A volumetric intelligent paper dispenser and control method thereof

Abstract

The present invention relates to the field of automation control technology, and specifically to a volumetric intelligent paper dispenser and a control method thereof. The tray in the paper dispenser is driven and controlled by a lifting screw, a track screw, a lifting motor, and all track motors. The lifting motor and any one of the track motors are recorded as a target motor. The control effectiveness of the target motor is obtained according to the tilt characteristics at the current moment and the predicted tilt characteristics of the target motor; the auxiliary control capability of the target motor is obtained according to the predicted tilt characteristics of the target motor and the predicted tilt characteristics of the reference motor. The tilt reduction amplitude after several adjustments before the current moment is used to integrate the control effectiveness of the motor with the auxiliary control capability to obtain the control priority of the motor, and the motor with the highest control priority is controlled. The present invention enables the tray to avoid the influence of the tilt of the tray or the existing tilt trend when it is efficiently moved vertically under the pressure of paper.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a volumetric intelligent paper dispenser and a control method thereof. Background Art

[0002] In modern office equipment, paper dispensers are a crucial component for efficient printing and copying. They are designed to automatically lift stored copy paper from the tray to the paper outlet for subsequent printing or copying. Typically, a paper dispenser can handle stacks of paper weighing up to 15 kg, requiring sufficient load-bearing and lifting capacity.

[0003] In order to achieve smooth lifting of paper, paper dispensers usually use a lifting mechanism driven by a screw. The lifting mechanism driven by a screw moves the nut along the axis of the screw through rotational motion, thereby achieving the up and down movement of the paper tray. However, when the tray tilts or tends to tilt under the weight of the paper, it may cause increased resistance during the lifting process, and even cause problems such as jamming. If the up and down movement of the paper tray is directly controlled, such as using a PID control algorithm, improper control may result in the inability to restore the paper tray to a horizontal state in a timely and efficient manner and continue to lift the paper, and may even affect the service life of the paper dispenser. Although some paper dispensers can be equipped with a more stable support structure to ensure that the paper tray is level and avoid tilting, it will result in a larger paper dispenser or a smaller paper storage space. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a volumetric intelligent paper dispenser and a control method thereof.

[0005] The present invention provides a volumetric intelligent paper dispenser and a control method thereof, which adopts the following technical solutions:

[0006] One embodiment of the present invention provides a volumetric intelligent paper dispenser, comprising: a cabinet, a cabinet door, a tray for holding paper placed in the cabinet, and a paper outlet; a tray bracket installed in the cabinet for placing the tray; a lifting screw installed on the rear side of the cabinet, the lifting screw being in rolling connection with the tray bracket via a lifting screw sleeve; track screws installed on both sides of the cabinet, the track screws being in rolling connection with the tray bracket via a track screw sleeve;

[0007] The lifting screw and track screw are driven by the lifting motor and track motor respectively. The rotation of the lifting motor and track motor is driven and controlled by the controller using the PID control algorithm. When the lifting motor rotates, the lifting screw pushes the tray bracket to move.

[0008] Among them, the diameter of the track screw is smaller than the diameter of the lifting screw. When the tray is not in a tilted state, the lifting motor is started and the track motor is not started; when there is a tilted state, both the lifting motor and the track motor are started.

[0009] An embodiment of the present invention further provides a control method for a volumetric intelligent paper dispenser. Using the above-mentioned volumetric intelligent paper dispenser, the control method includes:

[0010] The lifting motor and any one of the track motors are recorded as the target motor. The motion state of the target motor after a regulation is obtained using the PID control algorithm and recorded as the pre-adjustment state of the target motor. The motion state of all motors at the current moment, the pre-adjustment state of the target motor, and the tilt characteristics at the current moment are recorded as the current regulation characteristics of the target motor. The tilt characteristics are used to describe the tilt state of the pallet.

[0011] Obtaining a predicted tilt feature of the target motor based on the similarity between the current control feature and the tilt feature and motor motion state recorded in the historical records, and obtaining the control effectiveness of the target motor based on the difference between the tilt feature at the current moment and the predicted tilt feature of the target motor;

[0012] Any motor other than the target motor is recorded as a reference motor; the motion state of the reference motor after a regulation is obtained using a PID control algorithm, which is recorded as the pre-adjustment state of the reference motor;

[0013] The motion states of all motors other than the target motor at the current moment, the pre-adjustment state of the target motor, the pre-adjustment state of the reference motor, and the predicted tilt characteristics of the target motor are recorded as auxiliary control characteristics of the reference motor; the predicted tilt characteristics of the reference motor are obtained based on the similarity between the auxiliary control characteristics of the reference motor and the tilt characteristics and motor motion states recorded in the historical records;

[0014] Obtaining the control effectiveness of the reference motor based on the difference between the predicted tilt characteristics of the target motor and the predicted tilt characteristics of the reference motor; and taking the maximum value of the control effectiveness of all reference motors as the auxiliary control capability of the target motor;

[0015] By using the tilt reduction amplitude after several adjustments before the current moment, the motor's control effectiveness and auxiliary control capability are integrated to obtain the motor's control priority, and the motor with the highest control priority is controlled.

[0016] Preferably, the specific steps of obtaining the tilt feature are as follows:

[0017] The tilt sensor is used to obtain the tilt direction and tilt angle of the pallet, and the vector composed of the tilt angles of all tilt directions is recorded as the tilt feature.

[0018] Preferably, the specific steps of obtaining the predicted tilt feature of the target motor and the predicted tilt feature of the reference motor are as follows:

[0019] Record the motion state and tilt characteristics of each motor of the paper dispenser at each moment in the historical operation process; at each moment in the historical operation process, the motion state of all motors, the motion state of the target motor after the next adjustment, and the tilt characteristics at each moment are spliced ​​into a one-dimensional vector, which is recorded as the historical adjustment characteristics of the target motor;

[0020] Calculate the similarity between the current control feature of the target motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the target motor; record the tilt feature contained in the historical similar control feature of the target motor as the predicted tilt feature of the target motor;

[0021] Calculate the similarity between the auxiliary control feature of the reference motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the reference motor; the tilt feature contained in the historical similar control feature of the reference motor is recorded as the predicted tilt feature of the reference motor.

[0022] Preferably, the step of obtaining the control effectiveness of the target motor according to the difference between the tilt feature at the current moment and the predicted tilt feature of the target motor includes the following specific steps:

[0023] The average of the tilt angles in all directions of the tilt feature is recorded as the average tilt amplitude of the tilt feature; the difference between the average tilt amplitude of the tilt feature at the current moment and the average tilt amplitude of the predicted tilt feature of the target motor is recorded as the control effectiveness of the target motor.

[0024] Preferably, the specific steps for obtaining the tilt reduction amplitude are as follows:

[0025] The tilt features obtained from several control processes before the current moment constitute a tilt feature sequence. For two adjacent tilt features in the tilt feature sequence, the difference between the average tilt amplitude of the latter tilt feature and the average tilt amplitude of the previous tilt feature is recorded as the tilt amplitude change of the two adjacent tilt features. The average value h of the tilt amplitude change between all adjacent tilt features in the tilt feature sequence is obtained, and 2h / π is recorded as the tilt reduction amplitude.

