Material distributing and counting method, computer readable storage medium and material distributing and counting system

Abstract

The invention provides a material distributing and counting method, a computer readable storage medium and a material distributing and counting system. The method comprises the steps that a first conveying belt is controlled to operate, so that a plurality of to-be-conveyed pieces are conveyed to a first connection position through the first conveying belt; when it is detected that the to-be-conveyed part exists in the first connection position, the running speed of the second conveying belt is controlled to be larger than that of the first conveying belt, and the to-be-conveyed part is conveyed to the second connection position through the second conveying belt; when it is detected that the to-be-conveyed piece exists in the second connection position, the running speed of a third conveying belt is at least controlled to be larger than that of a second conveying belt, and therefore the to-be-conveyed piece is conveyed to the grabbing position from the second connection position; and the number of the to-be-conveyed pieces reaching the grabbing position is counted, the counting number is obtained, and when the counting number is larger than or equal to a preset numerical value, a grabbing instruction carrying the counting number is sent to grabbing equipment, so that the grabbing equipment responds to the grabbing instruction to grab the multiple to-be-conveyed pieces at the grabbing position.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of material distribution, and in particular, to a material distribution counting method, a computer readable storage medium and a material distribution counting system. BACKGROUND

[0002] In the automated production of photovoltaic aluminum profile frames, the traditional way of assembling and disassembling the frame is completed manually by workers. This way not only consumes time and effort, but also is inefficient. In recent years, in order to improve production efficiency and reduce labor costs, many photovoltaic module manufacturers have begun to introduce robotic automation workstations for automatic assembly and disassembly of the frame. However, during the automatic assembly process of the robot, the step of counting the distribution of aluminum profiles has become a major challenge.

[0003] The existing material distribution counting method usually adopts a combination of a material distribution stopper and a lifting belt. During the distribution process, because multiple aluminum profiles are not completely separated, the stopper will descend when counting, and the previous aluminum profile will pass through the stopper to complete a count. The next aluminum profile will also arrive immediately. At this time, the stopper will rise and lift the aluminum profile. The strength of the just-extruded aluminum profile is not enough, and the lifting of the stopper will cause extrusion deformation of the aluminum profile. This may also affect the subsequent material grabbing process, resulting in material compression when the robot grabs the material, thereby increasing the frequency of equipment failures and maintenance costs. SUMMARY

[0004] The main purpose of the present application is to provide a material distribution counting method, a computer readable storage medium and a material distribution counting system to at least solve the problem that the existing material distribution counting process easily extrudes the object, causing the object to be deformed and damaged.

[0005] To achieve the above object, according to one aspect of the present application, a kind of material counting method is provided, suitable for material counting equipment, the material counting equipment includes the first conveying belt, the second conveying belt and the third conveying belt with the same running direction, the first conveying belt is connected with the second conveying belt and the connection position is the first connection position, the second conveying belt is connected with the third conveying belt and the connection position is the second connection position, the third conveying belt is provided with a grabbing position, the material counting method includes: first control step, control the first conveying belt runs, to pass through the first conveying belt and transmit multiple to-be-transmitted pieces to the first connection position;Second control step, when detecting that the first connection position exists the to-be-transmitted piece, control the running speed of the second conveying belt is greater than the running speed of the first conveying belt, to pass through the second conveying belt and transmit the to-be-transmitted piece to the second connection position;Third control step, when detecting that the second connection position exists the to-be-transmitted piece, at least control the running speed of the third conveying belt is greater than the running speed of the second conveying belt, to transmit the to-be-transmitted piece from the second connection position to the grabbing position;Counting step, the number of to-be-transmitted pieces reaching the grabbing position is counted, and the counting number is obtained, when the counting number is greater than or equal to a preset value, a grabbing instruction carrying the counting number is sent to a grabbing device, so that the grabbing device responds to the grabbing instruction to grab multiple to-be-transmitted pieces in the grabbing position.

[0006] In some embodiments, before detecting that the first connection position exists the to-be-transmitted piece, the first conveying belt runs at a first speed and the second conveying belt does not rotate, and the second control step includes: when detecting that the first connection position exists the to-be-transmitted piece, control the first conveying belt to run at a speed less than the first speed;Control the second conveying belt to start rotating and run at a speed greater than the first speed.

[0007] In some embodiments, a first sensor is provided at the second connection position, before detecting that the second connection position exists the to-be-transmitted piece, the second conveying belt runs at a second speed and the third conveying belt does not rotate, and the third control step includes: when detecting that the first sensor is blocked, it is determined that the second connection position exists the to-be-transmitted piece, and the time duration of the first sensor being blocked is timed to obtain a timing duration;Control the second conveying belt to run at a speed less than the second speed, and control the third conveying belt to start rotating and run at a speed greater than the second speed, so that the to-be-transmitted piece passes through the second connection position;After the to-be-transmitted piece passes through the second connection position, according to the blocking state of the first sensor and the timing duration, control the running state of the first conveying belt, the second conveying belt and the third conveying belt.

[0008] In some embodiments, the operation state of the first conveyor belt, the second conveyor belt and the third conveyor belt is controlled according to the shielding state of the first sensor and the timing duration, including: in the case that the shielding state is changed from being shielded to not being shielded and the timing duration is greater than a first time threshold and less than or equal to a second time threshold, the first conveyor belt and the second conveyor belt are controlled to stop rotating, and the third conveyor belt is controlled to continue running for a first duration and then stop rotating, so as to convey one of the to-be-conveyed pieces to the grabbing position; in the case that the shielding state is changed from being shielded to not being shielded and the timing duration is greater than the second time threshold, the first conveyor belt and the second conveyor belt are controlled to stop running, and the third conveyor belt is controlled to continue running for a second duration and then stop rotating, so as to convey a plurality of the to-be-conveyed pieces to the grabbing position, the second duration being greater than the first duration.

