Conveyor system, cargo identification method, device and medium

Abstract

This application proposes a conveyor system, a cargo identification method, device, and medium. The conveyor system includes multiple drive rollers, each equipped with a drive device, for transporting cargo. At least one drive roller is configured as a sensing roller, equipped with a sensor for detecting operating parameters and outputting signal values. The sensing roller is configured to operate at a first speed, and at least some of the drive rollers are configured to operate at a second speed different from the first speed. A processing module is also provided to determine whether cargo has arrived on the sensing roller based on the signal values. This eliminates the need for additional components in the conveyor system, enabling automated and cost-effective cargo identification on the conveyor. It saves manpower and improves the accuracy of the identification.

Description

Technical Field

[0001] This application relates to the field of transportation equipment technology, and in particular to a conveyor system, cargo identification method, equipment and medium. Background Technology

[0002] In fields such as express delivery, factory material receiving and dispatching, and mineral mining and processing, conveyor systems are commonly used to transport goods. Conveyor systems typically employ belt conveyors or roller conveyors, thereby saving on manual handling costs.

[0003] During cargo transportation, it is usually necessary to determine the arrival of goods in order to perform subsequent operations such as counting, arranging, transferring, and labeling. Currently, most cargo transportation processes rely on manual determination of arrival to trigger subsequent actions, which undoubtedly increases labor costs, and manual judgment is prone to errors. Another technology uses external photoelectric sensors to determine the arrival of goods, but this requires additional components, leading to increased production costs. Summary of the Invention

[0004] This application proposes a conveyor system, cargo identification method, equipment, and medium that can solve or at least alleviate one of the problems existing in the prior art.

[0005] To achieve the above objectives, in a first aspect, this application provides a conveyor system including a plurality of drive rollers, each drive roller being equipped with a drive device, the drive rollers being used to transport goods.

[0006] At least one of the drive rollers is configured as a sensing roller, and the sensing roller is equipped with a sensor for detecting the operating parameters of the sensing roller and outputting signal values.

[0007] The sensing roller is configured to operate at a first speed, and at least a portion of the drive roller is configured to operate at a second speed different from the first speed; and

[0008] The processing module is used to determine whether there is any cargo arriving on the sensing roller based on the signal value.

[0009] The conveyor system may exhibit one or more of the following features individually or in combination.

[0010] In one possible design, the processing module is specifically used to determine the real-time disturbance torque of the sensing roller based on the signal value, and to determine whether there is any cargo arriving on the sensing roller based on the real-time disturbance torque.

[0011] In one possible design, the processing module is used to determine whether the real-time disturbance torque exceeds a preset first threshold. When the real-time disturbance torque exceeds the first threshold, it is determined that the goods have arrived.

[0012] In one possible design, the processing module is used to determine whether the difference between the currently acquired real-time disturbance torque and the real-time disturbance torque acquired at the previous moment exceeds a preset second threshold. When the difference exceeds the second threshold, it is determined that the goods have arrived.

[0013] In one possible design, the conveyor system further includes at least one support roller adjacent to the drive roller.

[0014] In one possible design, the first speed is greater than the second speed.

[0015] In one possible design, the first speed is the ratio of the second speed to a, where 1 < a ≤ 2.

[0016] A second aspect of this application provides a cargo identification method, comprising: providing a plurality of drive rollers, each drive roller being configured with a drive device, the drive rollers being used to transport cargo; the cargo identification method further comprising:

[0017] At least one of the drive rollers is configured as a sensing roller, and the sensing roller is equipped with a sensor for detecting the operating parameters of the sensing roller and outputting signal values.

[0018] The sensing roller is configured to operate at a first speed, and at least a portion of the drive roller is configured to operate at a second speed different from the first speed; and

[0019] A configuration processing module is used to determine whether there is any cargo arriving on the sensing roller based on the signal value.

[0020] The cargo identification method may present one or more of the following features individually or in combination.

[0021] In one possible design, determining whether goods have arrived on the sensing roller based on the signal value specifically involves: determining the real-time disturbance torque of the sensing roller based on the signal value, and determining whether goods have arrived on the sensing roller based on the real-time disturbance torque.

[0022] In one possible design, the processing module is used to determine whether the real-time disturbance torque exceeds a preset first threshold. When the real-time disturbance torque exceeds the first threshold, it is determined that the goods have arrived.

[0023] In one possible design, the processing module is used to determine whether the difference between the currently acquired real-time disturbance torque and the real-time disturbance torque acquired at the previous moment exceeds a preset second threshold. When the difference exceeds the second threshold, it is determined that the goods have arrived.

[0024] In one possible design, each of the drive rollers is configured with a code, and the sensing rollers are configured according to the code.

[0025] In one possible design, the first speed is greater than the second speed.

[0026] In one possible design, the first speed is the ratio of the second speed to a, where 1 < a ≤ 2.

[0027] A third aspect of this application provides an electronic device comprising: a processor and a memory coupled to the processor, the memory being for storing a computer program; the processor being configured to execute the computer program stored in the memory such that the electronic device performs the cargo identification method as described in any possible implementation of the second aspect.

[0028] The fourth aspect of this application provides a computer-readable storage medium including a computer program or instructions that, when executed on a computer, cause the computer to perform the cargo identification method as described in any possible implementation of the second aspect.

