Flow control system

Abstract

The utility model provides a flow control system which comprises a conveying platform, at least one conveying platform, detection equipment, control equipment and a bag supply platform. The at least one conveying platform is arranged at the downstream of the conveying platform; the detection equipment is arranged above each conveying platform and is used for detecting object information of to-be-transported objects positioned on the conveying platforms; the control equipment is electrically connected with the detection equipment and controls the conveying platform and / or the conveying platform located on the upstream to rotate or stop according to the object information of the to-be-transported object, and the bag supply platform is located on the downstream of the conveying platform. The to-be-transported object is transported from the conveying platform to the conveying platform, the detection equipment arranged above the conveying platform detects the object information of the to-be-transported object, and the detection equipment is electrically connected with the control equipment, so that the control equipment controls the conveying platform and / or the conveying platform to rotate or stop according to the detected object information; therefore, the flow of the objects is controlled, and the complexity of object stacking is reduced.

Description

Technical Field

[0001] The present application relates to the field of logistics, and in particular to a flow control system. Background Art

[0002] At present, logistics technology at home and abroad is developing rapidly, but it also faces many challenges. Nowadays, express logistics is actively promoting the use of robotic arms to grab packages on the platform to reduce manual work, reduce labor risks and improve work efficiency.

[0003] Currently, when a robotic arm grabs a package on a platform, it is necessary to plan and set the grabbing path of the robotic arm in advance. However, due to the large number of objects and the overly complex stacking of objects on the platform, the complexity of the robotic arm planning and setting is increased, making the grabbing difficulty of the robotic arm greater. Utility Model Content

[0004] The present application provides a flow control system that reduces the complexity of object stacking.

[0005] The present application provides a flow control system, comprising:

[0006] A conveying platform for placing objects to be transported;

[0007] at least one transfer platform, disposed downstream of the conveying platform;

[0008] A detection device is disposed above each of the conveying platforms and detects object information of the object to be transported located on the conveying platform; and

[0009] A control device, electrically connected to the detection device, and controlling the transfer platform and / or the conveying platform located upstream to rotate or stop according to the object information of the object to be transported;

[0010] A package supply platform, wherein the package supply platform is located downstream of the at least one conveying platform.

[0011] Optionally, the object information of the object to be transported includes height information; the conveying platform includes a first conveying platform, which is arranged downstream of the conveying platform; the detection device includes a first detection device, which is located above the first conveying platform, and the first detection device detects the average height of the object to be transported located on the first conveying platform; the control device is electrically connected to the first detection device, wherein when the average height of the object to be transported located on the first conveying platform is greater than or equal to a first height threshold, the conveying platform located upstream is controlled to stop, and when the average height of the object to be transported located on the first conveying platform is less than the first height threshold, the conveying platform located upstream is controlled to rotate.

[0012] Optionally, the object information of the object to be transported includes surface area information; the conveying platform also includes a second conveying platform located downstream of the first conveying platform, and the surface of the second conveying platform is provided with a first sensing area; the detection device includes a second detection device located above the second conveying platform, and the second detection device also detects the surface area of ​​the object to be transported located in the first sensing area; when the surface area of ​​the object to be transported located in the first sensing area is greater than or equal to a threshold value of the first sensing area, the control device controls the first conveying platform located upstream to stop, and when the surface area of ​​the object to be transported located in the first sensing area is less than the threshold value of the first sensing area, the control device controls the first conveying platform located upstream to rotate.

[0013] Optionally, the conveying platform also includes a second conveying platform located downstream of the first conveying platform; the detection device includes a second detection device located above the second conveying platform, and the second detection device detects the average height of the objects to be transported located on the second conveying platform; the control device is electrically connected to the second detection device, wherein when the average height of the objects to be transported located on the second conveying platform is greater than or equal to a second height threshold, the first conveying platform located upstream is controlled to stop, and when the average height of the objects to be transported located on the second conveying platform is less than the second height threshold, the first conveying platform located upstream is controlled to rotate.

[0014] Optionally, the object information of the object to be transported includes surface area information; the conveying platform also includes a third conveying platform located downstream of the second conveying platform; the detection device includes a third detection device located above the third conveying platform, and a second sensing area is provided on the surface of the third conveying platform; the third detection device detects the surface area of ​​the object to be transported located in the second sensing area, and the control device controls the second conveying platform located upstream to stop when the surface area of ​​the object to be transported located in the second sensing area is greater than or equal to a threshold value of the second sensing area, and controls the second conveying platform located upstream to rotate when the surface area of ​​the object to be transported located in the second sensing area is less than the threshold value of the second sensing area.

[0015] Optionally, the third detection device detects the average height of the objects to be transported located on the third conveying platform; the control device is electrically connected to the third detection device, wherein when the average height of the objects to be transported located on the third conveying platform is greater than or equal to a third height threshold, the second conveying platform located upstream is controlled to stop, and when the average height of the objects to be transported located on the third conveying platform is less than the third height threshold, the second conveying platform located upstream is controlled to rotate.

[0016] Optionally, the first sensing area threshold is at most 60% of the surface area of ​​the first sensing area.

[0017] Optionally, the first sensing area is arranged in a middle area of ​​the second conveying platform.

[0018] Optionally, the second sensing area threshold is at most 50% of the surface area of ​​the second sensing area.

[0019] Optionally, the second sensing area is arranged on a side of the third conveying platform close to the second conveying platform.

[0020] Optionally, the conveying platform and the at least one transmission platform are located in the same plane.

[0021] Optionally, the conveying direction of the conveying platform and the conveying direction of the conveying platform located downstream of the conveying platform are located on the same axis and have the same direction.

[0022] Optionally, the conveying direction of the conveying platform and the conveying direction of the conveying platform located downstream of the conveying platform are located on the same axis and in opposite directions.

[0023] Optionally, the conveying direction of the conveying platform located upstream and the conveying direction of the conveying platform located downstream are located on the same axis and have the same direction.

