Narrow belt sorting machine, sorting method therefor, narrow belt sorting control method, apparatus, system, and device

Abstract

A narrow belt sorting machine and a sorting method therefor, a narrow belt sorting control method, an apparatus, a system, and a device. The narrow belt sorting machine comprises a mechanical transportation apparatus, and the mechanical transportation device is used for sorting items by means of a curved track section (1), a straight track section (2), a forward mounted motor unit (5), a reverse mounted motor unit (6), narrow belt carts (3), an infrared communication installation assembly (7), a positional return and anti-collision assembly (8) for a permanent magnet linear synchronous motor, a power supply assembly (9), and a laser distance measurement assembly (10). The narrow belt sorting control method is applied to an infrared controller in a narrow belt sorting system. A package to be sorted on a first target narrow belt cart (3) is transported to a target sorting channel according to first position information and package state information corresponding to each narrow belt cart (3); and package state information corresponding to a package to be sorted and second position information corresponding to each narrow belt cart (3) are obtained, so as to transport the package to be sorted to a second target narrow belt cart (3). By utilizing wireless infrared communication in cooperation with corresponding upper computer software, installation difficulty and malfunction rates are reduced, equipment costs are reduced, the control layout of an entire narrow belt linear sorting machine is simplified, and the narrow belt sorting control method can improve the reliability of narrow belt sorting control.

Description

Narrow-band sorting machine and sorting method thereof, narrow-band sorting control method, device, system and equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese application No. 202410284236.6 filed on March 13, 2024 and Chinese application No. 202410836309.8 filed on June 26, 2024, the contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of narrow-band sorting machine equipment, in particular to a narrow-band sorting machine and a sorting method thereof, as well as a narrow-band sorting control method, device, system and equipment. Background Art

[0004] In the field of logistics sorting equipment, intelligent control and automation technologies are developing rapidly. Traditional manual sorting can no longer meet the growing demand for logistics sorting services. More and more logistics companies are adopting automated equipment to replace traditional manual sorting, which is gradually improving sorting efficiency and accuracy. Narrow-band linear sorters, as an automated logistics sorting device, are widely used in distribution centers, warehouses, outlets, and other express delivery locations to sort and transport packages.

[0005] The main structure of the end walking structure used in the narrow-band sorting trolley in the related art is made of two plates spliced ​​together. The strength structure is unstable and prone to cracks, breakages and other problems, which seriously affect the working stability of the narrow band; moreover, the splicing installation and maintenance are inconvenient, and it is difficult to ensure the installation accuracy. The narrow-band sorting trolley also has the problem of easy deviation of the belt, especially after long-term operation, which will affect the sorting and conveying efficiency. In addition, the curved rail structure of the narrow-band linear sorting machine mainly has the problems of high cost of machining the curved rail, severe wear after long-term operation, difficult assembly, time-consuming and labor-intensive, and high operation and maintenance costs. If the polishing treatment after splicing is not in place, the wheels of the narrow-band trolley will be severely worn and the abnormal noise will be obvious, which will affect the sorting.

[0006] Currently, traditional narrow-band sorting machines use asynchronous motors as their drive transmission power. However, asynchronous motors concentrate their power at the rear of the machine, resulting in high impact, noise, vibration, and low fault tolerance. Linear motors, on the other hand, offer contactless force transmission, virtually zero mechanical friction loss, minimal failures, and are maintenance-free, resulting in safe, reliable operation and a long service life. Existing narrow-band sorting machines generally use top-mounted linear motors to drive the narrow-band sorting carts throughout the entire loop. This results in uneven traction force distribution, which can damage the carts, affect sorting, and even cause downtime.

[0007] In addition, the mainstream narrow-band sorting machines on the market currently use wired control methods (such as RS485 communication protocol) to control the corresponding narrow-band carts. This method has the problems of high hardware cost and complex installation lines.

[0008] In addition, the narrow-band sorting control method is to use a control unit to control the parcels to be sorted to enter the main conveyor belt, so that when the parcels to be sorted are close to the target sorting channel, the narrow-band trolley on the main conveyor belt is controlled to move and transport the parcels to be sorted to the target sorting channel.

[0009] The traditional narrow-band sorting control method uses IrDA infrared near-field communication to communicate with multiple narrow-band carts on the main conveyor belt to determine the target sorting channel for the parcel to be sorted and send it to the narrow-band cart.

[0010] However, traditional narrowband sorting control methods have poor reliability.

[0011] Application Contents

[0012] To address the shortcomings of the aforementioned related production technologies, the applicant has provided a narrowband sorting machine and a sorting method thereof. This machine not only boasts a more rational and stable structure, but also, through the installation of wireless infrared communication and corresponding host computer software, offers greater flexibility and adaptability to diverse site environments. Furthermore, the applicant also provides a narrowband sorting control method, apparatus, system, and device capable of improving control reliability.

[0013] According to one aspect of the present application, the present application provides a narrow-band sorting machine, and the technical solution adopted in the present application is as follows: a narrow-band sorting machine, including a mechanical transport device, the mechanical transport device including: curved track sections located at the head and tail of the machine, a straight track section between the head and the tail of the machine, and a forward-mounted motor group and a reverse-mounted motor group evenly distributed in the track for providing power; a narrow-band trolley laid above the curved track section and the straight track section, with end walking assemblies on both sides of the narrow-band trolley; an infrared communication installation assembly and a reset and anti-collision assembly for a permanent magnet linear synchronous motor located on the straight track gantry of the straight track section; a power supply assembly for powering the narrow-band trolley; a laser ranging assembly for detecting the trolley belt surface and the trolley bolts, wherein the power supply assembly is a wired power supply assembly or a wireless power supply assembly.

[0014] As a further improvement of the above technical solution:

[0015] Preferably, the curved track section includes: a cast curved track, the cast curved track is an integrated cast structure, the cast curved track is assembled on the support frame through a support shaft and a support; the two cast curved tracks located on both sides of the track are installed on the support shaft, and the support shaft end of the support shaft defines the axial position of the cast curved track; the support shaft end extending axially outward from the cast curved track is fitted on the support frame via a seat bearing, and the outer side surfaces of the two cast curved tracks opposite to each other are respectively locked and fixed to the support frame via multiple supports; the two supports are fixed on the cross brace of the inverted F-shaped structure and form a three-point arrangement on the circumference of the support shaft outside the seat bearing with the other four supports; a gantry is provided on the outside of the open end of the U-shaped structure of the cast curved track in front of the support frame, and the gantry is locked and fixed to the end face of the cast curved track; curved track foot sleeves are installed on the bottom end of the gantry and the bottom end of the support frame, and the curved track foot sleeves are fixed to the ground; end plates are also installed on the support frame.

[0016] Preferably, the straight track section includes a straight track upper rail, a straight track lower rail, a guard plate mounting frame, a straight track gantry and a straight track foot sleeve, wherein the straight track upper rail and the straight track lower rail are fixed to the straight track gantry with a spacer frame via bolts; the guard plate mounting frame is arranged on the corresponding hole positions of the straight track upper rail and the straight track lower rail for installing the track cover plate; the straight track foot sleeve is installed at the bottom end of the straight track gantry.

[0017] Preferably, the narrow-band trolley includes a trolley frame, a main roller assembly, a slave roller assembly, a belt, and an anti-deviation limiter, wherein the main roller assembly and the slave roller assembly are respectively installed at both ends of the trolley frame in the length direction; an active roller is rotatably installed in the main roller assembly, and a driven roller parallel to the axial direction of the active roller is rotatably installed in the slave roller assembly; a belt is installed around the active roller and the driven roller; anti-deviation limiters are installed on the outside of the main roller assembly and the slave roller assembly on both sides of the belt width direction, and the tangent direction of the outer circumferential surface of the self-rotating wheel of the anti-deviation limiter is parallel to or in contact with the transmission direction side of the belt; when unloading, the main roller assembly rotates the belt to unload the package to the designated grid.

[0018] Preferably, multiple end traveling assemblies are symmetrically mounted on both sides of the bottom of the narrow-belt trolley, and multiple end traveling assemblies on the same side are connected in series to form a ring for use. A single end traveling assembly includes a U-shaped integrated chain plate, a guide wheel assembly, a joint bolt, a mounting plate, and a traveling wheel assembly, wherein a reinforcement plate is mounted on the chain plate via pins; the vertical rotation centerline of the guide wheel assembly coincides with the installation center of the mounting plate on the chain plate side plate and is offset from the connection line of the holes on the chain plate for mounting the narrow-belt trolley, and the guide wheel assembly is mounted on the mounting plate; the traveling wheel assembly is mounted on the chain plate via axle bolts, multiple bushings, and locking nuts; each set of chain plates is connected and fastened via joint bolts, locking nuts, and fastening nuts.

[0019] Preferably, the installation positions of the forward-mounted motor group and the reverse-mounted motor group are staggered and evenly distributed. The structure of the forward-mounted motor group is as follows: it includes three forward-mounted motors and one forward-mounted Hall, and the forward-mounted motor and the forward-mounted Hall are fixed to the forward-mounted mounting support plate; the forward-mounted mounting support plate is fixed to the straight track gantry via three forward-mounted motor supports. The structure of the reverse-mounted motor group is as follows: it includes three reverse-mounted motors and one reverse-mounted Hall, and the reverse-mounted motor and the reverse-mounted Hall are fixed to the reverse-mounted mounting square tube, and the reverse-mounted mounting square tube is fixed to the straight track gantry via three reverse-mounted motor supports.

[0020] Preferably, the infrared communication mounting assembly is mounted on a gantry adjacent to the straight track. The infrared communication installation assembly includes an infrared mounting plate 1, an infrared mounting plate 2, an infrared heightening bracket, an infrared mounting bracket 1 and an infrared mounting bracket 2, wherein the infrared mounting plate 1, the infrared mounting plate 2 and the infrared heightening bracket are arranged on the square tube of the infrared emitting welding strip in a surrounding manner by bolts; an infrared transceiver controller and photoelectric devices are installed on the infrared mounting bracket 1; a single-channel Hall encoder is installed on the infrared mounting bracket 2; the infrared mounting bracket 2 is fixed to the infrared mounting bracket 1 by bolts, and the infrared mounting bracket 1 is fixed to the infrared heightening bracket by bolts; a waist hole for adjusting the height up and down is opened on the infrared mounting bracket 1; a reflector is arranged to match the photoelectric device, the reflector is installed on the reflector bracket, the reflector bracket is fixed to the bracket of the driver and is only installed on the head car; the infrared transceiver controller faces the driver of the narrowband trolley, realizes left and right radiation for communication transmission, provides signals to the trolley driver, and thus drives the trolley to sort packages; when the trolley rotates vertically along the track, it moves along the track, the photoelectric device illuminates the reflector on the head car, and the infrared transceiver controller obtains the position of the head car directly above.

