A multi-station transfer method, system, controller and storage medium

Abstract

This application relates to a multi-workstation material transfer method, system, controller, and storage medium, belonging to the field of automated production line control technology. The method includes: determining whether a new round of material transfer should begin; if so, determining the target material supply line and its position based on the current material conditions of the supply line and the main conveyor line; calculating the material supply line switching time based on the positional relationship between the current supply line and the target supply line; and setting the trigger time for triggering the next transfer action based on the material supply line switching time and the transfer advance time, causing the corresponding transfer device to perform the operation of transferring material to the target logical column of the main conveyor line. This application enables continuous and orderly material arrangement, avoids buffering and blocking, and ensures accurate placement during transfer.

Description

Technical Field

[0001] This application relates to the field of automated production line control technology, and in particular to a multi-workstation load transfer method, system, controller and storage medium. Background Technology

[0002] Automated production line control technology, as a key support for modern industrial production, plays a significant role in improving production efficiency, reducing labor costs, and ensuring product quality. In material handling and transfer, efficient control schemes ensure the orderly flow of materials between production lines, maintaining the continuity and stability of the production process. This is particularly crucial in applications where multiple feeder lines transfer materials to a main conveyor line; reasonable control methods are key to improving the rationality of production layout and enhancing production capacity. With the expansion of industrial scale and the increase in production complexity, this technological field faces even higher requirements and challenges.

[0003] When handling the transfer of materials from multiple feeder lines to the main conveyor line, the main conveyor line is generally kept running at a constant speed, with the feeder lines spaced apart on one or both sides of the main conveyor. Each feeder line can transport materials of different specifications, and transfer devices are used to transfer the materials from the feeder lines to the main conveyor line for mixed conveying. These transfer devices are typically installed above or to the side of the main conveyor line, completing the transfer of materials through pushing or moving actions. Furthermore, to ensure that the material quality and specifications meet requirements, some feeder lines are equipped with specification sorting devices, material type error checking devices, and auxiliary power units at their inlet ends for preliminary screening and classification of the materials.

[0004] However, in existing technologies, when multiple feeder lines simultaneously transfer materials to the main conveyor line, different types of materials may become mixed in the same area of ​​the main conveyor line. This severely impacts the continuity and efficiency of subsequent sorting, processing, and packaging processes. Furthermore, due to the different installation positions of the feeder lines, switching feeder lines without considering time differences can easily lead to inaccurate material placement or overlap. Frequent switching of feeder lines also creates numerous empty spaces on the main conveyor line, reducing conveying efficiency. Additionally, when the buffer of a feeder line becomes full and cannot be processed in a timely manner, it can cause blockages in upstream material supply, thereby affecting the normal operation of the entire production line. Summary of the Invention

[0006] The purpose of this application is to provide a multi-workstation transfer method that enables continuous and orderly arrangement of materials, avoids buffering and blockage, and ensures accurate placement of the transfer.

[0007] Firstly, this application provides a multi-functional displacement loading method, which adopts the following technical solution:

[0008] A multi-task displacement method includes:

[0009] Determine whether to begin a new round of material transfer;

[0010] If starting, the target feeding line and its location are determined based on the material conditions of the current feeding line and the main conveyor line.

[0011] Based on the positional relationship between the current replenishment line and the target replenishment line, the replenishment line switching time is calculated and obtained;

[0012] Based on the material supply line switching time and the transfer advance time, the trigger time for triggering the next transfer action is set, so that the corresponding transfer device can perform the target logic column for transferring materials to the main conveyor line.

[0013] By adopting the above technical solution, the target feeding line can be selected according to the material status of the current feeding line and the main conveyor line. The switching time can be calculated and the trigger time can be set based on the position relationship. This solves the problems of mixed material placement, switching deviation, waste of space on the main conveyor line, and buffer blockage, making the transfer process orderly, reducing the empty space on the main conveyor line, preventing upstream blockage caused by the buffer being full, and ensuring the accuracy of the transfer action.

[0014] In a preferred embodiment, this application can be further configured as follows: the step of determining the target feeding line and the location of the target feeding line based on the material conditions of the current feeding line and the main conveyor line, if initiated, includes:

[0015] Determine if the current feeding line is empty; if it is, continue transferring material from the current feeding line.

[0016] If there is no material, the target material supply line and its location are determined based on the type of material being transported and the full-line status of several candidate material supply lines.

[0017] By adopting the above technical solution, the decision to continue using or switch to a feeding line is made based on whether the current feeding line is out of material. When there is material, the transfer continues to avoid frequent switching that would cause empty spaces on the main conveyor line. When there is no material, the target feeding line is selected based on the material type and the full line status. The full line feeding line is prioritized to prevent buffer blockage, while ensuring that the same type of material can be continuously laid out, thereby improving the efficiency of subsequent processes.

[0018] In a preferred embodiment, this application can be further configured as follows: the step of determining a target replenishment line and the location of the target replenishment line based on the material type and full-line status of a plurality of candidate replenishment lines if there is no material, includes:

[0019] Determine whether any of the candidate feeding lines are in a full-line state. If not, select a feeding line of the same type as the material being fed by the current feeding line as the target feeding line.

[0020] If it exists, the candidate feeding line is set as a full-line feeding line, and the full-line feeding line among the candidate feeding lines is counted.

[0021] When the laying length of the material conveyed by the current replenishment line is greater than or equal to the minimum laying length threshold on the main conveyor line, and there is a full-line replenishment line among the candidate replenishment lines, then based on the number of full-line replenishment lines and the time when each full-line replenishment line triggers full-line, the full-line replenishment line that is of the same type as the material conveyed by the current replenishment line and triggers full-line time earliest is selected as the target replenishment line.

[0022] By adopting the above technical solution, when the current replenishment line is empty, the replenishment line with the same type of material being conveyed will be selected first. If there is a full replenishment line and the laying length reaches the threshold, the full replenishment line with the same type of material being conveyed will be selected first. This ensures that the same type of material is arranged continuously to avoid mixing, and can also handle the full replenishment line in time to prevent buffering and blockage, improve the conveying efficiency of the main conveyor line, and reduce the problem of inaccurate landing.