[0024] Optionally, the conveying direction of the conveying platform located upstream and the conveying direction of the conveying platform located downstream are located on different axes and are arranged to intersect.

[0025] Optionally, there is a height difference between the at least one conveying platform and the transport platform, and there is a height difference between the conveying platform located downstream and the conveying platform located upstream; wherein, the at least one conveying platform is arranged lower than the transport platform, and the conveying platform located downstream is arranged lower than the conveying platform located upstream; a slope is provided between the transport platform and the conveying platform located downstream, and a slope is provided between the conveying platform located upstream and the conveying platform located downstream.

[0026] Optionally, the slope comprises a planar slope.

[0027] Optionally, the slope includes a curved slope, and the curved slope is convex or concave.

[0028] Optionally, the slope includes a first slope surface and a second slope surface arranged in sequence from top to bottom, and the slope of the first slope surface is smaller than the slope of the second slope surface.

[0029] Optionally, the conveying platform includes a conveying channel and a pushing member disposed in the conveying channel and rotating relative to the conveying channel, and the object to be transported located in the conveying channel is conveyed to the conveying platform downstream by the pushing member.

[0030] Optionally, the conveying platform includes a conveying channel and support frames arranged on both sides of the conveying channel, and the detection device is assembled on the support frames and is located above the conveying channel; and / or

[0031] Optionally, the conveying platform includes a conveyor belt.

[0032] Optionally, the conveying platform includes a conveyor belt.

[0033] Optionally, the detection device includes a depth camera.

[0034] The flow control system provided in the present application transports the objects to be transported from the conveying platform to the conveying platform through a conveying platform located downstream of the conveying platform. The detection equipment arranged above the conveying platform detects the object information of the objects to be transported. The detection equipment is electrically connected to the control equipment, so that the control equipment controls the conveying platform and / or the conveying platform to rotate or stop according to the detected object information, thereby controlling the flow of objects and reducing the complexity of object stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0036] Figure 1 It is a schematic diagram of an embodiment of a flow control system of the present application.

[0037] Figure 2 It is a schematic diagram of another embodiment of the flow control system of the present application.

[0038] Figure 3 It is a schematic diagram of yet another embodiment of the flow control system of the present application.

[0039] Figure 4 It is a schematic diagram of another embodiment of the flow control system of the present application.

[0040] Figure 5 It is a schematic diagram of another embodiment of the flow control system of the present application.

[0041] Figure 6 It is a schematic diagram of yet another embodiment of the flow control system of the present application.

[0042] Figure 7 It is a schematic diagram of another embodiment of the flow control system of the present application.

[0043] Description of reference numerals:

[0044] Object to be transported 100, conveying platform 1, conveying channel 11, pushing member 12, fixed end 121, free end 122, conveying platform 2, first conveying platform 21, second conveying platform 22, third conveying platform 23, conveying channel 24, supporting frame 25, detection device 3, first detection device 31, second detection device 32, third detection device 33, package supply platform 4, ramp 5, first slope surface 51, second slope surface 52, first direction X, second direction Y, control device 6, first sensing area A, second sensing area B. DETAILED DESCRIPTION

[0045] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0046] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The words "one" or "one" and the like used in this application specification and claims do not indicate a quantitative limitation, but indicate the existence of at least one. "Multiple" includes two, which is equivalent to at least two. "Including" or "including" and the like mean that the elements or objects appearing in front of "including" or "including" include the elements or objects listed after "including" or "including" and their equivalents, and do not exclude other elements or objects. "Connected" or "connected" and the like are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect. The singular forms of "one", "said" and "the" used in this application specification and the attached claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0047] The present application includes a flow control system, including a conveying platform, at least one conveying platform, a detection device, a control device and a package supply platform, wherein the conveying platform is used to place objects to be transported; at least one conveying platform is arranged downstream of the conveying platform; the detection device is arranged above each conveying platform, and detects the object information of the objects to be transported located on the conveying platform; the control device is electrically connected to the detection device, and controls the conveying platform and / or the conveying platform located upstream to rotate or stop according to the object information of the objects to be transported, and the package supply platform is located downstream of at least one conveying platform. The conveying platform is arranged downstream of the conveying platform, and the objects to be transported are transported from the conveying platform to the conveying platform, and the detection device arranged above the conveying platform detects the object information of the objects to be transported, and the detection device is electrically connected to the control device, so that the control device controls the conveying platform and / or the conveying platform to rotate or stop according to the detected object information, thereby controlling the flow of objects and reducing the complexity of object stacking.

