Rotary positioning method and system of intelligent cabinet

Abstract

The invention relates to the field of intelligent cabinets, and provides a rotary positioning method and system for an intelligent cabinet, and the method comprises the steps: searching an original point in advance during starting up, and recording the original point; when a rotation instruction is received, obtaining the current position and target position information of the rotary drum; calculating according to the current position and the target position information to obtain drum motion information; controlling a motor to perform corresponding actions according to the rotating drum motion information; acquiring encoder detection angle information and motor feedback pulse information in real time; stopping the motor, judging whether the stopping position of the rotary drum is consistent with the target position, if not, compensating the motor, and if so, ending the motion program; according to the method, redundant origin searching actions are not needed, and the accuracy and continuous stability of machine rotation positioning are greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of smart cabinets, and in particular to a rotation positioning method and system for a smart cabinet. Background Art

[0002] General rotary vending machines, rotary storage cabinets or rotary tool management cabinets all use motors to drive gears to rotate the drum to the specified position, and then pick up the goods from the cargo entrance. However, in this process, if the material in the drum is heavy and the inertia is large, it will cause cumulative deviations in the position; or the motor will also produce cumulative errors over time during operation; or the motor suddenly stops due to power outages or other reasons, and when it restarts, it is impossible to record the position of the drum in real time, resulting in deviations in the drum position. The motor needs to be re-set to find the origin and restart the rotation, which will generate a lot of waiting time, affecting efficiency and customer pickup experience. In short, the current rotary positioning system has the problem of cumulative errors in the drum and a lot of waiting time when re-finding the origin. Summary of the invention

[0003] The problem solved by the present invention is how to provide a rotation positioning method and system for an intelligent cabinet that does not generate cumulative errors and has better rotation positioning accuracy and continuous stability.

[0004] In order to solve the above problems, the present invention provides a rotation positioning method for a smart cabinet, comprising: finding and recording the origin in advance when the cabinet is powered on for the first time;

[0005] When receiving the command, obtain the current position and target position information of the drum;

[0006] Calculate according to the current position and target position information to obtain the drum motion information; control the motor to perform corresponding actions according to the drum motion information;

[0007] Obtain encoder detection angle information and motor feedback pulse information in real time;

[0008] The motor stops and determines whether the drum stop position is consistent with the target position. If not, motor compensation is performed. If so, the motion program ends.

[0009] Furthermore, the step of pre-finding the origin and recording it at startup includes:

[0010] The sensing device and the triggering device are respectively arranged at the corresponding positions of the drum and the cabinet. When the drum rotates, when the sensing device moves to the corresponding position of the triggering device, the triggering device is triggered to generate a trigger signal.

[0011] Drive the drum to rotate clockwise at a constant speed. When a trigger signal is generated, record the drum angle position information at this time as the origin position, and control the drum motor to decelerate:

[0012] The drum is driven to rotate counterclockwise and pass through the origin position, and it is determined whether the trigger device is triggered when passing through the origin position counterclockwise. If so, the origin position is confirmed.

[0013] Furthermore, when confirming the origin position, it also includes returning the encoder to zero.

[0014] Furthermore, the acquisition of the target position information of the drum includes: confirming the target position information according to the user's pickup information or reading the cache record when resetting and restarting to obtain the target position information.

[0015] Furthermore, after confirming the target location information according to the user's pickup information, the target location information is cached.

[0016] Furthermore, the obtaining of the movement information of the rotating drum by calculating according to the current position and the target position information includes: calculating the shortest movement route from the current position to the target position as the movement information of the rotating drum according to the current position and the target position.

[0017] Furthermore, real-time acquisition of encoder detection angle information and motor feedback pulse information includes the system issuing detection tasks at intervals of 1 ms to detect the encoder angle and the number of motor feedback pulses in real time.

[0018] Furthermore, the determination of whether the drum stop position is consistent with the target position includes performing data processing based on the detected data and the sent data, obtaining the position offset angle of the drum rotation, obtaining the offset angle threshold range based on the angle tolerance of the encoder, and determining whether the position offset angle is within the offset angle threshold range. If so, the drum stop position is consistent with the target position; if not, the drum stop position is inconsistent with the target position, and motor compensation is performed.

