Servo positioning control method of forming machine control system

Abstract

The invention relates to the technical field of positioning control, and discloses a servo positioning control method of a forming machine control system, which comprises the following steps: judging whether a mechanical load is normal or not, judging whether the mechanical load is abnormal due to an article position error when the mechanical load is abnormal or not, and if the mechanical load is abnormal due to the article position error, controlling the forming machine control system. According to the servo positioning control method of the forming machine control system, different simulation sets are used according to the article distribution condition, the adjustment amount of a motor is determined, and the motor is correspondingly adjusted. According to the technical scheme, whether the situation that the position of an object is incorrect due to inertia or mistaken touch of a person, mechanical load is abnormal, and then servo positioning is inaccurate exists or not is actively judged, when the position of the object is incorrect, parameters of a motor are actively adjusted to enable the object to reach a proper position, the failure rate of product machining is reduced, and the production cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of positioning control technology, specifically to a servo positioning control method for a molding machine control system. Background Technology

[0002] In molding machine control systems, servo positioning control plays a crucial role in improving product accuracy, production efficiency, and automation levels. Traditional molding machine control systems have limitations in terms of accuracy and efficiency. Early molding machines used relay-contactor control to control motor movement. This method is simple in structure and low in cost, but it has low control accuracy, slow response speed, and poor reliability, making it difficult to meet the requirements of high-precision molding. Using PLC (Programmable Logic Controller) for motor control is a significant improvement over relay systems, but it usually uses simple open-loop or PID control, which is difficult to handle complex factors such as nonlinearity, time-varying, and disturbances, resulting in limited positioning accuracy and response speed. Moreover, it is often difficult to achieve complex motion trajectory planning and multi-axis linkage.

[0003] The development of servo control systems, the application of advanced control algorithms, the advancement of motion planning technology, and the integration of information and communication technologies have provided technical support for improving the servo positioning control performance of molding machines. Servo motors (such as AC servos and DC servos) have advantages such as high precision, high response speed, and high reliability. Matching servo drivers can accurately control the position, speed, and torque of the motor, providing a hardware foundation for high-precision positioning. High-resolution encoders (such as photoelectric encoders and magnetic encoders) can provide real-time and accurate feedback of motor position information, forming the basis of closed-loop control. The powerful computing capabilities and flexible programming characteristics of computers enable the implementation of complex control algorithms. Computer-based motion control cards (such as PCI and EtherCAT interfaces) can provide high-performance motion control functions.

[0004] The existing servo positioning control method of molding machine control system cannot actively determine whether there is an abnormal mechanical load. When the mechanical load is abnormal, it cannot actively determine whether the item is incorrectly positioned due to inertia or accidental human touch, thus causing the abnormal mechanical load and inaccurate servo positioning. It cannot actively adjust the motor parameters to make the item reach the appropriate position when the item is incorrectly positioned, which can easily increase the failure rate of product processing and increase production costs. Its practicality has certain limitations. Summary of the Invention

[0005] This invention provides a servo positioning control method for a molding machine control system, which helps to solve the problems mentioned in the background art.

[0006] This invention provides the following technical solution: a servo positioning control method for a molding machine control system, comprising:

[0007] Obtain the mechanical load information;

[0008] If the mechanical load is normal, the system continues to run without servo positioning adjustment;

[0009] If the mechanical load is abnormal, obtain the distribution of items;

[0010] If the items are correctly distributed, an alarm will be triggered to indicate a device malfunction, and the device will be inspected and repaired.

[0011] If the items are not distributed correctly, obtain a location simulation model;

[0012] Determine the distribution pattern of items;

[0013] If the distribution pattern is determined to be the first type, the first mechanical load is extracted using the rule-based simulation model.

[0014] If the distribution pattern is determined to be the second type, then the second mechanical load is extracted using the irregular simulation model.

[0015] Based on the adjustment amount of the first motor or the second motor, the system performs servo positioning adjustment and records the current adjustment amount as a historical adjustment amount for use in the next adjustment.

[0016] As an optional solution to the servo positioning control method of the molding machine control system of the present invention, wherein: obtaining the mechanical load status specifically includes:

[0017] The mechanical load is obtained, defined as the real-time load, and denoted as L. current ;

[0018] Obtain all historical mechanical loads and calculate the average value of the historical loads, denoted as L. history :

[0019]

[0020] Where N is the size of the sliding window, L i This represents the i-th load value in the sliding window.

[0021] Calculate the load change, denoted as ΔL:

[0022] ΔL=|L current -L history |;

[0023] Set a load change threshold, denoted as ε. L ;

[0024] If ΔL < ε L If so, the mechanical load is considered normal;

[0025] If ΔL≥εL If so, the mechanical load is determined to be abnormal.

[0026] As an optional solution to the servo positioning control method of the molding machine control system of the present invention, wherein: obtaining the distribution of items specifically involves:

[0027] Obtain the conveyor belt's direction of movement and set it as the target direction;

[0028] Based on the conveyor belt's direction of travel, each item on the conveyor belt is identified as the target item in turn;

[0029] Obtain the weight of the target item, denoted as w. i ;

[0030] Collect the items on either side of the target item, and designate them as the left item and the right item, respectively;

[0031] Obtain the distances between the left and right items and the target item, and define them as the left distance and right distance, respectively, denoted as d. 1k and d 2l ;

[0032] Obtain the center line of the conveyor belt;

[0033] Obtain the position offsets of the left and right items respectively, and define them as the left offset and the right offset, denoted as p. 1m and p 2n ;

[0034] Calculate the difference between the left and right distance intervals, denoted as Δd:

[0035] Δd=d 1k +d 2l ;

[0036] Set a distance threshold, denoted as ε. d ;

[0037] If Δd < ε d If so, the items are determined to be evenly distributed;

[0038] If Δd≥ε d If so, it is determined that the distribution of items is uneven;

[0039] Obtain the position offset of the target item, define it as the mid-offset, and denot it as p. 3o ;

[0040] Set a position threshold, denoted as ε. p ;

[0041] If p 1m <ε p , and p 2n <ε p , and p 3o<ε p If so, the item's position is determined to be correct;

[0042] If p 1m <ε p , or p 2n <ε p , or p 3o <ε p If so, the item's position is determined to be incorrect;

[0043] If the items are determined to be evenly distributed and their positions are determined to be correct, then the item distribution is determined to be correct.

[0044] If the distribution of items is determined to be uneven, or the location of items is determined to be incorrect, then the distribution of items is determined to be incorrect.

