Positioning method and device of winding type lifting mechanism, electronic equipment and medium

Abstract

The invention provides a positioning method and device for a winding type lifting mechanism, electronic equipment and a medium, and the method comprises the steps: obtaining positioning parameters which comprise the radius R of a winding drum, the total length L of a winding belt, the thickness delta of the winding belt and the initial drooping length L0 of the winding belt, wherein the initial drooping length L0 of the winding tape is the vertical distance between the tail end of the winding tape and the axis of the winding drum when the load side is located at the reference position; according to the positioning parameters, the initial number n0 of winding turns of the winding tape is determined, and the number of winding turns of the winding tape is used for representing the number of turns of the winding tape wound on the winding drum to achieve the load side position value; and the current position value of a winding drum driving motor is obtained, and the current position value of the load side is obtained according to the current position value of the winding drum driving motor, the initial winding circle number n0 of the winding belt and the positioning parameters.

Description

Technical Field

[0001] The present application relates to the field of lifting technology, and in particular to a positioning method, device, electronic equipment and PLC controller medium of a winding lifting mechanism. Background Art

[0002] The winding belt lifting mechanism has significant advantages in many application scenarios due to its easy installation and low noise. However, this mechanism does have significant limitations in situations where high positioning accuracy is required. Specifically, the thickness of the winding belt will gradually accumulate during the continuous lifting process, resulting in the positioning error at the load end to increase further with each additional turn of the servo motor. This accumulation of errors poses a severe challenge to the accuracy of material grasping, and may even damage the material structure or mechanical components due to inaccurate positioning. Summary of the invention

[0003] In view of this, the positioning solution of the winding lifting mechanism provided in the present application can obtain the precise position of the load side in real time according to the position value of the motor side without adding any hardware equipment, thereby greatly improving the positioning accuracy.

[0004] In a first aspect, the present application provides a positioning method for a winding lifting mechanism, comprising the following steps:

[0005] Acquire positioning parameters, the positioning parameters including: drum radius R, total length L of winding tape, thickness δ of winding tape and initial droop length L0 of winding tape, wherein the initial droop length L0 of winding tape is the vertical distance between the end of the winding tape and the axis of the drum when the load side is located at the reference position;

[0006] According to the positioning parameters, determining the initial winding number n0 of the winding belt, wherein the winding number of the winding belt is used to represent the number of turns of the winding belt wound on the reel to achieve the load-side position value;

[0007] The current position value of the reel drive motor is obtained, and the current position value of the load side is obtained according to the current position value of the reel drive motor, the initial number of winding turns n0 of the winding belt, and the positioning parameter.

[0008] Optionally, before the step of determining the initial number of winding turns n0 of the winding tape according to the positioning parameters, the step further includes:

[0009] In response to a power-on signal, the load side is controlled to move to the reference position; and after the load side moves to the reference position, the position value of the reel driving motor is reset to 0.

[0010] Optionally, the step of determining the initial number of winding turns n0 of the winding tape according to the positioning parameters further comprises:

[0011] Obtain the current position value of the reel drive motor, and obtain the current number of rotations n of the reel drive motor according to the current position value of the reel drive motor and the reel radius R s ;

[0012] Calculate the current number of revolutions n of the reel drive motor s The difference between the initial winding number n0 of the winding belt and the current winding number n of the winding belt is obtained. r ;

[0013] According to the current number of rotations n of the reel r and the positioning parameters to obtain the current position value of the load side.

[0014] Optionally, according to the current winding number difference n of the winding belt r and the positioning parameter, the step of obtaining the current position value of the load side further comprises:

[0015] According to the current winding number difference n of the winding belt r , winding tape thickness δ and drum radius R, to obtain the current winding length L of the winding tape m ;

[0016] According to the total length L of the winding belt, the initial drooping length L0 of the winding belt and the current winding length L of the winding belt m , get the current position value of the load side.

[0017] Optionally, the method further comprises the following steps:

[0018] In response to a load movement instruction, the following steps are performed:

[0019] The target position value of the load side is obtained, and the positioning distance of the motor is obtained according to the target position value of the load side, the current position value of the load side, the initial number of winding turns n0 of the winding belt, and the positioning parameters.

