Control method, device and system of stacking system, electronic equipment and medium

Abstract

The embodiment of the invention provides a control method, device and system of a stacking system, electronic equipment and a medium. The method comprises the steps that the feeding conveying belt and the circulating stacking conveying belt are controlled to synchronously operate based on the positions, and encoders of the feeding conveying belt and the circulating stacking conveying belt are reset with the length of a tray station as the unit; reading and recording the current first position of the feeding conveying belt encoder and executing the first superposition motion position compensation on the circulating stacking conveying belt when a trigger instruction for indicating first superposition motion position compensation is received; the distance of the first superposition motion position compensation is determined based on a difference value between a preset placement position and the first position. According to the embodiment of the invention, accurate cooperation of the feeding conveying belt and the circulating stacking conveying belt can be achieved, and it is ensured that materials are accurately placed in the movement process.

Description

Technical Field

[0001] This disclosure relates to the field of stacked systems and their control technology, and in particular to a control method, apparatus and system for a stacked system, as well as electronic equipment and media. Background Technology

[0002] Stacking systems are key equipment in industrial production used for product sorting, packaging, and subsequent processing. Their core function is to neatly stack single or bulk products according to a preset quantity or number of layers. Existing stacking systems often employ a height-difference conveyor belt layout. Products are transported by the upstream conveyor belt and, upon reaching the junction of the downstream conveyor belt, are temporarily stopped by an interception mechanism (such as a baffle or cylinder). This interception operation causes a brief accumulation of products at the feed end of the downstream conveyor belt, allowing subsequent products to be stacked on top of it at the same position.

[0003] However, the inherent working principle of this traditional stacking method brings significant drawbacks. First, the frequent start-stop and refeeding of products at the interception point involves repeated acceleration, deceleration, and positioning processes, which severely restricts the operating efficiency and overall throughput of the production line. Second, to achieve precise interception and refeeding, the system needs to be equipped with complex mechanical structures (such as multi-functional interception mechanisms, sensors, and actuators), which not only leads to high equipment manufacturing and maintenance costs but also significantly increases the complexity of the system. Therefore, existing stacking systems urgently need improvement in terms of efficiency and cost reduction. Summary of the Invention

[0004] In view of this, the present disclosure provides a control method, apparatus, system, electronic device, and medium for a stacked system, which at least partially solves the above-mentioned technical problems.

[0005] In a first aspect, this disclosure provides a control method for a stacking system, the method comprising: controlling the feeding conveyor belt and the circulating stacking conveyor belt to perform position-based synchronous operation, and resetting their encoders in units of pallet station length; upon receiving a trigger command indicating first stacking motion position compensation, reading and recording the current first position of the encoder of the feeding conveyor belt and performing first stacking motion position compensation on the circulating stacking conveyor belt, wherein the distance of the first stacking motion position compensation is determined based on the difference between a preset placement position and the first position.

[0006] Secondly, this disclosure provides a control device for a stacking system, comprising: a first control module, configured to control the feeding conveyor belt and the circulating stacking conveyor belt to perform position-based synchronous operation and reset their encoders in units of pallet station length; and a first position compensation module, configured to, upon receiving a trigger command indicating first stacking motion position compensation, read and record the current first position of the encoder of the feeding conveyor belt and perform first stacking motion position compensation on the circulating stacking conveyor belt, wherein the distance of the first stacking motion position compensation is determined based on the difference between a preset placement position and the first position.

[0007] Thirdly, this disclosure provides a control system for a stacking system, comprising: at least one motor configured to drive a feeding conveyor belt and / or a circulating stacking conveyor belt; at least one motor drive device configured to drive the at least one motor; and a control device configured to: control the feeding conveyor belt and the circulating stacking conveyor belt to perform position-based synchronous operation and reset their encoders in units of pallet station length; upon receiving a trigger command indicating first stacking motion position compensation, read and record the current first position of the encoder of the feeding conveyor belt and perform first stacking motion position compensation on the circulating stacking conveyor belt, wherein the distance of the first stacking motion position compensation is determined based on the difference between a preset placement position and the first position.