[0045] As an optional solution to the servo positioning control method of the molding machine control system of the present invention, wherein: the acquisition of the positioning simulation model includes a rule simulation model, specifically:

[0046] Collect all the weights of the items and form a weight set, denoted as W = {w1, w2, ..., w...} m};

[0047] Collect all the shapes of the items and form a shape set, denoted as S = {s1, s2, ..., s...} n};

[0048] By integrating the weight and shape sets, and using permutation and combination methods, all possible combinations of weight and shape are generated to create an item feature set, denoted as F.

[0049] F={(w, s)|w∈W, s∈S};

[0050] Where w is the weight of the item and s is the shape of the item;

[0051] For each item characteristic (w) p s q If )∈F, then the characteristic of the item is simulated, and the item is defined as a simulated item;

[0052] Place the center points of three identical simulated objects on the same straight line, and designate the three simulated objects as the left simulated object, the middle simulated object, and the right simulated object;

[0053] Obtain all the interval distances between the left simulated item and the middle simulated item, forming the first interval simulation set, denoted as D1 = {d 11 d 12 , ..., d 1p};

[0054] Obtain all the interval distances between the right simulated item and the middle simulated item, forming a second interval simulation set, denoted as D2 = {d 21 d 22 , ..., d 2q};

[0055] Integrating the first and second interval simulation sets, we use permutation and combination methods to generate all possible combinations of interval distances between the three simulated items, thus generating a distance feature set, denoted as D:

[0056] D={(d1, d2)|d1∈D1, d2∈D2};

[0057] For each distance feature (d) 1m d 2n )∈D, simulating the situation where three simulated items are placed on a conveyor belt;

[0058] Using a regular deformation function, the deformation of the conveyor belt is calculated when three identical simulated items are placed on the same straight line:

[0059] δ1(w p s q d 1m d 2n )=k1·[(M1+M2)·s j ];

[0060] Among them, s j The shape of the item is s q The shape factor corresponding to the time, k1 is the deformation coefficient of the conveyor belt;

[0061] In the regular deformation function, M1 is the torque of the left simulated object on the central simulated object, specifically:

[0062] M1 = w p ·d 1m ;

[0063] In the regular deformation function, M2 is the torque of the right simulated object on the center simulated object, specifically:

[0064] M2 = w p ·d 2n .

[0065] As an optional solution to the servo positioning control method of the molding machine control system of the present invention, the rule simulation model further includes rule parameter simulation, specifically:

[0066] Obtain the item characteristics (w) of the simulated item p s q );

[0067] Obtain the distance features (d) of three simulated items 1m d 2n );

[0068] Get the item characteristics (w) p s q ) and distance features (d 1m d 2n The deformation δ1 of the conveyor belt under ( )

[0069] Define a regular load function to calculate the mechanical load when three simulated items are placed in a straight line on a conveyor belt. Define this as the first mechanical load, denoted as L1.

[0070] L1 = L base_1 +ΔL deformation_1 +ΔL shape_1 ;

[0071] In the regular load function, L base_1 For the basic dynamic load, the specific formula is:

[0072] L base_1 =w p ·(g+a total );

[0073] Where g is the acceleration due to gravity, a total The total acceleration of the item, including conveyor belt acceleration and item adjustment acceleration;

[0074] In the regular load function, ΔL deformation_1 The specific formula for the increase in load caused by deformation is as follows:

[0075] ΔL deformation_1 =L base_1 ·δ1·k l ;

[0076] Where, k l The load amplification factor is used to reflect the effect of deformation on the load.

[0077] In the regular load function, ΔL shape_1 The specific formula for the load change caused by shape is as follows:

[0078] ΔL shape_1 =L base_1 ·(s j -1);

[0079] Among them, s j The shape of the item is s q The shape factor corresponding to the time.

[0080] As an optional solution to the servo positioning control method of the molding machine control system of the present invention, wherein: the acquisition of the positioning simulation model includes an irregular simulation model, specifically:

[0081] Collect all the weights of the items and form a weight set, denoted as W = {w1, w2, ..., w...} m};

[0082] Collect all the shapes of the items and form a shape set, denoted as S = {s1, s2, ..., s...} n};

[0083] By integrating the weight and shape sets, and using permutation and combination methods, all possible combinations of weight and shape are generated to create an item feature set, denoted as F.

[0084] F={(w, s)|w∈W, s∈S};

[0085] Where w is the weight of the item and s is the shape of the item;

[0086] For each item characteristic (w) p s q If )∈F, then the characteristic of the item is simulated, and the item is defined as a simulated item;

[0087] Make the center points of three identical simulated objects not lie on the same straight line, and designate the three simulated objects as the left simulated object, the middle simulated object, and the right simulated object respectively;

[0088] Obtain all the interval distances between the left simulated item and the middle simulated item, forming the first interval simulation set, denoted as D1 = {d 11 d 12 , ..., d 1p};

[0089] Obtain all the interval distances between the right simulated item and the middle simulated item, forming a second interval simulation set, denoted as D2 = {d 21 d 22 , ..., d 2q};

[0090] Obtain the lateral offsets relative to the centerline of the conveyor belt for all possible positions where the simulated item can be placed, forming a set of position offsets, denoted as P = {p1, p2, ..., p...} r};

[0091] By integrating the first interval simulation set and the position offset set through the Cartesian product, the first offset set is formed, denoted as PD1:

[0092] PD1=D1×P={(p, d1)|p∈P, d1∈D1};

[0093] By integrating the second interval simulation set and the position offset set through the Cartesian product, a second offset set is formed, denoted as PD2:

[0094] PD2=D2×P={(p, d2)|p∈P, d2∈D2};

[0095] By integrating the first and second offset sets through Cartesian product, a distance feature set, denoted as PD, is generated.