[0029] Based on the above technical solution, the conveyor system includes multiple drive rollers, each equipped with a drive device, used for transporting goods. At least one drive roller is configured as a sensing roller, equipped with a sensor for detecting its operating parameters and outputting a signal value. The sensing roller is configured to operate at a first speed, and at least some of the drive rollers are configured to operate at a second speed different from the first speed. A processing module is also included to determine whether goods have arrived on the sensing roller based on the signal value. This eliminates the need for additional components in the conveyor system, enabling automated and lower-cost determination of whether goods are present on the conveyor, saving manpower and improving accuracy. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the conveyor system provided in Embodiment 1 of this application;

[0032] Figure 2A and Figure 2BThis is a schematic diagram of the parameter changes of the sensing roller at different rotation speeds during the transportation of goods in Embodiment 1 of this application;

[0033] Figure 3 This is a flowchart of the cargo identification method provided in Embodiment 1 of this application;

[0034] Figure 4 This is a schematic diagram of the support roller configuration provided in Embodiment 2 of this application;

[0035] Figure 5 This is a schematic diagram of the conveyor system provided in Embodiment 3 of this application;

[0036] Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application;

[0037] Figure 7 This is a schematic diagram of the structure of the memory provided in the embodiment of this application. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0039] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0041] Example 1

[0042] like Figure 1 As shown, this embodiment provides a conveyor system 10, including:

[0043] Multiple drive rollers 102, each equipped with a drive device, are used to transport goods 30.

[0044] At least one of the drive rollers 102 is configured as a sensing roller 101, and the sensing roller 101 is provided with a sensor 1012, which is used to detect the operating parameters of the sensing roller 101 and output signal values.

[0045] The sensing roller 101 is configured to operate at a first speed, and at least a portion of the drive roller 102 is configured to operate at a second speed different from the first speed; and

[0046] Processing module 20 is used to determine whether there is cargo 30 arriving on the sensing roller 101 based on the signal value.

[0047] For ease of explanation, the drive roller not configured as the sensing roller 101 is referred to as "102" in the attached drawing, and the drive device of the sensing roller 101 is defined as the first drive device 1011, and the drive device of the drive roller 102 is defined as the second drive device 1021.

[0048] On one hand, the aforementioned conveyor system 10 can control the drive device through the processing module 20, and the drive device will then drive the sensing roller 101 and / or the drive roller 102 to rotate, thereby realizing the transportation of goods 30. On the other hand, the sensor 1012 installed in the first drive device 1011 can detect the operating parameters of the first drive device 1011 in real time, and the processing module 20 determines whether goods 30 have arrived on the sensing roller 101 based on the signal values ​​corresponding to the operating parameters. Among them, the operating parameters may include: motor current and real-time rotational speed of the motor, etc.

[0049] In practice, the processing module 20 can determine whether there is cargo 30 on the sensing roller 101 by one or a combination of the following methods:

[0050] First, the processing module 20 determines whether there is a cargo 30 on the sensing roller 101 based on operating parameters such as motor current. For example, when the motor current exceeds a preset threshold, it is determined that the cargo 30 has arrived at the sensing roller 101. Here, "exceeds" means that if the preset threshold is negative and the motor current is less than the preset threshold, then it is "motor current exceeds preset threshold". If the first threshold is positive and the motor current is greater than the preset threshold, then it is "motor current exceeds preset threshold".

[0051] Secondly, the processing module 20 determines the real-time disturbance torque of the sensing roller 101 based on operating parameters such as motor current, and determines whether there is any goods arriving on the sensing roller 101 based on the real-time disturbance torque. This part will be explained in detail later.

[0052] The processing module 20 can be implemented as a single physical entity, such as a processing module located on a roller or other position, or it can be implemented as a distributed physical entity, such as a roller-end processing module and a central processing module, with the central processing module centrally controlling the roller-end processing module. The processing module 20 can also be a single chip with data storage and computation functions, such as... Figure 1 As shown, or a combination of chips.

[0053] In a specific implementation, the drive roller 102 is a power roller structure that provides power for the transport of goods 30. It mainly consists of a roller, a connecting plug, and a roller shaft. The roller can be made of wear-resistant rubber and fiberglass or similar materials.

[0054] The sensing roller 101 and the drive roller 102 can be fixedly configured in a certain order at the factory, or they can be flexibly configured in the background according to the characteristics of the transported goods and other requirements, so as to realize the flexible layout of the sensing roller 101 and the drive roller 102. In this case, both the sensing roller 101 and the drive roller 102 have built-in sensors.

[0055] For example, the conveyor system 10 is provided with multiple drive rollers 102 and multiple sensing rollers 101. The multiple drive rollers 102 and multiple sensing rollers 101 are arranged alternately. The alternation arrangement can be that the drive rollers 102 and sensing rollers 101 are arranged one by one, that is: one driving roller 102 is followed by one sensing roller 101, then another drive roller 102 is arranged, and so on; or multiple drive rollers 102 and one sensing roller 101 are arranged alternately, that is: multiple (e.g., N, where N is an integer greater than 1) drive rollers 102 are followed by one sensing roller 101, then N drive rollers 102 and one sensing roller 101 are arranged, and so on.