[0021] Preferably, the reset and anti-collision assembly for the permanent magnet linear synchronous motor includes an anti-collision device, a collision mounting support, a brush mounting support and a brush, wherein the anti-collision mounting support and the brush mounting support are mounted on the straight track gantry; the anti-collision device is mounted on the anti-collision mounting support; the brush is mounted on the brush mounting support; a proximity sensor is mounted on the anti-collision device; the brush and the anti-collision device are arranged at the front end of the first motor running through the forward-mounted motor group and the reverse-mounted motor group in a narrow band; the structure of the wired power supply assembly is an electric energy transmission structure in which a carbon brush collector and a bus bar are coordinated, wherein the bus bar track is arranged on the bus bar track bracket on the upper layer on the left side of the main line's travel direction, and the bus bar track bracket is mounted on the straight track gantry, with multiple intervals arranged. A power supply trolley is provided, and a carbon brush collector is installed on the power supply trolley to draw power from the busbar; a matching DC power supply cabinet is used to supply power to the busbar so that the entire busbar is energized. The carbon brush collector on the power supply trolley is fixed to the power supply trolley through a bracket and slides with the movement of the power supply trolley, enters the busbar track from the busbar track inlet, and compresses the carbon brush collector during movement, so that the carbon brush collector slides close to the busbar to draw power; the structure of the wireless power supply component is a wireless power transmission form in which a U-shaped collector and a transmitting track are coordinated, wherein the transmitting track is installed on the transmitting track bracket on the upper layer on the left side of the main line's travel direction, and the transmitting track bracket is installed on the straight track gantry, and multiple power supply trolleys are arranged at intervals, and a U-shaped collector is installed on the power supply trolley to draw power from the transmitting track.

[0022] Preferably, the laser ranging component includes laser ranging for detecting the trolley belt surface and laser ranging for detecting bolts; the laser ranging for detecting the trolley belt surface is to install a laser ranging sensor on a laser ranging bracket, and the laser ranging sensors are symmetrically installed downward on both sides of the curved track gantry at the tail of the machine, and the laser ranging sensor detects the belt surface based on laser ranging; the laser ranging for detecting bolts is to install the laser ranging sensor on the laser measuring trolley screw bracket, and detect the trolley bolts based on laser ranging.

[0023] According to another aspect of the present application, the present application provides a sorting method for a narrow-band sorter, comprising the following steps:

[0024] Step 1: The parcel is transported by the package feeding machine and passes through the No. 0 photoelectric sensor before entering the narrow-band sorter. The length of the parcel and the number of narrow-band trolleys occupied by the parcel are calculated based on the time the photoelectric sensor is blocked.

[0025] Step 2: When a package passes through photoelectric sensor No. 0, it triggers a camera to take a photo. The camera processes the package, obtains the barcode information, and sends it to the host computer SDS software. The host computer SDS software uploads the barcode information to the server to obtain the corresponding sorting grid location. Before photoelectric sensor No. 1 is triggered, the corresponding package information is sent to the main controller via the network protocol UDP.

[0026] Step 3: When the parcel enters the narrow-band sorter from the curved track section at the head position, it reaches the No. 1 photoelectric position and matches the sorting command of the upper computer SDS with the corresponding grid information. Based on the positions of each narrow-band trolley on the entire line, the controller can obtain the head vehicle number occupied by the parcel when entering the narrow-band sorter at the No. 1 photoelectric position;

[0027] Step 4: Based on the parcel length and the number of narrow-band trolleys occupied by the parcel obtained in step 1, as well as the head vehicle number of the parcel when entering the narrow-band sorter obtained in step 3, the narrow-band trolley that matches the parcel slot is obtained and controlled to complete the sorting.

[0028] The beneficial effects of the narrow-band sorting machine and the sorting method of the present application are as follows:

[0029] The narrowband sorting machine of the present application has a compact structure and a reasonable sorting method. It utilizes wireless infrared communication and is compatible with corresponding host computer software to complete package sorting in various sorting environments. The narrowband advantage is particularly prominent in the use scenario of network outlets. Limited space can accommodate more slots, and the sorting is applicable to a wider range of sizes and a wider range of package types.

[0030] The narrow-band sorting machine and sorting method of the present application also have the following advantages:

[0031] (1) Compared with the traditional chain-type narrow belt, the chain plate structure of the present application adopts an integrated form, and the reinforcing plate is installed on the chain plate via pins, which has the characteristics of high strength characteristics and does not require subsequent tensioning adjustment like the chain-type narrow belt; the integrated chain plate structure, compared with the chain plate structure spliced ​​with two plates, has a compact and reasonable structure, is easy to operate, has high bending strength and high tensile strength, and can effectively avoid the problem of cracking and breaking of the chain plate during use;

[0032] (2) The curved track structure of the present application adopts a cast-in-one curved track structure, which can realize the rapid installation of the curved track and effectively ensure the stability and reliability of the overall installation structure; the cast-in-one curved track has low overall cost and is wear-resistant, and effectively reduces the docking accuracy requirements and processing costs without affecting the stability of the narrow-band trolley;

[0033] (3) The integrated chain plate structure and the integrated cast head and tail curved rail structure of the present application can greatly reduce the noise during machine operation;

[0034] (4) This application adopts infrared communication, so that the narrowband trolley only has a power cord, and the infrared receiving port is independent on each driver, without the need for a wireless client, network cable, etc., which greatly reduces the difficulty of installation and the failure rate. At the same time, each infrared communication installation component can be reset independently, which can eliminate the cumulative error and make the communication more accurate. The infrared communication installation component is easy to adjust, saving time and effort, and is easy to maintain and operate, and has good practicality;

[0035] (5) This application uses laser ranging to detect the belt surface and trolley bolts to prevent the trolley from falling off.

[0036] According to another aspect of the present application, a narrowband sorting control method is provided. The narrowband sorting control method is applied to an infrared controller in a narrowband sorting system. The narrowband sorting system also includes multiple narrowband trolleys and a main control unit. The method includes:

[0037] Obtaining first position information and package status information corresponding to each narrow-band trolley in the target monitoring area from the main control unit, where the first position information is position information of the narrow-band trolley in the moving direction of the main conveyor belt;

[0038] Determining a first target narrow-band trolley and a driving instruction corresponding to the first target narrow-band trolley from each narrow-band trolley according to the first position information and the package status information;

[0039] The driving instruction is sent to the trolley driver corresponding to the first target narrow-band trolley, so that the trolley driver drives the first target narrow-band trolley to move based on the driving instruction, so as to transfer the parcels to be sorted on the first target narrow-band trolley to the target sorting channel.

[0040] In one embodiment, the method further comprises:

[0041] Performing status monitoring on each narrowband vehicle within the target monitoring area to obtain second position information corresponding to each narrowband vehicle;

[0042] The second position information is sent to the main control unit. The second position information is the position information of each narrowband trolley in the self-driving direction. The second position information is used by the main control unit to determine the target path information of the package to be sorted based on the second position information.

[0043] In one embodiment, the method provided herein includes performing status monitoring on each narrowband vehicle within a target monitoring area to obtain second position information corresponding to each narrowband vehicle, including:

[0044] Obtain the detection pulse signal of each narrow-band vehicle in the target monitoring area;

[0045] For each narrow-band vehicle, the detection pulse signal is counted to obtain the detection pulse data;

[0046] If the detection pulse data is less than a preset reset threshold, obtaining second position information according to the detection pulse data;

[0047] If the detection pulse data is equal to a preset reset threshold, a reset instruction is generated; and the second position information is obtained according to the reset instruction.

[0048] According to another aspect of the present application, a narrowband sorting control method is provided. The narrowband sorting control method is applied to a main control unit in a narrowband sorting system. The narrowband sorting system also includes multiple narrowband carts and an infrared controller. The method includes:

[0049] Obtaining package status information corresponding to the package to be sorted and second position information corresponding to each narrowband vehicle;

[0050] According to the package status information and the second location information, the second target narrow-band vehicle and the target path information corresponding to the package to be sorted are obtained;

[0051] Based on the target path information, the parcels to be sorted are transferred to the second target narrowband trolley.

[0052] In one embodiment, after obtaining the second target narrowband vehicle and target path information corresponding to the package to be sorted, the method further includes:

[0053] Get the car status information;

[0054] Based on the vehicle state information, determining the state information corresponding to the second target narrowband vehicle;

[0055] If the status information corresponding to the second target narrow-band trolley is normal, the parcel to be sorted is transferred to the second target narrow-band trolley based on the target path information.

[0056] In one embodiment, the provided method further includes: if the status information corresponding to the second target narrow-band vehicle is abnormal, re-determining the second target narrow-band vehicle and the target path information.

[0057] According to another aspect of the present application, the present application further provides a narrow-band sorting control device, which is applied to an infrared controller in a narrow-band sorting system. The narrow-band sorting system also includes multiple narrow-band trolleys and a main control unit. The device includes:

[0058] A data acquisition module is used to obtain first position information and package status information corresponding to each narrow-band trolley in the target monitoring area from the main control unit, where the first position information is the position information of the narrow-band trolley in the moving direction of the main conveyor belt;

[0059] an instruction generation module, configured to determine, from each narrow-band vehicle, a first target narrow-band vehicle and a driving instruction corresponding to the first target narrow-band vehicle based on the first position information and the package status information;

[0060] The instruction sending module is used to send a driving instruction to the trolley driver corresponding to the first target narrow-band trolley, so that the trolley driver drives the first target narrow-band trolley to move based on the driving instruction, so as to transfer the to-be-sorted parcels on the first target narrow-band trolley to the target sorting channel.

[0061] According to another aspect of the present application, the present application further provides a narrow-band sorting control device, which is applied to a main control unit of a narrow-band sorting system. The narrow-band sorting system also includes multiple narrow-band trolleys and an infrared controller. The device includes:

[0062] An information acquisition module, configured to acquire package status information corresponding to the packages to be sorted and second position information corresponding to each narrowband vehicle;

[0063] A path planning module, configured to obtain the second target narrow-band vehicle and target path information corresponding to the package to be sorted according to the package status information and the second location information;

[0064] The loading control module is used to transfer the parcels to be sorted to the second target narrow-band trolley based on the target path information.

