A seasoning ring automatic dispensing system and method

Abstract

The application discloses a seasoning annular automatic feeding system and method, and belongs to the technical field of material conveying. The system comprises a central dispatching system. The input end of the central dispatching system is connected with trigger signal generators of vibration screen buffer bins, and the output end is connected with driving controllers of trolleys. The central dispatching system comprises a global operation unit and a conflict prediction engine. The global operation unit calculates the maximum allowable displacement based on the material receiving time set, the path set and the real-time load of all trolleys. The conflict prediction engine is used for generating an ideal track of the trolley movement after receiving the material, calculating the track coincidence degree, simulating the vehicle interaction state in advance, ensuring that each trolley runs at a correct space-time coordinate point through real-time displacement, realizing automatic and fully-closed operation, preventing the material from being polluted by manual feeding, and finally realizing efficient cooperation of the whole process of loading and unloading.

Description

Technical Field

[0001] This invention belongs to the field of material conveying technology, and specifically relates to a circular automatic feeding system and method for condiments. Background Technology

[0002] In the field of automated condiment production, the circular track conveyor system is a core component for the efficient delivery of powdered finished products such as chicken essence. It relies on multiple track trolleys working collaboratively along a closed-loop path to transfer the finished product processed by the vibrating screen buffer bin to the filtration buffer bin. However, with the expansion of production scale and the diversification of condiment flavors, multiple filtration buffer bins are required for the same flavor. Existing systems have significant technical deficiencies in multi-trolley scheduling, collision avoidance, and anti-blockage. Specifically: Existing technologies have not solved the problem of intelligent matching between multiple filter buffer bins and multiple carts. In the user system, the same flavor needs to correspond to multiple filter buffer bins, but traditional scheduling methods only support sequential delivery and cannot automatically switch target bins based on the full load signal of the filter buffer bin. This causes the carts to idle in the full bin area, reducing the overall delivery efficiency. The closed-loop structure of the circular track makes the path singular, and any local blockage may affect the whole. There is no solution for global blockage in the closed-loop track. Because the path flows in one direction and there is no isolation mechanism, a single point failure triggers a "domino effect" that increases the delay of the whole loop. The static scheduling of multiple carts avoids collisions. The fixed partition occupancy algorithm ignores the dynamic differences in load and speed. Light and heavy carts mixed together cause "ghost traffic jams". In addition, during the peak receiving period, the backlog of carts overflows to the unloading area, increasing the risk of system paralysis.

[0003] Therefore, there is an urgent need for an automated circular feeding system and method for condiments that can avoid clogging. Summary of the Invention

[0004] To address the aforementioned problems in the prior art, this invention provides a circular automatic condiment delivery system and method, which solves the problem that existing circular closed-loop carts are prone to congestion during transportation, resulting in low delivery efficiency.

[0005] The objective of this invention can be achieved through the following technical solutions: An automated circular feeding system for condiments includes a closed-loop circular track and several trolleys. Multiple vibrating screen buffer bin receiving stations and storage bin unloading stations are distributed along the circular track. The trolleys circulate on the track. A central scheduling system is included, with its input connected to trigger signal generators for each vibrating screen buffer bin and its output connected to the drive controllers for each trolley. The central scheduling system includes a global calculation unit and a conflict prediction engine. The global calculation unit calculates the maximum allowable displacement based on the receiving time set, path set, and real-time load of all trolleys. The conflict prediction engine generates the ideal trajectory of the trolleys after receiving material and calculates the trajectory overlap.

[0006] Preferably, the global computing unit constructs the ideal trajectory function for each vehicle: , in Let i be the initial position of the trolley i at the moment the material receiving is completed; The speed of the vehicle is t; t is the current calculation time. i The starting moment for the trolley i to complete receiving the material; Let be the unit vector in the direction of motion of car i; Calculate the time interval [t] for any two vehicles i ,t j Trajectory overlap within +T]: , Where τ is the integral time variable; T is the collision detection time window length; and D is the integral time variable. m Minimum safe distance threshold; Based on load capacity Q i (τ) Calculate the maximum displacement: ; Where V i This is the rated speed of the trolley; C represents the time period ij during travel; max Q represents the maximum load capacity of the vehicle. i (τ) is the real-time load of car i at time τ; ρ is the current density of the condiments.

