Ratchet wheel position positioning method and device, equipment and medium

Abstract

The invention relates to the technical field of position positioning, and discloses a ratchet wheel position positioning method and device, equipment and a medium. The method comprises the following steps: acquiring inter-tooth coding information; the inter-tooth coding information is obtained by measuring the angular displacement amount of the ratchet wheel based on the coded disc, and represents an absolute position mapping relation between code teeth of the coded disc and wheel teeth of the ratchet wheel; identifying the current detected code teeth of the code disc; and determining the absolute position of the ratchet wheel based on the inter-tooth coding information and the current detected code tooth. According to the embodiment of the invention, the ratchet wheel can be absolutely positioned on the basis of not using a huge absolute value encoder.

Description

Technical Field

[0001] The present application relates to the field of position positioning technology, and in particular to a ratchet position positioning method, device, equipment and medium. Background Art

[0002] In the SMT industry, absolute positioning is required to improve the feeding accuracy of tape feeders when the equipment is feeding materials in a fixed-length manner. The feed ratchet of the tape feeder has multiple teeth, and the absolute stop position of each tooth needs to be determined in real time. In this case, an absolute positioning device is required to provide the accurate position of the ratchet.

[0003] In the related art, there are many types of devices with absolute positioning functions, such as encoders, including photoelectric encoders, magnetic encoders, etc. However, for a tape feeder with a thickness of only 8 mm, these absolute encoders are bulky and expensive, and are not suitable for use in a tape feeder. Summary of the Invention

[0004] The purpose of the present application is to provide a ratchet position positioning method, device, equipment and medium, which can absolutely position the ratchet without using a bulky absolute value encoder.

[0005] The present invention provides a method for positioning a ratchet wheel, comprising: Obtaining inter-tooth coding information; the inter-tooth coding information is obtained based on the angular displacement of the ratchet wheel measured by the code disk, and represents the absolute position mapping relationship between the code teeth of the code disk and the teeth of the ratchet wheel; Identifying the code tooth currently being inspected on the code wheel; The absolute position of the ratchet wheel is determined based on the inter-tooth coding information and the currently detected code tooth.

[0006] In some embodiments, before acquiring the inter-tooth coding information, the method further includes: Controlling the code disk to reset to a preset starting state; After the code disk is reset, the code disk is controlled to rotate uniformly in a single direction for at least one revolution, and information on a change in the tooth width of the code teeth within the inspected area is determined during the uniform rotation; the ratchet rotates as the code disk rotates, and the angular displacements of the code disk and the ratchet are the same; Based on the quantity information of the code teeth and the gear teeth and the tooth width change information, the absolute position mapping relationship between the code teeth and the gear teeth is determined to obtain the inter-tooth coding information.

[0007] In some embodiments, determining the tooth width change information of the code teeth in the inspected area during the uniform rotation process includes: Acquire a code tooth occlusion duration obtained by detecting a duration for which the code tooth occludes the inspected area; Based on the rotation speed of the code disk and the blocking time of the code teeth, the tooth widths of the code teeth sequentially located in the inspected area during the uniform rotation of the code disk are determined to obtain the tooth width change information.

[0008] In some embodiments, determining the absolute position mapping relationship between the code teeth and the gear teeth based on the quantity information of both the code teeth and the gear teeth and the tooth width change information includes: Based on the quantity information, determining an inter-tooth mapping relationship between the code teeth and the gear teeth; Based on the inter-tooth mapping relationship and the tooth width change information, each of the code teeth and the gear teeth is encoded to determine the absolute position mapping relationship and obtain the inter-tooth coding information.

[0009] In some embodiments, identifying the code tooth currently being inspected on the code wheel includes: determining an angular displacement of the code disk when the code disk rotates from a preset starting state; Acquire a code tooth occlusion duration obtained by detecting a duration for which the code tooth occludes the inspected area; The currently inspected code tooth is determined according to the code wheel angular displacement and the code tooth occlusion duration.

[0010] In some embodiments, determining the absolute position of the ratchet based on the inter-tooth coding information and the currently inspected code tooth includes: Determining the gear tooth corresponding to the currently inspected code tooth based on the inter-tooth coding information; The absolute position of the ratchet wheel is determined based on the gear tooth corresponding to the currently detected code tooth.

[0011] In some embodiments, the number of code teeth of the code disc is an integer multiple of the number of teeth of the ratchet wheel.