[0023] In a preferred embodiment, this application can be further configured as follows: the step of determining a target replenishment line and the location of the target replenishment line based on the material type and full-line status of a plurality of candidate replenishment lines if there is no material, includes:

[0024] The replenishment lines are numbered sequentially along the conveying direction of the main conveyor line;

[0025] Confirm the switching sequence of the replenishment lines, including the first switching sequence from the current replenishment line to the downstream replenishment line with a higher number, and the second switching sequence from the current replenishment line to the upstream replenishment line with a lower number;

[0026] Based on the switching sequence, the type of material conveyed by the target replenishment line and the location of the replenishment line are determined.

[0027] By adopting the above technical solution, the replenishment line number is set along the conveying direction of the main conveyor line, the switching sequence of downstream and upstream is clarified, and the directional basis is provided for subsequent switching time compensation. This avoids the timing deviation caused by unclear direction, ensures accurate transfer, and enables continuous laying of the same type of materials, reducing the problem of mixed placement.

[0028] In a preferred embodiment, this application can be further configured as follows: the step of calculating and obtaining the feeding line switching time based on the positional relationship between the current feeding line and the target feeding line includes:

[0029] If the switching sequence is the first switching sequence, determine whether the type of material conveyed by the target feeding line is the same as that of the current feeding line;

[0030] If they are the same, then the feeding line switching time is the compensation time corresponding to the additional compensation distance length that the target logic column of the main conveyor line needs to convey when switching from the current feeding line to the target feeding line;

[0031] If they are not the same, then the feeding line switching time is the total time for the additional compensation distance that the target logical column needs to transport when the current feeding line switches to the target feeding line, plus the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor line.

[0032] By adopting the above technical solution, the switching time is adjusted according to whether the material types are the same, and the time difference of installation spacing is compensated for the same type. The time of isolation zone is additionally compensated for different types of materials to ensure that there is an isolation zone between different types of materials to avoid mixing. This overcomes the time sequence deviation problem caused by installation spacing and ensures that the materials are accurately placed.

[0033] In a preferred embodiment, this application can be further configured as follows: the step of calculating and obtaining the feeding line switching time based on the positional relationship between the current feeding line and the target feeding line includes:

[0034] If the switching sequence is the second switching sequence, determine whether the type of material conveyed by the target feeding line is the same as that of the current feeding line;

[0035] If they are the same, then the switching time of the replenishment line is zero;

[0036] If they are not the same, then determine whether the additional compensation distance length that the target logical column of the main conveyor needs to transport when the current feeding line is switched to the target feeding line is less than the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor.

[0037] If it is not less than, then the switching time of the feeding line is zero;

[0038] If it is less than, then the switching time of the replenishment line is the difference between the time required to pass through the length of the isolation zone and the time required to pass through the length of the compensation distance.

[0039] By adopting the above technical solution, the switching time is adjusted according to the material type and the relationship between the compensation distance and the length of the isolation zone for the upstream switching sequence. No compensation is required for the same type, and the difference is only supplemented when the compensation distance is insufficient for different types. This avoids unnecessary waiting, improves the utilization rate of the main conveyor line, ensures that there is an isolation zone between different types of materials, and ensures accurate transfer.

[0040] In a preferred embodiment, this application can be further configured as follows: the step of setting the trigger time for triggering the next transfer action based on the material supply line switching time and the transfer advance time, so that the corresponding transfer device performs material transfer to the target logic column of the main conveyor line, includes:

[0041] The trigger time is calculated by combining the standard arrival time of the target logic column of the main conveyor line to the current replenishment line, and by compensating the replenishment line switching time with the advance time of the transfer device to perform the transfer action, so that the corresponding transfer device can perform material transfer to the target logic column of the main conveyor line.

[0042] By adopting the above technical solution, the trigger time is calculated by combining the arrival time of the target logic column of the main conveyor line, the switching time, and the advance time of the transfer. The transfer action is triggered in advance to ensure that the material is accurately placed in the target logic column, avoiding inaccurate placement or overlap, thereby ensuring the accuracy of the transfer process.

[0043] Secondly, this application provides a multi-workplace displacement system, which adopts the following technical solution:

[0044] A multi-task displacement system, comprising:

[0045] Transfer monitoring module: Used to determine whether a new round of material transfer should begin;

[0046] Target confirmation module: If started, it determines the target feeding line and its location based on the material conditions of the current feeding line and the main conveyor line;

[0047] Switching confirmation module: used to calculate and obtain the switching time of the feeding line based on the positional relationship between the current feeding line and the target feeding line;

[0048] Trigger confirmation module: Used to set the trigger time for triggering the next transfer action based on the material supply line switching time and the transfer advance time, so that the corresponding transfer device can perform the target logic column of material transfer to the main conveyor line.

[0049] Thirdly, this application provides a multi-tasking load controller, which adopts the following technical solution:

[0050] A multi-tasking load controller includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the multi-tasking load control method described above.

[0051] Fourthly, this application provides a computer storage medium, as follows:

[0052] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the aforementioned multi-tasking loading method.

[0053] In summary, this application has the following beneficial technical effects:

[0054] 1. This application controls the continuous laying of the same type of materials through the minimum laying length rule, reduces the waste of the main conveyor line caused by frequent switching of the replenishment line, and combines the full line priority mechanism to deal with the buffer full line replenishment line in a timely manner, avoid upstream material supply blockage, effectively improve the conveying efficiency of the main conveyor line, and ensure the continuous and stable operation of the production line.

[0055] 2. This application adjusts the transfer trigger time according to the position relationship of the material replenishment line and the material type by switching time compensation rules. Based on the material type, the same type of material is continuously laid out, and an isolation area is reserved between different types of materials. This avoids the mixing of materials from affecting subsequent processes and overcomes the timing offset caused by the installation spacing, ensuring that the materials are accurately placed in the target logic column. Attached Figure Description

[0056] Figure 1 This is a structural schematic diagram of a multi-workstation displacement device in one embodiment of this application.

[0057] Figure 2 This is a flowchart of a multi-tasking loading method in one embodiment of this application.

[0058] Figure 3 This is a flowchart of a sub-step of step S2 in one embodiment of this application.

[0059] Figure 4 This is a sub-step of step S21 in one embodiment of this application. Figure 1 .

