A method and system for controlling the tensioning of a suction ribbon based on a linear motor

Abstract

The present application belongs to the field of cigarette equipment control technology, and discloses a method and system for controlling the tensioning of a suction ribbon based on a linear motor. By combining the power-on state of the linear motor, the first distance collected by the first distance measuring sensor, and the tension of the suction ribbon collected by the tension sensor, a plurality of corresponding movement signals are sent to the linear motor to move the driving end of the linear motor from the initial position to the target position. The whole process can achieve higher position control accuracy and tension control accuracy of the suction ribbon, thereby ensuring the overall cigarette rolling efficiency of the cigarette rolling machine.

Description

Technical Field

[0001] The present application belongs to the technical field of cigarette equipment control, and in particular relates to a method and system for controlling the tensioning of a suction ribbon based on a linear motor. Background Art

[0002] With the increasing popularity of cigarette products, the tobacco industry pays more attention to the quality of cigarette products, especially physical indicators such as cigarette weight and cigarette density uniformity. After analysis, in the tobacco tobacco conveyor belt of the VE feeding strip-forming machine, which is formed by sucking the tobacco and is woven by warp and weft, the tensioning force can be controlled by manually setting the air pressure parameters of the tensioning cylinder.

[0003] At present, the cigarette making machine adopts the method of using a cylinder to drive the suction belt to perform tension control. Since the cylinder control generally has only two positions, more positions may be controlled through an electronically controlled proportional valve. However, the control position accuracy is difficult to improve. It is not only easily affected by the air pressure of the front-end air source, that is, the fluctuation of the air pressure of the front-end air source affects the final stop position of the rear-end cylinder, resulting in unstable tension of the suction belt, but also easily affecting the overall cigarette making efficiency of the cigarette making machine. Summary of the Invention

[0004] This application aims to address the aforementioned technical drawbacks of using a cylinder to drive the suction ribbon to perform tension control, which is not only easily affected by the pressure of the front-end air source, that is, the fluctuation of the front-end air source pressure further affects the final stop position of the rear-end cylinder, resulting in unstable tension of the suction ribbon, but also easily affects the overall cigarette making efficiency of the cigarette maker. A method and system for controlling the tension of the suction ribbon based on a linear motor are proposed. The technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for controlling the tensioning of a suction ribbon based on a linear motor, characterized in that the method is applied to a suction ribbon tensioning device, the suction ribbon tensioning device including a linear motor, a suction ribbon arranged on one side of a driving end of the linear motor, a tension sensor, and a first distance measuring sensor fixedly arranged above the suction ribbon, the method comprising:

[0006] When the linear motor is in a powered-on state, a first movement signal is sent to the linear motor to move the driving end of the linear motor from an initial position toward a direction close to the first distance measuring sensor;

[0007] Acquire at least two first distances collected by the first distance measuring sensor, and when it is detected that any one of the first distances is consistent with a preset first distance threshold, send a stop movement signal to the linear motor, and receive a position instruction input by the user;

[0008] generating a second movement signal according to a first difference between a second distance corresponding to the position command and a preset first distance threshold, and sending the second movement signal to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor;

[0009] After the driving end of the linear motor stops moving, the tension of the suction ribbon collected by the tension sensor is obtained, and the driving end of the linear motor is controlled to move to the target position according to the tension of the suction ribbon and the preset tension threshold.

[0010] In an optional solution of the first aspect, the suction ribbon tensioning device further includes a second distance measuring sensor disposed above the linear motor;

[0011] Before acquiring at least two first distances collected by the first distance measuring sensor, the method further includes:

[0012] Acquire at least two second distances collected by the second distance measuring sensor, and respectively calculate a second difference between each two adjacent second distances;

[0013] performing variance calculation based on all the second differences, and when detecting that the calculation result is less than a preset variance threshold, determining whether any second distance is consistent with the preset second distance threshold;

[0014] Acquiring at least two first distances collected by a first distance measuring sensor includes:

[0015] When any one of the second distances is consistent with a preset second distance threshold, at least two first distances collected by the first distance measuring sensor are acquired.

[0016] In another optional solution of the first aspect, before generating the second movement signal according to the first difference between the second distance corresponding to the position instruction and the preset first distance threshold, the method further includes:

[0017] When the position instruction includes a first suction ribbon length corresponding to the working position, a third distance is determined based on a vertical distance between the first distance measuring sensor and the suction ribbon, and a first linear distance between the first distance measuring sensor and an end of the suction ribbon away from the linear motor;

[0018] A difference is calculated between the length of the first suction ribbon and the third distance, and the difference result is used as the second distance corresponding to the position instruction.

[0019] In another optional solution of the first aspect, after sending a stop movement signal to the linear motor and receiving a position instruction input by the user, the method further includes:

[0020] When the position instruction includes a second suction ribbon length corresponding to the position of replacing the suction ribbon, a difference calculation is performed between the second suction ribbon length and the third distance, and a third movement signal is generated according to the difference result;

[0021] A third movement signal is sent to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor, and after the driving end of the linear motor stops moving, a request for replacing the suction wire is sent to the user terminal.

[0022] In another optional solution of the first aspect, controlling the driving end of the linear motor to move to the target position according to the tension of the suction ribbon and a preset tension threshold includes:

[0023] When the suction ribbon tension is inconsistent with a preset tension threshold, a difference is calculated between the suction ribbon tension and the preset tension threshold, and a fourth distance corresponding to the difference result is retrieved from a preset tension-distance database; wherein the preset tension-distance database includes at least two standard deviation values ​​and a standard distance corresponding to each standard deviation value;

[0024] generating a fourth movement signal according to the fourth distance, and sending the fourth movement signal to the linear motor to move the driving end of the linear motor toward the target position;

[0025] At least two fifth distances collected by the second distance measuring sensor are acquired, and when any one of the fifth distances is greater than a preset second distance threshold, the linear motor controls the driving end of the linear motor to move to the target position.