[0008] Fourthly, this disclosure provides an electronic device, the electronic device comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other via the bus; the memory is used to store at least one executable instruction, the executable instruction causing the processor to perform the operation corresponding to the method described in the first aspect.

[0009] Fifthly, this disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, cause the processor to perform the method described in the first aspect above.

[0010] The embodiments of this disclosure achieve smooth material transfer and precise initial alignment through position-based synchronous operation of the feeding conveyor belt and the circulating stacking conveyor belt, and by performing a first superimposed motion compensation on the circulating stacking conveyor belt when certain conditions are met. Furthermore, by setting a counting sensor at the end of the feeding conveyor belt and performing a second superimposed motion compensation, fine-grained correction of the final material placement position is achieved, ensuring extremely high stacking accuracy. The first superimposed motion compensation is mainly responsible for macroscopic correction and initial alignment, especially after system startup, recovery, or significant interruptions in material flow (such as continuous material shortages). It ensures the overall correctness of the circulating stacking conveyor belt's position when receiving materials, laying the foundation for subsequent precise operations. The second superimposed motion compensation serves as micro-fine-tuning and real-time correction. In the final stage before the material leaves the feeding conveyor belt, it performs precise displacement compensation on the feeding conveyor belt, effectively correcting minor slippage, sensor errors, or cumulative deviations during the conveying process, ensuring the precise landing point of each piece of material. This "coarse adjustment + fine adjustment" strategy enables the system to not only quickly recover and maintain basic accuracy under various operating conditions, but also to achieve extreme placement accuracy for each material, thereby significantly improving the success rate, efficiency, and product quality of stacking. Furthermore, the embodiments of this disclosure are particularly suitable for the rapid and efficient stacking of sheet-like food products (such as noodle slices, cheese slices, and chewing gum sheets). Attached Figure Description

[0011] Figure 1 This is a structural diagram of a stacking system according to an embodiment of the present disclosure.

[0012] Figure 2 This is a flowchart of a control method for a stacked system according to an embodiment of the present disclosure.

[0013] Figure 3 This is a structural diagram of a control device for a stacking system according to an embodiment of the present disclosure.

[0014] Figure 4 This is a structural diagram of the control system of a stacking system according to an embodiment of the present disclosure.

[0015] Figure 5 A structural diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0016] List of reference numerals in the attached diagram:

[0017] 100. Stacking system; 101. Feed conveyor belt;

[0018] 102. Circulating stacking conveyor belt; 103. Feed sensor;

[0019] 104. Counting sensor; 105. Material;

[0020] 106. Pallet; 1061. One end of the pallet

[0021] 1062. The other end of the tray; A. The preset placement position;

[0022] L, length of pallet station; 300, control device for stacking system;

[0023] 302. First control module; 304. First position compensation module;

[0024] 400. Control system for stacking system; 402. Control equipment;

[0025] 404. First motor drive device; 406. Second motor drive device;

[0026] 408. First motor; 410. Second motor;

[0027] 500. Electronic equipment; 502. Processor;

[0028] 504. Communication interface; 506. Memory;

[0029] 508. Bus; 510. Program. Detailed Implementation

[0030] This disclosure provides a control scheme for a stacking system, designed to accurately and efficiently stack materials from an upstream feeding conveyor belt to a pallet station on a downstream circulating stacking conveyor belt. To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some, not all, of the embodiments described in this application. All other technical solutions obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0031] Figure 1 A schematic diagram of a stacking system according to an embodiment of the present disclosure is shown. The system mainly includes a feed conveyor belt 101, a circulating stacking conveyor belt 102, a feed sensor 103, and a counting sensor 104. The feed conveyor belt 101 is used to transport materials 105 to be stacked. The circulating stacking conveyor belt 102 is used to carry the stacked materials 105, for example, a circulating pallet chain. The feed sensor 103 is located upstream of the feed path. The counting sensor 104 is located at the end of the feed conveyor belt 101.