[0048] The present application provides a flow control system. The flow control system of the present application is described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0049] Figure 1 FIG. 1 is a schematic diagram of an embodiment of a flow control system of the present application. Figure 1As shown, the flow control system includes a conveying platform 1, at least one conveying platform 2, a detection device 3, and a control device 6. The conveying platform 1 is used to place the object 100 to be transported. The conveying platform 1 can place multiple objects 100 to be transported. The size and type of the objects 100 to be transported can be different. At least one conveying platform 2 is arranged downstream of the conveying platform 1. The conveying platform 2 is arranged downstream of the conveying platform 1 for conveying the object 100 to be transported. In some embodiments, one or more conveying platforms 2 can be set, all of which are located downstream of the conveying platform 1. The detection device 3 is arranged above each conveying platform 2, and detects the object information of the object 100 to be transported located on the conveying platform 2. The object information here may include height information or position information of each point of the object 100 to be transported, but is not limited to this. The control device 6 is electrically connected to the detection device 3, and controls the conveying platform 2 and / or the conveying platform 1 located upstream to rotate or stop according to the object information of the object 100 to be transported. In this embodiment, the flow control system also includes a package supply platform 4. The package supply platform 4 is located downstream of at least one conveying platform 2. The conveying platform 1, at least one conveying platform 2 and the package supply platform 4 are all movable. A plurality of objects 100 to be transported are transported to the conveying platform 2 located upstream through the conveying platform 1, and then transported to the package supply platform 4. The package supply platform 4 receives the objects 100 to be transported from the conveying platform 2 located downstream, and supplies the objects 100 to be transported to the next stage. A detection device 3 is set above each conveying platform 2, and the object information of the objects 100 to be transported located on each conveying platform 2 is detected in real time by the detection device. According to the real-time detected object information, the object information is fed back to the control device 6 electrically connected to the detection device 3. The control device 6 compares and judges the detected object information according to the preset object information threshold value, and determines whether to control the conveying platform 2 and / or the conveying platform 1 located upstream to rotate or stop. In this embodiment, the conveying platform 1, at least one conveying platform 2 and the package supply platform 4 can all rotate at a uniform speed. Specifically, they can be rotated by a conveyor belt or other conveying components. The conveying components on the conveying platform 1, at least one conveying platform 2 and the package supply platform 4 transmit different flow rates to the objects 100 to be transported. For example, the conveying component is a belt, which can be uniform, variable speed or stopped, but is not limited to this. The control device 6 controls the conveying platform 2 and / or the conveying platform 1 located upstream to rotate or stop by controlling different times according to the result of the judgment. In this way, the conveying platform 2 is arranged downstream of the conveying platform 1, and the object 100 to be transported is transported from the conveying platform 1 to the conveying platform 2. The detection device 3 arranged above the conveying platform 2 detects the object information of the object 100 to be transported. The detection device 3 is electrically connected to the control device 6, so that the control device 6 controls the conveying platform 2 and / or the conveying platform 1 to rotate or stop according to the object information detected in real time, thereby accurately controlling the conveying flow of the object 100 to be transported, avoiding the stacking of objects, and reducing the complexity of stacking.

[0050] exist Figure 1 In the illustrated embodiment, the conveying platform 2 includes a first conveying platform 21 disposed downstream of the conveying platform 1. The package supply platform 4 is located downstream of the first conveying platform 21. The first conveying platform 21 receives and conveys the objects to be transported 100 conveyed from the conveying platform 1. The package supply platform 4 receives the objects to be transported 100 from the first conveying platform 21 and supplies the objects to be transported 100 to the next stage.

[0051] exist Figure 1In the illustrated embodiment, the detection device 3 includes a first detection device 31 located above the first conveying platform 21. The first detection device 31 may be a depth camera for detecting object information of the object 100 to be transported on the first conveying platform 21. In the present embodiment, the first detection device 31 detects the average height of the object 100 to be transported located on the first conveying platform 21. The average height is the average value of the multiple heights of the whole formed after the multiple objects 100 to be transported located on the first conveying platform 21 are stacked, which can represent the stacking degree of the multiple objects 100 to be transported located on the first conveying platform 21 in the longitudinal height. In some embodiments, the surface area of ​​the multiple objects 100 to be transported located on the first conveying platform 21 may also be detected. In some other embodiments, the highest height of the multiple objects 100 to be transported located on the first conveying platform 21 in the longitudinal height may also be detected, but it is not limited thereto. The control device 6 is electrically connected to the first detection device 31. When the average height of the objects 100 to be transported located on the first conveying platform 21 is greater than or equal to the first height threshold, the control device 6 controls the conveying platform 1 located upstream to stop. When the average height of the objects to be transported 100 located on the first conveying platform 21 is less than the first height threshold, the control device 6 controls the conveying platform 1 located upstream to rotate. In some other embodiments, it can also be set that when the average height of the objects to be transported 100 located on the first conveying platform 21 is greater than or equal to the first height threshold, the control device 6 controls the conveying platform 1 located upstream to slow down. When the average height of the objects to be transported 100 located on the first conveying platform 21 is less than the first height threshold, the control device 6 controls the conveying platform 1 located upstream to speed up. In this embodiment, the first height threshold is pre-set in the control device 6. When it is detected that the average height of the objects to be transported 100 on the first conveying platform 21 is greater than or equal to the first height threshold, it means that the average height of the multiple objects to be transported 100 located on the first conveying platform 21 is too large. If other objects to be transported 100 on the conveying platform 1 enter the first conveying platform 21, it is easy to collapse, and the stacking of the objects to be transported 100 is too complicated, which is not conducive to transmission. Therefore, the conveying platform 1 located upstream is controlled by the control device 6 to stop conveying. Similarly, when it is detected that the average height of the objects 100 to be transported on the first conveying platform 21 is less than the first height threshold, it means that the average height of the multiple objects 100 to be transported on the first conveying platform 21 is not large, and other objects 100 to be transported on the conveying platform 1 can enter the first conveying platform 21, which is not easy to collapse, and can ensure a continuous supply of objects 100 to be transported. Therefore, the conveying platform 1 located upstream is controlled to rotate through the control device 6 to maintain the conveying.

[0052] exist Figure 1In the illustrated embodiment, the conveying platform 1 includes a conveying channel 11 and a pusher 12 disposed on the conveying channel 11 and rotating relative to the conveying channel 11, and the object to be transported 100 located on the conveying channel 11 is transported to the downstream conveying platform 2 by the pusher 12. In this embodiment, the conveying direction of the conveying platform 1 can be a first direction X. The conveying direction of the first conveying platform 21 can be an opposite direction located on the same axis as the first direction X. The package supply direction of the package supply platform 4 can be a second direction Y. The pusher 12 includes a fixed end 121 and a free end 122 extending from the fixed end 121, and the free end 122 can rotate relative to the fixed end 121. The free end 122 of the pusher 12 can rotate in a clockwise direction. In this arrangement, the object to be transported 100 on the conveying platform 1 can be pushed to the downstream first conveying platform 21 by the pusher 12 while being conveyed in the first direction X on the conveying platform 1. The objects 100 to be transported located on the first conveying platform 21 are conveyed to the packaging platform 4 in the opposite direction of the first direction, and the packaging platform 4 supplies the objects 100 to be transported to the next stage in the second direction Y. In this way, the conveyance of multiple objects 100 to be transported is achieved, and the flow control can be achieved by using the first detection device 31 and the control device 6.