[0020] Optionally, the step of obtaining the target position value of the load side, and obtaining the positioning distance of the motor according to the target position value of the load side, the current position value of the load side, the initial number of winding turns n0 of the winding belt, and the positioning parameter, further includes:

[0021] Obtain the target position value of the load side and the current position value of the load side, compare the target position value of the load side and the current position value of the load side, and if the two are not equal, perform the following steps:

[0022] According to the target position value of the load side and the positioning parameters, the target number of winding turns n of the winding belt is obtained. t ;

[0023] According to the initial winding number n0 of the winding tape, the target winding number n t The target winding number of the winding tape is obtained by the radius R of the winding drum, and the positioning distance S of the winding drum drive motor is obtained by the difference.

[0024] In a second aspect, the present application provides a positioning device for a winding lifting mechanism, comprising:

[0025] An acquisition module is used to acquire positioning parameters, wherein the positioning parameters include: a reel radius R, a total length L of the winding belt, a thickness δ of the winding belt, and an initial droop length L0 of the winding belt, wherein the initial droop length L0 of the winding belt is a vertical distance between the end of the winding belt and the axis of the reel when the load side is located at a reference position;

[0026] An initial winding number determination module is used to determine the initial winding number n0 of the winding belt according to the positioning parameters, wherein the winding number of the winding belt is used to represent the number of turns of the winding belt wound on the reel to achieve the load side position value;

[0027] The first calculation module is used to obtain the current position value of the reel drive motor, and obtain the current position value of the load side according to the current position value of the reel drive motor, the initial winding number n0 of the winding belt and the positioning parameter.

[0028] Optionally, the positioning device further includes a target position acquisition module, which is used to acquire a target position value of the load side;

[0029] The second calculation module is used to obtain the positioning distance of the motor according to the target position value of the load side, the current position value of the load side, the initial number of winding turns n_0 of the winding belt and the positioning parameters.

[0030] In a third aspect, the present application provides an electronic device, comprising: a processor, a communication interface, a memory, and a bus, wherein the processor, the communication interface, and the memory communicate with each other through the bus;

[0031] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to any method described in the first aspect.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor performs any of the methods described in the first aspect.

[0033] It can be seen from the above technical solution that the present application does not rely on any external sensors, nor does it require the addition of additional hardware equipment or the upgrading of hardware configuration. It can accurately determine the current position of the load side only by utilizing the equipment parameters of the winding lifting mechanism itself, thereby significantly improving the positioning accuracy without increasing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flow chart of a positioning method of a winding lifting mechanism according to an exemplary embodiment of the present application.

[0035] Figure 2 It is a front view of the winding lifting mechanism with the load side located at the reference position according to the exemplary embodiment of the present application.

[0036] Figure 3 It is a front view of the winding lifting mechanism with the load side located in a non-reference position according to an exemplary embodiment of the present application.

[0037] Figure 4 Flow chart of method 200 of an exemplary embodiment of the present application

[0038] Figure 5 Flow chart of method 300 according to an exemplary embodiment of the present application.

[0039] List of reference numerals:

[0040] 10: winding tape;

[0041] 11: Starting end of the winding tape;

[0042] 12: End of the winding tape;

[0043] 13: The last winding point

[0044] 20: reel;

[0045] 30: output shaft of the reel drive motor;

[0046] 40: Load DETAILED DESCRIPTION

[0047] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0048] Some embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the case where there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other. The steps in the following method embodiments are only used for exemplary description and are not intended to limit the present invention.

[0049] The winding belt lifting mechanism has significant advantages in many application scenarios due to its easy installation and low noise.

[0050] The principle of the winding belt lifting mechanism is as follows: Figure 2 and Figure 3 As shown, the winding belt is tightly wound on the drum, and the winding belt end 12 is used to connect the load 40. When the motor drives the drum 20 to rotate, the winding belt 10 is wound or unwound on the drum 20. During this process, the position of the winding belt end 12 will change accordingly, thereby realizing the lifting and lowering control of the load.

[0051] However, the thickness of the winding belt will gradually accumulate during the continuous lifting process, resulting in the positioning error of the load end increasing further with each additional rotation of the servo motor. This accumulation of errors poses a severe challenge to the accuracy of material grabbing, and may even damage the material structure or mechanical parts due to inaccurate positioning.