[0065] According to another aspect of the present application, the present application further provides a narrowband sorting control system, the narrowband sorting control system comprising:

[0066] The main control unit is configured to obtain package status information corresponding to the package to be sorted and second position information corresponding to each narrow-band vehicle; obtain second target narrow-band vehicle and target path information corresponding to the package to be sorted based on the package status information and the second position information; and transfer the package to be sorted to the second target narrow-band vehicle based on the target path information;

[0067] The infrared controller is used to obtain first position information corresponding to each narrow-band trolley in the target monitoring area and package status information corresponding to the package to be sorted from the main control unit, where the first position information is the position information of the narrow-band trolley in the moving direction of the main conveyor belt; determine a first target narrow-band trolley and a driving instruction corresponding to the first target narrow-band trolley from each narrow-band trolley based on the first position information and the package status information; and send the driving instruction to the trolley driver corresponding to the first target narrow-band trolley, so that the trolley driver drives the first target narrow-band trolley to move based on the driving instruction, so as to transfer the package to be sorted on the first target narrow-band trolley to the target sorting channel.

[0068] According to another aspect of the present application, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in the above-mentioned narrowband sorting control method are implemented.

[0069] The above-mentioned narrowband sorting control method, device, system and equipment, in one aspect, the narrowband sorting control method is applied to an infrared controller in a narrowband sorting system, the narrowband sorting system also including multiple narrowband trolleys and a main control unit, the method comprising: obtaining first position information and package status information corresponding to each narrowband trolley in a target monitoring area from the main control unit, the first position information being the position information of the narrowband trolley in the moving direction of the main conveyor belt; determining a first target narrowband trolley and a drive instruction corresponding to the first target narrowband trolley from each narrowband trolley based on the first position information and the package status information; sending the drive instruction to the trolley driver corresponding to the first target narrowband trolley, so that the trolley driver drives the first target narrowband trolley to move based on the drive instruction, so as to transfer the to-be-sorted package on the first target narrowband trolley to the target sorting channel. In the present application, the infrared controller selects the first target narrowband trolley in the target monitoring area, generates a drive instruction and sends it to the corresponding trolley driver, thereby improving the stability and accuracy of communication between the infrared controller and the trolley driver, avoiding communication interruption or communication error, and thus improving the reliability of the narrowband sorting control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] FIG1 is a schematic diagram of the overall three-dimensional structure of the narrow-band sorting machine of the present application;

[0071] FIG2 is a schematic diagram of the internal structure of the narrow-band sorting machine of the present application;

[0072] FIG3 is a schematic diagram of the internal structure of the curved track section of the present application;

[0073] FIG4 is a schematic diagram of the internal structure of the straight track section of the present application;

[0074] FIG5 is a schematic structural diagram of the narrowband trolley of the present application;

[0075] FIG6 is a schematic structural diagram of the end traveling assembly of the present application;

[0076] FIG7 is a top view of the structure shown in FIG6;

[0077] FIG8 is a schematic diagram of the narrow belt trolley of the present application installed on the end traveling assembly;

[0078] FIG9 is a schematic diagram showing the layout of a forward-mounted motor group and a reverse-mounted motor group of the present application;

[0079] FIG10 is a schematic structural diagram of the infrared communication installation assembly of the present application;

[0080] 11 is a schematic diagram showing the installation state of the infrared communication mounting assembly of the present application;

[0081] FIG12 is a schematic diagram showing the installation state of the reset and anti-collision assembly for the permanent magnet linear synchronous motor of the present application;

[0082] FIG13 is a schematic diagram showing a wired power supply device of the present application;

[0083] FIG14 is a left side view of the device shown in FIG13;

[0084] FIG15 is a schematic diagram showing a wireless power supply device of the present application;

[0085] FIG16 is a left side view of the device shown in FIG15;

[0086] FIG17 is a schematic diagram of the belt surface of the laser ranging assembly of the present application

[0087] FIG18 is a schematic diagram showing the cooperation between the laser ranging sensor and the laser ranging screw bracket of the present application;

[0088] FIG19 is a logic flow chart of the sorting method of the present application;

[0089] FIG20 is a diagram illustrating an application environment of a narrowband sorting control method according to an embodiment;

[0090] FIG21 is a flow chart of a narrowband sorting control method applied to an infrared controller in one embodiment;

[0091] FIG22 is a schematic flow chart of the steps of obtaining second location information in one embodiment;

[0092] FIG23 is a flow chart of a narrowband sorting control method applied to an infrared controller in another embodiment;

[0093] FIG24 is a flow chart of a narrowband sorting control method applied to a main control unit in one embodiment;

[0094] FIG25 is a flow chart of a narrowband sorting control method applied to a main control unit in another embodiment;

[0095] FIG26 is a structural block diagram of a narrowband sorting control device applied to an infrared controller in one embodiment;

[0096] FIG27 is a structural block diagram of a narrowband sorting control device applied to a main control unit in one embodiment;

[0097] FIG28 is a diagram showing the internal structure of a computer device in one embodiment.

[0098] Among them: 1. Curved track section; 2. Straight track section; 3. Narrow-band trolley; 4. End travel assembly; 5. Forward-mounted motor unit; 6. Reverse-mounted motor unit; 7. Infrared communication installation assembly; 8. Reset and anti-collision assembly for permanent magnet linear synchronous motor; 9. Power supply assembly; 10. Laser ranging assembly;

[0099] 101. Support frame; 102. Curved track foot cover; 103. Casting curved track; 104. Support shaft; 105. Curved track gantry; 106. Support; 107. Cross brace; 108. Bearing with seat; 109. End plate;

[0100] 201, straight track upper rail; 202, straight track lower rail; 203, guard plate mounting frame; 204, straight track gantry; 205, straight track foot cover;

[0101] 301, slave roller; 302, anti-deviation limiter; 303, magnetic pole assembly; 304, trolley frame; 305, driver; 306, main roller; 307, screw sleeve; 308, belt; 309, carbon brush collector; 310, U-shaped current collector;

[0102] 401, chain plate; 402, guide wheel assembly; 403, joint bolt; 404, mounting plate; 405, travel wheel assembly; 406, axle bolt; 407, bushing; 408, lock nut; 409, fastening nut; 410, reinforcement plate;

[0103] 501, Forward-mounted motor; 502, Forward-mounted Hall; 503, Forward-mounted mounting support plate; 504, Forward-mounted motor support;

[0104] 601, reverse mounted motor; 602, reverse mounted Hall; 603, reverse mounted square tube; 604, reverse mounted motor support;

[0105] 701, infrared mounting plate 1; 702, infrared mounting plate 2; 703, infrared heightening bracket; 704, infrared emission welding strip; 705, infrared mounting bracket 1; 706, infrared mounting bracket 2; 707, infrared transceiver controller; 708, photoelectric; 709, single-channel Hall effect encoder; 710, reflector; 711, reflector bracket;

[0106] 801, anti-collision device; 802, anti-collision mounting support; 803, brush mounting support; 804, brush;

[0107] 901, busbar track; 902, busbar track bracket; 903, busbar track inlet; 904, launch track; 905, launch track bracket;

[0108] 1001. Laser ranging bracket; 1002. Laser ranging sensor. DETAILED DESCRIPTION

[0109] The specific implementation of this application is described below with reference to the accompanying drawings.

[0110] As shown in Figures 1 to 18, the narrow-band sorting machine of this embodiment includes a mechanical transport device, which includes: a curved track section 1 located at the head and tail of the machine, a straight track section 2 between the head and the tail, and a forward-mounted motor group 5 and a reverse-mounted motor group 6 evenly distributed in the track for providing power; a narrow-band trolley 3 laid above the curved track section 1 and the straight track section 2, with end walking components 4 on both sides of the narrow-band trolley 3; an infrared communication installation component 7 and a reset and anti-collision component 8 for a permanent magnet linear synchronous motor located on the straight track gantry 204 of the straight track section 2; a power supply component 9 for supplying power to the narrow-band trolley 3; a laser ranging component 10 for detecting the trolley belt surface and the trolley bolts, wherein the power supply component 9 is a wired power supply component or a wireless power supply component.

[0111] The curved track section 1 includes: a cast curved track 103, which is an integrated casting structure, and the cast curved track 103 is assembled on the support frame 101 through a support shaft 104 and a support 106; the two cast curved tracks 103 on both sides of the track are installed on the support shaft 104, and the support shaft end of the support shaft 104 defines the axial position of the cast curved track 103; the support shaft end of the cast curved track 103 extending axially outward is fitted on the support frame 101 via a seat bearing 108, and the outer side surfaces of the two cast curved tracks 103 facing each other are locked and fixed to the support frame 101 via multiple supports 106; the two supports 106 are fixed on the cross brace 107 of the tilted F-shaped structure and form a three-point arrangement with the other four supports 106 on the support shaft 104 on the circumferential outside of the seat bearing 108, that is, on the outer side of each cast curved track 103, a support 10 is fixed on the cross brace 107 6 and the other two supports 106 located circumferentially of the seat bearing 108 form a three-point arrangement, so that the support frame 101 can achieve reliable and stable support for the curved track part 3, forming a structurally reliable curved track structure; a gantry 105 is arranged on the outside of the U-shaped structure opening end of the casting curved track 103 in front of the support frame 101, and the gantry 105 is locked and fixed to the end face of the casting curved track 103, which ensures the stability of the curved track, ensures the reliability of the connection between the curved track and the external straight rail, ensures the stability of the trolley when cornering, and can achieve smooth track changing; the bottom end of the gantry 105 and the bottom end of the support frame 101 are both equipped with curved track foot sleeves 102, and the curved track foot sleeves 102 are fixed to the ground. The gantry 105 and the support frame 101 are respectively adjusted to a height with the ground via the foot sleeves 102. Through this arrangement, on the one hand, fixation with the ground is achieved, and on the other hand, adjustment of the overall height is achieved. An end plate 109 is also installed on the support frame 101; by providing an integral casting curved track 103, and installing the integral casting curved track 103 on the support frame 101 through the support shaft 104 and the support 106, the curved track can be installed quickly and conveniently, providing support and guidance for the trolley running wheels.

[0112] The casting curved track 103 can be die-cast using materials such as ductile iron, and then the local key dimensions can be machined according to the installation requirements. The processing cost is low and it is wear-resistant, with low noise during operation, low overall cost and wear resistance. The casting curved track has a U-shaped structure, which is connected to the external straight rail through a straight arm. Without affecting the running stability of the trolley after the connection, the docking accuracy requirements and processing costs are effectively reduced. In addition, the casting curved track 103 can also be equipped with a card package photoelectric to prevent the narrow-band trolley from getting stuck.

