Intelligent rotating cabinet pallet positioning method and device

Abstract

The application provides a kind of intelligent rotating cabinet goods tray positioning method and device.The intelligent rotating cabinet goods tray positioning method provided by the application comprises: controlling motor to make goods tray rotate at first preset speed, detecting the number of baffle on the goods tray, when the number of detected baffle accumulates to first preset baffle number, then control motor brake to make goods tray decelerate until stop, if first preset baffle and second preset baffle are detected within first preset time, then determine that goods tray reset is successful;Control motor to make goods tray rotate at second preset speed, detect the number of notch on the goods tray, when the number of detected notch accumulates to first preset notch number, then control motor brake to make goods tray decelerate until stop, if preset notch of target column is detected within second preset time, then control motor brake to make goods tray stop.The intelligent rotating cabinet goods tray positioning method of the application improves the positioning accuracy of goods tray reset positioning and goods tray rotation to target column.

Description

Technical Field

[0001] This invention relates to the field of rotating cabinet technology, and in particular to an intelligent rotating cabinet pallet positioning method and device. Background Technology

[0002] Existing smart rotating cabinets can be set with hundreds of compartments, increasing the number of goods that can be delivered in the smart rotating cabinet. With the development of intelligence, smart rotating cabinets have the advantages of high intelligence, convenience and high space utilization, and are therefore widely used in different retail industries.

[0003] Currently, there are many types of rotating cabinets in China, but some rotating cabinet pallets are often mispositioned, causing users to frequently take the wrong items, leading to user complaints and property losses. Therefore, improving the accuracy of rotating cabinet pallet positioning is an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent rotating container pallet positioning method and device to solve the technical problem of low accuracy in rotating container pallet positioning in the prior art.

[0005] The technical solution of the present invention provides an intelligent rotating container pallet positioning method, comprising the following steps:

[0006] When the intelligent rotating cabinet is powered on or receives a reset command, it checks whether the pallet is in the origin state. If not, it controls the motor of the intelligent rotating cabinet to rotate the pallet at a first preset speed and detects the number of baffles on the pallet. When the number of detected baffles reaches the first preset number of baffles, it controls the motor to brake and decelerate the pallet until it stops. If the first preset baffle and the second preset baffle are detected within the first preset time, it is determined that the pallet reset is successful.

[0007] After receiving the instruction to rotate the pallet to the target column, the motor is controlled to rotate the pallet at a second preset speed, and the number of gaps on the pallet is detected. When the number of detected gaps reaches the first preset number of gaps, the motor is controlled to brake to decelerate the pallet until it stops. If a preset gap in the target column is detected within a second preset time period, the motor is controlled to apply the brake to stop the pallet.

[0008] Furthermore, before the cumulative number of detected baffles reaches the first preset number of baffles, the process also includes:

[0009] When the cumulative number of detected baffles reaches the second preset number of baffles, the motor is controlled to rotate the pallet at a third preset speed, wherein the first preset speed is greater than the third preset speed, and the first preset number of baffles is greater than the second preset number of baffles.

[0010] Furthermore, the intelligent rotating cabinet pallet positioning method further includes the following: if the motor rotation time reaches a third preset duration before the cumulative number of detected baffles reaches a second preset number of baffles, or if the duration of detected baffles exceeds the first preset duration before the cumulative number of detected baffles reaches a first preset number of baffles, or if no baffle is detected within the first preset duration after controlling the motor to brake and decelerate the pallet until it stops, then the pallet reset fails.

[0011] Furthermore, before the cumulative number of detected gaps reaches a first preset gap number, the method further includes:

[0012] When the number of detected gaps reaches the second preset gap number, the motor is controlled to rotate the pallet at a fourth preset speed, wherein the first preset gap number is greater than the second preset gap number, and the second preset speed is greater than the fourth preset speed.

[0013] Furthermore, after controlling the motor brake to stop the pallet and after a fourth preset time period, if the preset gap of the target column is detected again, it is determined that the pallet has moved into position.

[0014] Furthermore, the intelligent rotating cabinet pallet positioning method also includes: if the preset gap of the target column is not detected again after a fourth preset time period, the motor is controlled to rotate the pallet in the opposite direction to the second preset speed; if the preset gap of the target column is detected within a fifth preset time period, the motor brake is controlled to stop the pallet, and the pallet is determined to have moved into position.

[0015] Furthermore, the intelligent rotating cabinet pallet positioning method also includes: if no preset gap in the target column is detected within a second preset time period, controlling the motor to make the pallet continue to rotate; if the preset gap in the target column is detected within a sixth preset time period, controlling the motor brake to stop the pallet, and determining that the pallet has moved into position.

[0016] Furthermore, the motor controlling the intelligent rotating cabinet causes the pallet to rotate at a first preset speed, including:

[0017] If the current column number of the pallet is greater than half of the total number of columns of the intelligent rotating cabinet, the motor of the intelligent rotating cabinet is controlled to make the pallet rotate forward at a first preset speed; otherwise, it rotates in the reverse direction. The forward rotation of the pallet means that the pallet rotates from small to large column number, and the reverse rotation of the pallet means that the pallet rotates from large to small column number.

[0018] Controlling the motor to rotate the pallet at a second preset speed includes,

[0019] If the absolute value of the difference between the column number of the target column and the current column number of the pallet is less than or equal to half of the total number of columns, and the column number of the target column is greater than the current column number, then the motor is controlled to rotate the pallet forward at a second preset speed; if the absolute value of the difference between the column number of the target column and the current column number is greater than half of the total number of columns, and the column number of the target column is less than the current column number, then the motor is controlled to rotate the pallet forward at a second preset speed; if the absolute value of the difference between the column number of the target column and the current column number is less than or equal to half of the total number of columns, and the column number of the target column is not greater than the current column number, then the motor is controlled to rotate the pallet backward at a second preset speed.

