Adjusting method of adjustable bearing seat for conveyor roller

Abstract

The invention relates to the technical field of conveyor rollers, in particular to an adjusting method of an adjustable bearing seat for a conveyor roller. The technical problem that the overall conveying stability is affected due to the fact that an existing technical scheme has obvious limitation in the aspects of real-time performance, accuracy and self-adaptive capacity of adjustment is solved. The method comprises the following steps: acquiring multi-source sensing data of target goods in a conveying process; based on the mechanical data and the visual data, determining a physical attribute vector of the target cargo, and based on the displacement data, determining a gravity center shift vector of the target cargo in the conveying process; determining an adjustment parameter based on the physical attribute vector, the gravity center shift vector and a historical adjustment record of the target cargo; and the bearing seat is adjusted according to the adjusting parameters. The method is used for the conveyor roller adjusting scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of conveyor roller, in particular to an adjusting method of an adjustable bearing seat for a conveyor roller. BACKGROUND

[0002] In the automated stereoscopic warehouse and intelligent logistics conveying system, the roller conveyor as the core continuous conveying equipment undertakes the key task of efficient and stable transmission of various goods. Its running precision and stability directly affect the throughput efficiency, goods safety and reliability of subsequent sorting, scanning and other processes of the whole warehouse system. At present, in order to realize the adjustment of the roller axis position to adapt to different loads and working conditions, adjustable bearing seats have been widely used in conveyor design. This kind of bearing seat usually allows manual or semi-automatic height and angle fine adjustment through mechanical means, and its adjustment depends on the pre-set fixed parameters or the experience judgment of the operator. Some advanced systems may also integrate simple displacement or pressure sensors for feedback control. However, in the face of complex and variable actual running environment, especially the dynamic factors such as great differences in goods weight, size and surface characteristics, and elastic deformation of the rack during conveying process, the existing technical solutions have obvious limitations in real-time, accuracy and self-adaptive ability of adjustment. This leads to the difficulty of the conveyor to continuously maintain the optimal roller posture and running track when dealing with different goods, thereby affecting the stability of the overall conveying, and the goods have the risk of deviation, jamming and even falling. SUMMARY

[0003] In order to solve the technical problems of the existing technical solutions in the real-time, accuracy and self-adaptive ability of adjustment, and the influence on the stability of the overall conveying, the purpose of the present application is to provide an adjusting method of an adjustable bearing seat for a conveyor roller, and the technical scheme adopted is as follows: In a first aspect, the present application provides an adjusting method for an adjustable bearing seat of a conveyor roller, the method comprising: obtaining multi-source perception data of a target cargo in a conveying process; the multi-source perception data comprising: mechanical data, displacement data, visual data, and identity data; the mechanical data being used to reflect the interaction force between the cargo and the conveyor roller; the displacement data being used to reflect the time sequence variation of the bearing seat position of the conveyor roller; the visual data being used to reflect the surface attribute of the cargo; the identity data being used to determine the historical adjustment record of the target cargo; determining a physical attribute vector of the target cargo based on the mechanical data and the visual data; the physical attribute vector comprising: a deformation influence index and a smoothness parameter; the deformation influence index being used to represent the influence degree of the cargo weight on the deformation of the conveyor frame; the smoothness parameter being used to represent the friction characteristics of the cargo surface; determining a gravity center offset vector of the target cargo in the conveying process based on the displacement data; the gravity center offset vector comprising: a cumulative offset and an offset trend; the cumulative offset being used to represent the total offset of the gravity center; the offset trend being used to represent the rate and change direction of the gravity center; determining an adjustment parameter based on the physical attribute vector and the gravity center offset vector, and the historical adjustment record of the target cargo; the adjustment parameter being used to adjust the position and posture of the bearing seat; and adjusting the bearing seat according to the adjustment parameter.

[0004] In combination with the first aspect, in a possible implementation manner, the method specifically comprises: determining a first height adjustment amount based on the deformation influence index, the smoothness parameter, and a historical height compensation reference value; the first height adjustment amount being used to perform synchronous isohypse adjustment on the bearing seats on both sides of the roller; the historical height compensation reference value being determined based on a historical height compensation value in the historical adjustment record; determining a second height adjustment amount based on the cumulative offset, the offset trend, the smoothness parameter, and a historical angle compensation reference value; the second height adjustment amount being used to perform differential height adjustment on the bearing seats on both sides of the roller; the historical angle compensation reference value being determined based on a historical angle compensation value in the historical adjustment record.

[0005] In combination with the first aspect, in a possible implementation manner, the method specifically comprises: controlling the adjusting mechanism to drive the bearing seats on both sides of the roller to perform synchronous isohypse adjustment according to the first height adjustment amount; and controlling the adjusting mechanism to drive the bearing seats on both sides of the roller to perform differential height adjustment according to the second height adjustment amount.

[0006] In combination with the first aspect, in a possible implementation manner, the method specifically comprises: determining the deformation influence index based on the axial pressure component and the lateral pressure component in the mechanical data, and the displacement data; determining a basic friction parameter based on the axial pressure component and the lateral pressure component; determining the smoothness parameter based on the basic friction parameter and a surface texture parameter; and determining the surface texture parameter based on the visual data.

[0007] In a possible implementation manner of the first aspect, the method specifically comprises: determining a displacement difference sequence corresponding to the target cargo conveying process based on the height variation of the bearing seat on both sides of the roller in the displacement data; performing integral processing on the displacement difference sequence to determine a cumulative offset; and performing trend fitting analysis on the displacement difference sequence to determine an offset trend.

[0008] In a possible implementation manner of the first aspect, the method further comprises: querying a preset adjustment database to determine a historical adjustment record according to the identity data; the historical adjustment record comprises: historical adjustment data of the target cargo and the same type of cargo; and determining a historical height compensation reference value and a historical angle compensation reference value based on the historical adjustment data.

[0009] In a possible implementation manner of the first aspect, the method specifically comprises: collecting mechanical data through the force sensing assembly; the mechanical data comprises an axial pressure component and a lateral pressure component acting on the roller shaft; collecting displacement data through the displacement measuring assembly; collecting visual data through the visual acquisition assembly; the visual data at least comprises a surface image of the target cargo; and reading the information mark of the target cargo through the identity recognition assembly to obtain the identity data.

[0010] In a possible implementation manner of the first aspect, the method further comprises: collecting reference displacement data of the roller bearing seat in an empty state of the conveyor; and determining the displacement data based on the difference between the displacement data of the roller bearing seat collected in the loaded state and the reference displacement data.

[0011] In a possible implementation manner of the first aspect, the method further comprises: performing data preprocessing on the collected mechanical data, displacement data and visual data; the data preprocessing at least comprises one of the following: filtering and denoising, outlier rejection, data alignment.

[0012] In a possible implementation manner of the first aspect, the method further comprises: associating and storing the adjustment parameter with the identity data, the physical attribute vector and the gravity center offset vector; and updating the associated and stored data to the adjustment database.

