Ratchet position positioning method, device, equipment and medium

Abstract

The application relates to the technical field of position positioning, and discloses a ratchet wheel position positioning method, device, equipment and medium. The method comprises the following steps: acquiring inter-tooth coding information; the inter-tooth coding information is obtained by measuring the angular displacement of a code disc on a ratchet wheel, and represents an absolute position mapping relationship between code teeth of the code disc and gear teeth of the ratchet wheel; identifying a currently detected code tooth of the code disc; and determining an absolute position of the ratchet wheel based on the inter-tooth coding information and the currently detected code tooth. According to the embodiment of the application, the absolute position of the ratchet wheel can be determined without using a bulky 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

[0002] In the SMT industry, when the equipment feeds in a fixed length manner, absolute positioning is needed to improve the feeding accuracy of the ribbon feeder. The feeding ratchet of the ribbon feeder has multiple teeth, and the absolute stop position of each tooth needs to be obtained in real time. At this time, an absolute value positioning device is needed to provide the accurate position of the ratchet.

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

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

[0005] The present application provides a ratchet position positioning method, comprising:

[0006] Obtaining inter-tooth encoding information; the inter-tooth encoding information is obtained based on the angular displacement of the code disc relative to the ratchet, and represents the absolute position mapping relationship between the code teeth of the code disc and the teeth of the ratchet;

[0007] Identifying the currently detected code teeth of the code disc;

[0008] Based on the inter-tooth encoding information and the currently detected code teeth, determining the absolute position of the ratchet.

[0009] In some embodiments, before the inter-tooth encoding information is obtained, the method further comprises:

[0010] Controlling the code disc to reset to a preset initial state;

[0011] After the code disc is reset, controlling the code disc to rotate at a constant speed in a single direction for at least one revolution, and determining the tooth width change information of the code teeth in the detection area during the constant speed rotation; the ratchet rotates with the code disc, and the angular displacement of the code disc and the ratchet is the same;

[0012] Based on the number information of the code teeth and the teeth and the tooth width change information, determining the absolute position mapping relationship between the code teeth and the teeth, and obtaining the inter-tooth encoding information.

[0013] In some embodiments, the determining the information of the change of the tooth width of the code tooth in the uniform rotation process includes:

[0014] obtaining a code tooth blocking duration detected from the duration that the code tooth blocks the detection region;

[0015] based on the rotation speed of the code disc and the code tooth blocking duration, determining the tooth width of the code tooth in the uniform rotation process of the code disc, to obtain the information of the change of the tooth width.

[0016] In some embodiments, the determining the absolute position mapping relationship between the code tooth and the wheel tooth based on the number information of the code tooth and the wheel tooth and the information of the change of the tooth width includes:

[0017] based on the number information, determining the inter-tooth mapping relationship between the code tooth and the wheel tooth;

[0018] based on the inter-tooth mapping relationship and the information of the change of the tooth width, encoding each of the code tooth and the wheel tooth to determine the absolute position mapping relationship, to obtain the inter-tooth encoding information.

[0019] In some embodiments, the identifying the currently detected code tooth of the code disc includes:

[0020] determining a code disc angular displacement amount of the code disc starting from a preset initial state;

[0021] obtaining a code tooth blocking duration detected from the duration that the code tooth blocks the detection region;

[0022] determining the currently detected code tooth according to the code disc angular displacement amount and the code tooth blocking duration.

[0023] In some embodiments, the determining the absolute position of the ratchet wheel based on the inter-tooth encoding information and the currently detected code tooth includes:

[0024] based on the inter-tooth encoding information, determining the wheel tooth corresponding to the currently detected code tooth;

[0025] based on the wheel tooth corresponding to the currently detected code tooth, determining the absolute position of the ratchet wheel.

[0026] In some embodiments, the number of code teeth of the code disc is an integer multiple of the number of wheel teeth of the ratchet wheel.

[0027] Embodiments of the present application also provide a ratchet wheel position positioning device, including:

[0028] The first module is configured to acquire inter-tooth coding information, wherein the inter-tooth coding information is obtained based on measurement of an angular displacement of a ratchet wheel by a code disc, and represents an absolute position mapping relationship between code teeth of the code disc and gear teeth of the ratchet wheel.

[0029] The second module is configured to identify a currently detected code tooth of the code disc.

[0030] The third module is configured to determine an absolute position of the ratchet wheel based on the inter-tooth coding information and the currently detected code tooth.

[0031] The embodiments of the present application also provide an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the ratchet wheel position positioning method when executing the computer program.