[0020] Another technical solution of the present invention provides an intelligent rotating container pallet positioning device, including a column photoelectric sensor, an origin photoelectric sensor, and a control module.

[0021] The control module is used to enable the column photoelectric sensor and the origin photoelectric sensor to cooperate when the intelligent rotating cabinet is powered on or receives a reset command, so as to detect whether the pallet is in the origin state.

[0022] The origin photoelectric sensor is used to detect the baffles on the pallet;

[0023] The photoelectric sensor is used to detect gaps on the pallet;

[0024] The control module is also used to control the motor of the intelligent rotating cabinet to make the pallet rotate at a first preset speed when the pallet is not in the origin state.

[0025] It is also used to control the motor brake to decelerate the pallet until it stops when the number of baffles detected by the origin photoelectric sensor reaches the first preset number of baffles. When the origin photoelectric sensor detects the first preset baffle and the column photoelectric sensor detects the second preset baffle within the first preset time period, it is determined that the pallet reset is successful.

[0026] It is also used to control the motor to make the pallet rotate at a second preset speed after receiving an instruction to rotate the pallet to the target column;

[0027] It is also used to control the motor brake to decelerate the pallet until it stops when the cumulative number of gaps detected by the column photoelectric sensor reaches a first preset number of gaps, and to control the motor brake to stop the pallet when the column photoelectric sensor detects a preset gap in the target column within a second preset time period.

[0028] Furthermore, the control module controls the motor to rotate the pallet at a second preset speed, including:

[0029] When the photoelectric sensor detects any baffles other than the second preset baffle on the pallet, the control module controls the motor to reverse the pallet for a seventh preset time, and then controls the motor to rotate the pallet at a second preset speed; wherein, the reversal of the pallet means that the pallet rotates from the largest to the smallest column number.

[0030] The beneficial effects of this invention are as follows: When the intelligent rotating cabinet is powered on or receives a reset command, it detects whether the pallet is in the origin state. If not, it controls the motor of the intelligent rotating cabinet to rotate the pallet at a first preset speed and detects the number of baffles on the pallet. When the cumulative number of detected baffles reaches the first preset number, it controls the motor to brake and decelerate the pallet until it stops. If the first preset baffle and the second preset baffle are detected within a first preset time period, it is determined that the pallet reset is successful. This allows the pallet to be reset when the intelligent rotating cabinet is powered on or when a reset is required, improving the efficiency of the system. The accuracy of pallet reset positioning is improved, thereby enhancing the positioning accuracy of subsequent pallet rotation to the target column. Upon receiving the instruction to rotate the pallet to the target column, the motor is controlled to rotate the pallet at a second preset speed, and the number of gaps on the pallet is detected. When the cumulative number of detected gaps reaches a first preset number of gaps, the motor is controlled to brake, causing the pallet to decelerate until it stops. If a preset gap in the target column is detected within a second preset time period, the motor is controlled to apply a brake, stopping the pallet. This allows the pallet to be accurately rotated to the target column, improving the positioning accuracy of the pallet rotation to the target column. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the first process of the intelligent rotating cabinet pallet positioning method provided in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of the intelligent rotating cabinet provided in an embodiment of the present invention;

[0033] Figure 3 Provided for embodiments of the present invention Figure 2 Enlarged view of point i in the middle;

[0034] Figure 4 This is a schematic diagram of the second process of the intelligent rotating cabinet pallet positioning method provided in an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the third process of the intelligent rotating cabinet pallet positioning method provided in an embodiment of the present invention;

[0036] Figure 6This is a schematic diagram of a process for rotating the pallet at a first preset speed, provided by an embodiment of the present invention.

[0037] Figure 7 This is a schematic diagram of the process for rotating the pallet at a second preset speed, provided by an embodiment of the present invention.

[0038] Figure 8 This is a structural block diagram of the intelligent rotating container pallet positioning device provided in an embodiment of the present invention.

[0039] Reference numerals: 1-Notch; 2-Column photoelectric sensor; 3-Baffle; 4-Origin photoelectric sensor; 5-Column; 6-Grid opening; 7-Panel; 8-Control module. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0041] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0042] Figure 1 This is a first flowchart illustrating the intelligent rotating container pallet positioning method according to an embodiment of the present invention. It should be noted that if substantially the same result is achieved, the intelligent rotating container pallet positioning method of the present invention does not necessarily follow the same approach. Figure 1 The illustrated process sequence is limited. For example... Figure 1 As shown, the intelligent rotating container pallet positioning method mainly includes the following steps:

[0043] S1. When the intelligent rotating cabinet is powered on or receives a reset command, it checks whether the pallet is in the origin state. If not, it controls the motor of the intelligent rotating cabinet to make the pallet rotate at a first preset speed and detects the number of baffles on the pallet. When the number of detected baffles reaches the first preset number of baffles, it controls the motor to brake and slow down the pallet until it stops. If the first preset baffle and the second preset baffle on the pallet are detected within the first preset time, it is determined that the pallet reset is successful.

[0044] It should be noted that the pallet is a cylindrical pallet with several columns, each column corresponding to one compartment and multiple notches. These notches are evenly distributed across the corresponding columns. The pallet has multiple baffles, which can be detected by a point photoelectric sensor and by column photoelectric sensors. Both the column and point photoelectric sensors can be U-shaped. These sensors are fixed to the intelligent rotating cabinet and do not rotate with the motor or the pallet. The baffles and notches can rotate with the motor and the pallet. The pallet can be successfully reset by determining whether the number of detected baffles has accumulated to a first preset number, and after controlling the motor to brake and decelerate the pallet until it stops, determining whether the first and second preset baffles are detected within a first preset time period. A successful reset indicates the pallet is in the origin state (position). If the pallet is in the origin state, a reset step is not required. The motor can be a DC motor.