[0026] In yet another optional solution of the first aspect, after acquiring at least two fifth distances collected by the second ranging sensor, the method further includes:

[0027] When any fifth distance is less than or equal to a preset second distance threshold, a stop movement signal is sent to the linear motor, and a second linear distance between the first distance measuring sensor and the second distance measuring sensor is obtained;

[0028] When the second straight-line distance is less than a preset third distance threshold, sending a position movement request of the second ranging sensor to the user terminal;

[0029] When the second straight-line distance is greater than or equal to a preset third distance threshold, a linear motor troubleshooting request is sent to the user terminal.

[0030] In yet another alternative of the first aspect, the method further comprises:

[0031] When a reset instruction input by the user is received, a reset movement signal is sent to the linear motor to move the driving end of the linear motor to the initial position.

[0032] In a second aspect, an embodiment of the present application provides a linear motor-based suction ribbon tensioning control system, which is applied to a suction ribbon tensioning device. The suction ribbon tensioning device includes a linear motor, a suction ribbon arranged on one side of a driving end of the linear motor, a tension sensor, and a first distance measuring sensor fixedly arranged above the suction ribbon. The system includes:

[0033] a first control module, configured to send a first movement signal to the linear motor when the linear motor is powered on, so as to move the driving end of the linear motor from an initial position toward a direction close to the first distance measuring sensor;

[0034] a second control module, configured to obtain at least two first distances acquired by the first distance measuring sensor, and when detecting that any one of the first distances is consistent with a preset first distance threshold, send a stop movement signal to the linear motor, and receive a position instruction input by a user;

[0035] a third control module, configured to generate a second movement signal according to a first difference between a second distance corresponding to the position command and a preset first distance threshold, and send the second movement signal to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor;

[0036] The fourth control module is used to obtain the suction wire tension collected by the tension sensor after the driving end of the linear motor stops moving, and control the driving end of the linear motor to move to the target position according to the suction wire tension and the preset tension threshold.

[0037] In a third aspect, an embodiment of the present application further provides a linear motor-based suction ribbon tensioning control system, comprising a processor and a memory;

[0038] The processor is connected to the memory;

[0039] a memory for storing executable program code;

[0040] The processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the linear motor-based suction wire tensioning control method provided by the first aspect of the embodiment of the present application or any implementation method of the first aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the linear motor-based wire suction belt tensioning control method provided in the first aspect of the embodiment of the present application or any implementation method of the first aspect can be implemented.

[0042] In an embodiment of the present application, when the suction wire of the winding machine is tensioned and controlled, when the linear motor is in a power-on state, a first movement signal is sent to the linear motor to move the driving end of the linear motor from the initial position toward a direction close to the first distance measuring sensor; at least two first distances collected by the first distance measuring sensor are obtained, and when any one of the first distances is detected to be consistent with a preset first distance threshold, a stop movement signal is sent to the linear motor, and a position instruction input by the user is received; according to a first difference between a second distance corresponding to the position instruction and the preset first distance threshold, a second movement signal is generated, and a second movement signal is sent to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor; after the driving end of the linear motor stops moving, the suction wire tension collected by the tension sensor is obtained, and according to the suction wire tension and the preset tension threshold, the driving end of the linear motor is controlled to move to the target position. By combining the power-on status of the linear motor, the first distance collected by the first distance measuring sensor, and the tension of the suction ribbon collected by the tension sensor, corresponding multiple movement signals are sent to the linear motor to move the driving end of the linear motor from the initial position to the target position. The entire process can achieve higher position control accuracy and tension control accuracy of the suction ribbon, thereby ensuring the overall cigarette making efficiency of the cigarette rolling machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 This is an overall flow chart of a method for controlling the tensioning of a suction ribbon based on a linear motor provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of the effect of a suction belt tensioning device provided in an embodiment of the present application;

[0046] Figure 3 A schematic structural diagram of a linear motor-based suction ribbon tensioning control system provided in an embodiment of the present application;

[0047] Figure 4 A schematic structural diagram of another linear motor-based suction wire tensioning control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0049] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application. Different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments described. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, even though the embodiment may not be clearly described in the following text.

[0050] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the elements described without departing from the scope of the present application. Various examples may appropriately omit, replace, or add various processes or components. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted, or combined. In addition, features described in some examples may be combined in other examples.

[0051] See also Figure 1 , Figure 1 The figure shows an overall flow chart of a method for controlling the tensioning of a suction ribbon based on a linear motor provided in an embodiment of the present application.

[0052] like Figure 1 As shown, the linear motor-based suction wire tensioning control method may include at least the following steps:

[0053] Step 102: When the linear motor is in a powered-on state, a first movement signal is sent to the linear motor to move the driving end of the linear motor from an initial position toward a direction close to the first distance measuring sensor.

[0054] In an embodiment of the present application, the linear motor-based suction wire tensioning control method can be but is not limited to being applied to a control terminal, which can establish connections with the suction wire tensioning device and the user terminal respectively to generate a corresponding movement signal according to the position instruction input by the user terminal, and send the movement signal to the suction wire tensioning device, thereby realizing the tensioning control of the suction wire through the suction wire tensioning device.