[0026] Preferably, the control priority of the motor is obtained by combining the control effectiveness of the motor and the auxiliary control capability by utilizing the tilt reduction amplitude after several controls before the current moment, and the specific formula included is as follows:

[0027] Let k×a+(1-k)×b be the motor control priority, where a represents the motor control effectiveness, b represents the motor's auxiliary control capability, and k represents the motor motion error interference factor;

[0028] The motor motion error interference factor is obtained by the tilt reduction amplitude, the similarity between the historical similar control characteristics of the target motor and the current control characteristics of the target motor, and the similarity between the auxiliary control characteristics of the reference motor and the historical similar control characteristics of the reference motor.

[0029] Preferably, the specific steps of obtaining the motor motion error interference factor are as follows:

[0030] The similarity between the historical similar control features of the target motor and the current control features of the target motor is recorded as f1, and the similarity between the auxiliary control features of the reference motor and the historical similar control features of the reference motor is recorded as f2;

[0031] Let F = exp(-(f1+f2) / 2) be denoted as the predicted tilt characteristic error, and the motor motion error interference factor k = exp(-x)-w×F; x represents the tilt reduction amplitude, w represents the attention coefficient of the predicted tilt characteristic error, and exp() represents an exponential function with a natural constant as the base; the attention coefficient of the predicted tilt characteristic error is obtained based on the control sequence of the motor in several controls before the current moment.

[0032] Preferably, the specific steps for obtaining the attention coefficient of the predicted tilt feature error are as follows:

[0033] For the t-th control process among the several control processes before the current moment, the t+1-th control process represents the next control process of the t-th control process; the motor controlled in the t-th control process is recorded as motor A; for reference motors other than motor A, the reference motor with the greatest control effectiveness is recorded as motor B; when the motor controlled in the t+1-th control process is motor B, the attention degree of the t-th reference motor is recorded as 1; when the motor controlled in the t+1-th control process is not motor B, the attention degree of the t-th reference motor is recorded as 0;

[0034] The attention coefficient of the predicted tilt feature error is negatively correlated with the reference motor attention in several control processes before the current moment.

[0035] Preferably, the specific steps for obtaining the attention coefficient of the predicted tilt feature error are as follows:

[0036] The mean value m of the reference motor attention in several control processes before the current moment is obtained, and exp(-m) is used as the attention coefficient for predicting the tilt feature error.

[0037] The beneficial effects of the technical solution of the present invention are:

[0038] The rear side of the cabinet of the present invention is equipped with a lifting screw, and both sides of the cabinet are equipped with track screws. The lifting screw and the track screw are independently driven by the lifting motor and the track motor respectively. The lifting screw acts as a push rod for lifting the tray, and the track screw is used to start the track guide function to prevent the tray from tipping over. At the same time, the diameter of the track screw is smaller than the diameter of the lifting screw, so that the tray has a larger storage space, and the paper dispenser has the characteristics of small size and compact structure. When there is no tilting state, the lifting motor is started and the track motor is not started. The purpose is to prevent the track screw with a smaller diameter from bearing a large load pressure. When there is a tilting state, both the lifting motor and the track motor are started, which can ensure that the tray returns to a horizontal state when moving up and down.

[0039] Furthermore, the present invention provides a volumetric intelligent paper dispenser control method to further ensure that when a tilt state exists, the lifting motor and the track motor can be regulated in a reasonable order, thereby improving the working efficiency of the paper dispenser. In this method, the control effectiveness of the target motor is first obtained to describe the ability of the target motor to alleviate the tilt situation after being regulated; then the control effectiveness of the reference motor is obtained to describe the ability of each other motor to alleviate the tilt situation after being regulated again after the target motor is regulated; and further, the auxiliary control ability of the target motor is obtained to describe the ability of the other motors to alleviate the tilt situation when further adjustments are made in cooperation with the target motor after the target motor is regulated. Finally, based on the previous control process and using the control effectiveness and auxiliary control capabilities of the target motor, the control priority of the target point is obtained, and the motor with the highest control priority is used as the motor that needs to be controlled at the current moment. On the one hand, this process enables the lifting motor and the track motor to be controlled in an appropriate control order, so that the tray can eliminate the impact of the tilt as much as possible on the basis of moving up and down, so that the tray can remain level under the heavy pressure of the paper, thereby improving the working efficiency of the paper feeder and extending its service life. On the other hand, it can avoid the problem of inaccurate control priority caused by error interference in the control process. This problem of inaccurate control priority will make the control coordination process of the lifting motor and the track motor unreasonable, affecting the working process of the paper feeder. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1This is a schematic structural diagram of the first axis side of a volumetric intelligent paper dispenser provided by one embodiment of the present invention;

[0042] Figure 2 1 is a schematic front cross-sectional structural diagram of a volumetric intelligent paper dispenser provided by one embodiment of the present invention;

[0043] Figure 3 1 is a schematic side cross-sectional structural diagram of a volumetric intelligent paper dispenser provided by one embodiment of the present invention;

[0044] Figure 4 1 is a schematic diagram of a top-view cross-sectional structure of a volumetric intelligent paper dispenser provided by one embodiment of the present invention;

[0045] Figure 5 This is a schematic structural diagram of a tray support of a volumetric intelligent paper dispenser provided by one embodiment of the present invention;

[0046] Figure 6 This is a flowchart of the steps of a volumetric intelligent paper dispenser control method provided by an embodiment of the present invention.

[0047] The following are the descriptions of the reference numerals:

[0048] 1. Cabinet body; 2. Cabinet door; 3. Paper; 4. Paper outlet; 5. Tray; 6. Tray bracket; 7. Display screen; 8. Lifting screw; 9. Track screw; 10. Lifting motor; 11. Track motor; 12. Lifting screw sleeve; 13. Track screw sleeve; 14. Controller; 15. Paper adsorption mechanism; 16. Track protection block; 17. Scanning control. DETAILED DESCRIPTION

[0049] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail a volumetric intelligent paper dispenser and its control method proposed in accordance with the present invention, its specific implementation, structure, features and effects. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0050] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0051] The specific scheme of a volumetric intelligent paper dispenser and a control method thereof provided by the present invention is described in detail below with reference to the accompanying drawings.

[0052] Example 1:

[0053] See also Figures 1 to 5 , which shows a volumetric intelligent paper dispenser provided by this embodiment. The paper dispenser specifically includes: a cabinet 1, a cabinet door 2, paper 3, a paper outlet 4, and a display screen 7. The paper 3 is made up of a stack of single sheets of paper and placed on a tray 5 inside the cabinet 1. The paper outlet 4 is used to remove the paper 3 from the cabinet 1. The display screen 7 is a touch screen for displaying the remaining number of sheets of paper and for interacting with the user.

[0054] In addition, the cabinet 1 further includes a tray bracket 6, a lifting screw 8 and a track screw 9. The tray bracket 6 is used to place the tray 5; the lifting screw 8 and the track screw 9 are used to realize the rise and fall of the tray bracket 6.

[0055] Specifically, the upper ends of the lifting screw 8 and the track screw 9 are in rolling connection with the cabinet 1, that is, the lifting screw 8 and the track screw 9 can rotate about their own central axes within the cabinet 1. The lower ends of the lifting screw 8 and the track screw 9 are fixedly connected to the rotating shafts of the lifting motor 10 and the track motor 11, respectively. When the lifting motor 10 and the track motor 11 are started, they can drive the lifting screw 8 and the track screw 9 to rotate; wherein the lifting motor 10 and the track motor 11 are fixed to the bottom of the cabinet 1.