[0053] In this embodiment, the detection device 3 includes a depth camera. The depth camera can capture the height information of the transported object 100 and the position information of each point, and has the advantages of high accuracy, high resolution, and low power consumption. Figure 1 In the illustrated embodiment, the first detection device 31 includes a depth camera. The depth camera takes a photo of the object 100 to be transported and transmits the photographed object information to the control device 6. The control device 6 processes the object information and controls the rotation time of the conveying platform 1, so as to accurately control the flow of the object 100 to be transported and reduce the complexity of stacking the object 100 to be transported. In the present embodiment, the conveying platform 1 includes a conveyor belt, for example, a conveyor belt. The conveying platform 2 includes a conveyor belt, for example, a conveyor belt. The conveyor belt and the conveyor belt are used to transport the object 100 to be transported, and the process is convenient, easy to assemble, and low in cost. The conveyor belt and the conveyor belt can be belts, but are not limited thereto. In the present embodiment, the control device 6 can control the rotation time of the conveyor belt of the first conveying platform 21 or control the number of rotations of the pusher 12 on the first conveying platform 21. In the present embodiment, the conveying platform 2 includes a conveying channel 24 and a support frame 25 arranged on both sides of the conveying channel 24, and the detection device 3 is assembled on the support frame 25 and is located above the conveying channel 24. In this embodiment, the first conveying platform 21 is provided with a conveying channel 24 and support frames 25 provided on both sides of the conveying channel 24. The support frames 25 are used to support the detection device 3 and are located above the conveying channel 24, so that the detection device 3 can easily detect the object 100 to be transported on the conveying platform 2, and the detection device 3 is firmly fixed above the conveying channel 24 without blocking the detection area.

[0054] Figure 2 It is a schematic diagram of another embodiment of the flow control system of the present application. Figure 2 The embodiment shown is Figure 1 The embodiment shown is similar, the main difference is that in Figure 2In the illustrated embodiment, the conveying platform 2 further includes a second conveying platform 22 disposed downstream of the first conveying platform 21. The second conveying platform 22 is used to receive and convey the object 100 to be transported from the first conveying platform 21. The package supply platform 4 is located downstream of the second conveying platform 22. The package supply platform 4 receives the object 100 to be transported from the downstream second conveying platform 22. The detection device 3 includes a second detection device 32 disposed above the second conveying platform 22. The second detection device 32 is used to detect object information of the object 100 to be transported located on the second conveying platform 22. In this embodiment, the object information of the object 100 to be transported includes height information. The second detection device 32 detects the average height of the object 100 to be transported located on the second conveying platform 22. The average height is the average of multiple heights of the whole formed by stacking multiple objects 100 to be transported located on the second conveying platform 22, which can represent the stacking degree of multiple objects 100 to be transported located on the second conveying platform 22 in the longitudinal height. In some other embodiments, the highest height of the plurality of objects to be transported 100 located on the first conveying platform 21 in the longitudinal height may also be detected, but it is not limited thereto. The control device 6 is electrically connected to the second detection device 32, wherein when the average height of the objects to be transported 100 located on the second conveying platform 22 is greater than or equal to the second height threshold, the control device 6 controls the first conveying platform 21 located upstream to stop, and when the average height of the objects to be transported 100 located on the second conveying platform 22 is less than the second height threshold, the control device 6 controls the first conveying platform 21 located upstream to rotate. In some other embodiments, when the average height of the objects to be transported 100 located on the second conveying platform 22 is greater than or equal to the second height threshold, the control device 6 controls the first conveying platform 21 located upstream to slow down, and when the average height of the objects to be transported 100 located on the second conveying platform 22 is less than the second height threshold, the control device 6 controls the first conveying platform 21 located upstream to speed up. In this embodiment, the second height threshold is pre-set in the control device 6. When it is detected that the average height of the objects 100 to be transported on the second conveying platform 22 is greater than or equal to the second height threshold, it means that the average height of the multiple objects 100 to be transported on the second conveying platform 22 is too large. If other objects 100 to be transported on the first conveying platform 21 enter the second conveying platform 22, it is easy to collapse, and the stacking of the objects 100 to be transported is too complicated, which is not conducive to transportation. Therefore, the control device 6 controls the first conveying platform 21 located upstream to stop conveying. Similarly, when it is detected that the average height of the objects 100 to be transported on the second conveying platform 22 is less than the second height threshold, it means that the average height of the multiple objects 100 to be transported on the second conveying platform 22 is not large, and other objects 100 to be transported on the first conveying platform 21 can enter the second conveying platform 22, which is not easy to collapse, and a continuous supply of objects 100 to be transported can be guaranteed.Therefore, the first conveying platform 21 located upstream is controlled to rotate by the control device 6 to maintain the conveying.

[0055] It should be noted that the way in which the second detection device 32 detects the average height of the objects to be transported 100 located on the second conveying platform 22 is similar to the way in which the first detection device 31 detects the average height of the objects to be transported 100 located on the first conveying platform 21. Please refer to the above description for details and will not be repeated here.