[0013] The present application has the following beneficial effects: The application can comprehensively perceive the characteristics of goods and the state of the conveyor by synchronously collecting and fusing mechanical, displacement, visual and identity data; the application can provide accurate and multi-dimensional input for adjustment decision by respectively extracting vectors representing static physical properties of goods and vectors representing dynamic center of gravity deviation of goods; finally, the application can generate adjustment parameters in combination with historical experience and execute, thereby realizing the transition from passive response to active prediction and adaptive adjustment. Overall, the method can significantly improve the adaptive ability of the conveying system to different goods and different working conditions, ensure high stability and high reliability of the conveying process, thereby solving the technical problems that the prior art has obvious limitations in real-time, accuracy and adaptive ability of adjustment, and affecting the stability of the overall conveying. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, a brief introduction will be given below to the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0015] Figure 1 One of the flowcharts of the adjustment method of the adjustable bearing seat for the conveyor roller provided by one embodiment of the present application; Figure 2 One of the flowcharts of the adjustment method of the adjustable bearing seat for the conveyor roller provided by one embodiment of the present application; Figure 3 One of the flowcharts of the adjustment method of the adjustable bearing seat for the conveyor roller provided by one embodiment of the present application; Figure 4 One of the flowcharts of the adjustment method of the adjustable bearing seat for the conveyor roller provided by one embodiment of the present application; Figure 5 One of the flowcharts of the adjustment method of the adjustable bearing seat for the conveyor roller provided by one embodiment of the present application; Figure 6 One of the flowcharts of the adjustment method of the adjustable bearing seat for the conveyor roller provided by one embodiment of the present application; Figure 7 One of the flowcharts of the adjustment method of the adjustable bearing seat for the conveyor roller provided by one embodiment of the present application; Figure 8 One of the flowcharts of the adjustment method of the adjustable bearing seat for the conveyor roller provided by one embodiment of the present application; Figure 9 FIG. 9 is a flowchart of an adjusting method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application; Figure 10 FIG. 10 is a flowchart of an adjusting method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application. DETAILED DESCRIPTION

[0016] In order to further clarify the technical means and effects taken by the present application to achieve the predetermined object, the following describes in detail the specific embodiments, structures, features and effects of an adjusting method of an adjustable bearing seat for a conveyor roller according to the present application, with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0018] The following specifically describes a specific scheme of an adjusting method of an adjustable bearing seat for a conveyor roller according to the present application, with reference to the accompanying drawings.

[0019] Please refer to Figure 1 which shows a flowchart of an adjusting method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application, which includes the following S101-S105, which are described in detail as follows.

[0020] S101, acquiring multi-source perception data of a target cargo in a conveying process.

[0021] The multi-source perception data includes: mechanical data, displacement data, visual data, and identity data. The mechanical data is used to reflect the interaction force between the cargo and the conveyor roller. The displacement data is used to reflect the time sequence change of the bearing seat position of the conveyor roller. The visual data is used to reflect the surface properties of the cargo. The identity data is used to determine the historical adjustment record of the target cargo.

[0022] In a possible implementation manner, a multi-source sensing system is constructed and cooperatively operated to synchronously collect heterogeneous data streams reflecting physical characteristics, conveying state and identity of the target goods. Specifically, when the target goods enter a preset conveying monitoring section, mechanical data is collected in real time by a piezoelectric force sensing unit arranged at a force receiving position of a bearing seat, and the mechanical data specifically includes a pressure component along an axial direction of a roller and a lateral pressure component perpendicular to the axial direction; displacement data is collected by a laser displacement sensor arranged on a stable measurement reference, and the displacement data includes an absolute displacement amount of the bearing seat on both sides of the roller in a height direction; visual data is collected by a visual sensor installed on an upstream conveying path, and the visual data is an image sequence containing surface texture features of the target goods; and meanwhile, identity data of the target goods is obtained by reading an electronic tag attached to the target goods through a radio frequency identification device.

[0023] S102, determining a physical attribute vector of the target goods based on the mechanical data and the visual data.

[0024] The physical attribute vector includes a deformation influence index and a smoothness parameter, the deformation influence index is used to represent an influence degree of the weight of the goods on the deformation of the conveying machine frame, and the smoothness parameter is used to represent a friction characteristic of the surface of the goods.

[0025] In a possible implementation manner, the physical attribute vector is composed of at least two dimensions: one is the deformation influence index, which is used to quantify the driving degree of the weight of the goods on the elastic deformation of the frame structure of the conveying machine, and the determination thereof depends on the correlation analysis on the pressure component in the mechanical data and the height change amount in the displacement data, and the index value is positively correlated with the weight of the goods and the elastic deformation of the frame; the other is the smoothness parameter, which is used to represent the friction characteristic of the interaction between the surface of the goods and the roller, and the determination thereof is realized by fusing a basic friction parameter from the mechanical data and a surface texture parameter from the visual data, wherein the basic friction parameter is estimated based on the relationship between the axial and lateral pressure components, and the surface texture parameter is obtained by analyzing the texture features of the surface image of the goods, and the final smoothness parameter value comprehensively reflects the smoothness degree of the surface of the goods, and the higher the value is, the smoother the surface is and the smaller the friction resistance is. The calculated deformation influence index and the smoothness parameter are combined to form the physical attribute vector of the target goods.

[0026] S103, determining a gravity center offset vector of the target goods in the conveying process based on the displacement data.

[0027] The gravity center offset vector includes a cumulative offset amount and an offset trend, the cumulative offset amount is used to represent the total amount of the offset of the gravity center, and the offset trend is used to represent the rate and change direction of the gravity center.

[0028] In a possible implementation, the process of determining the center of gravity offset vector comprises dynamically tracking and analyzing the time-series variation of the bearing seat position reflected by the displacement data, so as to construct a vectorized index representing the dynamic behavior of the center of gravity of the cargo. The center of gravity offset vector is composed of at least two dimensions: one is the cumulative offset, which is used to quantify the total amount of deviation of the center of gravity of the cargo from the ideal center line in the completed conveying section, and the cumulative offset is determined based on the integral or accumulation processing of the time-series signal of the height displacement difference of the bearing seats on both sides of the target cargo; the other is the offset trend, which is used to represent the instantaneous offset direction and change rate of the center of gravity of the cargo at the current and adjacent time, and the offset trend is extracted by trend fitting and analysis of the time-series signal of the displacement difference, for example, by differentiating or slope calculation of the signal to obtain the instantaneous change rate and direction. The cumulative offset and the offset trend are combined to form the dynamic center of gravity offset vector of the target cargo.

[0029] S104, determining an adjustment parameter based on the physical attribute vector and the center of gravity offset vector, and the historical adjustment record of the target cargo.

[0030] The adjustment parameter is used to adjust the position and posture of the bearing seat.

[0031] In a possible implementation, the determination of the adjustment parameter comprises at least two associated calculation processes: one is to calculate a first height adjustment amount based on the deformation influence index and the smoothness parameter in the physical attribute vector, and to fuse the historical height compensation reference value in the historical adjustment record, and the first height adjustment amount is used to instruct the adjustment mechanism to implement synchronous equal-height adjustment of the bearing seats on both sides of the roller to compensate for the systematic deformation of the rack caused by the weight of the cargo; the other is to calculate a second height adjustment amount based on the cumulative offset and the offset trend in the center of gravity offset vector, and to combine the smoothness parameter and the historical angle compensation reference value in the historical adjustment record, and the second height adjustment amount is used to instruct the adjustment mechanism to implement differential height adjustment of the bearing seats on both sides of the roller to correct the deviation of the roller axis angle caused by the center of gravity offset of the cargo.

