Rapid distribution system, cargo distribution method and electric control system

Abstract

The invention provides a rapid distribution system, a cargo distribution method and an electric control system. The rapid distributing system comprises a conveyor, a photoelectric recognizer, a single-arm horizontal distributor and a sorting groove, the swing arm moves to the first preset position while the goods to be distributed reach the first preset position, swings back after making contact with the goods to be distributed and keeps in the contact state with the goods to be distributed, and therefore the goods to be distributed are conveyed to the conveyor. Goods to be distributed enter the sorting groove under the combined action of the main conveying belt, the auxiliary conveying belt and the small swing arm acting force. By using the rapid distribution system provided by the invention, the cargo distribution speed can be obviously improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics management, and in particular to a rapid diversion system, a cargo diversion method and an electronic control system. Background Art

[0002] The single-arm horizontal diverter is a commonly used diverter device in logistics management. Its function is similar to that of commonly used vertical diverters, push-arm sorters and other diverter equipment, which is to guide the goods into another conveyor line or chute.

[0003] However, the cargo diversion time of the single-arm horizontal diverter is long, and the amount of cargo that can be processed per unit time is insufficient. It can only be used as a backup line for diversion in actual scenarios with high throughput and strong timeliness, such as civil aviation airport cargo handling systems, large e-commerce warehouse sorting systems, and pharmaceutical warehouse automated sorting systems. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a rapid diversion system, a cargo diversion method and an electronic control system, which solves the problem in the existing technology that the diversion speed of the single-arm horizontal diverter is difficult to be effectively applied to actual scenarios with high throughput and strong timeliness.

[0005] According to an embodiment of the present invention, a first aspect provides a rapid diversion system, comprising:

[0006] Conveyors, including main conveyor belts for placing goods;

[0007] A plurality of photoelectric identifiers are arranged at intervals on the side of the main conveyor belt for identifying the goods;

[0008] A single-arm horizontal diverter includes a swing arm on which an auxiliary conveyor belt is installed, and the single-arm horizontal diverter is arranged on one side of the main conveyor belt;

[0009] A sorting trough is provided on the other side of the main conveyor belt and is opposite to the single-arm horizontal diverter;

[0010] The swing arm moves to the first preset position when the goods to be diverted arrive at the first preset position, swings back after contacting the goods to be diverted and maintains contact with the goods to be diverted. When the swing arm is at the first preset position, it is perpendicular to the conveying direction of the main conveyor belt and is located in the sorting slot.

[0011] Optionally, when the swing arm swings back after contacting the goods to be diverted, it first swings back to the second preset position and then continues to swing back to the initial position or moves back to the first preset position;

[0012] In which, the sorting trough includes a first side and a second side perpendicular to the main conveyor belt, and the first side, the second side and the main conveyor belt constitute a sorting port; when the swing arm is located at the first preset position, it is perpendicular to the conveying direction of the main conveyor belt, located in the sorting trough and close to the first side, and when the swing arm is located at the second preset position, it contacts the second side.

[0013] Optionally, it includes at least a first target photoelectric identifier and a second target photoelectric identifier; the first target photoelectric identifier is close to one end of the swing arm located at the initial position, and the second target photoelectric identifier is arranged at the other end of the swing arm located at the initial position;

[0014] Among them, one end of the swing arm located at the initial position is close to the input end of the main conveyor belt, and the other end of the swing arm located at the initial position is close to the output end of the main conveyor belt.

[0015] Optionally, the required movement range of the swing arm is Q, the length of the swing arm is P+Q, the minimum distance between one end of the swing arm at the initial position and the first target photoelectric identifier is NQ, the spacing between adjacent goods is MQ, the time for the swing arm at the second preset position to swing back to the initial position is t2, the time for the swing arm at the initial position to move to the first preset position is t3, and the time for the goods to be diverted from contacting the swing arm to completely entering the sorting slot is t1;

[0016] Among them, NQ≥v1t3, M≥v1(t2+t1), MN≥v1t1, M≥N+P, v1 is the conveyor belt speed of the main conveyor belt.

[0017] Optionally, the time for the swing arm located at the first preset position to swing back to the second preset position is less than or equal to t1.

[0018] Optionally, it further comprises a third target photoelectric identifier provided at the sorting port;

[0019] Wherein, the recognition light beam of the third target photoelectric identifier is perpendicular to the first side and the second side.

[0020] A second aspect provides a cargo diversion method, using the above-mentioned rapid diversion system, the method comprising:

[0021] When the current cargo is identified as the cargo to be diverted, the swing arm of the single-arm horizontal diverter is controlled to move to the first preset position when the current cargo reaches the first preset position, and after contacting the current cargo, it swings back and maintains contact with the current cargo.