[0056] exist Figure 2In the illustrated embodiment, the surface of the second conveying platform 22 is further provided with a first sensing area A. The first sensing area A is used to sense the object to be transported 100 passing through the second conveying platform 22. The second detection device 32 also detects the surface area of ​​the object to be transported 100 located in the first sensing area A. The object to be transported 100 has four vertices. When the second detection device 32 detects the surface area of ​​the object to be transported 100 in the first sensing area A, it can locate the four vertices and transmit the information of the four vertices to the control device 6, so that the control device 6 can calculate the surface area of ​​the object to be transported 100. In some other embodiments, when the second detection device 32 detects the surface area of ​​the object to be transported 100 in the first sensing area A, it can identify the contour of the object to be transported 100 and calculate the surface area of ​​the object to be transported 100 by calculus calculation, and the calculation method is not limited thereto. The surface area represents the coverage area of ​​multiple objects to be transported 100 stacked on the second conveying platform 22. When the surface area of ​​the object to be transported 100 located in the first sensing area A is greater than or equal to the first sensing area threshold, the control device 6 controls the first conveying platform 21 located upstream to stop, and when the surface area of ​​the object to be transported 100 located in the first sensing area A is less than the first sensing area threshold, the control device 6 controls the first conveying platform 21 located upstream to rotate. In some other embodiments, when the surface area of ​​the object to be transported 100 located in the first sensing area A is greater than or equal to the first sensing area threshold, the control device 6 controls the first conveying platform 21 located upstream to slow down, and when the surface area of ​​the object to be transported 100 located in the first sensing area A is less than the first sensing area threshold, the control device 6 controls the first conveying platform 21 located upstream to speed up. In this embodiment, the first sensing area A is pre-set in the control device 6. When it is detected that the surface area of ​​the object 100 to be transported on the second conveying platform 22 is greater than or equal to the threshold value of the first sensing area, it means that the stacked coverage area of ​​the multiple objects 100 to be transported on the second conveying platform 22 is too large. If other objects 100 to be transported on the first conveying platform 21 enter the second conveying platform 22, the second conveying platform 22 cannot accommodate them. Therefore, the control device 6 is used to control the first conveying platform 21 located upstream to stop conveying. Similarly, when it is detected that the surface area of ​​the object 100 to be transported on the second conveying platform 22 is less than the threshold value of the first sensing area, it means that the stacked coverage area of ​​the multiple objects 100 to be transported on the second conveying platform 22 is not large. Other objects 100 to be transported on the first conveying platform 21 can enter the second conveying platform 22, and the second conveying platform 22 can still accommodate them. Therefore, the control device 6 is used to control the first conveying platform 21 located upstream to rotate and keep conveying.

[0057] In this embodiment, the threshold of the first sensing area set in the control device 6 is at most 60% of the surface area of ​​the first sensing area A. Setting 60% can prevent the object 100 to be transported from being too flat on the first conveying platform 21. If it exceeds 60%, the second conveying platform 22 may not be able to accommodate it. In some other embodiments, the threshold of the first sensing area can also be a set fixed value, but is not limited to this. In this embodiment, the first sensing area A is set in the middle area of ​​the second conveying platform 22. Such a setting facilitates the detection of the object 100 to be transported on the second conveying platform 22, and setting it in the middle area further reduces the error and prevents the detection of the object 100 to be transported that has not reached the second conveying platform 22.

[0058] In this embodiment, the second detection device 32 can detect not only the average height of the objects 100 to be transported, but also the position of the objects 100 to be transported, and can obtain the coverage area of ​​multiple objects 100 to be transported located on the second conveying platform 22. In this way, the conveying flow rate of the objects 100 to be transported can be accurately controlled.

[0059] exist Figure 2 In the illustrated embodiment, the conveying direction of the conveying platform 2 located upstream is located on the same axis and in the same direction as the conveying direction of the conveying platform 2 located downstream. And the conveying direction of the conveying platform 2 located upstream is located on different axes and intersecting with the conveying direction of the conveying platform 2 located downstream. In this embodiment, the conveying direction of the conveying platform 2 located upstream is located on different axes and perpendicular to the conveying direction of the conveying platform 2 located downstream. The same direction and the intersecting direction can ensure the conveying efficiency while saving the conveying space. The conveying direction of the second conveying platform 22 can be the second direction Y. The second direction Y is perpendicular to the first direction X. The object 100 to be transported is transported by the transport platform in the first direction X, and is knocked down to the first conveying platform 21 by the pusher 12 in a clockwise rotation. The object 100 to be transported is transported to the second conveying platform 22 in the opposite direction of the first direction X, and is transported to the package supply platform 4 by the second conveying platform 22 in the second direction Y. The package supply platform 4 supplies the object 100 to be transported to the next stage in the second direction Y.

[0060] Figure 3 It is a schematic diagram of yet another embodiment of the flow control system of the present application. Figure 3 The embodiment shown is Figure 2 The embodiment shown is similar, the main difference is that in Figure 3In the illustrated embodiment, the conveying platform 2 includes a third conveying platform 23 disposed downstream of the second conveying platform 22. The package supply platform 4 is located downstream of the third conveying platform 23. The package supply platform 4 receives the object 100 to be transported from the downstream third conveying platform 23. The detection device 3 includes a third detection device 33 disposed above the third conveying platform 23. The third detection device 33 is used to detect the object information of the object 100 to be transported on the third conveying platform 23. In this embodiment, the object information of the object 100 to be transported includes height information. The third detection device 33 detects the average height of the object 100 to be transported located on the third conveying platform 23. The average height is the average of the multiple heights of the whole formed by stacking the multiple objects 100 to be transported located on the third conveying platform 23, which can represent the stacking degree of the multiple objects 100 to be transported located on the third conveying platform 23 in the longitudinal height. The control device 6 is electrically connected to the third detection device 33, wherein when the average height of the objects 100 to be transported located on the third conveying platform 23 is greater than or equal to the third height threshold, the control device 6 controls the second conveying platform 22 located upstream to stop, and when the average height of the objects 100 to be transported located on the third conveying platform 23 is less than the third height threshold, the control device 6 controls the second conveying platform 22 located upstream to rotate. In this embodiment, the third height threshold is pre-set in the control device 6. When it is detected that the average height of the objects 100 to be transported on the third conveying platform 23 is greater than or equal to the third height threshold, it means that the average height of the multiple objects 100 to be transported located on the third conveying platform 23 is too large. If other objects 100 to be transported located on the second conveying platform 22 enter the third conveying platform 23, it is easy to collapse, and the stacking of the objects 100 to be transported is too complicated and not conducive to transportation. Therefore, the control device 6 controls the second conveying platform 22 located upstream to stop conveying. Similarly, when it is detected that the average height of the objects 100 to be transported on the third conveying platform 23 is less than the third height threshold, it means that the average height of the multiple objects 100 to be transported on the third conveying platform 23 is not large, and other objects 100 to be transported on the second conveying platform 22 can enter the third conveying platform 23, which is not easy to collapse, and can ensure a continuous supply of objects 100 to be transported. Therefore, the second conveying platform 22 located upstream is controlled by the control device 6 to rotate and maintain the conveying.