[0019] The present invention also provides a rotation positioning system for an intelligent cabinet, comprising:

[0020] Rotating drum;

[0021] A rotating shaft is connected to the drum, and the drum motor controls the rotation of the drum through the rotating shaft;

[0022] An optical coupler sensing sheet is arranged on the rotating drum;

[0023] The optical coupler sensor is arranged on the cabinet. When the drum rotates and the optical coupler sensing piece moves to the corresponding position of the optical coupler sensor, the optical coupler sensor is triggered.

[0024] An encoder is arranged on the rotating shaft and is used to record the current angular position information of the rotating drum;

[0025] The control center is used to obtain user pickup information, optocoupler trigger information, encoder and motor feedback information, perform information calculation, and control the movement of the drum motor.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The origin can be accurately found and recorded through the optical coupling sensor and the induction sheet. The current position information of the drum can be obtained in real time through the data processing of the encoder and the motor feedback. By calculating the current position, the origin and the target position, the drum can be rotated to the specified position in real time and accurately without generating cumulative deviations and without the need for unnecessary origin-finding actions, which greatly improves the accuracy and continuous stability of the machine's rotation positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall process of the rotation positioning method according to an embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of the principle structure of the rotating drum searching for the origin when the rotary positioning system according to the embodiment of the present invention is turned on;

[0030] Figure 3 It is a schematic diagram of the structure of the operating principle of the drum after the rotary positioning system according to an embodiment of the present invention is turned on.

[0031] Description of reference numerals:

[0032] 1-rotating shaft; 2-rotating drum; 3-optical coupling sensor; 4-optical coupling sensor; 5-encoder. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In the description of this specification, the description with reference to the terms "embodiment", "one embodiment" and "one implementation" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or implementation are included in at least one embodiment or implementation of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or implementation. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or implementations in a suitable manner.

[0036] like Figure 1 As shown, the present invention provides a rotation positioning system for a smart cabinet, including: finding and recording the origin in advance when the cabinet is powered on for the first time;

[0037] When receiving the command, obtain the current position and target position information of the drum;

[0038] Calculate according to the current position and target position information to obtain the drum motion information; control the motor to perform corresponding actions according to the drum motion information;

[0039] Obtain encoder detection angle information and motor feedback pulse information in real time;

[0040] The motor stops and determines whether the drum stop position is consistent with the target position. If not, motor compensation is performed. If so, the motion program ends.

[0041] It should be noted that when powered on for the first time, Figure 1 As shown, the system searches for the origin and records it, and resets the encoder to zero. In this way, in subsequent operation, the current position information of the drum is obtained through the current encoder information of the drum motor, and then the motor rotation is controlled by calculation with the target position information. At the same time, the encoder data and motor pulse feedback are collected in real time to obtain the current drum position information and motor operation data in real time, and the motor compensation is performed at the end, so that no cumulative deviation will be generated during the picking process; in the process of picking, if an emergency power outage or other factors occur and the system restarts, such as Figure 1 As shown, at this time, there is no need to find the origin and record the steps. The drum status can be known through the current position information of the drum, and then compared with the target position information to determine the next movement trajectory of the drum. Based on this, the direction and number of turns of the drum motor can be controlled to accurately reach the target position without returning to the origin. When performing the action, there is no need to perform redundant origin search actions, which greatly improves the accuracy and stability of the machine rotation positioning. Among them:

[0042] The motor compensation is to determine the motion data of the target position when the stop position is inconsistent with the target position, and control the motor to perform corresponding actions again, and repeat in sequence to achieve the accuracy of the rotation position.

[0043] In one embodiment of the present invention, the step of pre-finding the origin and recording it at startup includes:

[0044] The sensing device and the triggering device are respectively arranged at the corresponding positions of the drum and the cabinet. When the drum rotates, when the sensing device moves to the corresponding position of the triggering device, the triggering device is triggered to generate a trigger signal.

[0045] Drive the drum to rotate clockwise at a constant speed. When a trigger signal is generated, record the drum angle position information at this time as the origin position, and control the drum motor to decelerate:

[0046] The drum is driven to rotate counterclockwise and pass through the origin position, and it is determined whether the trigger device is triggered when passing through the origin position counterclockwise. If so, the origin position is confirmed and the encoder is reset to zero.