[0022] Optionally, the current cargo is the nth cargo, and the controlling the swing arm to swing back includes:

[0023] S11. Based on the result that the nth item is identified as the item to be diverted, controlling the swing arm to swing back to the second preset position within a time limit of t1, wherein the time limit of t1 allows the sorting of the nth item to be completed when the swing arm swings back to the second preset position, and the (n+1)th item is identified;

[0024] S12, control the swing arm to continue to swing back, wherein, if the n+1th cargo is not diverted cargo, the swing arm swings back to the initial position from the second preset position within a time limit of t2, and the interval between the n+2th cargo and the n+1th cargo is such that when the n+1th cargo reaches the end of the single-arm horizontal diverter, the n+2th cargo is identified. If the n+2th cargo is not diverted cargo, the swing arm is kept at the initial position until the n+kth cargo is identified as diverted cargo, and the swing arm is controlled to swing from the initial position to the first preset position within a time limit of t3, and then the cargo is returned to the initial position according to the time limit of t3. According to the recognition result that the n+kth cargo is the cargo to be diverted, the swing arm is controlled to swing back according to S11. If the n+2th cargo is the diverted cargo, the swing arm is controlled to swing from the initial position to the first preset position within a time limit of t3, and according to the recognition result that the n+2th cargo is the cargo to be diverted, the swing arm is controlled to swing back according to S11; if the n+1th cargo is the cargo to be diverted, the swing arm is controlled to swing from the second preset position to the first preset position within a time limit of t1, and according to the recognition result that the n+1th cargo is the cargo to be diverted, the swing arm is controlled to swing back according to S11.

[0025] Optionally, if the single-arm horizontal diverter is started for the first time, the first cargo is set as the non-diverted cargo, the second cargo is set as the cargo to be diverted, and the interval between the first cargo and the second cargo is such that when the first cargo reaches the end of the single-arm horizontal diverter, the second cargo is identified, and the result that the second cargo is the cargo to be diverted is obtained, and the swing arm of the single-arm horizontal diverter is started, and the swing arm of the single-arm horizontal diverter is controlled to move from the initial position to the first preset position within the time limit of t3.

[0026] A third aspect provides an electronic control system comprising a central control unit, a swing arm belt motor control module, a swing arm motor control module, and a conveyor running motor control module connected to the central control unit; the central control unit is connected to the rapid diversion system described above and implements the cargo diversion method described above;

[0027] Among them, the central control unit receives the photoelectric identification data provided by multiple photoelectric identifiers in the rapid diversion system and the swing arm movement data of the single-arm horizontal diverter, controls the speed of the auxiliary conveyor belt through the swing arm belt motor control module, controls the swing arm movement of the single-arm horizontal diverter through the swing arm motor control module, and controls the speed of the main conveyor belt through the conveyor running motor control module.

[0028] The technical principle of this invention is that the swing arm moves to the first preset position when the goods to be diverted reach it. After contacting the goods, it swings back and maintains contact with the goods to be diverted. As a result, the goods to be diverted enter the sorting trough under the combined action of the main conveyor belt, the auxiliary conveyor belt, and the relatively small force of the swing arm, achieving rapid diversion of the goods to be diverted. Compared with existing technologies, the rapid diversion system provided by this invention can significantly improve the speed of cargo diversion. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a rapid diversion system according to an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of a rapid diversion system according to an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of a rapid diversion system according to an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of an actual application scenario of the rapid diversion system according to an embodiment of the present invention;

[0033] Figure 5 A schematic diagram of an actual application scenario of the rapid diversion system according to an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the actual application scenario of the conventional diversion system;

[0035] Figure 7 This is a schematic diagram of the movement trajectory of goods in a conventional diversion system;

[0036] Figure 8 A schematic diagram of the speed decomposition of goods in the rapid diversion system according to an embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram of the force decomposition of goods in the rapid diversion system according to an embodiment of the present invention;

[0038] Figure 10 This is the simulation result diagram of the diversion velocity of the conventional diversion system;

[0039] Figure 11 This is a diagram showing the simulation results of the diversion velocity of the rapid diversion system according to an embodiment of the present invention;

[0040] Figure 12 This is a comparison chart of the distance between adjacent goods and time in the conventional diversion system;

[0041] Figure 13 This is a comparison diagram of the distance between adjacent goods and time in the rapid diversion system according to an embodiment of the present invention;

[0042] Figure 14 Schematic diagram of the swing arm motion cycle in the cargo diversion method according to an embodiment of the present invention;

[0043] Figure 15 Schematic diagram of the structure of the electronic control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0045] like Figure 1 and Figure 2 As shown, the embodiment of the present invention proposes a rapid diversion system, including a conveyor 100, a photoelectric identifier 200, a single-arm horizontal diverter 300 and a sorting trough 400. The conveyor 100 includes a main conveyor belt 101 for placing goods; a plurality of photoelectric identifiers are arranged on the side of the main conveyor belt 101, and Figure 1 The example shows two photoelectric identifiers, namely the first target photoelectric identifier 201 and the second target photoelectric identifier 202, and the identification beams of the photoelectric identifiers are represented by long and short dash lines; the single-arm horizontal diverter 300 includes a swing arm 301 equipped with an auxiliary conveyor belt, and the entire single-arm horizontal diverter 300 is arranged on one side of the main conveyor belt 101, and the sorting trough 400 is arranged on the other side of the main conveyor belt 101, so that the sorting trough 400 is opposite to the position of the single-arm horizontal diverter 300.

