阅读说明：本技术 一种跨传送带的包裹跟踪方法 (Cross-conveyor-belt parcel tracking method ) 是由 石磊 徐良伟 田晓明 于 2019-10-09 设计创作，主要内容包括：本发明提供了一种跨传送带的包裹跟踪方法,步骤包括：利用上料位置传感器检测包裹的上料时间点以及下料位置传感器检测包裹的下料时间点；利用正交编码器检测驱动转轴的旋转角度,并将旋转角度的脉冲信号发送至控制器；在上料位置传感器检测到包裹进入时,则由控制器分配一个跟踪线程在该时间点处开始根据正交编码器的输出脉冲计算出包裹的实时运输距离；在下料位置传感器检测到包裹离开时,则由控制器关闭排在时间最前的那个跟踪线程。该跨传送带的包裹跟踪方法利用正交编码器的输出脉冲计算出包裹的实时运输距离,无需全程安装传感器即可实现包裹的全程实时跟踪,且能够实现多包裹的同步精确跟踪,为后续自动分拣系统提供可靠分拣基础。(The invention provides a cross-conveyor parcel tracking method, which comprises the following steps: detecting a loading time point of the package by using a loading position sensor and detecting a blanking time point of the package by using a blanking position sensor; detecting the rotation angle of the driving rotating shaft by using an orthogonal encoder, and sending a pulse signal of the rotation angle to a controller; when the feeding position sensor detects that the package enters, the controller allocates a tracking thread to calculate the real-time transportation distance of the package according to the output pulse of the orthogonal encoder at the time point; when the discharge position sensor detects that the package is left, the tracking thread which is arranged at the forefront of time is closed by the controller. According to the cross-conveyor-belt parcel tracking method, the real-time conveying distance of the parcels is calculated by utilizing the output pulses of the orthogonal encoder, the whole-process real-time tracking of the parcels can be realized without mounting a sensor in the whole process, the synchronous and accurate tracking of multiple parcels can be realized, and a reliable sorting basis is provided for a follow-up automatic sorting system.)

1. A method for tracking packages across a conveyor belt, comprising the steps of:

step 1, detecting a feeding time point of a package (6) in real time by using a feeding position sensor (4) arranged on a feeding side of a conveyor belt (1), and detecting a discharging time point of the package (6) in real time by using a discharging position sensor (5) arranged on a discharging side of the conveyor belt (1);

step 2, detecting the rotation angle of a driving rotating shaft of the conveyor belt (1) in real time by using an orthogonal encoder (8) arranged on the side edge of the conveyor belt (1), and sending a pulse signal of the rotation angle to a controller;

step 3, when the feeding position sensor (4) detects that the package (6) enters, the controller allocates a tracking thread to calculate the real-time transportation distance of the package (6) according to the output pulse of the orthogonal encoder (8) at the time point, so that the real-time position tracking of the package (6) is realized;

and 4, when the discharging position sensor (5) detects that the package (6) leaves, the controller closes the tracking thread arranged at the most front time according to the distribution time sequence of the tracking threads.

2. The method for tracking packages across a conveyor belt according to claim 1, wherein in step 1, the loading position sensor (4) is mounted on a side plate on the loading side of the conveyor belt (1) while being slid by a loading-side bracket.

3. The method for tracking packages across a conveyor belt according to claim 2, wherein the feeding side rack comprises a rectangular support plate (3), a T-shaped slider (8), a swing lever (10) and a torsion spring (12); the rectangular support plate (3) is transversely and fixedly arranged on a side plate at the feeding side of the conveyor belt (1), and a T-shaped sliding groove (7) is arranged on the plate surface of the rectangular support plate (3) along the length direction of the rectangular support plate; the T-shaped sliding block (8) is arranged on the T-shaped sliding groove (7) in a sliding manner, and a swinging hinged support (11) extending out of the T-shaped sliding groove (7) is arranged on the T-shaped sliding block (8); a hinged shaft (17) is transversely and rotatably arranged on the swinging hinged support (11); the lower end of the swinging rod (10) is fixedly arranged on the articulated shaft (17); the torsion spring (12) is sleeved on the hinged shaft (17), a torsion arm at one end of the torsion spring (12) is fixed on the swinging rod (10), a torsion arm at the other end of the torsion spring (12) is fixed on the swinging hinged support (11), and the swinging rod (10) is pushed by the torsion spring (12) to be tightly attached to the side plate of the conveyor belt (1); the feeding position sensor (4) is fixedly arranged on the upper end part of the swinging rod (10).

4. A method for tracking packages across a conveyor belt according to claim 3, wherein a scale (13) is transversely arranged on the side plate of the feeding side of the conveyor belt (1) above the rectangular support plate (3), and the scale (13) is parallel to the slotting direction of the T-shaped chute (7).