[0007] Preferably, the system also includes a hierarchical controller, which controls the driving strategy of several trolleys based on the trajectory overlap. When the overlap is less than 30%, a free passage mode is triggered, and each trolley runs at the maximum allowable displacement. When 30% < overlap ≤ 70%, a speed coordination algorithm is started, and the empty slot is misaligned by adjusting the acceleration of adjacent trolleys. When the overlap is ≥ 70%, the trolley located at the front of the running direction is driven away from the receiving area in advance.

[0008] Preferably, the vehicle path detection is achieved by embedding RFID tags with partition markings at equal intervals on the circular track; each vehicle is equipped with a dual-mode positioning terminal and synchronously collects: the partition code of the RFID tag and the coordinates calculated by the UWB base station, and merges them to generate spatiotemporal trajectory points with partition markings.

[0009] Preferably, it includes an ultrasonic unit and a discharge distributor; the ultrasonic unit is used to receive ultrasonic level data of each filter buffer bin in real time; when the level of any bin is detected to be greater than the level threshold, it is marked as full in the filter buffer bin status mapping table; the discharge distributor is equipped with a same-group switching module, when the preferred filter buffer bin is full, the same-group switching module will allocate the trolley to the filter buffer bin with the fewest path obstacles in the same flavor.

[0010] Preferably, the minimum path obstacle is calculated by taking the physical distance from the trolley to each pre-unloading tank and adding the number of filter buffer tanks that are already full on the path and the number of trolleys queuing ahead.

[0011] Preferably, a dynamic partitioning module divides the circular track into a receiving area, a buffer waiting area, and a discharge area in real time; the full status of the filter buffer bin detected by the ultrasonic unit is acquired in real time, and the boundary of the discharge area is contracted to the last non-full filter buffer bin station. When a new empty bin appears, the boundary of the discharge area is expanded to the station of the new empty bin; the compression or expansion of the buffer waiting area is determined according to the number of vibrating screen buffer bins in the receiving area.

[0012] Preferably, the vehicle needs to replan its route each time it enters the buffer waiting area.

[0013] Preferably, the minimum early departure time is calculated based on the degree of overlap, and the feeding rate of the vibrating screen buffer bin is reduced according to a smooth curve before departure.

[0014] A method for automatically dispensing seasonings in a circular manner includes the following steps: S1: Loading: Real-time acquisition of trigger signals from the vibrating screen buffer bin to control the trolley to sequentially drive from the buffer waiting area into the receiving area to receive materials; S2: Driving path generation: Calculate the pre-driving time based on the load of the car, calculate the movement path of any car based on the pre-driving time, and generate the trajectory overlap of all cars; S3: Zeroing Path Planning: Based on the trajectory overlap degree, control the car to move to the buffer waiting area and clear the path of the car in the buffer waiting area; S4: Unloading: The trolley selects the target filter buffer bin according to the type of condiments loaded, generates an unloading path, and drives from the buffer waiting area into the unloading area to unload; S5: Unloading complete, repeat steps S1-S4.