[0046] The detailed working process of this embodiment is as follows: the swing arm 301 moves to the first preset position d1 when the cargo H1 to be diverted reaches the first preset position d1, wherein, Figure 2 As shown, the dashed-line boundary diagram represents the initial position of the swing arm 301, and the solid-line boundary diagram represents the swing arm 301 performing diversion, that is, the swing arm 301 is located at the first preset position d1, perpendicular to the conveying direction A→B of the main conveyor belt 101, located in the sorting trough 400, and after contacting the goods H1 to be diverted, it swings back and maintains contact with the goods H1 to be diverted. Figure 2 The arrows in the figure also illustrate the diversion action of the swing arm 301. ① represents the swing arm 301 moving to the first preset position d1, and ② represents the swing arm 301 swinging back after contacting the cargo H1 to be diverted. Consequently, the cargo H1 to be diverted enters the sorting trough 400 under the combined action of the main conveyor belt 101, the auxiliary conveyor belt, and the relatively small force of the swing arm, achieving rapid diversion of the cargo to be diverted.

[0047] like Figure 3As shown, in one embodiment, the swing arm 301's swing back movement is divided into two parts: one part is to first swing back to the second preset position d2, and the other part is to swing back to the initial position d0 or move back to the first preset position d1, depending on whether the next item is a to-be-diverted item. If the next item is a to-be-diverted item, the swing arm 301 will move back to the first preset position d1; if the next item is not to be diverted, the swing arm 301 will swing back to the initial position d0.

[0048] In the embodiment of the present invention, the first preset position d1 and the second preset position d2 are related to the position of the sorting slot. Figure 3 As shown, the sorting trough 400 includes a first side 401 and a second side 402 that are perpendicular to the main conveyor belt 101. The first side 401, the second side 402, and the main conveyor belt 101 form a sorting opening 403. In a preferred implementation, when the swing arm 301 is at the first preset position d1, it is perpendicular to the conveying direction A→B of the main conveyor belt 101, located within the sorting trough 400 and close to the first side 401. When the swing arm 301 is at the second preset position d2, it contacts the second side 402.

[0049] It should be noted that, when the swing arm 301 is located at the second preset position d2, the angle between the swing arm 301 and the second side 402 is 90°+45°=135°.

[0050] In addition, in a better implementation, the photoelectric identifier is set at a key position to timely identify whether the current goods are goods to be diverted, ensuring the normal operation of the rapid diversion system. Figures 1 to 3 As shown, it includes at least a first target photoelectric identifier 201 and a second target photoelectric identifier 202; the first target photoelectric identifier 201 is close to one end of the swing arm located at the initial position, and the second target photoelectric identifier 202 is set at the other end of the swing arm located at the initial position; it should be noted that, Figures 1 to 3 In the conveying direction of the main conveyor belt is A→B, where A is the input end of the main conveyor belt and B is the output end of the main conveyor belt. Figure 1 It is exemplarily marked that one end a of the swing arm at the initial position is close to the input end A of the main conveyor belt, and the other end b of the swing arm at the initial position is close to the output end B of the main conveyor belt.

[0051] In a specific application, information about whether the swing arm is at the first preset position or the second preset position can be obtained by monitoring the swing angle of the swing arm. Alternatively, a third target photoelectric identifier can be provided at the sorting port, wherein the third target photoelectric identifier identifies a light beam perpendicular to the first side and the second side. The third target photoelectric identifier can be used to directly monitor whether the swing arm is at the first preset position or the second preset position.

[0052] according to Figures 1 to 3 The structure of the rapid diversion system shown in Figure 4 As shown, the embodiment of the present invention is based on a rapid diversion system and illustrates the rapid diversion process by processing three pieces of cargo in an actual application scenario, as follows:

[0053] Goods H3 and H2 pass through normally and are not diverted; Goods H1 is the goods to be diverted. After leaving the second target photoelectric identifier, goods H1 arrives at the first target photoelectric identifier 201. The recognition beam of the first target photoelectric identifier 201 is blocked, and the swing arm 301 of the single-arm horizontal diverter quickly swings to the first preset position d1. Goods H1 also reaches the first preset position d1. The swing arm 301 contacts the goods H1, so that goods H1 obtains a downward speed under the action of the auxiliary conveyor belt of the swing arm 301 and moves toward the sorting port; at the same time, the swing arm 301 swings back to the second preset position d2 at a certain speed. In this process, goods H1 moves quickly to the sorting port under the combined action of the swing arm's swinging motion, the swing arm's auxiliary conveyor belt, and the conveyor's main conveyor belt. Figure 4 Then, the cargo H2 contacts the recognition beam of the first target photoelectric identifier 201, and the swing arm swings back from the second preset position d2 to the initial position d0 or moves back to the first preset position d1, completing a rapid diversion action.