[0056] To achieve a flexible layout of the sensing rollers 101 and drive rollers 102, each drive roller 102 is assigned a coded serial number, and the sensing rollers 101 are configured according to this code. The coded serial numbers of the sensing rollers 101 and drive rollers 102 can be uniquely set, or some sensing rollers 101 and some drive rollers 102 can have the same coded serial number. For example, the coded serial number of the drive roller 102 is A, and the coded serial number of the sensing roller 101 is B. A and B are different characters or strings to distinguish between the drive roller 102 and the sensing roller 101. In practice, A and B can be numbers, letters, etc. Specifically, for example, the conveyor system 10 is equipped with 50 driven rollers. When transporting large-volume goods, the conveyor system can be configured with a relatively large number of drive rollers 102 alternating with one sensing roller 101, and the coding sequence can be arranged as follows: AAAAABAAAAAB… When transporting small-volume goods, the conveyor system 10 can be configured with a relatively small number of drive rollers 102 alternating with one sensing roller 101, and the coding sequence can be arranged as follows: AAABAAAB… or AABAAB… When transporting very small-volume goods, the drive rollers 102 and sensing rollers 101 of the conveyor system 10 can be arranged in a single alternating manner, i.e., ABABAB…

[0057] In some embodiments, the conveying area composed of all power rollers can be divided into different sections, and different sections have different power roller configuration structures to realize the corresponding functions of each section. The arrangement and speed of the power rollers in different sections can be different. For example, in the first section, the sensing roller 101 and the driving roller 102 are arranged alternately, while in the second section, multiple driving rollers 102 and one sensing roller 101 are arranged alternately.

[0058] The driving device can be an electric motor (or motor). The connection between the motor and the drive roller 102 can be: gear connection, synchronous toothed belt connection, or coupling connection. Among them, gear connection achieves speed reduction through gear transmission pairs and is suitable for occasions with large load torque or those requiring amplification of torque. Synchronous toothed belt connection combines the advantages of belt drive and chain drive, with high transmission efficiency and simple structure, suitable for medium and small equipment or high-speed processing scenarios. Coupling connection is divided into two forms: flexible pin coupling and hydraulic coupling. Flexible pin coupling is suitable for small and medium power transmission and can buffer vibration. Hydraulic coupling is often used for high power transmission and achieves soft start by transmitting torque through liquid.

[0059] The first speed of the sensing roller 101 and the second speed of the driving roller 102 are set to be different. Specifically, the first speed may be greater than the second speed, or the first speed may be less than the second speed, or the direction of the first speed may be different from the direction of the second speed.

[0060] When there is a speed difference between the second speed of the drive roller 102 and the first speed of the sensing roller 101, the goods 30 will accelerate or decelerate significantly when they are transferred from the drive roller 102 to the sensing roller 101. This increases the sensitivity of the sensing roller 101 in detecting the arrival of the goods 30 (or load changes). In this application, the second speed of the drive roller 102 and the first speed of the sensing roller 101 are set differently. Due to the speed difference between the drive roller 102 and the sensing roller 101, the goods 30 will accelerate or decelerate significantly when they are transferred from the drive roller 102 to the sensing roller 101. This makes the sensing roller 101 more sensitive to the arrival of the goods 30. Thus, the automated equipment replaces manual judgment of the arrival of goods, saving manpower and ensuring the accuracy of judgment. Furthermore, due to the different rotation speeds of the drive roller and the sensing roller, the sensing signal can more sensitively reflect the load changes on the sensing roller, thereby further improving the accuracy of the judgment of the arrival of goods.

[0061] When the second speed of the drive roller 102 is greater than the first speed of the sensing roller 101, the deceleration effect of the sensing roller 101 can additionally prevent the accumulation of goods transported earlier.

[0062] To ensure that the sensing roller 101 can sensitively detect the arrival of the goods 30, the ratio between the first speed and the second speed needs to be set reasonably. For example, the first speed is a times the second speed, where 1 < a ≤ 2. Specifically, a can be 1.02, 1.1, 1.3, 1.5, 1.8, 2.0, etc.

[0063] The specific values ​​of the first speed and the second speed can also be set according to the actual situation, for example: 0-600 rpm. For example, the second speed of the drive roller 102 is 300 rpm and the first speed of the sensing roller 101 is 500 rpm; or, the second speed of the drive roller 102 is 485 rpm and the first speed of the sensing roller 101 is 510 rpm, etc.

[0064] In addition, the drive roller can be configured with three or more different speeds. For example, the drive roller that is not configured as a sensing roller uses different speeds V1, V2, etc., and the drive roller configured as a sensing roller uses speed V3. V1, V2 and V3 are all different.

[0065] Some drive devices (e.g., motors) have built-in sensors that can sense the operating parameters of the drive device (e.g., motor), such as current, angular velocity, temperature, vibration, etc. Different sensors can sense different operating parameters. In this case, sensor 1012 can be a built-in sensor in the first drive device 1011 of the sensing roller 101. It can detect the operating parameters of the first drive device 1011, such as the drive device current and the real-time rotational speed of the drive device, and output signal values. The processing module 20 determines whether there is goods on the sensing roller 101 based on the signal values ​​of the operating parameters such as the drive device current and the real-time rotational speed of the drive device detected by sensor 1012. Without adding additional components (e.g., photoelectric sensors) to the conveying system, the operation parameters detected by the built-in sensor of the drive device (e.g., motor) can achieve automated determination of whether there are goods on the conveyor at a lower cost.