[0009] In some embodiments, the method further comprises: a fourth control step of controlling the first conveyor belt to continue running after the third conveyor belt stops rotating after running for the first duration or the second duration; and a loop step of cyclically executing the fourth control step, the second control step, the third control step and the counting step at least once until all the to-be-conveyed pieces on the first conveyor belt are conveyed to the grabbing position.

[0010] In some embodiments, the number of the to-be-conveyed pieces that reach the grabbing position is counted to obtain a counted number, including: in the case that the timing duration is greater than a first time threshold and less than or equal to a second time threshold, the counted number at a current time is determined to be the counted number at a previous time plus 1; and in the case that the timing duration is greater than the second time threshold, a target number is calculated according to the timing duration, the width of the to-be-conveyed pieces and the running speed of the third conveyor belt, and the counted number at the current time is determined to be the sum of the counted number at the previous time and the target number.

[0011] In some embodiments, the method further comprises: in the case that the timing duration is greater than a third time threshold, the first conveyor belt, the second conveyor belt and the third conveyor belt are controlled to stop rotating, and an alarm signal is sent, the third time threshold being greater than the second time threshold.

[0012] In some embodiments, the first connection position is provided with a second sensor, and after the first control step and before the second control step, the method further comprises: in the case that the second sensor is detected to be shielded, it is determined that the to-be-conveyed piece exists in the first connection position.

[0013] According to another aspect of the present application, a computer readable storage medium is provided, which comprises a stored program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to perform any of the methods when the program is running.

[0014] According to still another aspect of the present application, a material separation counting system is provided, which comprises: a material separation counting device comprising a first conveying belt, a second conveying belt and a third conveying belt with the same running direction, the first conveying belt being connected to the second conveying belt, the second conveying belt being connected to the third conveying belt, and a grabbing position being arranged on the third conveying belt; a control device of the material separation counting device comprising one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a program for performing any of the methods; and a grabbing device being connected to the control device in communication, and being configured to grab a plurality of the to-be-conveyed pieces at the grabbing position in response to a grabbing instruction sent by the control device.

[0015] By applying the technical solution of the present application, firstly, the first conveying belt is controlled to run, and the plurality of to-be-conveyed pieces are conveyed to a first connection position between the first conveying belt and the second conveying belt; then, when it is detected that the first connection position has the to-be-conveyed pieces, the second conveying belt is controlled to run faster than the first conveying belt, and the to-be-conveyed pieces are conveyed to a second connection position between the second conveying belt and the third conveying belt by the second conveying belt; when it is detected that the second connection position has the to-be-conveyed pieces, the third conveying belt is controlled to run faster than the second conveying belt, and the to-be-conveyed pieces are conveyed to the grabbing position by the third conveying belt, and the number of the to-be-conveyed pieces reaching the grabbing position is counted, and when the number meets the requirement, a grabbing instruction is sent to the grabbing device, so that the grabbing device performs a grabbing action on the plurality of to-be-conveyed pieces at the grabbing position. The present application uses three-stage conveying belts to separate the material, when the plurality of to-be-conveyed pieces enter the connection position between the first conveying belt and the second conveying belt, the speed of the second conveying belt is controlled to be greater than that of the first conveying belt, and the speed difference between the conveying belts is used to realize the first effective separation and transmission of the to-be-conveyed pieces, and the separated to-be-conveyed pieces reach the connection position between the second conveying belt and the third conveying belt, and the speed difference between the conveying belts is used to realize the second effective separation and transmission of the to-be-conveyed pieces. This process can complete the material separation without setting a material separation baffle, which avoids the accumulation and confusion of the to-be-conveyed pieces in the conveying process, and avoids the extrusion of the material separation baffle on the to-be-conveyed pieces, thereby avoiding the deformation and damage of the to-be-conveyed pieces. The present application also counts the to-be-conveyed pieces after the two separation operations, so that the grabbing device can perform an accurate grabbing action according to the number, and the to-be-conveyed pieces are not damaged in the grabbing process, and the damage rate of the to-be-conveyed pieces in the material separation and conveying process is further reduced. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this specification. The embodiments of this application, and of the

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for performing a piece counting method according to an embodiment of the present application is shown;

[0018] Figure 2 A flowchart of a piece counting method according to an embodiment of the present application is shown;

[0019] Figure 3 A structure diagram of a piece counting apparatus according to an embodiment of the present application is shown;

[0020] Figure 4 A top structure diagram of a piece counting apparatus according to an embodiment of the present application is shown;

[0021] Figure 5 A side structure diagram of a piece counting apparatus according to an embodiment of the present application is shown;

[0022] Figure 6 A piece counting flowchart according to an embodiment of the present application is shown;

[0023] Figure 7 A structure block diagram of a piece counting device according to an embodiment of the present application is shown.