[0054] Based on the above-mentioned rapid diversion process, the rapid diversion system of the embodiment of the present invention uses a single-arm horizontal diverter for rapid diversion, which must meet the following conditions:

[0055] 1) When cargo H3 reaches the end of the single-arm horizontal diverter, cargo H1 can reach the position of the first target photoelectric identifier, thereby blocking the photoelectric rear swing arm of the first target photoelectric identifier and starting to swing;

[0056] 2) Before the cargo H1 contacts the swing arm at the first preset position, the swing arm is in place and the auxiliary conveyor belt of the swing arm is operating normally;

[0057] 3) The swing arm of the single-arm horizontal diverter swings back at a certain speed and keeps the cargo H1 in contact with the swing arm;

[0058] 4) After the cargo H1 has completely entered the sorting slot, the cargo H2 can contact the first photoelectric identifier, causing the swing arm to swing back from the second preset position to the initial position or move back to the first preset position.

[0059] like Figure 5As shown, the embodiment of the present invention also marks the dimensions of the provided rapid diversion system, wherein the required movement range of the swing arm is Q, the length of the swing arm is P+Q, the minimum distance between one end a of the swing arm at the initial position and the first target photoelectric identifier is NQ, the spacing between adjacent goods is MQ, the time it takes for the swing arm at the second preset position to swing back to the initial position is t2, the time it takes for the swing arm at the initial position to move to the first preset position is t3, and the time it takes for the goods to be diverted to contact the swing arm and fully enter the sorting slot is t1. Based on this, the conditions that must be met to achieve correct rapid diversion in the rapid diversion system of the embodiment of the present invention can be expressed as:

[0060] NQ≥v1t3;

[0061] M ≥ v1(t2+t1);

[0062] MN≥v1t1;

[0063] M≥N+P;

[0064] Among them, v1 is the linear speed of the main conveyor belt.

[0065] In a preferred implementation, the time for the swing arm at the first preset position to swing back to the second preset position is less than or equal to t1, preventing the goods to be diverted from being blocked on the second side of the sorting port and being unable to enter the sorting slot within the time limit of t1.

[0066] Another embodiment of the present invention also provides a conventional diversion system of a single-arm horizontal diverter, which is compared with the rapid diversion system provided by the embodiment of the present invention, illustrating that the embodiment of the present invention can enable the goods to be diverted to be quickly diverted under the joint action of the main conveyor belt, the auxiliary conveyor belt and a smaller swing arm force.

[0067] like Figure 6 As shown in FIG, a conventional diversion system using a single-arm horizontal diverter also includes a conveyor, a photoelectric identifier, a single-arm horizontal diverter, and a sorting trough. However, the conventional diversion process implemented by the swing arm of the single-arm horizontal diverter is different from the rapid diversion process of the embodiment of the present invention. Figure 6 As shown in FIG, in the conventional diversion system, the swing arm only moves to the second preset position d2.

[0068] according to Figure 6 The embodiment of the present invention also illustrates the conventional diversion and sorting process by processing three pieces of goods in an actual application scenario, which is:

[0069] After the goods to be diverted, that is, the goods H1', ​​arrive at the preset position, the swing arm of the single-arm horizontal diverter only moves to contact the second side of the sorting trough, remains stationary, and waits for the goods to be diverted to contact the swing arm. Then, the swing arm's retransmission belt drives the goods to be diverted to move toward the sorting port. After the goods H1' completely passes through the chute, the swing arm is retracted, and the next goods H2' is placed on the main conveyor belt for continued transportation. The entire process of the single-arm horizontal diverter sorting the goods to be diverted is a complete reciprocating action from swinging out to stopping and then retracting.

[0070] Based on the above conventional diversion process, Figure 4 The conventional diversion system shown uses a single-arm horizontal diverter for conventional diversion and must meet the following conditions:

[0071] 1) When the previous item H3' reaches the end of the single-arm horizontal diverter, the item H1' can reach the first target photoelectric detector position, blocking the first target photoelectric detector and then the swing arm begins to swing;

[0072] 2) Before cargo H1' contacts the swing arm of the single-arm horizontal diverter, the swing arm of the single-arm horizontal diverter is in place;

[0073] 3) After the item H1' has completely entered the sorting slot, the next item H2' can contact the first target photoelectric detector, causing the swing arm to retract;

[0074] 4) When the next piece of cargo H2 arrives at the position where cargo H1 was previously located, the swing arm has been fully retracted.