[0056] Furthermore, the lifting screw 8 passes through the lifting screw sleeve 12, and the track screw 9 passes through the track screw sleeve 13; the lifting screw sleeve 12 and the track screw sleeve 13 are fixed on the tray bracket 6, and the inner walls of the lifting screw sleeve 12 and the track screw sleeve 13 have internal threads that are engaged with the external threads of the lifting screw 8 and the track screw 9.

[0057] like Figures 2 to 4 In this embodiment, the lifting screw 8, the lifting screw sleeve 12 and the lifting motor 10 are on the rear side of the cabinet 1. There is a set of track screws 9, track screw sleeves 13 and track motors 11 on the left and right sides of the cabinet 1. When the lifting motor 10 is started, it drives the lifting screw 8 to rotate, and the rotation of the lifting screw 8 pushes the tray bracket 6 to move up and down. When the lifting motor 10 is started, the track motor 11 will not start actively. When the track motor 11 is not started, the track screw 9 can rotate freely, that is, when the lifting motor 10 pushes the tray bracket 6 to move up and down, the lifting screw 8 will rotate along with the up and down movement of the tray bracket 6. At this time, the lifting motor 10 and the lifting screw 8 provide the power for the tray bracket 6 to move up and down. The track motor 11 and the track screw 9 are regarded as a pair of guide rails, which provide auxiliary rail guidance for the up and down movement of the tray bracket 6 to avoid tipping.

[0058] The tray support 6 drives the tray 5 and the paper 3 to move when it moves up and down. Due to the heavy weight of the paper 3, which in this embodiment is a maximum of 15.3 kg, the tray support 6 may tilt or tend to tilt when it moves up and down, and may even cause the lifting screw 8 to get stuck. In this embodiment, when the tray support 6 tilts, the track motor 11 is activated, and the activated track motor 11 drives the track screw 9 to rotate, restoring the tray support 6 to a horizontal position, thereby preventing the tray support 6 loaded with heavy paper 3 from tilting during movement. This tilting situation not only makes the movement of the tray support 6 unstable, but also compresses the lifting screw 8 and the track screw 9, thereby affecting the service life of the paper dispenser.

[0059] When the tray support 6 returns to the horizontal state, the track motor 11 stops starting.

[0060] In this embodiment, the lifting screw 8 and the lifting motor 10 are the power sources for the up and down movement of the tray support 6. Therefore, the diameter of the lifting screw 8 is relatively large. The track screw 9 plays an auxiliary role in the up and down movement of the tray support 6 (for example, the track guide function and the horizontal restoration function). Its diameter is relatively small. At the same time, the small diameter of the track screw 9 can provide a larger space for the tray 5 to hold the paper 3. In other words, the small diameter of the track screw 9 in this embodiment can ensure that the paper dispenser has the characteristics of small size and compact structure. In this embodiment, the diameter of the track screw 9 is half the diameter of the lifting screw 8.

[0061] It should also be noted that when the lift motor 10 is activated, the track motor 11 is not activated. At this time, the lift motor 10 drives the tray bracket 6 up and down, and the track screw 9 also rotates accordingly. At this time, the track motor 11 also rotates passively. The reason why the track motor 11 is not activated when the lift motor 10 is activated is to prevent the track motor 11 and the track screw 9 from being subjected to a large load pressure, which would damage the threads on the track screw 9 and the track motor 11.

[0062] The working principle of the paper dispenser in this embodiment is as follows:

[0063] The cabinet door 2 is opened, and paper 3 is placed in the tray 5. The cabinet door 2 is then closed. When the user removes paper from the paper outlet 4, the controller 14 activates the lift motor 10, which drives the tray support 6 upward. When the top layer of paper 3 reaches the paper outlet 4, the user can continue to remove paper. The display screen 7 shows the weight percentage of the paper 3, which represents the ratio of the weight of the paper 3 to the maximum load weight of the paper 3 in the paper dispenser.

[0064] When the mass percentage of the paper 3 is equal to 0, the paper 3 is re-inserted. In other embodiments, the paper 3 may be re-inserted when the mass percentage is less than a preset percentage (eg, less than 5%).

[0065] The process of reloading the paper 3 includes: the controller 14 activates the lifting motor 10, which drives the tray support 6 downward. When the tray support 6 reaches the bottom, the electronic lock of the cabinet door 2 is automatically opened, and the user manually opens the cabinet door 2 and loads the paper 3 into the tray 5. After the user relocks the cabinet door 2 and the mass percentage of the paper 3 is greater than 0 or greater than or equal to a preset percentage, the controller 14 activates the lifting motor 10, which drives the tray support 6 upward, so that the top layer of the paper 3 reaches the paper outlet 4, allowing the user to continue removing the paper.

[0066] It should be noted that the up and down movement of the tray bracket 6 is controlled by a volumetric intelligent paper dispenser control method running in the controller 14. In addition to controlling the up and down movement of the tray bracket 6, this control method can also restore the tray 5 to a horizontal position when it is tilted, thereby improving the operating efficiency of the tray 5 in the paper dispenser during vertical operation (especially when the diameter of the lifting screw 8 is much smaller than the diameter of the track screw 9, this control method can greatly increase its operating efficiency and service life).

[0067] In other embodiments, the paper dispenser further includes a track protection block 16 for stabilizing the track screw rod 9 and allowing a gap to exist between the tray bracket 6 and the cabinet 1 to avoid paper jams.

[0068] In addition, Figure 2 、 3 As shown, the paper dispenser is equipped with a scanning control 17 at each end. The scanning control 17 is a laser transmitter. A laser receiver is installed on the opposite side of the laser transmitter. The laser signal emitted by the laser transmitter can be received by the laser receiver. When the laser receiver receives the laser signal, the paper dispenser operates normally. During normal operation, if the tray support 6 lifts the paper 3 and moves upward, when the paper 3 blocks the laser signal emitted by the scanning control 17 above, the laser receiver above cannot receive the laser signal. The controller 14 no longer controls the tray support 6 to move upward and can only move downward. If part of the paper 3 is removed and the laser receiver can receive the laser signal again, the controller 14 will allow the tray support 6 to move upward.

[0069] If the tray support 6 moves downward and blocks the laser signal emitted by the scanning control 17 below, the laser receiver below cannot receive the laser signal, and the controller 14 no longer controls the tray support 6 downward. Only after the paper 3 is replaced and the cabinet door 2 is relocked, and the mass percentage of the paper 3 is greater than 0 or greater than or equal to a preset percentage, will the controller 14 control the tray support 6 upward. The scanning control 17 in this embodiment is used to prevent the tray support 6 from exceeding the maximum movable limit or derailing when moving up and down.

[0070] In addition, the cabinet door 2 in this embodiment is as Figure 1 、 Figure 3 As shown, the cabinet door 2 can be folded up and down. Figure 1 The closed state of the cabinet door 2 is shown in FIG. Figure 3 The cabinet door 2 is shown in an open state.

[0071] Example 2:

[0072] This embodiment provides a method for controlling a volumetric intelligent paper dispenser. Figure 6 As shown, the method utilizes a volumetric intelligent paper dispenser provided in Example 1, and the method includes the following steps:

[0073] Step S001: Use the PID algorithm to control the movement of the lifting motor and the track motor, and obtain the tilt characteristics of the tray during the movement.