[0052] Based on the various problems in the above-mentioned prior art, each embodiment of the present application provides a positioning solution for a winding lifting mechanism, which can obtain the precise position of the load side in real time according to the position value of the motor side without adding any hardware equipment, thereby greatly improving the positioning accuracy.

[0053] The positioning scheme of the winding lifting mechanism provided in each embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0054] Positioning method of winding lifting mechanism

[0055] Figure 1 FIG. 1 is a flow chart of a positioning method 100 of a winding lifting mechanism according to an exemplary embodiment of the present application. Figure 1 As shown, the method 100 of this embodiment mainly includes the following steps:

[0056] S101: Acquire positioning parameters, which include: drum radius R, total length L of winding tape, thickness δ of winding tape and initial droop length L0 of winding tape, wherein the initial droop length L0 of winding tape is the vertical distance between the end of the winding tape and the axis of the drum when the load side is located at the reference position.

[0057] refer to Figure 2 and Figure 3The total length L of the winding belt refers to the total length from the starting end 11 of the winding belt to its end 12 after it is fully unfolded. This length consists of two parts: the winding length and the drooping length. The winding length refers to the length of the winding belt 10 that is wound on the reel 20, which is equal to the unfolded length from the starting end 11 of the winding belt to the last winding point 13. The drooping length refers to the vertical distance from the last winding point 13 to the end 12 of the winding belt. Figure 2 and Figure 3 As shown in FIG. 1 , in the main view direction, the last winding point 13 is at the same height as the axis of the reel 20. When the load side is at the reference position, the droop length of the winding belt is L0, as shown in FIG. Figure 2 As shown. When the load side position changes to L t When the sag length becomes L0+L t , where L t is the vertical displacement of the load side relative to the reference position, such as Figure 3 shown.

[0058] The above positioning parameters can be obtained according to the equipment parameters of the lifting mechanism.

[0059] In some embodiments, the highest point to which the load side can rise is used as the reference position, such as Figure 2 When the load is at the reference position, the winding belt is wound on the drum to the maximum extent, that is, the winding length of the winding belt is the largest and the drooping length is the smallest.

[0060] S103: According to the positioning parameters, determine the initial number of winding turns n0 of the winding tape, wherein the number of winding turns of the winding tape is used to characterize the number of turns of the winding tape that needs to be wound on the drum to achieve a specific load side position, which is related to the total length of the winding tape, the radius of the drum and the position value of the end of the winding tape.

[0061] For example, the radius R of the reel is 125 mm, the total length L of the winding tape is 3740 mm, the thickness δ of the winding tape is 3 mm, the droop length L1 of the winding tape is 1000 mm, and the number of winding turns of the winding tape to achieve the droop length L1 is 3.3528 turns.

[0062] S105: Obtain the current position value ServoPos of the reel drive motor, and obtain the current position value of the load side according to the current position value ServoPos of the reel drive motor, the initial number of winding turns n0 of the winding belt, and the positioning parameters.

[0063] The technical solution of the present application does not rely on any external sensors, nor does it require the addition of additional hardware equipment or the upgrading of hardware configuration. It can accurately determine the current position of the load side only by utilizing the equipment parameters of the winding lifting mechanism itself, thereby significantly improving the positioning accuracy without increasing costs.

[0064] In some embodiments, before step S103, step S102 is also included: in response to a power-on signal, controlling the load side to move to the reference position; and when the load side moves to the reference position, resetting the position value of the reel drive motor to 0.

[0065] By resetting the motor, it is ensured that when the load side is at its reference position, the position value of the motor is 0, thereby providing a clear and consistent starting reference point for the motor side and the load side, so that the lifting and lowering process of the load can be accurately controlled and monitored.

[0066] In some implementations, step S102 is further implemented as follows:

[0067] S1021: In response to the power-on signal of the reel drive motor, the load side is controlled to move downward a safe distance.

[0068] This safety distance allows the load side to leave the reference position while ensuring that it maintains sufficient clearance from any objects that may collide with it (such as the ground, other equipment or obstacles) during movement to prevent damage or safety accidents.

[0069] S1022: After the load side stops moving, controlling the load side to move to a reference position;

[0070] S1023: When the load side moves to the reference position, the position value of the reel drive motor is reset to 0.