5. The cross-conveyor parcel tracking method according to claim 4, characterized in that a limit strip plate (14) parallel to the scale (13) is arranged on the side plate of the feeding side of the conveyor (1) and above the rectangular support plate (3), and each limit tooth is arranged on the limit strip plate (14) at equal intervals; a strip-shaped positioning thin plate (16) is arranged on the side edge of the swinging rod (10); when the swing rod (10) is tightly attached to the side plate of the conveyor belt (1), the end part of the strip-shaped positioning thin plate (16) is inserted between two adjacent limiting teeth at the corresponding position.

6. The method for tracking packages across conveyor belts according to claim 1, characterized in that in step 1, the blanking position sensor (5) is fixedly mounted on the side edge plate of the blanking side of the conveyor belt (1) through an L-shaped bracket (15), and the transverse position of the blanking position sensor (5) is flush with the tail end of the blanking side of the conveyor belt (1).

7. The package tracking method across conveyor belts according to claim 1, characterized in that in step 2, the controller is installed on the side plate of the conveyor belt (1) through the control box (2), and a communication module electrically connected with the controller is arranged in the control box (2).

8. The cross-conveyor package tracking method of claim 7, further comprising the steps of:

step 5, the controller accurately corrects the real-time transportation distance of the package (6) by using the installation position of the blanking position sensor (5), and then sends the tracking thread data which is closed at present to the next conveyor belt (1) which is linked with the current conveyor belt (1) through the communication module, wherein the tracking thread data comprises a thread number and the real-time transportation distance when the package (6) leaves the previous conveyor belt (1); and then the controller of the next conveyor belt (1) carries out continuous tracking, and the specific steps are as follows:

step 5.1, after receiving the tracking thread data, the controller of the next conveyor belt (1) starts a tracking thread with the same thread number, and when the loading position sensor (4) of the next conveyor belt (1) detects that the package (6) enters, the started tracking thread starts to calculate the real-time transport distance of the package (6) on the next conveyor belt (1) according to the output pulse of the orthogonal encoder (8) at the time point;

step 5.2, calculating the accumulated real-time transportation distance of the package (6) by using the received real-time transportation distance and the real-time transportation distance obtained by current calculation, thereby realizing the real-time position tracking of the package (6);

step 5.3, when the blanking position sensor (5) of the next conveyor belt (1) detects that the packages (6) leave, the controller of the next conveyor belt (1) closes the tracking thread arranged at the forefront of time according to the starting time sequence of each tracking thread;

and 5.4, the controller of the next conveyor belt (1) sends the tracking thread data which is closed currently to the next conveyor belt (1) linked with the next conveyor belt (1) through the communication module.

9. The cross-conveyor tracking method of claim 8, characterized in that the controller of each conveyor (1) further sends the thread number of each tracking thread that is not turned off and the corresponding real-time transportation distance to the server of the remote monitoring center in real time through the communication module, so that the server of the remote monitoring center tracks the real-time transportation distance of each package (6) according to the thread number until the tracking thread corresponding to the package (6) is turned off by the controller of the last linked conveyor (1).

10. The method for tracking packages across conveyor belts according to claim 1, wherein in step 3, the calculation formula for calculating the transport distance S of the conveyor belt (1) according to the output pulse of the orthogonal encoder (8) is:

S＝N×L

in the formula, N is the number of output pulses of the orthogonal encoder (8) after the tracking thread is started, and L is the transport distance converted from a single output pulse to the conveyor belt (1).

Technical Field

The invention relates to a parcel tracking method, in particular to a cross-conveyor parcel tracking method.

Background

At present, an automatic sorting system is a basic functional point of the automation industry, and the automatic sorting is realized based on the accurate positioning of packages on a conveyor belt, so that a cross-conveyor-belt package tracking method is needed to be designed, the accurate positioning of the packages on the conveyor belt can be realized, and a reliable sorting basis is provided for a later automatic sorting system.

Disclosure of Invention

The invention aims to: the cross-conveyor-belt parcel tracking method can realize accurate positioning of parcels on a conveyor belt, thereby providing a reliable sorting basis for a later automatic sorting system.

In order to achieve the above object, the present invention provides a package tracking method across conveyor belts, comprising the steps of:

step 1, detecting a feeding time point of a package in real time by using a feeding position sensor arranged on a feeding side of a conveyor belt, and detecting a discharging time point of the package in real time by using a discharging position sensor arranged on a discharging side of the conveyor belt;

step 2, detecting the rotation angle of the conveyor belt driving rotating shaft in real time by using an orthogonal encoder arranged on the side edge of the conveyor belt, and sending a pulse signal of the rotation angle to a controller;

step 3, when the feeding position sensor detects that the package enters, the controller allocates a tracking thread to calculate the real-time transportation distance of the package according to the output pulse of the orthogonal encoder at the time point, so that the real-time position tracking of the package is realized;

and 4, when the discharging position sensor detects that the packages leave, the controller closes the tracking thread arranged at the forefront of time according to the distribution time sequence of the tracking threads.