[0024] Wherein, the accompanying drawings include the following reference signs:

[0025] 102, processor; 104, memory; 106, transmission device; 108, input and output device; 10, first conveyor belt; 11, second conveyor belt; 12, third conveyor belt; 13, piece to be transmitted; 14, second sensor; 15, first sensor; 20, first control unit; 30, second control unit; 40, third control unit; 50, counting unit. DETAILED DESCRIPTION

[0026] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] In order to make the personnel in the technical field better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0029] As introduced in the background, the existing technology of the material counting process is easy to squeeze the articles, causing the articles to be deformed and damaged. To solve the technical problem, the embodiments of the present application provide a material counting method, a computer readable storage medium and a material counting system.

[0030] The technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application.

[0031] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking the case of running on a mobile terminal, Figure 1 is a hardware structure block diagram of a mobile terminal of a material counting method according to an embodiment of the present application. As shown in Figure 1 , the mobile terminal can include one or more (only one is shown in Figure 1 ) processor 102 (the processor 102 can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal can further include a transmission device 106 for communication function and an input and output device 108. Those skilled in the art can understand that Figure 1 The structure shown is only schematic, which does not limit the structure of the mobile terminal. For example, the mobile terminal can include more or fewer components than Figure 1 shown, or have a different configuration from Figure 1 .

[0032] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the material counting method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the method described. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of such networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0033] This embodiment provides a material counting method that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0034] Figure 2 This is a flowchart of a material dispensing and counting method according to an embodiment of this application. The material dispensing and counting method of this application is applicable to material dispensing and counting equipment. Figure 3 An exemplary schematic diagram of a material dispensing and counting device according to an embodiment of this application is shown. Figure 4 An example is shown Figure 3 A top view of the structure of the material counting device. Figure 5 An example is shown along Figure 3 A side view of the material dispensing and counting device in the AA' direction, as shown in the diagram. Figures 3 to 5As shown, the material separating and counting device comprises a first conveying belt 10, a second conveying belt 11 and a third conveying belt 12 with the same running direction, the first conveying belt 10 is connected with the second conveying belt 11 at a first connecting position, the second conveying belt 11 is connected with the third conveying belt 12 at a second connecting position, and the third conveying belt 12 is provided with a grabbing position, and the material separating and counting device is used for conveying a plurality of to-be-conveyed pieces 13. Figures 2 to 5 As shown, the method comprises the following steps:

[0035] Step S201, a first control step, controlling the running of the first conveying belt to convey a plurality of to-be-conveyed pieces to the first connecting position through the first conveying belt;

[0036] Specifically, when a plurality of to-be-conveyed pieces are conveyed to an end of the first conveying belt away from the first connecting position, the running of the first conveying belt is controlled to convey a plurality of to-be-conveyed pieces to the first connecting position.

[0037] Step S202, a second control step, when it is detected that the first connecting position has the to-be-conveyed piece, the running speed of the second conveying belt is controlled to be greater than the running speed of the first conveying belt to convey the to-be-conveyed piece to the second connecting position through the second conveying belt;

[0038] Specifically, after the conveying of the first conveying belt, a plurality of to-be-conveyed pieces reach the first connecting position in turn, and at this time, the running speeds of the first conveying belt and the second conveying belt are controlled to realize the first automatic separation of a plurality of to-be-conveyed pieces by using the speed difference between the two.

[0039] Step S203, a third control step, when it is detected that the second connecting position has the to-be-conveyed piece, at least the running speed of the third conveying belt is controlled to be greater than the running speed of the second conveying belt to convey the to-be-conveyed piece from the second connecting position to the grabbing position;

[0040] Specifically, after the material separation of the second control step and the conveying of the second conveying belt, at least one to-be-conveyed piece reaches the second connecting position preferentially, and at this time, the running speeds of the second conveying belt and the third conveying belt are controlled to realize the second automatic separation of the to-be-conveyed piece by using the speed difference between the two. Alternatively, the grabbing position can be located at an end of the third conveying belt, i.e., an end of the third conveying belt away from the second connecting position; or the grabbing position can be other positions of the third conveying belt except the end.

[0041] In step S204, a count step is performed to count the number of the to-be-transported pieces that reach the grabbing position, and a counted number is obtained. When the counted number is greater than or equal to a preset value, a grabbing instruction carrying the counted number is sent to the grabbing device, so that the grabbing device grabs a plurality of the to-be-transported pieces at the grabbing position in response to the grabbing instruction.

[0042] Optionally, the preset value is a preset value that can be determined according to the grabbing capability of the grabbing device. The to-be-transported pieces that reach the third conveying belt in sequence after two separation operations are counted, facilitating the grabbing and transportation of the grabbing device.

[0043] According to the embodiment, first, the first conveying belt is controlled to operate to convey a plurality of to-be-transported pieces to a first connection position between the first conveying belt and the second conveying belt. Then, when it is detected that the first connection position has to-be-transported pieces, the second conveying belt is controlled to operate faster than the first conveying belt, and the to-be-transported pieces are transported to a second connection position between the second conveying belt and the third conveying belt by the second conveying belt. When it is detected that the second connection position has to-be-transported pieces, the third conveying belt is controlled to operate faster than the second conveying belt, and the to-be-transported pieces are conveyed to the grabbing position by the third conveying belt. The number of to-be-transported pieces that reach the grabbing position is counted, and when the number meets the requirement, a grabbing instruction is sent to the grabbing device, so that the grabbing device performs a grabbing action on a plurality of to-be-transported pieces at the grabbing position. The application uses three-stage conveying belts to separate the to-be-transported pieces. When the to-be-transported pieces enter the connection position between the first conveying belt and the second conveying belt, the speed of the second conveying belt is controlled to be greater than the speed of the first conveying belt, and the speed difference between the conveying belts is used to realize the first effective separation and transportation of the to-be-transported pieces. The separated to-be-transported pieces reach the connection position between the second conveying belt and the third conveying belt, and the speed difference between the conveying belts is used to realize the second effective separation and transportation of the to-be-transported pieces. This process can complete the separation of the to-be-transported pieces without the need for a separation baffle, which avoids the accumulation and confusion of the to-be-transported pieces during transportation and avoids the extrusion of the to-be-transported pieces by the separation baffle during separation, thereby avoiding the deformation and damage of the to-be-transported pieces. The application also counts the to-be-transported pieces after the two separation operations in sequence, so that the grabbing device can perform an accurate grabbing action according to the number, and the to-be-transported pieces are not damaged during the grabbing process, thereby further reducing the damage rate of the to-be-transported pieces during the separation and transportation process.