[0032] S105, adjusting the bearing seat according to the adjustment parameter.

[0033] In a possible implementation, the adjustment process comprises two associated and coordinated actions: first, according to the first height adjustment amount, the driving execution unit (such as a servo electric cylinder) responsible for vertical lifting in the adjustment mechanism is controlled to make the bearing seats on both sides of the roller have equal and synchronous height lifting or lowering, so as to complete the height compensation of the overall deformation of the rack; second, according to the second height adjustment amount, the driving unit (such as a micro servo actuator) capable of independent or differential control in the adjustment mechanism is controlled to make the bearing seats on both sides of the roller have unequal height adjustment (including the direction may be opposite), so as to change the inclination angle of the roller axis, and actively correct the center of gravity offset trajectory of the cargo.

[0034] In a possible implementation, the adjustment of the bearing seat adopts a feedforward control mode. When the system identifies the target goods through the radio frequency identification unit upstream of the conveying path (for example, at the k-1th roller), the adjustment parameter calculation and pre-adjustment process for the next roller (the kth) of the target goods are started. The adjustment process includes two related and coordinated actions. First, according to the first height adjustment amount calculated based on the upstream data, the driving execution unit (for example, a servo electric cylinder) responsible for vertical lifting in the adjustment mechanism is controlled to make the bearing seats on both sides of the kth roller be lifted or lowered by an equal amount and synchronously. This action aims to pre-compensate the predicted rack deformation before the goods arrive. Second, according to the second height adjustment amount calculated based on the upstream data, the driving unit (for example, a micro servo actuator) capable of independent or differential control in the adjustment mechanism is controlled to make the bearing seats on both sides of the kth roller be adjusted by an unequal amount, so as to pre-set an expected roller axis inclination angle to actively offset the predicted center of gravity shift trend. Wherein, all input data for calculating the adjustment parameters are derived from the results after the target goods are collected and processed on the upstream roller (the k-1th). For example, the texture roughness coefficient required for calculating the smoothness parameter S is calculated according to the sharpness of the displacement signal change of the bearing seat of the upstream roller when the goods pass through the upstream roller. This value represents the typical vibration mode of the goods on the upstream roller, and the system predicts the similar impact on the downstream roller and compensates in advance.

[0035] The technical solutions provided by the above embodiments can at least bring the following beneficial effects: the embodiment synchronously collects and fuses mechanical, displacement, visual, and identity data, so that the system can comprehensively perceive the characteristics of the goods and the state of the conveyor; by extracting the vector representing the static physical properties of the goods and the vector representing the dynamic center of gravity shift, precise and multi-dimensional inputs are provided for the adjustment decision; finally, the adjustment parameters are generated and executed in combination with historical experience, so that the transition from passive response to active prediction and adaptive adjustment is realized. Overall, the method significantly improves the adaptive ability of the conveying system to different goods and different working conditions, ensures the high stability and high reliability of the conveying process, and solves the technical problems that the existing technical solutions have obvious limitations in the real-time, precision, and adaptive ability of the adjustment, and affect the stability of the overall conveying.

[0036] In a possible implementation, please refer to Figure 2 which shows a flow chart of an adjustment method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application. The method includes the following S201-S202, which are described in detail below. ​

[0037] S201, determine a first height adjustment amount based on the deformation influence index, the smoothness parameter, and a historical height compensation reference value.

[0038] The first height adjustment amount is used for synchronous equal-height adjustment of the bearing seats on both sides of the roller. The historical height compensation reference value is determined based on the historical height compensation values in the historical adjustment records.

[0039] In one possible implementation, the historical height compensation reference value serves as a basic scale for the adjustment amount, and its value is a statistically verified typical height compensation amount extracted from the historical adjustment records of the same category of the current target goods identified by the identity data. The deformation influence index serves as a core scaling factor, and its value directly reflects the actual driving degree of the current goods weight on the rack deformation. The greater the index value, the greater the required height compensation reference. The smoothness parameter serves as a fine-tuning factor involved in the calculation, and its value reflects the friction characteristics of the goods surface. For goods with a smooth surface, they are more sensitive to the flatness of the roller support surface, so a fine-tuning component aimed at pursuing higher flatness needs to be introduced on the basis of the weight deformation compensation. The final first height adjustment amount is the result of the historical height compensation reference value scaled by the deformation influence index and fine-tuned by the smoothness parameter. The adjustment amount directly indicates the displacement amplitude required to drive the bearing seats on both sides of the roller to rise and fall synchronously and equally, and the fundamental purpose is to accurately compensate for the elastic sinking of the conveyor rack caused by the weight of the goods to provide a stable and flat support plane for the goods.

[0040] For example, the first height adjustment amount satisfies the following formula 1: Formula 1 wherein, represents the historical adjustment mean value of the same category of goods, representing the empirical reference scale for height compensation of the same category of goods; is the deformation influence index; is a normalization function for eliminating the dimensional interference of different parameters, and the calculation result is uniformly mapped to a fixed value domain [0, 1] through maximum and minimum normalization, wherein the maximum and minimum are determined based on the empirical extreme values (such as the maximum design load of the conveyor and the maximum mechanical allowable offset) preset by the system or the statistical extreme values in the historical database, rather than only based on the current real-time data.

[0041] The greater the value (the heavier the goods), the more obvious the sinking of the rack, and the greater the compensation amount required; is a historical empirical value to ensure that the compensation amount conforms to the adjustment rule of the same category of goods; and the product of the three comprehensively balances the weight influence, the precision requirement, and the historical experience to obtain an accurate compensation amount. The height compensation value of the bearing seat in the Z-axis direction is quantified to offset the frame sinking caused by heavy load and return the roller axis to the ideal position.

[0042] S202, based on the accumulated offset, the offset trend, the smoothness parameter and the historical angle compensation reference value, determine the second height adjustment amount.

[0002] The second height adjustment amount is used for differential height adjustment of the bearing seats on both sides of the roller; the historical angle compensation reference value is determined based on the historical angle compensation value in the historical adjustment record.

[0044] In one possible implementation, the historical angle compensation reference value is used as an initial reference scale for adjustment, and its value is a statistically verified typical angle compensation amount extracted from the historical adjustment record of the same category (identified by identity data) as the current target goods. The accumulated offset is used as a core compensation requirement basis, and its value directly represents the cumulative total amount of the deviation of the center of gravity of the goods from the ideal conveying track; the larger the offset, the greater the required axis angle correction reference. The offset trend is used as a dynamic prediction factor in the calculation, and its value reflects the instantaneous change direction and rate of the deviation of the center of gravity of the goods; the larger the trend value (i.e., the deviation is rapidly increasing), the more the predictive adjustment component needs to be introduced to suppress future deviation based on the compensation of the deviation that has occurred. The smoothness parameter is again used as a key sensitivity correction factor, and its value reflects the friction characteristics of the surface of the goods; for goods with a smooth surface, the center of gravity is more likely to slide on the inclined roller surface, and therefore is extremely sensitive to small angle deviations, and thus needs to further amplify the adjustment amount based on the compensation calculation of the offset and the trend to achieve more proactive and timely intervention. The final second height adjustment amount is the result of the historical angle compensation reference value under the joint action of the accumulated offset and the offset trend (providing static compensation basis and dynamic predictive compensation increment, respectively), and then the sensitivity weighting correction of the smoothness parameter. The adjustment amount directly indicates the displacement amplitude difference that needs to be driven for differential and unequal lifting of the bearing seats on both sides of the roller, and the fundamental purpose is to actively and accurately correct the inclination angle of the roller axis to offset the lateral sliding trend caused by the deviation of the center of gravity of the goods and guide the goods to return to the stable conveying track.