[0060] Figure 5 This is a sub-step of step S21 in one embodiment of this application. Figure 2 .

[0061] Figure 6 This is a sub-step of step S3 in one embodiment of this application. Figure 1 .

[0062] Figure 7 This is a sub-step of step S3 in one embodiment of this application. Figure 2 .

[0063] Figure 8 This is a flowchart of a sub-step of step S4 in one embodiment of this application.

[0064] Figure 9This is a structural schematic diagram of a multi-workload displacement system according to one embodiment of this application.

[0065] Figure 10 This is a schematic diagram of a multi-tasking load controller in one embodiment of this application.

[0066] Reference numerals: 1. Transfer monitoring module; 2. Target confirmation module; 3. Switching confirmation module; 4. Trigger confirmation module; 200. First feeding line; 201. Second feeding line; 202. Third feeding line; 300. First transfer device; 301. Second transfer device; 302. Third transfer device. Detailed Implementation

[0067] The following is in conjunction with the appendix Figure 1-10 This application will be described in further detail.

[0068] It should be noted that all actions involving the acquisition of data or information in this application are carried out in accordance with the relevant data protection laws and policies of the country where the application is located, and with the authorization of the relevant users.

[0069] refer to Figure 1 and Figure 2 A multi-workstation transfer method is disclosed, applied to a multi-workstation transfer conveying device. The conveying device includes a main conveyor line, at least two replenishment lines, a transfer device corresponding to each replenishment line, and a multi-workstation transfer controller that executes the multi-workstation transfer method. Each replenishment line corresponds to a transfer device, installed above or to the side of the main conveyor line, used to transfer (push in or move in) materials from the replenishment line's transfer position to a designated column on the main conveyor line. The transfer of materials from the replenishment line to the main conveyor line is achieved by pushing or moving in materials using a device with a certain operating width. This operating width can be formed by a push plate or clamp of a specific specification. This operation involves one or more materials of the same specification simultaneously, with each operation completing the transfer of one logical column. In addition to a specification sorting device, each replenishment line's inlet can also be equipped with a material type error detection device (such as height detection) and an auxiliary power device to identify and reject materials of incorrect types.

[0070] The transfer system is equipped with a controller, which connects to the main conveyor encoder, sensors on each feeding line, and each transfer device to execute a coordinated control method. In this embodiment, the main conveyor has an input end and an output end, with the extension and transmission direction from the input end to the output end of the main conveyor as the positive direction of the X-axis. Several feeding lines are vertically arranged on one side near the input end of the main conveyor, and at least two feeding lines are spaced apart on one side of the main conveyor. Each feeding line also has an input end and an output end. The transfer device transfers material located on the output end side of the feeding line to the main conveyor by pushing or moving it in, with the extension and transmission direction from the input end to the output end of the feeding line as the positive direction of the Y-axis.

[0071] The main conveyor line is set to run at a speed of vm. In this embodiment, vm = 500 mm / s (corresponding to 5000 pulses per second generated by the motion encoder). It is divided into multiple parallel logical columns along the conveying direction. Each logical column is perpendicular to the conveying direction of the main conveyor line, and each logical column can hold one or more materials of the same specification.

[0072] Furthermore, a multi-workload displacement method specifically includes:

[0073] S1. Determine whether to start a new round of material transfer.

[0074] Specifically, the decision to begin a new round of material transfer is made by the controller through a series of decision-making steps. After each transfer, the controller first checks whether the material length on the current replenishment line has been continuously covered to the preset minimum replenishment length threshold on the main conveyor. Then, it checks whether the buffer quantity of material on the current replenishment line has reached its upper limit; if it has, the current replenishment line is at full capacity. If the controller determines that the material length on the current replenishment line has not been continuously covered to the preset minimum replenishment length threshold on the main conveyor, it continues to transfer material from the current replenishment line, thus triggering a new round of transfer. If the controller determines that the material length on the current replenishment line has already been continuously covered to the preset minimum replenishment length threshold on the main conveyor, it selects a target replenishment line from the candidate replenishment lines and transfers material from the new replenishment line, thus triggering a new round of transfer.

[0075] S2. If starting, determine the target feeding line and its location based on the material conditions of the current feeding line and the main conveyor line.

[0076] Specifically, multiple feeding lines are spaced apart on one or both sides of the main conveyor line. The materials loaded on the same feeding line are of the same specifications, while the types of materials loaded on different feeding lines may be the same or different. In the actual transfer process, the materials are transferred from the feeding lines to the main conveyor line for mixed conveying through a transfer device. That is, multiple types of materials may be simultaneously transported to the output end on a single main conveyor line.

[0077] By classifying different material types on each replenishment line, disorderly mixing of different types of materials on the main conveyor line can be avoided, ensuring the uniformity of material properties in the same area and improving the continuity and efficiency of subsequent sorting, processing, and packaging processes. At the same time, classification facilitates the implementation of isolation zone settings to prevent different types of materials from interfering with each other and ensure neat arrangement. In addition, the classification rules make the full-line priority mechanism more precise, prioritizing the processing of full-line replenishment lines with the same type of conveyed materials. This reduces the switching frequency, improves the utilization rate of the main conveyor line, and reduces the risk of buffer blockage by continuously laying out the same type of materials, thus maintaining the stable operation of the production line.

[0078] After confirming the material type of the current replenishment line, among several candidate replenishment lines, the replenishment line with the same material type as the current replenishment line is selected first by using the set replenishment line number and according to the numbering rule, and the location of the target replenishment line is determined by the number.

[0079] S3. Calculate and obtain the material supply line switching time based on the positional relationship between the current material supply line and the target material supply line.

[0080] Specifically, based on the numbering and upstream / downstream relationship between the selected target feeding line and the current feeding line, the positional relationship between the current target feeding line and the target logical column of the main conveyor line is confirmed. This allows for precise calculation of the feeding line switching time, compensating for the time required to switch from the current feeding line to the target feeding line, as well as the time required for the target logical column to reach the target feeding line. This ensures a smooth and seamless transfer of the empty material buffered by the target feeding line to the main conveyor line, while also reducing the risk of overlap between the last column of material transferred from the current target line and the material that is about to be transferred from the target feeding line to the target logical column of the main conveyor line.