[0075] like Figure 6 As shown, the embodiment of the present invention also marks the dimensions of the conventional diversion system provided, wherein the length of the swing arm is P', the minimum distance between one end of the swing arm at the initial position and the first target photoelectric identifier is N', the spacing between goods H1' and H2' is M', the time it takes for the swing arm at the second preset position d2 to swing back to the initial position d0 is t2', the time it takes for the swing arm at the initial position d0 to move to the second preset position d2 is also t2', and the time it takes for the goods H1' to contact the swing arm and completely enter the sorting slot is t1'. Based on this, Figure 6 For the conventional shunt system shown, the conditions that must be met to achieve correct conventional shunt can be expressed as:

[0076] N ' ≥ v1t2 ';

[0077] M′≥v1t2′;

[0078] M'-N'≥v1(t1'+t2');

[0079] M' ≥ N' + P';

[0080] Among them, v1 is the linear speed of the main conveyor belt.

[0081] The embodiment of the present invention also establishes a conventional diversion mathematical model of a single-arm horizontal diverter based on the conventional diversion process of the conventional diversion system shown above and the conditions for satisfying correct conventional diversion:

[0082] According to the above-mentioned single-arm horizontal diverter conventional diverting cargo conditions, the cargo movement trajectory model during conventional diverting is divided into two processes. In order to ensure that the speed of the cargo remains basically unchanged after contacting the swing arm of the single-arm horizontal diverter, the swing arm's auxiliary conveyor belt linear speed v B The relationship with the linear speed v1 of the main conveyor belt is expressed as:

[0083]

[0084] like Figure 7 As shown in the figure, it is the movement trajectory of goods in the conventional diversion process. Figure 7 , the cargo H1 'passes through the identification beam of the first target photoelectric identifier 201, at t a1 The horizontal motion path in time is expressed as:

[0085] y+HL y =v1t,t∈(0,t a1 ]

[0086] In greater than t a1 The motion path of the swing arm in contact with time is expressed as:

[0087]

[0088] According to the above two formulas, the relationship between the movement path of the goods from the first target photoelectric identifier to the time they leave the swing arm and time t is:

[0089] y+H=v1t;

[0090] Where H is the distance between the cargo H1' and the side of the main conveyor belt where the sorting slot is installed when the cargo H1' does not touch the horizontal diverter swing arm. It is the initial constant of the equation and the unit is m. The linear velocity of the main conveyor belt is v1 and the unit is m / s.

[0091] Similarly, based on the rapid diversion process of the rapid diversion system described above and the conditions for correct rapid diversion, the present invention establishes a mathematical model for rapid cargo diversion using a single-arm horizontal diverter. The derivation process is as follows: The cargo motion trajectory model during the rapid diversion process is divided into three stages. The distance L1 required for cargo H1 to travel from passing through the recognition beam of the first target photoelectric identifier 201 to contacting the swing arm of the single-arm horizontal diverter is:

[0092] L1=v1t1;

[0093] Among them, according to the above Figure 5 , t1 represents the time from when the cargo H1 contacts the swing arm to when it completely enters the sorting slot, the unit is s; v1 is the linear speed of the main conveyor belt, the unit is m / s; L1 is the unit of m.

[0094] When the cargo H1 contacts the swing arm and leaves the main conveyor to the sorting slot, the speed of the cargo H1 in this process is decomposed into Figure 8 As shown, and as Figure 9 As shown, the force diagram of cargo H1 in this process is also provided. The calculation formula for the component velocity along the vertical direction Y is:

[0095]

[0096] The equation of motion of the cargo point along the y direction is:

[0097]

[0098] θ=ωt+θ0;

[0099] According to the above formula, the equation of motion of the cargo in the y direction is represented by Ly:

[0100]

[0101] In the formula: m is the mass of the goods, in kg; k is the coefficient; w is the rotation speed of the swing arm of the single-arm horizontal diverter, in r / s; vw is the linear velocity of the swing arm of the single-arm horizontal diverter at the contact position of the goods, in m / s; r0 is the radius from the rotation center of the swing arm of the single-arm horizontal diverter when the goods just contact the swing arm of the single-arm horizontal diverter, in m; θ is the angle between the swing arm of the single-arm horizontal diverter and the vertical direction Y; B is the width of the main conveyor belt, in m; H is the distance between the goods H1 and the side of the main conveyor belt where the sorting slot is installed when the goods H1 does not contact the swing arm of the single-arm horizontal diverter, in m; the running speed of the main conveyor belt is v1, in m / s; μ1 is the friction coefficient between the goods and the main conveyor belt; μ2 is the friction coefficient between the goods and the auxiliary conveyor belt of the single-arm horizontal diverter, is the first-order derivative of Ly, is the second-order derivative of Ly.

[0102] Based on the above-mentioned conventional diversion mathematical model of the single-arm horizontal diverter and the rapid cargo diversion mathematical model of the single-arm horizontal diverter, simulation was performed using the simulation parameters shown in Table 1 below.