[0066] Furthermore, the processing module can determine the real-time disturbance torque of the sensing roller based on the signal values ​​of operating parameters such as the drive device current and the real-time rotational speed of the drive device, and determine whether there is any cargo on the sensing roller based on the real-time disturbance torque. In this embodiment, the real-time disturbance torque is mainly determined by the operating parameters of the sensing roller. The operating parameters can include variable parameters and fixed parameters. Variable parameters include parameters such as the drive device current and the real-time rotational speed of the drive device. When the drive device current and the real-time rotational speed of the drive device change, the real-time disturbance torque will change accordingly. Fixed parameters include the total moment of inertia of the conveyor system. Specifically, the real-time disturbance torque in this embodiment is a virtual calculation model, which is established based on the disturbance torque calculation formula. The real-time disturbance torque calculation formula can be:

[0067]

[0068] in, The total moment of inertia of the conveyor system. This refers to the real-time rotational angle and speed of the motor. It is the reciprocal of the motor's real-time rotational speed. For the electromagnetic torque of the motor, For the reason A defined friction torque model, This is the disturbance torque.

[0069] In the above formula, the total moment of inertia of the conveyor system is... As a known quantity, it can be directly generated during 3D mechanical structure design. Motor electromagnetic torque. It is positively correlated with the motor current. The real-time rotational speed ω of the motor can be obtained through a sensor. Represents angular velocity Electromagnetic torque is a function of frictional torque, and can specifically be a linear function. It is the rotational torque generated on the rotor by the interaction of the magnetic flux at each pole of the rotating magnetic field and the rotor current. When armature current flows through the armature winding, the energized armature winding experiences an electromagnetic force in the magnetic field; the product of this force and the radius of the motor armature core is called the electromagnetic torque. Specifically, the electromagnetic torque of a motor is a torque parameter. With current The product of the two is:

[0070] For the same type of drive unit motor, its torque parameters They are generally the same, torque parameters. This can be obtained through testing. (Regarding the friction torque model) You can refer to the following formula: When the frictional force is positive, +1, when the frictional force is negative. -1, This is the static friction value. The slope is determined by the drive unit motor itself; for the same type of drive unit motor, The slope value is generally fixed and the same, in the friction torque model. The value mainly depends on the real-time rotational angle and speed of the motor. change.

[0071] Moment of inertia In classical mechanics, angular momentum is a measure of the inertia of a rigid body rotating about an axis. Its SI unit is kg·m². In rotational dynamics, it is used to conveniently describe the relationship between several quantities such as angular momentum, angular velocity, torque, and angular acceleration.

[0072] The above processing module determines whether there is goods on the sensing roller 101 based on the real-time disturbance torque, which can be done through at least one of two methods or a combination thereof:

[0073] First, it is determined whether the real-time disturbance torque exceeds a preset first threshold. When the real-time disturbance torque exceeds the preset first threshold, it indicates that the load on the first drive device 1011 has changed significantly before and after the timing, and it can be determined that the goods have arrived. Here, "exceeds" means that if the first threshold is negative, the real-time disturbance torque is less than the first threshold, then it is "the real-time disturbance torque exceeds the preset first threshold"; if the first threshold is positive, the real-time disturbance torque is greater than the first threshold, then it is "the real-time disturbance torque exceeds the preset first threshold".

[0074] Secondly, it is determined whether the difference between the currently acquired real-time disturbance torque and the real-time disturbance torque acquired at the previous moment exceeds a preset second threshold. When the difference exceeds the second threshold, it indicates that the disturbance torque has changed significantly before and after the time sequence, which in turn indicates that the load on the first drive device 1011 has changed significantly before and after the time sequence, thus confirming that the goods have arrived. Here, "exceeds" means that if the absolute value of the difference between the currently acquired real-time disturbance torque and the real-time disturbance torque acquired at the previous moment is greater than the second threshold, then it is "the difference between the currently acquired real-time disturbance torque and the real-time disturbance torque acquired at the previous moment exceeds the preset second threshold".

[0075] The aforementioned first threshold / second threshold can be determined by the average value of the disturbance torque of all sensing rollers 101 under no-load conditions. For example, the threshold can be obtained by floating a certain percentage above the average value.

[0076] In practice, the first driving device 1011 can be equipped with one type of sensor or multiple types of sensors. When multiple sensors are used, different sensing signals are obtained through different sensors. Based on the processing of these different sensing signals in the processing module, a more accurate judgment result can be obtained.

[0077] Figure 2A and Figure 2B This demonstrates that, for the same goods (same weight and volume), different real-time disturbance torques are generated when the rotational speed of the sensing roller 101 is different. These real-time disturbance torques are calculated using the aforementioned virtual calculation model after the sensor detects data such as motor current and the motor's real-time rotational speed. Regardless of whether the rotational speed of the sensing roller 101 is 300 rpm or 500 rpm, a significant change in the real-time disturbance torque occurs when the goods reach the sensing roller 101, such as... Figure 2A and Figure 2B As shown in the dashed line marking the area, this obvious change is due to the different rotational speeds of the sensing roller 101 and the drive roller 102. By utilizing the obvious change in real-time disturbance torque, the accuracy of sensing the arrival of goods on the sensing roller 101 can be improved.