[0096] PD=PD1×PD2={(p, d1, d2)|p∈P, d1∈D1, d2∈D2};

[0097] For each distance feature ((d) 1m p 1k ), (d 2n p 2l ))∈PD, simulating the situation where three simulated items are placed on a conveyor belt;

[0098] The deformation of the conveyor belt is calculated using an irregular deformation function when three identical simulated items are not placed on the same straight line:

[0099] δ2(w p s q d 1m d 2n p 1k p 2l )=k2·[(M1+M2+M p1 +M p2 )·s j ];

[0100] Among them, s j The shape of the item is s q The shape factor corresponding to the time, k2 is the deformation coefficient of the conveyor belt;

[0101] In the irregular deformation function, M1 is the torque of the left simulated object on the center simulated object, specifically:

[0102] M1=Fg·d 1m ;

[0103] Where Fg is the contribution of the total weight of the item to the deformation, and the specific formula is:

[0104] Fg = w p ·g;

[0105] Where g is the acceleration due to gravity;

[0106] In the irregular deformation function, M2 is the torque of the right simulated object on the center simulated object, specifically:

[0107] M2=Fg·d 2n ;

[0108] In irregular deformation functions, M p1 The additional torque caused by the positional shift of the simulated object on the left is specifically:

[0109] M p1 =Fg·|p 1k |;

[0110] In irregular deformation functions, M p2 The additional torque caused by the positional shift of the simulated object on the right is specifically:

[0111] M p2 =Fg·|p 2l |

[0112] As an optional solution to the servo positioning control method of the molding machine control system of the present invention, the irregular simulation model further includes irregular parameter simulation, specifically:

[0113] Obtain the item characteristics (w) of the simulated item p s q );

[0114] Obtain the distance features (d) of three simulated items 1m p 1k ), (d 2n p 2l );

[0115] Get the item characteristics (w) p s q ) and distance features (d 1m d 2n The deformation δ2 of the conveyor belt under ( )

[0116] Define an irregular load function to calculate the mechanical load when three identical simulated items are not placed in a straight line on the conveyor belt. Define this as the second mechanical load, denoted as L2.

[0117] L2 = L base_2 +ΔL deformation_2 +ΔL shape_2 ;

[0118] In irregular load functions, L base_2 For the basic dynamic load, the specific formula is:

[0119] L base_2 =w p ·(g+a total );

[0120] Where g is the acceleration due to gravity, a total The total acceleration of the item, including conveyor belt acceleration and item adjustment acceleration;

[0121] In irregular load functions, ΔL deformation_2 The specific formula for the increase in load caused by deformation is as follows:

[0122] ΔL deformation_2 =L base_2 ·δ2·k l ;

[0123] Where, k l The load amplification factor is used to reflect the effect of deformation on the load.

[0124] In irregular load functions, ΔL shape_2 The specific formula for the load change caused by shape is as follows:

[0125] ΔL shape_2 =L base_2 ·(s j -1);

[0126] Among them, s j The shape of the item is s q The shape factor corresponding to the time.

[0127] As an optional solution to the servo positioning control method of the molding machine control system of the present invention, wherein: the system performs servo positioning adjustment, specifically as follows:

[0128] Get the weight w of the target item i ;

[0129] Obtain the shape of the target object, denoted as s. i ;

[0130] Get left distance d 1k and right distance d 2l ;

[0131] Obtain the positioning simulation model;

[0132] Extract weight w i Shapes i Left distance d 1k and right distance d 2l The deformation of the corresponding conveyor belt in the positioning simulation model is denoted as δ. current ;

[0133] Extract weight w i Shapes i Left distance d 1k and right distance d 2l The corresponding mechanical load in the positioning simulation model is denoted as L.current ;

[0134] Calculate the base adjustment amount, denoted as Δθ base :

[0135] Δθ base =α·L current +β·δ current ;

[0136] Where α is the load adjustment coefficient, β reflects the influence of the load on the motor adjustment, and β is the deformation adjustment coefficient, reflecting the influence of deformation on the motor adjustment.

[0137] Calculate the dynamic load adjustment, denoted as Δθ. dynamic :

[0138] Δθ dynamic =γ·ΔL dynamic ;

[0139] Where γ is the dynamic adjustment coefficient, reflecting the impact of dynamic load changes on the motor adjustment amount, ΔL dynamic For dynamic load changes, specifically:

[0140] ΔL dynamic =L current -L history ;

[0141] Among them, L history For historical mechanical loads;

[0142] The impact of historical adjustments is calculated and denoted as Δθ. history_effect :

[0143] Δθ history_effect =η·Δθ history ;

[0144] Where, Δθ history The historical adjustment amount is the previous motor adjustment amount, and η is the historical adjustment coefficient, which is used to smooth the adjustment process.

[0145] Calculate the motor adjustment amount, denoted as Δθ:

[0146] Δθ=Δθ base +Δθ dynamic +Δθ history_effect .

[0147] As an optional solution to the servo positioning control method of the molding machine control system of the present invention, wherein: the determination of the item distribution pattern specifically includes:

[0148] Find the center point of the conveyor belt;

[0149] An auxiliary coordinate system is generated with the center point of the conveyor belt as the origin;

[0150] Obtain the coordinates of the center points of the target item, the left item, and the right item in the auxiliary coordinate system, and define them as the left coordinate, the middle coordinate, and the right coordinate, denoted as (x1, y1), (x2, y2), and (x3, y3).

[0151] Define the error range, denoted as ε. xy ;

[0152] Set a position determination function to determine whether the target item, the left item, and the right item are in a straight line:

[0153]

[0154] If f = f1, then the target item, the left item, and the right item are determined to be on the same straight line, which is the first distribution pattern.

[0155] If f = f2, then the target item, the left item, and the right item are not on the same straight line, and it is determined to be the second distribution pattern.

[0156] The present invention has the following beneficial effects:

[0157] 1. The servo positioning control method of the molding machine control system monitors the conveyor belt to obtain its mechanical load status and actively judges whether there is any abnormal mechanical load. When the mechanical load is abnormal, the system collects and analyzes the position of all items on the conveyor belt to determine whether the position of each item is correct, that is, whether the center point of the item is on the center line of the conveyor belt. The system actively judges whether the incorrect position of the item is caused by inertia or accidental contact by personnel, which causes abnormal mechanical load and thus leads to inaccurate servo positioning. The system adjusts the motor in time to make the item reach the appropriate position as much as possible, reduce the product processing failure rate, and reduce production costs.

[0158] 2. The servo positioning control method of the molding machine control system simulates the items according to rules. That is, it simulates items of different weights and shapes separately, and places three identical items on the same horizontal line at different intervals on the conveyor belt. It determines the overall mechanical load when the conveyor belt moves, based on the different weights and shapes of the items placed on the same horizontal line at different intervals. When the items on the conveyor belt are on the same horizontal line but the intervals are incorrect, the adjustment amount of the motor is determined by substituting the shape, weight and left and right intervals of the items into the rule simulation model. The motor is adjusted in time to make the items reach the appropriate position as much as possible, reduce the product processing failure rate and reduce production costs.