[0012] The present application also provides a ratchet position positioning device, comprising: The first module is used to obtain inter-tooth coding information; the inter-tooth coding information is obtained based on the angular displacement of the ratchet wheel measured by the code disk, and represents the absolute position mapping relationship between the code teeth of the code disk and the teeth of the ratchet wheel; The second module is used to identify the code tooth currently being inspected on the code wheel; The third module is used to determine the absolute position of the ratchet based on the inter-tooth coding information and the currently inspected code tooth.

[0013] An embodiment of the present application further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned ratchet position positioning method when executing the computer program.

[0014] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned ratchet position positioning method is implemented.

[0015] The beneficial effects of the present application are as follows: by utilizing the linkage relationship between the code disk and the ratchet, position coding is established through dynamic detection, and there is no need to install an additional independent coding device, so that the detection structure and the moving parts are integrated, which not only reduces space occupancy but also reduces hardware costs, and achieves high-precision absolute positioning in a limited space, effectively solving the problem of difficult installation of traditional encoders in thin equipment. Through the dynamic mapping of code tooth characteristics and gear tooth positions, accurate control of each stop position is ensured, while avoiding the use of expensive external coding devices, significantly reducing equipment manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a diagram of the application environment of the ratchet position positioning method provided in an embodiment of the present application.

[0017] Figure 2 This is a flow chart of the ratchet position positioning method provided in an embodiment of the present application.

[0018] Figure 3 It is a structural schematic diagram of the ratchet position positioning device provided in an embodiment of the present application.

[0019] Figure 4 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0021] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps illustrated may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. Terms such as "first" and "second" in the specification, claims, and drawings are used to distinguish similar items and are not intended to describe a specific sequence or precedence.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0023] The ratchet position positioning method provided in the embodiment of the present application can be executed by a computer device, which can be a terminal device or a host computer. Among them, the terminal device includes but is not limited to an industrial computer, a computer or a programmable logic controller. The host computer can be a PC-based host computer or an embedded host computer. In addition, the information, data and signals involved in the embodiment of the present application are all authorized by the relevant objects or fully authorized by all parties, and the collection, use and processing of relevant data comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0024] Figure 1 This is an application environment diagram of the ratchet position positioning method provided in the embodiment of the present application. Figure 1 , the ratchet position positioning method is applied to the ratchet position positioning system. The ratchet position positioning system includes a terminal 110 and a host computer 120. The terminal 110 communicates with the host computer 120, and the terminal 110 can be a desktop terminal or a mobile terminal. The mobile terminal can be at least one of a mobile phone, a tablet computer, a laptop computer, etc. The terminal 110 is used to send inter-tooth coding information to the host computer 120. The host computer 120 is used to obtain the inter-tooth coding information, identify the code tooth currently inspected by the code disk, and determine the absolute position of the ratchet based on the inter-tooth coding information and the currently inspected code tooth. Among them, the inter-tooth coding information is obtained based on the measurement of the angular displacement of the ratchet by the code disk, and represents the absolute position mapping relationship between the code teeth of the code disk and the teeth of the ratchet.

[0025] It should be understood that Figure 1 The application scenarios shown are merely examples. In actual applications, the ratchet position positioning method provided by the embodiments of the present application can also be applied to other scenarios. For example, the above-mentioned ratchet position positioning method can be directly applied to the terminal 110, which is used to obtain inter-tooth coding information, identify the code tooth currently being inspected on the code disk, and determine the absolute position of the ratchet based on the inter-tooth coding information and the currently inspected code tooth. The inter-tooth coding information is obtained based on the angular displacement of the ratchet measured by the code disk, and represents the absolute position mapping relationship between the code teeth of the code disk and the teeth of the ratchet.

[0026] To facilitate understanding of the ratchet position positioning method provided in the embodiment of the present application, the application scenario of the ratchet position positioning method is exemplarily introduced below by taking the execution subject as the terminal 110 as an example.

[0027] Figure 2 This is a flow chart of the ratchet position positioning method provided by the embodiment of the present application. Figure 2 In some embodiments, the method includes but is not limited to steps S201 to S203.

[0028] Step S201, obtaining inter-tooth coding information.