[0071] Based on the above implementation, in a specific implementation, step S105 is further implemented as follows:

[0072] S1051: Obtain the current position value ServoPos of the reel drive motor. According to the current position value ServoPos of the reel drive motor and the reel radius R, the current number of rotations n of the reel drive motor can be obtained according to Formula 1. s ;

[0073] n s =ServoPos / 2πR Formula 1

[0074] S1053: Calculate the current number of revolutions n of the reel drive motor s The difference between the initial winding number n0 of the winding belt and the current winding number n of the winding belt is obtained. r , where n r =n0-n s .

[0075] When the load side is in the reference position, the winding length of the winding belt is the largest, and the number of winding turns of the winding belt is also the largest at this time. Therefore, according to the formula nr =n0-n s Get the current number of winding turns n r .

[0076] S1055: According to the current winding number n of the winding belt r and the positioning parameters to obtain the current position value of the load side.

[0077] In some implementations, step S1055 is further implemented as follows:

[0078] S10551: According to the current winding number n of the winding belt r , winding tape thickness δ and drum radius R, to obtain the current winding length L of the winding tape m ;

[0079] S10552: According to the total length L of the winding belt, the initial drooping length L0 of the winding belt and the current winding length L of the winding belt m , get the current position value L on the load side r .

[0080] Specifically, the current position value L of the load side can be obtained according to Formula 2: r .

[0081] L r =L-L0-L m Formula 2

[0082] In some implementations, step S10551 is further implemented as follows:

[0083] The circumference of each integer number of turns of the winding tape wound on the drum is calculated according to the first calculation formula, wherein the first calculation formula is:

[0084] C N =π[2R+(2N-1)δ]

[0085] In the first calculation formula, R is used to represent the radius of the drum, N is used to represent the number of turns of the winding tape around the drum, and C is used to represent the radius of the drum. N Used to characterize the circumference of the winding tape around the Nth turn of the reel. For example, the circumference C1 of the first turn of the winding tape wound on the reel is:

[0086] C1=π[2R+(2*1-1)δ]

[0087] According to the second calculation formula, the length L of the outermost winding belt wound on the reel is obtained. N , where the second calculation formula is:

[0088] L N =π[2R+(2n int +1)δ(nr -n int )]

[0089] In the second calculation formula, R is used to represent the radius of the roll, n r Used to indicate the current number of winding turns, n int Used to represent the current number of winding turns n r For example, n r =2.5, then n int =2.

[0090] Current winding length L of the winding belt m It is equal to the circumference of the winding tape around each circle of the reel and the length L of the outermost circle of the winding tape wound on the reel. N For example, the current number of winding turns n of the winding belt is r =2.5, then according to the first calculation formula, the circumference C1 of the first winding belt wound on the drum and the circumference C2 of the second winding belt wound on the drum can be obtained; according to the second calculation formula, the length L3 of the third winding belt wound on the drum can be obtained, so the current winding length L of the winding belt m =C1+C2+L3.

[0091] In a specific implementation, step S10551 can be implemented by method S200. Method S200 includes the following steps:

[0092] S201: define variable n i , variable SUM C , variable N and variable C N , where n i is the conditional judgment variable, SUM C It is used to represent the cumulative circumference, N is used to represent the number of turns of the winding belt around the reel, N is a positive integer, and the variable C N It is used to characterize the circumference of the winding tape around the Nth turn of the reel. For example, when N=3, SUM C It is equal to the sum of the circumference C1 of the first winding belt wound on the drum, the circumference C2 of the second winding belt wound on the drum, and the circumference C3 of the third winding belt wound on the drum.

[0093] S202: Initialize variables, where variable n i The initial value is the current number of winding turns n r The rounded value n int , variable SUM C The initial value of the variable N is 0, that is, n i =n int , SUM C =0, N=0;

[0094] S203: Calculate n i -1, if the difference is greater than or equal to 0, execute step S204; otherwise, execute step S205;

[0095] Step S204 is specifically implemented as follows:

[0096] Calculate the variable n according to the following formula i , variable N, variable C N and the variable SUM C , and returns the current value to step S202.

[0097]

[0098] S205 is specifically implemented as follows:

[0099] Based on variable SUM C The current value of, the roll radius R, the winding tape thickness δ, the current number of winding turns n r And the current number of winding turns n r The rounded value n int Based on formula 3, the current winding length L of the winding tape is obtained m .