[0081] S4. Based on the material supply line switching time and the transfer advance time, set the trigger time for triggering the next transfer action, so that the corresponding transfer device can perform the target logic column for transferring materials to the main conveyor line.

[0082] Specifically, the transfer advance time is the time reserved for transfer actions (such as the pusher plate advancing, pushing, and retracting) to ensure that the material is accurately transferred to the designated position on the main conveyor line. The trigger time set by using the feed line switching time and the transfer advance time to compensate for the action time of the feed line switching and the transfer device can solve the problems of mixed material placement, switching deviation, waste of space on the main conveyor line, and buffer blockage, so that the transfer process can proceed in an orderly manner, prevent upstream blockage due to buffer fullness, and ensure the accuracy of the transfer action.

[0083] refer to Figure 3 Furthermore, in one embodiment, step S2 is further refined into the following sub-steps:

[0084] S20. Determine if the current feeding line is out of material. If it is, continue to transfer material from the current feeding line.

[0085] Specifically, the replenishment lines are pre-set with their numbers. Here, i is the number of the replenishment line currently being laid, j is the target replenishment line number (the line to which it will be switched), and k is any replenishment line number (used to traverse all lines). cnt_i is the cache size of the current replenishment line i, cnt_j is the cache size of the target replenishment line j, and cnt_k is the cache size of the k-th replenishment line.

[0086] In one embodiment, a sensor acquires the buffer quantity cnt_k of several replenishment lines (k=1,2,3..., where k is an arbitrary replenishment line number used to traverse all lines), and determines whether cnt_k ≥ C_k, where C_k is the buffer capacity of the k-th replenishment line, i.e., the upper limit of the amount of material that the replenishment line can buffer. If cnt_k ≥ C_k, that is, when there is a replenishment line whose buffer quantity cnt_k reaches or exceeds C_k, the replenishment line is triggered to be in a full-line state. If there is no full-line, that is, cnt_k < C_k, then the material continues to be transferred from the current replenishment line, thereby triggering a new round of transfer. Similarly, if cnt_k = 0, the replenishment line is considered to be in a material-free state.

[0087] In another embodiment, sensors installed near the input end of each feeding line determine whether the material at the current position is no longer moving, indicating a blockage ahead and material sliding along the feeding line. If the sensor on the feeding line indicates that the material at the current position is no longer moving, it can be considered that the feeding line is full, triggering the full-line state of the feeding line. Similarly, sensors are installed near the output end of the feeding line, that is, at the end where the material is transferred to the main conveyor line, to determine the empty state of the feeding line. That is, when no material is detected at either the output or input end, it is considered that the feeding line is empty, and the feeding line is in an empty state.

[0088] Therefore, to determine if the current replenishment line has material, we can check if the buffer quantity cnt_i of the current replenishment line is zero. If cnt_i ≠ 0, then the current replenishment line i is considered to have material. When the current replenishment line has material, the material transfer continues from the current replenishment line.

[0089] S21. If there is no material, determine the target material supply line and its location based on the type of material being transported and the full-line status of several candidate material supply lines.

[0090] Specifically, if cnt_i = 0, then the current replenishment line i is considered to be empty. In this case, it is necessary to traverse all candidate replenishment lines k. First, traverse all candidate replenishment lines k to check if there is a replenishment line of the same type as the material being transported by the current replenishment line i, and filter out several candidate replenishment lines that meet the criteria. Then, determine if there is a replenishment line cnt_k > 0 (k ≠ i), that is, determine if any of the candidate replenishment lines have buffered materials of the same type as the current replenishment line i. Finally, traverse the filtered candidate replenishment lines according to the numbering pattern to determine the target replenishment line j.

[0091] If no matching replenishment line is found when searching for a replenishment line of the same type as the material being conveyed by the current replenishment line i, then according to the preset numbering rule, all candidate replenishment lines k are traversed to determine whether there is a replenishment line cnt_k>0 (k ≠ i) to determine the target replenishment line j.

[0092] If no feeding line of the same type as the material being fed by the current feeding line i is found, and there is no feeding line with cnt_k>0 (k ≠ i), the system enters an idle state and waits for the feeding line to be fed.

[0093] In this embodiment, each feeding line is assigned an attribute value based on the type of material it transports. Materials with heights within the same set range can be defined as the same type of material. Different attribute values ​​correspond to different material types. For example, the material attribute Sort_i for feeding line i is "01", the material attribute Sort_j for feeding line j is "01", the material attribute Sort_k for feeding line k is "05", and so on. Furthermore, this attribute value can be set directly through the controller or through the sorting device of the feeding line; this setting can be adjusted as needed.

[0094] In addition, refer to Figure 4 Furthermore, in one embodiment, step S21 is refined into the following sub-steps:

[0095] S210. Determine whether any of the candidate feeding lines are in a full-line state. If not, select a feeding line of the same type as the material being fed by the current feeding line as the target feeding line.

[0096] Specifically, after determining whether there exists a replenishment line with cnt_k > 0 (k ≠ i) to filter out candidate replenishment lines with material, it is necessary to prioritize candidate replenishment lines that are in a full state as targets to reduce the possibility of material congestion and stacking on full replenishment lines. Each replenishment line has a preset maximum buffer size C_k. If there is a candidate replenishment line that satisfies cnt_k ≥ C_k, then the candidate replenishment line is considered to be in a full state.

[0097] If no candidate feeding line satisfies cnt_k ≥ C_k, then based on prioritizing feeding lines of the same type as the material being fed by the current feeding line, all candidate feeding lines k are traversed according to the preset numbering rules, and feeding lines cnt_k>0 are prioritized (k ≠ i), and finally the target feeding line j is determined.

[0098] S211. If it exists, set the candidate replenishment line as the full-line replenishment line, and count the full-line replenishment lines among the candidate replenishment lines.

[0099] Specifically, several candidate feed lines that satisfy cnt_k ≥ C_k are statistically analyzed, and the selected candidate feed lines that meet the conditions will enter the next round of screening.

[0100] S212. When the laying length of the material conveyed by the current replenishment line is greater than or equal to the minimum laying length threshold on the main conveyor line, and there is a full-line replenishment line among the candidate replenishment lines, then based on the number of full-line replenishment lines and the time when each full-line replenishment line triggers full-line, the full-line replenishment line that is of the same type as the material conveyed by the current replenishment line and triggers full-line time earliest is selected as the target replenishment line.