[0045] For example, the second height adjustment amount satisfies the following formula 2: Formula 2 wherein, is the normalized center of gravity deviation index, which is a characteristic value determined by comprehensively weighting the offset trend, and is used to represent the comprehensive strength of the offset trend; is the normalized center of gravity deviation, which represents the actual deviation distance; S is the surface smoothness, representing the risk of slipping; S is the historical angle correction coefficient of the same category of goods, representing the historical adjustment experience; S is the maximum allowed angle correction, limiting the correction range; S is a normalization function used to eliminate the dimensional interference of different parameters, and the calculation results are uniformly mapped to a fixed value range [0, 1] through maximum and minimum normalization; wherein, S is a positive gain coefficient (for example, 0.5) preset based on historical experience; In the formula, 1 ensures the basic gain, when the goods are very rough (S tends to 0), the gain factor is 1, the system gives the reference adjustment amount according to the deviation, and ensures that the correction action is not inhibited, when the surface of the goods is smooth (S is larger), since the smooth goods are more sensitive to inclination and have higher risk of slipping, more active and larger intervention is needed to quickly stabilize, the gain factor is greater than 1, and the system will calculate a larger angle correction value.

[0046] S is the cumulative deviation and deviation trend, the larger the product, the higher the risk of deviation; multiplied by S, indicating that the smoother the surface (the larger S is), the higher the risk of slipping, and the larger the correction amount needs to be; multiplied by S, in order to combine historical experience and avoid excessive correction; multiplied by In order to map the dimensionless comprehensive coefficient to the actual angle value, and ensure that the correction range is reasonable. S quantifies the angle correction value of the roller axis, which is used to offset the inclination of the axis caused by the deviation of the center of gravity.

[0047] The technical scheme provided by the above embodiment can at least bring the following beneficial effects: the embodiment refines the generation logic of the adjustment parameter, introduces the historical height compensation reference value and the historical angle compensation reference value, so that the adjustment decision is not only based on real-time sensing data, but also incorporates past successful adjustment experience. This design enables the system to have self-learning and optimization capabilities, and can form more and more accurate adjustment strategies for different categories of goods. The distinction between the first height adjustment amount and the second height adjustment amount decouples the two core tasks of compensating for the deformation of the rack and correcting the deviation of the center of gravity, realizes the precision of the adjustment target and the differentiation of the strategy, and thus maintains the accuracy and effectiveness of the adjustment under complex working conditions.

[0048] Please refer to Figure 3 , which shows an adjustment method flowchart of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application, which comprises the following S301-S302, which are described in detail below.

[0049] S301, according to the first height adjustment amount, control the adjustment mechanism to drive the roller bearing seat on both sides to execute synchronous isometric adjustment.

[0050] In one possible implementation, the adjustment mechanism comprises at least two sets of independent high-precision linear drive units, such as servo electric cylinders, rigidly connected to the bottom of the bearing seats on both sides of the roller. After receiving the first height adjustment amount, the control system analyzes it into a pair of equivalent and same-direction displacement instructions. Then, through a synchronous motion control algorithm, the two displacement instructions are sent to the servo drivers on both sides, driving the servo motors in the corresponding servo cylinders to rotate, and then converting the rotary motion into linear lifting motion through a precision ball screw pair. Throughout the execution process, the linear encoders embedded in each servo cylinder monitor the actual displacement of the output shaft in real time and independently, and compare this displacement feedback signal with the target displacement instruction to form a position closed-loop control. Through this closed-loop control, the system can dynamically adjust the torque and speed of the motor to ensure that the bearing seats on both sides overcome the load resistance to complete the specified lifting displacement with high synchronization accuracy and speed, thereby achieving synchronous height adjustment.

[0051] S302, according to the second height adjustment amount, controlling the adjustment mechanism to drive the bearing seats on both sides of the roller to perform differential height adjustment.

[0052] In one possible implementation, the adjustment mechanism comprises at least two sets of independent high-precision linear drive units, such as servo electric cylinders, rigidly connected to the bottom of the bearing seats on both sides of the roller. After receiving the first height adjustment amount, the control system analyzes it into a pair of equivalent and same-direction displacement instructions. Then, through a synchronous motion control algorithm, the two displacement instructions are sent to the servo drivers on both sides, driving the servo motors in the corresponding servo cylinders to rotate, and then converting the rotary motion into linear lifting motion through a precision ball screw pair. Throughout the execution process, the linear encoders embedded in each servo cylinder monitor the actual displacement of the output shaft in real time and independently, and compare this displacement feedback signal with the target displacement instruction to form a position closed-loop control. Through this closed-loop control, the system can dynamically adjust the torque and speed of the motor to ensure that the bearing seats on both sides overcome the load resistance to complete the specified lifting displacement with high synchronization accuracy and speed, thereby achieving synchronous height adjustment.

[0053] The technical scheme provided by the above embodiment can bring at least the following beneficial effects: The embodiment specifies the specific execution mode of the adjustment action, and converts the adjustment parameter into two kinds of coordinated control actions. The synchronous equal-height adjustment can quickly and stably compensate for the overall sinking of the rack caused by the weight of the goods, and maintain the flatness of the conveying plane; the differential height adjustment can flexibly and accurately adjust the roller axis angle, and actively correct the deviation trend of the goods. The cooperation of the two kinds of adjustment actions enables the system to simultaneously cope with two kinds of problems, i.e., static load deformation and dynamic gravity center deviation, and realizes the composite control of the position and posture of the bearing seat, thereby fundamentally enhancing the straightness and stability of the conveying track.

[0054] In a possible implementation manner, refer to Figure 4 which shows a flow chart of an adjustment method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application. The method comprises the following S401-S403, which are described in detail below.

[0055] S401, based on the axial pressure component and the lateral pressure component in the mechanical data and the displacement data, determine the deformation influence index.

[0056] In a possible implementation manner, the deformation influence index is used to quantify the deformation influence degree of the target goods weight on the conveyor structure. Specifically, for each monitoring roller through which the target goods pass, first, according to the displacement data of the two bearing seats on the two sides of the roller, the height direction displacement variation range under the action of the goods is calculated; at the same time, according to the mechanical data collected at the corresponding position of the roller, the strain characteristics reflecting the local stress of the rack are extracted. Then, during the complete conveying period of the target goods, the displacement variation characteristics and the mechanical strain characteristics obtained from each roller are fused and statistically analyzed across the rollers. The deformation influence index is finally calculated as a comprehensive representation, which is positively correlated with the weight of the goods. The greater the value, the more significant the elastic deformation (such as sinking and deflection) of the conveyor rack caused by the current goods, and thus the system needs to make a larger amplitude of bearing seat height compensation to maintain the flatness of the roller plane.