[0113] The straight track section 2 includes a straight track upper rail 201, a straight track lower rail 202, a guard plate mounting frame 203, a straight track gantry 204 and a straight track foot sleeve 205, wherein the straight track upper rail 201 and the straight track lower rail 202 are fixed to the straight track gantry 204 set up at intervals via bolts; the guard plate mounting frame 203 is set on the corresponding hole positions of the straight track upper rail 201 and the straight track lower rail 202 for installing the track cover plate; the straight track foot sleeve 205 is installed at the bottom end of the straight track gantry 204 for fixing to the ground and adjusting the height.

[0114] The narrow-band trolley 3 includes a trolley frame 304, a main roller assembly 306, a slave roller assembly 301, a belt 308, and an anti-deviation limiter 302, wherein the main roller assembly 306 and the slave roller assembly 301 are respectively installed at both ends of the trolley frame 304 in the length direction; a driving roller is rotatably installed in the main roller assembly 306, and a driven roller parallel to the axial direction of the driving roller is rotatably installed in the slave roller assembly 301; the belt 308 is installed around the driving roller and the driven roller; anti-deviation limiters 302 are installed on the outside of the main roller assembly 306 and the slave roller assembly 301 on both sides of the width direction of the belt 308, and the tangent direction of the outer circumferential surface of the self-rotating wheel of the anti-deviation limiter 302 is parallel to or in contact with the transmission direction side of the belt 308; when unloading, the main roller assembly 306 rotates the belt 308 to unload the package to the designated grid.

[0115] The narrow-band trolley 3 also includes a magnetic pole assembly 303 and a driver 305. The magnetic pole assembly 303 serves as the permanent magnet mover of the permanent magnet linear motor assembly, while the driver 305 is the drive controller for the narrow-band trolley's rotation. The narrow-band trolley 3 also includes a screw sleeve 307. The addition of the screw sleeve 307 effectively reduces or even prevents thread slippage during assembly and maintenance, facilitating routine maintenance operations. The screw sleeve 307 is used to secure the narrow-band trolley 3 to the end travel assembly 4.

[0116] Multiple end traveling assemblies 4 are symmetrically installed on both sides of the bottom of the narrow belt trolley 3, and multiple end traveling assemblies 4 on the same side are connected in series to form a ring for use. A single end traveling assembly 4 includes a U-shaped integrated chain plate 401, a guide wheel assembly 402, a joint bolt 403, a mounting plate 404 and a traveling wheel assembly 405, wherein a reinforcing plate 410 is installed on the chain plate 401 via a pin, which can enhance the local strength of the chain plate 401; the vertical rotation center line of the guide wheel assembly 402 coincides with the installation center of the mounting plate 404 on the side plate of the chain plate 401 and is misaligned with the hole connection line of the chain plate 401 for installing the narrow belt trolley. This misalignment design makes the chain plate 401 support the narrow belt trolley. The force center of the trolley 3 is staggered with the installation center of the mounting plate 404 on the side plate of the chain plate 401, thereby avoiding the problem of stress concentration on the chain plate 401 caused by the installation of the required processing notches on the mounting plate 404. The guide wheel group 402 is installed on the mounting plate 404; the walking wheel group 405 is also installed on the chain plate 401 through the wheel axle bolt 406, multiple shaft sleeves 407 and locking nuts 408; each group of chain plates 401 is connected and fastened via joint bolts 403, locking nuts 408 and fastening nuts 409.

[0117] The installation positions of the forward-mounted motor group 5 and the reverse-mounted motor group 6 are evenly distributed and staggered. The forward-mounted motor group 5 is structured as follows: it includes three forward-mounted motors 501 and one forward-mounted Hall 502. The forward-mounted motors 501 and the forward-mounted Hall 502 are fixed to the forward-mounted mounting support plate 503; the forward-mounted mounting support plate 503 is fixed to the straight track gantry 204 via three forward-mounted motor supports 504. The reverse-mounted motor group 6 is structured as follows: it includes three reverse-mounted motors 601 and one reverse-mounted Hall 602. The reverse-mounted motors 601 and the reverse-mounted Hall 602 are fixed to the reverse-mounted mounting square tube 603, which is fixed to the straight track gantry 204 via three reverse-mounted motor supports 604.

[0118] The infrared communication installation component 7 is installed on the gantry 204 adjacent to the straight track. The infrared communication installation component 7 includes an infrared installation plate 1 701, an infrared installation plate 2 702, an infrared heightening bracket 703, an infrared installation bracket 1 705 and an infrared installation bracket 2 706, wherein the infrared installation plate 1 701, the infrared installation plate 2 702 and the infrared heightening bracket 703 are arranged on the square tube of the infrared emitting welding strip 704 in a surrounding manner by bolts; an infrared transceiver controller 707 and a photoelectric controller 708 are installed on the infrared installation bracket 1 705; a single-channel Hall encoder 709 is installed on the infrared installation bracket 2 706; the infrared installation bracket 2 706 is fixed to the infrared installation bracket 1 705 by bolts, and the infrared installation bracket 1 705 is fixed to the infrared heightening bracket 703 by bolts; a hole for adjusting the infrared installation bracket 1 705 up and down is opened. The waist hole of the section height is provided; the reflector 710 is matched with the photoelectric 708, and the reflector 710 is installed on the reflector bracket 711. The reflector bracket 711 is fixed to the bracket of the driver 305 and is only installed on the head car; the infrared transceiver controller 707 is facing the driver 305 of the narrowband trolley 3, realizing left and right shooting for communication transmission, providing signals to the driver of the trolley to drive the trolley to sort the packages; the trolley moves forward along the track when it rotates vertically along the track, and the photoelectric 708 illuminates the reflector 710 on the head car, and the infrared transceiver controller 707 obtains the position of the head car directly above, and the infrared communication installation component 7 realizes independent reset, which can eliminate the cumulative error and make the communication more accurate. The installation position is easy to adjust, which saves time and effort, is easy to maintain and operate, and has good practicality.

[0119] The reset anti-collision assembly 8 for the permanent magnet linear synchronous motor includes an anti-collision device 801, an anti-collision mounting support 802, a brush mounting support 803 and a brush 804, wherein the anti-collision mounting support 802 and the brush mounting support 803 are installed on the straight rail gantry 204; the anti-collision device 801 is installed on the anti-collision mounting support 802; the brush 804 is installed on the brush mounting support 803; a proximity sensor is installed on the anti-collision device 801; the brush 804 and the anti-collision device 801 are arranged at the front end of the first motor when the narrow-band trolley runs through the forward-mounted motor group 5 and the reverse-mounted motor group 6; the anti-collision device 801 can effectively prevent the collision between the permanent magnet mover and the motor body, thereby protecting the motor.

[0120] The structure of the wired power supply component is an electric energy transmission structure in which a carbon brush collector and a busbar are combined. The busbar track 901 is arranged on the busbar track bracket 902 on the upper left side of the main line's travel direction. The busbar track bracket 902 is installed on the straight rail gantry 204. Multiple power supply trolleys are arranged at intervals, and carbon brush collectors are installed on the power supply trolleys to draw power from the busbar. A matching DC power supply cabinet supplies power to the busbar to make the entire busbar electrified. The carbon brush collector on the power supply trolley is fixed to the trolley through a bracket. It slides along with the movement of the trolley and enters the busbar track 902 from the busbar track inlet 903. During the movement, the carbon brush collector 309 is compressed, so that the carbon brush collector 309 slides close to the busbar to obtain electricity. If enough carbon brush collectors 309 are distributed on the trolley, greater power can be obtained, thereby meeting the needs of multiple trolleys for sorting and unloading goods at the same time. The wired form of the carbon brush collector 309 requires a certain number of DC48V power supply cabinets to be evenly arranged on the line to ensure stable power supply and appropriate power to ensure successful unloading.

[0121] In this embodiment, the wireless power supply assembly utilizes a U-shaped power supply 310 and a transmitter track 904 for wireless power transmission. The transmitter track 904 is mounted on a transmitter track bracket 905 on the upper level, on the left side of the mainline's travel direction. The transmitter track bracket 905 is mounted on a straight rail gantry 204. Multiple power supply trolleys are spaced apart, each equipped with a U-shaped power supply 310 to draw power from the transmitter track 904. The operating principle is as follows: a transmitter controller generates high-frequency alternating current within the transmitter rail. The U-shaped power supply 310, which moves along the transmitter track 904, generates induced power, which is then output via a 48V receiver controller and fed into the sorting trolley's power bus to power all sorting trolleys. Flexible cables are used for the output lines of the U-shaped power supply 310 and the receiver controller for easy wiring. The outputs of the receiver controller are connected in parallel, so each receiving end group (power supply + receiver controller) does not affect each other. The number of receiving end groups can be increased or decreased based on actual testing conditions.

[0122] The laser ranging assembly 10 includes a laser ranging assembly for detecting the trolley belt surface and a laser ranging assembly for detecting bolts. The laser ranging assembly 1002 for detecting the trolley belt surface is installed on a laser ranging bracket 1001. The laser ranging sensors 1002 are symmetrically installed downward on both sides of the curved track gantry 105 at the tail of the machine. The laser ranging sensors 1002 detect the surface of the belt 308 based on laser ranging. The laser ranging assembly sets a detection range. If the sensor is not within the detection range, it outputs a signal to the PLC.

[0123] The laser distance measurement for detecting bolts is to install the laser distance measurement sensor 1002 on the laser measuring trolley screw bracket, detect the trolley bolts based on laser distance measurement, and detect whether the trolley bolts are abnormal, such as falling off or breaking. The laser distance measurement sets the detection range, and outputs a feedback signal to the PLC if it is not within the detection range.

[0124] As shown in FIG19 , the sorting method of the narrow-band sorting machine of this embodiment includes the following steps:

[0125] Step 1: The parcel is transported by the package feeding machine and passes through photoelectric sensor 0 before entering the narrow-band sorter. The length of the parcel and the number of narrow-band carts 3 occupied by the parcel are calculated based on the occupancy time.

[0126] Step 2: When the No. 0 photoelectric sensor passes through, it triggers the camera to take a photo. The camera processes the corresponding package, obtains the package barcode information and sends it to the host computer SDS software. The host computer SDS software uploads the corresponding barcode information to the server to obtain the corresponding sorting grid information location. Before the No. 1 photoelectric sensor is triggered, the corresponding package information is sent to the main controller through the network protocol UDP;

[0127] Step 3: When the parcel enters the narrow-band sorter from the curved track section 1 at the head position, it reaches the No. 1 photoelectric position. The sorting command from the host computer SDS corresponds to the slot information. The controller, based on the positions of all the carts on the entire line, can determine the head car number occupied by the parcel when it enters the narrow-band sorter at the No. 1 photoelectric position.