[0074] In this embodiment, the top of the cabinet 1 also includes a distance sensor for measuring the vertical distance between the top of the paper 3 and the top of the cabinet 1. This distance minus the vertical distance between the paper outlet 4 and the top of the cabinet 1 equals the distance between the top of the paper 3 and the paper outlet 4. In this embodiment, when removing paper, the lift motor 10 is controlled to ensure that the distance between the top of the paper 3 and the paper outlet 4 is zero. When refilling paper, the lift motor 10 is controlled to move the tray support 6 down to the bottom of the cabinet 1, so that the distance between the top of the paper 3 and the paper outlet 4 is at its maximum.

[0075] In this embodiment, the lifting motor 10 is controlled using a PID algorithm.

[0076] In addition, the tilting feature describes the tilting condition or tilting tendency of the tray 5 when the tray 5 moves up and down following the tray bracket 6. The reason for the tilting feature is that under the action of the gravity of the paper 3, the tray bracket 6 presses the lifting screw 8 and the track screw 9. This compression phenomenon affects the up and down movement of the tray bracket 6, so that when the external threads of the lifting screw 8 and the track screw 9 are engaged with the internal threads of the lifting screw sleeve 12 and the track screw sleeve 13, there is additional load pressure, which at the least makes the movement of the tray bracket 6 not smooth, asynchronous, and vibrating. At the worst, it can damage the threads, cause the movement to jam, and even cause the lifting screw 8 and the track screw 9 to deform, and finally cause tilting. The occurrence of tilting will reduce the service life of the paper dispenser.

[0077] As an example, the method for obtaining the tilt feature includes:

[0078] A tilt sensor is installed at the bottom of the tray 5 to obtain the tilt direction and tilt angle of the tray 5 in real time. In this embodiment, the vector formed by the tilt angles in all directions is recorded as a tilt feature. The aforementioned all directions refer to the horizontal and vertical directions of the tray 5 when viewed from a top-down perspective.

[0079] In other examples, a gyroscope or an inertial measurement unit (IMU) is used to obtain the tilt direction and tilt angle of the tray 5 .

[0080] When the tilt feature exists, the present embodiment starts the track motor 11 . After the track motor 11 is started, the PID algorithm is used to control its rotation so that the tray 5 returns to a horizontal position.

[0081] Step S002: Control the lifting motor and the track motor according to the tilt characteristics at the current moment.

[0082] For ease of description, when the paper dispenser is working, when the tray bracket 6 is at the lowest end and the tray 5 is in a horizontal and paperless state, the motion state of the lifting motor 10 is recorded as 0. On this basis, every time the lifting motor 10 actively rotates N times, the motion state of the lifting motor 10 is recorded as N, where N is an arbitrary real number (N is greater than 0 when rotating counterclockwise and less than 0 when rotating clockwise). When there is a tilt, the track motor 11 starts to start, and its motion state at the start is recorded as 0. Thereafter, every time the track motor 11 actively rotates N times (note that the number of rotations generated when the track motor 11 passively rotates as the tray bracket 6 moves up and down is not considered as a motion state), the motion state of the track motor 11 is recorded as N. When the tray 5 is in a horizontal state, the motion state of the track motor 11 is reset to 0.

[0083] When the paper dispenser is operating, the movement state of each motor, the distance between the top of the paper 3 and the paper outlet 4 (abbreviated as "paper outlet distance"), the weight of the paper 3 (abbreviated as "paper weight"), and the tilt characteristics are recorded in real time at each moment for each of the lift motors 10 and all the track motors 11. In this embodiment, each moment is 0.5 seconds.

[0084] As an optional example, a method for determining whether a tilt condition exists is:

[0085] When the tilt angle in the tilt feature is greater than 2 degrees, it is determined that a tilt condition exists.

[0086] As another optional example, a method for determining whether a tilt condition exists is:

[0087] During the time period of each startup of the lifting motor 10, the change rate of the paper outlet distance (that is, the absolute value of the difference in the paper outlet distance at adjacent moments) is obtained in real time. When the frequency of the change rate equal to 0 among all the change rates is greater than the preset frequency threshold (for example, greater than 0.1), it is determined that there is a tilt situation.

[0088] As a preferred example, a method for determining whether a tilt condition exists is:

[0089] When any one of the above two optional examples satisfies the judgment conditions, it is determined that a tilt situation exists.

[0090] As an example, a method for determining that there is no tilt is:

[0091] When the tilt angles in the tilt feature are all equal to 0 degrees, it is determined that there is no tilt.

[0092] The process of controlling the lifting motor 10 using the PID control algorithm includes: recording the paper outlet distance at the current moment as the initial distance a, and recording the final required paper outlet distance as the target distance b (for example, when performing a paper removal operation, the target distance b is 0; when filling paper, the target distance b is: the maximum distance between the top of the paper 3 and the paper outlet 4 when the tray bracket 6 reaches the bottom).

[0093] First, the error (i.e., the difference) between b and a is calculated. This error value forms the basis for the PID control algorithm's output calculation. The proportional control component of the PID control algorithm directly adjusts the drive signal for the lift motor 10 (i.e., controls the rotation of the lift motor 10) based on the current error magnitude. The larger the error, the greater the adjustment force, allowing for rapid response to position deviations. The integral control component of the PID control algorithm processes the accumulated error over time. It is used to eliminate the system's steady-state error and ensure that the paper 3 accurately reaches the target position b. By accounting for the cumulative effect of the error, the integral control component can fine-tune the system when the error is zero. The differential control component of the PID control algorithm adjusts based on the rate of error change. It predicts the future trend of the error and pre-adjusts the lift motor 10, thereby improving response speed and stability and reducing overshoot and oscillation. The PID controller sums the results of the proportional, integral, and differential components to generate a comprehensive control signal, which drives the lift motor 10, thereby moving the tray 5. The paper exit distance is acquired in real time (i.e., a is updated in real time), and the error value is updated in real time, and the control signal is recalculated based on the new error. This cycle continues until the top of the paper 3 is stabilized at the target position b.

[0094] The above-described process included in the PID control algorithm is well known and will not be further described in detail in this embodiment. This process is a continuous cycle, with each cycle altering the motion state of the lift motor 10 (or regulating the lift motor 10). After multiple alterations in the motion state of the lift motor 10 (or multiple regulation of the lift motor 10), the top of the paper 3 stabilizes at the target position b.

[0095] However, during the above control process, when the tray 5 tilts, if the motion state of the lifting motor 10 is continuously changed, the tilting state may become serious or even become stuck.

[0096] One feasible method to solve this problem is: when a tilt occurs, start the track motor 11, and use the PID algorithm to control the rotation of the track motor 11 (the two track motors 11 are controlled synchronously). The control method is the same as that of the lifting motor 10. The control is also a cyclic and continuous process. The motion state of the track motor 11 can be changed once after each cycle (or the track motor 11 is regulated once). After changing the motion state of the track motor 11 multiple times, the tray 5 is restored to a horizontal state (that is, the tilt angle in the tilt feature is equal to 0 degrees). However, the problem with this method is that the track motor 11 must be regulated multiple times after each regulation of the lifting motor 10, resulting in low working efficiency of the paper dispenser. For example, when a tilt occurs, it takes a longer time to make the initial distance a equal to the target position b.