[0101] Specifically, when there are candidate replenishment lines that satisfy cnt_k ≥ C_k, it is necessary to determine whether the current replenishment line satisfies Lp_cur ≥ Lp_min, that is, whether the laying length of the material on the current replenishment line is continuously filled to the preset minimum laying length threshold on the main conveyor line. In this embodiment, the minimum laying length threshold Lp_min is set to 800mm. When the current replenishment line satisfies Lp_cur ≥ Lp_min, a new round of material transfer from the already selected full-line replenishment lines needs to be started. At this time, the full-line replenishment line that is of the same type as the material conveyed by the current replenishment line and triggers the full-line time earliest is preferentially selected as the target replenishment line. This ensures that the same type of material is arranged continuously to avoid mixing, and can also handle the full-line replenishment line in a timely manner to prevent buffer blockage, improve the conveying efficiency of the main conveyor line, and reduce the problem of inaccurate landing.

[0102] In one embodiment, if there is a candidate replenishment line that satisfies cnt_k ≥ C_k, that is, it has triggered the full line state, but there is no replenishment line in the candidate replenishment line that has cached the same type of material as the material being transported by the current replenishment line, then the candidate replenishment line that triggered the full line state earliest is selected as the target replenishment line, so as to prioritize solving the problem of replenishment lines that may enter the congestion situation of the transport line more quickly.

[0103] In addition, refer to Figure 5 Furthermore, in one embodiment, step S21 is refined into the following sub-steps:

[0104] S213. Set the number of the replenishment line, wherein the number of the replenishment line increases sequentially along the conveying direction of the main conveyor line.

[0105] Specifically, the closer the replenishment line is to the output end of the main conveyor line, the larger the number k (k=1,2,3...). For example, the third replenishment line 202, which is closer to the output end of the main conveyor line, is numbered 202; the second replenishment line 201, which is next to the output end of the main conveyor line, is numbered 201; the first replenishment line 200, which is farther from the output end of the main conveyor line, is numbered 200, and so on. Furthermore, the first replenishment line 200 corresponds to the first transfer device 300, the second replenishment line 201 corresponds to the second transfer device 301, and the third replenishment line 202 corresponds to the third transfer device 302.

[0106] S214. Confirm the switching sequence of the replenishment lines, including the first switching sequence from the current replenishment line to the downstream replenishment line with a higher number, and the second switching sequence from the current replenishment line to the upstream replenishment line with a lower number.

[0107] Specifically, if the current replenishment line is set to i, and the target replenishment line j is selected based on the above selection method, then based on the numbering order, it is determined whether the replenishment line is switched in the first switching order (e.g., switching from the first replenishment line 200 to the second replenishment line 201) or in the second switching order (e.g., switching from the second replenishment line 201 to the first replenishment line 200). This is to distinguish the calculation methods of compensation time for different transfer actions, avoid timing deviations caused by unclear directions, ensure accurate transfer, and enable continuous laying of the same type of materials, reducing the problem of mixed placement.

[0108] S215. Based on the switching sequence, determine the type of material conveyed by the target feeding line and the location of the feeding line.

[0109] Specifically, after obtaining the switching sequence, based on the material type conveyed by the target feeding line j and the position of the feeding line, that is, confirming the positional distance between the current feeding line i and the target feeding line j, the actual length requiring time compensation is accurately obtained by using the center distance between the two feeding lines and / or, additionally, the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor line. In this embodiment, the isolation zone length Lj = 200mm.

[0110] In addition, refer to Figure 6 Furthermore, in one embodiment, step S3 is refined into the following sub-steps:

[0111] S30. If the switching order is the first switching order, determine whether the type of material conveyed by the target feeding line is the same as that of the current feeding line.

[0112] Specifically, if it's the first switching sequence, such as switching from the current replenishment line i to the target replenishment line j, and j > i, then it's a switch from the replenishment line with the smaller number to the replenishment line with the larger number, and the switching direction is consistent with the transport direction of the main conveyor line. Then, by determining whether the type of material transported by the target replenishment line is the same as that of the current replenishment line, it's considered whether an additional isolation zone is needed between replenishment lines carrying different materials, thereby compensating for the time spent traversing the isolation zone.

[0113] S31. If they are the same, the feeding line switching time is the compensation time corresponding to the additional compensation distance length that the target logic column of the main conveyor line needs to convey when switching from the current feeding line to the target feeding line.

[0114] Specifically, let the switching time for the replenishment line be ΔT. Wherein, when it is determined that switching to the target replenishment line j is required, the length Lp_cmp already laid on the main conveyor line between the two materials is:

[0115] Lp_cmp=(Lm_j+Lm_i) / 2+Gap,

[0116] Wherein, Lm_j is the length of material j conveyed by target feeding line j in the conveying direction of the main conveyor line, Lm_i is the length of material i conveyed by target feeding line j in the conveying direction of the main conveyor line, and Gap is the laying gap between the two columns of material along the conveying direction of the main conveyor line. The Gap value can be an average value (such as 20mm) or a variable value, which can be set by the operation and maintenance personnel.

[0117] When j > i, and the type of material conveyed on the target feeding line j is the same as that on the current feeding line i (i.e., Sort_i = Sort_j), the additional compensation distance length that the target logical column of the main conveyor line needs to convey is |X_j - X_i| + Lp_cmp. Therefore, the corresponding feeding line switching time ΔT is:

[0118] ΔT = (|X_j-X_i|+Lp_cmp) / vm;

[0119] Where X_j is the position of the target feeding line j along the X-axis with its center axis in the same direction as its transmission direction, X_i is the position of the current feeding line i along the X-axis with its center axis in the same direction as its transmission direction, |X_j-X_i| is the center distance between the two feeding lines. In actual calculation, X_j and X_i can be the center coordinates (X coordinates) of the feeding line along the main conveyor line's transmission direction; Lp_cmp is the length of the two materials already laid on the main conveyor line, and vm is the running speed of the main conveyor line.