[0128] Step 4: Based on the parcel length and the number of narrow-band trolleys 3 occupied by the parcel obtained in step 1, as well as the head vehicle number occupied by the parcel when entering the narrow-band sorter obtained in step 3, the narrow-band trolley 3 that matches the parcel slot is obtained and controlled to complete the sorting.

[0129] The specific working process is as follows:

[0130] A package is transported by a charter plane. When it passes photoelectric sensor 0, it triggers a camera to take a photo. The main controller then detects the presence of a package and can calculate the package's length based on the duration of the photoelectric trigger. After the package triggers photoelectric sensor 0, the camera processes the package, obtains the barcode information, and sends it to the host computer's SDS software. The host computer's SDS software then uploads the barcode information to the server, which then determines the location of the corresponding sorting slot. Before photoelectric sensor 1 is triggered, the package information is sent to the main controller via the UDP protocol.

[0131] When multiple packages pass photoelectric switch No. 0 but have not yet reached photoelectric switch No. 1, the corresponding package information needs to be matched based on the time. The specific calculation is as follows: ≤T_offest |t camera +t pc -t control |≤T_offest

[0132] Among them, t camera The time it takes for the camera to process the barcode; t pc The time it takes for the host computer to process the barcode; t control The main control calculation time; T_offest is the allowable error range of the two sets of calculation times.

[0133] When the package arrives at Photoelectric Station No. 1, the main controller needs to match the package information through the above calculation process. After the match is successful, the main controller calculates the narrowband trolley number on which the package was placed. The specific calculation is as follows:

[0134] Among them, car index For the calculated head vehicle, position cur The distance from the current reset photoelectric position to the boarding position (unit: cm), position goal is the distance from photoelectric No. 1 to the boarding position (unit: cm), cnt single is the length of a single pulse (in cm), and cnt is the number of pulses in a narrowband car 3.

[0135] The package information is matched with the corresponding sorting information at photoelectric point No. 1, and the number of narrow-band carts on which the package is carried and the first lead cart occupied are calculated. The main controller sends the corresponding package information (car number, number of carts occupied, length, package margin, grid information, etc.) to the infrared slave controller of the corresponding grid.

[0136] The infrared control of the corresponding slot of the package is controlled by the pre-calibrated infrared control position. According to the above-mentioned calculation method of the car, the car number is calculated and compared with the first car occupied by the package. After a successful match, the corresponding car is controlled so that the package is unloaded at the corresponding slot. The specific calculation is as follows:

[0137] Among them, t is the delay action instruction time (in ms) sent to the driver after the infrared controller calculates the target narrow-band car, pulse goal The pulse required for the package to reach the target slot, with the reset photoelectric as the reference point; pulse count The pulse count when infrared is calculated from the controller to the target car; pulse single The time required for one pulse (unit: ms).

[0138] The present application has a reasonable structure and utilizes the infrared communication installation component 7 in conjunction with the corresponding host computer software to complete package sorting for a variety of sorting environments, so that more grids can be arranged in a limited space, the sorting applicable size range is wider, and the sorting package types are more extensive.

[0139] The narrowband sorting control method provided in the embodiments of the present application can be applied to a narrowband sorting system as shown in FIG20 . The narrowband sorting system includes an infrared controller 1102, multiple narrowband carts 1104, and a main control unit 1106. The infrared controller 1102 communicates with the narrowband cart drivers 1104 using IrDA (Infrared Data Association) infrared communication; the infrared controller 1102 communicates with the main control unit 1106 via a communication network. In some embodiments, the infrared controller is an infrared communication installation component.

[0140] In an exemplary embodiment, as shown in FIG21 , a narrow-band sorting control method is provided. The narrow-band sorting control method is applied to an infrared controller 1102 in a narrow-band sorting system. The narrow-band sorting system further includes a plurality of narrow-band trolleys 1104 and a main control unit 1106. The method includes the following steps 1202 to 1206.

[0141] Step 1202: Obtain first position information and package status information corresponding to each narrowband vehicle within the target monitoring area from the main control unit.

[0142] The first position information is the position information of the narrow belt trolley in the moving direction of the main conveyor belt.

[0143] The narrowband sorting system includes a main conveyor belt; packages to be sorted enter from a first end of the main conveyor belt, which rotates in a first direction, driving the packages to be sorted toward a second end of the main conveyor belt. Multiple narrowband carts are installed on the main conveyor belt, and the narrowband sorting system has multiple sorting channels on both sides of the main conveyor belt. Each narrowband cart is equipped with an independent narrowband cart driver. The narrowband cart driver can drive the corresponding narrowband cart in a second direction based on drive commands sent by an infrared controller, thereby transferring the packages to be sorted on the narrowband cart to the sorting channels on both sides of the main conveyor belt. The second direction is the self-driving direction of the narrowband cart and is perpendicular to the first direction.

[0144] The narrowband sorting system also includes monitoring sensors, which are connected to the main control unit to transmit the collected monitoring information to the main control unit. After the main control unit receives the monitoring information sent by each monitoring sensor, it synchronizes it to the infrared controller, where the monitoring information includes the location information and package status information corresponding to each narrowband vehicle.

[0145] Exemplarily, the narrowband sorting system includes a visual sensor, which uses the visual sensor to collect visual images or videos of the narrowband sorting system, and performs image recognition and processing on the collected images or videos to obtain the position information and package status information corresponding to each narrowband trolley on the main conveyor belt.

[0146] As another example, the narrowband sorting system includes a radio frequency identification sensor, which uses the radio frequency identification sensor to identify the location information and package status information corresponding to each narrowband vehicle.

[0147] For example, package status information may include the unloading information, location information, weight information, posture information, or speed information of the package to be sorted. Unloading information, i.e., information about the target sorting channel corresponding to the package to be sorted, such as the channel number or location information of the target sorting channel, can be obtained by using an identifier to identify and classify the markings on the package to be sorted. Position information and posture information can be identified by a visual sensor. Weight information can be collected by a weight sensor. Speed ​​information can be identified by a speed sensor.

[0148] Step 1204 : Determine a first target narrow-band trolley and a driving instruction corresponding to the first target narrow-band trolley from each narrow-band trolley according to the first position information and the package status information.

[0149] Because IrDA communication methods are limited by position, angle, and light intensity, the narrowband sorting system can include multiple infrared controllers, each of which is assigned a portion of the main conveyor belt as a target monitoring area. The infrared controller can be installed directly above the corresponding target monitoring area, so that the position directly below the infrared controller is used as the target position information, and the narrowband trolley whose first position information overlaps with the target position information is designated as the first target narrowband trolley in the middle.

[0150] Based on the package status information, the position information or posture information of the package to be sorted on the main conveyor belt that is in contact with the middle first target narrow-band trolley is identified, and the narrow-band trolley in contact with the package to be sorted near the middle first target narrow-band trolley is regarded as the edge first target narrow-band trolley. The middle first target narrow-band trolley and the edge first target narrow-band trolley are regarded as the first target narrow-band trolley.

[0151] For example, whether to use the narrow-band trolley as the edge first target narrow-band trolley can be determined by judging whether the overlapping area of ​​the to-be-sorted parcel and the narrow-band trolley meets a preset threshold.

[0152] In a possible implementation, if no parcel to be sorted is identified as being in contact with the intermediate first target narrow-band trolley, indicating that the intermediate first target narrow-band trolley does not carry any parcel to be sorted, the control process is terminated.

[0153] The driving instructions include the moving time, moving direction and moving speed of each first target narrow-band vehicle.

[0154] For example, the moving time can be calculated based on the distance between the first position information of the current first target narrow-band trolley and the position information of the target sorting channel, as well as the current speed information of the package to be sorted; the moving direction can be determined by the relationship between the position information of the target sorting channel and the direction of the main conveyor belt; the moving speed can be calculated based on the entrance width of the target sorting channel and the current speed information of the package to be sorted; and the moving acceleration can be calculated using the fitting value stored in the Flash memory of the infrared controller.

[0155] In step 1206, a driving instruction is sent to the trolley driver corresponding to the first target narrow-band trolley, so that the trolley driver drives the first target narrow-band trolley to move based on the driving instruction, so as to transfer the parcels to be sorted on the first target narrow-band trolley to the target sorting channel.

[0156] The narrowband sorting control method described above is applied to an infrared controller in a narrowband sorting system, wherein the narrowband sorting system also includes multiple narrowband carts and a main control unit. The method includes: obtaining first position information and package status information corresponding to each narrowband cart within a target monitoring area from the main control unit, where the first position information is the position information of the narrowband cart in the direction of movement of the main conveyor belt; determining a first target narrowband cart and a drive instruction corresponding to the first target narrowband cart from each narrowband cart based on the first position information and the package status information; and transmitting the drive instruction to the cart driver corresponding to the first target narrowband cart, so that the cart driver drives the first target narrowband cart based on the drive instruction to transfer the to-be-sorted package on the first target narrowband cart to the target sorting channel. In this embodiment, by selecting the first target narrowband cart within the target monitoring area through the infrared controller, generating a drive instruction, and transmitting it to the corresponding cart driver, the stability and accuracy of communication between the infrared controller and the cart driver are improved, communication interruptions or errors are avoided, and the reliability of the narrowband sorting control method is thereby improved.

[0157] In the embodiment based on FIG. 21 , as shown in FIG. 22 , the provided method further includes steps 1302 to 1306 .

[0158] Step 1302: Monitor the status of each narrow-band vehicle in the target monitoring area to obtain second position information corresponding to each narrow-band vehicle.

[0159] Step 1304: Send the second location information to the main control unit.

[0160] The second position information is the position information of the narrowband trolley in its self-driving direction, and the second position information is used by the main control unit to determine the target path information of the package to be sorted based on the second position information.

[0161] The second position information can represent the driving state of the narrowband trolley. Exemplarily, the second position information includes initial state information and offset state information. When the second position information is initial state information, the displacement of the narrowband trolley in the self-driving direction is 0, indicating that the narrowband trolley can be displaced along the self-driving direction under the drive of the trolley driver, thereby transferring the parcels to be sorted to the sorting channel in the self-driving direction; when the second position information is offset state information, the displacement of the narrowband trolley in the self-driving direction is not 0, and the narrowband trolley may be in motion and has not returned to the initial position. At this time, the main control unit needs to perform sorting on the narrowband trolley based on the speed information and position information of the narrowband trolley. The process performs status judgment: if it is predicted that when the narrow-band trolley moves with the main conveyor belt to the first end of the main conveyor belt, the second position information has not yet recovered the initial state information, indicating that the narrow-band trolley cannot carry the parcel to be sorted from the first end of the main conveyor belt, and the main control unit can avoid the narrow-band trolley when controlling the loading of the parcel to be sorted; if it is predicted that when the narrow-band trolley moves with the main conveyor belt to the first end of the main conveyor belt, the second position information has recovered the initial state information, indicating that the narrow-band trolley can carry the parcel to be sorted from the first end of the main conveyor belt, and the main control unit can control the loading of the parcel to be sorted onto the narrow-band trolley, thereby determining the target path information of the parcel to be sorted.