[0057] For example, the height displacement signals of the two bearing seats corresponding to the current roller and the rack strain value signals are obtained, and the intervals corresponding to the last Radio Frequency Identification (RFID) module and the current RFID module are selected in the two signals; the signals are fitted by using the least square method, and the signals are divided into the monotonically increasing and monotonically decreasing intervals by using the first derivative; the longest monotonically increasing interval is selected, the range values of the signals in the interval are calculated, and the mean value of the displacement range of the two sides of the roller and the mean value of the strain value range are calculated, and the product thereof is taken as the deformation influence index of the current goods.

[0058] S402, determining a basic friction parameter based on the axial pressure component and the lateral pressure component.

[0059] In a possible implementation, the axial pressure component reflects the normal pressure of the goods acting on the surface of the roller, and the lateral pressure component reflects the tangential friction resistance occurring between the goods and the surface of the roller. The determination of the basic friction parameter is mainly to establish the correlation between the two force components to represent the inherent friction characteristics between the goods and the roller under specific contact conditions. Specifically, according to the classical friction force mechanics principle, the basic friction parameter can be obtained by ratio operation or statistical analysis based on the ratio of the lateral pressure component and the axial pressure component or a modified quantity thereof (for example, the effective component of the axial pressure considering the real-time inclination angle of the roller).

[0060] S403, determining a smoothness parameter based on the basic friction parameter and the surface texture parameter.

[0061] In a possible implementation, the surface texture parameter is obtained by texture analysis on the surface visual data of the goods. First, the surface image of the target goods is obtained by the visual acquisition component deployed upstream of the conveying path; then the goods area is extracted from the image by using a preset image processing algorithm (for example, a semantic segmentation model based on deep learning), and a pixel-level mask of the goods area is obtained. To quantify the roughness of the surface texture of the goods, features are extracted from two dimensions: gradient distribution feature, the gradient value of each pixel point in the goods area mask is calculated, and the ratio of the mean value and the variance is calculated, denoted as t; the larger the value is, the more significant the gradient change of the pixel points in the mask area is and the more uniform the distribution is, which is more consistent with the surface roughness feature; texture statistical feature, for the goods area mask, the gray level co-occurrence matrix in the horizontal direction and the vertical direction is constructed respectively. For each gray level co-occurrence matrix, the contrast and the entropy thereof are calculated, and the product of the two is taken as the texture roughness information of the matrix. Among them, the contrast reflects the clarity and local change of the texture, and the entropy reflects the complexity and randomness of the texture, and the product of the two can comprehensively represent the roughness of the texture.

[0062] In a possible implementation, the longitudinal displacement of the roller during the conveying process may interfere with the extraction of the vertical direction texture feature, and a longitudinal displacement suppression factor (the value range is [0, 1]), which is calculated based on the change of the displacement signal of the roller where the current goods is located. The larger the value is, the more intense the longitudinal displacement is, and the lower the reliability of the vertical direction texture feature is, which should be suppressed in the final evaluation.

[0063] Exemplarily, the surface texture parameter satisfies the following formula 4: Formula 4 wherein, This is the ratio of the mean to the variance of the pixel gradient of the cargo area mask (the variance is not zero because the cargo surface is rough and the light effect causes different gray levels). A larger value indicates a more uniform pixel gradient and a rougher surface. The degree of longitudinal displacement of the roller represents the degree of distortion of texture information in the vertical direction. The larger the value, the more severe the distortion. It is a surface roughness feature in the horizontal direction; It is a surface roughness feature in the vertical direction.

[0064] The larger, the horizontal direction The greater the weight (in the vertical direction of suppressing distortion) The smaller the value of h, the greater the weight in the vertical direction (the more reliable the texture information); and Multiplication: through pixel gradient uniformity ( ) Enlarge the roughness features, The larger, The larger.

[0065] For example, smoothness parameter The following formula 5 is satisfied: Formula 5 Among them, μ is the basic friction parameter, which characterizes the frictional properties at the mechanical level; The surface roughness coefficient of the goods represents the texture roughness characteristics at the visual level. is an exponential function with the natural constant e as the base, used to map the calculation results to the interval (0, 1); S is a smoothness parameter.

[0066] Understandably, the basic friction parameter is defined as the ratio of frictional force to normal force; both are units of force, therefore the basic friction parameter is a dimensionless pure number. Calculation... The eigenvalues ​​themselves are dimensionless mathematical statistics, therefore It is also a dimensionless pure number.

[0067] It is a comprehensive roughness index combining mechanical and visual properties. and The larger the value, the higher the overall roughness; after negating the overall roughness index, through the exp function mapping, the larger the overall roughness index, the higher the overall roughness. The closer to 0, the rougher the surface; the smaller the overall roughness index, the closer the result is to 1 (the smoother the surface).

[0068] The technical scheme provided by the above embodiment can bring at least the following beneficial effects: the embodiment specifically implements the construction process of the physical attribute vector, and has the beneficial effect of realizing deep digitalization and fusion perception of the characteristics of the goods. By combining the mechanical data (axial / lateral pressure) and displacement data to evaluate the deformation influence index, the actual influence of the weight of the goods on the rack can be more accurately reflected, instead of simply relying on the nominal weight. By fusing the basic friction parameters derived by mechanics and the surface texture parameters analyzed by vision to determine the smoothness parameter, the surface friction characteristics of the goods are creatively objectively quantified. The system has a more comprehensive and accurate understanding of the physical characteristics of the goods, and lays a solid data foundation for subsequent differentiated adjustment.

[0069] Referring to Figure 5 A flowchart of an adjusting method of an adjustable bearing seat of a conveyor roller is shown, and the method comprises the following S501-S503, which are described in detail below.

[0070] S501, based on the height change amount of the bearing seat on both sides of the roller in the displacement data, determine the displacement difference value sequence corresponding to the target goods conveying process.

[0071] In a possible implementation, for the target goods, starting from when the target goods enter the conveying monitoring section, the height direction displacement change amount of the bearing seat (for example, marked as side A and side B) on both sides of the roller under the target goods is continuously collected. These displacement change amounts are pre-processed, and the relative displacement data directly related to the load is eliminated. The displacement change amount of side A and the displacement change amount of side B obtained at the same sampling time are paired, and the displacement difference value at the time is calculated by subtracting the side A data from the side B data. On the complete conveying time axis of the target goods, the displacement difference values calculated at all sampling times are arranged and connected in time sequence, thereby generating a displacement difference value sequence. Each data point in the sequence directly represents which side of the roller the gravity center of the goods is projected to and the instantaneous degree of deviation at the corresponding time, and the continuous change thereof completely describes the dynamic process of the lateral deviation of the gravity center.

[0072] S502, integrate the displacement difference value sequence to determine the cumulative deviation amount.

[0073] In a possible implementation, the object of the integral operation is a sequence of displacement difference values varying with time, which has a physical meaning of accumulating and summing up the lateral offset component of the center of gravity of the goods continuously existing in the conveying process. Specifically, the integral variable is the conveying time, and the function expression of the sequence of displacement difference values is the integrand, and the definite integral calculation is performed in the entire time interval from the entry of the target goods into the monitoring starting point to the current position. The result of the integral is a scalar value with a sign (positive or negative), which is the cumulative offset. The absolute value directly represents the total amount of lateral offset of the center of gravity of the goods relative to the ideal center line in history; and the sign (positive or negative) indicates which side of the roller the cumulative offset generally deviates. For example, if the displacement of side A minus the displacement of side B is the difference value, a positive cumulative offset indicates that the historical trajectory of the center of gravity deviates to side A as a whole, and a negative cumulative offset indicates that the historical trajectory of the center of gravity deviates to side B as a whole.