[0032] Transfer to Figure 2 The diagram illustrates a flowchart of a control method for a stacked system according to an embodiment of this disclosure. This method is primarily applied to, for example... Figure 1The control of the stacking system 100 aims to achieve precise coordination between the feeding conveyor belt 101 and the circulating stacking conveyor belt 102 in the stacking system, ensuring that the material 105 is accurately placed onto the pallet of the circulating stacking conveyor belt 102 after being conveyed by the feeding conveyor belt 101. Figure 2 As shown, the method includes:

[0033] S202: The control device 402 (e.g., PLC) controls the feeding conveyor belt 101 and the circulating stacking conveyor belt 102 to perform position-based synchronous operation, and both the feeding conveyor belt 101 and the circulating stacking conveyor belt 102 reset their encoders in units of pallet station length L.

[0034] Specifically, the control device 402 monitors the movement positions of the feed conveyor belt 101 and the circulating stacking conveyor belt 102 (via their respective encoders) and adjusts their operating speeds to ensure that the material 105 can be accurately transferred from the feed conveyor belt 101 to the preset placement position A on the circulating stacking conveyor belt 102. This position-matching-based synchronous operation ensures that when the material 105 enters a specific pallet station of the pallet chain, the end of the feed conveyor belt 101 corresponds to that pallet station of the pallet chain.

[0035] S204: Upon receiving a trigger command indicating first superimposed motion position compensation, the current first position of the encoder of the feed conveyor belt 101 is read and recorded, and the first superimposed motion position compensation is performed on the circulating stacked conveyor belt 102. The distance of the first superimposed motion position compensation is determined based on the difference between the preset placement position A and the first position.

[0036] "Preset placement location A" refers to the target landing point or parking area set for the material 105 on the circulating stacking conveyor belt 102, usually a precise location within the pallet station (e.g., Figure 1 (as shown), and used as a reference benchmark for the system to perform position compensation.

[0037] The "trigger command for instructing the first superimposed motion position compensation" can be any form of "trigger command" from the control system, manual commands, timers, sensors, etc. Preferably, the trigger command is generated when the feed sensor 103 detects material 105 and the first superimposed motion position compensation condition is met. Optionally, the trigger command is generated when the feed sensor 103 detects material 105. Optionally, the trigger command is automatically generated when the first superimposed motion position compensation condition is met. And so on. The first superimposed motion position compensation condition includes, but is not limited to: continuous material shortage, restart after shutdown, etc. For example, by monitoring the gap length between materials 105 using the feed sensor 103, when the monitored gap length exceeds a preset threshold, it is determined that continuous material shortage is met. Additionally, as... Figure 1As shown, the feed sensor 103 should be located upstream of the feed path and the distance between its position and the end of the feed conveyor belt 101 should be an integer multiple of the length L of the pallet station.

[0038] Based on the first superimposed motion position compensation, the method may optionally include the following step of second superimposed motion position compensation triggered by a technical sensor: when the counting sensor 104 detects material 105, the current second position of the encoder of the feeding conveyor belt 101 is read and recorded, and second superimposed motion position compensation is performed on the feeding conveyor belt 101. The distance of the second superimposed motion position compensation is determined based on the difference between the preset placement position A and the second position, wherein the counting sensor 104 is located at the end of the feeding conveyor belt 101. This second superimposed motion position compensation can be set to be executed periodically or triggered for each detected material 105. Its core purpose is to perform fine position adjustment of the feeding conveyor belt 101 to solve the small deviations that may occur at the end of the conveyor belt, thereby ensuring that each piece of material 105 can fall accurately into the preset placement position of the pallet.