[0055] Among them, the suction wire tensioning device may include at least a linear motor, a suction wire arranged on one side of the driving end of the linear motor, a tension sensor and a first ranging sensor fixedly arranged above the suction wire. The linear motor can control the driving end (which can be understood as the end whose telescopic length is controlled by the linear motor) to move toward the side of the suction wire or away from the side of the suction wire according to the movement signal sent by the control terminal, and during the movement, the suction wire tensioning force collected in real time by the tension sensor can be fed back to the control terminal, so that the control terminal can send a movement signal for adjusting the position of the driving end to the linear motor according to the real-time suction wire tension until the linear motor moves the driving end to the target position, that is, the suction wire tension meets the control conditions.

[0056] Here, the tension sensor can be, but is not limited to, disposed on the driving end of the linear motor, and the end of the tension sensor used to collect tension is connected to the suction ribbon (for example, a tensioning wheel assembly can be disposed on the end of the tension sensor used to collect tension, so that the suction ribbon is sleeved on the tensioning wheel assembly). That is, the tension sensor can be disposed between the suction ribbon and the driving end of the linear motor. When the driving end of the linear motor moves toward the side of the suction ribbon, the tension of the suction ribbon collected by the tension sensor gradually decreases; when the driving end of the linear motor moves toward the side of the suction ribbon, the tension of the suction ribbon collected by the tension sensor gradually increases. It is understandable that the tension sensor mentioned in the embodiment of the present application can also be disposed in other locations to similarly collect the real-time tension of the suction ribbon, and is not limited thereto.

[0057] Here, the first distance measuring sensor is fixedly disposed above the suction ribbon. The height of the center of the first distance measuring sensor relative to the horizontal plane may coincide with the height of the center of the linear motor's driving end relative to the horizontal plane (or the first distance measuring sensor may transmit a signal horizontally to the surface of the linear motor's driving end). This ensures that the distance measured by the first distance measuring sensor and the linear motor's driving end is the linear distance from the linear motor's driving end to the first distance measuring sensor along the horizontal direction. It is understood that the first distance measuring sensor may also, but is not limited to, determine, based on the measured distance, whether the linear motor's driving end has reached its limit position when moving toward the suction ribbon, thereby preventing damage to the linear motor.

[0058] In addition, the suction wire tensioning device may further include a second distance measuring sensor fixedly disposed above the linear motor. The height of the center of the second distance measuring sensor relative to the horizontal plane may be aligned with the height of the center of the linear motor's driving end relative to the horizontal plane (or the second distance measuring sensor may transmit a signal horizontally to the surface of the linear motor's driving end), to ensure that the distance measured by the second distance measuring sensor and the linear motor's driving end is the linear distance from the linear motor's driving end to the second distance measuring sensor along the horizontal direction. It is understood that the second distance measuring sensor may also, but is not limited to, determine, based on the measured distance, whether the linear motor's driving end has reached its limit position when moving away from the suction wire, to avoid damage to the linear motor.

[0059] It should be noted that the first ranging sensor and the second ranging sensor mentioned in the embodiments of the present application may also be replaced by proximity sensors, but are not limited thereto.

[0060] Also see here Figure 2 The schematic diagram of the effect of a suction belt tensioning device provided by an embodiment of the present application is shown as follows: Figure 2 As shown, the suction wire tensioning device may include a linear motor, a suction wire disposed on one side of the linear motor's drive end, a tension sensor, a first distance measuring sensor fixedly disposed above the suction wire (the position in the figure is shown only as an example to facilitate identification), and a second distance measuring sensor fixedly disposed above the linear motor (the position in the figure is shown only as an example to facilitate identification). It can be seen that the movement signal sent by the control terminal can cause the linear motor to move the drive end to the working position to ensure the stability of the suction wire tension during operation; or it can cause the linear motor to move the drive end to the suction wire replacement position to facilitate rapid replacement of the suction wire by staff.

[0061] It can also be understood that the control terminal can also send corresponding multiple movement signals to the linear motor by combining the power-on status of the linear motor, the first distance collected by the first distance measuring sensor, and the tension of the suction belt collected by the tension sensor, so that the driving end of the linear motor moves from the initial position to the target position. The whole process can achieve higher position control accuracy and tension control accuracy of the suction belt, thereby ensuring the overall cigarette rolling efficiency of the cigarette rolling machine.

[0062] Specifically, when controlling the tension of the ribbon suction of the winder, the control terminal may, but is not limited to, detect that the linear motor is in a normal powered-on state, indicating that the ribbon suction of the winder is currently powered-on (or can operate normally). The control terminal may then send a first movement signal to the linear motor, causing the linear motor to control the driving end to move from an initial position toward a direction approaching a first distance measuring sensor after receiving the first movement signal. Here, the first movement signal may be understood as a control signal including a movement direction, which causes the linear motor to continuously control the driving end to move toward the first distance measuring sensor, thereby facilitating rapid origin calibration of the driving end and ensuring the accuracy of subsequent movement signals generated based on the position command.

[0063] It is understandable that the initial position of the driving end may be the position of the driving end after the driving end is most recently moved under the control of the linear motor, or may be a default position, and is not limited thereto.

[0064] Step 104 : Acquire at least two first distances collected by the first distance measuring sensor, and when any one of the first distances is detected to be consistent with a preset first distance threshold, send a stop movement signal to the linear motor, and receive a position instruction input by the user.

[0065] Specifically, in the process of the linear motor controlling the driving end to move toward the first ranging sensor, the control terminal can, but is not limited to, send a data acquisition request to the first ranging sensor to obtain multiple first distances collected by the first ranging sensor according to a preset time interval (that is, the straight-line distance between the driving end of the linear motor and the first ranging sensor along the horizontal direction), and can compare each first distance with the preset first distance threshold in the order of time collection, so that when it is detected that any first distance is consistent with the preset first distance threshold, it indicates that the current position of the driving end is the origin calibration position, and then a stop movement signal can be sent to the linear motor to make the driving end stop at the current position and receive the position instruction input by the user on the user terminal.