[0061] It should be noted that the way in which the third detection device 33 detects the average height of the objects 100 to be transported located on the third conveying platform 23 is similar to the way in which the second detection device 32 detects the average height of the objects 100 to be transported located on the second conveying platform 22. For details, please refer to the above description, which will not be repeated here. The first height threshold, the second height threshold and the third height threshold are absolute values, which can be set to the same value or different values, without limitation thereto. In some other embodiments, more than three conveying platforms 2 can be set, without limitation thereto.

[0062] exist Figure 3 In the illustrated embodiment, the surface of the third conveying platform 23 is further provided with a second sensing area B. The second sensing area B is used to sense the object 100 to be transported passing through the third conveying platform 23. The third detection device 33 detects the surface area of ​​the object 100 to be transported located in the second sensing area B. When the surface area of ​​the object 100 to be transported located in the second sensing area B is greater than or equal to the second sensing area threshold, the control device 6 controls the second conveying platform 22 located upstream to stop, and when the surface area of ​​the object 100 to be transported located in the second sensing area B is less than the second sensing area threshold, the control device 6 controls the second conveying platform 22 located upstream to rotate. In this embodiment, the second sensing area B is pre-set in the control device 6. When it is detected that the surface area of ​​the object 100 to be transported on the third conveying platform 23 is greater than or equal to the second sensing area B, it means that the stacked coverage area of ​​the multiple objects 100 to be transported located on the third conveying platform 23 is too large, and if other objects 100 to be transported located on the second conveying platform 22 enter the third conveying platform 23, the third conveying platform 23 cannot accommodate them. Therefore, the second conveying platform 22 located upstream is controlled to stop conveying by the control device 6. Similarly, when it is detected that the surface area of ​​the object 100 to be transported on the third conveying platform 23 is smaller than the second sensing area B, it means that the stacked coverage area of ​​the multiple objects 100 to be transported on the third conveying platform 23 is not large, and other objects 100 to be transported on the second conveying platform 22 can enter the third conveying platform 23, and the third conveying platform 23 can still accommodate them. Therefore, the second conveying platform 22 located upstream is controlled to rotate by the control device 6 to keep conveying.

[0063] In this embodiment, the second sensing area threshold is at most 50% of the surface area of ​​the second sensing area B. Setting 50% can prevent the objects 100 to be transported from being spread too much on the second conveying platform 22. The second sensing area threshold is set smaller than the first sensing area threshold mainly to more accurately control the flow of the objects 100 to be transported. In some other embodiments, the second sensing area threshold can also be a fixed value set smaller than the first sensing area threshold, but is not limited thereto. Figure 3In the embodiment shown, the second sensing area B is arranged on the side of the third conveying platform 23 close to the second conveying platform 22. In this embodiment, the conveying platform 2 upstream of the package supply platform 4 is the third conveying platform 23. Such arrangement facilitates further refined detection of the flatness of the objects 100 to be transported transmitted from the second conveying platform 22, while ensuring the supply amount of the objects 100 to be transported from the third conveying platform 23 to the package supply platform 4, and preventing the situation where the supply amount of the package supply platform 4 is too small due to the detection of the objects 100 to be transported on the package supply platform 4.

[0064] exist Figures 1 to 3 In the illustrated embodiment, the process controlled by the control device 6 is dynamically adjustable. The control device 6 can make a judgment when the object 100 to be transported on the second conveying platform 22 reaches the first height threshold and / or the second height threshold and / or the first sensing area threshold and / or the second sensing area threshold, and control the conveying time of the conveying platform 1 and / or the first conveying platform 21 and / or the second conveying platform 22 in real time, and the processes of controlling the conveying platform 1 and / or the first conveying platform 21 and / or the second conveying platform 22 are independent of each other and are not affected, so that the conveying flow rate of the object 100 to be transported can be controlled more accurately. The second conveying platform 22 can also be set with multiple gears of total area sensing area threshold from small to large, corresponding to which the control device 6 is configured with gears of different conveying times from large to small, so that the more objects 100 to be transported are on the second conveying platform 22, the shorter the conveying time configured by the control device 6; the third conveying platform 23 can also be set with multiple gears of total area sensing area threshold from small to large, corresponding to which the control device 6 is configured with gears of different conveying times from large to small, so that the more objects 100 to be transported are on the third conveying platform 23, the shorter the conveying time configured by the control device 6. The second conveying platform 22 and the second conveying platform 22 are set with multiple gears as above to more accurately control the stacking complexity of the objects 100 to be transported.

[0065] exist Figures 1 to 3 In the illustrated embodiment, at least one conveying platform 2 has a height difference with the conveying platform 1, and there is a height difference between the conveying platform 2 located downstream and the conveying platform 2 located upstream. Among them, at least one conveying platform 2 is arranged lower than the conveying platform 1, and the conveying platform 2 located downstream is arranged lower than the conveying platform 2 located upstream. Such an arrangement enables the object 100 to be transported from the upstream conveying platform 1 to the three downstream conveying platforms 2, and the process is simple and easy to transport. In this embodiment, the conveying platform 1 is higher than the first conveying platform 21, the second conveying platform 22 and the third conveying platform 23.

