Combined flocked swab automatic conveying device and method

Abstract

The application relates to an automatic conveying device and method for a combined flocking swab, belonging to the technical field of automatic conveying, and comprising a main conveying frame, a sectional vibration track installed on the main conveying frame and used for carrying and conveying the flocking swab, a sensing and monitoring assembly fixed on the main conveying frame and located above the sectional vibration track and used for non-contact acquisition of flow state data and environmental parameter data of the flocking swab, an active intervention assembly fixed on the main conveying frame and used for physical or environmental intervention on flocking swab flow on the sectional vibration track, and a controller electrically connected with the sensing and monitoring assembly, the active intervention assembly and the sectional vibration track and used for cooperative control of the active intervention assembly and the sectional vibration track based on the flow state data and the environmental parameter data, so that the application can prevent congestion before the congestion actually occurs.

Description

Technical Field

[0001] This invention relates to the field of automated conveying, specifically to a combined flocked swab automatic conveying device and method. Background Technology

[0002] During the high-speed transport of flocked swabs, traditional transport equipment can only respond passively to blockages that have occurred, lacking the ability to predict abnormal flow conditions in advance, which limits production efficiency and stability.

[0003] This situation and its shortcomings are mainly due to the limitations of data acquisition and processing technologies, which prevent conventional transport systems from making predictive adjustments before congestion occurs. Therefore, when congestion does occur, managers struggle to obtain accurate information quickly, delaying the implementation of countermeasures.

[0004] The information disclosed in the background section above is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a combined flocked swab automatic conveying device and method to solve the problems mentioned in the background art.

[0006] The technical solution of the present invention includes:

[0007] Main conveyor frame;

[0008] A segmented vibrating track is installed on the main conveying frame to carry and convey flocked swabs.

[0009] The sensing and monitoring assembly is fixed on the main conveying frame and located above the segmented vibration track, and is used for non-contact collection of flow status data and environmental parameter data of flocked swabs;

[0010] An active intervention assembly, fixed to the main conveying frame, is used to apply physical or environmental intervention to the flocked swab flow on the segmented vibration track;

[0011] The controller is electrically connected to the sensing and monitoring assembly, the active intervention assembly, and the segmented vibration track, and is used to coordinately control the active intervention assembly and the segmented vibration track based on the flow state data and environmental parameter data.

[0012] Preferably, the segmented vibration track includes at least three independent track segments, which are spliced ​​together end to end, and each track segment is independently connected to an electromagnetic exciter for driving its vibration.

[0013] Preferably, the sensing and monitoring assembly includes:

[0014] A gantry support spans across the segmented vibrating track and is fixed to the main conveying frame;

[0015] A high-speed line scan camera is mounted on the gantry bracket, and its lens field of view covers the segmented vibration track;

[0016] An electrostatic field sensor, fixed to the side wall of the segmented vibration track, is used for non-contact measurement of the electrostatic charge intensity of the flocked swabs flowing through it.

[0017] Preferably, the active intervention assembly includes an ion bar, which is fixed to the gantry bracket and its outlet faces the segmented vibration track.

[0018] An automated feeding method for combined flocked swabs includes the following steps:

[0019] The data acquisition step is used to acquire swab density data, which characterizes swab flow density, swab stability data, which characterizes swab flow stability, and electrostatic intensity data, which characterizes electrostatic interference level, in real time through the sensor monitoring assembly.

[0020] The status determination step is used to determine whether the swab flow has entered a congestion warning state based on the swab density data and the swab stability data.

[0021] The control decision-making step is used to further determine whether the cause of congestion is electrostatic based on the electrostatic intensity data when the swab flow enters the congestion warning state.

[0022] The intervention step is used to control the active intervention assembly to apply electrostatic elimination intervention when the cause of congestion is determined to be electrostatic, and to coordinately adjust the vibration parameters of the segmented vibration track to relieve congestion; when the cause of congestion is determined to be non-electrostatic, only the vibration parameters of the segmented vibration track are coordinatedly adjusted.

[0023] Preferably, the swab density data is a local congestion index, which is obtained by dividing the image acquired by the high-speed linear scan camera into multiple regions corresponding to the track segment, and calculating the ratio of the number of pixels representing swabs in each region to the total number of pixels in that region.