[0100] L m =SUM c +π[2R+(2n int +1)δ(n r -n int )] Formula 3

[0101] The logic of method 200 is simple and does not require complex hardware support, so it can be executed in a motion controller. In one scanning cycle, the motion controller can read the current position value of the reel drive motor and output the calculation result based on the method 200 according to the read current position value, thereby outputting the current position value of the load side in real time. This instant feedback mechanism ensures that the control system can respond quickly to any position change, thereby maintaining high-precision control. In addition, the hardware cost of the motion controller is low, so there is no need to add additional hardware equipment or upgrade the hardware configuration, which further saves costs.

[0102] The method 200 is encapsulated as a functional block, has strong versatility, and is applicable to some occasions where a winding tape structure is used for positioning.

[0103] In some embodiments, the positioning method of the winding lifting mechanism further includes step S107:

[0104] In response to a load movement instruction, the following steps are performed:

[0105] The target position value of the load side is obtained, and the positioning distance of the motor is obtained according to the target position value of the load side, the current position value of the load side, the initial number of winding turns n0 of the winding belt, and the positioning parameters.

[0106] Specifically, step S107 further includes:

[0107] S1071: Obtain the target position value L on the load side t And the current position value L on the load side r , set the target position value L on the load side t And the current position value L on the load side r Compare, if the two are not equal, then perform the following steps:

[0108] S1072: Based on the target position value L of the load side t and the positioning parameters to obtain the target winding number n of the winding tape t ;

[0109] S1074: According to the initial winding number n0 of the winding tape, the target winding number n0 of the winding tape t Based on the target winding number difference of the winding belt and the drum radius R, the target position value S of the drum driving motor is obtained based on Formula 4, wherein the target position value S is the absolute position of the motor relative to the motor zero point.

[0110] S=2πR(n0-n t ) Formula 4

[0111] In the absolute position positioning mode of the motor, the reel drive motor can directly drive the load to move to the target position according to the target position value of the motor. In the relative position positioning mode of the motor, the positioning distance of the motor from the current position to the target position can be obtained according to the target position value S of the motor and the current position value of the motor.

[0112] In step S103 and step S1073, when the position value of the load side is known, the number of winding turns of the winding belt used to achieve the position value needs to be obtained. In some embodiments, the number of winding turns of the winding belt used to achieve the position value can be obtained according to the position value of the load side according to method 300. Method 300 is implemented as follows:

[0113] S301: define variable SUM C , N and variable C N , SUM C It is used to represent the cumulative circumference, N is used to represent the number of turns of the winding belt around the reel and N is a positive integer, C N It is used to characterize the circumference of the winding tape around the Nth turn of the reel. For example, when N=3, SUM CIt is equal to the sum of the circumference C1 of the first winding belt wound on the drum, the circumference C2 of the second winding belt wound on the drum, and the circumference C3 of the third winding belt wound on the drum.

[0114] S302: Initialize variables, including SUM C =0, N=0.

[0115] S303: Calculate the value of the intermediate variable L'. If L' is greater than or equal to 0, execute step S304; otherwise, execute step S305, where the intermediate variable L'=L-L0-L t -SUM C , where L is used to represent the total length of the winding belt, L0 is used to represent the initial droop length of the winding belt, and L t Used to represent the current position value of the load side.

[0116] Step S304 is specifically implemented as follows:

[0117] Calculate variables N and C according to the following formula N and the variable SUM C and returns the current value to step S303.

[0118]

[0119] S305 is specifically implemented as follows:

[0120] According to the variables N and C N and the variable SUM C The current value of and the total length of the winding belt, the initial droop length L0 of the winding belt, and the position value L on the load side t Based on Formula 5, the number of winding turns n of the winding belt to achieve the load side position value is obtained. t .

[0121] n t =N+(L-L0-L t -SUM C ) / C N Formula 5

[0122] The logic of method 300 is simple and does not require complex hardware support, so it can be executed in a motion controller. In one scanning cycle, the motion controller can read the target position value of the load side and obtain the positioning distance S for achieving the target position of the load side based on method 600.

[0123] The method 300 can be encapsulated as a functional block, has strong versatility, and is applicable to some occasions where a winding tape structure is used for positioning.