[0045] A schematic diagram of the structure of the intelligent rotating cabinet in one specific embodiment is shown below. Figure 2 As shown, Figure 2 Pallet 7 is a cylindrical pallet, consisting of several columns 5 and several layers. Figure 2 A magnified view of point i, as shown below. Figure 3 As shown; in Figure 2 or Figure 3 In the intelligent rotating cabinet, a column photoelectric sensor 2 is installed to detect and count gaps 1. Each time a column of pallets 7 moves, the gap count value can be N1-1, where N1 is the number of gaps in each column of pallets 7. However, since each column 5 shares one gap 1 with other columns 5, the gap count value can be N1-1, for example, 2 < N1 ≤ 10. The intelligent rotating cabinet also has an origin photoelectric sensor 4, which detects and counts baffles 3. The total number of baffles 3 can be N2, for example, 2 < N2 ≤ 10. Both N1 and N2 can be odd numbers. When the column photoelectric sensor 2 counts gaps 1 and the origin photoelectric sensor 4 counts baffles 3, the gap count value and the baffle count value are incremented by 1 when the gap 1 blocks the column photoelectric sensor 2 for an eighth preset time T2, and when the baffle 3 blocks the origin photoelectric sensor 4 for an eighth preset time T2, respectively. The eighth preset time T2 can be in the range of 0.1s to 0.5s.

[0046] In one specific embodiment, the motor of the intelligent rotating cabinet can rotate to drive the notch and baffles to rotate. The system can determine whether the pallet has successfully reset, i.e., whether the pallet is in its original position, by judging whether the cumulative number of detected baffles has reached a first preset number of baffles (N2+1)-1, and after controlling the motor to brake and decelerate the pallet until it stops, judging whether the first preset baffle and the second preset baffle are detected within a first preset time period T3. The first preset number of baffles can be (N2+1) / 2-1. For example, if the total number of baffles N2 is 5, then the first preset number of baffles can be 2. The first preset time period T3 can be 0.5~3s. A preset baffle can be the third baffle (counting counter-clockwise), and a second preset baffle can be the first baffle (counting counter-clockwise). The first preset baffle can also be the fourth baffle, and the second preset baffle can be the second baffle. It should be noted that the order of the first and second preset baffles is determined by the total number of baffles and the distance between the origin photoelectric sensor and the column photoelectric sensor. When the pallet is in the reset state, the first preset baffle and the origin photoelectric sensor correspond to the pallet's origin, with the first preset baffle exactly blocking the origin photoelectric sensor. For example, the first preset baffle, the origin photoelectric sensor, and the pallet's origin can be in a straight line. After the board on the intelligent rotating cabinet is powered on, a pallet reset is required, i.e., the pallet is placed at the origin (zero) position. Then, according to the command to rotate the pallet to the target column, the pallet performs column movement.

[0047] S2. After receiving the instruction to rotate the pallet to the target column, the motor is controlled to rotate the pallet at a second preset speed, and the number of gaps on the pallet is detected. When the number of detected gaps reaches the first preset number of gaps, the motor is controlled to brake to decelerate the pallet until it stops. If a preset gap in the target column is detected within a second preset time period, the motor is controlled to brake to stop the pallet.

[0048] It should be noted that the preset gap of the target column can be the last gap of the target column. If the preset gap of the target column is detected within the second preset time period, the motor brake is controlled to stop the pallet. That is, if the last gap of the target column is detected within the second preset time period, the motor brake is controlled to stop the pallet. The second preset time period can be T3.

[0049] In some embodiments, before the cumulative number of detected baffles reaches a first preset number of baffles, the method further includes:

[0050] When the cumulative number of detected baffles reaches the second preset number of baffles, the motor is controlled to rotate the pallet at a third preset speed, wherein the first preset speed is greater than the third preset speed, and the first preset number of baffles is greater than the second preset number of baffles.

[0051] In one specific embodiment, a schematic diagram of the second process of the intelligent rotating cabinet pallet positioning method is shown below. Figure 4 As shown. In Figure 4 The intelligent rotating cabinet pallet positioning method includes: when the intelligent rotating cabinet is powered on or receives a reset command, detecting whether the pallet is in the origin state; if not, controlling the motor of the intelligent rotating cabinet to rotate the pallet at a first preset speed and detecting the number of baffles on the pallet; determining whether the detected number of baffles has accumulated to a second preset number of baffles; if so, controlling the motor to rotate the pallet at a third preset speed; determining whether the detected number of baffles has accumulated to a first preset number of baffles; if so, controlling the motor to brake and decelerate the pallet until it stops; if the first preset baffle and the second preset baffle are detected within a first preset time period, the pallet is determined to have been successfully reset; after receiving an instruction to rotate the pallet to the target column, controlling the motor to rotate the pallet at a second preset speed and detecting the number of gaps on the pallet; determining whether the detected number of gaps has accumulated to a first preset number of gaps; if so, controlling the motor to brake and decelerate the pallet until it stops; if a preset gap of the target column is detected within a second preset time period, controlling the motor to brake and stop the pallet.