[0047] In one embodiment of the present invention, the obtaining of the target position information of the drum includes: confirming the target position information according to the user's pickup information or reading the cache record during reset and restart to obtain the target position information;

[0048] After confirming the target location information according to the user's pickup information, the method further includes caching the target location information.

[0049] It should be noted that when picking up goods in normal operation, the system determines the location of the cargo channel entrance based on the user's pickup information as the target location information. At the same time, the target location information will be stored in the cache. During operation, if there are some emergencies such as sudden power outages, which lead to the interruption of pickup and restart, the system can obtain the target location information of the pickup by reading the cache records, and then calculate it with the current position information to accurately control the drum to reach the target position.

[0050] In one embodiment of the present invention, the obtaining of the movement information of the rotating drum by calculating based on the current position and the target position information includes: calculating the shortest movement route from the current position to the target position as the movement information of the rotating drum based on the current position and the target position.

[0051] In one embodiment of the present invention, real-time acquisition of encoder detection angle information and motor feedback pulse information includes the system issuing detection tasks at intervals of 1 ms to detect the encoder angle and the number of motor feedback pulses in real time.

[0052] In one embodiment of the present invention, the determination of whether the drum stop position is consistent with the target position includes performing data processing based on the detected data and the sent data, obtaining the position offset angle of the drum rotation, obtaining the offset angle threshold range based on the angle tolerance of the encoder, and determining whether the position offset angle is within the offset angle threshold range. If so, the drum stop position is consistent with the target position; if not, the drum stop position is inconsistent with the target position, and motor compensation is performed.

[0053] In one embodiment of the present invention, a rotation positioning system for a smart cabinet is also provided, comprising:

[0054] Drum 2;

[0055] The rotating shaft 1 is connected to the rotating drum 2, and the rotating drum motor controls the rotating drum 2 to rotate through the rotating shaft 1;

[0056] The optical coupler sensor sheet 3 is arranged on the rotating drum 2;

[0057] The optical coupling sensor 4 is arranged on the cabinet. When the drum 2 rotates and the optical coupling sensing sheet 3 moves to the corresponding position of the optical coupling sensor 4, the optical coupling sensor 4 is triggered.

[0058] The encoder 5 is arranged on the rotating shaft 1 and is used to record the current angular position information of the rotating drum 2;

[0059] The control center is used to obtain user pickup information, optocoupler trigger information, encoder and motor feedback information, perform information calculation, and control the movement of the drum motor.

[0060] It should be noted that the rotation positioning system of the smart cabinet is used to execute the above rotation positioning method. Specifically, the first power-on rotation position demonstration is as follows: Figure 2 As shown: Take the motor rotating clockwise as an example (counterclockwise rotation is also possible):

[0061] When the device is turned on for the first time, the system first searches for the origin A for the optocoupler sensor 3 on the drum 2. With any point B as the starting point, the drum 2 rotates clockwise at a constant speed under the drive of the motor. When it reaches the origin A, the optocoupler sensor 4 is triggered by the optocoupler sensor 3 set on the drum 2. At this time, the position of the optocoupler sensor 3 on the drum 2 is recorded by the system, and the motor starts to perform the set deceleration movement. Then the motor reverses and moves counterclockwise. When it passes through the origin A again to trigger the optocoupler sensor 3, the system determines whether the optocoupler sensor 4 is triggered. If it is in the triggered state, it means that the optocoupler sensor 3 on the drum 2 is at the origin A position, and the encoder 5 is reset to zero at this time. The function of the encoder 5 is to record the current angular position information of the drum 2.

[0062] After the first startup, in the event of emergency braking, or power-off reset and restart during use, the system searches for the origin when it is first powered on. At this time, the system records the current position of origin A. Whenever a new rotation command is sent, the shortest route will be calculated based on the current position and target position, triggering the motor to perform the corresponding rotation action. At this time, the system will use a 1ms detection task to detect the angle of encoder 5 and the number of pulses fed back by the motor in real time. When the motor stops rotating, it will process the data according to the detected data and the sent data. If the rotation position offsets more than 0.7 degrees (Note: the angle tolerance value of encoder 5 is plus or minus 0.35 degrees, so the offset angle is set to 0.7 degrees. Different encoders 5 may have different angle tolerance values. This case is just an example, that is, the angle tolerance of encoder 5 itself needs to be set), the motor compensation mechanism will be triggered to perform angle compensation, otherwise the command task will be terminated.