[0024] Preferably, the swab stability data is the flow disorder, which is obtained by analyzing the overall motion vector field of the swab group between consecutive image frames using optical flow method, and statistically analyzing the dispersion of the direction and magnitude of the motion vector field.

[0025] Preferably, the criteria for determining the congestion warning state are: the local congestion index of any track segment corresponding to the swab density data continuously exceeds a preset density threshold, and the flow disorder corresponding to the swab stability data exceeds a preset stability threshold.

[0026] Preferably, the coordinated adjustment of the vibration parameters of the segmented vibrating track includes: reducing the vibration amplitude of the upstream track segment of the track segment under congestion warning, and increasing the vibration amplitude or frequency of the track segment under congestion warning itself and its downstream track segment.

[0027] This invention provides an improved combined flocked swab automatic delivery device and method, which has the following improvements and advantages compared with the prior art:

[0028] 1. This invention transforms the control of swab flow from a passive response to a proactive adjustment through the coordinated operation of a sensing and monitoring assembly, an active intervention assembly, and a controller. Before congestion occurs, the system can alleviate congestion, thereby improving the continuity and reliability of the delivery process. For example, when the controller detects a risk of congestion, it can instruct the segmented vibration track to adjust the vibration parameters and simultaneously control the active intervention assembly, such as an ion bar, to intervene in the swab flow, thereby preventing congestion before it actually occurs.

[0029] 2. This invention employs a segmented vibrating track, which consists of at least three independent track segments, each driven by an independent electromagnetic vibrator. This multi-segment independent drive structure provides a physical basis for a zoned control strategy. When a track segment shows signs of congestion, the controller can instruct the upstream track segment to reduce its vibration amplitude to slow down the incoming material, while simultaneously instructing the congested track segment and the downstream track segment to increase their vibration amplitude to accelerate evacuation. This coordinated adjustment method of upstream throttling and downstream acceleration achieves precise control of local material flow, which is more flexible and effective than an integrated track.

[0030] 3. The sensing and monitoring assembly of the present invention combines a high-speed linear array camera and an electrostatic field sensor, which can simultaneously acquire image data characterizing the physical aggregation state, such as swab density data, swab stability data, and electric field data characterizing key environmental interference factors;

[0031] 4. A local congestion index is used for quantification. This index is obtained by calculating the ratio of the number of pixels representing swabs in each region of a high-speed linear scan camera image to the total number of pixels in that region. It intuitively reflects the density of the corresponding track segment. A flow disorder degree is used for quantification. This value is obtained by analyzing the motion vector field of the swab group between consecutive image frames using optical flow method and statistically analyzing the dispersion of the direction and magnitude of the motion vector field. The triggering of the congestion warning state depends on two conditions: the local congestion index of any track segment continuously exceeds the preset density threshold, and the flow disorder degree exceeds the preset stability threshold. This dual judgment logic effectively distinguishes normal fluctuations from true congestion precursors and avoids misjudgment. Attached Figure Description

[0032] The present invention will be further explained below with reference to the accompanying drawings and embodiments:

[0033] Figure 1 This is a schematic diagram of the overall structure of the device;

[0034] Figure 2 This is a structural schematic diagram of a segmented vibration track and its related components;

[0035] Figure 3 This is a schematic diagram of the gantry frame and its connection structure;

[0036] Figure 4 This is a schematic diagram of the process flow of the method of the present invention;

[0037] In the diagram: 100, main conveyor frame; 200, segmented vibrating track; 210, track section; 220, electromagnetic vibrator; 300, sensor and monitoring assembly; 310, gantry support; 320, high-speed linear array camera; 330, electrostatic field sensor; 400, active intervention assembly; 410, ion wind bar. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments. Example 1

[0039] Please see Figure 1-3 This invention provides a combined flocked swab automatic conveying device, comprising:

[0040] Main conveyor frame 100;

[0041] The segmented vibrating track 200 is installed on the main conveying frame 100 and is used to carry and convey flocked swabs.

[0042] The sensor monitoring assembly 300 is fixed on the main conveying frame 100 and located above the segmented vibration track 200. It is used for non-contact collection of flow status data and environmental parameter data of flocked swabs.

[0043] The active intervention assembly 400 is fixed on the main conveying frame 100 and is used to apply physical or environmental intervention to the flocked swab flow on the segmented vibration track 200.