[0052] In one specific embodiment, when the column photoelectric sensor detects baffles on the pallet other than the second preset baffle, the motor is controlled to reverse the pallet for a seventh preset time T4. T4 can be in the range of 1s to 5s. After the pallet stops rotating, the motor is then controlled to rotate the pallet at a second preset speed. The reverse rotation (clockwise rotation) means the pallet rotates according to the column number from largest to smallest. The number of the second preset baffles can be (N2+1) / 2-2. For example, when N2 is 5, the number of the second preset baffles is 1. When the cumulative number of detected baffles reaches 1, the motor is controlled to decelerate the pallet, causing it to rotate at a third preset speed.

[0053] The intelligent rotating cabinet pallet positioning method provided in this invention detects whether the pallet is at its origin when the intelligent rotating cabinet is powered on or receives a reset command. If not, it controls the motor of the intelligent rotating cabinet to rotate the pallet at a first preset speed and detects the number of baffles on the pallet. When the cumulative number of detected baffles reaches the first preset number, it controls the motor to brake and decelerate the pallet until it stops. If the first preset baffle and the second preset baffle are detected within a first preset time period, it is determined that the pallet reset is successful. This method can achieve pallet reset when the intelligent rotating cabinet is powered on or when a reset is required. This improves the accuracy of pallet reset positioning, thereby improving the positioning accuracy of subsequent pallet rotation to the target column. After receiving the instruction to rotate the pallet to the target column, the motor is controlled to rotate the pallet at a second preset speed, and the number of gaps on the pallet is detected. When the cumulative number of detected gaps reaches a first preset number of gaps, the motor is controlled to brake, causing the pallet to decelerate until it stops. If a preset gap in the target column is detected within a second preset time period, the motor is controlled to brake, stopping the pallet. This allows the pallet to be rotated to the target column accurately, improving the positioning accuracy of the pallet rotation to the target column.

[0054] In some embodiments, the intelligent rotating cabinet pallet positioning method further includes the following: if the motor rotation time reaches a third preset duration before the cumulative number of detected baffles reaches a second preset number of baffles, or if the duration of detected baffles exceeds the first preset duration before the cumulative number of detected baffles reaches a first preset number of baffles, or if no baffle is detected within the first preset duration after controlling the motor to brake and decelerate the pallet until it stops, then the pallet reset fails.

[0055] In one specific embodiment, if the motor rotation time reaches a third preset duration T5 before the cumulative number of detected baffles reaches a second preset number of baffles (T5 can be in the range of 10s to 30s), it indicates that the motor rotation is abnormal, the pallet reset has failed, the motor rotation can be stopped, and the control module can report the abnormal motor rotation information to the host computer. If the duration of detected baffles exceeds the first preset duration T3 before the cumulative number of detected baffles reaches a first preset number of baffles (i.e., one baffle blocks the origin sensor for more than the first preset duration T3), it indicates that the motor rotation is abnormal, the pallet reset has failed, the motor rotation can be stopped, and the abnormal motor rotation information can be reported to the host computer. If no baffle is detected within the first preset duration T3 after the motor is braked to decelerate the pallet until it stops, it indicates that the pallet rotation is abnormal, the pallet reset has failed, and the abnormal pallet rotation information can be reported to the host computer.

[0056] In another specific embodiment, in addition to abnormal motor rotation and pallet rotation, abnormal door magnetic detection and abnormal motor current detection may also occur during pallet rotation. The door magnetic status can be continuously monitored to detect whether the panel door and compartment 6 are open during motor operation (rotation). If either the panel door or compartment 6 is open, the motor brake and holding brake are activated, and a door magnetic detection abnormality is reported. Motor braking can refer to the motor decelerating to a stop; the distance the motor rotates from braking to complete stop may be relatively long. Motor holding brake can refer to the motor stopping immediately; the distance the motor rotates from holding brake to complete stop is extremely short. The current status can be continuously monitored to detect whether overcurrent occurs during motor operation. If overcurrent occurs, the motor brake and holding brake are activated, and a motor current detection abnormality is reported. For example, if the current exceeds I, an overcurrent is considered to exist. I can be in the range of 2A to 8A.

[0057] In some embodiments, before the cumulative number of detected gaps reaches a first preset number of gaps, the method further includes:

[0058] When the number of detected gaps reaches the second preset gap number, the motor is controlled to rotate the pallet at a fourth preset speed, wherein the first preset gap number is greater than the second preset gap number, and the second preset speed is greater than the fourth preset speed.

[0059] In one specific embodiment, a schematic diagram of the third process of the intelligent rotating cabinet pallet positioning method is shown below. Figure 5 As shown, in Figure 5 The intelligent rotating cabinet pallet positioning method includes, upon receiving an instruction to rotate the pallet to the target column, controlling the motor to rotate the pallet at a second preset speed, detecting the number of gaps on the pallet, determining whether the number of detected gaps has accumulated to a second preset gap number, and if so, controlling the motor to rotate the pallet at a fourth preset speed; determining whether the number of detected gaps has accumulated to a first preset gap number, and if so, controlling the motor to brake to decelerate the pallet until it stops; and if a preset gap in the target column is detected within a second preset time period, controlling the motor to apply a brake to stop the pallet.

[0060] In one specific embodiment, when the cumulative number of detected gaps reaches a second preset gap number, the motor is controlled to rotate the pallet at a fourth preset speed. The fourth preset speed can be the same as or different from the third preset speed. The second preset gap number is (N1-1)*C-2, where C is the absolute value of the target column number minus the current column number of the pallet. When the cumulative number of detected gaps reaches a first preset gap number (N1-1)*C-1, the motor is controlled to brake and decelerate the pallet until it stops. For example, when N1 is 5 and C is 3, the second preset gap number is 10 and the first preset gap number is 11. The columns of the pallet can be numbered sequentially from the origin in a counterclockwise order from smallest to largest. For example, the columns are numbered 1-10, with column number 1 being the first column and column number 10 being the tenth column.