[0074] S503, performing trend fitting analysis on the sequence of displacement difference values to determine the offset trend.

[0075] In a possible implementation, data points in a time window adjacent to the current time (for example, the last few seconds or the data segment corresponding to the last few rollers passed by the goods) in the sequence of displacement difference values are selected, a linear fitting algorithm is used to perform curve fitting on the data segment, to construct an approximate function capable of representing the recent change law. The offset trend is defined as the first derivative value or instantaneous slope of the fitting function at the current time (or the end of the time window). The trend value is a scalar with a sign (positive or negative) and a value, and the absolute value directly represents the instantaneous change rate (that is, the speed at which the offset is accelerating or slowing down) of the center of gravity offset in the recent period, and the sign clearly indicates the instantaneous direction of the center of gravity offset (that is, the center of gravity is deviating to which side of the roller). For example, under the current fitting model, a larger positive trend value indicates that the center of gravity is deviating to side A at a faster speed.

[0076] For example, the offset trend satisfies the following formula 6: Formula 6 wherein, is the current center of gravity offset rate, which is determined by the derivative mean value of the fitting signal of the sequence of displacement difference values in the latest time interval, and has a physical dimension of length / time (for example, millimeters per second), representing the speed and direction of the current instantaneous offset of the center of gravity; is an angle similarity coefficient, representing the similarity of the current roller angle and the historical similar interval; is a historical center of gravity offset rate, representing the reference value of the historical offset trend; is a normalization function for mapping the result to the interval (0, 1) by max-min normalization, k is a preset scaling factor, which is a constant with the dimension of time / length (for example, seconds / millimeters), and the core role of k is to combine the rate with the actual physical dimension linearly maps to a suitable numerical range matching the function characteristics, ensuring that the input value mainly falls within the linear interval where the function changes significantly, thereby avoiding premature saturation or sluggish response of the function output, and ensuring sensitivity and discrimination to the change of the offset rate.

[0077] is the core term, which directly reflects the intensity of the current barycenter deviation towards the A side; is the historical correction term, the greater (the more similar the current and historical angles are), the greater the influence of the historical offset rate, and the more significant the correction; the sum input , the greater the sum, closer to 1 (the stronger the offset trend is); the smaller the sum, closer to 0 (the weaker the offset trend is); quantifies the sustained trend of the barycenter deviation towards the A side, the greater the value is, the higher the offset risk is and the more likely the offset is to continue to intensify.

[0078] The technical scheme provided by the above embodiment can at least bring the following beneficial effects: the embodiment concretizes the analysis process of the barycenter deviation vector, and realizes real-time monitoring and trend prediction of the cargo conveying dynamics. The cumulative deviation quantity objectively reflects the historical cumulative effect of the barycenter deviation by integrating the displacement difference value, and provides the system with the total offset quantity information that needs to be compensated. The offset trend can acutely capture the direction and acceleration situation of the barycenter deviation through trend analysis of the difference value sequence, and endows the system with a certain predictability. Combining the two into a vector supports more timely and forward-looking adjustment intervention, and effectively prevents the continuous expansion of the deviation.

[0079] Please refer to Figure 6 , which shows a flowchart of an adjusting method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application. The method comprises the following S601-S602, which are described in detail below.

[0080] S601, according to the identity data, querying a preset adjustment database to determine a historical adjustment record.

[0081] The historical adjustment record comprises historical adjustment data of the target cargo and the same category of cargo.

[0082] ​​In a possible implementation, after obtaining the identity data of the target cargo, the identity data is taken as a query keyword to access a pre-established and continuously updated adjustment database. The database stores the successfully applied adjustment parameters and corresponding working condition data (such as the physical property vector and the gravity center offset vector at that time) of different categories of cargos (usually classified by type, size, material, and the like, and associated with the identity data) in the past when passing through the conveying system. A query operation is performed to find a set of historical entries in the database that match the identity data of the current target cargo or belong to the same preset category. The set of historical adjustment data (including historical height compensation values, historical angle compensation values, and possibly other related parameters) retrieved from the same category of the current cargo is determined as a historical adjustment record. The record provides a reference benchmark based on historical experience and verified by practice for the current adjustment decision.

[0083] S602, determine a historical height compensation benchmark value and a historical angle compensation benchmark value based on the historical adjustment data.

[0084] In a possible implementation, the historical adjustment data includes effective adjustment parameters recorded and finally adopted by a plurality of cargos of the same category as the current target cargo in historical conveying processes. The system first pre-processes the data set, for example, eliminates obviously outlying or invalid records, to ensure data quality. Subsequently, the height compensation value field and the angle compensation value field in all records in the pre-processed data set are extracted. For the set of height compensation values, the system processes the set by a preset statistical algorithm (such as calculating an arithmetic mean, a weighted mean, or a median), and determines the statistical result obtained by the processing as the historical height compensation benchmark value. Similarly, for the set of angle compensation values, the same or similar statistical algorithm is used for processing, and the statistical result is determined as the historical angle compensation benchmark value. The two benchmark values respectively represent typical experience values of compensating for the deformation of the rack and correcting the axis angle of the same category of cargos in historical adjustment.

[0085] The technical solutions provided by the above embodiments can at least bring the following beneficial effects: The embodiments establish an experience learning and calling mechanism based on identity data. By associating and querying historical adjustment records through identity data, the system can identify the category of the cargo and quickly call the optimal adjustment experience (that is, the historical compensation benchmark value) for the cargo. This enables the adjustment decision to be initialized and optimized based on historical successful experience when facing repeated or similar conveying tasks, greatly shortens the adjustment convergence time, improves the first adjustment success rate, reduces the unstable period caused by trial and error, and overall improves the intelligent level and operation efficiency of the system.

[0086] For details, please refer to Figure 7Fig. 1 shows a flow chart of an adjusting method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application, which comprises the following S701-S704, which are described in detail as follows.

[0087] S701, collecting mechanical data by a force sensing assembly.

[0088] The mechanical data includes axial pressure component and lateral pressure component acting on the roller shaft.

[0089] In a possible implementation, the process of collecting mechanical data is completed by a specially deployed force sensing assembly. The force sensing assembly at least includes two groups of high dynamic response pressure sensors, such as piezoelectric pressure sensors, which are integrated and installed at the key stress positions inside the bearing seat of the roller or at the support points at both ends of the roller shaft. The main sensitive axis of one group of sensors is arranged along the axial direction of the roller, for measuring and outputting the axial pressure component of the cargo acting on the roller in real time; the main sensitive axis of the other group of sensors is arranged perpendicular to the axial direction of the roller, for measuring and outputting the lateral pressure component generated by the relative motion trend between the cargo and the surface of the roller in real time. When the target cargo passes through the roller, its weight and motion state will cause dynamic changes in the stress of the roller shaft, which are captured by the force sensing assembly and converted into corresponding analog electrical signals. The analog signals are then transmitted to a signal conditioning unit for amplification and filtering, and then converted into digital signals by an analog-to-digital converter, thereby forming time series mechanical data for subsequent processing. The time series of the axial pressure component and the lateral pressure component together constitute the mechanical data, which are the core raw inputs for subsequent calculation of the basic friction parameters, the deformation influence index and the smoothness parameters.