[0039] Furthermore, the method may optionally include the following steps: tracking the position of the pallet on the circulating stacking conveyor belt 102, the position tracking being achieved by cyclically shifting a binary number representing the pallet position; accumulating the count value of the current pallet when the counting sensor 104 detects material 105; and when the count value of the pallet reaches a preset maximum value (e.g., the number of materials 105 that can be stacked per pallet), outputting a signal to indicate that the pallet should be removed, and resetting the count value to prepare for the next cycle.

[0040] In addition, the method of this embodiment may optionally utilize an in-situ sensor to achieve automatic calibration of the feed conveyor belt 101 and the pallet chain. For example, when the system is started or when the operator manually triggers it, when the in-situ sensor detects that the front end of the pallet is aligned with the end of the feed conveyor belt 101, the encoder of the feed conveyor belt 101 will be zeroed or reset to a preset reference value.

[0041] Through the above-described method embodiments, this disclosure can achieve precise control over the stacking process, improve stacking efficiency and accuracy, and effectively handle feeding anomalies and pallet full-load management.

[0042] To implement the control method for the stacking system in the above embodiments, other embodiments of this disclosure also provide a control device 300 for the stacking system, such as... Figure 3As shown, the device 300 includes a first control module 302 and a first position compensation module 304. It should be noted that since the following embodiments are for implementing the aforementioned method embodiments, each module in the device 300 is designed to implement each step of the aforementioned method. Therefore, this disclosure is not limited to the following embodiments, and any device or module that can implement the above method should be included within the protection scope of this disclosure.

[0043] like Figure 3 As shown, the first control module 302 is used to control the feeding conveyor belt 101 and the circulating stacking conveyor belt 102 to perform position-based synchronous operation, and to reset their encoders in units of pallet station length L.

[0044] The first position compensation module 304 is used to read and record the current first position of the encoder of the feeding conveyor belt 101 and perform first superimposed motion position compensation on the circulating stacking conveyor belt 102 when it receives a trigger command indicating first superimposed motion position compensation. The distance of the first superimposed motion position compensation is determined based on the difference between a preset placement position A and the first position. Optionally, the trigger command indicating first superimposed motion position compensation is generated when the feeding sensor 103 detects material 105 and the first superimposed motion position compensation condition is met. Optionally, the first superimposed motion position compensation condition includes continuous material shortage or the first start after a shutdown. The first position compensation module 304 is used to monitor the gap length between materials 105, for example, through the feeding sensor 103. When the monitored gap length exceeds a preset threshold, it is determined that continuous material shortage is met. Optionally, the feeding sensor 103 is located upstream of the feeding path and the distance between its position and the end of the feeding conveyor belt 101 is an integer multiple of the pallet station length L.

[0045] Additionally, the device 300 may optionally include a second position compensation module. The second position compensation module is used to read and record the current second position of the encoder of the feed conveyor belt 101 when the counting sensor 104 detects the material 105, and to perform a second superimposed motion position compensation on the feed conveyor belt 101. The distance of the second superimposed motion position compensation is determined based on the difference between the preset placement position A and the second position. The counting sensor 104 is located at the end of the feed conveyor belt 101.

[0046] Optionally, the device 300 may further include a pallet counting module for tracking the position of the pallet on the circulating stacking conveyor belt 102, the position tracking being achieved by cyclically shifting a binary number representing the pallet position; when the counting sensor 104 detects material 105, the current pallet count is incremented; and when the pallet count reaches a preset maximum value, an output signal is sent to indicate that the pallet should be removed and the count value is reset.

[0047] Optionally, the device 300 may also include an in-situ calibration module, which is used to zero or reset the encoder of the feed conveyor belt 101 to a preset reference value when the front end of the tray is detected by the in-situ sensor to be at the end position of the feed conveyor belt 101.