[0078] Specifically, such as Figure 2A As shown, under the conditions that the cube-shaped cargo weighs 2.75 kg, has a side length of 282 mm, and the induction roller 101 rotates at 300 rpm, the photoelectric sensor detects that cargo has arrived at the induction roller 101 after 3 seconds. Figure 2A The Boolean value displayed is a falling edge, and the Q-axis current corresponding to this falling edge undergoes a certain change (e.g., Figure 2A (As shown by the dashed line marking the Q-axis current), at the same time, the disturbance torque corresponding to this falling edge undergoes a significant change (such as...). Figure 2A (The area marked by the dashed line at the front of the disturbance torque is shown). At this time, referring to one of the methods for determining whether goods have arrived on the sensing roller 101, the first preset threshold is set to -0.0185 (unit: Newton-meter, the same below). When the real-time disturbance torque is less than -0.0185, that is, the real-time disturbance torque exceeds the first threshold, it is confirmed that the goods have arrived on the sensing roller 101. Of course, -0.0185 is only an example of the first threshold, and other values ​​can be used according to the actual situation. Figure 2A In the middle, because the change in disturbance torque is relatively small at the starting position of the relatively early dashed marked interval, the actual time interval at which the arrival of goods is detected on the sensing roller 101 is relatively late (e.g., Figure 2A The interval marked by the dashed line is located relatively far back in the middle of the disturbance moment.

[0079] like Figure 2B As shown, under the conditions that the cube-shaped cargo weighs 2.75 kg, has a side length of 282 mm, and the induction roller 101 rotates at 500 rpm, the photoelectric sensor detects that cargo has arrived at the induction roller 101 after 4 seconds. Figure 2B The Boolean value shown is a falling edge, and the Q-axis current corresponding to this falling edge undergoes a significant change (e.g., Figure 2B(As shown by the dashed line marking the Q-axis current) and for a period of time after the goods arrive and depart, the disturbance torque corresponding to this falling edge undergoes a significant change (e.g.) Figure 2B (The area marked by the dashed line at the front of the disturbance torque is shown). At this time, referring to one of the methods for determining whether goods have arrived on the sensing roller 101, the first threshold is set to -0.03. When the real-time disturbance torque is less than -0.03, that is, the real-time disturbance torque exceeds the first threshold, it is confirmed that the goods have arrived on the sensing roller 101. Of course, -0.03 is only one example of the first threshold, and other values ​​can be used according to the actual situation. Figure 2B In the middle, because the change in disturbance torque is relatively small at the starting position of the relatively early dashed marked interval, the actual time interval at which the arrival of goods is detected on the sensing roller 101 is relatively late (e.g., Figure 2B The interval marked by the dashed line is located relatively far back in the middle of the disturbance moment.

[0080] Furthermore, another method for determining whether goods have arrived on the sensing roller 101 based on the second threshold can be derived similarly, for example: Figure 2A As shown, under the conditions that the cube-shaped cargo weighs 2.75 kg, has a side length of 282 mm, and the induction roller 101 rotates at 300 rpm, the photoelectric sensor detects that cargo has arrived at the induction roller 101 after 3 seconds. Figure 2A The Boolean value displayed is a falling edge, and the Q-axis current corresponding to this falling edge undergoes a certain change (e.g., Figure 2A (As shown by the dashed line marking the Q-axis current), at the same time, the disturbance torque corresponding to this falling edge undergoes a significant change (such as...). Figure 2A (The area marked by the dashed line at the front of the disturbance torque is shown). At this point, referring to the second method for determining whether goods have arrived on the sensing roller 101, the second threshold is set to 0.004. When the absolute value of the difference between the currently acquired real-time disturbance torque and the real-time disturbance torque acquired at the previous moment is greater than 0.004, that is, the difference between the currently acquired real-time disturbance torque and the real-time disturbance torque acquired at the previous moment exceeds the second threshold, it is confirmed that goods have arrived on the sensing roller 101. Of course, 0.004 is only one example of the second threshold; other values ​​can be used depending on the actual situation.

[0081] The processing module calculates the disturbance torque based on the operating parameters output by the sensor 1012 built into the first drive device 1011, and then determines whether goods have arrived based on the disturbance torque. This eliminates the need for additional components (e.g., photoelectric sensors) in the conveyor system, enabling lower-cost automated detection of goods presence. The built-in sensor replaces external photoelectric switches, reducing hardware costs and installation complexity. Furthermore, configuring the drive roller 102 and the sensing roller 101 with different rotation speeds, this differential design further improves the accuracy of identifying goods arrival via the built-in sensor, achieving high-precision detection of goods passing through. In practical applications, this approach reduces costs and increases efficiency.

[0082] Correspondingly, such as Figure 3 As shown, this embodiment also provides a cargo identification method, which includes:

[0083] Step S301: Provide a plurality of drive rollers, each drive roller being equipped with a drive device, the drive rollers being used to transport goods;

[0084] Step S302: Configure at least one of the drive rollers as induction rollers. The induction rollers are equipped with sensors, which are used to detect the operating parameters of the induction rollers and output signal values.