[0044] In addition, the technical solution of the application cancels the additional separation structure such as the separation baffle or the lifting belt in the prior art, thereby reducing the equipment purchase cost. At the same time, the use of complex devices is reduced, the production line structure is simplified, the frequency of equipment maintenance and fault repair is reduced, thereby reducing the maintenance cost and improving the stability and reliability of the production line.

[0045] In actual application, the to-be-conveyed member can be any article that can be conveyed and separated by the conveying belt. In an embodiment of the present application, the to-be-conveyed member can be an aluminum profile.

[0046] In some embodiments, before detecting that the first to-be-conveyed member exists at the first connection position, the first conveying belt runs at a first speed and the second conveying belt does not rotate, and the second control step comprises: when detecting that the first to-be-conveyed member exists at the first connection position, controlling the first conveying belt to run at a speed less than the first speed; and controlling the second conveying belt to start rotating and running at a speed greater than the first speed. That is, when detecting that the first to-be-conveyed member exists at the first connection position, the first conveying belt is controlled to run at a reduced speed, and the second conveying belt is controlled to start accelerating from 0, so as to accurately control the separation of the to-be-conveyed member, further avoid the deformation or damage of the article caused by the separating baffle, further reduce the waste rate of the to-be-conveyed member in the conveying process, and reduce the production interruption caused by the quality problem of the article.

[0047] Further, the control of the first conveying belt to run at a speed less than the first speed can be the control of the first conveying belt to directly run at a third speed at a constant speed; or can be the control of the first conveying belt to gradually reduce from the first speed to the third speed. Similarly, the control of the second conveying belt to start rotating and running at a speed greater than the first speed can be the control of the second conveying belt to directly run at a fourth speed greater than the first speed; or can be the control of the second conveying belt to gradually increase from the first speed to the fourth speed.

[0048] Optionally, the third speed can be 0 or any non-zero value less than the first speed.

[0049] According to other optional schemes of the present application, as shown in Figures 3 to 5 As shown in the figure, a first sensor 15 is arranged at the second connection position, before detecting that the to-be-conveyed member exists at the second connection position, the second conveying belt runs at a second speed and the third conveying belt does not rotate, and the third control step comprises: when detecting that the first sensor 15 is blocked, determining that the to-be-conveyed member exists at the second connection position, and starting timing the duration that the first sensor 15 is blocked to obtain a timing duration; controlling the second conveying belt to run at a speed less than the second speed, and controlling the third conveying belt to start rotating and running at a speed greater than the second speed, so as to make the to-be-conveyed member pass through the second connection position; and after the to-be-conveyed member passes through the second connection position, controlling the running states of the first conveying belt, the second conveying belt and the third conveying belt according to the blocking state of the first sensor 15 and the timing duration.

[0050] In the embodiment, by arranging the first sensor at the second connection position, when the first sensor is blocked by the to-be-transported piece, it indicates that the to-be-transported piece has been transported to the second connection position, at this time, the speed of the second conveying belt and the third conveying belt can be adjusted in time, so that the second conveying belt is decelerated and the third conveying belt is accelerated, further realizing the effective separation and transportation of the to-be-transported piece for the second time. According to the blocking state of the first sensor and the time length of being blocked, the running state of the three conveying belts is controlled, which can not only ensure that the to-be-transported piece reaches the grabbing position, but also is beneficial to accurate counting in the subsequent counting process, thereby further avoiding the problem of grabbing equipment grabbing and pressing the material caused by inaccurate counting.

[0051] Further, the second conveying belt is controlled to run at a speed less than the second speed, which can be that the second conveying belt is directly controlled to run at a fifth speed at a constant speed; or the second conveying belt can be gradually reduced from the second speed to the fifth speed. Similarly, the third conveying belt is controlled to start rotating and run at a speed greater than the second speed, which can be that the third conveying belt is directly controlled to run at a sixth speed, and the sixth speed is greater than the second speed; or the third conveying belt can be gradually increased from the second speed to the sixth speed.

[0052] Optionally, the fifth speed can be 0 or any non-zero value less than the second speed.

[0053] Specifically, the specific arrangement position of the first sensor can be at the end of the second conveying belt close to the third conveying belt, or at the end of the third conveying belt close to the second conveying belt.

[0054] The first sensor of the present application can be any suitable sensor for detecting whether there is a to-be-transported piece at the second connection position, such as a photosensitive sensor. When there is no to-be-transported piece at the second connection position, the photosensitive sensor will not be blocked, and when there is a to-be-transported piece at the second connection position, the photosensitive sensor will be blocked.