[0066] It can be understood that the position instruction input by the user in the user terminal may be, but is not limited to, an instruction including a first suction wire length corresponding to the working position, or an instruction including a second suction wire length corresponding to the position of replacing the suction wire; wherein the first suction wire length can be understood as the current length of the suction wire along the horizontal direction when the side of the suction wire close to the driving end is near the working position, and the second suction wire length can be understood as the current length of the suction wire along the horizontal direction when the side of the suction wire close to the driving end is near the replacement position, and the first suction wire length is greater than the second suction wire length.

[0067] As an option in the embodiment of the present application, the suction wire tensioning device further includes a second distance measuring sensor arranged above the linear motor;

[0068] Before acquiring at least two first distances collected by the first distance measuring sensor, the method further includes:

[0069] Acquire at least two second distances collected by the second distance measuring sensor, and respectively calculate a second difference between each two adjacent second distances;

[0070] performing variance calculation based on all the second differences, and when detecting that the calculation result is less than a preset variance threshold, determining whether any second distance is consistent with the preset second distance threshold;

[0071] Acquiring at least two first distances collected by a first distance measuring sensor includes:

[0072] When any one of the second distances is consistent with a preset second distance threshold, at least two first distances collected by the first distance measuring sensor are acquired.

[0073] Specifically, to ensure the output stability of the linear motor when controlling the movement of the driving end, the control terminal may, before acquiring the multiple first distances collected by the first distance-measuring sensor, also, but not limited to, issue a data acquisition request to the second distance-measuring sensor to obtain multiple second distances collected by the second distance-measuring sensor at preset time intervals (i.e., the linear distance between the driving end of the linear motor and the second distance-measuring sensor along the horizontal direction). The control terminal then calculates the second difference between each two adjacent second distances in the order in which they were collected, and calculates the variance corresponding to all second differences using a preset variance calculation formula. A larger variance indicates a greater dispersion of all second distances, meaning poorer output stability for the linear motor; a smaller variance indicates a smaller dispersion of all second distances, meaning greater output stability for the linear motor.

[0074] Next, when the variance result is detected to be less than a preset variance threshold, it indicates that the linear motor has high output stability. The control terminal can then determine, based on the order of time acquisition, whether any second distance is consistent with the preset second distance threshold. It is understood that when any second distance is consistent with the preset second distance threshold, it indicates that the distance between the driving end of the linear motor and the second distance measuring sensor is relatively far. To avoid additional costs, the control terminal can issue a stop data acquisition instruction to the second distance measuring sensor, causing it to stop acquiring the second distances. The control terminal can also issue a data acquisition request to the first distance measuring sensor to obtain multiple first distances collected by the first distance measuring sensor at preset time intervals.

[0075] When any second distance is less than the preset second distance threshold, it indicates that the distance between the driving end of the linear motor and the second ranging sensor is still in a relatively close range, and the second ranging sensor can continue to collect one or more second distances until any subsequently collected second distance is consistent with the preset second distance threshold.

[0076] It should be noted that when it is detected that the variance result is greater than or equal to the preset variance threshold, it indicates that the output stability of the linear motor is low. In order to ensure subsequent accuracy, the control terminal can also, but is not limited to, send a stop signal to the linear motor, and the staff can promptly check and process the operating parameters of the linear motor, and is not limited to this.

[0077] Step 106 : Generate a second movement signal according to a first difference between a second distance corresponding to the position command and a preset first distance threshold, and send the second movement signal to the linear motor to move the driving end of the linear motor away from the first distance measuring sensor.

[0078] Specifically, when the position instruction includes the length of the first suction wire corresponding to the working position, it indicates that the suction wire needs to be in the working state. At this time, the control terminal can, but is not limited to, use an industrial camera to obtain an image containing the suction wire tensioning device, and use image recognition or other methods to identify the vertical distance between the first distance sensor and the suction wire, as well as the first straight-line distance from the first distance sensor to the end of the suction wire away from the linear motor, so as to calculate the straight-line distance from the end of the suction wire away from the linear motor to the first distance sensor along a parallel direction using the Pythagorean theorem, i.e., the third distance. Here, since the first distance sensor is used to obtain the distance between the driving end of the linear motor and the first distance sensor, the first straight-line distance from the first distance sensor to the end of the suction wire away from the linear motor cannot be obtained. Therefore, the accuracy of distance acquisition can be effectively guaranteed by image processing. Image processing is a conventional technical means in this field and will not be described in detail here.

[0079] Furthermore, after determining the third distance, since the length of the first suction ribbon can be understood as the current length of the suction ribbon along the horizontal direction when the side of the suction ribbon close to the driving end is near the working position, by calculating the difference between the first suction ribbon length and the third distance, the straight-line distance between the first ranging sensor and the working position can be obtained, that is, the second distance corresponding to the position instruction.

[0080] Furthermore, after determining the second distance corresponding to the position instruction, the control terminal can also generate a second movement signal including the first difference and the moving direction based on the first difference between the second distance and the preset first distance threshold, that is, the distance between the current position of the driving end of the linear motor and the working position, and send the second movement signal to the linear motor to make the driving end of the linear motor move in the direction away from the first ranging sensor, and stop moving at the working position.

[0081] As another optional embodiment of the present application, after sending a stop movement signal to the linear motor and receiving a position instruction input by the user, the method further includes:

[0082] When the position instruction includes a second suction ribbon length corresponding to the position of replacing the suction ribbon, a difference calculation is performed between the second suction ribbon length and the third distance, and a third movement signal is generated according to the difference result;

[0083] A third movement signal is sent to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor, and after the driving end of the linear motor stops moving, a request for replacing the suction wire is sent to the user terminal.