Further, in step 1, the loading position sensor is arranged on the side edge plate on the loading side of the conveyor belt when the loading side bracket slides.

Furthermore, the feeding side bracket comprises a rectangular support plate, a T-shaped sliding block, a swinging rod and a torsion spring; the rectangular support plate is transversely and fixedly arranged on a side plate at the feeding side of the conveyor belt, and a T-shaped sliding groove is formed in the plate surface of the rectangular support plate along the length direction of the rectangular support plate; the T-shaped sliding block is arranged on the T-shaped sliding groove in a sliding manner, and a swinging hinged support extending out of the T-shaped sliding groove is arranged on the T-shaped sliding block; a hinged shaft is transversely and rotatably arranged on the swinging hinged support; the lower end of the swinging rod is fixedly arranged on the articulated shaft; the torsional spring is sleeved on the hinged shaft, a torsion arm at one end of the torsional spring is fixed on the swinging rod, a torsion arm at the other end of the torsional spring is fixed on the swinging hinged support, and the swinging rod is pushed by the torsional spring to be tightly attached to the side plate of the conveyor belt; the material loading position sensor is fixedly arranged on the upper end part of the swinging rod.

Furthermore, a scale is transversely arranged on the side plate on the feeding side of the conveyor belt and above the rectangular support plate, and the scale is parallel to the slotting direction of the T-shaped sliding groove.

Furthermore, a limit strip-shaped plate parallel to the scale is arranged on the side plate on the feeding side of the conveyor belt and above the rectangular support plate, and limit teeth are arranged on the limit strip-shaped plate at equal intervals; a strip-shaped positioning thin plate is arranged on the side edge of the swinging rod; when the swing rod is tightly attached to the side plate of the conveyor belt, the end part of the strip-shaped positioning thin plate is inserted between two adjacent limiting teeth at the corresponding position.

Further, in the step 1, the blanking position sensor is fixedly installed on the side edge plate of the blanking side of the conveyor belt through an L-shaped support, and the transverse position of the blanking position sensor is flush with the tail end of the blanking side of the conveyor belt.

Further, in step 2, the controller is installed on the side plate of the conveyor belt through the control box, and a communication module electrically connected with the controller is arranged in the control box.

Further, the method also comprises the following steps:

step 5, the controller accurately corrects the real-time transportation distance of the package by using the installation position of the blanking position sensor, and then sends the tracking thread data which is closed at present to the next conveyor belt which is linked with the current conveyor belt through the communication module, wherein the tracking thread data comprises a thread number and the real-time transportation distance when the package leaves the previous conveyor belt; and then the controller of the next conveyor belt carries out continuous tracking, and the specific steps are as follows:

step 5.1, after the controller of the next conveyor belt receives the tracking thread data, starting a tracking thread with the same thread number, and when the loading position sensor of the next conveyor belt detects that the package enters, calculating the real-time transport distance of the package on the next conveyor belt by the started tracking thread at the time point according to the output pulse of the orthogonal encoder;

step 5.2, calculating the accumulated real-time transportation distance of the package by using the received real-time transportation distance and the real-time transportation distance obtained by current calculation, thereby realizing the real-time position tracking of the package;

step 5.3, when the blanking position sensor of the next conveyor belt detects that the packages leave, the controller of the next conveyor belt closes the tracking thread arranged at the forefront of time according to the starting time sequence of each tracking thread;

step 5.4, the controller of the next carousel sends the tracking thread data that is currently switched off to the next carousel linked to the next carousel via the communication module.

Further, the controller of each conveyor belt sends the thread number of each tracking thread which is not closed and the corresponding real-time transportation distance to the server of the remote monitoring center in real time through the communication module, so that the server of the remote monitoring center tracks the real-time transportation distance of each package according to the thread number until the tracking thread corresponding to the package is closed by the controller of the last linked conveyor belt.

Further, in step 3, the calculation formula for calculating the transport distance S of the conveyor belt according to the output pulse of the orthogonal encoder is:

S＝N×L

in the formula, N is the number of output pulses of the orthogonal encoder after the tracking thread is started, and L is the transport distance converted from a single output pulse to the conveyor belt.

The invention has the beneficial effects that: the output pulse of the orthogonal encoder is used for calculating the real-time transportation distance of the packages, the whole-process real-time tracking of the packages can be realized without mounting a sensor in the whole process, the synchronous and accurate tracking of multiple packages can be realized, and a reliable sorting basis is provided for a follow-up automatic sorting system.

Drawings

FIG. 1 is a schematic view of a conveyor belt link configuration of the present invention;

FIG. 2 is a schematic view of a single link configuration of the conveyor belt of the present invention;

fig. 3 is a schematic view of the feeding side structure of the conveyor belt of the present invention.

Detailed Description

The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.