[0015] The beneficial effects of this invention are as follows: This application employs a dual mechanism of dynamic displacement control and conflict prediction. By establishing a safe space isolation zone for each vehicle through the maximum allowable displacement, it eliminates the possibility of collisions from a physical perspective. The trajectory overlap calculation constructs a spatiotemporal diversion channel, effectively dissolving congestion hotspots. In particular, the load-adaptive speed adjustment strategy ensures that vehicle performance is precisely matched to track capacity. Furthermore, it simulates vehicle interaction states in advance, and the global computing unit ensures that each vehicle operates at the correct spatiotemporal coordinate point through real-time displacement, achieving automated and fully enclosed operation. This prevents material contamination from manual feeding and ultimately achieves efficient collaboration throughout the entire loading and unloading process. Attached Figure Description

[0016] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the composition of a circular automatic condiment dispensing system provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of the trolley receiving and unloading structure provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of the trolley circular track running structure provided in one embodiment of the present invention; Legend: 1. Circular track; 2. Trolley; 3. Filter buffer chamber; 4. Vibrating screen buffer chamber. Detailed Implementation

[0018] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0019] Because of the fixed closed-loop path, when multiple vibrating screen buffer chambers 4 are triggered simultaneously or unloaded in a concentrated manner, the high-frequency station is prone to chain congestion: the waiting of the first trolley 2 will force the subsequent convoy to slow down and stop, causing an exponential decline in efficiency. More seriously, there is a lack of a global speed coordination mechanism. The lightly loaded trolley 2, due to its maneuverability, keeps catching up with the heavily loaded vehicles in front, triggering a "ghost traffic jam" effect similar to that on highways, causing a sharp drop in the overall throughput of the track. In the event of a sudden failure, the traditional system can only activate full-area braking and cannot resolve the congestion through local paths, often resulting in a complete shutdown of the entire loop.

[0020] like Figures 1-3 As shown, a circular automatic condiment dispensing system includes a closed-loop circular track 1 and several trolleys 2. Multiple vibrating screen buffer bins 4 have receiving stations and storage bins have unloading stations distributed along the circular track 1. The trolleys 2 circulate on the track. The system includes a central scheduling system. The input of the central scheduling system is connected to the trigger signal generator of each vibrating screen buffer bin 4, and the output is connected to the drive controller of each trolley 2. The central scheduling system includes a global calculation unit and a conflict prediction engine. The global calculation unit calculates the maximum allowable displacement based on the set of receiving times, path sets, and real-time loads of all trolleys 2. The conflict prediction engine generates the ideal trajectory of the trolleys 2 after receiving material and calculates the trajectory overlap. The global computing unit collects real-time data on the material receiving time, predetermined path, and load of all trolleys 2. It dynamically calculates the maximum permissible displacement of each trolley 2 using a track topology model. This calculation fully considers the impact of load differences on maneuverability: lightly loaded trolleys 2 are assigned greater movement authority to improve response speed, while heavily loaded trolleys 2 automatically extend their safe braking distance to avoid rear-end collision risks from a spatial perspective. The conflict prediction engine further generates the ideal spatiotemporal trajectory of the trolleys 2 after material receiving. When the overlap of multiple vehicle trajectories exceeds the safety threshold, such as path intersections or track merging conflicts, it immediately initiates dynamic priority adjustment, allocating priority to vehicles closer to the unloading station, delaying the departure time of non-urgent tasks, or achieving staggered passage through micro-speed control.

[0021] In summary, this embodiment employs a dual mechanism of dynamic displacement control and conflict prediction. By establishing a safe space isolation zone for each vehicle through the maximum allowable displacement, the possibility of collision is eliminated from a physical perspective. The trajectory overlap calculation constructs a spatiotemporal diversion channel, effectively dissolving congestion hotspots. In particular, the load-adaptive speed adjustment strategy ensures that vehicle performance is precisely matched to track capacity. Furthermore, the vehicle interaction state is simulated in advance, and the global computing unit ensures that each vehicle operates at the correct spatiotemporal coordinate point through real-time displacement, ultimately achieving efficient collaboration throughout the entire loading and unloading process.