[0061] In some embodiments, if the preset gap in the target column is detected again after the motor brake is controlled to stop the pallet and a fourth preset time period has elapsed, it is determined that the pallet has moved into position.

[0062] In one specific embodiment, if a preset gap in the target column is detected within a second preset time period, the motor brake is controlled to stop the pallet, at which point it can be determined that the pallet has moved into position. Alternatively, if the preset gap is detected again after the motor brake has stopped the pallet and a fourth preset time period has elapsed (i.e., a fourth preset time delay), it can be determined that the pallet has moved into position. When the pallet is determined to have moved into position, the cumulative number of gaps recorded by the photoelectric sensors of the current column is (N1-1)*C, and column success information can be fed back to the host computer. The fourth preset time period can be the same as the second preset time period.

[0063] In some embodiments, the intelligent rotating cabinet pallet positioning method further includes: if the preset gap is not detected again after a fourth preset time period, controlling the motor to make the pallet rotate in the opposite direction to the second preset speed; if the preset gap is detected within a fifth preset time period, controlling the motor brake to stop the pallet, and determining that the pallet has moved into place.

[0064] It should be noted that if the preset gap is not detected within the fifth preset time period, the motor brake is controlled to stop the pallet, indicating that the pallet has not moved into position, i.e., the positioning has failed. The positioning failure information can be uploaded to the host computer. The second preset speed corresponds to the same rotation direction as the fourth preset speed. If the preset gap is not detected again after the fourth preset time period, it means that the gap exceeded the detection range of the column photoelectric sensor during the period when the motor brake stopped the pallet. At this time, it is necessary to control the motor to reverse the pallet (rotate in the opposite direction to the second preset speed) to compensate for the pallet rotation. Afterwards, if the preset gap is detected within the fifth preset time period, the motor brake is controlled to stop the pallet. At this time, the pallet stops accurately in the target column. The fifth preset time period can be the same as the second preset time period.

[0065] In some embodiments, the intelligent rotating cabinet pallet positioning method further includes: if no preset gap in the target column is detected within a second preset time period, controlling the motor to make the pallet continue to rotate; if the preset gap is detected within a sixth preset time period, controlling the motor brake to stop the pallet, and determining that the pallet has moved into position.

[0066] It should be noted that if the preset gap of the target column is not detected within the second preset time period, it means that the pallet is stopped in front of the preset gap. The preset gap can be the last gap of the target column. In this case, pallet rotation compensation is required, that is, the motor needs to be controlled to make the pallet rotate. The sixth preset time period can be the same as the second preset time period. If the preset gap is not detected within the sixth preset time period, it is determined that the pallet has not moved into place, and the failure to move into place information can be uploaded to the host computer.

[0067] In one specific embodiment, if the motor rotation time reaches a third preset duration T5 before the cumulative number of detected gaps reaches a second preset gap number, it indicates that the motor rotation is abnormal, confirming that the pallet has failed to be placed, and the motor rotation can be stopped. The control module can report the abnormal motor rotation information to the host computer. If the duration of the detected gap exceeds the first preset duration T3 before the cumulative number of detected gaps reaches a first preset gap number, that is, the duration for which the column sensor detects a gap exceeds the first preset duration T3, it indicates that the motor rotation is abnormal, confirming that the pallet has failed to be placed, and the motor rotation can be stopped. The abnormal motor rotation information can be reported to the host computer.

[0068] In some embodiments, the motor controlling the intelligent rotating cabinet causes the pallet to rotate at a first preset speed, including:

[0069] If the current column number of the pallet is greater than half of the total number of columns of the intelligent rotating cabinet, the motor of the intelligent rotating cabinet is controlled to make the pallet rotate forward at a first preset speed; otherwise, it rotates in the reverse direction. The forward rotation of the pallet means that the pallet rotates from small to large column number, and the reverse rotation of the pallet means that the pallet rotates from large to small column number.

[0070] Controlling the motor to rotate the pallet at a second preset speed includes,

[0071] If the absolute value of the difference between the column number of the target column and the current column number of the pallet is less than or equal to half of the total number of columns, and the column number of the target column is greater than the current column number, then the motor is controlled to rotate the pallet forward at a second preset speed; if the absolute value of the difference between the column number of the target column and the current column number is greater than half of the total number of columns, and the column number of the target column is less than the current column number, then the motor is controlled to rotate the pallet forward at a second preset speed; if the absolute value of the difference between the column number of the target column and the current column number is less than or equal to half of the total number of columns, and the column number of the target column is not greater than the current column number, then the motor is controlled to rotate the pallet backward at a second preset speed.

[0072] In one specific embodiment, a schematic diagram of the process of rotating the pallet at a first preset speed is shown below. Figure 6 As shown in the diagram, the process of rotating the pallet at a second preset speed is illustrated. Figure 7 As shown, Figure 7 In the diagram, C1 represents the total number of columns. When the intelligent rotating cabinet is powered on or receives a reset command, it checks whether both the panel door and the compartment door are closed. If either the panel door or the compartment door is open, the reset fails and a message indicating a reset failure is sent to the host computer. This prevents users from putting their hands into the intelligent rotating cabinet or compartment when the panel door or compartment door is open, thus avoiding hand injuries caused by the rotating pallet.