[0044] The controller, electrically connected to the sensing and monitoring assembly 300, the active intervention assembly 400, and the segmented vibration track 200, is used to coordinate the control of the active intervention assembly 400 and the segmented vibration track 200 based on flow state data and environmental parameter data.

[0045] During the high-speed transport of flocked swabs, conventional transport devices can only passively respond to existing blockages and lack the ability to predict abnormal flow conditions, which limits production efficiency and stability. This embodiment provides a combined automatic transport device for flocked swabs that addresses this problem through the coordinated work of its components. The main transport frame 100 provides a stable installation reference for the entire device, ensuring the accuracy of the position of each functional component. The segmented vibrating track 200 carries and transports the flocked swabs, serving as the carrier for material movement. The sensing and monitoring assembly 300 is used to collect state data and environmental parameter data of the flocked swab flow, providing a data basis for subsequent judgment. The active intervention assembly 400 intervenes in the swab flow based on the judgment results, acting as the actuator to regulate the flow state. The controller, as the core of data processing and command issuance, is electrically connected to the above components. Based on the data collected by the sensing and monitoring assembly 300, it coordinates and regulates the actions of the segmented vibrating track 200 and the active intervention assembly 400. The purpose is to transform the control of the swab flow from a passive response to a proactive and predictive adjustment, thereby alleviating congestion before it occurs and improving the continuity and reliability of the transportation process.

[0046] The segmented vibration track 200 includes at least three independent track segments 210, which are spliced ​​together end to end, and each track segment 210 is independently connected to an electromagnetic exciter 220 for driving its vibration.

[0047] The segmented vibrating track 200 is designed to achieve refined and differentiated conveying control of the swab flow. The segmented vibrating track 200 consists of at least three independent track segments 210, which are sequentially connected end-to-end but physically separated by minute gaps to block vibration transmission. Each track segment 210 is independently connected to an electromagnetic vibrator 220, such as a common combination of electromagnet and spring steel sheet, to independently drive the track segment 210 above it. This multi-segment independently driven structure provides the physical basis for the controller to execute a zoned control strategy. When a track segment 210 shows signs of congestion, the controller can instruct the electromagnetic vibrator 220 of its upstream track segment 210 to reduce vibration amplitude to slow the material flow, while simultaneously instructing the electromagnetic vibrators 220 of the congested track segment 210 and downstream track segment 210 to increase vibration amplitude to accelerate evacuation. This achieves precise adjustment of the local material flow, a more flexible and effective adjustment method compared to a single-piece track.

[0048] The sensor monitoring assembly 300 includes:

[0049] The gantry support 310 spans across the segmented vibrating track 200 and is fixed to the main conveying frame 100;

[0050] A high-speed line scan camera 320 is mounted on a gantry bracket 310, and its lens field of view covers the segmented vibration track 200.

[0051] An electrostatic field sensor 330 is fixed to the side wall of a segmented vibration track 200 and is used for non-contact measurement of the electrostatic charge intensity of a flocked swab group flowing through it.

[0052] The sensing and monitoring assembly 300 is used to acquire the complex data dimensions required for decision-making. The gantry bracket 310 spans above the segmented vibration track 200, providing an unobstructed and stable mounting platform for other sensing components. A high-speed linear scan camera 320, such as the Baslerace series acA2040-90um model, is mounted at the center of the crossbeam of the gantry bracket 310. Its lens field of view completely covers all track segments 210, continuously capturing a global top-down image of the swab flow, which is the raw data source for calculating flow density and stability. An electrostatic field sensor 330, such as a non-contact electrostatic potentiometer based on the field-effect transistor principle, is fixed to the side wall of the track segment 210, with its probe facing the flowing swab group, used to measure the intensity of static charge generated by friction and other factors in real time. Through the combination of the high-speed linear scan camera 320 and the electrostatic field sensor 330, the sensing and monitoring assembly 300 can simultaneously acquire image data characterizing the physical aggregation state and electric field data characterizing key environmental interference factors, providing data support for the main controller to perform accurate state judgment and cause analysis.

[0053] The active intervention assembly 400 includes an ion bar 410, which is fixed on the gantry bracket 310 and its air outlet faces the segmented vibration track 200.