[0097] Another method is: when a tilt occurs, the PID control algorithm is used to adjust the track motor 11 once, then adjust the lift motor 10 once, and then adjust the track motor 11 once again, and so on, alternately adjusting the lift motor 10 and the track motor 11. Although this method can improve the working efficiency of the paper dispenser, if the track motor 11 or the lift motor 10 changes its motion state, the change of motion state may be inappropriate (for example, due to overshoot or insufficient adjustment force of the PID control algorithm, the next time the lift motor 10 or the track motor 11 is adjusted, the tray may still be in a more serious tilt state or tilt trend).

[0098] Therefore, it is necessary to reasonably control the movement state regulation sequence of the lifting motor 10 and the track motor 11 according to the tilt characteristics at the current moment, so that the paper feeding machine can operate efficiently and stably.

[0099] Step S201 : obtaining a predicted tilt feature of a target motor according to the tilt feature, and obtaining control effectiveness of the target motor according to a difference between the tilt feature at a current moment and the predicted tilt feature of the target motor.

[0100] It should be noted that the control parameters (including proportional P, integral I, differential D) in the above-mentioned PID control algorithm are pre-set, and the setting method is well known, so this embodiment will not go into detail. For the lifting motor 10 and any one of the track motors 11, when the control parameters are known and the initial state is known (including the motion state of the motor at the current moment, the paper outlet distance at the current moment, and the tilt characteristics at the current moment), without considering the motion error of the controller 14 when controlling the motor, the change curve of the motion state of the motor under the control of the PID control algorithm is known or predictable, that is, the PID control algorithm can be used to obtain the next motion state of the motor (the specific acquisition method is a well-known technology in the PID control algorithm, and this embodiment will not be described in detail).

[0101] For any one of the lift motors 10 and all the track motors 11, denoted as the target motor, at the current moment, the motion state of the target motor after a single adjustment is obtained using the PID algorithm, which is denoted as the pre-adjustment state of the target motor. Note that after calculating the pre-adjustment state, the motion state of the target motor is not adjusted. The motion states of all motors at the current moment, the pre-adjustment state of the target motor, and the tilt characteristics at the current moment are concatenated to form a one-dimensional vector, denoted as the current adjustment characteristic of the target motor.

[0102] The above records the motion state and tilt characteristics of each motor at each moment in the paper dispenser's historical operation. At each moment in the history, the motion state of all motors, the motion state of the target motor after the next adjustment, and the tilt characteristics at each moment are concatenated to form a one-dimensional vector, which is recorded as the historical adjustment characteristics of the target motor.

[0103] The control effectiveness of the target motor is calculated based on the current control characteristics of the target motor and all historical control characteristics of the target motor. Control effectiveness describes whether the target motor can effectively reduce tilt after being controlled by the PID control algorithm at the current moment. A greater control effectiveness indicates greater ability to reduce tilt.

[0104] As an example, a method for obtaining the control effectiveness of a target motor includes:

[0105] Calculate the similarity between the current control feature of the target motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the target motor; the tilt feature corresponding to the historical similar control feature is recorded as the predicted tilt feature of the target motor after being controlled by the PID control algorithm, which is simply recorded as the predicted tilt feature of the target motor;

[0106] The average value of the tilt angles in all directions of the tilt feature is recorded as the average tilt amplitude of the tilt feature.

[0107] The difference between the average tilt amplitude of the tilt feature at the current moment and the average tilt amplitude of the predicted tilt feature of the target motor is recorded as the control effectiveness of the target motor.

[0108] As an example, the similarity between the current control feature and the historical control feature is equal to the cosine similarity between the current control feature and the historical control feature.

[0109] Step S202: obtaining the predicted tilt characteristics of the reference motor according to the tilt characteristics, and obtaining the control effectiveness of the reference motor according to the difference between the predicted tilt characteristics of the target motor and the predicted tilt characteristics of the reference motor; and taking the maximum value of the control effectiveness of all reference motors as the auxiliary control capability of the target motor.

[0110] Any motor other than the target motor is recorded as a reference motor; the motion state of the reference motor after a regulation is obtained using the PID algorithm and recorded as the pre-adjustment state of the reference motor.

[0111] The motion states of all motors except the target motor at the current moment, the pre-adjustment state of the target motor, the pre-adjustment state of the reference motor, and the predicted tilt feature of the target motor are also concatenated to form a one-dimensional vector, which is recorded as the auxiliary control feature of the reference motor.

[0112] The control effectiveness of the reference motor is obtained based on the similarity between the auxiliary control characteristics of the reference motor and the historical control characteristics. This process is similar to the method for obtaining the control effectiveness of the target motor, specifically including:

[0113] Calculate the similarity between the auxiliary control feature of the reference motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the auxiliary control feature of the reference motor as the historical similar control feature of the reference motor; the tilt feature corresponding to the historical similar control feature is recorded as the predicted tilt feature of the reference motor; the predicted tilt feature of the reference motor describes the predicted tilt feature that exists after the reference motor is controlled once based on the target motor being controlled once.

[0114] The difference between the average tilt amplitude of the predicted tilt characteristics of the target motor and the average tilt amplitude of the predicted tilt characteristics of the reference motor is recorded as the control effectiveness of the reference motor. A greater control effectiveness of the reference motor indicates that a control of the reference motor can significantly reduce tilt after a control of the target motor.

[0115] The maximum value of the control effectiveness of all reference motors is taken as the auxiliary control capability of all motors other than the target motor, which is simply referred to as the auxiliary control capability of the target motor.

[0116] The target motor's auxiliary control capability describes whether the other motors (i.e., the reference motor) can further alleviate the tilt condition after the target motor is controlled (i.e., after the target motor's motion state is changed once using the PID control algorithm). A greater target motor's auxiliary control capability indicates that after the target motor is controlled, the other motors can still make further adjustments, thereby further alleviating the tilt condition. A smaller target motor's auxiliary control capability indicates that after the target motor is controlled, adjustments made to the other motors based on this basis cannot guarantee further alleviation of the tilt condition.

[0117] Step S203: Obtain the tilt reduction amplitude after several adjustments before the current moment, and integrate the motor's control effectiveness and auxiliary control capability according to the tilt reduction amplitude to obtain the motor's control priority, and select the motor with the highest control priority as the motor that needs to be adjusted at the current moment.

[0118] For any one of the lifting motor 10 and all the track motors 11, the control priority of the motor is obtained according to the control effectiveness and auxiliary control capability of the motor.

[0119] In one embodiment, the control priority of the motor is obtained according to the control effectiveness and auxiliary control capability of the motor, including the following method:

[0120] The average of the control effectiveness and the auxiliary control capability of the target motor is recorded as the control priority of the target motor.

[0121] Similarly, the control priority of all motors is obtained. Then, at the current moment, the motor with the highest control priority is controlled by the PID control algorithm (that is, the rotation of the motor is controlled by the PID control algorithm), and other motors are not controlled at the current moment.

[0122] The moment after the regulation is recorded as the current moment again, and the method of steps S201 to S203 is reused to obtain the regulation priority of the target motor at the current moment, and the PID control algorithm is used again to regulate the motor with the highest regulation priority, and so on, until the tilt situation no longer exists.

[0123] When the tilt condition no longer exists, the lift motor 10 operates under the control of the PID control algorithm, and the track motor 11 no longer actively rotates, but passively rotates as the tray support 6 moves up and down. If the tilt condition reappears, the motor control priority is calculated again according to the method of steps S201 to S203, and the motor with the highest control priority is controlled.

