches of capacitors are compared, and risk marking is applied to transportation plans with overlapping paths; the overlapping paths refer to passing through the same transportation device in the same time period.

[0065] If the shortest transport path calculated in step S3-3 has a risk marker, the shortest transport path is regenerated by bypassing the overlapping nodes as an alternative; the transport path with the shortest required time is compared with the transport path with other transport paths to reconfirm the transport path with the shortest required time.

[0066] Furthermore, if the adopted transportation plan has a risk marker, when it is detected that the capacitor has moved to the path divergence point between the original transportation plan and the alternative plan, the current location of another batch of capacitors with overlapping paths and the current usage status of the overlapping transportation device are obtained; based on the currently updated data, the time for the two batches of capacitors to arrive at the overlapping transportation device according to the original plan is calculated, the original plan is executed for the capacitors with shorter required time, and the alternative plan is executed for the capacitors with longer required time.

[0067] Furthermore, it also includes step S7: based on the new data generated during the capacitor delivery process, correct the basic data of each delivery device, and detect whether the delivery device has malfunctioned;

[0068] Step S7 includes:

[0069] Step S7-1: Obtain the feedback time from the capacitance detection module 2 when the capacitor arrives at each conveying device during the capacitor conveying process;

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

[0071] Step S7-3: Calculate the estimated time required to pass through each conveying device based on the estimated arrival time of the conveying device in the transportation plan, and store the estimated time required as the basic data of the conveying device.

[0072] Step S7-4: Compare the actual required time with the estimated required time for each conveying device, calculate the time difference, and compile the data to generate a dataset for statistical analysis.

[0073] Step S7-4: When the difference between the actual required time and the estimated required time of a certain conveying device is found to exceed the preset warning threshold after multiple calculations, if the actual required time is less than the estimated required time, the average of the multiple measured actual required times is assigned to the estimated required time of the conveying device; if the actual required time is greater than the estimated required time, an alarm is issued through the central control module 5 to notify the staff to go for maintenance.

[0074] The beneficial effects of the capacitor-enabling device control system and method based on dynamic path planning of this invention are as follows: Addressing the problems of low capacitor delivery efficiency and easy equipment idleness or blockage caused by traditional fixed path planning, this system collects data in real time through a capacitor detection module and an empowerment device monitoring module. The central control module uses a dynamic path planning algorithm, combined with the conveyor belt speed and the status of the steering device, to intelligently plan the shortest delivery path, achieving efficient scheduling of capacitor delivery. Addressing the problem of path overlap and capacitor collision damage that easily occurs when traditional systems handle multiple batches of capacitors, this solution compares the paths of different batches during transportation plan formulation, marks risk areas, dynamically adjusts the path, and monitors the location and equipment status in real time during transportation, flexibly deciding on the execution plan to ensure capacitor quality and production efficiency. Addressing the problems of insufficient monitoring feedback and lagging equipment maintenance in traditional systems, the system compares the actual and estimated durations based on capacitor delivery time data. When a threshold is exceeded, it automatically judges the equipment status, updates parameters, or issues an alarm, achieving precise maintenance of the conveying equipment and reducing failures and costs.

[0075] The foregoing examples are merely illustrative, used to explain some features of the method described in this invention. The appended claims are intended to claim the broadest possible scope, and the embodiments presented herein are merely illustrative of selected implementations based on combinations of all possible embodiments. Therefore, the applicant intends that the appended claims are not limited by the selection of examples illustrating the features of the invention. Some numerical ranges used in the claims also include sub-ranges within them, and variations within these ranges should also be interpreted as being covered by the appended claims where possible.

Claims

1. A capacitive energizing device control system based on dynamic path planning, characterized by: The application relates to a capacitor processing system, which comprises a capacitor conveying module (1), a capacitor detecting 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 with the capacitor conveying module (1), the capacitor detecting module (2), the capacitor energizing module (3) and the energizing device monitoring module (4); The capacitor energizing module (3) comprises a capacitor energizing device (31) and a capacitor conveying belt to be energized; a limited number of electric control partitions (33) are arranged at the two ends of the capacitor conveying belt to be energized; the number of the accommodated capacitors between the two limited number of electric control partitions (33) is equal to the number of the capacitors that can be simultaneously energized by the capacitor energizing device (31) at one time; photoelectric sensors are arranged at the two ends of the capacitor conveying belt to be energized; the photoelectric sensor away from the capacitor energizing device (31) is used for detecting whether the capacitors are full; the photoelectric sensor close to the capacitor energizing device (31) is used for detecting whether the capacitors have completely left the capacitor conveying belt to be energized; the photoelectric sensors are electrically connected with the limited number of electric control partitions (33); The capacitor conveying module (1) comprises a capacitor conveying network composed of a plurality of conveying devices; the capacitor conveying module (1) can convey the capacitors sent into the system to different capacitor energizing devices (31) and can also transfer the capacitors between different capacitor energizing devices (31); The capacitor detecting module (2) is used for detecting the capacitors passing through each detection point of the capacitor conveying network by a detection equipment, acquiring the basic data of the capacitors and feeding back the position and time information; a detection camera is arranged for shooting the capacitor label, measuring the size and counting the number of capacitors in the same batch; A photoelectric sensor is arranged for detecting whether the capacitors pass through; The energizing device monitoring module (4) is used for monitoring the running state of the capacitor energizing device (31); The conveying device comprises a capacitor conveying belt, the capacitor conveying belt comprises a main conveying belt (11), branch conveying belts (12), a transfer conveying belt (13) and a discharging conveying belt (14); the capacitors to be energized are put into from one end of the main conveying belt (11); a plurality of branch conveying belts (12) are vertically connected on the two sides of the main conveying belt (11); the capacitor energizing device (31) is arranged on the branch conveying belt (12); the discharging conveying belt (14) is arranged at the end of the branch conveying belt (12) away from the main conveying belt (11); the transfer conveying belt (13) is vertically connected with a plurality of branch conveying belts (12); A turning device (15) is arranged at the vertical intersection of each capacitor conveying belt; the turning device (15) is used for switching the capacitor conveying direction; an electric control baffle is arranged between the turning device (15) and the capacitor conveying belt.