[0055] In some other embodiments, the running state of the first conveyor belt, the second conveyor belt and the third conveyor belt is controlled according to the shielding state of the first sensor and the timing duration, including: in the case that the shielding state is changed from shielding to non-shielding, and the timing duration is greater than a first time threshold and less than or equal to a second time threshold, the first conveyor belt and the second conveyor belt are controlled to stop rotating, and the third conveyor belt is controlled to continue running for a first duration and then stop rotating, so as to convey one of the to-be-conveyed pieces to the grabbing position; in the case that the shielding state is changed from shielding to non-shielding, and the timing duration is greater than the second time threshold, the first conveyor belt and the second conveyor belt are controlled to stop running, and the third conveyor belt is controlled to continue running for a second duration and then stop rotating, so as to convey a plurality of the to-be-conveyed pieces to the grabbing position, the second duration being greater than the first duration. Since the to-be-conveyed pieces are in a plurality of adhesions, it is possible that the to-be-conveyed pieces are not separated after two separations. The timing duration can be used to determine whether one to-be-conveyed piece or a plurality of to-be-conveyed pieces in adhesion pass through the first sensor. In the case that the timing duration is greater than the first time threshold and less than or equal to the second time threshold, it is determined that one to-be-conveyed piece passes through the first sensor. In the case that the timing duration is greater than the second time threshold, it is determined that a plurality of to-be-conveyed pieces in adhesion pass through the first sensor. According to different situations, the running duration of the third conveyor belt is controlled, so as to further ensure that one or a plurality of to-be-conveyed pieces in adhesion can be successfully conveyed to the grabbing position. The first conveyor belt and the second conveyor belt are controlled to stop running, so as to avoid unnecessary energy consumption, separate the to-be-conveyed pieces that reach the second connection position and the to-be-conveyed pieces that do not reach the second connection position, and further ensure that the automatic separating effect is good.

[0056] According to an optional embodiment of the present application, the method further includes: a fourth control step of controlling the first conveyor belt to continue running after the third conveyor belt stops rotating after running for the first duration or the second duration; and a loop step of cyclically executing the fourth control step, the second control step, the third control step and the counting step at least once until all the to-be-conveyed pieces on the first conveyor belt are conveyed to the grabbing position. After the separation and counting of one to-be-conveyed piece are completed, the first conveyor belt is controlled to continue running, so as to immediately start the separating process of the next to-be-conveyed piece, ensure the continuity and efficiency of the production line, and make the separating and counting processes continuous and rhythmic through the loop step, so as to ensure that the separating and counting period is short and facilitate the acceleration of the production process. Moreover, the combination of the fourth control step and the loop step enables the present application to automatically adjust the rhythm of the separating and counting without manual intervention, adapt to the needs of different production speeds, and enhance the flexibility and adaptability of the production line.

[0057] Optionally, the counting the number of the to-be-transported pieces reaching the grabbing position to obtain a counted number comprises: in a case where the timing duration is greater than a first time threshold and less than or equal to a second time threshold, determining that the counted number at a current time is the counted number at a previous time plus 1; and in a case where the timing duration is greater than the second time threshold, calculating a target number according to the timing duration, a width of the to-be-transported piece and a running speed of the third conveying belt, and determining that the counted number at the current time is a sum of the counted number at the previous time and the target number. By comparing the timing duration with the first time threshold and the second time threshold respectively, it can be determined whether the to-be-transported piece reaching the second connection position is one or multiple pieces that are adhered together, thereby ensuring the accuracy of the counted value and avoiding counting errors that cause the subsequent grabbing device to grab the pressed piece, and further ensuring that the to-be-transported piece remains intact during the piece separating, counting and grabbing and transporting processes.

[0058] Specifically, the current time is adjacent to the previous time, and the current time is later than the previous time.

[0059] In an example scheme, the calculating the target number according to the timing duration, the width of the to-be-transported piece and the running speed of the third conveying belt can comprise: calculating a quotient of a product of the timing duration and the running speed and the width, and if the result is an integer, the integer is the target number, and if the result is not an integer, the result is rounded up to obtain the target number.

[0060] In yet other optional embodiments, the method further comprises: in a case where the timing duration is greater than a third time threshold, controlling the first conveying belt, the second conveying belt and the third conveying belt to stop rotating, and sending an alarm signal, the third time threshold being greater than the second time threshold. In this embodiment, the third time threshold is set as a judgment standard for abnormal situations, so that the piece separating abnormality in the piece separating and counting process can be detected in time, and the operation of all conveying belts is stopped immediately when the piece separating abnormality occurs to avoid further damage or dangerous situations.

[0061] According to some other embodiments of the present application, as shown in Figures 3 to 5 The first connection position is provided with a second sensor 14, and after the first control step and before the second control step, the method further comprises: determining that the to-be-transported piece exists at the first connection position when it is detected that the second sensor 14 is blocked. In this embodiment, by providing the second sensor 14 at the first connection position, accurate detection of whether the to-be-transported piece exists at the first connection position can be achieved, and when the second sensor 14 is blocked by the to-be-transported piece, it indicates that the to-be-transported piece has been conveyed to the first connection position, at which time the speed of the first conveying belt and the second conveying belt can be adjusted in time.

[0062] Specifically, the specific arrangement position of the second sensor can be at the end of the first conveying belt close to the second conveying belt, or at the end of the second conveying belt close to the first conveying belt.

[0063] The second sensor of the present application can be any suitable type of sensor for detecting whether the first docking position has a to-be-transported member, such as a photosensitive sensor, which is not blocked when the first docking position does not have a to-be-transported member, and is blocked when the first docking position has a to-be-transported member.