[0124] This embodiment takes into account the control effectiveness and auxiliary control capabilities of the motor at the same time. On the one hand, it ensures that the motor can significantly reduce the tilt after adjustment, so that the tray 5 can remain horizontal under the weight of the paper 3; on the other hand, it ensures that other motors in the future can continue to further alleviate the tilt. As a result, the entire motor control process when the paper dispenser is working can be adjusted in a reasonable order, thereby improving its working efficiency while avoiding the tilt that damages the service life of the paper dispenser as much as possible.

[0125] However, the problems with this embodiment are:

[0126] The control effectiveness and auxiliary control capability of the target motor are calculated based on the pre-adjustment state and predicted tilt characteristics of the target motor, as well as the pre-adjustment state and predicted tilt characteristics of the reference motor. The control priority obtained by the above calculation process is reliable and accurate only when the motion error of the controller 14 when controlling the motor is not taken into account and the predicted tilt characteristics are relatively reliable. However, on the one hand, the motor often has control errors under the control of the controller 14. In particular, when there is a tilt situation, the possible jamming or jamming trend will amplify this control error, resulting in an error in the pre-adjustment state of the target motor and the reference motor. On the other hand, the predicted tilt characteristics obtained above may not accurately reflect the actual tilt situation after the motor is controlled. Based on the above two aspects, considering that the pre-adjustment state and predicted tilt characteristics of the reference motor are obtained based on the pre-adjustment state and predicted tilt characteristics of the target motor, the pre-adjustment state and predicted tilt characteristics of the reference motor may have non-negligible errors. Ultimately, the above control priority calculation result may be unreliable (for example, after the paper dispenser has been operating for a long time, the more obvious the error caused by the motor movement, the less reliable the control priority calculation result may be). Ultimately, the long-term efficient operation of the paper dispenser cannot be guaranteed.

[0127] As another embodiment, the control priority of the motor is obtained according to the control effectiveness and auxiliary control capability of the motor, including the following method:

[0128] Obtain the tilt reduction amplitude after Q times of regulation before the current moment. It should be noted that the regulation process before the current moment can be regulated according to the process described in the first embodiment of this step, or according to the process described later in this embodiment.

[0129] It should be further clarified that the "Q adjustments before the current moment" refers to the Q adjustments before the current moment, included in the period between the last tilt determination and the current moment. Specifically, if there are fewer than Q adjustments before the current moment, only all adjustments during the period between the last tilt determination and the current moment are considered.

[0130] This embodiment is described by taking Q=5 as an example. In other embodiments, Q may be set to other values, which are not specifically limited in this embodiment.

[0131] The tilt reduction amplitude describes whether there is a situation where the tilt amplitude is weakened in the Q control processes before the current moment. The smaller the tilt reduction amplitude, the more feasible the previous control process is and the tilt situation can be eliminated to a great extent. The larger the tilt reduction amplitude, the more infeasible the previous control process is and the less likely it is to reduce the tilt situation. The reason why the tilt reduction amplitude is large is that the previous control process has a control error. For example, when calculating the control effectiveness and auxiliary control capability of the motor, on the one hand, the control error of the motor under the control of the controller 14 is not taken into account (especially the error caused by the movement of the motor when the tray 5 or the tray bracket 6 is tilted). These errors lead to errors in the pre-adjustment state of the target motor and the pre-adjustment state of the reference motor. On the other hand, during the control process, there are errors in the predicted tilt characteristics of the target motor and the predicted tilt characteristics of the reference motor. In particular, the pre-adjustment state and the predicted tilt characteristics of the reference motor are calculated based on the pre-adjustment state and the predicted tilt characteristics of the target motor, resulting in the pre-adjustment state and the predicted tilt characteristics of the reference motor, as well as the auxiliary control capability calculated above, having non-negligible error interference.

[0132] This embodiment combines the control effectiveness and auxiliary control capability of the motor and uses the tilt reduction amplitude to further calculate the control priority, thereby further reducing the interference of the non-negligible error.

[0133] As an example, a method for calculating the tilt reduction amplitude includes:

[0134] For the Q control processes before the current moment, the tilt features after Q controls constitute a tilt feature sequence. For two adjacent tilt features in the tilt feature sequence, the average of the tilt angles in all directions included in the tilt feature is recorded as the average tilt amplitude of the tilt feature. The difference between the average tilt amplitude of the latter tilt feature and the average tilt amplitude of the former tilt feature in the two adjacent tilt features is recorded as the tilt amplitude change of the two adjacent tilt features. The tilt amplitude change between all adjacent tilt features in the tilt feature sequence is obtained, the average of all tilt amplitude changes is recorded as h, and 2h / π is recorded as the tilt reduction amplitude, where when h is less than 0, h=1.

[0135] As an example, based on the combination of the motor's control effectiveness and auxiliary control capability, the tilt reduction amplitude is used to further calculate the control priority, including the following methods:

[0136] The tilt reduction amplitude is used to evaluate the interference of the motor motion error on the motor motion state when the PID control algorithm is used to control the motor. This interference is recorded as the motor motion error interference factor k.

[0137] In this example, k×a+(1-k)×b is recorded as the motor control priority. Among them, a represents the control effectiveness of the motor, and b represents the auxiliary control capability of the motor. The larger the motor motion error interference factor k, the greater the error interference when the motor control is performed using the control priority calculated above. In particular, the pre-adjustment state and predicted tilt characteristics of the reference motor are calculated based on the pre-adjustment state and predicted tilt characteristics of the target motor, resulting in the auxiliary control capability calculated above having non-negligible error interference, that is, other motors other than the target motor (that is, the reference motor) may introduce obvious error interference when performing auxiliary control. At this time, when calculating the control priority, more attention should be paid to the control effectiveness of the motor to avoid the problem of introducing too much error interference when over-considering the auxiliary control capability.

[0138] As an optional example, the motor motion error interference factor k can be obtained by setting k = exp(-x), where x represents the tilt reduction amplitude and exp() represents an exponential function with a natural constant as the base. A smaller tilt reduction amplitude indicates that there was no significant tilt during the previous control process, which in turn indicates that the motor motion error interference factor k was larger during the previous control process.

[0139] As a preferred example, the motor motion error interference factor k is obtained as follows:

[0140] According to steps S201 and S202, a current control feature and a historically similar control feature are obtained for the target motor at the current moment, and a similarity f1 between the historically similar control feature of the target motor and the current control feature of the target motor is obtained. Similarly, an auxiliary control feature and a historically similar control feature are obtained for the reference motor, and a similarity f2 between the auxiliary control feature of the reference motor and the historically similar control feature of the reference motor is obtained.

[0141] In this example, the factors affecting the magnitude of the tilt reduction mainly include two aspects. As mentioned above, on the one hand, the control error of the motor under the control of the controller 14 is not taken into account. These errors lead to errors in the pre-adjustment state of the target motor and the pre-adjustment state of the reference motor. On the other hand, during the control process, there are errors in the predicted tilt characteristics of the target motor adjustment and the predicted tilt characteristics of the reference motor. In particular, the predicted tilt characteristics of the reference motor are calculated based on the predicted tilt characteristics of the target motor adjustment, resulting in the auxiliary control capability calculated above having non-negligible error interference.

[0142] In summary, the factors that influence the magnitude of tilt reduction are: the error between the pre-adjusted states of the target motor and the reference motor, and the error between the predicted tilt characteristics of the target motor and the reference motor. The larger the values ​​f1 and f2, the smaller the error between the predicted tilt characteristics of the target motor and the reference motor. The smaller the values ​​f1 and f2, the larger the error between the predicted tilt characteristics of the target motor and the reference motor.