[0022] In one embodiment, the global computation unit constructs the ideal trajectory function for each vehicle 2: , in Let i be the initial position of the trolley i at the moment the material receiving is completed; The speed of the vehicle is t; t is the current calculation time. i The starting moment for the trolley i to complete receiving the material; Let be the unit vector representing the direction of motion of vehicle i. The function dynamically encodes the direction of motion of vehicle 2 into a unit vector, enabling trajectory prediction to break free from the discrete constraints of fixed track nodes and achieve arbitrary position extrapolation in continuous space. Simultaneously, a globally calibrated speed is used to unify the motion reference of all vehicles 2, eliminating the interference of individual speed adjustment noise on collision detection. This completely solves the computational bottleneck problem caused by storing massive amounts of path point data in traditional path planning, reducing computational complexity; only the starting position and the material receiving time are needed to generate the trajectory for the entire time period.

[0023] Calculate the time interval [t] for any two vehicles i , t j Trajectory overlap within +T]: ; Where τ is the integral time variable; T is the collision detection time window length; and D is the integral time variable. mMinimum safe distance threshold; introduce a function to transform the safe distance into a binary judgment condition, directly outputting the cumulative duration of dangerous proximity between the two vehicles within the time window; at the same time, design a dynamic integral boundary to cover any material receiving sequence combination, avoiding detection blind spots, overcoming the defect of traditional circular track 1 that can only monitor instantaneous distance, accurately capturing the spatiotemporal overlap, predicting the movement time of each vehicle from the material receiving speed, and calculating the trajectory of each vehicle 2 under ideal conditions after receiving the material, thereby predicting congested sections and avoiding hidden congestion.

[0024] Based on load capacity Q i (τ) Calculate the maximum displacement: ; Where V i The rated speed of trolley 2; C represents the time period ij during travel; max Q represents the maximum load capacity of car 2. i (τ) The real-time load of the trolley 2i at time τ; ρ is the current density of the seasoning; the displacement authority of the fully loaded trolley 2 is automatically compressed through the load negative feedback term, and a longer braking distance is forcibly reserved; and the density factor is introduced to adaptively adjust the influence of different material characteristics such as high density of chicken essence and low density of bay leaves on the displacement, so as to avoid the trolley 2 being overly restricted due to lightweight materials. This can solve the braking failure and collision situation caused by ignoring the load inertia of the traditional system: when the trolley 2 is unloaded, it releases the maximum mobility, and when fully loaded, it is forced to decelerate, ensuring that the emergency braking distance is always less than the real-time vehicle spacing, and completely eliminating the risk of overload rear-end collision.

[0025] In one embodiment, a hierarchical controller is also included. The hierarchical controller controls the driving strategy of several trolleys 2 based on the trajectory overlap. When the overlap is less than 30%, a free passage mode is triggered, and each trolley 2 runs at the maximum allowable displacement. Each trolley 2 is allowed to run at full speed at the maximum allowable displacement. The track passage potential is maximized through displacement permissions, which solves the efficiency loss problem caused by excessive conservative speed adjustment in traditional systems during low-risk periods. When 30% < overlap ≤ 70%, a speed coordination algorithm is activated. The empty slot is misaligned by adjusting the acceleration of adjacent trolleys 2. The acceleration of adjacent trolleys 2 is dynamically adjusted so that the following trolleys decelerate and the preceding trolleys accelerate to create a safe space. This overcomes the defect that the fixed spacing strategy cannot resolve fluctuating congestion in medium-risk scenarios. When the overlap is ≥ 70%, the trolley 2 at the front of the running direction is driven away from the receiving area in advance. The vehicle at the front of the running direction is forced to leave the receiving area in advance, breaking the "leading vehicle blocking effect" and avoiding the spread of high-risk congestion at the receiving station, which could lead to a deadlock in the entire loop.