[0064] In order to enable those skilled in the art to more clearly understand the technical solutions of the present application, the implementation process of the material separation counting method of the present application will be described in detail below in conjunction with specific embodiments.

[0065] The present embodiment relates to a specific material separation counting method. The material separation counting method of the present embodiment takes the counting of aluminum profiles as an example, i.e., the present embodiment takes the to-be-transported member as an aluminum profile as an example for illustration, as shown in Figure 6 The method comprises the following steps:

[0066] Step S1: The aluminum profile cut by the extrusion saw is transported to the first conveying belt through the roller line, the first conveying belt drives the aluminum profile to reach the junction area of the first conveying belt and the second conveying belt (i.e., the first docking position), the photosensitive sensor (i.e., the second sensor) installed on the edge side of the first conveying belt senses the arrival of the aluminum profile, feeds back a signal to the control device of the material separation counting device, the control device controls the first conveying belt to slow down, and the second conveying belt starts to accelerate (the second conveying belt keeps stopping before the aluminum profile reaches the sensing range of the photosensitive sensor), and the aluminum profile is separated by the speed difference between the two belt lines;

[0067] Step S2: In the case where a single aluminum profile exists after separation and reaches the second conveying belt, the separated single aluminum profile is transported to the junction area of the second conveying belt and the third conveying belt through the second conveying belt, the photosensitive sensor (i.e., the first sensor) is installed on the edge side of the third conveying belt, the aluminum profile is transported to the photosensitive sensor on the third conveying belt, the photosensitive sensor senses the arrival of the aluminum profile, feeds back a signal to the control device, the control device controls the first conveying belt and the second conveying belt to stop rotating, and the third conveying belt starts to rotate (the third conveying belt keeps stopping before the aluminum profile arrives), the third conveying belt rotates for a period of time, the aluminum profile passes the photosensitive sensor, feeds back a signal to the control device, the control device controls the third conveying belt to stop, the first conveying belt and the second conveying belt rotate, and the counting is completed once;

[0068] Step S3: In the case that two aluminum profiles exist after separation to reach the second conveying belt, when the two aluminum profiles separated by the differential speed of the first conveying belt and the second conveying belt reach the junction of the second conveying belt and the third conveying belt, the two aluminum profiles are close to each other, the first aluminum profile passes the sensor, and the second aluminum profile just reaches the photosensitive sensor, the photosensitive sensor continuously senses the aluminum profile above, the photosensitive sensor feedback signal times out, the photosensitive sensor senses that the aluminum profile is blocked, the control device controls the third conveying belt to continue rotating for a period of time, the first conveying belt and the second conveying belt stop rotating, and the control device controls the third conveying belt to stop when the aluminum profile passes the photosensitive sensor, and the first conveying belt and the second conveying belt rotate.

[0069] Step S4: In this way, the number of times is counted to reach the system set value, the central control system controls the third conveying belt to rotate while stopping the first conveying belt and the second conveying belt, and the aluminum profiles in the whole row are transported to the designated robot grabbing position.

[0070] The embodiment of the present application also provides a material distribution counting device. It should be noted that the material distribution counting device of the embodiment of the present application can be used to execute the material distribution counting method provided by the embodiment of the present application. The device is used to realize the embodiment and the preferred embodiment, and details are not repeated. As used below, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiment is preferably realized in software, realization of hardware, or a combination of software and hardware, is also possible and is conceived.

[0071] The material distribution counting device provided by the embodiment of the present application is described below.

[0072] Figure 7 is a schematic diagram of the material distribution counting device according to the embodiment of the present application. The material distribution counting device is suitable for a material distribution counting device, which includes a first conveying belt, a second conveying belt and a third conveying belt with the same running direction. The first conveying belt is connected to the second conveying belt at a first connection position, the second conveying belt is connected to the third conveying belt at a second connection position, and the third conveying belt is provided with a grabbing position. As shown in the figure, the device includes: Figure 7

[0073] A first control unit 20 is used for a first control step, which controls the first conveying belt to run to convey a plurality of to-be-transported pieces to the first connection position through the first conveying belt.

[0074] ​The second control unit 30 is configured to control the running speed of the second conveying belt to be greater than the running speed of the first conveying belt to convey the to-be-conveyed piece to the second connection position by the second conveying belt in a second control step when the to-be-conveyed piece is detected to exist in the first connection position.

[0075] The third control unit 40 is configured to control the running speed of the third conveying belt to be greater than the running speed of the second conveying belt to convey the to-be-conveyed piece from the second connection position to the grabbing position in a third control step when the to-be-conveyed piece is detected to exist in the second connection position.

[0076] The counting unit 50 is configured to count the number of to-be-conveyed pieces reaching the grabbing position to obtain a counted number in a counting step, and send a grabbing instruction carrying the counted number to the grabbing device to make the grabbing device grab a plurality of to-be-conveyed pieces in the grabbing position in response to the grabbing instruction when the counted number is greater than or equal to a preset value.

[0077] The material distribution counting device comprises a processor and a memory, the first control unit, the second control unit, the third control unit and the counting unit are stored in the memory as program units, and the processor executes the program units stored in the memory to realize the corresponding functions. The modules are located in the same processor; or the modules are located in different processors in any combination.

[0078] The processor comprises a core, and the core calls the corresponding program units from the memory. The core can be one or more, and the core parameters are adjusted to at least solve the problem that the existing material distribution counting process easily squeezes the articles and causes the articles to be deformed and damaged.