[0073] If both the panel door and the compartment door are closed, check whether the first and second preset baffles block the origin photoelectric sensor and the column photoelectric sensor respectively. That is, check whether the origin photoelectric sensor and the column photoelectric sensor detect the first and second preset baffles respectively. If yes, it indicates that the pallet has been successfully reset, and a successful reset message can be sent to the host computer. If not, control the motor of the intelligent rotating cabinet to rotate the pallet at a first preset speed, thereby resetting the pallet and resetting the motor driver. Resetting the motor driver is to clear the previous abnormal rotation state and prevent the motor from failing to rotate due to the previous abnormal rotation state not being cleared. When controlling the motor of the intelligent rotating cabinet to rotate the pallet at the first preset speed, it is necessary to determine whether the current column number of the pallet is greater than half of the total number of columns in the intelligent rotating cabinet. If yes, control the motor to rotate the pallet forward; if not, control the motor to rotate the pallet backward. The total number of columns C1 can be in the range of 4 to 30.

[0074] In another specific embodiment, after receiving the instruction to rotate the pallet to the target column, it checks whether both the panel door and the compartment door of the intelligent rotating cabinet are closed. If either the panel door or the compartment door is open, the rotation to the target column fails (positioning failure), and a positioning failure message can be sent to the host computer. Positioning is successful when the column number of the target column is equal to the current column number. If the absolute value of the target column number minus the current column number of the pallet is less than or equal to half of the total number of columns, and the target column number is greater than the current column number, the motor is controlled to rotate the pallet forward at a second preset speed. If the absolute value of the target column number minus the current column number is greater than half of the total number of columns, and the target column number is less than the current column number, the motor is controlled to rotate the pallet forward at a second preset speed. If the absolute value of the target column number minus the current column number is less than or equal to half of the total number of columns, and the target column number is not greater than the current column number, the motor is controlled to rotate the pallet backward at a second preset speed.

[0075] The intelligent rotating cabinet pallet positioning method provided in this invention detects whether the pallet is at its origin when the intelligent rotating cabinet is powered on or receives a reset command. If not, it controls the motor of the intelligent rotating cabinet to rotate the pallet at a first preset speed and detects the number of baffles on the pallet. When the cumulative number of detected baffles reaches the first preset number, it controls the motor to brake and decelerate the pallet until it stops. If the first preset baffle and the second preset baffle are detected within a first preset time period, it is determined that the pallet reset is successful. This method can achieve pallet reset when the intelligent rotating cabinet is powered on or when a reset is required. This improves the accuracy of pallet reset positioning, thereby improving the positioning accuracy of subsequent pallet rotation to the target column. After receiving the instruction to rotate the pallet to the target column, the motor is controlled to rotate the pallet at a second preset speed, and the number of gaps on the pallet is detected. When the cumulative number of detected gaps reaches a first preset number of gaps, the motor is controlled to brake, causing the pallet to decelerate until it stops. If a preset gap in the target column is detected within a second preset time period, the motor is controlled to brake, stopping the pallet. This allows the pallet to be rotated to the target column accurately, improving the positioning accuracy of the pallet rotation to the target column.

[0076] The intelligent rotating cabinet of this invention uses a cylindrical pallet, which reduces the space occupied by the cabinet and increases its capacity. The pallet positioning method of this invention improves the positioning accuracy and reduces the positioning cost. The cylindrical pallet has numerous evenly spaced notches at its bottom. Photoelectric sensors count the number of notches and baffles to achieve positioning. The intelligent rotating cabinet pallet positioning method of this invention also considers abnormal situations such as motor current detection and anti-pinch detection, and provides corresponding corrections for each abnormal situation, improving positioning safety.

[0077] The intelligent rotating cabinet pallet positioning method of this invention uses a DC motor and photoelectric sensors to position the origin and column. It has a low cost and does not accumulate positioning errors due to increased friction in the intelligent rotating cabinet structure, thus improving the accuracy and stability of positioning and greatly reducing the input of manpower and material resources.

[0078] This invention provides an intelligent rotating container pallet positioning device, the structural block diagram of which is shown below. Figure 4 As shown, the intelligent rotating container pallet positioning device includes a column photoelectric sensor 2, an origin photoelectric sensor 4, and a control module 8.

[0079] The control module 8 is used to make the column photoelectric sensor 2 and the origin photoelectric sensor 4 cooperate to detect whether the pallet is in the origin state when the intelligent rotating cabinet is powered on or receives a reset command.

[0080] The origin photoelectric sensor 4 is used to detect the baffles on the pallet;

[0081] The photoelectric sensor 2 is used to detect the gaps on the pallet;

[0082] The control module 8 is also used to control the motor of the intelligent rotating cabinet to make the pallet rotate at a first preset speed when the pallet is not in the origin state.

[0083] It is also used to control the motor brake to decelerate the pallet until it stops when the number of baffles detected by the origin photoelectric sensor 4 reaches the first preset number of baffles. When the origin photoelectric sensor 4 detects the first preset baffle and the column photoelectric sensor 2 detects the second preset baffle within the first preset time period, it is determined that the pallet reset is successful.

[0084] It is also used to control the motor to make the pallet rotate at a second preset speed after receiving an instruction to rotate the pallet to the target column;

[0085] It is also used to control the motor brake to decelerate the pallet until it stops when the number of gaps detected by the column photoelectric sensor 2 reaches a first preset number of gaps, and to control the motor brake to stop the pallet when the column photoelectric sensor 2 detects a preset gap in the target column within a second preset time period.

[0086] It should be noted that the control module 8 can be a main control board, a controller, or a control chip.

[0087] In some embodiments, the control module 8 controls the motor to rotate the pallet at a second preset speed, including:

[0088] When the photoelectric sensor 2 detects any baffles on the pallet other than the second preset baffle, the control module 8 controls the motor to reverse the pallet for a seventh preset time, and then controls the motor to rotate the pallet at a second preset speed; wherein, the reversal of the pallet means that the pallet rotates from the largest to the smallest column number.