[0159] 3. The servo positioning control method of the molding machine control system simulates irregularities in the items. Specifically, it simulates items of different weights and shapes, placing three identical items on the conveyor belt at different intervals and positions, meaning the three identical items are not on the same horizontal line. This determines the overall mechanical load on the conveyor belt as it moves. When the items on the conveyor belt are not on the same horizontal line, the model determines the motor adjustment amount by substituting the shape, weight, left-right interval, and lateral offset of the items into the irregularity simulation model. Timely adjustments to the motor ensure the items reach the appropriate positions, reducing product processing failure rates and lowering production costs. Attached Figure Description

[0160] Figure 1 This is a flowchart of the servo positioning control method of the molding machine control system of the present invention;

[0161] Figure 2 This is a schematic diagram of the center line of the conveyor belt of the present invention;

[0162] Figure 3 This is a schematic diagram of the rule simulation model of the present invention;

[0163] Figure 4 This is a schematic diagram of the irregular simulation model of the present invention. Detailed Implementation

[0164] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0165] Example 1: A servo positioning control method for a molding machine control system, see reference. Figure 1 ,include:

[0166] Obtain the mechanical load information;

[0167] If the mechanical load is normal, the system continues to run without servo positioning adjustment;

[0168] If the mechanical load is abnormal, obtain the distribution of items;

[0169] If the items are correctly distributed, an alarm will be triggered to indicate a device malfunction, and the device will be inspected and repaired.

[0170] If the items are not distributed correctly, obtain a location simulation model;

[0171] Determine the distribution pattern of items;

[0172] If the distribution pattern is determined to be the first type, the first mechanical load is extracted using the rule-based simulation model.

[0173] If the distribution pattern is determined to be the second type, then the second mechanical load is extracted using the irregular simulation model.

[0174] Based on the adjustment amount of the first motor or the second motor, the system performs servo positioning adjustment and records the current adjustment amount as a historical adjustment amount for use in the next adjustment.

[0175] This embodiment also provides that the system performs servo positioning adjustment, specifically as follows:

[0176] Get the weight w of the target item i ;

[0177] Obtain the shape of the target object, denoted as s. i ;

[0178] Get left distance d 1k and right distance d 2l ;

[0179] Obtain the positioning simulation model;

[0180] Extract weight w i Shapes i Left distance d 1k and right distance d 2l The deformation of the corresponding conveyor belt in the positioning simulation model is denoted as δ. current ;

[0181] Extract weight w i Shapes i Left distance d 1k and right distance d 2l The corresponding mechanical load in the positioning simulation model is denoted as L. current ;

[0182] Calculate the base adjustment amount, denoted as Δθ base :

[0183] Δθ base =α·L current +β·δ current ;

[0184] Where α is the load adjustment coefficient, β reflects the influence of the load on the motor adjustment, and β is the deformation adjustment coefficient, reflecting the influence of deformation on the motor adjustment.

[0185] Calculate the dynamic load adjustment, denoted as Δθ. dynamic :

[0186] Δθ dynamic =γ·ΔL dynamic ;

[0187] Where γ is the dynamic adjustment coefficient, reflecting the impact of dynamic load changes on the motor adjustment amount, ΔL dynamic For dynamic load changes, specifically:

[0188] ΔL dynamic =L current -L history ;

[0189] Among them, L history For historical mechanical loads;

[0190] The impact of historical adjustments is calculated and denoted as Δθ. history_effect :

[0191] Δθ history_effect =η·Δθ history ;

[0192] Where, Δθ history The historical adjustment amount is the previous motor adjustment amount, and η is the historical adjustment coefficient, which is used to smooth the adjustment process.

[0193] Calculate the motor adjustment amount, denoted as Δθ:

[0194] Δθ=Δθ base +Δθ dynamic +Δθ history_effect ;

[0195] Based on the calculated adjustment amount Δθ, the operating parameters of the motor (such as speed, acceleration, torque, etc.) are dynamically adjusted to ensure that the center point of the next item can accurately reach the designated position or be on the same vertical line as the designated position. The designated position is the center point of the next processing item. The adjustment amount Δθ is converted according to the motor's working mode. If the motor is working in position control mode, Δθ corresponds to the target position adjustment amount of the motor. If the motor is working in speed control mode, Δθ is converted to adjust the motor speed. If the motor is working in torque control mode, Δθ is used to adjust the output torque of the motor.

[0196] By using the above method, we can proactively determine whether there is an abnormal mechanical load. If there is an abnormal mechanical load, we can proactively determine whether the item is misplaced due to inertia or accidental human contact, which would cause the abnormal mechanical load and lead to inaccurate servo positioning. If the item is misplaced, we can proactively adjust the motor parameters so that the item can reach the appropriate position, thereby reducing the failure rate of product processing and lowering production costs.

[0197] Example 2 is an improvement on Example 1. The servo positioning control method of the molding machine control system, specifically the acquisition of mechanical load conditions, involves:

[0198] The mechanical load is obtained, defined as the real-time load, and denoted as L. current ;

[0199] The real-time collected load data is stored in a buffer to form a sliding window. The size of the sliding window can be adjusted according to actual needs to balance real-time performance and data processing volume, such as the data from the most recent 10 sampling points.

[0200] Obtain all historical mechanical loads and calculate the average value of the historical loads, denoted as L. history :

[0201]

[0202] Where N is the size of the sliding window, L i This represents the i-th load value in the sliding window.

[0203] Calculate the load change, denoted as ΔL:

[0204] ΔL=|L current -L history |;

[0205] Set a load change threshold, denoted as ε. L The load change threshold is the maximum range of change under normal operating conditions, set according to the actual application scenario and equipment characteristics, such as 5% of the rated load;

[0206] If ΔL < ε L If so, the mechanical load is considered normal;

[0207] If ΔL≥ε L If so, the mechanical load is determined to be abnormal.

[0208] This embodiment also provides information on obtaining the distribution of items, see [link / reference]. Figure 2 Specifically:

[0209] Obtain the conveyor belt's direction of movement and define it as the target direction, such as from left to right;

[0210] Based on the conveyor belt's direction of travel, each item on the conveyor belt is identified as the target item in turn;

[0211] Obtain the weight of the target item, denoted as w. i ;

[0212] Collect the items on either side of the target item, and designate them as the left item and the right item, respectively;

[0213] Obtain the distances between the left and right items and the target item, and define them as the left distance and right distance, respectively, denoted as d. 1k and d 2l ;

[0214] Obtain the center line of the conveyor belt;

[0215] Obtain the position offsets of the left and right items respectively, and define them as the left offset and the right offset, denoted as p. 1m and p 2n The position offset is the amount of lateral offset relative to the center line of the conveyor belt, with the center point of the item as the reference.