[0120] S32. If they are not the same, the feeding line switching time is the total time for the additional compensation distance that the target logic column needs to transport when the current feeding line switches to the target feeding line, plus the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor line.

[0121] Specifically, when j > i, and the type of material conveyed on the target feeding line j is different from that on the current feeding line i (i.e., Sort_i <> Sort_j), in addition to the additional compensation distance length required for the target logical column of the main conveyor line to be conveyed (|X_j - X_i| + Lp_cmp), the time consumed by the isolation zone length formed by the minimum empty column reserved between different types of materials on the main conveyor line should also be compensated. Therefore, the corresponding feeding line switching time ΔT is:

[0122] ΔT = (Lj+|X_j-X_i|+Lp_cmp) / vm;

[0123] Where X_j is the position of the target feeding line j along the X-axis with its center axis in the same direction as its transmission direction, X_i is the position of the current feeding line i along the X-axis with its center axis in the same direction as its transmission direction, |X_j-X_i| is the center distance between the two feeding lines. In actual calculation, X_j and X_i can be the center coordinates (X coordinates) of the feeding line along the main conveyor line's transmission direction; Lj is the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor line, Lp_cmp is the length of the two materials already laid on the main conveyor line, and vm is the operating speed of the main conveyor line.

[0124] The above measures address the downstream switching sequence and adjust the switching time based on whether the material types are the same, in order to avoid material stacking and mixing, overcome the timing deviation caused by installation spacing, and thus ensure accurate placement of materials.

[0125] In addition, refer to Figure 7 Furthermore, in one embodiment, step S3 is refined into the following sub-steps:

[0126] S33. If the switching order is the second switching order, determine whether the type of material conveyed by the target feeding line is the same as that of the current feeding line.

[0127] Specifically, in the second switching sequence, such as switching from the current replenishment line i to the target replenishment line j, where j < i, the replenishment line with the larger number switches to the replenishment line with the smaller number, and the switching direction is opposite to the transport direction of the main conveyor line. Then, by determining whether the type of material transported by the target replenishment line is the same as that of the current replenishment line, and considering the length of the additional isolation zone between different materials, the time spent passing through the isolation zone is compensated.

[0128] S34. If they are the same, the material feeding line switching time quantity is zero.

[0129] Specifically, when j < i, if the type of material conveyed by the target material feeding line j is the same as that of the current material feeding line i, that is, Sort_i = Sort_j, which means that at this time, the current material feeding line i is the material feeding line farthest from the output end of the main conveying line compared with other material feeding lines and needs to be switched to the target material feeding line j closest to the output end of the main conveying line. Therefore, there is no need to consider the switching time of the material feeding line, which is equivalent to ΔT = 0.

[0130] S35. If they are not the same, it is necessary to judge whether the compensation distance length that the target logic column of the main conveying line needs to convey additionally when the current material feeding line is switched to the target material feeding line is less than the isolation zone length formed by the minimum empty columns reserved between different types of materials on the main conveying line.

[0131] Specifically, when j < i, if the type of material conveyed by the target material feeding line j is different from that of the current material feeding line i, that is, Sort_i<>Sort_j, it is necessary to judge whether the compensation distance length that the target logic column of the main conveying line needs to convey additionally, which is |X_j - X_i| + Lp_cmp, is less than the isolation zone length formed by the minimum empty columns reserved between different types of materials on the main conveying line, so as to judge whether the switching length meets the isolation zone length requirement and no additional time compensation is required.

[0132] S36. If it is not less than, the material feeding line switching time quantity is zero.

[0133] Specifically, when j < i, if the type of material conveyed by the target material feeding line j is different from that of the current material feeding line i, that is, Sort_i<>Sort_j, if |X_j - X_i| + Lp_cmp >= Lj, it proves that the current switching length meets the isolation zone length requirement and no additional time compensation is required. Therefore, the material feeding line switching time quantity is zero.

[0134] S37. If it is less than, the material feeding line switching time quantity is the difference between the time required to pass through the isolation zone length and the time required to pass through the compensation distance length.

[0135] Specifically, when j < i, if the type of material conveyed by the target material feeding line j is different from that of the current material feeding line i, that is, Sort_i<>Sort_j, if |X_j - X_i| + Lp_cmp < Lj, the current switching length does not meet the isolation zone length requirement and additional time compensation needs to be calculated. Therefore, the material feeding line switching time quantity is:

[0136] ΔT = (Lj - (|X_j - X_i| + Lp_cmp)) / vm;

[0137] Where X_j is the position of the target feeding line j along the X-axis with its center axis in the same direction as its transmission direction, X_i is the position of the current feeding line i along the X-axis with its center axis in the same direction as its transmission direction, |X_j-X_i| is the center distance between the two feeding lines. In actual calculation, X_j and X_i can be the center coordinates (X coordinates) of the feeding line along the main conveyor line's transmission direction; Lj is the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor line, Lp_cmp is the length of the two materials already laid on the main conveyor line, and vm is the operating speed of the main conveyor line.

[0138] By adopting the above technical solution, the switching time is adjusted according to the material type and the relationship between the compensation distance and the length of the isolation zone for the upstream switching sequence. No compensation is required for the same type, and the difference is only supplemented when the compensation distance is insufficient for different types. This avoids unnecessary waiting, improves the utilization rate of the main conveyor line, ensures that there is an isolation zone between different types of materials, and ensures accurate transfer.

[0139] In addition, refer to Figure 8 Furthermore, in one embodiment, step S4 is refined into the following sub-steps:

[0140] S40. Combine the standard arrival time of the target logic column of the main conveyor line to the current replenishment line, and after compensating by the replenishment line switching time and the advance time of the transfer device to perform the transfer action, calculate and obtain the trigger time, so that the corresponding transfer device can perform material transfer to the target logic column of the main conveyor line.

[0141] Specifically, the trigger time T_trigger is calculated using the following formula:

[0142] T_trigger = Ti + ΔT - T_adv.

[0143] Where Ti is the standard arrival time of the target logic column of the main conveyor line to the current feeding line, ΔT is the feeding line switching time, and T_adv is the advance time of the transfer device to perform the transfer action, specifically the time required for the transfer action (such as the pusher plate moving forward → pushing the material → the pusher plate moving back). In this embodiment, T_adv = 0.3s.