[0143] This example obtains the motor motion error interference factor k based on the tilt reduction amplitude, as well as f1 and f2. Specifically:

[0144] Let F = exp(-(f1 + f2) / 2) be the predicted tilt characteristic error, then the motor motion error interference factor k = exp(-x) - w × F. This calculation removes the interference of the error in the predicted tilt characteristic, so that the motor motion error interference factor k focuses only on the control error of the motor under the control of the controller 14. This error can directly reflect the uncertainty of the motor's motion state under the control of the controller 14, thereby ensuring that the aforementioned control priority can relatively accurately and objectively reflect the effectiveness of the target motor's control of the tilt situation, as well as the auxiliary control capability of the reference motor after the target motor is controlled.

[0145] When k is less than 0.35, set k equal to 0.35. The purpose is to avoid k being too small (or to avoid paying too much attention to the auxiliary control of other subsequent motors and ignoring the control ability of the current target motor). In other embodiments, 0.35 can also be replaced with other values, which is not specifically limited in this embodiment.

[0146] Where w represents the attention coefficient of the predicted tilt feature error, and the specific calculation method is:

[0147] For the t-th control process among the Q control processes before the current moment, the t+1-th control process represents the next control process after the t-th control process. The motor controlled in the t-th control process (i.e., the motor with the highest control priority in the t-th control process) is recorded as motor A. Each motor other than motor A (i.e., the reference motor) corresponds to a control validity (as determined in step S202). The reference motor with the highest control validity is recorded as motor B. Motor B indicates that after motor A is controlled in the t-th control process, the tilt can be further reduced by controlling B in the next control process. When the motor controlled in the t+1-th control process (i.e., the motor with the highest control priority in the t+1-th control process) is motor B, it indicates that the predicted tilt characteristics and pre-adjustment state of the reference motor in the t-th control process are valid and can guide subsequent control processes. When the motor controlled in the t+1-th control process (i.e., the motor with the highest control priority in the t+1-th control process) is not motor B, it indicates that the predicted tilt characteristics and pre-adjustment state of the reference motor in the t-th control process are not valid and cannot guide subsequent control processes.

[0148] When the motor controlled during the t+1th control process (that is, the motor with the highest control priority during the t+1th control process) is motor B, the reference motor attention of the tth time is recorded as 1; when the motor controlled during the t+1th control process (that is, the motor with the highest control priority during the t+th control process) is not motor B, the reference motor attention is recorded as 0.

[0149] Get the mean m of the reference motor attention in the Q control processes before the current moment, and exp(-m) is recorded as w. The smaller w is (that is, the larger m is), it means that in the Q control processes before the current moment, the predicted tilt features corresponding to the target motor and the reference motor are able to guide the subsequent control process, which means that the error interference of the predicted tilt features is negligible (or even if the error interference of the predicted tilt features is large, there is no need to pay too much attention to the size of F when obtaining the motor motion error interference factor k). When w is larger (that is, the smaller m is), it means that in the Q control processes before the current moment, the predicted tilt features corresponding to the target motor and the reference motor are unable to guide the subsequent control process, which means that the error interference of the predicted tilt features is not negligible.

[0150] The motor motion error interference factor k in this preferred example is used to obtain the control priority. On the one hand, this avoids the problem of excessive error interference caused by the error in the predicted tilt feature when over-considering the auxiliary control capability. On the other hand, it uses the characteristic of whether the predicted tilt features corresponding to the target motor and reference motor included in the previous control process can guide the subsequent control process to correct the current control process (that is, to obtain the current control priority), so that the entire control process forms negative feedback. Ultimately, it further ensures that the paper dispenser can operate efficiently and stably for a long time during operation.

[0151] Example 3:

[0152] This embodiment takes into account that when obtaining the control effectiveness of the target motor and the control effectiveness of the reference motor, it is necessary to rely on the motion state and tilt characteristics of each motor at each moment in the historical working process. When the number of motor motion states and tilt characteristics included in the historical working process is small (for example, less than 1000 respectively), it is necessary to make the paper dispenser operate as follows:

[0153] When no tilt occurs, the operating process is the same as in Example 2: the PID control algorithm is used to control the lift motor 10, causing the tray support 6 to move up and down. During this process, the track motor 11 is not started (i.e., it does not actively rotate), but instead passively rotates following the up and down movement of the tray support 6. When tilt occurs, the track motor 11 is started and the PID algorithm is used to control the rotation of the track motor 11 (the two track motors 11 are controlled synchronously). This control is also a continuous cycle, and the motion state of the track motor 11 is changed once after each cycle. After the motion state of the track motor 11 is changed multiple times, the tray 5 is restored to a horizontal state (i.e., the tilt angle in the tilt feature is equal to 0 degrees). After the tray 5 is restored to a horizontal state, the PID control algorithm is used to control the lift motor 10 again to rotate once. If the lift motor 10 still tilts after one rotation, the track motor 11 is started again and the PID algorithm is used to control the rotation of the track motor 11 to restore the tray 5 to a horizontal state. The PID control algorithm is then used to control the lift motor 10 again to rotate once, and so on.

[0154] Although this process is inefficient, it can record a large number of motion states and tilt characteristics.

[0155] It should be noted that the paper dispenser process described in this embodiment can be run after the paper dispenser leaves the factory and before it is sold. On the one hand, it is used to test whether the produced paper dispenser is qualified. On the other hand, it can record some usage data before it is put into formal use (that is, the movement status and tilt characteristics of each motor at each moment during historical operation).

[0156] Example 4:

[0157] This embodiment provides a controller 14, which includes a main control unit. The active unit used in this embodiment is STM32F10; a program is stored in the program memory of the active unit, and the program can be run on the processor of the active unit. When the program is running, a volumetric intelligent paper dispenser control method described in Examples 1 and 2 is implemented.

[0158] A communication module is installed on the main control unit. The communication module used in this embodiment is ESP8266. The communication module communicates with the server via a 4G network. During communication, the movement state and tilt characteristics of each motor at each moment during the operation of the paper dispenser, as well as the paper outlet distance at each moment and the total weight of paper 3 are transmitted to the server.

[0159] The main control unit is also connected to several sensor devices, including a distance measuring sensor. The distance measuring sensor used in this embodiment is VL53L0X. It also includes a pressure sensor (installed on the tray to measure the total weight of the paper 3) and an inclination sensor.

[0160] The main control unit is connected to the 2 C bus to communicate with the sensor and UART (serial port) to communicate with the ESP8266.

[0161] Embodiment 5:

[0162] This embodiment provides a method for taking paper from the paper outlet 4 .

[0163] An optional method is that the paper-taking person reaches into the paper-taking opening to take the paper manually.

[0164] A preferred method is: Figure 2 、 Figure 3 As shown, a suction paper discharge mechanism 15 is provided. This mechanism utilizes a vacuum suction paper discharge method to remove paper. This method uses a vacuum suction device (e.g., a small fan or suction pump) to suck a single sheet of paper from the paper 3 and delivers the paper via a conveyor belt or other structure. This method is well known in the art and will not be described in detail in this embodiment.

[0165] In other embodiments, one-way rollers may be used to squeeze out the paper: the paper is transported outward through the friction of a pair of rollers (a driving roller and a driven roller).