[0048] It should be noted that the control method of the stacking system in the foregoing embodiments is a method embodiment corresponding to the control device 300 of the stacking system in this embodiment. The control device 300 of the stacking system in this embodiment can be implemented in cooperation with the control method of the stacking system in the foregoing embodiments. The relevant technical details mentioned in the control method of the stacking system in the foregoing embodiments are still valid in the control device 300 of the stacking system in this embodiment, and will not be repeated here to reduce repetition.

[0049] Transfer to Figure 4 , Figure 4 The structure of a stacking system control system 400 according to an embodiment of this disclosure is shown. The system 400 mainly includes a control device 402, a first motor 408 and a first motor drive device 404 for driving the feed conveyor belt 101, and a second motor 410 and a second motor drive device 406 for driving the circulating stacking conveyor belt 102. It should be understood that, although... Figure 4 Only the first motor 408 and the second motor 410 are shown in the figure, but more motors and drive devices can be added as needed to meet the driving requirements of the feeding conveyor belt 101 and the circulating stacking conveyor belt 102.

[0050] The control device 402 can be a suitable controller such as a PLC, industrial PC, dedicated motion controller, or customized embedded system. The control device 402 works closely with the first motor 408 and the first motor drive device 404, the second motor 410 and the second motor drive device 406, respectively.

[0051] In addition, the system integrates a series of sensors, such as a feed sensor 103 for detecting material 105 on the feed conveyor belt 101, a counting sensor 104 for detecting trays on the circulating stacking conveyor belt 102, and encoders that provide displacement feedback, respectively mounted on the first motor 408 and the second motor 410. To facilitate operator adjustment of parameters (e.g., parameters that need adjustment due to changes in the stacked material 105), the system is optionally equipped with a human-machine interface (HMI). In terms of connectivity, the control device 402 is electrically connected to the aforementioned sensors and encoders through various internal or extended modules, and simultaneously communicates data with the motor drive unit via an industrial communication network to ensure coordinated operation of the entire system.

[0052] Specifically, the control device 402 can read the pulse signals from the encoders of the first motor 408 and the second motor 410 to obtain the real-time position information of the two conveying mechanisms. The control device 402 is connected to the drive unit 404 of the first motor 408 and the drive unit 406 of the second motor 410 via the communication interface 504 to achieve position, speed, and torque control of the high-performance AC servo motors. These servo motors are all equipped with encoders, providing real-time shaft position feedback to the control device 402 to ensure closed-loop control. Simultaneously, the servo drivers are responsible for converting the motion control commands from the control device 402 into control signals for the motors.

[0053] Regarding sensor configuration, the feed sensor 103 is, for example, a photoelectric sensor, a laser rangefinder, or a vision sensor. The counting sensor 104 is, for example, a photoelectric sensor. In this embodiment, the control device 402 achieves displacement-based synchronous operation through its control logic. For example, the control device 402 can set the encoder of the second motor 410 as the master shaft, while the first motor 408 acts as the slave shaft. The control device 402 programs the first motor drive device 406 to establish an electronic gear transmission relationship with the second motor drive device 408, so that when the circulating stacking conveyor belt 102 moves a distance of one pallet station, the feed conveyor belt 101 will also move the same distance accordingly. This electronic synchronization ensures that regardless of the speed at which the circulating stacking conveyor belt 102 runs, the feed conveyor belt 101 can follow its displacement in real time and accurately, thereby maintaining a constant relative positional relationship between the two.

[0054] Based on this synchronous operation, when the feed sensor 103 detects material 105 and meets the first superimposed motion position compensation condition (e.g., during the first startup after experiencing continuous material shortages or equipment shutdown), the control device 402 immediately reads and records the current first position of the encoder of the feed conveyor belt 101. Subsequently, the control device 402 calculates the required superimposed motion compensation distance based on the difference between the preset placement position of material 105 and the first position. Then, the control device 402 sends a superimposed position command to the motor drive of the circulating stacking conveyor belt 102, so that the circulating stacking conveyor belt 102, while maintaining its synchronous operation with the feed conveyor belt 101, additionally performs the displacement of the calculated superimposed motion distance. In this way, when material 105 arrives above the pallet station, its selected alignment reference point (such as the front end, center point, or rear end of material 105) can be accurately aligned with the preset placement position A, thereby achieving high-precision stacking.