[0216] Calculate the difference between the left and right distance intervals, denoted as Δd:

[0217] Δd=d 1k +d 2l ;

[0218] Set a distance threshold, denoted as ε. d ;

[0219] If Δd < ε d If so, the items are determined to be evenly distributed;

[0220] If Δd≥ε d If so, it is determined that the distribution of items is uneven;

[0221] Obtain the position offset of the target item, define it as the mid-offset, and denot it as p. 3o ;

[0222] Set a position threshold, denoted as ε. p ;

[0223] If p 1m <ε p , and p 2n <ε p , and p 3o <ε p If so, the item's position is determined to be correct;

[0224] If p 1m <ε p , or p 2n <ε p , or p 3o <ε p If so, the item's position is determined to be incorrect;

[0225] If the items are determined to be evenly distributed and their positions are determined to be correct, then the item distribution is determined to be correct.

[0226] If the distribution of items is determined to be uneven, or the location of items is determined to be incorrect, then the distribution of items is determined to be incorrect.

[0227] This embodiment also provides that the determination of the item distribution pattern specifically includes:

[0228] Find the center point of the conveyor belt;

[0229] An auxiliary coordinate system is generated with the center point of the conveyor belt as the origin;

[0230] Obtain the coordinates of the center points of the target item, the left item, and the right item in the auxiliary coordinate system, and define them as the left coordinate, the middle coordinate, and the right coordinate, denoted as (x1, y1), (x2, y2), and (x3, y3).

[0231] Define the error range, denoted as ε. xy The error range is used to determine whether the vertical coordinates are equal, such as an error range of 0.01m;

[0232] Set a position determination function to determine whether the target item, the left item, and the right item are in a straight line:

[0233]

[0234] If f = f1, then the target item, the left item, and the right item are determined to be on the same straight line, which is the first distribution pattern.

[0235] If f = f2, then the target item, the left item, and the right item are not on the same straight line, and it is determined to be the second distribution pattern.

[0236] Example 3 is an improvement upon Example 2. (See attached document for details.) Figure 3-4 In this embodiment, the acquisition of the positioning simulation model includes a rule-based simulation model, specifically:

[0237] Collect all the weights of the items and form a weight set, denoted as W = {w1, w2, ..., w...} m};

[0238] Collect all the shapes of the items and form a shape set, denoted as S = {s1, s2, ..., s...} n};

[0239] By integrating the weight and shape sets, and using permutation and combination methods, all possible combinations of weight and shape are generated to create an item feature set, denoted as F.

[0240] F={(w, s)|w∈W, s∈S};

[0241] Where w is the weight of the item and s is the shape of the item;

[0242] For each item characteristic (w) p sq )∈F, simulating the characteristics of an item, and defining the item as a simulated item, where w p To simulate the weight of the item, s q To simulate the shape of the object;

[0243] Place the center points of three identical simulated objects on the same straight line, and designate the three simulated objects as the left simulated object, the middle simulated object, and the right simulated object;

[0244] Obtain all the interval distances between the left simulated item and the middle simulated item, forming the first interval simulation set, denoted as D1 = {d 11 d 12 , ..., d 1p};

[0245] Obtain all the interval distances between the right simulated item and the middle simulated item, forming a second interval simulation set, denoted as D2 = {d 21 d 22 , ..., d 2q};

[0246] Integrating the first and second interval simulation sets, we use permutation and combination methods to generate all possible combinations of interval distances between the three simulated items, thus generating a distance feature set, denoted as D:

[0247] D={(d1, d2)|d1∈D1, d2∈D2};

[0248] For each distance feature (d) 1m d 2n Let )∈D, simulating the situation where three simulated items are placed on a conveyor belt, where d 1m d represents the distance between the left and middle simulated objects. 2n The distance between the right simulated object and the middle simulated object;

[0249] Using a regular deformation function, the deformation of the conveyor belt is calculated when three identical simulated items are placed on the same straight line:

[0250] δ1(w p s q d 1m d 2n )=k1·[(M1+M2)·s j ];

[0251] Among them, s j The shape of the item is s qThe shape factor corresponding to the time can be determined by simulation or experiment. k1 is the deformation coefficient of the conveyor belt. The deformation coefficient of the conveyor belt is a value set according to the actual equipment and material characteristics. It is used to convert physical quantities (such as weight and distance) into deformation values ​​and reflect the influence of the conveyor belt material and structure on deformation.

[0252] In the regular deformation function, M1 is the torque of the left simulated object on the central simulated object, specifically:

[0253] M1 = w p ·d 1m ;

[0254] In the regular deformation function, M2 is the torque of the right simulated object on the center simulated object, specifically:

[0255] M2 = w p ·d 2n .

[0256] The rule simulation model further includes rule parameter simulation, specifically:

[0257] Obtain the item characteristics (w) of the simulated item p s q );

[0258] Obtain the distance features (d) of three simulated items 1m d 2n );

[0259] Get the item characteristics (w) p s q ) and distance features (d 1m d 2n The deformation δ1 of the conveyor belt under ( )

[0260] Define a regular load function to calculate the mechanical load when three simulated items are placed in a straight line on a conveyor belt. Define this as the first mechanical load, denoted as L1.

[0261] L1 = L base_1 +ΔL deformation_1 +ΔL shape_1 ;

[0262] In the regular load function, L base_1 For the basic dynamic load, the specific formula is:

[0263] L base_1 =w p ·(g+a total );

[0264] Where g is the acceleration due to gravity, typically 9.8 m / s². 2 a totalThe total acceleration of the item, including conveyor belt acceleration and item adjustment acceleration;

[0265] In the regular load function, ΔL deformation_1 The specific formula for the increase in load caused by deformation is as follows:

[0266] ΔL deformation_1 =L base_1 ·δ1·k l ;

[0267] Where, k l The load amplification factor is used to reflect the effect of deformation on the load.

[0268] In the regular load function, ΔL shape_1 The specific formula for the load change caused by shape is as follows:

[0269] ΔL shape_1 =L base_1 ·(s j -1);

[0270] Among them, s j The shape of the item is s q The shape factor corresponding to the time.