[0089] It should be noted that when the column photoelectric sensor 2 detects other baffles on the pallet besides the second preset baffle, or when the origin photoelectric sensor 4 detects other baffles on the pallet besides the first preset baffle, it indicates that the pallet is not at the origin. At this time, it is necessary to control the motor to reverse for a seventh preset time, so that the column photoelectric sensor 2 and the origin photoelectric sensor 4 rotate out of the baffle range and are outside the range of all baffles. The seventh preset time can be in the range of 1s to 5s.

[0090] In some embodiments, the control module 8 is further configured to control the motor to rotate the pallet at a third preset speed before the cumulative number of baffles detected by the origin photoelectric sensor 4 reaches a first preset number of baffles, and when the cumulative number of baffles detected by the origin photoelectric sensor 4 reaches a second preset number of baffles, wherein the first preset speed is greater than the third preset speed, and the first preset number of baffles is greater than the second preset number of baffles.

[0091] In some embodiments, the control module 8 is further configured to: ...

[0092] In some embodiments, the control module 8 is further configured to control the motor to rotate the pallet at a fourth preset speed before the number of gaps detected by the origin photoelectric sensor 4 accumulates to a first preset number of gaps, and when the number of gaps detected by the origin photoelectric sensor 4 accumulates to a second preset number of gaps, wherein the first preset number of gaps is greater than the second preset number of gaps, and the second preset speed is greater than the fourth preset speed.

[0093] In some embodiments, the control module 8 is further configured to determine that the pallet has moved into position if, after controlling the motor brake to stop the pallet and after a fourth preset time period, the column photoelectric sensor 2 detects the preset gap in the target column again.

[0094] In some embodiments, the control module 8 is further configured to, after controlling the motor brake to stop the pallet and after a fourth preset time period, if the column photoelectric sensor 2 does not detect the preset gap of the target column again, control the motor to rotate the pallet in the opposite direction to the second preset speed; then, if the column photoelectric sensor 2 detects the preset gap of the target column within a fifth preset time period, control the motor brake to stop the pallet, and determine that the pallet has moved into position.

[0095] In some embodiments, the control module 8 is further configured to, when the column photoelectric sensor 2 does not detect the preset gap of the target column within a second preset time period, control the motor to make the pallet continue to rotate; and if the column photoelectric sensor 2 detects the preset gap of the target column within a sixth preset time period, control the motor brake to stop the pallet and determine that the pallet has moved into place.

[0096] In some embodiments, the control module 8 is further configured to, when the current column number of the pallet is greater than half of the total number of columns of the intelligent rotating cabinet, control the motor of the intelligent rotating cabinet to make the pallet rotate forward at a first preset speed; otherwise, control the motor of the intelligent rotating cabinet to make the pallet rotate backward at the first preset speed. The forward rotation of the pallet means that the pallet rotates according to the column number from small to large, and the reverse rotation of the pallet means that the pallet rotates according to the column number from large to small.

[0097] The control module 8 is further configured to: control the motor to rotate the pallet forward at a second preset speed when the absolute value of the difference between the column number of the target column and the current column number of the pallet is less than or equal to half of the total number of columns, and the column number of the target column is greater than the current column number; control the motor to rotate the pallet forward at a second preset speed when the absolute value of the difference between the column number of the target column and the current column number is greater than half of the total number of columns, and the column number of the target column is less than the current column number; and control the motor to rotate the pallet in the opposite direction at a second preset speed when the absolute value of the difference between the column number of the target column and the current column number is less than or equal to half of the total number of columns, and the column number of the target column is not greater than the current column number.

[0098] For other details regarding the implementation of the above-mentioned intelligent rotating cabinet pallet positioning device, please refer to the description of the intelligent rotating cabinet pallet positioning method provided in the above-mentioned embodiments of the invention, which will not be repeated here.

[0099] The intelligent rotating cabinet pallet positioning device provided in this embodiment of the invention, through the control module 8, when the intelligent rotating cabinet is powered on or receives a reset command, causes the column photoelectric sensor 2 and the origin photoelectric sensor 4 to cooperate to detect whether the pallet is in the origin state. The origin photoelectric sensor 4 detects the baffles on the pallet, and the column photoelectric sensor 2 detects the notches on the pallet. When the pallet is not in the origin state, the control module 8 controls the motor of the intelligent rotating cabinet to rotate the pallet at a first preset speed. When the number of baffles detected by the origin photoelectric sensor 4 reaches a first preset speed... When the number of notches is reached, the motor brakes to decelerate the pallet until it stops. If, within a first preset time period, the origin photoelectric sensor 4 detects the first preset stop and the column photoelectric sensor 2 detects the second preset stop, the pallet reset is considered successful. After receiving a command to rotate the pallet to the target column, the motor is controlled to rotate the pallet at a second preset speed. When the number of notches detected by the column photoelectric sensor 2 reaches the first preset number of notches, the motor brakes to decelerate the pallet until it stops. If the column photoelectric sensor 2 detects a preset notch in the target column within a second preset time period, the motor brakes to stop the pallet. This system allows for pallet reset when the intelligent rotating cabinet is powered on or when a reset is required, improving the accuracy of pallet reset positioning and ensuring accurate rotation of the pallet to the target column.

[0100] The above description is merely an embodiment of the present invention. It should be noted that those skilled in the art can make improvements without departing from the inventive concept of the present invention, but these improvements all fall within the protection scope of the present invention.