[0084] Specifically, when the position instruction includes a second suction wire length corresponding to the position for replacing the suction wire, indicating that the suction wire currently needs to be replaced, the control terminal can, but is not limited to, perform a difference calculation between the second suction wire length and the third distance to obtain the straight-line distance between the first ranging sensor and the position for replacing the suction wire. Furthermore, the control terminal can further obtain the distance between the current position of the linear motor's driving end and the position for replacing the suction wire by calculating the difference between the straight-line distance between the first ranging sensor and the position for replacing the suction wire and a preset first distance threshold. The method for generating the third distance can be found in the above-mentioned embodiment and will not be further elaborated on here.

[0085] Then, after obtaining the distance between the current position of the driving end of the linear motor and the position for replacing the suction wire, the control terminal can generate a third movement signal based on the distance between the current position of the driving end of the linear motor and the position for replacing the suction wire and the moving direction, and can send the third movement signal to the linear motor to make the driving end of the linear motor move in the direction away from the first ranging sensor, and can stop moving at the position for replacing the suction wire. At this time, the control terminal can also send a request to replace the suction wire to the user terminal to remind the staff to replace the suction wire in time.

[0086] Step 108 : After the driving end of the linear motor stops moving, the tension of the suction ribbon collected by the tension sensor is obtained, and the driving end of the linear motor is controlled to move to the target position according to the tension of the suction ribbon and a preset tension threshold.

[0087] Specifically, after the linear motor controls the driving end to a working position and stops moving, the control terminal may, but is not limited to, issue a data acquisition request to the tension sensor to obtain the suction wire tension detected by the tension sensor. If the suction wire tension is detected to be inconsistent with a preset tension threshold, this indicates that there is a deviation between the driving end's current working position and the target position. The control terminal may then calculate the difference between the suction wire tension and the preset tension threshold, and query a preset tension-distance database to determine the fourth distance corresponding to the difference, i.e., the adjustment distance of the driving end. Here, the preset tension-distance database includes at least two standard deviations and a standard distance corresponding to each standard deviation. All standard deviations and corresponding standard distances may be derived through manual statistical analysis, but are not limited to this.

[0088] Furthermore, after obtaining the fourth distance, the control terminal can generate a fourth movement signal based on the fourth distance and the moving direction. The moving direction here can be but is not limited to being determined based on the difference result between the suction wire tension and the preset tension threshold. For example, when the difference result is less than 0, the moving direction can be set to the direction close to the first ranging sensor; when the difference result is greater than 0, the moving direction can be set to the direction away from the first ranging sensor, and the fourth movement signal is sent to the linear motor so that the linear motor controls the driving end to move toward the target position.

[0089] Furthermore, in the process of the linear motor controlling the driving end to move toward the target position, the second ranging sensor can be used to further determine whether the driving end of the linear motor moves to the extreme position when moving toward the side of the suction wire, so as to avoid damage to the linear motor. At this time, the control terminal can send a data acquisition request to the second ranging sensor, so that the second ranging sensor collects multiple fifth distances at a preset time interval, and when any fifth distance is greater than the preset second distance threshold, it indicates that the distance between the driving end of the linear motor and the second ranging sensor is relatively safe, until the linear motor controls the driving end to move to the target position.

[0090] As another optional embodiment of the present application, after acquiring at least two fifth distances collected by the second ranging sensor, the method further includes:

[0091] When any fifth distance is less than or equal to a preset second distance threshold, a stop movement signal is sent to the linear motor, and a second linear distance between the first distance measuring sensor and the second distance measuring sensor is obtained;

[0092] When the second straight-line distance is less than a preset third distance threshold, sending a position movement request of the second ranging sensor to the user terminal;

[0093] When the second straight-line distance is greater than or equal to a preset third distance threshold, a linear motor troubleshooting request is sent to the user terminal.

[0094] Specifically, in the process of the linear motor controlling the driving end to move toward the target position, when the control terminal detects that any fifth distance collected by the second ranging sensor is less than or equal to the preset second distance threshold, it indicates that the current position of the driving end of the linear motor is likely to cause damage to the linear motor, and then a stop movement signal can be sent to the linear motor to make the linear motor control the driving end to stop moving. The second straight-line distance between the first ranging sensor and the second ranging sensor can be obtained through but is not limited to the above-mentioned industrial camera to determine whether the position of the second ranging sensor is abnormal based on the second straight-line distance.

[0095] It can be understood that when the second straight-line distance is less than the preset third distance threshold, it indicates that the distance between the second ranging sensor and the first ranging sensor is too close, affecting the accuracy of the distance data collected by the second ranging sensor. The control terminal can then send a position movement request for the second ranging sensor to the user terminal, so that the staff can adjust the position of the second ranging sensor. After the second ranging sensor is adjusted, the second ranging sensor can be used to obtain multiple fifth distances again.

[0096] When the second straight-line distance is greater than or equal to the preset third distance threshold, it indicates that there is no abnormality in the position of the second ranging sensor, and the control terminal can then send a linear motor troubleshooting request to the user terminal, which means that there may be a driving abnormality in the linear motor, and the staff can promptly troubleshoot the linear motor.

[0097] As another option of the embodiment of the present application, the method further includes:

[0098] When a reset instruction input by the user is received, a reset movement signal is sent to the linear motor to move the driving end of the linear motor to the initial position.

[0099] Specifically, when the suction wire is switched from the working state to the standby state or the shutdown state, the user can output a reset instruction to the user terminal, and after the control terminal receives the reset instruction output by the user terminal, it sends a reset movement signal to the linear motor to move the driving end of the linear motor to the initial position. This not only avoids the hidden danger of damage to the driving end of the linear motor when it moves next time, but also ensures the origin calibration efficiency of the driving end of the linear motor.