[0055] In addition, to address situations such as continuous material shortages or the first restart after a shutdown, the control device 402 continuously monitors the trigger interval of the feed sensor 103. If the feed sensor 103 does not detect material 105 within a preset threshold time, the control device 402 determines it to be in a "material 105 not detected for a relatively long time" state. In this state, once the feed sensor 103 detects new material 105 again, the control device 402 will forcibly execute the aforementioned stacking motion steps to ensure that the first material 105 after the feed is restored can also be accurately stacked.

[0056] To further improve the placement accuracy of material 105 and the robustness of the system, in addition to the compensation based on the feed sensor 103 and the first superimposed motion position compensation condition, the system also introduces a second superimposed motion position compensation mechanism. Specifically, the system sets up a counting sensor 104, which is strategically located at the end of the feed conveyor belt 101, i.e., closer to the final placement position of material 105. When material 105 travels on the feed conveyor belt 101 into the detection range of the counting sensor 104, i.e., when the counting sensor 104 detects material 105, the control device 402 immediately reads and records the current second position of the encoder of the feed conveyor belt 101. Subsequently, the control device 402 calculates the required second superimposed motion compensation distance based on the difference between the preset placement position A and the current second position. Unlike the first superimposed motion compensation, in this case, the control device 402 sends a second superimposed position command to the motor drive of the feeding conveyor belt 101. This causes the feeding conveyor belt 101 to maintain its synchronous operation with the circulating stacking conveyor belt 102 while additionally performing a displacement of the calculated second superimposed motion distance. This second superimposed motion compensation mechanism, as a real-time, local fine-tuning mechanism, can effectively correct minor deviations caused by factors such as material 105 sliding on the conveyor belt, sensor detection errors, or system cumulative errors. This ensures that when material 105 finally arrives above the pallet station, its selected alignment reference point (such as the front end, center point, or rear end of material 105) can be more accurately aligned with the preset placement position A, thereby further improving the stacking accuracy and reliability.

[0057] In addition, to accurately manage the loading status of each pallet and achieve automatic unloading, the system introduces a sophisticated pallet position tracking and material counting mechanism. The system maintains an internal pallet position mapping. This mapping can be represented as a binary sequence, where each bit represents a pallet station on the circulating stacking conveyor belt 102. As the circulating stacking conveyor belt 102 operates, the system periodically performs a cyclic shift operation on this binary sequence based on encoder feedback or step distance of the pallet chain. For example, assuming there are N pallets on the circulating stacking conveyor belt 102, each pallet can be assigned a logical number (e.g., 0 to N-1); internally, the controller can maintain a binary bit array or an integer, where each bit or segment of binary numbers represents the state of a pallet or its relative position on the conveyor mechanism; when the circulating stacking conveyor belt 102 moves a distance equivalent to one pallet station, the controller performs a "cyclic shift operation" on this binary number. For example, if a bitmap is used to represent whether each station has passed a reference point, the bitmap is cyclically shifted one bit to the left or right whenever the conveyor mechanism moves a distance equivalent to one station. This enables the control device 402 to track the current location of each logically numbered pallet in real time (e.g., whether it is under a stacking station, whether it has left the stacking area, etc.).