Claims

1. A method of intelligent positioning of rotating cabinet pallets, characterized in that, The method comprises the following steps: When the intelligent rotary cabinet is powered on or receives a reset command, it is detected whether the pallet is in the original position, if not, the motor of the intelligent rotary cabinet is controlled to rotate the pallet at a first preset speed, and the number of stop pieces on the pallet is detected, when the cumulative number of detected stop pieces reaches a second preset number of stop pieces, the motor is controlled to rotate the pallet at a third preset speed, when the cumulative number of detected stop pieces reaches a first preset number of stop pieces, the motor brake is controlled to slow down the pallet until it stops, and if the first preset stop piece and the second preset stop piece are detected within a first preset time, it is determined that the pallet reset is successful, wherein the first preset speed is greater than the third preset speed, and the first preset number of stop pieces is greater than the second preset number of stop pieces; After receiving the instruction to rotate the pallet to the target column, the motor is controlled to rotate the pallet at a second preset speed, and the number of notches on the pallet is detected, when the cumulative number of detected notches reaches a second preset number of notches, the motor is controlled to rotate the pallet at a fourth preset speed, when the cumulative number of detected notches reaches a first preset number of notches, the motor brake is controlled to slow down the pallet until it stops, and if the preset notch of the target column is detected within a second preset time, the motor is controlled to brake to stop the pallet, wherein the first preset number of notches is greater than the second preset number of notches, and the second preset speed is greater than the fourth preset speed; After the motor is controlled to brake to stop the pallet and after a fourth preset time, if the preset notch of the target column is detected again, it is determined that the pallet has moved into position.

2. The method of claim 1, wherein, Further comprising, if the motor rotation time reaches a third preset time before the cumulative number of detected stop pieces reaches a second preset number of stop pieces, or if the duration of the detected stop piece exceeds the first preset time before the cumulative number of detected stop pieces reaches a first preset number of stop pieces, or if no stop piece is detected within the first preset time after the motor brake is controlled to slow down the pallet until it stops, the pallet reset fails.

3. The method of claim 1, wherein, Further comprising, if the preset notch of the target column is not detected again after the fourth preset time, the motor is controlled to rotate the pallet in the opposite direction of the second preset speed, if the preset notch of the target column is detected within a fifth preset time, the motor is controlled to brake to stop the pallet, and it is determined that the pallet has moved into position.

4. The method of claim 1, wherein, Further comprising, if the preset notch of the target column is not detected within the second preset time, the motor is controlled to continue rotating the pallet, if the preset notch of the target column is detected within a sixth preset time, the motor is controlled to brake to stop the pallet, and it is determined that the pallet has moved into position.

5. The method of claim 1, wherein, The control of the motor of the intelligent rotary cabinet to rotate the pallet at a first preset speed comprises, If the current column number of the pallet is greater than half of the total number of columns of the intelligent rotating cabinet, the motor of the intelligent rotating cabinet is controlled to make the pallet rotate forward at a first preset speed; otherwise, it rotates in the reverse direction. The forward rotation of the pallet means that the pallet rotates from small to large column number, and the reverse rotation of the pallet means that the pallet rotates from large to small column number. Controlling the motor to rotate the pallet at a second preset speed includes, If the absolute value of the difference between the column number of the target column and the current column number of the pallet is less than or equal to half of the total number of columns, and the column number of the target column is greater than the current column number, then the motor is controlled to rotate the pallet forward at a second preset speed; if the absolute value of the difference between the column number of the target column and the current column number is greater than half of the total number of columns, and the column number of the target column is less than the current column number, then the motor is controlled to rotate the pallet forward at a second preset speed; if the absolute value of the difference between the column number of the target column and the current column number is less than or equal to half of the total number of columns, and the column number of the target column is not greater than the current column number, then the motor is controlled to rotate the pallet backward at a second preset speed.

6. An intelligent rotating cabinet pallet positioning device, characterized by, Includes column photoelectric sensors, origin photoelectric sensors, and a control module. The control module is used to enable the column photoelectric sensor and the origin photoelectric sensor to cooperate when the intelligent rotating cabinet is powered on or receives a reset command, so as to detect whether the pallet is in the origin state. The origin photoelectric sensor is used to detect the baffles on the pallet; The photoelectric sensor is used to detect gaps on the pallet; The control module is also used to control the motor of the intelligent rotating cabinet to make the pallet rotate at a first preset speed when the pallet is not in the origin state. It is also used to control the motor to rotate the pallet at a third preset speed when the cumulative number of baffles detected by the column photoelectric sensor reaches a second preset number of baffles; and to control the motor to brake and decelerate the pallet until it stops when the cumulative number of baffles detected by the origin photoelectric sensor reaches a first preset number of baffles. When the origin photoelectric sensor detects the first preset baffle and the column photoelectric sensor detects the second preset baffle within a first preset time period, it is determined that the pallet reset is successful. It is also used to control the motor to make the pallet rotate at a second preset speed after receiving an instruction to rotate the pallet to the target column; It is also used to control the motor to rotate the pallet at a fourth preset speed when the number of gaps detected by the column photoelectric sensor accumulates to a second preset gap number; when the number of gaps accumulates to a first preset gap number, control the motor to brake to decelerate the pallet until it stops; when the column photoelectric sensor detects a preset gap in the target column within a second preset time period, control the motor to brake to stop the pallet. If the preset gap in the target column is detected again after the motor brake is controlled to stop the pallet and after a fourth preset time period, it is determined that the pallet has moved into position.

7. The intelligent rotary cabinet pallet positioning device of claim 6, wherein, The control module controls the motor to rotate the pallet at a second preset speed, including: When the photoelectric sensor detects any baffles other than the second preset baffle on the pallet, the control module controls the motor to reverse the pallet for a seventh preset time, and then controls the motor to rotate the pallet at a second preset speed; wherein, the reversal of the pallet means that the pallet rotates from the largest to the smallest column number.

Images