[0103] Table 1

[0104]

[0105]

[0106] It should be noted that the simulation parameters shown in Table 1 above are determined by referring to the actual operating parameters of commonly used single-arm horizontal diverters and cargo belt conveyors and in accordance with their relevant specifications and standards.

[0107] The simulation results are as follows Figure 10 and Figure 11 As shown in the figure, the entire sorting process of the goods from contacting photoelectric 1 to separating from the swing arm of the single-arm horizontal diverter, under the same input parameters and the distance the goods move in the Y direction, for the fast diversion model, the initial conditions are set as follows: y | t＝0 =0, α| t＝0 =90°. Comparing the simulation results of the two models, Figure 10 The simulation results are based on the conventional diversion mathematical model of the single-arm horizontal diverter. Figure 11 The simulation results of the mathematical model of the single-arm horizontal diverter for rapid diversion are shown in Figure 2. Figure 10 and Figure 11 The horizontal axis represents H, and the vertical axis represents time. A larger H indicates that more goods enter the sorting trough. This indicates that, given the same Y-direction distance, sorting time is reduced by approximately 55%. This indicates that, under the conditions of rapid sorting using a single-arm horizontal diverter, sorting efficiency is increased by approximately 55%.

[0108] This embodiment of the present invention also collects and compares the time it takes for cargo to pass through the entrance and exit photoelectric indicators under the conventional and rapid diversion methods, as well as controller signal output data such as the distance between adjacent pieces of cargo. The controller signal output data is shown in Table 2 below, with luggage representing cargo, and the type, weight, and shape of the luggage being controlled under the same conditions, as shown in Table 3.

[0109] Table 2

[0110]

[0111] Table 3

[0112]

[0113] Based on this, the corresponding relationship between the distance between different adjacent goods and the sorting speed under the two diversion methods is as follows: Figure 12 and Figure 13 As shown, Figure 12 For routine diversion, Figure 13 For quick diversion, Figure 12 and Figure 13The horizontal axis represents the number of bags, and the vertical axis represents the diversion time. The test data clearly shows that the rapid diversion mode reduces baggage diversion time, improving baggage diversion efficiency by approximately 40% compared to the conventional mode. This test result validates the efficiency and feasibility of the rapid diversion method employed by the single-arm horizontal diverter.

[0114] Another embodiment of the present invention provides a cargo diversion method, which uses the rapid diversion system in the above embodiment, including but not limited to the following steps:

[0115] S10. When the current cargo is identified as cargo to be diverted, the swing arm of the single-arm horizontal diverter is controlled to move to the first preset position when the current cargo reaches the first preset position, and after contacting the current cargo, it swings back and maintains contact with the current cargo.

[0116] In step S10, the swing arm's return movement is divided into two parts: the first part is to return to the second preset position, and the second part is to return to the initial position or move back to the first preset position, depending on whether the next item is to be diverted. If the next item is to be diverted, the swing arm will move back to the first preset position; if the next item is not to be diverted, the swing arm will swing back to the initial position.

[0117] In one embodiment, assuming that the current cargo is the nth cargo, the detailed implementation steps of controlling the swing arm to swing back in step S10 include:

[0118] S11. Based on the result that the nth item is identified as the item to be diverted, controlling the swing arm to swing back to the second preset position within a time limit of t1, wherein the time limit of t1 allows the sorting of the nth item to be completed when the swing arm swings back to the second preset position, and the (n+1)th item is identified;

[0119] S12, control the swing arm to continue to swing back, wherein, if the n+1th cargo is not diverted cargo, the swing arm swings back to the initial position from the second preset position within a time limit of t2, and the interval between the n+2th cargo and the n+1th cargo is such that when the n+1th cargo reaches the end of the single-arm horizontal diverter, the n+2th cargo is identified. If the n+2th cargo is not diverted cargo, the swing arm is kept at the initial position until the n+kth cargo is identified as diverted cargo, and the swing arm is controlled to swing from the initial position to the first preset position within a time limit of t3, and then the cargo is returned to the initial position according to the time limit of t3. According to the recognition result that the n+kth cargo is the cargo to be diverted, the swing arm is controlled to swing back according to S11. If the n+2th cargo is the diverted cargo, the swing arm is controlled to swing from the initial position to the first preset position within a time limit of t3, and according to the recognition result that the n+2th cargo is the cargo to be diverted, the swing arm is controlled to swing back according to S11; if the n+1th cargo is the cargo to be diverted, the swing arm is controlled to swing from the second preset position to the first preset position within a time limit of t1, and according to the recognition result that the n+1th cargo is the cargo to be diverted, the swing arm is controlled to swing back according to S11.