[0058] In parallel, the system assigns an independent count value to each traceable pallet. When the counting sensor 104 at the end of the feed conveyor 101 detects that material 105 has been successfully placed on the pallet, the system identifies the corresponding pallet based on its current position information (tracked through the aforementioned cyclic shifting) and increments its count by 1. This means that each pallet has an independent counter that records the number of materials 105 it has received. The system continuously monitors the count values ​​of all pallets. Once the count value of a pallet reaches or exceeds the preset maximum loading value (e.g., the number of materials 105 each pallet should carry), the system immediately outputs a signal. This signal can be used to trigger downstream automated processes, such as instructing a robotic arm or another conveyor to remove the full pallet. Simultaneously, the count value of that pallet is reset to zero so that the pallet (if recycled) or the next empty pallet entering that location can restart counting, thereby achieving efficient recycling and continuous production.

[0059] Figure 5 This is a schematic diagram of an electronic device according to an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device. See also... Figure 5 The electronic device 500 provided in this application embodiment includes: a processor 502, a communications interface 504, a memory 506, and a bus 508. Wherein:

[0060] The processor 502, communication interface 504, and memory 506 communicate with each other via bus 508.

[0061] Communication interface 504 is used to communicate with other electronic devices or servers.

[0062] The processor 502 is used to execute program 510, specifically the relevant steps in the above method embodiments.

[0063] Specifically, program 510 may include program code that includes computer operation instructions.

[0064] Processor 502 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0065] Memory 506 is used to store program 510. Memory 506 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0066] Specifically, program 510 can be used to cause processor 502 to execute the methods in any of the foregoing embodiments.

[0067] The specific implementation of each step in program 510 can be found in the corresponding descriptions of the steps and units in the above method embodiments, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the devices and modules described above can be referred to the corresponding process descriptions in the foregoing method embodiments, and will not be repeated here.

[0068] This application also provides a computer-readable storage medium storing instructions for causing a machine to perform the methods described herein. Specifically, a system or apparatus equipped with a storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer (or CPU or MPU) of the system or apparatus to read and execute the program code stored in the storage medium.

[0069] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of this application.

[0070] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0071] This application also provides a computer program product, including computer instructions that instruct a computing device to perform any corresponding operation in the above-described plurality of method embodiments.

[0072] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0073] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0074] It should be noted that not all steps and modules in the above processes and system structure diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of each step is not fixed and can be adjusted as required. The system structure described in the above embodiments can be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.

[0075] In this patent application, nouns and pronouns relating to persons are not limited to specific genders. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, material, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, material, or apparatus. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, material, or apparatus that includes said element.

[0076] In the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module may include permanent dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware module may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operations. The specific implementation method (mechanical, dedicated permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.

[0077] The present application has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present application is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present application can be obtained by combining the code review methods in the different embodiments above. These embodiments are also within the protection scope of the present application.

Claims

1. A control method for a stacked system, characterized in that, The method includes: Control the feeding conveyor belt and the circulating stacking conveyor belt to perform position-based synchronous operation, and reset their encoders in units of pallet station length; Upon receiving a trigger command indicating first superimposed motion position compensation, the current first position of the feed conveyor encoder is read and recorded, and first superimposed motion position compensation is performed on the circulating stacked conveyor. The distance of the first superimposed motion position compensation is determined based on the difference between the preset placement position and the first position.

2. The method according to claim 1, characterized in that, The trigger command for indicative of the first superimposed motion position compensation is generated when the feed sensor detects material and the conditions for the first superimposed motion position compensation are met.

3. The method according to claim 2, characterized in that, The first superimposed motion position compensation condition includes continuous material shortage or the first start-up after a shutdown.

4. The method according to claim 3, characterized in that, The method further includes: The feed sensor monitors the length of the gap between materials. When the monitored gap length exceeds a preset threshold, it is determined that the continuous material shortage is met.

5. The method according to claim 1, characterized in that, The feed sensor is located upstream of the feed path, and the distance between its position and the end of the feed conveyor belt is an integer multiple of the length of the pallet station.

6. The method according to claim 3, characterized in that, The method further includes: When the counting sensor detects material, it reads and records the current second position of the feed conveyor encoder and performs a second superimposed motion position compensation on the feed conveyor. The distance of the second superimposed motion position compensation is determined based on the difference between the preset placement position and the second position. The counting sensor is located at the end of the feed conveyor.