[0100] See also Figure 3 , Figure 3 A schematic structural diagram of a linear motor-based suction ribbon tensioning control system provided in an embodiment of the present application is shown.

[0101] The linear motor-based suction ribbon tensioning control system is applied to the suction ribbon tensioning device, which may include at least a linear motor, a suction ribbon arranged on one side of the driving end of the linear motor, a tension sensor, and a first distance measuring sensor fixed above the suction ribbon. Figure 3 As shown, the linear motor-based suction ribbon tensioning control system may include at least a first control module 301, a second control module 302, a third control module 303, and a fourth control module 304, wherein:

[0102] The first control module 301 is configured to send a first movement signal to the linear motor when the linear motor is powered on, so as to move the driving end of the linear motor from an initial position toward a direction close to the first distance measuring sensor;

[0103] The second control module 302 is configured to obtain at least two first distances acquired by the first distance measuring sensor, and when any one of the first distances is detected to be consistent with a preset first distance threshold, send a stop movement signal to the linear motor, and receive a position instruction input by a user;

[0104] The third control module 303 is configured to generate a second movement signal according to a first difference between a second distance corresponding to the position command and a preset first distance threshold, and send the second movement signal to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor;

[0105] The fourth control module 304 is used to obtain the suction ribbon tension collected by the tension sensor after the driving end of the linear motor stops moving, and control the driving end of the linear motor to move to the target position according to the suction ribbon tension and a preset tension threshold.

[0106] In some possible embodiments, the suction ribbon tensioning device further includes a second distance measuring sensor disposed above the linear motor;

[0107] Before acquiring at least two first distances collected by the first distance measuring sensor, the method further includes:

[0108] Acquire at least two second distances collected by the second distance measuring sensor, and respectively calculate a second difference between each two adjacent second distances;

[0109] performing variance calculation based on all the second differences, and when detecting that the calculation result is less than a preset variance threshold, determining whether any second distance is consistent with the preset second distance threshold;

[0110] Acquiring at least two first distances collected by a first distance measuring sensor includes:

[0111] When any one of the second distances is consistent with a preset second distance threshold, at least two first distances collected by the first distance measuring sensor are acquired.

[0112] In some possible embodiments, before generating the second movement signal according to the first difference between the second distance corresponding to the position instruction and the preset first distance threshold, the method further includes:

[0113] When the position instruction includes a first suction ribbon length corresponding to the working position, a third distance is determined based on a vertical distance between the first distance measuring sensor and the suction ribbon, and a first linear distance between the first distance measuring sensor and an end of the suction ribbon away from the linear motor;

[0114] A difference is calculated between the length of the first suction ribbon and the third distance, and the difference result is used as the second distance corresponding to the position instruction.

[0115] In some possible embodiments, after sending a stop movement signal to the linear motor and receiving a position instruction input by the user, the method further includes:

[0116] When the position instruction includes a second suction ribbon length corresponding to the position of replacing the suction ribbon, a difference calculation is performed between the second suction ribbon length and the third distance, and a third movement signal is generated according to the difference result;

[0117] A third movement signal is sent to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor, and after the driving end of the linear motor stops moving, a request for replacing the suction wire is sent to the user terminal.

[0118] In some possible embodiments, controlling the driving end of the linear motor to move to a target position according to the tension of the suction ribbon and a preset tension threshold includes:

[0119] When the suction ribbon tension is inconsistent with a preset tension threshold, a difference is calculated between the suction ribbon tension and the preset tension threshold, and a fourth distance corresponding to the difference result is retrieved from a preset tension-distance database; wherein the preset tension-distance database includes at least two standard deviation values ​​and a standard distance corresponding to each standard deviation value;

[0120] generating a fourth movement signal according to the fourth distance, and sending the fourth movement signal to the linear motor to move the driving end of the linear motor toward the target position;

[0121] At least two fifth distances collected by the second distance measuring sensor are acquired, and when any one of the fifth distances is greater than a preset second distance threshold, the linear motor controls the driving end of the linear motor to move to the target position.

[0122] In some possible embodiments, after acquiring at least two fifth distances collected by the second distance measuring sensor, the method further includes:

[0123] When any fifth distance is less than or equal to a preset second distance threshold, a stop movement signal is sent to the linear motor, and a second linear distance between the first distance measuring sensor and the second distance measuring sensor is obtained;

[0124] When the second straight-line distance is less than a preset third distance threshold, sending a position movement request of the second ranging sensor to the user terminal;

[0125] When the second straight-line distance is greater than or equal to a preset third distance threshold, a linear motor troubleshooting request is sent to the user terminal.

[0126] In some possible embodiments, the system further includes:

[0127] When a reset instruction input by the user is received, a reset movement signal is sent to the linear motor to move the driving end of the linear motor to the initial position.

[0128] Those skilled in the art will clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. "Unit" and "module" in this specification refer to software and / or hardware that can independently perform or cooperate with other components to perform specific functions, where the hardware can be, for example, a field-programmable gate array (FPGA) or an integrated circuit (IC).

[0129] See also Figure 4 , Figure 4 A structural schematic diagram of another linear motor-based suction ribbon tensioning control system provided in an embodiment of the present application is shown.

[0130] The linear motor-based suction ribbon tensioning control system is applied to the suction ribbon tensioning device, which may include at least a linear motor, a suction ribbon arranged on one side of the driving end of the linear motor, a tension sensor, and a first distance measuring sensor fixed above the suction ribbon. Figure 4 As shown, the linear motor-based suction ribbon tensioning control system may include at least one processor 401 , at least one network interface 404 , a user interface 403 , a memory 405 and at least one communication bus 402 .