[0066] exist Figures 1 to 3In the embodiment shown, a slope 5 is provided between the conveying platform 1 and the conveying platform 2 located downstream, and a slope 5 is provided between the conveying platform 2 located upstream and the conveying platform 2 located downstream. By providing the slope 5, the object 100 to be transported can fall naturally by gravity, without using other modes of transportation, thus saving costs. And the conveying platform 1 and the conveying platform 2 with a height difference, or between two conveying platforms 2, can all enable the object 100 to be transported to be transported with a buffer, thereby preventing the object from falling. In the present embodiment, the slope 5 comprises a plane slope, and the slope 5 comprises a first slope 51 and a second slope 52 arranged sequentially from top to bottom, and the slope of the first slope 51 is less than the slope of the second slope 52. In this arrangement, the object 100 to be transported has a relatively gentle speed when passing through the first slope 51, and has a relatively fast speed when passing through the second slope 52. In some other embodiments, the slope 5 may also include a curved slope. The curved slope may also be convex or concave. When the curved slope is concave, the moving speed of the object 100 to be transported changes from fast to slow, and when the curved slope is convex, the moving speed of the object 100 to be transported changes from slow to fast. The setting of the convex or concave surface allows the object 100 to be transported to move smoothly to the next conveying platform 2 when passing by. The first slope 51 can be a plane slope or a convex surface of a curved slope or a concave surface of a curved slope, and the second slope 52 can be a plane slope or a convex surface of a curved slope or a concave surface of a curved slope. In the same embodiment, the first slope, the second slope, the plane slope, the convex surface or the concave surface of the curved slope can also be set in one or more combinations, without limitation thereto.

[0067] Figure 4 It is a schematic diagram of another embodiment of the flow control system of the present application. Figure 4 The embodiment shown is Figure 3 The embodiment shown is similar, the main difference is that in Figure 4 In the embodiment shown, the conveying platform 1 and the at least one conveying platform 2 are located in the same plane. With such a configuration, the conveying platform 1 can be directly transferred to the at least one conveying platform 2 without a height difference. No transition plane or slope may be provided between the conveying platform 1 and the at least one conveying platform 2. The object 100 to be transported is more efficient during transfer, and the space occupied by the device is saved.

[0068] Figure 5 It is a schematic diagram of another embodiment of the flow control system of the present application. Figure 5 The embodiment shown is Figure 3The embodiment shown is similar, the main difference is that the conveying direction of the conveying platform 1 and the conveying direction of the conveying platform 2 located downstream of the conveying platform 1 are located on the same axis and in the same direction. This arrangement allows the object 100 to be transported to enter from the other side of the conveying platform 1 and be transported to the downstream first conveying platform 21. In this embodiment, the conveying direction of the conveying platform 1 is the opposite direction of the first direction X, and the object 100 to be transported enters the conveying platform 1 in the opposite direction of the first direction X, and the pusher 12 rotates counterclockwise to push the object 100 to be transported to the first conveying platform 21. Figure 5 In the illustrated embodiment, at least one conveying platform 2 has a height difference with the conveying platform 1, and a conveying platform 2 located downstream has a height difference with a conveying platform 2 located upstream. In some other embodiments, the conveying platform 1 and at least one conveying platform 2 may be arranged to be located in the same plane. The conveying platform 1 and the conveying platform 2 may be arranged to convey directly. No transition plane or slope may be arranged between the conveying platform 1 and the conveying platform 2. The object 100 to be transported is more efficient during the conveying, and the space occupied by the device is saved.

[0069] Figure 6 It is a schematic diagram of yet another embodiment of the flow control system of the present application. Figure 6 The embodiment shown is Figure 3 The embodiment shown is similar, the main difference is that in Figure 6 In the embodiment shown, the conveying direction of the conveying platform 1 and the conveying direction of the conveying platform 2 located downstream of the conveying platform 1 are located on different axes and intersect each other. They can be arranged vertically. In this case, the pusher 12 can be omitted. The conveying direction of the conveying platform 1 is the second direction Y. In this embodiment, the object 100 to be transported enters the second direction Y on the conveying platform 1 and is transported to the first conveying platform 21. Figure 6 In the illustrated embodiment, at least one conveying platform 2 has a height difference with the conveying platform 1, and a conveying platform 2 located downstream has a height difference with a conveying platform 2 located upstream. In some other embodiments, the conveying platform 1 and at least one conveying platform 2 may be arranged to be located in the same plane. The conveying platform 1 and the conveying platform 2 may be arranged to convey directly. No transition plane or slope may be arranged between the conveying platform 1 and the conveying platform 2. The object 100 to be transported is more efficient during the conveying, and the space occupied by the device is saved.

[0070] Figure 7 It is a schematic diagram of another embodiment of the flow control system of the present application. Figure 7 The embodiment shown is Figure 3 The embodiment shown is similar, the main difference is that in Figure 7In the embodiment shown, the conveying direction of the conveying platform 2 located upstream and the conveying direction of the conveying platform 2 located downstream are located on the same axis and in the same direction. In this embodiment, the conveying directions of the first conveying platform 21, the second conveying platform 22 and the third conveying platform 23 are all in the second direction Y. Setting the same conveying direction makes the conveying speed of the conveying platform 2 located upstream and the conveying platform 2 located downstream faster and more efficient. Figure 7 In the illustrated embodiment, at least one conveying platform 2 has a height difference with the conveying platform 1, and a conveying platform 2 located downstream has a height difference with a conveying platform 2 located upstream. In some other embodiments, the conveying platform 1 and at least one conveying platform 2 may be arranged to be located in the same plane. The conveying platform 1 and the conveying platform 2 may be arranged to convey directly. No transition plane or slope may be arranged between the conveying platform 1 and the conveying platform 2. The object 100 to be transported is more efficient during the conveying, and the space occupied by the device is saved.

[0071] In this embodiment, the control device 6 may be a controller. The controller includes any suitable programmable circuit or device, such as a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic controller (PLC), and an application specific integrated circuit (ASIC). The controller may realize control in the form of a combination of software and hardware, which will not be described in detail here.