[0120] Among them, the time limit of t2 represents the time for the swing arm located at the second preset position to swing back to the initial position, the time limit of t3 represents the time for the swing arm located at the initial position to move to the first preset position, and the time limit of t1 represents the time for the goods to be diverted to contact with the swing arm and completely enter the sorting slot. In addition, the specific values ​​of t2, t3, and t1 are determined according to the various parameters of the rapid diversion system. For example, the relevant parameters include the required movement range Q for the swing arm to swing, the length of the swing arm P+Q, the minimum distance NQ between one end of the swing arm located at the initial position and the first target photoelectric identifier, and the spacing between adjacent goods MQ, wherein NQ≥v1t3, M≥v1(t2+t1), MN≥v1t1, M≥N+P, and v1 is the conveyor belt speed of the main conveyor belt.

[0121] In a preferred implementation, the time it takes for the swing arm located at the first preset position to swing back to the second preset position is less than or equal to t1.

[0122] like Figure 14 As shown, it is a schematic diagram of the arm swing motion corresponding to the logical relationship shown in the above steps S11 and S12. Figure 12In the process, starting from the nth cargo being the cargo to be diverted, at this time, according to step S10, the nth cargo is in the first preset position (such as ①), and then according to step S11, the first part of the swing arm swings back to the second preset position (such as ②), and step S11 ends. According to step S12, if the n+1th cargo is not diverted, the swing arm swings back from the second preset position to the initial position (such as ③), and then the n+2th cargo is identified according to step S12. If the n+2th cargo is not diverted, the swing arm is kept in the initial position (such as ④). If the subsequent cargo is not diverted, it is kept in the initial position until the next cargo is diverted. At this time, the swing arm is controlled to move to the first preset position (such as ①) according to step S10. If the n+2th cargo is diverted, the swing arm is also controlled to move to the first preset position (such as ①) according to step S10. In the case where the (n+1)th cargo is a diverted cargo, the swing arm moves back from the second preset position to the first preset position (e.g., step ⑤), and returns to control the swing arm to swing back according to the recognition result that the (n+1)th cargo is a cargo to be diverted, and step S12 continues to control the swing arm to swing back according to the cargo after count +1, such as whether the (n+2)th cargo is a diverted cargo, thereby forming a control loop.

[0123] Based on this, the cargo diversion method provided by the embodiment of the present invention can realize closed-loop cargo diversion, and based on the above-mentioned rapid diversion system, it can also realize rapid diversion of goods to be diverted, so that it can be applied to automated sorting scenarios with high throughput and strong timeliness.

[0124] It should be noted that if the single-arm horizontal diverter is started for the first time, the first cargo is set as the non-diverted cargo, the second cargo is set as the cargo to be diverted, and the interval between the first cargo and the second cargo is such that when the first cargo reaches the end of the single-arm horizontal diverter, the second cargo is identified, and the result that the second cargo is the cargo to be diverted is obtained, and the swing arm of the single-arm horizontal diverter is started, and the swing arm of the single-arm horizontal diverter is controlled to move from the initial position to the first preset position within the time limit of t3.

[0125] like Figure 15 As shown, an embodiment of the present invention further provides an electric control system, including a central control unit 500, a swing arm belt motor control module 501, a swing arm motor control module 502, and a conveyor running motor control module 503 connected to the central control unit 500; the central control unit 500 is also connected to the fast diversion system in the above embodiment, Figure 13 The fast diversion system 1000 is marked in the middle and implements the cargo diversion method in the above embodiment;

[0126] The working principle of the electronic control system is as follows: the central control unit receives the photoelectric identification data provided by the photoelectric identifier in the rapid diversion system 1000 and the swing arm movement data of the single-arm horizontal diverter, and then controls the speed of the auxiliary conveyor belt through the swing arm belt motor control module, controls the swing arm movement of the single-arm horizontal diverter through the swing arm motor control module, and controls the speed of the main conveyor belt through the conveyor running motor control module.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A rapid diversion system, characterized in that: include: Conveyors, including main conveyor belts for placing goods; A plurality of photoelectric identifiers are arranged at intervals on the side of the main conveyor belt for identifying the goods; A single-arm horizontal diverter includes a swing arm on which an auxiliary conveyor belt is mounted, and the single-arm horizontal diverter is arranged on one side of the main conveyor belt; A sorting trough is provided on the other side of the main conveyor belt and is opposite to the single-arm horizontal diverter; The swing arm moves to the first preset position when the goods to be diverted arrive at the first preset position, swings back after contacting the goods to be diverted and maintains contact with the goods to be diverted. When the swing arm is at the first preset position, it is perpendicular to the conveying direction of the main conveyor belt and is located in the sorting slot.

2. The rapid diversion system according to claim 1, characterized in that: When the swing arm swings back after contacting the goods to be diverted, it first swings back to the second preset position and then continues to swing back to the initial position or moves back to the first preset position; In which, the sorting trough includes a first side and a second side perpendicular to the main conveyor belt, and the first side, the second side and the main conveyor belt constitute a sorting port; when the swing arm is located at the first preset position, it is perpendicular to the conveying direction of the main conveyor belt, located in the sorting trough and close to the first side, and when the swing arm is located at the second preset position, it contacts the second side.