[0131] The communication bus 402 may be used to implement the connection and communication between the above components.

[0132] The user interface 403 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0133] The network interface 404 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, and the like.

[0134] The processor 401 may include one or more processing cores. The processor 401 utilizes various interfaces and lines to connect the various components within the linear motor-based suction wire tensioning control system 400. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 405, and calling data stored in the memory 405, the processor 401 executes various functions and processes data of the linear motor-based suction wire tensioning control system 400. Optionally, the processor 401 may be implemented in at least one hardware form selected from DSP, FPGA, and PLA. The processor 401 may integrate one or a combination of a CPU, a GPU, and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 401 and may be implemented separately via a single chip.

[0135] Among them, the memory 405 may include RAM and may also include ROM. Optionally, the memory 405 includes a non-transitory computer-readable medium. The memory 405 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 405 may also be optionally at least one storage device located away from the aforementioned processor 401. As Figure 4 As shown, the memory 405 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a linear motor-based suction ribbon tensioning control application.

[0136] Specifically, the processor 401 may be configured to call the linear motor-based suction ribbon tensioning control application stored in the memory 405 and specifically perform the following operations:

[0137] When the linear motor is in a powered-on state, a first movement signal is sent to the linear motor to move the driving end of the linear motor from an initial position toward a direction close to the first distance measuring sensor;

[0138] Acquire at least two first distances collected by the first distance measuring sensor, and when it is detected that any one of the first distances is consistent with a preset first distance threshold, send a stop movement signal to the linear motor, and receive a position instruction input by the user;

[0139] generating a second movement signal according to a first difference between a second distance corresponding to the position command and a preset first distance threshold, and sending the second movement signal to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor;

[0140] After the driving end of the linear motor stops moving, the tension of the suction ribbon collected by the tension sensor is obtained, and the driving end of the linear motor is controlled to move to the target position according to the tension of the suction ribbon and the preset tension threshold.

[0141] In some possible embodiments, the suction ribbon tensioning device further includes a second distance measuring sensor disposed above the linear motor;

[0142] Before acquiring at least two first distances collected by the first distance measuring sensor, the method further includes:

[0143] Acquire at least two second distances collected by the second distance measuring sensor, and respectively calculate a second difference between each two adjacent second distances;

[0144] performing variance calculation based on all the second differences, and when detecting that the calculation result is less than a preset variance threshold, determining whether any second distance is consistent with the preset second distance threshold;

[0145] Acquiring at least two first distances collected by a first distance measuring sensor includes:

[0146] When any one of the second distances is consistent with a preset second distance threshold, at least two first distances collected by the first distance measuring sensor are acquired.

[0147] In some possible embodiments, before generating the second movement signal according to the first difference between the second distance corresponding to the position instruction and the preset first distance threshold, the method further includes:

[0148] When the position instruction includes a first suction ribbon length corresponding to the working position, a third distance is determined based on a vertical distance between the first distance measuring sensor and the suction ribbon, and a first linear distance between the first distance measuring sensor and an end of the suction ribbon away from the linear motor;

[0149] A difference is calculated between the length of the first suction ribbon and the third distance, and the difference result is used as the second distance corresponding to the position instruction.

[0150] In some possible embodiments, after sending a stop movement signal to the linear motor and receiving a position instruction input by the user, the method further includes:

[0151] When the position instruction includes a second suction ribbon length corresponding to the position of replacing the suction ribbon, a difference calculation is performed between the second suction ribbon length and the third distance, and a third movement signal is generated according to the difference result;

[0152] A third movement signal is sent to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor, and after the driving end of the linear motor stops moving, a request for replacing the suction wire is sent to the user terminal.

[0153] In some possible embodiments, controlling the driving end of the linear motor to move to a target position according to the tension of the suction ribbon and a preset tension threshold includes:

[0154] When the suction ribbon tension is inconsistent with a preset tension threshold, a difference is calculated between the suction ribbon tension and the preset tension threshold, and a fourth distance corresponding to the difference result is retrieved from a preset tension-distance database; wherein the preset tension-distance database includes at least two standard deviation values ​​and a standard distance corresponding to each standard deviation value;

[0155] generating a fourth movement signal according to the fourth distance, and sending the fourth movement signal to the linear motor to move the driving end of the linear motor toward the target position;

[0156] At least two fifth distances collected by the second distance measuring sensor are acquired, and when any one of the fifth distances is greater than a preset second distance threshold, the linear motor controls the driving end of the linear motor to move to the target position.

[0157] In some possible embodiments, after acquiring at least two fifth distances collected by the second distance measuring sensor, the method further includes:

[0158] When any fifth distance is less than or equal to a preset second distance threshold, a stop movement signal is sent to the linear motor, and a second linear distance between the first distance measuring sensor and the second distance measuring sensor is obtained;

[0159] When the second straight-line distance is less than a preset third distance threshold, sending a position movement request of the second ranging sensor to the user terminal;

[0160] When the second straight-line distance is greater than or equal to a preset third distance threshold, a linear motor troubleshooting request is sent to the user terminal.

[0161] In some possible embodiments, the system further includes:

[0162] When a reset instruction input by the user is received, a reset movement signal is sent to the linear motor to move the driving end of the linear motor to the initial position.