[0054] The specific components of the active intervention assembly 400 are designed to perform targeted physical interventions. In this embodiment, the active intervention assembly 400 includes an ion bar 410. The ion bar 410 is fixed on the gantry bracket 310, positioned alongside the high-speed line array camera 320, with its air outlet facing the entire segmented vibration track 200. The function of the ion bar 410 is to generate a positive and negative ion airflow capable of neutralizing charges. When the controller determines that the congestion is related to high-intensity static electricity based on the readings of the electrostatic field sensor 330, it will activate the ion bar 410. The airflow generated by the ion bar 410 directly acts on the swab group on the segmented vibration track 200, aiming to eliminate or weaken the electrostatic force that causes the swabs to adhere to each other and affect normal flow. It is a key execution component for realizing the cause-oriented intervention strategy. Example 2

[0055] Please see Figure 4 An automated feeding method for combined flocked swabs includes the following steps:

[0056] The data acquisition step is used to acquire swab density data, which characterizes swab flow density, swab stability data, which characterizes swab flow stability, and electrostatic intensity data, which characterizes electrostatic interference level, in real time through the sensor monitoring assembly 300.

[0057] The status determination step is used to determine whether the swab flow has entered a congestion warning state based on swab density data and swab stability data;

[0058] The control decision-making steps are used to further determine whether the cause of congestion is electrostatic based on electrostatic intensity data when the swab flow enters the congestion warning state.

[0059] The intervention steps are implemented to control the active intervention assembly 400 to apply electrostatic elimination intervention when the cause of congestion is determined to be electrostatic, and to coordinately adjust the vibration parameters of the segmented vibration track 200 to relieve congestion; when the cause of congestion is determined to be non-electrostatic, only the vibration parameters of the segmented vibration track 200 are coordinatedly adjusted.

[0060] The core of this combined flocked swab automatic conveying method lies in a multi-stage, data-driven closed-loop adjustment process. The data acquisition step continuously acquires three key data types through the sensor monitoring assembly 300: swab density data reflecting the degree of material aggregation, swab stability data reflecting the smoothness of material flow, and electrostatic intensity data reflecting the impact of static electricity. The status judgment step, controlled by a controller (e.g., a Siemens S7-1200 series PLC), analyzes the first two types of data to identify whether the flow state deviates from the normal range and triggers a congestion warning. Once a warning is triggered, the control decision step is initiated. The controller introduces the third type of data, electrostatic intensity data, to determine whether the root cause of the warning is physical congestion or electrostatic adsorption. The intervention step implements different strategies based on the decision result: if electrostatic dominance is determined, the controller simultaneously activates the active intervention assembly 400 to eliminate static electricity and coordinates the vibration parameters of the segmented vibration track 200; if electrostatic dominance is not the primary cause, only the vibration parameters are adjusted. This method, by combining phenomenon identification, cause diagnosis, and categorized intervention, makes the adjustment of the conveying process more targeted and efficient.

[0061] The swab density data is a local congestion index, which is obtained by dividing the image acquired by the high-speed linear scan camera 320 into multiple regions corresponding to the track segment 210, and calculating the ratio of the number of pixels representing swabs in each region to the total number of pixels in that region.

[0062] The quantification of swab density data is achieved by calculating a local congestion index. After receiving real-time images from the high-speed linear scan camera 320, the controller internally divides the complete image into multiple virtual regions along the swab transport direction. Each virtual region precisely corresponds to a physical track segment 210. The image processing algorithm within the controller calculates the total number of pixels identified as flocked swabs in each region in real time and compares it with the total number of pixels in that region to obtain a ratio. This ratio is the local congestion index of that track segment 210. This index intuitively reflects the density of swabs on the corresponding physical track segment 210, providing an accurate quantitative basis for determining which segment begins to experience material accumulation.

[0063] The swab stability data is the flow disorder, which is obtained by analyzing the overall motion vector field of the swab group between consecutive image frames using optical flow method, and statistically analyzing the dispersion of the direction and magnitude of the motion vector field.