[0085] Step S303: Configure the sensing roller to operate at a first speed, and configure at least a portion of the drive roller to operate at a second speed different from the first speed; and

[0086] Step S304: Configure the processing module to determine whether there is any goods arriving on the sensing roller based on the signal value.

[0087] One implementation of the above-mentioned cargo identification method can be based on the above-mentioned conveyor system.

[0088] For ease of explanation, the driving device for the sensing roller is the first driving device, and the driving device for the driving roller that is not configured as the sensing roller is the second driving device.

[0089] The cargo identification method in this embodiment is mainly completed in the processing module. On one hand, the processing module sends control commands to the drive device, which drives the drive rollers and / or sensing rollers not configured as sensing rollers to operate, thereby realizing cargo transportation. On the other hand, it determines the real-time disturbance torque of the sensing rollers based on the operating parameters obtained from the sensors, and then determines whether cargo has arrived on the sensing rollers based on the real-time disturbance torque. The operating parameters include: motor current and the real-time rotational speed of the motor.

[0090] In practice, the processing module can determine whether goods have arrived on the sensing roller through one or a combination of the following methods:

[0091] First, the processing module determines whether there is goods on the sensing roller based on operating parameters such as motor current. For example, when the motor current exceeds a preset threshold, it determines that the goods have arrived at the sensing roller.

[0092] Secondly, the processing module determines the real-time disturbance torque of the sensing roller based on operating parameters such as motor current, and determines whether there is any goods arriving on the sensing roller based on the real-time disturbance torque. This part will be explained in detail later.

[0093] According to the configuration, the processing module can send start, speed, direction, stop and other commands to the drive device. The drive device executes the commands sent by the processing module, thereby realizing the roller transport of goods and sensing.

[0094] To enable flexible arrangement of the sensing rollers and drive rollers not configured as sensing rollers, each drive roller is assigned a coded serial number, and the sensing rollers are configured according to the code.

[0095] During the operation of the drive roller (not configured as a sensing roller) and the sensing roller, the speed command sent by the processing module must ensure that the rotational speed of the drive roller (not configured as a sensing roller) is different from that of the sensing roller. Specifically, this can be achieved by: the first speed being greater than the second speed, or the first speed being less than the first speed, or the direction of the first speed being different from the direction of the second speed. Regardless of whether the first speed is greater than the second speed, less than the first speed, or any other situation, the sensing roller can sensitively detect the arrival of goods. This allows the processing module to determine whether goods have arrived based on the signal values ​​of the operating parameters obtained by the built-in sensor of the first drive device, without adding additional components (e.g., photoelectric sensors) to the conveyor system. This enables lower-cost automated determination of the presence of goods on the conveyor system. The built-in sensor replaces the external photoelectric switch, reducing hardware costs and installation complexity. Furthermore, configuring the drive roller and the sensing roller with different rotational speeds, the differential design further improves the accuracy of identifying whether goods have arrived through the built-in sensor, enabling high-precision determination of whether goods have passed. In practical applications, this achieves both cost reduction and efficiency improvement.

[0096] In addition, the processing module 20 can calculate the disturbance torque based on the operating parameters output by the sensor 1012 built into the first drive device 1011, and then determine whether there is cargo arriving based on the disturbance torque.

[0097] In addition, when the second speed of the drive roller that is not configured as the sensing roller is greater than the first speed of the sensing roller, the deceleration effect of the sensing roller can additionally prevent the previously transported goods from piling up.

[0098] To ensure the sensing rollers can sensitively detect the arrival of goods, the ratio between the first speed and the second speed needs to be set appropriately. For example, the first speed should be a times the second speed, where 1 < a ≤ 2. Specifically, a can be 1.02, 1.1, 1.3, 1.5, 1.8, 2.0, etc.

[0099] The specific values ​​of the first speed and the second speed can also be set according to the actual situation, for example: 0-600 rpm. For example, the speed of the drive roller that is not configured as a sensing roller is 300 rpm and the speed of the sensing roller is 500 rpm; or, the speed of the drive roller that is not configured as a sensing roller is 480 rpm and the speed of the sensing roller is 520 rpm, etc.

[0100] In addition, the drive roller can be configured with three or more different speeds. For example, the drive roller that is not configured as a sensing roller uses different speeds V1, V2, etc., and the drive roller configured as a sensing roller uses speed V3. V1, V2 and V3 are all different.

[0101] In this embodiment, the real-time disturbance moment is a virtual calculation model, which is established based on the disturbance moment calculation formula. The real-time disturbance moment calculation formula can be:

[0102]

[0103] in, The total moment of inertia of the conveyor system. This refers to the real-time rotational angle and speed of the motor. It is the reciprocal of the motor's real-time rotational speed. For the electromagnetic torque of the motor, For the reason A defined friction torque model, This is the disturbance torque.

[0104] In the above formula, the total moment of inertia of the conveyor system is... As a known quantity, it can be directly generated during 3D mechanical structure design. Motor electromagnetic torque. Positively correlated with motor current. Real-time rotational speed of the motor. The value can be obtained through a sensor. Represents angular velocity It is a function of frictional torque, and specifically, it can be a linear function.