[0163] The present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above method. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a microdrive, a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0164] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0165] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0166] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interface, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0167] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0168] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

Claims

1. A method for controlling the tensioning of a suction ribbon based on a linear motor, characterized in that: The method is applied to a suction ribbon tensioning device, which includes a linear motor, a suction ribbon and a tension sensor arranged on one side of a driving end of the linear motor, and a first distance measuring sensor fixedly arranged above the suction ribbon. The method includes: When the linear motor is in a powered-on state, a first movement signal is sent to the linear motor to move the driving end of the linear motor from an initial position toward a direction close to the first ranging sensor; Acquiring at least two first distances acquired by the first distance measuring sensor, and when any one of the first distances is detected to be consistent with a preset first distance threshold, sending a stop movement signal to the linear motor and receiving a position instruction input by a user; each first distance is a straight-line distance between a driving end of the linear motor and the first distance measuring sensor along a horizontal direction; generating a second movement signal according to a first difference between a second distance corresponding to the position command and the preset first distance threshold, and sending the second movement signal to the linear motor to move a driving end of the linear motor in a direction away from the first distance measuring sensor; After the driving end of the linear motor stops moving, the tension of the suction ribbon collected by the tension sensor is obtained, and the driving end of the linear motor is controlled to move to a target position according to the tension of the suction ribbon and a preset tension threshold; Before generating the second movement signal according to the first difference between the second distance corresponding to the position instruction and the preset first distance threshold, the method further includes: When the position instruction includes a first suction ribbon length corresponding to the working position, a third distance is determined based on a vertical distance between the first distance measuring sensor and the suction ribbon, and a first linear distance between the first distance measuring sensor and an end of the suction ribbon away from the linear motor; the third distance is a linear distance between the end of the suction ribbon away from the linear motor and the first distance measuring sensor along a parallel direction. A difference is calculated between the length of the first suction ribbon and the third distance, and the difference result is used as the second distance corresponding to the position instruction.

2. The method according to claim 1, characterized in that The suction ribbon tensioning device further includes a second distance measuring sensor arranged above the linear motor; Before acquiring the at least two first distances collected by the first distance measuring sensor, the method further includes: Acquire at least two second distances collected by the second ranging sensor, and respectively calculate a second difference between each two adjacent second distances; each second distance is a straight-line distance between the driving end of the linear motor and the second ranging sensor along the horizontal direction; performing variance calculation based on all the second differences, and when detecting that the calculation result is less than a preset variance threshold, determining whether any of the second distances is consistent with the preset second distance threshold; The acquiring of at least two first distances collected by the first distance measuring sensor includes: When any one of the second distances is consistent with the preset second distance threshold, at least two first distances collected by the first distance measuring sensor are acquired.

3. The method according to claim 1, characterized in that After sending a stop movement signal to the linear motor and receiving a position instruction input by a user, the method further includes: When the position instruction includes a second suction ribbon length corresponding to the position of replacing the suction ribbon, performing a difference calculation between the second suction ribbon length and the third distance, and generating a third movement signal according to the difference result; The third movement signal is sent to the linear motor to move the driving end of the linear motor in a direction away from the first ranging sensor, and after the driving end of the linear motor stops moving, a request for replacing the suction wire is sent to the user terminal.

4. The method according to claim 2, characterized in that The step of controlling the driving end of the linear motor to move to a target position according to the tension of the suction wire and a preset tension threshold comprises: When the suction ribbon tension is inconsistent with a preset tension threshold, a difference is calculated between the suction ribbon tension and the preset tension threshold, and a fourth distance corresponding to the difference result is searched in a preset tension-distance database; wherein the preset tension-distance database includes at least two standard deviation values ​​and a standard distance corresponding to each of the standard deviation values; generating a fourth movement signal according to the fourth distance, and sending the fourth movement signal to the linear motor to move the driving end of the linear motor toward the target position; At least two fifth distances collected by the second distance measuring sensor are acquired, and when any one of the fifth distances is greater than the preset second distance threshold, the linear motor controls the driving end of the linear motor to move to the target position.

5. The method according to claim 4, characterized in that After acquiring at least two fifth distances collected by the second distance measuring sensor, the method further includes: When any one of the fifth distances is less than or equal to the preset second distance threshold, sending the stop movement signal to the linear motor and acquiring a second linear distance between the first ranging sensor and the second ranging sensor; When the second straight-line distance is less than a preset third distance threshold, sending a position movement request of the second ranging sensor to the user terminal; When the second straight-line distance is greater than or equal to the preset third distance threshold, a request for checking the linear motor is sent to the user terminal.

6. The method according to claim 1, characterized in that The method further comprises: When a reset instruction input by the user is received, a reset movement signal is sent to the linear motor to move the driving end of the linear motor to the initial position.

7. A linear motor-based suction belt tensioning control system, characterized in that: The system is applied to a suction ribbon tensioning device, the suction ribbon tensioning device including a linear motor, a suction ribbon and a tension sensor arranged on one side of a driving end of the linear motor, and a first distance measuring sensor fixedly arranged above the suction ribbon. The system is applied to the linear motor-based suction ribbon tensioning control method according to any one of claims 1 to 6, and the system includes: a first control module, configured to send a first movement signal to the linear motor when the linear motor is powered on, so as to move the driving end of the linear motor from an initial position toward a direction close to the first ranging sensor; a second control module, configured to obtain at least two first distances acquired by the first distance measuring sensor, and when detecting that any one of the first distances is consistent with a preset first distance threshold, send a stop movement signal to the linear motor, and receive a position instruction input by a user; a third control module, configured to generate a second movement signal according to a first difference between a second distance corresponding to the position command and the preset first distance threshold, and send the second movement signal to the linear motor to move the driving end of the linear motor in a direction away from the first distance measuring sensor; The fourth control module is used to obtain the suction wire tension collected by the tension sensor after the driving end of the linear motor stops moving, and control the driving end of the linear motor to move to the target position according to the suction wire tension and a preset tension threshold.

8. A linear motor-based suction belt tensioning control system, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 6.

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