A Mechanical Positioning Method Based on Analysis of Current Change Rate

Abstract

The invention discloses a mechanical positioning method based on analysis of a current change rate. The mechanical positioning method comprises the steps of: S1, setting a sampling period t and a current change threshold value Delta Is; S2, acquiring a current value I<T> at a moment T; S3, acquiring a current value I<T+t> at a moment T+t; S4, judging whether an absolute value of I<T+t>-I<T> is less than Delta Is, if so, executing a step S5, otherwise, setting T+t=T, and jumping back to the step S3; S5, judging whether I<T+t>-I<T> is less than 0, if so, executing a step S6, otherwise, executinga step S7; S6, determining that a current position is the minimum load point, and executing a step S8; S7, determining that the current position is the maximum load point, and executing the step S8;S8, and finishing the process. Therefore, the mechanical positioning method can determine the current position according to the change amount of Delta I just by additionally arranging a sampling resistor in a control circuit and periodically sampling current values, is simple and economical, does not need to additionally arranging various auxiliary facilities required in the past, can reduce the system cost and reduce the equipment failure risk caused by sensor damage.

Description

technical field [0001] The invention relates to the field of position detection, in particular to a mechanical positioning method based on analyzing the rate of change of current. Background technique [0002] The degree of automation in modern society is getting higher and higher, and many jobs have been replaced by automated equipment. In automated equipment, obtaining the current position of a component is crucial for the next operation, and then developed precise positioning. Methods, including absolute encoders, gratings, etc. But there are many places that do not require such a high precision, such as detecting whether the arm of the robot is lifted to the highest point or dropped to the lowest point. Such usage scenarios do not require such high precision. Rough positioning methods can be used, such as position switches, reed switches, photoelectric switches, etc. to achieve rough positioning, but these methods require additional supporting sensor devices, complex str...

AI Technical Summary

Problems solved by technology

[0002] The degree of automation in modern society is getting higher and higher, and many jobs have been replaced by automated equipment. In automated equipment, obtaining the current position of a component is crucial for the next operation, and then developed precise positioning. Methods, including absolute encoders, gratings, etc. But there are many places that do not require such a high precision, such as detecting whether the arm of the robot is lifted to the highest point or dropped to the lowest point. Such usage scenarios do not require such high precision. Rough positioning methods can be used, such as position switches, reed switches, photoelectric switches, etc. to achieve rough positioning, but these methods require additional supporting sensor devices, complex structures, and troublesome installation; most of them also need to be based on load conditions Carry out pre-calibration. In the case of large load changes, manual recalibration is required every time. If the load changes frequently, it may even lose its practical value completely.

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