[0105] Electromagnetic torque is the rotational torque generated on the rotor by the interaction of the magnetic flux at each pole of the rotating magnetic field of an electric motor and the rotor current. When armature current flows through the armature winding, the energized armature winding experiences an electromagnetic force in the magnetic field. The product of this force and the radius of the motor armature core is called the electromagnetic torque. Specifically, the electromagnetic torque of a motor is a torque parameter. With current The product of the two is: For the same type of drive unit (motor), its torque parameters They are generally the same, torque parameters. This can be obtained through testing.

[0106] For the friction torque model You can refer to the following formula: When the frictional force is positive, +1, when the frictional force is negative. -1, This is the static friction value. The slope is determined by the drive unit motor itself; for the same type of drive unit motor, The slope value is generally fixed.

[0107] Moment of inertia is a measure of the inertia of a rigid body rotating about an axis in classical mechanics. Its SI unit is kg·m². In rotational dynamics, it is used to conveniently describe the relationship between several quantities such as angular momentum, angular velocity, torque, and angular acceleration.

[0108] The above processing module determines whether there is goods arriving on the sensing roller based on the real-time disturbance torque, which can be done through one of two methods or a combination thereof:

[0109] First, it is determined whether the real-time disturbance torque exceeds the preset first threshold. When the real-time disturbance torque exceeds the preset first threshold, it indicates that the load on the first drive device has changed significantly before and after the time sequence, and it can be determined that the goods have arrived.

[0110] Secondly, it is determined whether the difference between the real-time disturbance torque currently acquired and the real-time disturbance torque acquired at the previous moment exceeds a preset second threshold. When the difference exceeds the second threshold, it indicates that the disturbance torque has changed significantly before and after the time sequence, which in turn indicates that the load on the first drive device has changed significantly before and after the time sequence, thus confirming that the goods have arrived.

[0111] The aforementioned first threshold / second threshold can be determined by the average value of the disturbance torque of all sensing rollers under no-load conditions. For example, the threshold can be obtained by floating a certain percentage above the average value.

[0112] The structural features, steps, and effects of the above-mentioned cargo identification method are the same as or similar to those in the conveyor system. For details, please refer to the previous description, which will not be repeated here.

[0113] Example 2

[0114] The difference between this embodiment and other embodiments is that: in this embodiment, the conveyor system further includes: at least one support roller, which is adjacent to the drive roller.

[0115] The support rollers can be idler rollers, i.e., unpowered rollers. Idler rollers (unpowered rollers) are usually not equipped with a drive device and can be mainly composed of roller shafts to support the goods. Compared with the use of all powered rollers, this can significantly reduce costs.

[0116] Specifically, support rollers can be configured in different positions according to the actual situation. For example, drive rollers and support rollers can be configured alternately, that is, a support roller can be configured after one drive roller, or at least one or more support rollers can be configured between two drive rollers according to the size of the goods.

[0117] Furthermore, by arranging support rollers, that is, by using support rollers in conjunction with drive rollers (including sensing rollers), different functional areas can be defined, and different functional areas can also be created. For example, when installed below the material drop port, it can absorb the impact force when the goods fall, or create a non-powered section to use the weight of the goods or push them by manpower to realize short-distance transmission of goods between workstations.

[0118] like Figure 4 The diagram illustrates an arrangement of a drive roller 102, a sensing roller 101, and a support roller 103. For clarity, drive rollers not configured as sensing rollers 101 are designated as "102". Specifically, in this embodiment, two support rollers 103 are arranged after one drive roller 102 to achieve uniform speed transport of the goods 30 from the drive roller 102 to the support rollers 103; a sensing roller 101 is arranged after the two support rollers 103, enabling sensitive detection of the arriving goods 30 due to the acceleration or deceleration effect of the sensing roller 101.

[0119] In this embodiment, by adding a support roller that provides support, the cargo can be carried and transported. Since it is an idler roller, i.e. without a drive device, the overall energy consumption can be reduced.

[0120] Example 3

[0121] like Figure 5 As shown, this embodiment differs from other embodiments in that the conveyor system further includes:

[0122] The system includes a region controller 501 and a microcontroller 503 disposed between the region controller 501 and the drive device 502. The microcontroller 503 is configured in a one-to-one correspondence with the drive device 502, and the drive device 502 is configured in a one-to-one correspondence with the drive roller. The region controller 501 is used to adjust the speed of the drive roller and the sensing roller according to the task requirements.

[0123] When a drive roller is configured as a sensing roller, the backend can set the speed of the drive roller according to the number. For example, a majority of drive rollers in a certain area are configured with speed X, and a minority of drive rollers in the same area are configured with speed Y. Speeds X and Y are different. The position of the minority of drive rollers configured with speed Y is defined as the position that needs to detect whether the goods have arrived. The drive rollers configured with speed Y are sensing rollers, and the drive rollers configured with speed X are drive rollers that are not configured as sensing rollers.

[0124] Of course, to achieve the functions of different areas, the speed or other parameter settings of the drive rollers in different areas can be configured according to the specific situation.

[0125] The above settings can meet the transmission task requirements in different scenarios.

[0126] like Figure 6 As shown, this application embodiment also provides an electronic device, including: a processor 601, and a memory 602 coupled to the processor 601, the memory 602 being used to store a computer program; the processor 601 being used to execute the computer program stored in the memory 602, so that the electronic device performs the method as described in any of the above embodiments.

[0127] The electronic device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The electronic device may include, but is not limited to, a processor 601 and a memory 602.