[0124] The winding tape will gradually become thinner due to wear during continuous use. If its initial thickness is still used for calculation, the positioning result will be biased. In order to solve this problem, the positioning parameters of this embodiment also include the thickness wear coefficient K. The wear coefficient K is multiplied by the initial thickness of the winding tape to obtain the current actual effective thickness of the winding tape, thereby accurately correcting the positioning error caused by wear. The user can easily input or select the corresponding wear coefficient through the human-computer interaction interface or the host computer, so that it can flexibly adapt to winding tapes with different degrees of wear. This method does not require the replacement of hardware or adjustment of complex settings, greatly simplifying the operation process.

[0125] Positioning device for winding lifting mechanism

[0126] The positioning device of the winding lifting mechanism provided in the present application includes an acquisition module, an initial winding number determination module and a first calculation module. The acquisition module is used to acquire positioning parameters, and the positioning parameters include: drum radius R, total length L of winding belt, thickness δ of winding belt and initial droop length L0 of winding belt, wherein the initial droop length L0 of winding belt is the vertical distance between the end of winding belt and the axis of drum when the load side is located at the reference position; the initial winding number determination module is used to determine the initial winding number n0 of winding belt according to the positioning parameters, wherein the winding number of winding belt is used to characterize the number of turns of winding belt wound on the drum to achieve the load side position value; the first calculation module is used to acquire the current position value of the drum drive motor, and obtain the current position value of the load side according to the current position value of the drum drive motor, the initial winding number n0 of the winding belt and the positioning parameters.

[0127] In one embodiment, the positioning device further includes a target position acquisition module and a second calculation module. The target position acquisition module is used to acquire the target position value of the load side, and the second calculation module is used to obtain the positioning distance of the motor according to the target position value of the load side, the current position value of the load side, the initial number of winding turns n0 of the winding belt, and the positioning parameters.

[0128] It should be noted that, since the information interaction, execution process, etc. between the modules in the positioning device of the above-mentioned winding lifting mechanism are based on the same concept as the positioning method embodiments of the above-mentioned winding lifting mechanisms, the specific contents can be found in the description of the positioning method embodiments of the above-mentioned winding lifting mechanism, and will not be repeated here.

[0129] Electronic devices

[0130] The specific embodiments of the present application do not limit the specific implementation of the electronic device. The electronic device provided in the embodiments of the present application includes: a processor, a communications interface, a memory, and a bus. Among them:

[0131] The processor, the communication interface, and the memory communicate with each other via the bus.

[0132] Communication interface, used to communicate with other electronic devices or servers.

[0133] The processor is used to execute the program, and specifically can execute the relevant steps in the above-mentioned positioning method embodiment of the winding lifting mechanism.

[0134] Specifically, the program may include program codes including computer operation instructions.

[0135] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0136] The memory is used to store programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0137] The program can be specifically used to enable the processor to execute the positioning method of the winding lifting mechanism in any of the aforementioned embodiments.

[0138] The specific implementation of each step in the program can refer to the corresponding steps and corresponding descriptions in the units in the above-mentioned positioning method embodiment of the winding lifting mechanism, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described equipment and modules can refer to the corresponding process description in the above-mentioned method embodiment, which will not be repeated here.

[0139] Computer readable storage medium

[0140] The present application also provides a computer-readable storage medium storing instructions for causing a machine to execute the positioning method of the winding lifting mechanism as described herein. Specifically, a system or device equipped with a storage medium can be provided, on which a software program code for implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.

[0141] In this case, the program code read from the storage medium itself can implement the function of any one of the above embodiments, so the program code and the storage medium storing the program code constitute part of the present application.

[0142] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0143] Computer program product

[0144] An embodiment of the present application also provides a computer program product, including computer instructions, which instruct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.

[0145] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0146] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and to be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0147] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or some components in multiple independent devices may be implemented together.

[0148] Nouns and pronouns relating to persons in this patent application are not limited to a specific gender.

[0149] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0150] The present invention has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present invention, and these embodiments are also within the protection scope of the present invention.