[0090] S702, collecting displacement data by a displacement measurement assembly.

[0091] In a possible implementation, the process of collecting displacement data is completed by a high-precision displacement measurement assembly. The displacement measurement assembly usually includes at least two sets of non-contact displacement sensors, such as laser displacement sensors, which are installed on a stable reference measurement frame independent of the conveyor frame. The two sets of sensors are symmetrically arranged, and their laser beams are vertically irradiated on the outer surfaces of the bearing seats on both sides of the roller or specially arranged reflection targets from top to bottom. When the target cargo passes through, the bearing seat will have a slight vertical displacement relative to the independent reference frame due to the load. The displacement sensor measures and outputs the distance change between the sensor probe and the measured surface of the bearing seat in real time, and this change is the absolute displacement of the bearing seat. After signal calculation, the data collected by the two sensors simultaneously form two time series of height direction displacement changes corresponding to the bearing seats on the A side and the B side of the roller respectively. These data together constitute the displacement data, which are the core raw inputs for subsequent reference difference to obtain the relative displacement, generate the displacement difference sequence, and finally calculate the cumulative offset and offset trend.

[0092] S703, collecting visual data through a visual collection component.

[0093] In one possible implementation, the process of collecting visual data is completed by a visual collection component deployed upstream of the conveying path. The visual collection component usually comprises at least one industrial camera and a matching lighting unit, which are installed in a position ensuring that the images of one or more surfaces of the target goods can be captured completely and clearly before the target goods enter the core conditioning section. After the radio frequency identification unit reads the goods identity data and triggers the collection instruction, the industrial camera takes a picture under suitable lighting conditions to obtain a raw digital image containing the surface of the target goods. These images constitute the raw visual data. Subsequently, the raw data is transmitted to the image processing unit for preprocessing, which can include automatic white balance, illumination uniformity correction to eliminate environmental light interference, and background difference positioning to crop out only the image of the region of interest containing the goods itself. The preprocessed image data, as valid visual data, will be used for subsequent surface texture analysis to extract surface texture parameters.

[0094] S704, reading the information mark of the target goods through an identity recognition component to obtain identity data.

[0095] In one possible implementation, the process of obtaining identity data is completed by an identity recognition component deployed upstream of the conveying path. The identity recognition component is usually an ultra-high frequency radio frequency identification reader / writer, which is installed in a position ensuring that it can effectively read the passive radio frequency identification tag attached to the goods before the target goods enter the core perception and conditioning section. When the goods move into the effective identification area of the reader / writer along with the conveyor, the radio frequency signal emitted by the reader / writer activates the electronic tag, and the tag backscatters the unique coded information stored in it back to the reader / writer. The reader / writer receives and decodes the signal to obtain the coded information as the identity data. This data is transmitted to the control system in real time as the core index key for querying the historical database and associating with the conditioning experience of similar goods.

[0096] The technical solutions provided by the above embodiments can at least bring the following beneficial effects: the embodiments specify the specific collection means of multi-source perception data, and have the beneficial effect of constructing a reliable and efficient data perception layer. Through the force sensing, displacement measurement, visual collection, and identity recognition components with clear functions, the system can synchronously and high-quality obtain the required raw information flow. This modular and collaborative perception design ensures the accuracy and stability of the upstream data source, and provides reliable input for all subsequent advanced analysis and decision-making.

[0097] Please refer to Figure 8Fig. 8 shows a flow chart of an adjusting method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application, which comprises the following S801-S802, which are described in detail as follows.

[0098] S801, collecting reference displacement data of the bearing seat of the roller in an unloaded state of the conveyor.

[0099] In a possible implementation, the absolute positions of the bearing seats on both sides of the roller in the height direction are measured and recorded by the displacement measurement assembly in a state where the conveyor is not carrying any goods and is in stable unloaded operation. The collected data represents the static position reference inherent to the conveyor frame, the bearing seat mounting surface and the displacement measurement system itself under the action of no external load. The reference displacement data will be stored in the control system as the reference zero point for displacement measurement in all subsequent load operations.

[0100] S802, determining the displacement data based on the difference between the displacement data of the bearing seat of the roller collected in the loaded state and the reference displacement data.

[0101] In a possible implementation, the original displacement data containing the inherent deviation of the system collected in real time during the target goods load operation is aligned point by point with the reference displacement data corresponding to the same measurement point and is subjected to difference operation. The operation is essentially to subtract the corresponding reference position value in the unloaded state from the instantaneous absolute position measurement value in the loaded state. Through this difference processing, the common mode deviation introduced by mechanical installation, sensor zero position and environmental steady state factors is systematically eliminated, so as to extract the dynamic deformation component in the height direction purely caused by the target goods load. The processed data, i.e. the difference result, is defined as the effective displacement data for subsequent all analysis and adjustment decisions.

[0102] It can be understood that this step is the core signal processing link to realize high precision and high robustness of displacement measurement. By differentiating the real-time collected absolute displacement data from the static reference, the present application realizes software zero adjustment of the measurement system, and effectively eliminates irrelevant system errors.

[0103] The technical solutions provided by the above embodiments can at least bring the following beneficial effects: the embodiment introduces a reference calibration step, and the core beneficial effect lies in significantly improving the precision and reliability of the displacement measurement data. By pre-collecting the reference displacement data in the unloaded state and deducting it from the load data in subsequent processing, the conveyor frame installation error, sensor zero drift and other fixed system errors can be effectively eliminated. This makes the displacement data relied on subsequent analysis purely reflect the dynamic deformation caused by the goods load, greatly improves the accuracy of the center of gravity deviation analysis and the deformation influence evaluation, and improves the precision of the entire adjustment system from the source.

[0104] Referring to Figure 9 Fig. 8 shows a flow chart of an adjusting method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application, which comprises the following S901, which will be explained in detail below.

[0105] S901, pre-process the collected mechanical data, displacement data and visual data.

[0106] The pre-processing at least includes one of the following: filtering and denoising, outlier removal, data alignment.

[0107] In a possible implementation, the pre-processing operation focuses on different data types. For mechanical data, filtering and denoising processing is mainly performed, for example, a low-pass filter or a sliding average method is used to suppress high-frequency noise introduced by mechanical vibration or electrical interference, so as to extract a stable and smooth force signal sequence. For displacement data, after completing the reference difference to obtain effective displacement data, it is possible to further perform outlier removal, for example, by a statistical method to identify and remove obvious outliers caused by instantaneous external impact or measurement transient, to ensure the continuity and reasonableness of the displacement sequence. For visual data, the pre-processing mainly includes data alignment and enhancement, for example, time stamp alignment is performed to ensure that the image is synchronized with the mechanical and displacement data in the time domain, and image enhancement operations (such as contrast adjustment, deblurring) are performed to optimize the image quality, and extraction of the region of interest can be performed to focus on the surface area of the goods and exclude irrelevant backgrounds.