[0144] By using the above formula, combined with the method of obtaining the switching time of the feeding line under different conditions, and taking into account the advance triggering of the transfer action, when the transfer device is driven to transfer the material to the target logic column of the main conveyor line at the triggering time, it can ensure that the material is accurately placed in the target logic column, avoid inaccurate placement or overlap, and thus ensure the accuracy of the transfer process.

[0145] Additionally, if the transfer continues from the current feeding line i, the length Lp_cmp already laid on the main conveyor line will be:

[0146] Lp_cmp = Lm_i + Gap

[0147] Where Lm_i is the length of material i conveyed by the target feeding line j in the conveying direction of the main conveyor line, and Gap is the laying gap between the two columns of material along the conveying direction of the main conveyor line.

[0148] Furthermore, to obtain the trigger time for the next moving device to continue transferring material i on feeding line i, it is necessary to update the arrival time of the main conveyor target logic column on feeding line i, which is obtained through the following formula:

[0149] Ti==Ti+Lp_cmp / vm;

[0150] Where Lp_cmp is the length of material i that has been laid on the main conveyor line, and vm is the running speed of the main conveyor line.

[0151] The trigger time T_trigger is obtained using the following formula:

[0152] T_trigger = Ti - T_adv;

[0153] Where Ti is the time when the latest main conveyor line target logic column arrives at the replenishment line i, and T_adv is the transfer advance time of the transfer device to perform the transfer action, specifically the time required for the transfer action (such as the pusher plate moving forward → pushing the material → the pusher plate moving back).

[0154] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0155] This application also provides a multi-workload displacement system, which corresponds one-to-one with the multi-workload displacement method in the embodiments.

[0156] refer to Figure 9 A multi-task load transfer system includes: a load transfer monitoring module 1, a target confirmation module 2, a switching confirmation module 3, and a trigger confirmation module 4. Detailed descriptions of each functional module are as follows:

[0157] Transfer monitoring module 1: Used to determine whether a new round of material transfer should begin.

[0158] Target confirmation module 2: If started, it determines the target feeding line and its location based on the material conditions of the current feeding line and the main conveyor line.

[0159] Switching confirmation module 3: Used to calculate and obtain the switching time of the feeding line based on the positional relationship between the current feeding line and the target feeding line.

[0160] Trigger confirmation module 4: It is used to set the trigger time for triggering the next transfer action based on the material supply line switching time and the transfer advance time, so that the corresponding transfer device can perform the target logic column of material transfer to the main conveyor line.

[0161] Among them, the transfer monitoring module 1 can determine whether to start a new round of material transfer, providing a starting basis for subsequent operations; the target confirmation module 2 can determine the target replenishment line and its position based on the material conditions of the replenishment line and the main conveyor line, which helps to rationally select the source of transfer materials; the switching confirmation module 3 calculates the replenishment line switching time, which can compensate for the time difference caused by the difference in the position of the replenishment line; the trigger confirmation module 4 sets the trigger time by combining the switching time and the transfer advance time, which can accurately control the transfer device to execute the material transfer to the target logical column of the main conveyor line, realize orderly and accurate material transfer, improve the utilization rate of the main conveyor line, avoid mixed material placement, reduce buffer blockage, and overcome the switching offset problem.

[0162] Specific limitations regarding the multi-worker loading system can be found in the context of the limitations on the multi-worker loading method, and will not be repeated here. Each module in the aforementioned multi-worker loading system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor of the multi-worker loading controller, or stored in software in the memory of the multi-worker loading controller, so that the processor can call and execute the operations corresponding to each module. In one embodiment, a multi-worker loading controller is provided, refer to... Figure 10 The multi-tasking load controller includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores detection data tables. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a multi-tasking load transfer method.

[0163] In one embodiment, a multi-tasking load controller is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps:

[0164] S1. Determine whether to start a new round of material transfer.

[0165] S2. If starting, determine the target feeding line and its location based on the material conditions of the current feeding line and the main conveyor line.

[0166] S3. Calculate and obtain the material supply line switching time based on the positional relationship between the current material supply line and the target material supply line.

[0167] S4. Based on the material supply line switching time and the transfer advance time, set the trigger time for triggering the next transfer action, so that the corresponding transfer device can perform the target logic column for transferring materials to the main conveyor line.

[0168] In one embodiment, the sub-steps of step S2 include:

[0169] S20. Determine if the current feeding line is out of material. If it is, continue to transfer material from the current feeding line.

[0170] S21. If there is no material, determine the target material supply line and its location based on the type of material being transported and the full-line status of several candidate material supply lines.

[0171] In one embodiment, the sub-steps of refining step S21 include:

[0172] S210. Determine whether any of the candidate feeding lines are in a full-line state. If not, select a feeding line of the same type as the material being fed by the current feeding line as the target feeding line.

[0173] S211. If it exists, set the candidate replenishment line as the full-line replenishment line, and count the full-line replenishment lines among the candidate replenishment lines.

[0174] S212. When the laying length of the material conveyed by the current replenishment line is greater than or equal to the minimum laying length threshold on the main conveyor line, and there is a full-line replenishment line among the candidate replenishment lines, then based on the number of full-line replenishment lines and the time when each full-line replenishment line triggers full-line, the full-line replenishment line that is of the same type as the material conveyed by the current replenishment line and triggers full-line time earliest is selected as the target replenishment line.

[0175] In one embodiment, the sub-steps of step S21 include:

[0176] S213. Set the number of the replenishment line, wherein the number of the replenishment line increases sequentially along the conveying direction of the main conveyor line.

[0177] S214. Confirm the switching sequence of the replenishment lines, including the first switching sequence from the current replenishment line to the downstream replenishment line with a higher number, and the second switching sequence from the current replenishment line to the upstream replenishment line with a lower number.

[0178] S215. Based on the switching sequence, determine the type of material conveyed by the target feeding line and the location of the feeding line.

[0179] In one embodiment, the sub-steps of step S3 are further refined as follows:

[0180] S30. If the switching order is the first switching order, determine whether the type of material conveyed by the target feeding line is the same as that of the current feeding line.

[0181] S31. If they are the same, the feeding line switching time is the compensation time corresponding to the additional compensation distance length that the target logic column of the main conveyor line needs to convey when switching from the current feeding line to the target feeding line.