[0026] Traditional trajectory prediction suffers from abrupt distortions in the ideal trajectory function due to positioning signal jumps, such as "ghost zone jumps" caused by RFID misreads, severely reducing the accuracy of conflict prediction. In one embodiment, the path detection of vehicle 2 is achieved by embedding RFID tags with partition markings at equal intervals on the circular track 1; each vehicle 2 is equipped with a dual-mode positioning terminal and synchronously collects: the partition code of the RFID tag and the coordinates calculated by the UWB base station, and fuses them to generate spatiotemporal trajectory points with partition markings; through the spatiotemporal fusion of RFID partition markings and UWB centimeter-level coordinates, trajectory points with precise partition markings are generated, so that the ideal trajectory Pi(t) constructed by the global computing unit has topological continuity: when UWB briefly fails in the metal interference area, the RFID partition code immediately anchors to the calculation benchmark, ensuring that the data source for ideal trajectory calculation is stable and continuous, and eliminating the risk of misjudgment caused by trajectory breakpoints.

[0027] In one embodiment, an ultrasonic unit and a discharge distributor are included. The ultrasonic unit receives ultrasonic level data from each filter buffer bin 3 in real time. When the level of any bin is detected to be greater than the threshold, it is marked as full in the filter buffer bin 3 status mapping table. The discharge distributor is equipped with a same-group switching module. When the preferred filter buffer bin 3 is full, the same-group switching module assigns the trolley 2 to the filter buffer bin 3 with the fewest path obstacles among the same type of filter buffer bins. The ultrasonic unit collects the level data of the filter buffer bin 3 every 5 seconds. When the level is detected to exceed the threshold, it immediately marks the filter buffer bin 3 as full in the status mapping table and sends a stop-feeding command to the feeding trolley 2, preventing the trolley 2 from adding material to the already full filter buffer bin 3. This achieves accurate digitalization of inventory and eliminates the problem of unloading chain breakage caused by slow response of manual inspection. Traditionally, manual verification of the level takes a long time. Now, with real-time ultrasonic monitoring and millisecond-level updates of the status mapping table, the response to the unloading command is accelerated, ensuring continuous operation of the production line. Secondly, to avoid systemic paralysis caused by a single filtration buffer 3: the same group switching module activates the redundant channels of the same flavor filtration buffer 3, automatically assigns it to the nearest and least conflicting backup tank, eliminates track congestion aggravated by blind switching, and the path obstacle value model prioritizes filtration buffer 3 with moderate distance and low path overlap to avoid secondary congestion.

[0028] In one embodiment, the minimum path obstacle is calculated by taking the physical distance from the trolley 2 to each pre-unloading tank, and adding the number of already full filter buffer tanks 3 on the path and the number of trolleys 2 in the queue ahead. A three-dimensional dynamic weighting factor is introduced to achieve intelligent optimization of the unloading path: the track arc length from the current position of the trolley 2 to the target filter buffer tank 3 is calculated to reflect the basic transportation cost. Full tank number penalty layer: the number of filter buffer tanks 3 marked as full on the path is counted, and a penalty value is accumulated for each full tank according to the obstacle weighting coefficient β to avoid guiding the trolley 2 to an invalid unloading point; queuing vehicle dynamic layer: the number of queuing trolleys 2 ahead is obtained in real time through the central dispatch system, and an obstacle value is added to each queuing vehicle according to the congestion coefficient γ to accurately quantify the instantaneous congestion pressure; the final obstacle value formula: obstacle value = physical distance + β × number of full tanks + γ × number of queuing vehicles, to achieve multi-dimensional comprehensive decision-making. The status of full tanks is updated in real time through ultrasonic material level data, and the trajectory overlap of the conflict prediction engine is linked to predict the queuing trend, ultimately achieving global optimization of the unloading path.