[0128] The processor 601 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the electronic device, connecting various parts of the device via various interfaces and lines.

[0129] The memory 602 can be used to store the computer program, and the processor 601 implements various functions of the electronic device by running or executing the computer program stored in the memory 602 and calling the data stored in the memory.

[0130] Based on the above conveyor system, the processing of the processor 601 mainly involves configuration and calculation. In terms of configuration, it mainly involves configuring the speed of the drive roller, specifically configuring different drive rollers to run at different speeds. In terms of calculation, it mainly involves determining whether there is cargo on the sensing roller based on the operating parameter signal value of the sensing roller output by the sensor.

[0131] like Figure 7 As shown, the memory may primarily include a program storage area 701 and a data storage area 702. The program storage area 701 may store the operating system, applications required for at least one function, etc. The data storage area 702 may store data created based on the use of electronic devices such as mobile phones. Furthermore, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0132] This application also provides a storage medium, which is a computer-readable storage medium. The computer program is stored in the computer-readable storage medium, and when executed by a processor, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0133] This application also provides a computer program product, including: a computer program or instructions that, when the computer program or instructions are run on a computer, cause the computer to perform any of the above possible implementation methods.

[0134] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

Claims

1. A conveyor system comprising a plurality of drive rollers, each drive roller being equipped with a drive device, the drive rollers being used to transport goods, characterized in that: At least one of the drive rollers is configured as a sensing roller, and the sensing roller is equipped with a sensor for detecting the operating parameters of the sensing roller and outputting signal values; The sensing roller is configured to operate at a first speed, and at least a portion of the drive roller is configured to operate at a second speed different from the first speed; and The processing module is used to determine whether there is any goods arriving on the sensing roller based on the signal value; The processing module is specifically used to determine the real-time disturbance torque of the sensing roller based on the signal value, and to determine whether there is any goods arriving on the sensing roller based on the real-time disturbance torque. The real-time disturbance torque is obtained according to the following formula: in, The total moment of inertia of the conveyor system. This refers to the real-time rotational speed of the motor. It is the reciprocal of the motor's real-time rotational speed. For the electromagnetic torque of the motor, For the reason A defined friction torque model, This is the disturbance torque.

2. The conveyor system of claim 1, wherein, The processing module is used to determine whether the real-time disturbance torque exceeds a preset first threshold. When the real-time disturbance torque exceeds the first threshold, it is determined that the goods have arrived.

3. The conveyor system of claim 1, wherein, The processing module is used to determine whether the difference between the currently acquired real-time disturbance torque and the real-time disturbance torque acquired at the previous moment exceeds a preset second threshold. When the difference exceeds the second threshold, it is determined that the goods have arrived.

4. The conveyor system as described in claim 1, characterized in that, The conveyor system further includes at least one support roller, which is adjacent to the drive roller.

5. The conveyor system as described in claim 1, characterized in that, The first speed is greater than the second speed.

6. The conveyor system of claim 5, wherein, The ratio between the first velocity and the second velocity is a, where 1 < a ≤ 2.

7. A method of item identification, comprising: The method provides multiple drive rollers, each drive roller being configured with a drive device, the drive rollers being used to transport goods, characterized in that the goods identification method further includes: At least one of the drive rollers is configured as a sensing roller, and the sensing roller is equipped with a sensor for detecting the operating parameters of the sensing roller and outputting signal values. The sensing roller is configured to operate at a first speed, and at least a portion of the drive roller is configured to operate at a second speed different from the first speed; and A configuration processing module is configured to determine the real-time disturbance torque of the sensing roller based on the signal value, and to determine whether there is any goods arriving on the sensing roller based on the real-time disturbance torque. The real-time disturbance torque is obtained according to the following formula: in, The total moment of inertia of the conveyor system. This refers to the real-time rotational speed of the motor. It is the reciprocal of the motor's real-time rotational speed. For the electromagnetic torque of the motor, For the reason A defined friction torque model, This is the disturbance torque.

8. The method of claim 7, wherein the step of identifying the item comprises the step of: The processing module is used to determine whether the real-time disturbance torque exceeds a preset first threshold. When the real-time disturbance torque exceeds the first threshold, it is determined that the goods have arrived. ​ 9. The method of claim 7, wherein the step of identifying the item comprises the step of: The processing module is used to determine whether the difference between the currently acquired real-time disturbance torque and the real-time disturbance torque acquired at the previous moment exceeds a preset second threshold. When the difference exceeds the second threshold, it is determined that the goods have arrived. ​ 10. The method of claim 7, wherein the step of identifying the item comprises the step of: Each of the drive rollers is configured with a code, and the sensing rollers are configured according to the code. ​ 11. The method of claim 7, wherein the step of identifying the item comprises the step of: The first speed is greater than the second speed. ​ 12. The cargo identification method as described in claim 11, characterized in that, The ratio between the first velocity and the second velocity is a, where 1 < a ≤ 2.

13. An electronic device, characterized in that, The electronic device includes: a processor, and a memory coupled to the processor. The memory is used to store computer programs; and The processor is configured to execute the computer program stored in the memory, so that the electronic device performs the cargo identification method as described in any one of claims 7-12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a computer program or instructions that, when executed on a computer, cause the computer to perform the cargo identification method as described in any one of claims 7-12.

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