Claims

1. A positioning method for a winding lifting mechanism, characterized in that: The following steps are involved: Acquire positioning parameters, the positioning parameters including: drum radius R, total length L of winding tape, thickness δ of winding tape and initial droop length L0 of winding tape, wherein the initial droop length L0 of winding tape is the vertical distance between the end of the winding tape and the axis of the drum when the load side is located at the reference position; According to the positioning parameters, determining the initial winding number n0 of the winding belt, wherein the winding number of the winding belt is used to represent the number of turns of the winding belt wound on the reel to achieve the load-side position value; The current position value of the reel drive motor is obtained, and the current position value of the load side is obtained according to the current position value of the reel drive motor, the initial number of winding turns n0 of the winding belt, and the positioning parameter.

2. The positioning method of the winding lifting mechanism according to claim 1, characterized in that: Before the step of determining the initial number of winding turns n0 of the winding belt according to the positioning parameters, the method further includes: In response to a power-on signal, the load side is controlled to move to the reference position; and after the load side moves to the reference position, the position value of the reel driving motor is reset to 0.

3. The positioning method of the winding lifting mechanism according to claim 1, characterized in that: The step of determining the initial number of winding turns n0 of the winding tape according to the positioning parameters further comprises: Obtain the current position value of the reel drive motor, and obtain the current number of rotations n of the reel drive motor according to the current position value of the reel drive motor and the reel radius R s ; Calculate the current number of revolutions n of the reel drive motor s The difference between the initial winding number n0 of the winding belt and the current winding number n of the winding belt is obtained. r ; According to the current number of rotations n of the reel r and the positioning parameters to obtain the current position value of the load side.

4. The positioning method of the winding lifting mechanism according to claim 2, characterized in that: According to the current winding number difference n of the winding belt r and the positioning parameter, the step of obtaining the current position value of the load side further comprises: According to the current winding number difference n of the winding belt r , winding tape thickness δ and drum radius R, to obtain the current winding length L of the winding tape m ; According to the total length L of the winding belt, the initial drooping length L0 of the winding belt and the current winding length L of the winding belt m , get the current position value of the load side.

5. The positioning method of the winding lifting mechanism according to claim 1, characterized in that: The following steps are also included: In response to a load movement instruction, the following steps are performed: The target position value of the load side is obtained, and the positioning distance of the motor is obtained according to the target position value of the load side, the current position value of the load side, the initial number of winding turns n0 of the winding belt, and the positioning parameters.

6. The positioning method of the winding lifting mechanism according to claim 5, characterized in that: The step of obtaining the target position value of the load side and obtaining the positioning distance of the motor according to the target position value of the load side, the current position value of the load side, the initial number of winding turns n0 of the winding belt and the positioning parameter further includes: Obtain the target position value of the load side and the current position value of the load side, compare the target position value of the load side and the current position value of the load side, and if the two are not equal, perform the following steps: According to the target position value of the load side and the positioning parameters, the target number of winding turns n of the winding belt is obtained. t ; According to the initial winding number n0 of the winding tape, the target winding number n t The target winding number of the winding tape is obtained by the radius R of the winding drum, and the positioning distance S of the winding drum drive motor is obtained by the difference.

7. A positioning device for a winding lifting mechanism, characterized in that: The positioning device comprises: An acquisition module is used to acquire positioning parameters, wherein the positioning parameters include: a reel radius R, a total length L of the winding belt, a thickness δ of the winding belt, and an initial droop length L0 of the winding belt, wherein the initial droop length L0 of the winding belt is a vertical distance between the end of the winding belt and the axis of the reel when the load side is located at a reference position; An initial winding number determination module is used to determine the initial winding number n0 of the winding belt according to the positioning parameters, wherein the winding number of the winding belt is used to represent the number of turns of the winding belt wound on the reel to achieve the load side position value; The first calculation module is used to obtain the current position value of the reel drive motor, and obtain the current position value of the load side according to the current position value of the reel drive motor, the initial winding number n0 of the winding belt and the positioning parameter.

8. The positioning device of the winding lifting mechanism according to claim 7, characterized in that: The positioning device also includes a target position acquisition module, which is used to obtain a target position value of the load side; The second calculation module is used to obtain the positioning distance of the motor according to the target position value of the load side, the current position value of the load side, the initial number of winding turns n_0 of the winding belt and the positioning parameters.

9. An electronic device, comprising: A processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory communicate with each other via the bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform an operation corresponding to the method as claimed in any one of claims 1 to 6. 10 . A computer-readable storage medium having computer instructions stored thereon, wherein when the computer instructions are executed by a processor, the processor is caused to execute the method according to claim 1 .

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