Patent Application
20220089386
The present application claims priority to Chinese patent application, No. 201910261394.9, entitled “Material Dropping Method, Apparatus, Dropping System, and Material Control Device”, filed with the Chinese Patent Office on Apr. 2, 2019, which is hereby incorporated by reference in its entirety.
The present application relates to a technical field of material dropping, and in particularly relates to a material dropping method, a material dropping control device, a material dropping apparatus, and a material dropping system.
At present, in a material dropping process, a material dropping trolley moves to the side of a material storage device and stops for material dropping. After the material dropping is completed, the trolley is restarted to move. The process of stopping and restarting the trolley takes time, resulting in slow material dropping speed and low efficiency. Meanwhile, in large workshops, there exist a large number of material dropping trolleys which work orderly. However, in a case that one of the material dropping trolleys breaks down and stops moving, the broken-down material dropping trolley tends to collide with other material dropping trolleys, and the orderliness of material dropping is destroyed.
According to embodiments of the present application, a material dropping method, a material dropping control device, a material dropping apparatus, and a material dropping system are provided, to solve the above technical problems in the existing technology.
In a first aspect, according to an embodiment of the present application, it is provided a material dropping method, including:
With reference to the first aspect, in a first implementation of the first aspect of the present application, the motion trajectory according to the current dropping area and the target dropping area includes:
With reference to the first implementation of the first aspect, in a second implementation of the present application, determining the material dropping manner according to the positional relationship between the motion trajectory and the target material storage device, in a case that respective dropping areas through which the motion trajectory passes are not occupied by reservation, includes:
With reference to the second implementation of the first aspect, in a third implementation of the present application, after judging whether the target dropping area and the end dropping area are occupied by reservation, the method further includes:
With reference to the first aspect, in a fourth implementation of the present application, determining the motion trajectory according to a current position and the target dropping area includes:
With reference to the fourth implementation of the first aspect, in the fifth implementation of the present application, determining the material dropping manner according to the positional relationship between the motion trajectory and the target material storage device, in a case that the respective dropping areas through which the motion trajectory passes are not occupied by reservation, includes:
With reference to any one of the above implementations of the first aspect, in a sixth implementation of the present application, before determining the material dropping manner according to the positional relationship between the motion trajectory and the target material storage device, in a case that the respective dropping areas through which the motion trajectory passes are not occupied by reservation, the method further includes:
In a second aspect, according to an embodiment of the present application, it is provided a material dropping control device, including:
With reference to the second aspect, in a first implementation of the present application, the motion trajectory determination module includes:
With reference to the first implementation of the second aspect, in a second implementation of the present application, the material dropping manner determination module includes:
With reference to the second implementation of the second aspect, in a third implementation of the present application, the material dropping module includes:
With reference to the third implementation of the second aspect, in a fourth implementation, the material dropping manner determination module further includes:
With reference to the fourth implementation of the second aspect, in a fifth implementation, the material dropping module further includes:
With reference to the second aspect, in a sixth implementation of the present application, the motion trajectory determination module includes:
With reference to the sixth implementation of the second aspect, in a seventh implementation, the material dropping manner determination module includes:
With reference to the seventh implementation of the second aspect, in an eighth implementation of the present application, the material dropping module includes:
With reference to any one of the above implementations of the second aspect, in a ninth implementation of the present application, the material dropping control device further includes:
In a third aspect, according to an embodiment of the present application, it is provided a material dropping apparatus, including a moving base, a stand column, a material conveying device, and the material dropping control device of the second aspect;
In a fourth aspect, according to an embodiment of the present application, it is provided a material dropping system, including:
Another technical solution in the above technical solutions has the following advantages or beneficial effects that in embodiments of the present application, a motion trajectory is determined according to a current dropping area and a target dropping area in a material dropping process. It is then determined whether respective dropping areas through which the motion trajectory passes are occupied by reservation. In a case that they are not occupied by reservation, the problem of collision happening during material dropping is effectively avoided, and the safety of material dropping is improved.