[0029] The inter-tooth coding information is obtained based on the measurement of the angular displacement of the ratchet by the code disc, and characterizes the absolute position mapping relationship between the code teeth of the code disc and the teeth of the ratchet. It can be understood that the inter-tooth coding information refers to the coding data established by measuring the relative position relationship between the code disc and the ratchet during rotation. Specifically, it can be achieved by calculating the correlation between the code tooth occlusion time and the rotation speed. This information forms a one-to-one correspondence between each code tooth of the code disc and a specific tooth of the ratchet. The absolute position mapping relationship refers to the position correspondence rule under the proportional constraint of the number of teeth of the code disc and the ratchet. For example, when the number of teeth on the code disc is an integer multiple of the number of teeth on the ratchet, multiple code teeth can correspond to the phase position of a single tooth. This relationship ensures the uniqueness of position identification.

[0030] It's important to note that the code disc and ratchet are a pair of core mechanical components that work together to achieve precise, intermittent feeding in a tape feeder. The ratchet mechanism is typically driven by an electromagnet or motor. When energized, the electromagnet engages, pushing a pawl that engages the teeth of the ratchet, rotating the ratchet a fixed angle (usually one tooth pitch). When power is removed, the electromagnet releases, and the pawl, acting on a spring, returns to its original position, ready for the next push. The code disc is typically paired with a photoelectric sensor (slot-type optocoupler). As the code disc rotates, its teeth continuously block the sensor's light path, generating a series of pulsed electrical signals.

[0031] As some examples, before determining the absolute position of the ratchet, the terminal reads the inter-tooth coding information from a memory storing the inter-tooth coding information in the terminal or obtains the inter-tooth coding information from a host computer, and then waits for the recognition result of the code tooth currently being inspected on the code disk.

[0032] Step S202: Identify the code tooth currently being inspected on the code wheel.

[0033] It can be understood that the currently inspected code tooth refers to the single or multiple code teeth that enter the inspection area in real time during the rotation of the code disk. This can be achieved by detecting changes in the occlusion signal through a photoelectric sensor. This feature is used to lock the physical position reference corresponding to the current inspection point. For example, there may be two code teeth that enter the inspection area in real time, and the code tooth widths can be of seven different types. By configuring the positions of code teeth with different tooth widths, 49 types of currently inspected code teeth can be achieved.

[0034] As some examples, the length of time the inspected area is covered can be detected by a photoelectric sensor, and the length of time the photoelectric sensor detects that the currently inspected code tooth covers the inspected area can be obtained. Combined with the rotation speed of the code disk, the tooth width of the currently inspected code tooth can be calculated, thereby identifying the currently inspected code tooth of the code disk. Step S203: determining the absolute position of the ratchet based on the inter-tooth coding information and the currently inspected code tooth.

[0035] As some examples, after determining the currently inspected code tooth of the code disk, based on the inter-tooth coding information, a gear tooth having an absolute position mapping relationship with the currently inspected code tooth is searched to determine the absolute position of the ratchet. It will be understood that based on the absolute position mapping relationship between the code teeth of the code disk and the gear teeth of the ratchet, when the currently inspected code tooth is within the inspected area, the gear tooth having an absolute position mapping relationship with the currently inspected code tooth is currently within the corresponding area, and thus the absolute position of the ratchet can be determined.

[0036] The ratchet position positioning method provided in the embodiment of the present application generates inter-tooth coding information by measuring the absolute position mapping relationship between the code teeth and the gear teeth during the synchronous rotation of the ratchet and the code disk. When the code disk rotates at a constant speed after being reset, the actual occlusion time of each code tooth is recorded, and the tooth width change sequence is calculated in combination with the rotation speed. Since there is a fixed number ratio between the gear teeth of the ratchet and the code teeth of the code disk, the tooth width sequence forms a unique coding pattern, and each code tooth corresponds to the absolute position of the gear tooth. In the positioning stage, the precise angular position of the ratchet can be directly determined by detecting the occlusion time characteristics of the current code tooth in real time and matching it with the pre-stored coding information. For example, the ratchet has 40 teeth, the code disc has 40 code teeth, the number of code teeth tested each time is 2, and the width of the code teeth has 7 types. Any combination of 2 adjacent code teeth can simultaneously constitute 40 tested code tooth combinations, and each tested code tooth combination corresponds to 1 wheel tooth. After identifying the two code teeth currently tested on the code disc, the corresponding tested code tooth combination is determined based on the two currently tested code teeth, and then the corresponding wheel tooth is determined to obtain the absolute position of the ratchet. Therefore, by utilizing the linkage relationship between the code disc and the ratchet, position coding is established through dynamic detection, without the need to install an additional independent encoding device, so that the detection structure and the moving parts are integrated, which not only reduces space occupation but also reduces hardware costs, and realizes high-precision absolute positioning in a limited space, effectively solving the problem of difficult installation of traditional encoders in thin equipment. Through the dynamic mapping of code tooth characteristics and wheel tooth positions, accurate control of each stop position is ensured, while avoiding the use of expensive external encoding devices, significantly reducing equipment manufacturing costs.