[0162] In one possible implementation, a process of performing status monitoring on each narrowband vehicle within a target monitoring area and obtaining second position information corresponding to each narrowband vehicle includes:

[0163] Acquire the detection pulse signal of each narrow-band vehicle in the target monitoring area; count the detection pulse signal for each narrow-band vehicle to obtain detection pulse data; if the detection pulse data is less than a preset reset threshold, obtain the second position information based on the detection pulse data; if the detection pulse data is equal to the preset reset threshold, generate a reset instruction; obtain the second position information based on the reset instruction.

[0164] The narrowband trolley is provided with a detection mark, which is detected by a sensor that has a special reaction to the detection mark. When the detection mark passes through the sensor once, a pulse signal is generated, and the count is increased by one. When the preset reset threshold is reached, it means that the narrowband trolley has rotated and moved for one or several weeks and returned to the initial state. At this time, the infrared controller is used to control the count to be reset, and the second position information corresponding to the narrowband trolley is obtained as the initial state information. Under the initial state information, the narrowband trolley can carry the parcels to be sorted. If the detection pulse data is less than the reset threshold, it means that the narrowband trolley is still in the process of moving, and the main control unit needs to make further judgments based on the second position information to determine whether the narrowband trolley can carry the parcels to be sorted. In one possible embodiment, the infrared controller includes a mapping relationship between the preset second position information and the detection pulse data, and determines the second position information corresponding to each narrowband trolley based on the detection pulse data and the mapping relationship.

[0165] Exemplarily, the detection mark can be a magnet, and the narrowband vehicle is continuously detected using a Hall effect sensor. When the magnet passes through the Hall effect sensor, a high-level pulse signal is detected, and a low-level pulse signal is detected at other times. The generated detection pulse signal is sent to the infrared controller.

[0166] As another example, a photoelectric encoder or an inductive sensor may be used to continuously detect the narrowband vehicle, thereby obtaining a detection pulse signal and sending it to the infrared controller.

[0167] In this embodiment, the infrared controller generates the second position information corresponding to each narrow-band vehicle in the target monitoring area and sends the second position information to the main control unit, so that the main control unit can determine the target path information of the package to be sorted based on the second position information. The accurate second position information can be obtained in a timely manner, and the calculation amount of the main control unit can be effectively reduced, thereby improving the efficiency of the main control unit in obtaining the target path information.

[0168] In an exemplary embodiment, as shown in FIG23 , a narrow-band sorting control method is provided. The narrow-band sorting control method is applied to an infrared controller in a narrow-band sorting system. The narrow-band sorting system also includes a plurality of narrow-band trolleys and a main control unit. The method includes the following steps 1401 to 1405 .

[0169] Step 1401: Monitor the status of each narrow-band vehicle in the target monitoring area to obtain second position information corresponding to each narrow-band vehicle.

[0170] Acquire the detection pulse signal of each narrow-band vehicle in the target monitoring area; count the detection pulse signal for each narrow-band vehicle to obtain detection pulse data; if the detection pulse data is less than a preset reset threshold, obtain the second position information based on the detection pulse data; if the detection pulse data is equal to the preset reset threshold, generate a reset instruction; obtain the second position information based on the reset instruction.

[0171] Step 1402: Send the second position information to the main control unit. The second position information is the position information of each narrowband vehicle in the self-driving direction. The second position information is used by the main control unit to determine the target path information of the package to be sorted based on the second position information.

[0172] Step 1403: Obtain first position information and package status information corresponding to each narrowband vehicle in the target monitoring area from the main control unit.

[0173] The first position information is the position information of the narrow belt trolley in the moving direction of the main conveyor belt.

[0174] Step 1404 : Determine a first target narrow-band trolley and a driving instruction corresponding to the first target narrow-band trolley from each narrow-band trolley according to the first position information and the package status information.

[0175] In step 1405, a driving instruction is sent to the trolley driver corresponding to the first target narrow-band trolley, so that the trolley driver drives the first target narrow-band trolley to move based on the driving instruction, so as to transfer the parcels to be sorted on the first target narrow-band trolley to the target sorting channel.

[0176] In an exemplary embodiment, as shown in FIG24 , a narrow-band sorting control method is provided. The narrow-band sorting control method is applied to a main control unit 1106 in a narrow-band sorting system. The narrow-band sorting system also includes a plurality of narrow-band carts 1104 and an infrared controller 1102. The method includes the following steps 1502 to 1506.

[0177] Step 1502: Obtain the package status information corresponding to the package to be sorted and the second position information corresponding to each narrowband vehicle.

[0178] Step 1504: Obtain the second target narrowband vehicle and target path information corresponding to the package to be sorted based on the package status information and the second location information.

[0179] The second target narrow-band trolley is the narrow-band trolley that carries the parcel to be sorted when it is loaded from the first end of the main conveyor belt. Multiple second target narrow-band trolleys are possible. Target path information includes the distance from the first end of the main conveyor belt to the point where the parcel contacts the second target narrow-band trolley, the parcel's speed from the first end of the main conveyor belt, and the time required to reach the target sorting channel.

[0180] In one possible embodiment, a loading belt line is provided at the first end of the main conveyor belt. Parcels to be sorted pass through the loading belt line and enter the main conveyor belt, where they then come into contact with a narrow belt trolley on the main conveyor belt. The speed at which parcels to be sorted depart from the first end of the main conveyor belt can be adjusted by controlling the operating speed and acceleration of the loading belt line.

[0181] Step 1506: Based on the target path information, the parcel to be sorted is transferred to the second target narrowband vehicle.

[0182] In this embodiment, the main control unit uniformly processes the package status information of the packages to be sorted and the second position information of each narrow-band trolley when loading the packages, so as to accurately and timely control the loading of the packages to be sorted, thereby improving the efficiency of narrow-band sorting control.

[0183] In an exemplary embodiment, based on the embodiment shown in FIG. 24 , in the provided method, after step 1504, the method further includes:

[0184] Obtaining the trolley status information; based on the trolley status information, determining the status information corresponding to the second target narrow-band trolley; if the status information corresponding to the second target narrow-band trolley is normal, then based on the target path information, delivering the to-be-sorted parcel to the second target narrow-band trolley.

[0185] The trolley status information is the status information sent to the main control unit after the trolley driver obtains the status signal of the corresponding narrowband trolley.

[0186] Optionally, the main control unit defaults the trolley status information of each narrowband trolley to a normal state; after receiving the abnormal state information sent by the narrowband trolley, the main control unit updates the trolley status information of the corresponding narrowband trolley according to the abnormal state information when the trolley status information is obtained next time.

[0187] For example, a sensor can be used to monitor the status of a narrow-band trolley to obtain a status signal. If the sensor detects problems such as belt slack, track wear, or abnormal temperature, the sensor generates abnormal status information and sends it to the main control unit, which then updates the trolley status information the next time the main control unit obtains trolley status information.

[0188] In a possible implementation, if the status information corresponding to the second target narrow-band vehicle is abnormal, the second target narrow-band vehicle and the target path information are re-determined.

[0189] The newly determined second target narrow-band trolley is the narrow-band trolley that follows the original second target narrow-band trolley in the direction of movement of the main conveyor. By slowing down the loading belt line, the time when the parcels to be sorted enter the main conveyor can be delayed, so that the parcels to be sorted can be loaded onto the newly determined second target narrow-band trolley, and the target path information corresponding to the parcels to be sorted can be re-determined.

[0190] In this embodiment, by judging the status of the second target narrow-band trolley before loading, the loading timing of the parcel to be sorted is determined, thereby preventing the parcel to be sorted from being loaded by a narrow-band trolley in an abnormal state, thereby improving the reliability of the narrow-band sorting control method.

[0191] In an exemplary embodiment, as shown in FIG25 , a narrow-band sorting control method is provided. The narrow-band sorting control method is applied to a main control unit in a narrow-band sorting system. The narrow-band sorting system also includes a plurality of narrow-band trolleys and an infrared controller. The method includes the following steps 1601 to 1606.

[0192] Step 1601: Obtain the parcel status information corresponding to the parcel to be sorted, the second position information corresponding to each narrowband trolley, and the trolley status information.

[0193] Step 1602: Obtain the second target narrowband vehicle and target path information corresponding to the package to be sorted according to the package status information and the second location information.

[0194] Step 1603: Determine the status information corresponding to the second target narrowband vehicle based on the vehicle status information.

[0195] Step 1604: If the status information corresponding to the second target narrow-band trolley is normal, the parcel to be sorted is transferred to the second target narrow-band trolley based on the target path information.

[0196] Step 1605: If the status information corresponding to the second target narrow-band vehicle is abnormal, the second target narrow-band vehicle and target path information are re-determined.

[0197] Step 1606: Based on the target path information, the parcel to be sorted is transferred to the second target narrowband vehicle.

[0198] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0199] Based on the same inventive concept, embodiments of the present application also provide a narrowband sorting control device for implementing the aforementioned narrowband sorting control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the narrowband sorting control device provided below can be found in the aforementioned limitations of the narrowband sorting control method and will not be further elaborated here.

[0200] In an exemplary embodiment, as shown in FIG26 , a narrow-band sorting control device is provided. The narrow-band sorting control device is applied to an infrared controller in a narrow-band sorting system. The narrow-band sorting system also includes a plurality of narrow-band trolleys and a main control unit. The device includes:

[0201] The data acquisition module 1702 is used to obtain first position information and package status information corresponding to each narrow-band trolley in the target monitoring area from the main control unit, where the first position information is the position information of the narrow-band trolley in the moving direction of the main conveyor belt;

[0202] The instruction generation module 1704 is used to determine a first target narrow-band vehicle and a driving instruction corresponding to the first target narrow-band vehicle from each narrow-band vehicle according to the first position information and the package status information;

[0203] The instruction sending module 1706 is used to send a driving instruction to the trolley driver corresponding to the first target narrow-band trolley, so that the trolley driver drives the first target narrow-band trolley to move based on the driving instruction, so as to transfer the to-be-sorted parcels on the first target narrow-band trolley to the target sorting channel.