The above summary is merely for the purpose of illustration, which is not intended for limitation in any way. In addition to the illustrative aspects, implementation manners, and characteristics described above, further aspects, implementations, and characteristics of the present application will be readily understood with reference to the accompanying drawings and following detailed description.
In the drawings, unless otherwise specified, the same drawing numerals throughout a plurality of accompanying drawings refer to the same or similar parts or elements. The drawings are not necessarily drawn to scale. It should be understood that the drawings merely depict some embodiments disclosed according to the present application, and should not be construed as limiting the scope of the present application.
Hereinafter, only certain exemplary embodiments are briefly described. As those skilled in the art can realize that the described embodiments may be modified in various different ways without departing from the spirit or scope of the present application. Therefore, the accompanying drawings and description are regarded as illustrative rather than restrictive in nature.
In a specific implementation, a material dropping method is provided. As shown in
S10: determining a target dropping area, wherein the target dropping area corresponds to a target material storage device;
S20: determining a motion trajectory according to a current dropping area and the target dropping area;
S30: determining a material dropping manner according to a positional relationship between the motion trajectory and the target material storage device, in a case that respective dropping areas through which the motion trajectory passes are not occupied by reservation;
S40: dropping materials into the target material storage device according to the determined material dropping manner.
In an example, a plurality of material storage devices are arranged longitudinally in multiple rows; a plurality of dropping areas are arranged between two adjacent rows of material storage devices, and each dropping area corresponds to a material storage device. A material dropping apparatus moves in each dropping area, and puts materials into the material storage devices in the movement process. It should be pointed out that the material storage devices may be cage trolleys, electronic tags can be arranged on the surfaces of the cage trolleys to conveniently determine whether the materials in the cage trolleys are carried away by scanning the electronic tags. The number and distribution positions of the material storage devices in each row are adjusted as needed. In order to facilitate the material dropping, the positions of the material storage devices in each row may not correspond to the positions of the material storage devices in the adjacent row one by one. It is possible that there is no another row of corresponding material storage devices in the opposite of a certain row of material storage devices. One of the dropping areas is selected as the target dropping area. The target dropping area corresponds to the target material storage device. The current dropping area is determined according to the current position, provided that the material dropping apparatus can move from the current dropping area to the target dropping area.
The motion trajectory is determined according to the current dropping area and the target dropping area. The motion trajectory can include all dropping areas through which a material dropping apparatus passes in the entire process of the moving of the material dropping apparatus from the current dropping area, passing the target dropping area, and stopping. Considering that a material dropping apparatus needs to perform a target task in the target dropping area, the material dropping apparatus may collide with other material dropping apparatuses passing the target dropping area, for example, when a material dropping apparatus performing a target task moves to the target dropping area, the target dropping area is already occupied by another material dropping apparatus, then a collision may occur. Therefore, it is necessary to judge whether respective dropping areas passed by the motion trajectory are occupied by reservation, if not, it means that the material dropping apparatus can perform the target task along the motion trajectory.
There are two types of material dropping manners. In the first situation, a material dropping apparatus moves along respective dropping areas, and puts materials into respective passing material storage devices while moving. In the second situation, a material dropping apparatus can only stop in the dropping area for dropping materials, and put materials into material storage devices by rotating a material conveying device on the material dropping apparatus. In the first situation, a material dropping apparatus usually moves along a certain row of dropping areas, and the motion trajectory of the material dropping apparatus is parallel to material dropping holes of respective material storage devices. The material dropping apparatus is controlled to put materials while moving, thus, the material dropping time is saved, the time for stopping and restarting of the material dropping apparatus is eliminated, and the material dropping efficiency is improved. In the second situation, if there is an obstacle in a dropping area adjacent to the target dropping area, the material dropping apparatus can only enter the target dropping area for dropping materials from a direction perpendicular to the material dropping hole of the target material storage device. The material dropping manner of the second situation solves the problem that the material dropping apparatus cannot enter the target dropping area for dropping materials in a case that there is an obstacle(s) at two sides of the target dropping area. Meanwhile, the material dropping apparatus put materials into a material storage device by rotating a material conveying device while moving in the target dropping area, so that the material dropping efficiency is improved.