[0037] In some embodiments, before obtaining the inter-tooth coding information, the method further includes: controlling the code disk to reset to a preset starting state; after the code disk is reset, controlling the code disk to rotate at a constant speed in a single direction for at least one revolution, and determining the tooth width variation information of the code teeth within the inspection area during the constant rotation; and determining the absolute position mapping relationship between the code teeth and the gear teeth based on the number information and tooth width variation information of both the code teeth and the gear teeth to obtain the inter-tooth coding information. The ratchet rotates as the code disk rotates, and the angular displacement of the code disk and the ratchet is the same.

[0038] It is understood that resetting the code disk to a preset starting state can be achieved by calibrating the initial position of the code disk to a fixed reference point. This can be achieved by using a mechanical limit device or a photoelectric sensor trigger signal to ensure the baseline consistency of subsequent rotation measurements. Tooth width variation information refers to the width difference data generated when different code teeth pass through the inspected area. Specifically, it can be calculated by detecting the length of time that the code teeth block the inspected area and combining it with the code disk rotation speed. This information reflects the actual width variation characteristics of the code teeth corresponding to different gear tooth positions and is used to distinguish the specific gear tooth position corresponding to each code tooth, thereby eliminating position ambiguity.

[0039] Before acquiring inter-tooth encoding information, the code disk is reset by calibrating its initial position to a fixed reference point. After resetting, the code disk is controlled to rotate continuously at a constant speed to complete a full rotation cycle. During this process, as each code tooth passes through the inspection area, a photoelectric sensor records the duration that the code tooth obscures the inspection area. This can be achieved using a stepper motor or servo motor coupled with a closed-loop control algorithm to eliminate interference from speed fluctuations on tooth width measurement. Because the code disk and ratchet rotate synchronously and with the same angular displacement, the obscuration time is proportional to the actual width of the code tooth. By calculating the width variation data for all code teeth within a revolution, the corresponding gear tooth position can be derived, thereby generating unique inter-tooth encoding information. For example, when the number of code disk teeth is twice that of the ratchet teeth, every two adjacent code teeth correspond to a gear tooth. By identifying the periodic variation in code tooth width, a mapping table can be established. Therefore, through the mechanical linkage between the code disk and ratchet, combined with analysis of tooth width variation under constant rotation, absolute position can be indirectly derived using a single sensor, significantly simplifying the hardware architecture.

[0040] In some embodiments, determining the tooth width change information of the code teeth in the inspected area during uniform rotation includes: obtaining the code tooth occlusion duration obtained by detecting the duration of time the code teeth occlude the inspected area; based on the rotation speed of the code disk and the code tooth occlusion duration, determining the tooth widths of the code teeth in the inspected area in sequence during the uniform rotation of the code disk to obtain the tooth width change information.

[0041] The code tooth occlusion duration refers to the length of time the code tooth blocks the detection device when passing through the inspection area. This can be achieved by using the time difference between the occlusion signals detected by a photoelectric sensor or infrared sensor. This parameter directly reflects the actual physical size and motion of the code tooth and is used in subsequent tooth width calculations.

[0042] When the code disk rotates at a constant speed, after each code tooth or each group of code teeth enters the inspected area, the duration of blocking the inspected area is recorded as the code tooth occlusion duration. Since the code disk rotation speed is known and constant, the actual angular displacement of each code tooth can be calculated by multiplying the rotation speed with the occlusion duration, and then converted into the tooth width value of the code tooth. The tooth width data of all code teeth are arranged in sequence to form tooth width change information, which reflects the periodic correspondence between the code teeth and the gear teeth. Therefore, the tooth width is calculated by dynamically detecting the occlusion time in combination with the rotation speed, without the need for complex measuring equipment, and the photoelectric detection module can be directly integrated into the thin device, which significantly reduces the hardware complexity. At the same time, the linear relationship under the condition of uniform rotation is used to simplify the calculation process, providing accurate basic data for establishing the absolute position mapping relationship between the code teeth and the ratchet teeth.