2. A capacitive powering device control system based on dynamic path planning as claimed in claim 1 characterized by: The turning device (15) comprises a turning base (151), a lifting mechanism (152), a straight conveying belt (153) and a turning conveying belt (154), the lifting mechanism (152) is installed above the turning base (151), the straight conveying belt (153) and the turning conveying belt (154) are both installed on the lifting mechanism (152), the straight conveying belt (153) and the turning conveying belt (154) are driven by different motors and have different heights; the lifting mechanism (152) is used for changing the height, switching the straight conveying belt (153) and the turning conveying belt (154) connected with the capacitive conveying belt, and the turning base (151) can change the orientations of the straight conveying belt (153) and the turning conveying belt (154).

3. A capacitive energizing device control method based on dynamic path planning, applied to the capacitive energizing device control system based on dynamic path planning in any one of claims 1-2, comprising the following steps: Step S1: setting the basic data of each capacitive energizing device (31) and the conveying device, the basic data of the capacitive energizing device (31) comprising the specification parameters and spatial layout information of each capacitive energizing device (31), the spatial layout information comprising the positions of each capacitive energizing device (31), the distribution and connection relationship of each capacitive conveying belt and the current state of each turning device (15); Step S2: the capacitive detection module (2) detects the capacitors sent into the capacitive 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 comprises the specification parameters and batch information of the capacitors, the specification parameters comprising the capacity, voltage resistance value and size of the capacitors; the batch information comprises the production batch, production date and quality grade requirement; Step S3: the central control module (5) plans the conveying path of the capacitors in the capacitive conveying network by using a dynamic path planning algorithm according to the capacitive basic data and the running state of each capacitive energizing device (31) fed back by the energizing device monitoring module (4); Step S4: the capacitive conveying module (1) conveys the capacitors to the corresponding capacitive energizing device (31) through each conveying device according to the planned path; Step S5: the capacitive energizing device (31) energizes the conveyed capacitors, the energizing device monitoring module (4) monitors the running state of the capacitive energizing device (31) in real time, and feeds back the data to the central control module (5); Step S6: the central control module (5) dynamically adjusts the capacitive conveying path and the working task of each capacitive energizing device (31) according to the information fed back by the energizing device monitoring module (4).

4. The method of claim 3, wherein: The step S3 comprises: Step S3-1: for the same batch of capacitors, according to the obtained capacitive basic information, the number of available capacitive energizing devices (31) is obtained, and the position information and current use state of the capacitive energizing devices (31) are obtained; Step S3-2: generating a transport scheme according to the current location of the capacitors, the transport scheme including the shortest transport path for transporting the capacitors to each capacitor energizing device (31) and the estimated time point of passing through each transport device; Step S3-3: calculating the time required for each transport path according to the speed of each capacitor transport belt on the path and the current state of each turning device (15) and the time required for switching state; Step S3-4: taking the transport path with the shortest required time as the planned path.

5. The capacitive power enabled device control method based on dynamic path planning of claim 4, wherein: When multiple batches of capacitors exist in the capacitor transport network at the same time, the transport schemes of capacitors of different batches are compared when generating the transport scheme in step S3-2, and the transport scheme with path overlap is marked as risky; the path overlap refers to passing through the same transport device at the same time period; If the transport path with the shortest required time calculated in step S3-3 is marked as risky, a new shortest transport path is generated as an alternative scheme by bypassing the path overlap node; the transport scheme with the shortest required time is re-confirmed by comparing the required time with other transport schemes.

6. The method of claim 5, wherein: If the adopted transport scheme is marked as risky, when the capacitor moves to the path divergence point of the original transport scheme and the alternative scheme, the current location of the other batch of capacitors with path overlap and the current use of the overlapped transport device are obtained; the time for the two batches of capacitors to reach the overlapped transport device according to the original scheme is calculated according to the updated data, and the capacitor with shorter required time is executed according to the original scheme, and the capacitor with longer required time is executed according to the alternative scheme.

7. The method of claim 6, wherein: Further comprising step S7: correcting the basic data of each transport device according to the new data generated in the capacitor transport process, and detecting whether the transport device fails; The step S7 comprises: Step S7-1: obtaining the time feedback by the capacitor detection module (2) when the capacitor reaches each transport device during the capacitor transport process; Step S7-2: calculating the actual required time length of the capacitor passing through each transport device; Step S7-3: calculating the estimated required time length of the capacitor passing through each transport device according to the estimated time point of reaching the transport device estimated by the transport scheme, and storing the estimated required time length as the basic data of the transport device; Step S7-4: comparing the actual required time length with the estimated required time length of passing through each transport device, calculating the time difference, and generating a data set for statistics; Step S7-4: when the time difference between the actual required time length and the estimated required time length of passing through a certain transport device is calculated multiple times and exceeds the preset warning threshold, if the actual required time length is less than the estimated required time length, the average of the actual required time length measured multiple times is assigned to the estimated required time length of the transport device; if the actual required time length is greater than the estimated required time length, an alarm is sent through the central control module (5) to notify the staff to go for repair.

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