[0072] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A flow control system, characterized in that: include: A conveying platform for placing objects to be transported; at least two transfer platforms, disposed downstream of the conveying platform; A detection device is disposed above each of the conveying platforms and detects object information of the object to be transported located on the conveying platform; and A control device, electrically connected to the detection device, and controlling the conveying component of the conveying platform located upstream and / or the conveying component of the conveying platform to rotate or stop according to the object information of the object to be transported; The package supply platform is located downstream of the conveying platform.

2. The flow control system according to claim 1, characterized in that: The object information of the object to be transported includes height information; the conveying platform includes a first conveying platform, which is arranged downstream of the conveying platform; the detection device includes a first detection device, which is located above the first conveying platform, and the first detection device detects the average height of the object to be transported located on the first conveying platform; the control device is electrically connected to the first detection device, wherein when the average height of the object to be transported located on the first conveying platform is greater than or equal to a first height threshold, the conveying platform located upstream is controlled to stop, and when the average height of the object to be transported located on the first conveying platform is less than the first height threshold, the conveying platform located upstream is controlled to rotate.

3. The flow control system according to claim 2, characterized in that: The object information of the object to be transported includes surface area information; the conveying platform also includes a second conveying platform arranged downstream of the first conveying platform, and the surface of the second conveying platform is provided with a first sensing area; the detection device includes a second detection device arranged above the second conveying platform, and the second detection device also detects the surface area of ​​the object to be transported located in the first sensing area; when the surface area of ​​the object to be transported located in the first sensing area is greater than or equal to the first sensing area threshold, the control device controls the first conveying platform located upstream to stop, and when the surface area of ​​the object to be transported located in the first sensing area is less than the first sensing area threshold, the control device controls the first conveying platform located upstream to rotate.

4. The flow control system according to claim 2, characterized in that: The conveying platform also includes a second conveying platform located downstream of the first conveying platform; the detection device includes a second detection device located above the second conveying platform, and the second detection device detects the average height of the objects to be transported located on the second conveying platform; the control device is electrically connected to the second detection device, wherein when the average height of the objects to be transported located on the second conveying platform is greater than or equal to a second height threshold, the first conveying platform located upstream is controlled to stop, and when the average height of the objects to be transported located on the second conveying platform is less than the second height threshold, the first conveying platform located upstream is controlled to rotate.

5. The flow control system according to claim 3 or 4, characterized in that: The object information of the object to be transported includes surface area information; the conveying platform also includes a third conveying platform arranged downstream of the second conveying platform; the detection device includes a third detection device arranged above the third conveying platform, and a second sensing area is arranged on the surface of the third conveying platform; the third detection device detects the surface area of ​​the object to be transported located in the second sensing area, and the control device controls the second conveying platform located upstream to stop when the surface area of ​​the object to be transported located in the second sensing area is greater than or equal to the second sensing area threshold, and controls the second conveying platform located upstream to rotate when the surface area of ​​the object to be transported located in the second sensing area is less than the second sensing area threshold.

6. The flow control system according to claim 5, characterized in that: The third detection device detects the average height of the objects to be transported located on the third conveying platform; the control device is electrically connected to the third detection device, wherein when the average height of the objects to be transported located on the third conveying platform is greater than or equal to a third height threshold, the second conveying platform located upstream is controlled to stop, and when the average height of the objects to be transported located on the third conveying platform is less than the third height threshold, the second conveying platform located upstream is controlled to rotate.

7. The flow control system according to claim 6, characterized in that: The first sensing region threshold is at most 60% of the surface area of ​​the first sensing region; and / or The first sensing area is located in the middle area of ​​the second conveying platform; and / or The second sensing region threshold is at most 50% of the surface area of ​​the second sensing region; and / or The second sensing area is disposed on a side of the third conveying platform close to the second conveying platform.

8. The flow control system according to claim 1, characterized in that: The conveying platform and the at least one transfer platform are located in the same plane; The conveying direction of the conveying platform is located on the same axis and in the same direction as the conveying direction of the conveying platform located downstream of the conveying platform; or The conveying direction of the conveying platform and the conveying direction of the conveying platform located downstream of the conveying platform are located on the same axis and in opposite directions; or The conveying direction of the conveying platform and the conveying direction of the conveying platform located downstream of the conveying platform are located on different axes and intersect with each other.

9. The flow control system according to claim 8, characterized in that: The conveying direction of the conveying platform located upstream and the conveying direction of the conveying platform located downstream are located on the same axis and in the same direction; and / or The conveying direction of the conveying platform located upstream and the conveying direction of the conveying platform located downstream are located on different axes and are arranged to intersect.

10. The flow control system according to claim 1, characterized in that: There is a height difference between the at least one conveying platform and the conveying platform, and there is a height difference between the conveying platform located downstream and the conveying platform located upstream; wherein, the at least one conveying platform is arranged lower than the conveying platform, and the conveying platform located downstream is arranged lower than the conveying platform located upstream; a slope is arranged between the conveying platform and the conveying platform located downstream, and a slope is arranged between the conveying platform located upstream and the conveying platform located downstream; the slope includes a plane slope; and / or The slope comprises a curved slope, and the curved slope is convex or concave; and / or The slope includes a first slope surface and a second slope surface arranged in sequence from top to bottom, and the slope of the first slope surface is smaller than the slope of the second slope surface.

11. The flow control system according to claim 1, characterized in that: The conveying platform comprises a conveying channel and a pushing member disposed in the conveying channel and rotating relative to the conveying channel, and the object to be transported located in the conveying channel is transported to the downstream conveying platform by the pushing member; and / or The conveying platform comprises a conveying channel and support frames arranged on both sides of the conveying channel, and the detection device is assembled on the support frames and is located above the conveying channel; and / or The conveying platform comprises a conveyor belt; and / or The conveying platform comprises a conveyor belt; and / or The detection device includes a depth camera.

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