[0043] In some embodiments, based on the quantity information and tooth width change information of both the code teeth and the gear teeth, the absolute position mapping relationship between the code teeth and the gear teeth is determined, including: determining the inter-tooth mapping relationship between the code teeth and the gear teeth based on the quantity information; encoding each code tooth and gear tooth based on the inter-tooth mapping relationship and tooth width change information to determine the absolute position mapping relationship and obtain the inter-tooth coding information.

[0044] It can be understood that the inter-tooth mapping relationship refers to the corresponding ratio between the number of code teeth and the number of gear teeth. Specifically, this can be achieved by presetting the number of code teeth to an integer multiple of the number of gear teeth, for example, the number of code teeth can be double or triple the number of gear teeth. This relationship is used to establish the basic position correspondence framework between the code disk and the ratchet wheel, ensuring that each gear tooth corresponds to multiple code teeth, providing a structural foundation for subsequent encoding.

[0045] During the uniform rotation of the code disc, the basic correspondence between the code teeth and the gear teeth is first determined based on the ratio of the number of code teeth to the number of gear teeth. For example, when the number of code teeth is twice the number of gear teeth, every two adjacent code teeth correspond to one gear tooth, or when the number of code teeth is equal to the number of gear teeth, every two adjacent code teeth correspond to one gear tooth. Subsequently, by analyzing the actual tooth width changes of each or each group of code teeth when passing through the inspected area, for example, if it is detected that the occlusion time of a certain code tooth is shorter than that of other code teeth, it can be inferred that the gear tooth corresponding to the code tooth is in a specific position. Based on this, a unique code is assigned to each or each group of code teeth, and the code is associated with the absolute position of the corresponding gear tooth, and finally a complete absolute position mapping table is formed. Therefore, by combining the quantity ratio relationship with the dynamic tooth width change characteristics, the absolute position correspondence between the code teeth and the gear teeth can be accurately established without adding additional sensors, effectively reducing the hardware complexity.

[0046] In some embodiments, identifying the code tooth currently under inspection on the code disk includes: determining the angular displacement of the code disk when the code disk rotates from a preset starting state; obtaining the code tooth occlusion duration obtained by detecting the duration of the code tooth occluding the inspected area; and determining the currently inspected code tooth based on the code disk angular displacement and the code tooth occlusion duration.

[0047] It can be understood that the angular displacement of the code disk refers to the angular value of the code disk rotation relative to the initial position, which can be measured by a rotary encoder or an angle sensor, or determined by recording the number of code teeth passing through the inspected area since the initial position, and establishing a corresponding relationship with the time axis by recording the rotation trajectory of the code disk.

[0048] As the codewheel rotates, its angular displacement is captured and stored in real time by an encoder, while a photoelectric sensor continuously monitors the obstruction status of the inspected area. When a code tooth enters the inspected area, the sensor output signal triggers a timing module to record the duration of the obstruction. The data processing unit matches the angular displacement with the obstruction duration. Combined with the codewheel's rotation direction and speed parameters, the data is compared against a pre-set database of codetooth positions to accurately identify the codetooth number currently at the inspection location. For example, if the codewheel rotates 30 degrees and detects an obstruction duration of 5 milliseconds, the width of the codetooth can be calculated based on a rotational speed of 60 rpm, matching the data for tooth number 12 in the encoding database. This dual-parameter detection mechanism, combining angular displacement and obstruction duration, enables codetooth identification with a single-turn codewheel and a single sensor, effectively simplifying the hardware architecture. For example, in a tape feeder application, positioning can be achieved by integrating a rotary encoder and a photoelectric sensor within an 8mm thick space, eliminating the need for a bulky multi-turn encoder.

[0049] In some embodiments, determining the absolute position of the ratchet based on the inter-tooth coding information and the currently inspected code tooth includes: determining the wheel tooth corresponding to the currently inspected code tooth based on the inter-tooth coding information; and determining the absolute position of the ratchet based on the wheel tooth corresponding to the currently inspected code tooth.