[0079] The memory can comprise a non-permanent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory comprises at least one memory chip.

[0080] The embodiment of the present application provides a computer readable storage medium, which comprises a stored program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the material distribution counting method when the program runs.

[0081] The embodiment of the present application provides a processor, which is used to run a program, wherein the processor executes the material distribution counting method when the program runs.

[0082] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the material counting method. The device described herein can be a server, PC, PAD, mobile phone, etc.

[0083] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program that initializes the material counting method steps described above.

[0084] This application also provides a material dispensing and counting system, including:

[0085] like Figures 3 to 5 The material dispensing and counting device shown includes a first conveyor belt 10, a second conveyor belt 11, and a third conveyor belt 12 running in the same direction. The first conveyor belt 10 is connected to the second conveyor belt 11 at the first connection position, and the second conveyor belt 11 is connected to the third conveyor belt 12 at the second connection position. The third conveyor belt 12 is provided with a material gripping position.

[0086] The control device of the material dispensing and counting device includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any one of the methods described.

[0087] A material handling device, communicatively connected to the control device, is used to handle multiple pieces of the material to be transferred at the material handling position in response to a handling command sent by the control device.

[0088] In one specific embodiment, the material-grabbing device can be a material-grabbing robot.

[0089] In another specific embodiment, such as Figures 3 to 5As shown, the first conveying belt comprises a plurality of first sub-conveying belts arranged at intervals along a predetermined direction, the second conveying belt comprises a plurality of second sub-conveying belts arranged at intervals along the predetermined direction, and the third conveying belt comprises a plurality of third sub-conveying belts arranged at intervals along the predetermined direction, the predetermined direction being perpendicular to the running direction of the three conveying belts, the plurality of first sub-conveying belts rotate synchronously, the plurality of second sub-conveying belts rotate synchronously, and the plurality of third sub-conveying belts rotate synchronously, along the predetermined direction, the first sub-conveying belts and the second sub-conveying belts are arranged alternately (specifically, alternately at intervals or adjacently), and any two adjacent first sub-conveying belts and second sub-conveying belts overlap in the predetermined direction, and the overlapping part is the first connection position; the second sub-conveying belts and the third sub-conveying belts are arranged alternately (specifically, alternately at intervals or adjacently), and any two adjacent second sub-conveying belts and third sub-conveying belts overlap in the predetermined direction, and the overlapping part is the second connection position.

[0090] In other embodiments, the first conveying belt, the second conveying belt and the third conveying belt can be integral conveying belts respectively.

[0091] The grabbing device adjusts the opening and closing size of the grabbing arm according to the counted number, so as to adapt to the counted number, and grabs the counted number of the to-be-conveyed pieces without pressing the pieces.

[0092] Obviously, those skilled in the art should understand that each module or each step of the present application can be realized by a general computing device, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, and can be realized by program codes executable by the computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in different order, or they can be manufactured into each integrated circuit module respectively, or multiple modules or steps among them can be manufactured into a single integrated circuit module. Therefore, the present application is not limited to any specific combination of hardware and software.

[0093] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product in the form of a computer usable storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0094] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0095] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0096] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0097] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0098] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, for storing instructions and data. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), flash memory, or other non-volatile memory. The memory can be a memory of a computer-readable medium.

[0099] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0100] The technical features of the above-described embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the embodiments are described, but as long as the combinations of the technical features do not exist contradictions, it should be considered as the scope of the present disclosure.

[0101] It should also be noted that the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0102] From the above description, it can be seen that the embodiments described in the present application achieve the following technical effects:

[0103] In the material distribution counting method of the application, firstly, the first conveying belt is controlled to run, and a plurality of to-be-transmitted pieces are conveyed to a first connection position between the first conveying belt and the second conveying belt; then, when it is detected that the first connection position has the to-be-transmitted pieces, the second conveying belt is controlled to run faster than the first conveying belt, and the to-be-transmitted pieces are transported to a second connection position between the second conveying belt and the third conveying belt by the second conveying belt; when it is detected that the second connection position has the to-be-transmitted pieces, the third conveying belt is controlled to run faster than the second conveying belt, and the to-be-transmitted pieces are conveyed to the grabbing position by the third conveying belt, and the number of to-be-transmitted pieces reaching the grabbing position is counted, and when the number meets the requirement, a grabbing instruction is sent to the grabbing device, so that the grabbing device performs a grabbing action on the plurality of to-be-transmitted pieces in the grabbing position. The application uses a three-section conveying belt to distribute materials, when the plurality of to-be-transmitted pieces enter the connection position between the first conveying belt and the second conveying belt, the speed of the second conveying belt is controlled to be greater than that of the first conveying belt, and the speed difference between the conveying belts is used to realize the first effective separation and transmission of the to-be-transmitted pieces, and the separated to-be-transmitted pieces reach the connection position between the second conveying belt and the third conveying belt, and the speed difference between the conveying belts is used to realize the second effective separation and transmission of the to-be-transmitted pieces. This process can complete the material distribution without setting a material distribution baffle, which avoids the accumulation and confusion of to-be-transmitted pieces in the conveying process, and avoids the extrusion of the material distribution baffle on the to-be-transmitted pieces, thereby avoiding the problem of deformation and damage of the to-be-transmitted pieces. The application also counts the to-be-transmitted pieces after the two distribution operations in sequence, so that the grabbing device can perform accurate grabbing action according to the number, avoids the pressure damage of the to-be-transmitted pieces in the grabbing process, and further reduces the damage rate of the to-be-transmitted pieces in the material distribution and transmission process.