[0064] The acquisition of swab stability data is accomplished by calculating the flow disorder. The controller utilizes its processing power to compare and analyze a series of consecutive image frames transmitted from the high-speed linear scan camera 320. An optical flow algorithm is used to track the movement patterns of the swab group in the images, generating a vector field describing the overall motion trend. Each vector represents the direction and velocity of the local swab group. The controller then calculates the dispersion or standard deviation of the direction and magnitude of all motion vectors in the entire vector field; this statistical result is defined as the flow disorder. When all swabs move smoothly, in the same direction, and at the same speed, the vector field is relatively uniform with low dispersion, and the flow disorder value is also low. Conversely, when backflow, stagnation, or drastic velocity fluctuations occur, the vector field becomes chaotic with high dispersion, and the flow disorder value increases accordingly, indicating that the stability of the swab flow is decreasing.

[0065] As a specific calculation method, this degree of dispersion can be quantified by calculating the standard deviation of all motion vectors. The calculation process can be executed by the controller, which involves calculating the standard deviation of all motion vectors within the field of view. The average value of the motion vectors Then calculate the standard deviation using the following formula. This value is defined as the flow disorder degree:

[0066]

[0067] in: Represents the degree of disorder in the flow regime; This represents the total number of motion vectors obtained through optical flow analysis. Representing the The magnitude of the motion vector, i.e., the motion rate of the local swab group; Representing all The arithmetic mean of the magnitudes of the motion vectors.

[0068] This method transforms the macroscopic disordered state into precise and repeatable numerical values, providing a stable data foundation for subsequent state determination.

[0069] The conditions for determining the congestion warning state are: the local congestion index of any track segment 210 corresponding to the swab density data continuously exceeds the preset density threshold, and the flow disorder corresponding to the swab stability data exceeds the preset stability threshold.

[0070] The congestion warning state is triggered by a dual-condition judgment logic to increase the reliability of the judgment. The controller continuously monitors the local congestion index and global flow disorder of all track segments 210. Only when the local congestion index of a certain track segment 210 stably exceeds the preset density threshold for a certain period of time, and the global flow disorder also exceeds its corresponding stability threshold in the same period of time, will the controller determine that the entire system has entered the congestion warning state. This judgment method, which combines the two conditions of local density exceeding the standard and overall flow instability, can effectively distinguish between normal transport fluctuations and real congestion precursors, avoid misjudgments caused by instantaneous changes in a single indicator, and ensure that intervention measures are only activated when necessary.

[0071] The preset density threshold and preset stability threshold can be determined through on-site calibration. The method involves starting with a lower feeding speed during the equipment commissioning phase and gradually increasing it. Simultaneously, the controller continuously records the corresponding local congestion index and flow disorder. When physical congestion or significantly impaired flow is observed on the conveyor track, the data at that moment is recorded. The initial warning threshold is taken as 110% to 130% of the maximum value of the recorded data within the stable flow range before this critical state. For example, if the maximum local congestion index during stable flow is 0.6, the preset density threshold can be set between 0.66 and 0.78. This experimental calibration ensures that the set thresholds conform to the actual characteristics of the conveyed material and equipment, providing clear engineering guidance.

[0072] The coordinated adjustment of the vibration parameters of the segmented vibration track 200 includes: reducing the vibration amplitude of the upstream track segment 210 of the track segment 210 in the congestion warning state, and increasing the vibration amplitude or frequency of the track segment 210 itself in the congestion warning state and its downstream track segment 210.

[0073] Coordinated adjustment of the vibration parameters of the segmented vibrating track 200 is a dynamic congestion relief strategy. When the controller confirms that a certain track segment 210 has entered a congestion warning state, it immediately sends differentiated control commands to the electromagnetic vibrators 220 connected to each track segment 210. The controller instructs the upstream track segment 210 of the track segment 210 in the congestion warning state, i.e., the track segment 210 preceding it in the material inflow direction, to reduce the vibration amplitude of its electromagnetic vibrator 220, in order to reduce the material flow into the congested area. At the same time, the controller instructs the congested track segment 210 itself, as well as all its downstream track segments 210, to increase the vibration amplitude or frequency of its electromagnetic vibrator 220, in order to enhance the conveying power, actively disperse the accumulated material, and accelerate its departure from the congested area. This coordinated adjustment method of upstream throttling and downstream acceleration can create relief space for congestion points and actively clear backlogs, effectively resolving potential blockages.