[0050] During the operation of the tape feeder, when the code disc rotates to cause a certain code tooth to enter the inspected area, the photoelectric sensor detects the occlusion time of the code tooth and calculates its angular displacement. Combined with the preset inter-tooth coding information, the ratchet tooth serial number corresponding to the code tooth can be queried. For example, if the inter-tooth coding information sets the 5th group of code teeth to correspond to the 5th tooth of the ratchet, when it is detected that the 5th group of code teeth is in the inspected state, it can be directly determined that the ratchet is currently at the absolute position of the 5th tooth. Therefore, through the mapping relationship between the teeth of the code disc and the ratchet, only a single photoelectric sensor is required to detect the position of the code teeth, so that the absolute positioning function can be achieved while maintaining the thickness of the equipment. There is no need to rely on the complex structure of the traditional absolute encoder. Accurate positioning can be achieved only through the mapping relationship between the code teeth and the teeth.

[0051] In some embodiments, the number of teeth on the code disc is an integer multiple of the number of teeth on the ratchet wheel.

[0052] When the code disc and the ratchet are coaxially mounted and rotate synchronously, the number of code teeth is set to an integer multiple of the number of gear teeth. For example, the number of code teeth can be 2, 3 or a higher integer multiple of the number of gear teeth. Under this structure, the rotation angle of each ratchet tooth is evenly divided into angle intervals corresponding to multiple code disc teeth. By detecting the position of the code disc teeth, the precise absolute position of the ratchet can be directly derived. This integer multiple relationship makes the position correspondence between the code teeth and the gear teeth present a periodic repetitive feature, thereby achieving the absolute value positioning of the full-circle angle of the ratchet under the condition of a limited number of code teeth. Therefore, through the proportional relationship between the number of teeth of the code disc and the ratchet, the inherent periodic characteristics of the mechanical structure are used to achieve the positioning function, without the need for additional complex sensors or signal processing units. This design effectively reduces hardware complexity and space occupancy while maintaining positioning accuracy.

[0053] See Figure 3 The present application also provides a ratchet position positioning device that can implement the above-mentioned ratchet position positioning method. The device includes: The first module 301 is used to obtain inter-tooth coding information; the inter-tooth coding information is obtained based on the angular displacement of the ratchet wheel measured by the code disk, and represents the absolute position mapping relationship between the code teeth of the code disk and the teeth of the ratchet wheel; The second module 302 is used to identify the code tooth currently being inspected on the code wheel; The third module 303 is used to determine the absolute position of the ratchet based on the inter-tooth coding information and the currently inspected code tooth.

[0054] The specific implementation of the ratchet position positioning device is basically the same as the specific embodiment of the ratchet position positioning method described above, and will not be repeated here.

[0055] Figure 4 It is a block diagram of an electronic device according to an exemplary embodiment.

[0056] Refer to the following Figure 4 4 to describe the electronic device 400 according to this embodiment of the present disclosure. Figure 4 The electronic device 400 shown is merely an example and should not limit the functionality and scope of use of the embodiments of the present disclosure.

[0057] like Figure 4 As shown, electronic device 400 is implemented as a general-purpose computing device. Components of electronic device 400 may include, but are not limited to, at least one processing unit 410, at least one storage unit 420, a bus 430 connecting various system components (including storage unit 420 and processing unit 410), a display unit 440, and the like.

[0058] The storage unit stores program codes, which can be executed by the processing unit 410 , so that the processing unit 410 executes the steps according to various exemplary embodiments of the present disclosure described in the ratchet position positioning method section above.

[0059] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 4201 and / or a cache memory unit 4202 , and may further include a read-only memory unit (ROM) 4203 .

[0060] The storage unit 420 may also include a program / utility 4204 having a set (at least one) of program modules 4205, such program modules 4205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0061] Bus 430 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0062] The electronic device 400 may also communicate with one or more external devices 400′ (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 400, and / or any device that enables the electronic device 400 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication may occur via an input / output (I / O) interface 450. Furthermore, the electronic device 400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 460. The network adapter 460 may communicate with other modules of the electronic device 400 via the bus 430. It should be understood that, although not shown in the figures, other hardware and / or software modules may be used in conjunction with the electronic device 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0063] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above method is implemented.

[0064] The ratchet position positioning method, device, equipment and medium provided in the embodiments of the present application establish position coding through dynamic detection by utilizing the linkage relationship between the code disk and the ratchet, without the need to install an additional independent encoding device, so that the detection structure and the moving parts are integrated, which not only reduces space occupancy but also reduces hardware costs, realizes high-precision absolute positioning in a limited space, and effectively solves the problem of difficult installation of traditional encoders in thin equipment. Through the dynamic mapping of code tooth characteristics and gear tooth positions, accurate control of each stop position is ensured, while avoiding the use of expensive external encoding devices, significantly reducing equipment manufacturing costs.