7. The method according to claim 6, characterized in that, The method further includes: The position of the pallet on the circulating stacking conveyor belt is tracked by performing a cyclic shift operation on a binary number representing the pallet position; When the counting sensor detects material, the current count value of the tray is incremented; and When the count value of the tray reaches the preset maximum value, an output signal is sent to indicate that the tray should be removed and the count value should be reset.

8. The method according to claim 1, characterized in that, The method further includes: When the in-situ sensor detects that the front end of the tray is located at the end of the feeding conveyor belt, the encoder of the feeding conveyor belt is zeroed or reset to a preset reference value.

9. A control device for a stacking system, characterized in that, The device (300) includes: The first control module (302) is used to control the feeding conveyor belt and the circulating stacking conveyor belt to perform position-based synchronous operation and reset their encoders in units of pallet station length. The first position compensation module (304) is used to read and record the current first position of the encoder of the feeding conveyor belt and perform the first superimposed motion position compensation on the circulating stacking conveyor belt when it receives a trigger command indicating the first superimposed motion position compensation. The distance of the first superimposed motion position compensation is determined based on the difference between the preset placement position and the first position.

10. The apparatus according to claim 9, characterized in that, The trigger command for indicative of the first superimposed motion position compensation is generated when the feed sensor detects material and the conditions for the first superimposed motion position compensation are met.

11. The apparatus according to claim 10, characterized in that, The first superimposed motion position compensation condition includes continuous material shortage or the first start-up after a shutdown.

12. The apparatus according to claim 9, characterized in that, The feed sensor is located upstream of the feed path, and the distance between its position and the end of the feed conveyor belt is an integer multiple of the length of the pallet station.

13. A control system for a stacking system, characterized in that, The system (400) includes: At least one motor is configured to drive the feed conveyor belt (101) and / or the circulating stack conveyor belt (102); At least one motor drive device configured to drive the at least one motor; A control device (402) is configured to: control the feeding conveyor belt (101) and the circulating stacking conveyor belt (102) to perform position-based synchronous operation and reset their encoders in units of pallet station length (L); upon receiving a trigger command indicating first superimposed motion position compensation, read and record the current first position of the encoder of the feeding conveyor belt (101) and perform first superimposed motion position compensation on the circulating stacking conveyor belt (102), wherein the distance of the first superimposed motion position compensation is determined based on the difference between a preset placement position (A) and the first position.

14. The system according to claim 13, characterized in that, The trigger command for the first superimposed motion position compensation is generated when the feed sensor (103) detects material (105) and the first superimposed motion position compensation condition is met.

15. The system according to claim 14, characterized in that, The first superimposed motion position compensation condition includes continuous material shortage or the first start-up after a shutdown.

16. The system according to claim 13, characterized in that, The system (400) further includes a feed sensor (103) electrically connected to the at least one motor drive device. The feed sensor (103) is located upstream of the feed path and the distance between its position and the end of the feed conveyor belt (101) is an integer multiple of the pallet station length (L).

17. The control system according to claim 13 or 14, characterized in that, The system (400) also includes a counting sensor (104) located at the end of the feed conveyor belt (101); The control device (402) is also configured to read and record the current second position of the encoder of the feed conveyor belt (101) when the counting sensor (104) detects material (105), and to perform a second superimposed motion position compensation on the feed conveyor belt (101), the distance of the second superimposed motion position compensation being determined based on the difference between the preset placement position (A) and the second position.

18. An electronic device, said electronic device (500) comprising: The processor (502), communication interface (504), memory (506), and bus (508) communicate with each other through the bus (508). The memory (506) is used to store at least one executable instruction that causes the processor (502) to perform an operation corresponding to the method as described in any one of claims 1-8.

19. A computer-readable storage medium storing computer instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 1-8.

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