[0271] This embodiment also provides that the acquisition of the positioning simulation model includes an irregular simulation model, specifically:

[0272] Collect all the weights of the items and form a weight set, denoted as W = {w1, w2, ..., w...} m};

[0273] Collect all the shapes of the items and form a shape set, denoted as S = {s1, s2, ..., s...} n};

[0274] By integrating the weight and shape sets, and using permutation and combination methods, all possible combinations of weight and shape are generated to create an item feature set, denoted as F.

[0275] F={(w, s)|w∈W, s∈S};

[0276] Where w is the weight of the item and s is the shape of the item;

[0277] For each item characteristic (w) p s q )∈F, simulating the characteristics of an item, and defining the item as a simulated item, where w p To simulate the weight of the item, s q To simulate the shape of the object;

[0278] Make the center points of three identical simulated objects not lie on the same straight line, and designate the three simulated objects as the left simulated object, the middle simulated object, and the right simulated object respectively;

[0279] Obtain all the interval distances between the left simulated item and the middle simulated item, forming the first interval simulation set, denoted as D1 = {d 11 d 12 , ..., d 1p};

[0280] Obtain all the interval distances between the right simulated item and the middle simulated item, forming a second interval simulation set, denoted as D2 = {d 21 d 22 , ..., d 2q};

[0281] Obtain the lateral offsets relative to the centerline of the conveyor belt for all possible positions where the simulated item can be placed, forming a set of position offsets, denoted as P = {p1, p2, ..., p...} r}, where the value of each element in the position offset set represents the horizontal offset of the item, and its positive or negative value indicates the direction of offset;

[0282] By integrating the first interval simulation set and the position offset set through the Cartesian product, the first offset set is formed, denoted as PD1:

[0283] PD1=D1×P={(p, d1)|p∈P, d1∈D1};

[0284] By integrating the second interval simulation set and the position offset set through the Cartesian product, a second offset set is formed, denoted as PD2:

[0285] PD2=D2×P={(p, d2)|p∈P, d2∈D2};

[0286] By integrating the first and second offset sets through Cartesian product, a distance feature set, denoted as PD, is generated.

[0287] PD=PD1×PD2={(p, d1, d2)|p∈P, d1∈D1, d2∈D2};

[0288] For each distance feature ((d) 1m p 1k ), (d 2n p 2l ))∈PD, simulating the situation where three simulated items are placed on a conveyor belt, where d 1m d represents the distance between the left and middle simulated objects. 2n p represents the distance between the right simulated object and the middle simulated object. 1kp represents the lateral offset of the simulated item on the left relative to the center line of the conveyor belt. 2l This represents the lateral offset of the simulated item relative to the center line of the conveyor belt.

[0289] The deformation of the conveyor belt is calculated using an irregular deformation function when three identical simulated items are not placed on the same straight line:

[0290] δ2(w p s q d 1m d 2n p 1k p 2l )=k2·[(M1+M2+M p1 +M p2 )·s j ];

[0291] Among them, s j The shape of the item is s q The shape factor corresponding to the time is determined by simulation or experiment. k2 is the deformation coefficient of the conveyor belt. The deformation coefficient of the conveyor belt is a value set according to the actual equipment and material characteristics. It is used to convert physical quantities (such as weight and distance) into deformation values ​​and reflect the influence of the conveyor belt material and structure on deformation.

[0292] In the irregular deformation function, M1 is the torque of the left simulated object on the center simulated object, specifically:

[0293] M1=Fg·d 1m ;

[0294] Where Fg is the contribution of the total weight of the item to the deformation, and the specific formula is:

[0295] Fg = w p ·g;

[0296] Where g is the acceleration due to gravity, typically 9.8 m / s². 2 ;

[0297] In the irregular deformation function, M2 is the torque of the right simulated object on the center simulated object, specifically:

[0298] M2=Fg·d 2n ;

[0299] In irregular deformation functions, M p1 The additional torque caused by the positional shift of the simulated object on the left is specifically:

[0300] M p1 =Fg·|p 1k |;

[0301] In irregular deformation functions, M p2 The additional torque caused by the positional shift of the simulated object on the right is specifically:

[0302] M p2 =Fg·|p 2l |

[0303] The irregular simulation model further includes irregular parameter simulation, specifically:

[0304] Obtain the item characteristics (w) of the simulated item p s q );

[0305] Obtain the distance features (d) of three simulated items 1m p 1k ), (d 2n p 2l );

[0306] Get the item characteristics (w) p s q ) and distance features (d 1m d 2n The deformation δ2 of the conveyor belt under ( )

[0307] Define an irregular load function to calculate the mechanical load when three identical simulated items are not placed in a straight line on the conveyor belt. Define this as the second mechanical load, denoted as L2.

[0308] L2 = L base_2 +ΔL deformation_2 +ΔL shape_2 ;

[0309] In irregular load functions, L base_2 For the basic dynamic load, the specific formula is:

[0310] L base_2 =w p ·(g+a total );

[0311] Where g is the acceleration due to gravity, typically 9.8 m / s². 2 a total The total acceleration of the item, including conveyor belt acceleration and item adjustment acceleration;

[0312] In irregular load functions, ΔL deformation_2 The specific formula for the increase in load caused by deformation is as follows:

[0313] ΔL deformation_2 =L base_2 ·δ2·k l ;

[0314] Where, k l The load amplification factor is used to reflect the effect of deformation on the load.

[0315] In irregular load functions, ΔL shape_2 The specific formula for the load change caused by shape is as follows:

[0316] ΔL shape_2 =L base_2 ·(s j -1);

[0317] Among them, s j The shape of the item is s q The shape factor corresponding to the time.

[0318] In this embodiment, the system actively determines whether there is an abnormal mechanical load. If there is an abnormal mechanical load, it actively determines whether the item is misplaced due to inertia or accidental contact by personnel, which would cause the abnormal mechanical load and lead to inaccurate servo positioning. If the item is misplaced, the system actively adjusts the motor parameters to enable the item to reach the appropriate position, thereby reducing the failure rate of product processing and lowering production costs.