[0029] In one embodiment, the dynamic partitioning module divides the circular track 1 into a receiving area, a buffer waiting area, and a discharge area in real time; it acquires the full-material status of the filter buffer chamber 3 detected by the ultrasonic unit in real time, shrinks the boundary of the discharge area to the last non-full filter buffer chamber 3 station, and expands the boundary of the discharge area to the station of the new empty tank when a new empty tank appears; it defines the compression or expansion of the buffer waiting area according to the number of activated vibrating screen buffer chambers 4 in the receiving area; through the real-time linkage between ultrasonic material level data and the operating status of the vibrating screen buffer chambers 4, the problem caused by traditional fixed partitioning is completely solved. Resource mismatch issues; in addition, based on the full material status detected by the ultrasonic unit, the boundary of the unloading area is automatically shrunk to the last non-full tank station. When a new empty tank appears, the boundary is expanded to that station, realizing zero idle management of unloading resources. The boundary of the unloading area intelligently expands and contracts with the material status of the filter buffer silo 3; the buffer zone is automatically scaled according to the number of vibrating screen buffer silos 4 in use, forming an adaptive allocation mechanism for track space; ultrasonic material level data drives the breathing motion of the unloading area, and the trajectory overlap of the conflict prediction engine guides the buffer scaling threshold to improve track turnover rate through dynamic partitioning.

[0030] In one embodiment, the trolley 2 needs to replan its path each time it enters the buffer waiting area. When the trolley 2 enters the buffer from the unloading area, the system actively clears the original unloading path calculation data and forces the path planning to restart from zero. Simultaneously, the receiving area path engine is bound in real time, and a receiving path is generated based on the newly activated position of the vibrating screen buffer chamber 4 and the material type, so as to achieve a seamless switch from "buffering to receiving". This mechanism is symmetrically applied to the transition from the receiving area to the unloading area, forming a fully closed-loop refresh architecture.

[0031] In one embodiment, the minimum early departure time is calculated based on the degree of overlap, and the feeding rate of the vibrating screen buffer 4 is reduced according to a smooth curve before departure.

[0032] A method for automatically dispensing seasonings in a circular manner includes the following steps: S1: Loading: Real-time acquisition of the trigger signal of the vibrating screen buffer bin 4, controlling the trolley 2 to sequentially drive from the buffer waiting area into the receiving area to receive material. The loading is based on the millisecond-level scheduling of the nearest idle trolley 2 in the buffer buffer based on the trigger signal of the vibrating screen buffer bin 4 to drive into the receiving area. S2: Driving path generation: Calculate the pre-driving time based on the loading weight of the material in the receiving area of ​​the trolley 2, calculate the movement path of any trolley 2 based on the pre-driving time, and generate the ideal trajectory overlap of all trolley 2. Compare the trajectory overlap between adjacent trolley 2 in the order of the trolley 2's running direction to predict the degree of collision or congestion that trolley 2 may cause when starting at the same speed. S3: Zeroing Path Planning: Based on the trajectory overlap degree, the trolley 2 is controlled to move to the buffer waiting area, and the path of the trolley 2 in the buffer waiting area is zeroed. The paths of the receiving area and the unloading area are replanned. As long as the trolley 2 enters the buffer waiting area from the unloading area, the path calculation of the unloading area is zeroed and connected to the path calculation of the receiving area, so that the trolley 2 can enter the receiving area to receive materials. Similarly, the same applies when the trolley 2 enters the receiving area from the buffer area, thereby separating the loading and unloading tasks of the trolley 2. S4: Unloading: The trolley 2 selects the target filter buffer bin 3 according to the type of seasoning loaded, generates an unloading path, and drives from the buffer waiting area into the unloading area to unload; S5: Unloading completed. Cycle S1-S4. Trolley 2 cycles through loading and unloading on the closed-loop track, improving the efficiency of material transportation.