In an implementation, as shown in
S201: the motion trajectory passing through the current dropping area, the target dropping area, and an end dropping area in which the motion stops, in a case that the current dropping area and the target dropping area are adjacent.
In an example, as shown in
In an implementation, as shown in
S301: judging whether the target dropping area and the end dropping area are occupied by reservation;
S302: the material dropping manner being a first linear dropping manner, in a case that both the target dropping area and the end dropping area are not occupied by reservation, and the motion trajectory is parallel to a material dropping hole of the material storage device, wherein the first linear dropping manner is: dropping the materials into the target material storage device by controlling a material conveying device, when passing over the target material storage device during a process of moving from the current dropping area to the end dropping area.
In an example, as shown in
In an implementation, as show in
S401: dropping the materials into the target material storage device by controlling a material conveying device, when passing over the target material storage device during a process of moving from the current dropping area to the end dropping area, in a case that the material dropping manner is a first linear dropping manner.
In an example, as shown in
In an implementation, as show in
S303: the material dropping manner being a second linear dropping manner, in a case that the end dropping area is occupied by reservation, the target dropping area is not occupied by reservation, and the motion trajectory is parallel to a material dropping hole of the material storage device, wherein the second linear dropping manner is: dropping the materials into the target material storage device by controlling a material conveying device, in the process of moving from the current dropping area to the target dropping area.
In an example, if the dropping area No. 3 is occupied by reservation, the dropping area No. 2 is not occupied by reservation, the target material dropping apparatus starts in the dropping area No. 1, moves to the dropping area No. 2 and stops in the dropping area No. 2.
In an implementation as show in
S402: dropping the materials into the target material storage device by controlling a material conveying device, in the process of moving from the current dropping area to the target dropping area, in a case that the material dropping manner is the second linear dropping manner.
In an example, the target material dropping apparatus can also drop materials into a second material storage device in a braking process, so that the material dropping time is shortened and the material dropping efficiency is improved.
In an implementation, as show in
S202: the motion trajectory passing through the current dropping area, a non-target dropping area, and the target dropping area, in a case that there exists at least one non-target dropping area between the current dropping area and the target dropping area.
In an example, as shown in
In an implementation, as show in
S304: judging whether the target dropping area and the non-target dropping area are occupied by reservation;
S305: the material dropping manner being a rotary dropping manner, in a case that both the target dropping area and the non-target dropping area are not occupied by reservation, and the motion trajectory is perpendicular to a material dropping hole of the material storage device.
In an example, it is determined whether the dropping area No. 1 and the dropping area No. 5 are occupied by reservation. In a case that both the dropping area No. 1 and the dropping area No. 5 are not occupied by reservation, and the material dropping hole of the material storage device directly faces the target dropping apparatus, the target dropping apparatus enters the dropping area No. 1 from a direction perpendicular to the material dropping hole of the first material storage device. Due to the limited movement space of the target dropping apparatus in the dropping area No. 1, the material conveying device on the target dropping equipment is selected and rotated to drop materials into the first material storage device.
In an implementation, as show in
S403: dropping, in the target dropping area, the materials into the target material storage device by controlling the material conveying device to rotate, in a case that the material dropping manner is the rotary dropping manner.
In an example, in order to align the movement direction of a material conveying device with a first material storage device, the material conveying device needs to be rotated by 90 degrees. Only when the material conveying device is perpendicular to the direction of a row in which the first material storage device is located, materials can be effectively drop. The material dropping manner that a target material dropping apparatus controls a material conveying device to rotate while moving can not only save time, but also improve the material dropping efficiency.
In an implementation, as shown in
S11: sending an occupation request for the target dropping area to a server;
S12: receiving occupation allowance information returned by the server, wherein the occupation allowance information comprises that the target dropping area is not occupied by reservation.