[0204] In one embodiment, the device also includes a status monitoring module, which is used to monitor the status of each narrow-band trolley in the target monitoring area and obtain second position information corresponding to each narrow-band trolley; the second position information is sent to the main control unit, and the second position information is the position information of each narrow-band trolley in the self-driving direction. The second position information is used for the main control unit to determine the target path information of the package to be sorted based on the second position information.

[0205] In one embodiment, the status monitoring module also includes a counting unit for obtaining the detection pulse signal of each narrow-band vehicle in the target monitoring area; for each narrow-band vehicle, the detection pulse signal is counted to obtain detection pulse data; when the detection pulse data is less than a preset reset threshold, the second position information is obtained according to the detection pulse data; a reset unit is used to generate a reset instruction when the detection pulse data is equal to the preset reset threshold; and the second position information is obtained according to the reset instruction.

[0206] In an exemplary embodiment, as shown in FIG27 , a narrow-band sorting control device is provided. The narrow-band sorting control device is applied to a main control unit in a narrow-band sorting system. The narrow-band sorting system also includes a plurality of narrow-band trolleys and an infrared controller. The device includes:

[0207] Information acquisition module 1802, used to obtain package status information corresponding to the package to be sorted and second position information corresponding to each narrowband vehicle;

[0208] The path planning module 1804 is used to obtain the second target narrow-band vehicle and target path information corresponding to the package to be sorted according to the package status information and the second location information;

[0209] The loading control module 1806 is used to transfer the parcels to be sorted to the second target narrow-band vehicle based on the target path information.

[0210] In one embodiment, the device further includes a status judgment module for obtaining trolley status information; based on the trolley status information, determining the status information corresponding to the second target narrow-band trolley; if the status information corresponding to the second target narrow-band trolley is normal, the parcel to be sorted is transferred to the second target narrow-band trolley based on the target path information.

[0211] In one embodiment, the state determination module is further configured to re-determine the second target narrow-band vehicle and the target path information when the state information corresponding to the second target narrow-band vehicle is abnormal.

[0212] Each module in the narrow-band sorting control device described above can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor within a computer device in hardware form, or stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0213] In an exemplary embodiment, a narrowband sorting control system is provided, the narrowband sorting control system comprising:

[0214] The main control unit is used to obtain the package status information corresponding to the package to be sorted and the second position information corresponding to each narrow-band trolley; obtain the second target narrow-band trolley and target path information corresponding to the package to be sorted based on the package status information and the second position information; and transfer the package to be sorted to the second target narrow-band trolley based on the target path information.

[0215] The infrared controller is used to obtain first position information corresponding to each narrow-band trolley in the target monitoring area and package status information corresponding to the package to be sorted from the main control unit, where the first position information is the position information of the narrow-band trolley in the moving direction of the main conveyor belt; determine a first target narrow-band trolley and a driving instruction corresponding to the first target narrow-band trolley from each narrow-band trolley based on the first position information and the package status information; and send the driving instruction to the trolley driver corresponding to the first target narrow-band trolley, so that the trolley driver drives the first target narrow-band trolley to move based on the driving instruction, so as to transfer the package to be sorted on the first target narrow-band trolley to the target sorting channel.

[0216] The infrared controller and the car driver may be MCU (Microcontroller Unit) chips.

[0217] In an exemplary embodiment, a computer device is provided, which may be a server. Its internal structure diagram may be as shown in FIG28 . The computer device includes a processor, memory, an input / output (I / O) interface, and a communication interface. The processor, memory, and I / O interface are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and computer program stored in the non-volatile storage medium. The database of the computer device is configured to store package status information corresponding to packages to be sorted and second position information corresponding to each narrowband cart. The I / O interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with external terminals via a network connection. When executed by the processor, the computer program implements a narrowband sorting control method.

[0218] Those skilled in the art will understand that the structure shown in Figure 28 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0219] In one embodiment, a computer device is further provided. The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps in the above method embodiments are implemented.

[0220] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0221] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0222] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0223] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0224] The above description is an explanation of the present application, not a limitation of the present application. The scope of the present application is defined in the claims. Any form of modification may be made within the scope of protection of the present application.

Claims

1. A narrow-band sorting machine, wherein, The narrow-band sorting machine includes a mechanical conveying device, and the mechanical conveying device includes: A curved track section (1), and the curved track section (1) is located at the head and the tail of the machine. A straight track section (2), and the straight track section (2) is located between the head and the tail of the machine. A forward-mounted motor group (5) and a reverse-mounted motor group (6), and the forward-mounted motor group (5) and the reverse-mounted motor group (6) are evenly distributed in the track to provide power. A narrow-band trolley (3), and the narrow-band trolley (3) is laid above the curved track section (1) and the straight track section (2), and end walking assemblies (4) are arranged on both sides of the narrow-band trolley (3). An infrared communication installation assembly (7) and a reset anti-collision assembly (8) for a permanent magnet linear synchronous motor, and the infrared communication installation assembly (7) and the reset anti-collision assembly (8) for a permanent magnet linear synchronous motor are located on the straight rail gantry (204) of the straight track section (2). A power supply assembly (9), and the power supply assembly (9) is used to supply power to the narrow-band trolley (3), and the power supply assembly (9) is a wired power supply assembly or a wireless power supply assembly. A laser ranging assembly (10), and the laser ranging assembly (10) is used to detect the trolley belt surface and trolley bolts.

2. The narrow-band sorting machine according to claim 1, wherein, The curved track section (1) includes a cast curved track (103), the cast curved track (103) is an integral cast structure, and the cast curved track (103) is assembled on a support frame (101) through a support shaft (104) and a support (106). Two cast curved tracks (103) located on both sides of the track are both installed on the support shaft (104), and the support shaft end of the support shaft (104) defines the axial position of the cast curved track (103); the support shaft end extending axially outward from the cast curved track (103) is fitted on the support frame (101) through a pedestal bearing (108), and the opposite outer sides of the two cast curved tracks (103) are respectively locked and fixed to the support frame (101) through a plurality of supports (106). Two supports (106) are fixed on a cross brace (107) in an inverted F-shaped structure and form a three-point layout on the circumferential outside of the pedestal bearing (108) with another four supports (106). In front of the support frame (101), a gantry (105) is arranged at the end face of the open end of the U-shaped structure of the cast curved track (103), and the gantry (105) is locked and fixed to the end face of the cast curved track (103). Bending rail foot sleeves (102) are installed at the bottom ends of the gantry (105) and the support frame (101), and the bending rail foot sleeves (102) are fixed to the ground. An end plate (109) is also installed on the support frame (101).

3. The narrowband sorting machine according to claim 1, wherein, The straight track section (2) includes a straight track upper rail (201), a straight track lower rail (202), a guard plate mounting frame (203), a straight rail gantry (204) and a straight rail foot sleeve (205), and among them, the straight track upper rail (201) and the straight track lower rail (202) are fixed to the spaced-apart straight rail gantry (204) through bolts. The guard plate mounting bracket (203) is arranged at the corresponding hole positions of the upper straight track (201) and the lower straight track (202) for mounting the track closing plate; The straight rail foot sleeve (205) is installed at the bottom end of the straight rail gantry (204).

4. The narrow-band sorting machine according to claim 1, wherein, The narrow belt trolley (3) includes a trolley frame (304), a main roller assembly (306), a slave roller assembly (301), a belt (308) and an anti-deviation limiting member (302), wherein, The main roller assembly (306) and the slave roller assembly (301) are respectively installed at both ends of the trolley frame (304) in the length direction; An active roller is rotatably installed in the main roller assembly (306), and a driven roller parallel to the axis of the active roller is rotatably installed in the slave roller assembly (301); the belt (308) is wound around the active roller and the driven roller; anti-deviation limiting members (302) are installed on the outer sides of both sides of the main roller assembly (306) and the slave roller assembly (301) in the width direction of the belt (308), and the tangential direction of the outer circumferential surface of the self-rotating runner of the anti-deviation limiting member (302) is parallel or in contact with the side surface of the transmission direction of the belt (308); During unloading, the main roller assembly (306) rotates the belt (308) to unload the package to the specified grid opening.

5. The narrow-band sorting machine according to claim 1, wherein, A plurality of end walking assemblies (4) are symmetrically installed on both sides of the bottom of the narrow belt trolley (3), and a plurality of end walking assemblies (4) on the same side are connected in series to form a loop for use; A single end walking assembly (4) includes a U-shaped integral chain plate (401), a guide wheel set (402), a joint bolt (403), a mounting plate (404) and a walking wheel set (405), and among them, A reinforcing plate (410) is installed on the chain plate (401) via a pin; The rotation center line of the guide wheel set (402) in the vertical direction coincides with the installation center of the mounting plate (404) on the side plate of the chain plate (401) and is misaligned with the connection line of the hole positions for mounting the narrow belt trolley on the chain plate (401); Misaligned; The guide wheel set (402) is installed on the mounting plate (404); The walking wheel set (405) is installed on the chain plate (401) through a wheel axle bolt (406), a plurality of bushings (407) and a locking nut (408), and each group of chain plates (401) is connected and fastened through a joint bolt (403), a locking nut (408) and a fastening nut (409).

6. The narrow-band sorting machine according to claim 1, wherein, The installation positions of the forward-mounted motor group (5) and the reverse-mounted motor group (6) are evenly distributed in a staggered manner; The structure of the forward-mounted motor group (5) is: including three forward-mounted motors (501) and one forward-mounted Hall (502), the forward-mounted motors (501) and the forward-mounted Hall (502) are fixed on the forward-mounted mounting support plate (503), and the forward-mounted mounting support plate (503) is fixed on the straight rail gantry (204) through three forward-mounted motor supports (504); The structure of the reverse-mounted motor set (6) is as follows: it includes three reverse-mounted motors (601) and one reverse-mounted Hall (602). The reverse-mounted motors (601) and the reverse-mounted Hall (602) are fixed to the reverse-mounted mounting square tube (603), and the reverse-mounted mounting square tube (603) is fixed to the straight-rail gantry (204) via three reverse-mounted motor supports (604).