[0074] As a preferred control strategy, the adjustment amount of vibration parameters is not fixed but is related to the severity of congestion. The controller can calculate the adjustment amount of vibration amplitude linearly or piecewise based on the percentage by which the local congestion index exceeds a preset density threshold. For example, when the congestion index exceeds the threshold by 10%, the upstream amplitude decreases by 5% and the downstream amplitude increases by 10%; when it exceeds the threshold by 30%, the upstream amplitude decreases by 15% and the downstream amplitude increases by 30%. This adjustment method, which is proportional to the degree of deviation, allows the intervention intensity to dynamically match the level of congestion risk, achieving more precise and efficient control and avoiding under- or over-adjustment.

[0075] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A combined tufted swab automatic conveying method applied to a combined tufted swab automatic conveying device, characterized in that the conveying device comprises: a main conveying frame (100); a segmented vibration track (200) mounted on the main conveying frame (100) for carrying and conveying tufted swabs; a sensing and monitoring assembly (300) fixed on the main conveying frame (100) and located above the segmented vibration track (200) for non-contact acquisition of flow state data and environmental parameter data of the tufted swabs; an active intervention assembly (400) fixed on the main conveying frame (100) for exerting physical or environmental intervention on the tufted swab flow on the segmented vibration track (200); and a controller electrically connected to the sensing and monitoring assembly (300), the active intervention assembly (400) and the segmented vibration track (200) for cooperative control of the active intervention assembly (400) and the segmented vibration track (200) based on the flow state data and environmental parameter data; the segmented vibration track (200) comprises at least three track segments (210) independent of each other, the track segments (210) are sequentially connected end to end, and each track segment (210) is independently connected with an electromagnetic exciter (220) for driving vibration thereof; the sensing and monitoring assembly (300) comprises: a gantry support (310) spanning above the segmented vibration track (200) and fixed on the main conveying frame (100); a high-speed linear array camera (320) mounted on the gantry support (310) with a lens field of view covering the segmented vibration track (200); and an electrostatic field sensor (330) fixed on the sidewall of the segmented vibration track (200) for non-contact measurement of the electrostatic charge intensity of the tufted swab group flowing therethrough; the active intervention assembly (400) comprises an ion wind rod (410) fixed on the gantry support (310) with an air outlet thereof facing the segmented vibration track (200); the conveying method comprises the following steps: a data acquisition step for acquiring, by the sensing and monitoring assembly (300), in real time, swab density data representing the swab flow density, swab stability data representing the swab flow stability, and electrostatic intensity data representing the electrostatic interference level; a state judgment step for judging whether the swab flow enters a congestion early warning state based on the swab density data and the swab stability data; and a regulation and decision step for further judging whether the congestion reason is electrostatic dominated based on the electrostatic intensity data when the swab flow enters the congestion early warning state. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ An intervention step is performed for controlling the active intervention assembly (400) to apply an electrostatic elimination intervention and adjusting vibration parameters of the segmented vibration track (200) to alleviate congestion when the congestion cause is judged to be electrostatic dominant; and for adjusting vibration parameters of the segmented vibration track (200) only when the congestion cause is judged to be non-electrostatic dominant.

2. The method of claim 1, wherein the method further comprises: The swab density data is a local congestion index, which is obtained by dividing the image acquired by the high-speed line array camera (320) into multiple regions corresponding to the track segments (210), and calculating the ratio of the number of pixels representing swabs in each region to the total number of pixels in the region.

3. The method of claim 1, wherein the method further comprises: The swab stability data is a flow state disorder degree, which is obtained by using an optical flow method to analyze the overall motion vector field of the swab group between consecutive image frames, and counting the dispersion degree of the direction and size of the motion vector field.

4. The method of claim 1, wherein the method further comprises: The judgment condition of the congestion early warning state is that the local congestion index of any track segment (210) corresponding to the swab density data continuously exceeds a preset density threshold, and the flow state disorder degree corresponding to the swab stability data exceeds a preset stability threshold.

5. The method of claim 1, wherein the method further comprises: The coordinated adjustment of the vibration parameters of the segmented vibration track (200) includes reducing the vibration amplitude of the upstream track segment (210) of the track segment (210) in the congestion early warning state, and increasing the vibration amplitude or frequency of the track segment (210) in the congestion early warning state itself and its downstream track segment (210).

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