[0033] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A circular automatic condiment dispensing system, comprising a closed-loop circular track and several trolleys; multiple vibrating screen buffer bin receiving stations and storage bin unloading stations are distributed along the circular track; the trolleys circulate on the track; characterized in that, It includes a central dispatching system, the input of which is connected to the trigger signal generator of each vibrating screen buffer chamber, and the output of which is connected to the drive controller of each trolley; the central dispatching system includes a global computing unit and a conflict prediction engine. The global computing unit calculates the maximum allowable displacement based on the set of material receiving times, path sets, and real-time loads of all trolleys; the conflict prediction engine is used to generate the ideal trajectory of the trolley after material receiving and to calculate the trajectory overlap. The global computing unit constructs the ideal trajectory function for each car: ， in Let i be the initial position of the trolley i at the moment the material receiving is completed; The speed of the vehicle is t; t is the current calculation time. i The starting moment for the trolley i to complete receiving the material; Let be the unit vector in the direction of motion of car i; Calculate the time interval [t] for any two vehicles i ,t j Trajectory overlap within +T]: ， Where τ is the integration time variable; T is the collision detection time window length; D m This is the minimum safe distance threshold; Based on load capacity Q i (τ) Calculate the maximum displacement: ； Where V i This is the rated speed of the trolley; C represents the time period ij during travel; max Q represents the maximum load capacity of the vehicle. i (τ) represents the real-time load of vehicle i at time τ; ρ represents the current density of the condiments. It also includes a hierarchical controller, which controls the driving strategy of several trolleys based on the trajectory overlap. When the overlap is less than 30%, a free passage mode is triggered, and each trolley runs at the maximum allowable displacement. When 30% < overlap ≤ 70%, a speed coordination algorithm is started, and the empty slot is misaligned by adjusting the acceleration of adjacent trolleys. When the overlap is ≥ 70%, the trolley located at the front of the running direction is driven away from the receiving area in advance.

2. The automatic circular feeding system for seasonings according to claim 1, characterized in that, The path detection of the vehicle is achieved by embedding RFID tags with partition markings at equal intervals on the circular track; each vehicle is equipped with a dual-mode positioning terminal and synchronously collects the partition codes of the RFID tags and the coordinates calculated by the UWB base station, and merges them to generate spatiotemporal trajectory points with partition markings.

3. The automatic circular feeding system for seasonings according to claim 1, characterized in that, It includes an ultrasonic unit and a discharge distributor; the ultrasonic unit is used to receive ultrasonic level data of each filter buffer bin in real time; when the level of any bin is detected to be greater than the level threshold, it is marked as full in the filter buffer bin status mapping table; the discharge distributor is equipped with a same-group switching module, when the preferred filter buffer bin is full, the same-group switching module will allocate the trolley to the filter buffer bin with the fewest path obstacles in the same flavor.

4. The automatic circular feeding system for seasonings according to claim 3, characterized in that, The minimum obstacle level is calculated by taking the physical distance from the trolley to each pre-unloading tank, and adding the number of filter buffer tanks that are already full on the path and the number of trolleys queuing ahead.

5. The automatic circular feeding system for seasonings according to claim 3, characterized in that, It also includes a dynamic partitioning module that divides the circular track into a receiving area, a buffer waiting area, and a discharge area in real time; it acquires the full material status of the filter buffer bins detected by the ultrasonic unit in real time, shrinks the boundary of the discharge area to the last non-full filter buffer bin station, and expands the boundary of the discharge area to the station of the new empty bin when a new empty bin appears; and it determines whether to compress or expand the buffer waiting area based on the number of vibrating screen buffer bins in the receiving area.

6. The automatic circular feeding system for seasonings according to claim 5, characterized in that, The car needs to replan its route every time it enters the buffer waiting area.

7. A method for automatically dispensing seasonings in a circular loop, applicable to the automatic seasoning dispensing system in a circular loop as described in any one of claims 3-6, characterized in that, Includes the following steps, S1: Loading: Real-time acquisition of trigger signals from the vibrating screen buffer bin to control the trolley to sequentially drive from the buffer waiting area into the receiving area to receive materials; S2: Driving path generation: Calculate the pre-driving time based on the load of the car, calculate the movement path of any car based on the pre-driving time, and generate the trajectory overlap of all cars; S3: Zeroing Path Planning: Based on the trajectory overlap degree, control the car to move to the buffer waiting area and clear the path of the car in the buffer waiting area; S4: Unloading: The trolley selects the target filter buffer bin according to the type of condiments loaded, generates an unloading path, and drives from the buffer waiting area into the unloading area to unload; S5: Unloading complete, repeat steps S1-S4.

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