3. The rapid diversion system according to claim 2, characterized in that: At least includes a first target photoelectric identifier and a second target photoelectric identifier; the first target photoelectric identifier is close to one end of the swing arm located at the initial position, and the second target photoelectric identifier is arranged at the other end of the swing arm located at the initial position; Among them, one end of the swing arm located at the initial position is close to the input end of the main conveyor belt, and the other end of the swing arm located at the initial position is close to the output end of the main conveyor belt.

4. The rapid diversion system according to claim 3, characterized in that: The required range of movement of the swing arm is Q, the length of the swing arm is P+Q, the minimum distance between one end of the swing arm at the initial position and the first target photoelectric identifier is NQ, the spacing between adjacent goods is MQ, the time for the swing arm at the second preset position to swing back to the initial position is t2, the time for the swing arm at the initial position to move to the first preset position is t3, and the time for the goods to be diverted from contacting the swing arm to completely entering the sorting slot is t1; Among them, NQ≥v1t3, M≥v1(t2+t1), MN≥v1t1, M≥N+P, v1 is the conveyor belt speed of the main conveyor belt.

5. The rapid diversion system according to claim 4, characterized in that: The time it takes for the swing arm located at the first preset position to swing back to the second preset position is less than or equal to t1.

6. The rapid diversion system according to claim 3, characterized in that: Also includes a third target photoelectric identifier disposed at the sorting port; Wherein, the recognition light beam of the third target photoelectric identifier is perpendicular to the first side and the second side.

7. A cargo diversion method, characterized in that: The rapid diversion system according to any one of claims 1 to 6 is used, and the method comprises: When the current cargo is identified as the cargo to be diverted, the swing arm of the single-arm horizontal diverter is controlled to move to the first preset position when the current cargo reaches the first preset position, and after contacting the current cargo, it swings back and maintains contact with the current cargo.

8. The cargo diversion method according to claim 7, characterized in that: The current cargo is the nth cargo, and the controlling the swing arm to swing back includes: S11. Based on the result that the nth item is identified as the item to be diverted, controlling the swing arm to swing back to the second preset position within a time limit of t1, wherein the time limit of t1 allows the sorting of the nth item to be completed when the swing arm swings back to the second preset position, and the (n+1)th item is identified; S12, control the swing arm to continue to swing back, wherein, if the n+1th cargo is not diverted cargo, the swing arm swings back to the initial position from the second preset position within a time limit of t2, and the interval between the n+2th cargo and the n+1th cargo is such that when the n+1th cargo reaches the end of the single-arm horizontal diverter, the n+2th cargo is identified. If the n+2th cargo is not diverted cargo, the swing arm is kept at the initial position until the n+kth cargo is identified as diverted cargo, and the swing arm is controlled to swing from the initial position to the first preset position within a time limit of t3, and then the cargo is returned to the initial position according to the time limit of t3. According to the recognition result that the n+kth cargo is the cargo to be diverted, the swing arm is controlled to swing back according to S11. If the n+2th cargo is the diverted cargo, the swing arm is controlled to swing from the initial position to the first preset position within a time limit of t3, and according to the recognition result that the n+2th cargo is the cargo to be diverted, the swing arm is controlled to swing back according to S11; if the n+1th cargo is the cargo to be diverted, the swing arm is controlled to swing from the second preset position to the first preset position within a time limit of t1, and according to the recognition result that the n+1th cargo is the cargo to be diverted, the swing arm is controlled to swing back according to S11.

9. The cargo diversion method according to claim 7 or 8, characterized in that: If the single-arm horizontal diverter is started for the first time, the first cargo is set as the non-diverted cargo, the second cargo is set as the cargo to be diverted, and the interval between the first cargo and the second cargo is such that when the first cargo reaches the end of the single-arm horizontal diverter, the second cargo is identified, and the result that the second cargo is the cargo to be diverted is obtained, and the swing arm of the single-arm horizontal diverter is started, and the swing arm of the single-arm horizontal diverter is controlled to move from the initial position to the first preset position within the time limit of t3.

10. An electronic control system, characterized in that: The invention comprises a central control unit, a swing arm belt motor control module, a swing arm motor control module, and a conveyor operation motor control module connected to the central control unit; the central control unit is connected to the rapid diversion system according to any one of claims 1 to 6, and implements the cargo diversion method according to any one of claims 7 to 9; Among them, the central control unit receives the photoelectric identification data provided by multiple photoelectric identifiers in the rapid diversion system and the swing arm movement data of the single-arm horizontal diverter, controls the speed of the auxiliary conveyor belt through the swing arm belt motor control module, controls the swing arm movement of the single-arm horizontal diverter through the swing arm motor control module, and controls the speed of the main conveyor belt through the conveyor running motor control module.

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