[0182] S32. If they are not the same, the feeding line switching time is the total time for the additional compensation distance that the target logic column needs to transport when the current feeding line switches to the target feeding line, plus the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor line.

[0183] In one embodiment, the sub-steps of step S3 are further refined as follows:

[0184] S33. If the switching order is the second switching order, determine whether the type of material conveyed by the target feeding line is the same as that of the current feeding line.

[0185] S34. If they are the same, the switching time for the replenishment line is zero.

[0186] S35. If they are not the same, determine whether the additional compensation distance length required for the target logical column of the main conveyor line to be transported when the current feeding line switches to the target feeding line is less than the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor line.

[0187] S36. If it is not less than, then the material replenishment line switching time is zero.

[0188] S37. If it is less than, then the switching time of the replenishment line is the difference between the time required to pass through the isolation zone length and the time required to pass through the compensation distance length.

[0189] In one embodiment, the sub-steps of step S4 are further refined as follows:

[0190] S40. Combine the standard arrival time of the target logic column of the main conveyor line to the current replenishment line, and after compensating by the replenishment line switching time and the advance time of the transfer device to perform the transfer action, calculate and obtain the trigger time, so that the corresponding transfer device can perform material transfer to the target logic column of the main conveyor line.

[0191] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0192] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

Claims

1. A multi-workload displacement method, characterized in that, include: Determine whether to begin a new round of material transfer; If starting, the target feeding line and its location are determined based on the material conditions of the current feeding line and the main conveyor line. Based on the positional relationship between the current replenishment line and the target replenishment line, the replenishment line switching time is calculated and obtained; Based on the material supply line switching time and the transfer advance time, the trigger time for triggering the next transfer action is set, so that the corresponding transfer device can perform the target logic column for transferring materials to the main conveyor line.

2. The method according to claim 1, characterized in that, If the process begins, the step of determining the target feeding line and its location based on the material conditions of the current feeding line and the main conveyor line includes: Determine if the current feeding line is empty; if it is, continue transferring material from the current feeding line. If there is no material, the target material supply line and its location are determined based on the type of material being transported and the full-line status of several candidate material supply lines.

3. The method according to claim 2, characterized in that, If there is no material, the step of determining the target supply line and the location of the target supply line based on the type of material transported by several candidate supply lines and their full-line status includes: Determine whether any of the candidate feeding lines are in a full-line state. If not, select a feeding line of the same type as the material being fed by the current feeding line as the target feeding line. If it exists, the candidate feeding line is set as a full-line feeding line, and the full-line feeding line among the candidate feeding lines is counted. When the laying length of the material conveyed by the current replenishment line is greater than or equal to the minimum laying length threshold on the main conveyor line, and there is a full-line replenishment line among the candidate replenishment lines, then based on the number of full-line replenishment lines and the time when each full-line replenishment line triggers full-line, the full-line replenishment line that is of the same type as the material conveyed by the current replenishment line and triggers full-line time earliest is selected as the target replenishment line.

4. The method according to claim 2, characterized in that, If there is no material, the step of determining the target supply line and the location of the target supply line based on the type of material transported by several candidate supply lines and their full-line status includes: The replenishment lines are numbered sequentially along the conveying direction of the main conveyor line; Confirm the switching sequence of the replenishment lines, including the first switching sequence from the current replenishment line to the downstream replenishment line with a higher number, and the second switching sequence from the current replenishment line to the upstream replenishment line with a lower number; Based on the switching sequence, the type of material conveyed by the target replenishment line and the location of the replenishment line are determined.

5. The method according to claim 4, characterized in that, The step of calculating and obtaining the feeding line switching time based on the positional relationship between the current feeding line and the target feeding line includes: If the switching sequence is the first switching sequence, determine whether the type of material conveyed by the target feeding line is the same as that of the current feeding line; If they are the same, then the feeding line switching time is the compensation time corresponding to the additional compensation distance length that the target logic column of the main conveyor line needs to convey when switching from the current feeding line to the target feeding line; If they are not the same, then the feeding line switching time is the total time for the additional compensation distance that the target logical column needs to transport when the current feeding line switches to the target feeding line, plus the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor line.

6. The method according to claim 4, characterized in that, The step of calculating and obtaining the feeding line switching time based on the positional relationship between the current feeding line and the target feeding line includes: If the switching sequence is the second switching sequence, determine whether the type of material conveyed by the target feeding line is the same as that of the current feeding line; If they are the same, then the switching time of the replenishment line is zero; If they are not the same, then determine whether the additional compensation distance length that the target logical column of the main conveyor needs to transport when the current feeding line is switched to the target feeding line is less than the length of the isolation zone formed by the minimum empty column reserved between different types of materials on the main conveyor. If it is not less than, then the switching time of the feeding line is zero; If it is less than, then the switching time of the replenishment line is the difference between the time required to pass through the length of the isolation zone and the time required to pass through the length of the compensation distance.

7. The method according to claim 1, characterized in that, The step of setting the trigger time for the next transfer action based on the material replenishment line switching time and the transfer advance time, so that the corresponding transfer device performs material transfer to the target logic column of the main conveyor line, includes: The trigger time is calculated by combining the standard arrival time of the target logic column of the main conveyor line to the current replenishment line, and by compensating the replenishment line switching time with the advance time of the transfer device to perform the transfer action, so that the corresponding transfer device can perform material transfer to the target logic column of the main conveyor line.

8. A multi-task displacement system, characterized in that, include: Transfer monitoring module (1): used to determine whether a new round of material transfer has started; Target confirmation module (2): If started, it determines the target feeding line and the position of the target feeding line based on the material conditions of the current feeding line and the main conveyor line; Switching confirmation module (3): used to calculate and obtain the switching time of the feeding line based on the positional relationship between the current feeding line and the target feeding line; Trigger confirmation module (4): is used to set the trigger time for triggering the next transfer action based on the material supply line switching time and the transfer advance time, so that the corresponding transfer device can perform the material transfer to the target logic column of the main conveyor line.

9. A multi-tasking load controller, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as any one of the multiplexing loading methods as claimed in claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed as any one of the multiplexing loading methods as claimed in claims 1 to 7.

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