[0108] The technical solutions provided by the above embodiments can at least bring the following beneficial effects: the embodiment adds a data pre-processing link, which has the beneficial effect of enhancing the robustness and anti-interference ability of the system. By filtering and denoising, outlier removal and data alignment of the original mechanical, displacement and visual data, noise caused by environmental interference, sensor accidental errors and data asynchronization can be effectively suppressed.

[0109] Referring to Figure 10 Fig. 9 shows a flow chart of an adjusting method of an adjustable bearing seat for a conveyor roller according to an embodiment of the present application, which comprises the following S1001-S1002, which will be explained in detail below. S1001, store the adjusting parameters in association with the identity data, the physical attribute vector and the barycentric offset vector.

[0110] In a possible implementation manner, the adjustment parameters (including the first height adjustment amount and the second height adjustment amount) finally determined and successfully executed in the current adjustment, the target cargo identity data triggering the current adjustment process, the physical attribute vector and the gravity center offset vector relied on in the adjustment decision are packaged as a complete historical record entry. The data are logically closely associated through a preset data structure and are assigned a uniform timestamp and batch identification. Subsequently, the entry is written into a non-volatile storage medium, for example, a specific data table in a local solid-state memory or a remote database, to form a traceable and queryable historical adjustment data record.

[0111] S1002, update the associated stored data to the adjustment database.

[0112] In a possible implementation manner, the new data record associatedly stored and containing the identity data, the physical attribute vector, the gravity center offset vector and the adjustment parameters is added or merged into the preset adjustment database as a new valid historical entry. After the update, the content of the historical adjustment record is expanded and enriched, so that the subsequent query and calculation of the historical height compensation reference value and the historical angle compensation reference value based on the database can be based on a more extensive and timely data basis.

[0113] The technical solutions provided by the above-described embodiments can at least bring the following beneficial effects: the embodiment establishes a closed loop of data feedback and knowledge update, and has the beneficial effect of realizing continuous self-optimization and performance evolution of the system. After each adjustment is completed, the system stores and updates the adjustment parameters, cargo characteristics and working condition data of the current adjustment in association, so that the historical adjustment record can be continuously enriched and iterated.

[0114] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are also possible or can be advantageous.

[0115] Each of the embodiments in the specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment mainly describes the differences from other embodiments.

Claims

1. A method of adjusting an adjustable bearing block for a conveyor roller, characterized in that The method comprises: acquiring multi-source perception data of a target cargo in a conveying process; the multi-source perception data comprises: mechanical data, displacement data, visual data, and identity data; the mechanical data is used to reflect the interaction force between the cargo and a conveyor roller; the displacement data is used to reflect the time sequence variation of a bearing seat position of the conveyor roller; the visual data is used to reflect the surface attribute of the cargo; and the identity data is used to determine the historical adjustment record of the target cargo; determining a physical attribute vector of the target cargo based on the mechanical data and the visual data; the physical attribute vector comprises: a deformation influence index and a smoothness parameter; the deformation influence index is used to represent the influence degree of the cargo weight on the deformation of the conveyor frame; and the smoothness parameter is used to represent the friction characteristic of the cargo surface; determining a gravity center offset vector of the target cargo in the conveying process based on the displacement data; the gravity center offset vector comprises: a cumulative offset amount and an offset trend; the cumulative offset amount is used to represent the total offset amount of the gravity center; and the offset trend is used to represent the rate and change direction of the gravity center; determining an adjustment parameter based on the physical attribute vector, the gravity center offset vector, and the historical adjustment record of the target cargo; the adjustment parameter is used to adjust the bearing seat position and posture; adjusting the bearing seat according to the adjustment parameter.

2. An adjustment method for an adjustable bearing block for a conveyor roller according to claim 1, characterized in that The determination of the adjustment parameter based on the physical attribute vector, the gravity center offset vector, and the historical adjustment record of the target cargo comprises: determining a first height adjustment amount based on the deformation influence index, the smoothness parameter, and a historical height compensation reference value; the first height adjustment amount is used to perform synchronous isometric adjustment on the bearing seats on both sides of the roller; and the historical height compensation reference value is determined based on a historical height compensation value in the historical adjustment record; determining a second height adjustment amount based on the cumulative offset amount, the offset trend, the smoothness parameter, and a historical angle compensation reference value; the second height adjustment amount is used to perform differential height adjustment on the bearing seats on both sides of the roller; and the historical angle compensation reference value is determined based on a historical angle compensation value in the historical adjustment record.

3. An adjustment method for an adjustable bearing block for a conveyor roller according to claim 2, characterized in that The adjustment of the bearing seat according to the adjustment parameter comprises: controlling an adjustment mechanism to drive the bearing seats on both sides of the roller to perform the synchronous isometric adjustment according to the first height adjustment amount; controlling the adjustment mechanism to drive the bearing seats on both sides of the roller to perform the differential height adjustment according to the second height adjustment amount.

4. The method of claim 1, wherein, The determination of the physical attribute vector of the target cargo based on the mechanical data and the visual data comprises: determining the deformation influence index based on the axial pressure component and the lateral pressure component in the mechanical data and the displacement data; determining a basic friction parameter based on the axial pressure component and the lateral pressure component; determining the smoothness parameter based on the basic friction parameter and a surface texture parameter; the surface texture parameter is determined based on the visual data.

5. The method of claim 1, wherein, The determination of the gravity center offset vector of the target cargo in the conveying process based on the displacement data comprises: Based on the height variation of the bearing seat on both sides of the roller in the displacement data, a displacement difference sequence corresponding to the target cargo conveying process is determined; The displacement difference sequence is integrated to determine the cumulative offset; The displacement difference sequence is analyzed by trend fitting to determine the offset trend.

6. An adjustment method for an adjustable bearing block for a conveyor roller according to claim 2, characterized in that The method further comprises: According to the identity data, the historical adjustment record is queried from the preset adjustment database; the historical adjustment record comprises: the historical adjustment data of the same category of goods as the target goods; Based on the historical adjustment data, the historical height compensation reference value and the historical angle compensation reference value are determined.

7. The method of claim 1, wherein, The multi-source perception data of the target goods in the conveying process comprises: The mechanical data is collected by the force sensing assembly; the mechanical data comprises the axial pressure component and the lateral pressure component acting on the roller shaft; The displacement data is collected by the displacement measurement assembly; The visual data is collected by the visual acquisition assembly; the visual data at least comprises the surface image of the target goods; The identity data is obtained by reading the information identification of the target goods through the identity recognition assembly.

8. A method of adjusting an adjustable bearing block for a conveyor roller according to claim 7, characterized in that The method further comprises: In the empty state of the conveyor, the reference displacement data of the roller bearing seat is collected; Based on the displacement data of the roller bearing seat collected in the loaded state, the displacement data is determined by the difference between the reference displacement data.

9. A method of adjusting an adjustable bearing block for a conveyor roller according to claim 8, characterized in that The method further comprises: The collected mechanical data, displacement data and visual data are preprocessed; the data preprocessing at least comprises one of the following: filtering denoising, outlier rejection, data alignment.

10. The method of claim 6, wherein the method further comprises: The method further comprises: The adjustment parameters are associated with the identity data, the physical attribute vector and the barycentric offset vector for storage; The associated stored data is updated to the adjustment database.

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