[0166] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A volumetric intelligent paper dispenser control method, wherein: The volumetric intelligent paper dispenser includes: a cabinet body, a cabinet door, a tray for holding paper placed in the cabinet body, and a paper outlet; it is characterized in that a tray bracket is installed in the cabinet body for placing the tray; a lifting screw is installed on the rear side of the cabinet body, and the lifting screw is rollingly connected to the tray bracket through a lifting screw sleeve; track screws are installed on both sides of the cabinet body, and the track screws are rollingly connected to the tray bracket through a track screw sleeve; the lifting screw and the track screw are driven by a lifting motor and a track motor respectively; the rotation of the lifting motor and the track motor is driven and regulated by a controller using a PID control algorithm, and when the lifting motor rotates, the tray bracket is pushed to move through the lifting screw; wherein, the diameter of the track screw is smaller than the diameter of the lifting screw, and when the tray is not in a tilted state, the lifting motor is started and the track motor is not started; when there is a tilted state, both the lifting motor and the track motor are started; Control methods include: The lifting motor and any one of the track motors are recorded as the target motor. The PID control algorithm is used to obtain the motion state of the target motor after a regulation, which is recorded as the pre-adjustment state of the target motor. The motion state of all motors at the current moment, the pre-adjustment state of the target motor, and the tilt characteristics at the current moment are recorded as the current regulation characteristics of the target motor. The tilt characteristics are used to describe the tilt state of the pallet. Obtaining a predicted tilt feature of the target motor based on the similarity between the current control feature and the tilt feature and motor motion state recorded in the historical records, and obtaining the control effectiveness of the target motor based on the difference between the tilt feature at the current moment and the predicted tilt feature of the target motor; Any motor other than the target motor is recorded as a reference motor; the motion state of the reference motor after a regulation is obtained using a PID control algorithm, which is recorded as the pre-adjustment state of the reference motor; The motion states of all motors other than the target motor at the current moment, the pre-adjustment state of the target motor, the pre-adjustment state of the reference motor, and the predicted tilt characteristics of the target motor are recorded as auxiliary control characteristics of the reference motor; the predicted tilt characteristics of the reference motor are obtained based on the similarity between the auxiliary control characteristics of the reference motor and the tilt characteristics and motor motion states recorded in the historical records; Obtaining the control effectiveness of the reference motor based on the difference between the predicted tilt characteristics of the target motor and the predicted tilt characteristics of the reference motor; and taking the maximum value of the control effectiveness of all reference motors as the auxiliary control capability of the target motor; By using the tilt reduction amplitude after several adjustments before the current moment, the control effectiveness of the motor and the auxiliary control capability are integrated to obtain the control priority of the motor, and the motor with the highest control priority is controlled; The specific steps for obtaining the tilt feature are as follows: using the tilt sensor to obtain the tilt direction and tilt angle of the pallet, and the vector formed by the tilt angles of all tilt directions is recorded as the tilt feature.

2. A volumetric intelligent paper dispenser control method according to claim 1, characterized in that: The specific steps for obtaining the predicted tilt features of the target motor and the predicted tilt features of the reference motor are as follows: Record the motion state and tilt characteristics of each motor of the paper dispenser at each moment in the historical operation process; at each moment in the historical operation process, the motion state of all motors, the motion state of the target motor after the next adjustment, and the tilt characteristics at each moment are spliced ​​into a one-dimensional vector, which is recorded as the historical adjustment characteristics of the target motor; Calculate the similarity between the current control feature of the target motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the target motor; record the tilt feature contained in the historical similar control feature of the target motor as the predicted tilt feature of the target motor; Calculate the similarity between the auxiliary control feature of the reference motor and each historical control feature of the target motor, and record the historical control feature with the greatest similarity to the current control feature as the historical similar control feature of the reference motor; the tilt feature contained in the historical similar control feature of the reference motor is recorded as the predicted tilt feature of the reference motor.

3. A volumetric intelligent paper dispenser control method according to claim 1, characterized in that: The control effectiveness of the target motor is obtained based on the difference between the current tilt feature and the predicted tilt feature of the target motor. The specific steps include the following: The average of the tilt angles in all directions of the tilt feature is recorded as the average tilt amplitude of the tilt feature; the difference between the average tilt amplitude of the tilt feature at the current moment and the average tilt amplitude of the predicted tilt feature of the target motor is recorded as the control effectiveness of the target motor.

4. A volumetric intelligent paper dispenser control method according to claim 3, characterized in that: The specific steps for obtaining the tilt reduction amplitude are as follows: The tilt features obtained from several control processes before the current moment constitute a tilt feature sequence. For two adjacent tilt features in the tilt feature sequence, the difference between the average tilt amplitude of the latter tilt feature and the average tilt amplitude of the previous tilt feature is recorded as the tilt amplitude change of the two adjacent tilt features. The average value h of the tilt amplitude change between all adjacent tilt features in the tilt feature sequence is obtained, and 2h / π is recorded as the tilt reduction amplitude.

5. A volumetric intelligent paper dispenser control method according to claim 2, characterized in that: By using the tilt reduction amplitude after several adjustments before the current moment, the motor's control effectiveness and auxiliary control capability are integrated to obtain the motor's control priority. The specific formula is as follows: k×a+(1-k)×b is recorded as the motor control priority, where a represents the motor control effectiveness, b represents the motor's auxiliary control capability, and k represents the motor motion error interference factor; The motor motion error interference factor is obtained by the tilt reduction amplitude, the similarity between the historical similar control characteristics of the target motor and the current control characteristics of the target motor, and the similarity between the auxiliary control characteristics of the reference motor and the historical similar control characteristics of the reference motor.

6. A volumetric intelligent paper dispenser control method according to claim 5, characterized in that: The specific steps for obtaining the motor motion error interference factor are as follows: The similarity between the historical similar control features of the target motor and the current control features of the target motor is recorded as f1, and the similarity between the auxiliary control features of the reference motor and the historical similar control features of the reference motor is recorded as f2; Let F=exp(-(f1+f2) / 2) be denoted as the predicted tilt characteristic error, and the motor motion error interference factor k=exp(-x)-w×F; x represents the tilt reduction amplitude, w represents the attention coefficient of the predicted tilt characteristic error, and exp() represents an exponential function with a natural constant as the base; the attention coefficient of the predicted tilt characteristic error is obtained based on the control sequence of the motor in several controls before the current moment.

7. A volumetric intelligent paper dispenser control method according to claim 6, characterized in that: The specific steps for obtaining the attention coefficient for predicting the tilt feature error are as follows: For the t-th regulation process among several regulation processes before the current moment, the t+1-th regulation process represents the next regulation process of the t-th regulation process; The motor controlled during the t-th control process is recorded as motor A; For reference motors other than motor A, the reference motor with the greatest control effectiveness is recorded as motor B. When the motor controlled in the t+1th control process is motor B, the attention degree of the reference motor in the tth control process is recorded as 1. When the motor being regulated during the t+1th regulation process is not motor B, the attention level of the reference motor during the tth regulation process is recorded as 0; The attention coefficient of the predicted tilt feature error is negatively correlated with the reference motor attention in several control processes before the current moment.

8. A volumetric intelligent paper dispenser control method according to claim 7, characterized in that: The specific steps for obtaining the attention coefficient for predicting the tilt feature error are as follows: The mean value m of the reference motor attention in several control processes before the current moment is obtained, and exp(-m) is used as the attention coefficient for predicting the tilt feature error.

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