Claims

1. A servo positioning control method for a molding machine control system, characterized in that: include: Obtain the mechanical load information; If the mechanical load is normal, the system continues to run without servo positioning adjustment; If the mechanical load is abnormal, obtain the distribution of items; If the items are correctly distributed, an alarm will be triggered to indicate a device malfunction, and the device will be inspected and repaired. If the items are not distributed correctly, obtain a location simulation model; Determine the distribution pattern of items; If the distribution pattern is determined to be the first type, the first mechanical load is extracted using the rule-based simulation model. If the distribution pattern is determined to be the second type, then the second mechanical load is extracted using the irregular simulation model. Based on the adjustment amount of the first motor or the second motor, the system performs servo positioning adjustment and records the current adjustment amount as a historical adjustment amount for use in the next adjustment.

2. The servo positioning control method of the molding machine control system according to claim 1, characterized in that: The acquisition of mechanical load information specifically includes: The mechanical load is obtained, defined as the real-time load, and denoted as L. current ; Obtain all historical mechanical loads and calculate the average value of the historical loads, denoted as L. history : Where N is the size of the sliding window, L i This represents the i-th load value in the sliding window; Calculate the load change, denoted as ΔL: ΔL=|L current -L history |; Set a load change threshold, denoted as ε. L ; If ΔL < ε L If so, the mechanical load is considered normal; If ΔL≥ε L If so, the mechanical load is determined to be abnormal.

3. The servo positioning control method of the molding machine control system according to claim 1, characterized in that: The distribution of the acquired items is as follows: Obtain the conveyor belt's direction of movement and set it as the target direction; Based on the conveyor belt's direction of travel, each item on the conveyor belt is identified as the target item in turn; Obtain the weight of the target item, denoted as w. i ; Collect the items on either side of the target item, and designate them as the left item and the right item, respectively; Obtain the distances between the left and right items and the target item, and define them as the left distance and right distance, respectively, denoted as d. 1k and d 2l ; Obtain the center line of the conveyor belt; Obtain the position offsets of the left and right items respectively, and define them as the left offset and the right offset, denoted as p. 1m and p 2n ; Calculate the difference between the left and right distance intervals, denoted as Δd: Δd=d 1k +d 2l ; Set a distance threshold, denoted as ε. d ; If Δd < ε d If so, the items are determined to be evenly distributed; If Δd≥ε d If so, it is determined that the distribution of items is uneven; Obtain the position offset of the target item, define it as the mid-offset, and denot it as p. 3o ; Set a position threshold, denoted as ε. p ; If p 1m <ε p , and p 2n <ε p , and p 3o <ε p If so, the item's position is determined to be correct; If p 1m <ε p , or p 2n <ε p , or p 3o <ε p If so, the item's position is determined to be incorrect; If the items are determined to be evenly distributed and their positions are determined to be correct, then the item distribution is determined to be correct. If the distribution of items is determined to be uneven, or the location of items is determined to be incorrect, then the distribution of items is determined to be incorrect.

4. The servo positioning control method of the molding machine control system according to claim 1, characterized in that: The acquisition of the positioning simulation model includes a rule-based simulation model, specifically: Obtain all the weights of the items and form a weight set, denoted as W = {w1, w2, ..., w...} m }; Collect all the shapes of the items and form a shape set, denoted as S = {s1, s2, ..., s}. n }; By integrating the weight and shape sets, and using permutation and combination methods, all possible combinations of weight and shape are generated to create an item feature set, denoted as F. F={(w, s)|w∈W, s∈S}; Where w is the weight of the item and s is the shape of the item; For each item characteristic (w) p s q If )∈F, then the characteristic of the item is simulated, and the item is defined as a simulated item; Place the center points of three identical simulated objects on the same straight line, and designate the three simulated objects as the left simulated object, the middle simulated object, and the right simulated object; Obtain all the interval distances between the left simulated item and the middle simulated item, forming the first interval simulation set, denoted as D1 = {d 11 d 12 , ..., d 1p }; Obtain all the interval distances between the right simulated item and the middle simulated item, forming a second interval simulation set, denoted as D2 = {d 21 d 22 , ..., d 2q }; Integrating the first and second interval simulation sets, we use permutation and combination methods to generate all possible combinations of interval distances between the three simulated items, thus generating a distance feature set, denoted as D: D={(d1, d2)|d1∈D1, d2∈D2}; For each distance feature (d) 1m d 2n )∈D, simulating the situation where three simulated items are placed on a conveyor belt; Using a regular deformation function, the deformation of the conveyor belt is calculated when three identical simulated items are placed on the same straight line: δ1(w p ,s q ,d 1m ,d 2n )=k1·[(M1+M2)·s j ]; Among them, s j The shape of the item is s q The shape factor corresponding to the time, k1 is the deformation coefficient of the conveyor belt; In the regular deformation function, M1 is the torque of the left simulated object on the central simulated object, specifically: M1=w p ·d 1m ; In the regular deformation function, M2 is the torque of the right simulated object on the center simulated object, specifically: M2=w p ·d 2n 。 5. The servo positioning control method of the molding machine control system according to claim 4, characterized in that: The rule simulation model also includes rule parameter simulation, specifically: Obtain the item characteristics (w) of the simulated item p s q ); Obtain the distance features (d) of three simulated items. 1m d 2n ); Get the item characteristics (w) p s q ) and distance features (d 1m d 2n The deformation δ1 of the conveyor belt under ( ) Define a regular load function to calculate the mechanical load when three simulated items are placed in a straight line on a conveyor belt. Define this load as the first mechanical load, denoted as L1. L1=L base_1 +ΔL deformation_1 +ΔL shape_1 ; In the regular load function, L base_1 For the basic dynamic load, the specific formula is: L base_1 =w p ·(g+a total ); Where g is the acceleration due to gravity, a total The total acceleration of the item, including conveyor belt acceleration and item adjustment acceleration; In the regular load function, ΔL deformation_1 The specific formula for the increase in load caused by deformation is as follows: ΔL deformation_1 =L base_1 ·δ1·k l ; Where, k l The load amplification factor is used to reflect the effect of deformation on the load. In the regular load function, ΔL shape_1 The specific formula for the load change caused by shape is as follows: ΔL shape_1 =L base_1 ·(s j -1); Among them, s j The shape of the item is s q The shape factor corresponding to the time.