7. The narrowband sorting machine according to claim 1, wherein, The infrared communication installation component (7) is installed on the gantry (204) adjacent to the straight track. The infrared communication installation component (7) includes an infrared mounting plate one (701), an infrared mounting plate two (702), an infrared heightening bracket (703), an infrared mounting bracket one (705), and an infrared mounting bracket two (706), and among them, The infrared mounting plate one (701), the infrared mounting plate two (702), and the infrared heightening bracket (703) are arranged in a surrounding manner and bolted to the square tube of the infrared emission welding strip (704); An infrared transceiver controller (707) and an optoelectronic device (708) are installed on the infrared mounting bracket one (705); A single-channel Hall encoder (709) is installed on the infrared mounting bracket two (706); The infrared mounting bracket two (706) is fixed to the infrared mounting bracket one (705) by bolts, and the infrared mounting bracket one (705) is fixed to the infrared heightening bracket (703) by bolts; A waist-shaped hole for adjusting the height up and down is opened on the infrared mounting bracket one (705); A reflector (710) is arranged corresponding to and matching the optoelectronic device (708). The reflector (710) is installed on a reflector bracket (711), and the reflector bracket (711) is fixed to the bracket of the driver (305) and is only installed on the head car; The infrared transceiver controller (707) faces the driver (305) of the narrowband trolley (3) directly, realizes left-right opposite shooting for communication transmission, provides signals to the driver of the narrowband trolley to drive the narrowband trolley to carry out parcel sorting; when the narrowband trolley rotates vertically and circularly along the track, it advances along the track. The optoelectronic device (708) irradiates the reflector (710) on the head car, and the infrared transceiver controller (707) obtains the position of the head car directly above.

8. The narrow-band sorting machine according to claim 1, wherein The permanent magnet linear synchronous motor reset anti-collision component (8) includes an anti-collision device (801), an anti-collision installation support (802), a brush installation support (803), and a brush (804). Among them, the anti-collision installation support (802) and the brush installation support (803) are installed on the straight-rail gantry (204); the anti-collision device (801) is installed on the anti-collision installation support (802); the brush (804) is installed on the brush installation support (803); a proximity sensor is installed on the anti-collision device (801); the brush (804) and the anti-collision device (801) are arranged at the front end of the first motor of the narrowband running past the forward-mounted motor set (5) and the reverse-mounted motor set (6); The structure of the wired power supply component is a power transmission structure form in which a carbon brush current collector and a sliding contact wire cooperate. Among them, the sliding contact wire track (901) is arranged on the sliding contact wire track bracket (902) on the upper layer on the left side of the main line traveling direction. The sliding contact wire track bracket (902) is installed on the straight track gantry (204). Multiple power supply trolleys are arranged at intervals, and a carbon brush current collector is installed on the power supply trolley to draw power from the sliding contact wire. A DC power cabinet is matched to supply power to the sliding contact wire to make the whole sliding contact wire charged. The carbon brush current collector on the power supply trolley is fixed to the power supply trolley through a bracket and slides as the power supply trolley moves. It enters the sliding contact wire track (902) from the sliding contact wire track inlet (903), compresses the carbon brush current collector (309) during movement, and makes the carbon brush current collector (309) closely adhere to the sliding contact wire to draw power. The structure of the wireless power supply component is a wireless power transmission form in which a U-shaped power collector (310) and a transmitting track (904) cooperate. Among them, the transmitting track (904) is installed on the transmitting track bracket (905) on the upper layer on the left side of the main line traveling direction. The transmitting track bracket (905) is installed on the straight track gantry (204). Multiple power supply trolleys are arranged at intervals, and a U-shaped power collector (310) is installed on the power supply trolley to draw power from the transmitting track (904).

9. The narrow-band sorting machine according to claim 1, wherein, The laser ranging component (10) includes laser ranging for the belt surface of the inspection trolley and laser ranging for bolts. The laser ranging for the belt surface of the inspection trolley is to install a laser ranging sensor (1002) on the laser ranging bracket (1001). The laser ranging sensor (1002) is symmetrically installed downward on both sides of the curved track gantry (105) at the tail of the machine. The laser ranging sensor (1002) is based on laser ranging to detect the surface of the belt (308). The laser ranging for bolts is to install the laser ranging sensor (1002) on the laser measuring trolley screw bracket and detect the trolley bolts based on laser ranging.

10. A sorting method for a narrow-band sorting machine, wherein, The method includes the following steps: Step 1: The package is conveyed by a feeding machine. Before entering the narrow-band sorting machine, it will pass through the No. 0 optoelectronic sensor. The length of the package and the number of narrow-band trolleys (3) occupied by the package are calculated based on the time when the optoelectronic sensor is blocked. Step 2: When the package passes through the No. 0 optoelectronic sensor, it will trigger the camera to take pictures. The camera processes the corresponding package, obtains the package barcode information and sends the information to the upper computer SDS software. The upper computer SDS software uploads the corresponding barcode information to the server, so as to obtain the position information of the corresponding sorting grid opening. Before the No. 1 optoelectronic sensor is triggered, the corresponding package information is sent to the main controller through the network protocol UDP. Step 3: When the package enters the narrow-band sorting machine from the curved track section (1) at the head position, that is, when it reaches the No. 1 optoelectronic sensor position, it matches the sorting command corresponding grid opening information of the upper computer SDS. The controller determines the position of each narrow-band trolley on the whole line, so that the head car number occupied by the package when it enters the narrow-band sorting machine can be obtained at the No. 1 optoelectronic sensor. Step 4: Based on the package length obtained in Step 1, the number of narrow-band trolleys (3) occupied by the package, and the head trolley number occupied by the package when it enters the narrow-band sorting machine in Step 3, control the narrow-band trolleys (3) that match the package compartments to complete the sorting.

11. A narrowband sorting control method, wherein, An infrared controller applied to a narrow-band sorting system, the narrow-band sorting system further includes a plurality of narrow-band trolleys and a main control unit, and the method includes: Obtain the first position information and package status information corresponding to each of the narrow-band trolleys in the target monitoring area from the main control unit, where the first position information is the position information of the narrow-band trolley in the moving direction of the main conveyor belt; Based on the first position information and the package status information, determine a first target narrow-band trolley and a driving instruction corresponding to the first target narrow-band trolley from each of the narrow-band trolleys; Send the driving instruction to the trolley driver corresponding to the first target narrow-band trolley, for the trolley driver to drive the first target narrow-band trolley to move based on the driving instruction, so as to transport the package to be sorted on the first target narrow-band trolley to the target sorting channel.

12. The method according to claim 11, wherein, The method further includes: Monitor the status of each of the narrow-band trolleys in the target monitoring area to obtain the second position information corresponding to each of the narrow-band trolleys; Send the second position information to the main control unit, where the second position information is the position information of each narrow- band trolley in its own driving direction, and the second position information is used for the main control unit to determine the target path information of the package to be sorted based on the second position information.

13. The method according to claim 12, wherein, The monitoring the status of each narrow-band trolley in the target monitoring area to obtain the second position information corresponding to each narrow-band trolley includes: Obtain the detection pulse signals of each of the narrow-band trolleys in the target monitoring area; For each of the narrow-band trolleys, count the detection pulse signals to obtain detection pulse data; If the detection pulse data is less than a preset reset threshold, obtain the second position information according to the detection pulse data; If the detection pulse data is equal to the preset reset threshold, generate a reset instruction; obtain the second position information according to the reset instruction.

14. A narrowband sorting control method, wherein, A main control unit applied to a narrow-band sorting system, the narrow-band sorting system further includes a plurality of narrow-band trolleys and an infrared controller, and the method includes: Obtain the package status information corresponding to the package to be sorted and the second position information corresponding to each of the narrow-band trolleys; Based on the package status information and the second position information, obtain a second target narrow-band trolley and target path information corresponding to the package to be sorted; Based on the target path information, transport the package to be sorted to the second target narrow-band trolley.

15. The method according to claim 14, wherein, After obtaining the second target narrow-band trolley and target path information corresponding to the package to be sorted, the method further includes: Obtain the trolley status information; Based on the trolley status information, determine the status information corresponding to the second target narrow-band trolley; If the status information corresponding to the second target narrow-band trolley is normal, transport the package to be sorted to the second target narrow-band trolley based on the target path information.

16. The method according to claim 15, wherein, The method further includes: if the status information corresponding to the second target narrow-band trolley is abnormal, re-determine the second target narrow-band trolley and the target path information.

17. A narrowband sorting control device, wherein, An infrared controller applied to a narrow-band sorting system, the narrow-band sorting system further includes a plurality of narrow-band trolleys and a main control unit, and the device includes: A data acquisition module, configured to acquire, from the main control unit, the first position information and the package status information corresponding to each of the narrow-band trolleys in the target monitoring area, where the first position information is the position information of the narrow-band trolley in the moving direction of the main conveyor belt; An instruction generation module, configured to determine, according to the first position information and the package status information, a first target narrow-band trolley and a driving instruction corresponding to the first target narrow-band trolley from each of the narrow-band trolleys; An instruction sending module, configured to send the driving instruction to the trolley driver corresponding to the first target narrow-band trolley, so that the trolley driver drives the first target narrow-band trolley to move based on the driving instruction, so as to transport the package to be sorted on the first target narrow-band trolley to the target sorting channel.

18. A narrowband sorting control device, wherein, A main control unit applied to a narrow-band sorting system, the narrow-band sorting system further includes a plurality of narrow-band trolleys and an infrared controller, and the device includes: An information acquisition module, configured to acquire the package status information corresponding to the package to be sorted and the second position information corresponding to each of the narrow-band trolleys; A path planning module, configured to obtain a second target narrow-band trolley and target path information corresponding to the package to be sorted according to the package status information and the second position information; A loading control module, configured to transport the package to be sorted to the second target narrow-band trolley based on the target path information.

19. A narrowband sorting control system, wherein, The narrow-band sorting control system includes: A main control unit, configured to acquire the package status information corresponding to the package to be sorted and the second position information corresponding to each of the narrow-band trolleys; obtain a second target narrow-band trolley and target path information corresponding to the package to be sorted according to the package status information and the second position information; transport the package to be sorted to the second target narrow-band trolley based on the target path information; An infrared controller, configured to acquire, from the main control unit, the first position information corresponding to each of the narrow-band trolleys in the target monitoring area and the package status information corresponding to the package to be sorted, where the first position information is the position information of the narrow-band trolley in the moving direction of the main conveyor belt; determine a first target narrow-band trolley and The driving instruction corresponding to the first target narrow-band trolley; send the driving instruction to the trolley driver corresponding to the first target narrow-band trolley, so that the trolley driver drives the first target narrow-band trolley to move based on the driving instruction, so as to transport the package to be sorted on the first target narrow-band trolley to the target sorting channel.

20. A computer device, comprising a memory and a processor, the memory storing a computer program, wherein, When the processor executes the computer program, the steps of the method according to any one of claims 11 to 16 are implemented.

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