In another specific implementation, as shown in
In an implementation, as shown in
In an implementation, as shown in
In an implementation, as shown in
In an implementation, as shown in
In an implementation, as shown in
In an implementation, as shown in
In an implementation, as shown in
In an implementation, as shown in
In an implementation, as shown in
In another specific implementation, a material dropping apparatus is provided as shown in
In an example, the material conveying device 3 may include a belt pulley and a belt motor. While materials enter the belt pulley, the materials can be adjusted to the intermediate dropping position through a moving belt. Three infrared sensors can be arranged on the belt pulley. Two of the three infrared sensors are respectively arranged at the two ends of the belt movement direction, and are used for detecting whether the materials enter a conveying platform. The two infrared sensors are respectively the first infrared sensor and the second infrared sensor. The third infrared sensor is arranged at the dropping position and is used for detecting whether the materials are conveyed to the dropping position. The dropping position can be preferably designed at the center of the belt pulley.
In a specific implementation, it is provided a material dropping system, including:
In the description of the present specification, descriptions with reference to the terms “one embodiment”, “some embodiments”, “examples”, “specific examples”, or “some examples”, and the like mean that specific characteristics, structures, materials, or features described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the described specific characteristics, structures, materials or features can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can join and combine different embodiments or examples and the characteristics of the different embodiments or examples described in the specification without mutual contradiction.
In addition, the terms “first” and “second” are merely used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical characteristics. Thus, the characteristics defined with “first” and “second” may explicitly or implicitly include at least one of the characteristics. In the description of the present application, “a plurality of” means two or more than two, unless otherwise specifically defined.
Any process or method description in the flow diagrams or described in other ways herein can be understood as a module, segment or part of code that includes one or more executable instructions for implementing specific logical functions or steps of the process. Further, the scope of preferred implementation manners of the present application includes additional implementations, wherein functions can be performed out of the order shown or discussed, including in a substantially simultaneous manner or in reverse order according to functions involved. It should be understood by those skilled in the art to which the embodiments of the present application belong.
The logic and/or steps represented in the flow diagrams or described in other ways herein, for example, can be considered as a sequencing list of executable instructions for implementing logic functions, and can be embodied in any computer-readable medium for use by instruction execution systems, devices, or equipment (such as computer-based systems, systems including processors, or other systems that can fetch and execute instructions from the instruction execution systems, devices, or equipment), or is used in combination with the instruction execution systems, devices or equipment. For the specification, the “computer-readable medium” can be any device that can contain, store, communicate, propagate, or transmit a program for use by the instruction execution systems, devices, or equipment or is used in in combination with the instruction execution systems, devices, or equipment. More specific examples (non-exhaustive list) of the computer-readable medium include the following: an electrical connecting piece (electronic device) with one or more wiring, a portable computer disk case (magnetic device), a random-access memory (RAM), a read-only memory (ROM), an erasable and editable read-only memory (EPROM or flash memory), a fiber optic device, and a portable read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable media on which the program can be printed; and for example, the paper or other media can be optically scanned, then editing and interpreting are performed, or the paper or other media can be treated in other suitable manner if necessary so as to electronically obtain the program, and then the program is stored in the computer memory.
It should be understood that each part of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if each part of the present application is implemented by hardware, as in another implementation manner, it can be implemented by any one or a combination of the following technologies known in the art: a discrete component logic circuit with a logic gate circuit for implementing logic functions on data signals, an application-specific integrated circuit with a suitable combinatorial logic gate circuit, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
Those ordinarily skilled in the art can understand that all or part of the steps carried in the method of the foregoing embodiment can be implemented by a program instructing relevant hardware to complete, and the program can be stored in the computer-readable storage medium. When executed, the program includes one of the steps of the method embodiment or a combination of the steps.
In addition, functional units in the various embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more than two units may be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or a software function module. If the integrated module is implemented in the form of the software function module and is sold or used as an independent product, the integrated module may also be stored in the computer-readable storage medium. The storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above is only specific implementation manner of the present application, but the protection scope of the present application is not limited to this. Any technical personnel familiar with the present technical field can easily think of various changes or substitutes within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 201910261394.9 | Apr 2019 | CN | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/CN2019/083386 | 4/19/2019 | WO | 00 |