[0065] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to execute the above-mentioned method according to the embodiments of the present disclosure.

[0066] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0067] Computer-readable storage media may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0068] Those skilled in the art will appreciate that the modules described above can be distributed in the device according to the description of the embodiment, or can be modified accordingly to be used in one or more devices that are different from the embodiment. The modules of the above embodiment can be combined into one module or further divided into multiple submodules.

[0069] While the exemplary embodiments of the present disclosure have been specifically illustrated and described above, it should be understood that the present disclosure is not limited to the detailed structures, configurations, or implementations described herein; rather, the present disclosure is intended to encompass various modifications and equivalent configurations within the spirit and scope of the appended claims.

Claims

1. A ratchet position positioning method, characterized in that: include: Obtain inter-tooth coding information; The inter-tooth coding information is obtained based on the angular displacement of the ratchet wheel measured by the code disc, and represents the absolute position mapping relationship between the code teeth of the code disc and the teeth of the ratchet wheel; Identifying the code tooth currently being inspected on the code wheel; The absolute position of the ratchet wheel is determined based on the inter-tooth coding information and the currently detected code tooth.

2. The ratchet position positioning method according to claim 1, characterized in that: Before obtaining the inter-tooth coding information, the method further includes: Controlling the code disk to reset to a preset starting state; After the code disk is reset, the code disk is controlled to rotate uniformly in a single direction for at least one revolution, and information on a change in the tooth width of the code teeth within the inspected area is determined during the uniform rotation; the ratchet rotates as the code disk rotates, and the angular displacements of the code disk and the ratchet are the same; Based on the quantity information of the code teeth and the gear teeth and the tooth width change information, the absolute position mapping relationship between the code teeth and the gear teeth is determined to obtain the inter-tooth coding information.

3. The ratchet position positioning method according to claim 2, characterized in that: The determining of the tooth width variation information of the code teeth in the inspected area during the uniform rotation process includes: Acquire a code tooth occlusion duration obtained by detecting a duration for which the code tooth occludes the inspected area; Based on the rotation speed of the code disk and the blocking time of the code teeth, the tooth widths of the code teeth sequentially located in the inspected area during the uniform rotation of the code disk are determined to obtain the tooth width change information.

4. The ratchet position positioning method according to claim 2, characterized in that: The determining of the absolute position mapping relationship between the code teeth and the gear teeth based on the quantity information of the code teeth and the gear teeth and the tooth width change information includes: Based on the quantity information, determining an inter-tooth mapping relationship between the code teeth and the gear teeth; Based on the inter-tooth mapping relationship and the tooth width change information, each of the code teeth and the gear teeth is encoded to determine the absolute position mapping relationship and obtain the inter-tooth coding information.

5. The ratchet position positioning method according to claim 1, characterized in that: The identifying the code tooth currently being inspected on the code wheel includes: determining an angular displacement of the code disk when the code disk rotates from a preset starting state; Obtaining a code tooth occlusion duration obtained by detecting a duration for which the code tooth occludes the inspected area; The currently inspected code tooth is determined according to the code wheel angular displacement and the code tooth occlusion duration.

6. The ratchet position positioning method according to claim 1, characterized in that: The determining the absolute position of the ratchet wheel based on the inter-tooth coding information and the currently inspected code tooth comprises: Determining the gear tooth corresponding to the currently inspected code tooth based on the inter-tooth coding information; The absolute position of the ratchet wheel is determined based on the gear tooth corresponding to the currently detected code tooth.

7. The ratchet position positioning method according to any one of claims 1 to 6, characterized in that: The number of code teeth of the code disc is an integer multiple of the number of teeth of the ratchet wheel.

8. A ratchet position positioning device, characterized in that: include: The first module is used to obtain inter-tooth coding information; The inter-tooth coding information is obtained based on the angular displacement of the ratchet wheel measured by the code disc, and represents the absolute position mapping relationship between the code teeth of the code disc and the teeth of the ratchet wheel; The second module is used to identify the code tooth currently being inspected on the code wheel; The third module is used to determine the absolute position of the ratchet based on the inter-tooth coding information and the currently inspected code tooth.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the ratchet position positioning method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the ratchet position positioning method according to any one of claims 1 to 7 is implemented.

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