[0063] After the first power-on, if Figure 3 As shown, during the process of rotating from point A to target point F, the power is cut off when rotating to point E, or other factors cause the system to restart. At this time, the encoder 5 can know the accurate position information of the optocoupler sensor 3 on the current drum 2 in real time. Therefore, when the brake is canceled or the power is restored, the host computer continues to send the rotation command, and will first read the data of the encoder 5 (that is, the position information data of point E) and the data of the target position F for processing. In this way, the motor can continue to rotate from the position of point E to the specified target position F, without returning to the origin A to find the origin, and then rotating to the specified target position F. Since the program has cached the target position F, it ensures that the previous target position can be recorded and found after power failure and recovery.

[0064] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A rotation positioning method for a smart cabinet, characterized in that: include: Find the origin and record it in advance when you start the machine for the first time; When receiving the command, obtain the current position and target position information of the drum; Calculate according to the current position and target position information to obtain the drum movement information; Control the motor to perform corresponding actions according to the drum motion information; Obtain encoder detection angle information and motor feedback pulse information in real time; The motor stops and determines whether the drum stop position is consistent with the target position. If not, motor compensation is performed. If so, the motion program ends.

2. The rotation positioning method of the smart cabinet according to claim 1, characterized in that: The step of searching for the origin and recording it in advance at startup includes: The sensing device and the triggering device are respectively arranged at the corresponding positions of the drum and the cabinet. When the drum rotates, when the sensing device moves to the corresponding position of the triggering device, the triggering device is triggered to generate a trigger signal. Drive the drum to rotate clockwise at a constant speed. When a trigger signal is generated, record the drum angle position information at this time as the origin position, and control the drum motor to decelerate: The drum is driven to rotate counterclockwise and pass through the origin position, and it is determined whether the trigger device is triggered when passing through the origin position counterclockwise. If so, the origin position is confirmed.

3. The rotation positioning method of the smart cabinet according to claim 2, characterized in that: When confirming the origin position, it also includes returning the encoder to zero.

4. The rotation positioning method of the smart cabinet according to claim 1, characterized in that: The method of obtaining the target position information of the rotating drum includes: confirming the target position information according to the user's pickup information or reading the cache record when resetting and restarting to obtain the target position information.

5. The rotation positioning method of the smart cabinet according to claim 4, characterized in that: After confirming the target location information according to the user's pickup information, the method further includes caching the target location information.

6. The rotation positioning method of the smart cabinet according to claim 1, characterized in that: The obtaining of the movement information of the rotating drum by calculating according to the current position and the target position information includes: calculating the shortest movement route from the current position to the target position as the movement information of the rotating drum according to the current position and the target position.

7. The rotation positioning method of the smart cabinet according to claim 6, characterized in that: Real-time acquisition of encoder detection angle information and motor feedback pulse information includes the system issuing detection tasks at intervals of 1ms to detect the encoder angle and the number of pulses fed back by the motor in real time.

8. The rotation positioning method of the smart cabinet according to claim 7, characterized in that: The method of determining whether the drum stop position is consistent with the target position includes performing data processing based on the detected data and the sent data, obtaining the position offset angle of the drum rotation, obtaining the offset angle threshold range based on the angle tolerance of the encoder, and determining whether the position offset angle is within the offset angle threshold range. If so, the drum stop position is consistent with the target position. If not, the drum stop position is inconsistent with the target position, and motor compensation is performed.

9. A rotation positioning system for a smart cabinet, used to implement the rotation positioning method for a smart cabinet according to any one of claims 1 to 8, characterized in that: include: Rotating drum (2); A rotating shaft (1) is connected to a rotating drum (2), and a rotating drum motor controls the rotation of the rotating drum (2) via the rotating shaft (1); An optical coupling sensing sheet (3) is arranged on the rotating drum (2); The optical coupling sensor (4) is arranged on the cabinet, and when the rotating drum (2) rotates and the optical coupling sensing sheet (3) moves to the corresponding position of the optical coupling sensor (4), the optical coupling sensor (4) is triggered; An encoder (5) is arranged on the rotating shaft (1) and is used to record the current angular position information of the rotating drum (2); The control center is used to obtain user pickup information, optocoupler trigger information, encoder and motor feedback information, perform information calculation, and control the movement of the drum motor.

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