[0104] The above only describes the preferred embodiments of the application and is not used to limit the application. Those skilled in the art can make various changes and modifications to the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A method for counting pieces, suitable for a piece counting device, the piece counting device comprising a first conveyor belt, a second conveyor belt and a third conveyor belt, the first conveyor belt being connected to the second conveyor belt at a first connection location, the second conveyor belt being connected to the third conveyor belt at a second connection location, the third conveyor belt being provided with a gripping location, characterized in that, The method comprises: A first control step of controlling the first conveyor to run to convey a plurality of to-be-transported pieces to the first connection position by the first conveyor; A second control step of, when detecting that the first connection position has the to-be-transported piece, controlling the running speed of the second conveyor to be greater than the running speed of the first conveyor to convey the to-be-transported piece to the second connection position by the second conveyor; A third control step of, when detecting that the second connection position has the to-be-transported piece, at least controlling the running speed of the third conveyor to be greater than the running speed of the second conveyor to convey the to-be-transported piece from the second connection position to the grabbing position; A counting step of counting the number of to-be-transported pieces that reach the grabbing position to obtain a counted number, and when the counted number is greater than or equal to a preset value, sending a grabbing instruction carrying the counted number to a grabbing device to make the grabbing device grab a plurality of to-be-transported pieces in the grabbing position in response to the grabbing instruction.

2. The method of claim 1, wherein, Before detecting that the first connection position has the to-be-transported piece, the first conveyor runs at a first speed and the second conveyor does not rotate, and the second control step comprises: When detecting that the first connection position has the to-be-transported piece, controlling the first conveyor to run at a speed less than the first speed; Controlling the second conveyor to start rotating and running at a speed greater than the first speed.

3. The method of claim 1, wherein, The second connection position is provided with a first sensor, before detecting that the second connection position has the to-be-transported piece, the second conveyor runs at a second speed and the third conveyor does not rotate, and the third control step comprises: When detecting that the first sensor is blocked, determining that the second connection position has the to-be-transported piece, and starting timing the duration for which the first sensor is blocked to obtain a timing duration; Controlling the second conveyor to run at a speed less than the second speed, and controlling the third conveyor to start rotating and running at a speed greater than the second speed to make the to-be-transported piece pass through the second connection position; After the to-be-transported piece passes through the second connection position, controlling the running states of the first conveyor, the second conveyor and the third conveyor according to the blocking state of the first sensor and the timing duration.

4. The method of claim 3, wherein, Controlling the running states of the first conveyor, the second conveyor and the third conveyor according to the blocking state of the first sensor and the timing duration comprises: In a case where the blocking state changes from being blocked to not being blocked, the timing duration is greater than a first time threshold and less than or equal to a second time threshold, controlling the first conveyor and the second conveyor to stop rotating, and controlling the third conveyor to continue running for a first duration and then stop rotating to convey one to-be-transported piece to the grabbing position; In the case that the shielding state is changed from the shielded state to the unshielded state and the timing duration is greater than the second time threshold, the first conveying belt and the second conveying belt are controlled to stop running, and the third conveying belt is controlled to continue running for a second duration and then stop rotating to convey the plurality of the to-be-conveyed pieces to the grabbing position, the second duration being greater than the first duration.

5. The method of claim 4, wherein, The method further comprises: A fourth control step of controlling the first conveying belt to continue running after the third conveying belt stops rotating after running for the first duration or the second duration; A loop step of cyclically executing the fourth control step, the second control step, the third control step, and the counting step at least once until all the to-be-conveyed pieces on the first conveying belt are conveyed to the grabbing position.

6. The method of claim 3, wherein, Counting the number of the to-be-conveyed pieces that reach the grabbing position to obtain a counted number, comprising: In the case that the timing duration is greater than a first time threshold and less than or equal to a second time threshold, determining the counted number of the current time as the counted number of the previous time plus 1; In the case that the timing duration is greater than the second time threshold, calculating a target number according to the timing duration, the width of the to-be-conveyed piece, and the running speed of the third conveying belt, and determining the counted number of the current time as the sum of the counted number of the previous time and the target number.

7. The method of claim 6, wherein, The method further comprises: In the case that the timing duration is greater than a third time threshold, controlling the first conveying belt, the second conveying belt, and the third conveying belt to stop rotating and sending an alarm signal, the third time threshold being greater than the second time threshold.

8. The method of claim 1, wherein, The first connection position is provided with a second sensor, and the method further comprises, after the first control step and before the second control step: When it is detected that the second sensor is shielded, it is determined that the to-be-conveyed piece exists in the first connection position.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium comprises a stored program, wherein the computer-readable storage medium controls the device where the computer-readable storage medium is located to execute the method of any one of claims 1 to 8 when the program is running.

10. A piece counting system characterized by, Comprise: A piece counting device comprising a first conveying belt, a second conveying belt, and a third conveying belt with the same running direction, the first conveying belt being connected to the second conveying belt, the second conveying belt being connected to the third conveying belt, and the third conveying belt being provided with a grabbing position; A control device of the piece counting device, comprising one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a program for executing the method of any one of claims 1 to 8; A grabbing device, in communication connection with the control device, for grabbing a plurality of the to-be-conveyed pieces in the grabbing position in response to a grabbing instruction sent by the control device.

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