6. The servo positioning control method of the molding machine control system according to claim 1, characterized in that: The acquisition of the positioning simulation model includes an irregular simulation model, specifically: Obtain all the weights of the items and form a weight set, denoted as W = {w1, w2, ..., w...} m }; Collect all the shapes of the items and form a shape set, denoted as S = {s1, s2, ..., s}. n }; By integrating the weight and shape sets, and using permutation and combination methods, all possible combinations of weight and shape are generated to create an item feature set, denoted as F. F={(w, s)|w∈W, s∈S}; Where w is the weight of the item and s is the shape of the item; For each item characteristic (w) p s q If )∈F, then the characteristic of the item is simulated, and the item is defined as a simulated item; Make the center points of three identical simulated objects not be on the same straight line, and designate the three simulated objects as the left simulated object, the middle simulated object, and the right simulated object respectively; Obtain all the interval distances between the left simulated item and the middle simulated item, forming the first interval simulation set, denoted as D1 = {d 11 d 12 , ..., d 1p }; Obtain all the interval distances between the right simulated item and the middle simulated item, forming a second interval simulation set, denoted as D2 = {d 21 d 22 , ..., d 2q }; Obtain the lateral offsets relative to the centerline of the conveyor belt for all possible positions where the simulated item can be placed, forming a set of position offsets, denoted as P = {p1, p2, ..., p...} r }; By integrating the first interval simulation set and the position offset set through the Cartesian product, the first offset set is formed, denoted as PD1: PD1=D1×P={(p, d1)|p∈P, d1∈D1}; By integrating the second interval simulation set and the position offset set through the Cartesian product, a second offset set is formed, denoted as PD2: PD2=D2×P={(p, d2)|p∈P, d2∈D2}; By integrating the first and second offset sets through Cartesian product, a distance feature set, denoted as PD, is generated: PD=PD1×PD2={(p, d1, d2)|p∈P, d1∈D1, d2∈D2}; For each distance feature ((d) 1m p 1k ), (d 2n p 2l ))∈PD, simulating the situation where three simulated items are placed on a conveyor belt; The deformation of the conveyor belt is calculated using an irregular deformation function when three identical simulated items are not placed on the same straight line: δ2(w p ,s q ,d 1m ,d 2n ,p 1k ,p 2l )=k2·[(M1+M2+M p1 +M p2 )·s j ]; Among them, s j The shape of the item is s q The shape factor corresponding to the time, k2 is the deformation coefficient of the conveyor belt; In the irregular deformation function, M1 is the torque of the left simulated object on the center simulated object, specifically: M1=Fg·d 1m ; Where Fg is the contribution of the total weight of the item to the deformation, and the specific formula is: Fg=w p ·g; Where g is the acceleration due to gravity; In the irregular deformation function, M2 is the torque of the right simulated object on the center simulated object, specifically: M2=Fg·d 2n ; In irregular deformation functions, M p1 The additional torque caused by the positional shift of the simulated object on the left is specifically: M p1 =Fg·|p 1k |; In irregular deformation functions, M p2 The additional torque caused by the positional shift of the simulated object on the right is specifically: M p2 =Fg·|p 2l |。 7. The servo positioning control method of the molding machine control system according to claim 6, characterized in that: The irregular simulation model also includes irregular parameter simulation, specifically: Obtain the item characteristics (w) of the simulated item p s q ); Obtain the distance features (d) of three simulated items. 1m p 1k ), (d 2n p 2l ); Get the item characteristics (w) p s q ) and distance features (d 1m d 2n The deformation δ2 of the conveyor belt under ( ) Define an irregular load function to calculate the mechanical load when three identical simulated items are not placed in a straight line on the conveyor belt. Define this as the second mechanical load, denoted as L2. L2=L base_2 +ΔL deformation_2 +ΔL shape_2 ; In irregular load functions, L base_2 For the basic dynamic load, the specific formula is: L base_2 =w p ·(g+a total ); Where g is the acceleration due to gravity, a total The total acceleration of the item, including conveyor belt acceleration and item adjustment acceleration; In irregular load functions, ΔL deformation_2 The specific formula for the increase in load caused by deformation is as follows: ΔL deformation_2 =L base_2 ·δ2·k l ; Where, k l The load amplification factor is used to reflect the effect of deformation on the load. In irregular load functions, ΔL shape_2 The specific formula for the load change caused by shape is as follows: ΔL shape_2 =L base_2 ·(s j -1); Among them, s j The shape of the item is s q The shape factor corresponding to the time.

8. The servo positioning control method of the molding machine control system according to claim 1, characterized in that: The system performs servo positioning adjustments, specifically as follows: Get the weight w of the target item i ; Get the shape of the target item, denoted as s. i ; Get left distance d 1k and right distance d 2l ; Obtain the positioning simulation model; Extract weight w i Shapes i Left distance d 1k and right distance d 2l The deformation of the corresponding conveyor belt in the positioning simulation model is denoted as δ. current ; Extract weight w i Shapes i Left distance d 1k and right distance d 2l The corresponding mechanical load in the positioning simulation model is denoted as L. current ; Calculate the base adjustment amount, denoted as Δθ base : Dth base =α·L current +b·d current ; Where α is the load adjustment coefficient, β reflects the influence of the load on the motor adjustment, and β is the deformation adjustment coefficient, reflecting the influence of deformation on the motor adjustment. Calculate the dynamic load adjustment, denoted as Δθ. dynamic : Dth dynamic =γ·ΔL dynamic ; Where γ is the dynamic adjustment coefficient, reflecting the impact of dynamic load changes on the motor adjustment amount, ΔL dynamic For dynamic load changes, specifically: ΔL dynamic =L current -L history ; Among them, L history For historical mechanical loads; The impact of historical adjustments is calculated and denoted as Δθ. history_effect : Dth history_effect =η·Δθ history ; Where, Δθ history The historical adjustment amount is the previous motor adjustment amount, and η is the historical adjustment coefficient, which is used to smooth the adjustment process. Calculate the motor adjustment amount, denoted as Δθ: Δθ=Δθ base +Δθ dynamic +Δθ history_effect 。 9. The servo positioning control method of the molding machine control system according to claim 1, characterized in that: The determination of the item distribution pattern specifically includes: Find the center point of the conveyor belt; An auxiliary coordinate system is generated with the center point of the conveyor belt as the origin; Obtain the coordinates of the center points of the target item, the left item, and the right item in the auxiliary coordinate system, and define them as the left coordinate, the middle coordinate, and the right coordinate, denoted as (x1, y1), (x2, y2), and (x3, y3). Define the error range, denoted as ε. xy ; Set a position determination function to determine whether the target item, the left item, and the right item are in a straight line: If f = f1, then the target item, the left item, and the right item are determined to be on the same straight line, which is the first distribution pattern. If f = f2, then the target item, the left item, and the right item are not on the same straight line, and it is determined to be the second distribution pattern.

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