[0032] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the ratchet wheel position positioning method.

[0033] The present application has the following beneficial effects: by utilizing the linkage relationship between the code disc and the ratchet wheel, the position coding is established by dynamic detection, without the need of installing an independent coding device, so that the detection structure and the moving part are integrated, the space occupation is reduced, the hardware cost is lowered, the high-precision absolute positioning in the limited space is realized, the problem of difficult installation of the traditional encoder in the thin device is effectively solved, the dynamic mapping of the code tooth feature and the gear tooth position is ensured to accurately control the position at each stop, and the use of the expensive external encoder is avoided, thereby significantly reducing the equipment manufacturing cost. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 FIG. 1 is an application environment diagram of the ratchet wheel position positioning method provided by the embodiments of the present application.

[0035] Figure 2 FIG. 2 is a flowchart of the ratchet wheel position positioning method provided by the embodiments of the present application.

[0036] Figure 3 FIG. 3 is a structural schematic diagram of the ratchet wheel position positioning device provided by the embodiments of the present application.

[0037] Figure 4 FIG. 4 is a hardware structural schematic diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0039] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical sequence is shown in the flowchart, in some cases, the steps shown can be performed in a manner different from the module division in the device or the sequence in the flowchart. The terms "first", "second", and the like in the description and claims and drawings are used to distinguish similar objects, and are not intended to describe a specific order or sequence.

[0040] Unless otherwise defined, 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 application belongs. The terminology used in this application is for the purpose of describing the embodiments of the application only, and is not intended to limit the application.

[0041] The ratchet position positioning method provided by the embodiments of the application can be executed by a computer device, which can be a terminal device or a host computer. The terminal device includes but is not limited to an industrial computer, a computer, or a programmable logic controller, etc. 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 embodiments of the application are all authorized by the relevant parties or fully authorized by all parties, and the collection, use and processing of relevant data comply with relevant laws, regulations and standards of relevant countries and regions.

[0042] Figure 1 The application environment diagram of the ratchet position positioning method provided by the embodiments of the application is shown in FIG. 11. Figure 1 The ratchet position positioning method is applied to a ratchet position positioning system. The ratchet position positioning system includes a terminal 110 and a host computer 120. The terminal 110 and the host computer 120 communicate, and the terminal 110 can be a desktop terminal or a mobile terminal, which can be at least one of a mobile phone, a tablet computer, a notebook computer, etc. The terminal 110 is configured to send inter-tooth encoding information to the host computer 120. The host computer 120 is configured to acquire the inter-tooth encoding information, identify a currently detected code tooth of a code disc, and determine an absolute position of a ratchet based on the inter-tooth encoding information and the currently detected code tooth. The inter-tooth encoding information is obtained based on measurement of an angular displacement of the ratchet by the code disc, and represents an absolute position mapping relationship between code teeth of the code disc and gear teeth of the ratchet.

[0043] It should be understood that Figure 1 The application scenarios shown are only examples, and in actual applications, the ratchet position positioning method provided by the embodiments of the 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 configured to acquire the inter-tooth encoding information, identify a currently detected code tooth of a code disc, and determine an absolute position of a ratchet based on the inter-tooth encoding information and the currently detected code tooth. The inter-tooth encoding information is obtained based on measurement of an angular displacement of the ratchet by the code disc, and represents an absolute position mapping relationship between code teeth of the code disc and gear teeth of the ratchet.

[0044] To facilitate understanding of the ratchet position positioning method provided by the embodiments of the present application, the application scenario of the ratchet position positioning method is exemplarily introduced below by taking the terminal 110 as an example.

[0045] Figure 2 is a flowchart of the ratchet position positioning method provided by the embodiments of the present application. Referring to Figure 2 In some embodiments, the method includes but is not limited to steps S201 to S203.

[0046] Step S201, acquiring inter-tooth encoding information.

[0047] The inter-tooth encoding information is obtained based on the measurement of the angular displacement of the code disc on the ratchet, and represents the absolute position mapping relationship between the code teeth of the code disc and the gear teeth of the ratchet. It can be understood that the inter-tooth encoding information refers to the encoding data established by measuring the relative position relationship between the code disc and the ratchet during rotation, which can be specifically implemented by using the correlation calculation of the code tooth blocking time and the rotation speed. This information forms a one-to-one correspondence between each code tooth of the code disc and a specific gear tooth of the ratchet. The absolute position mapping relationship refers to the position correspondence rule under the proportion constraint of the number of code teeth and the number of gear teeth. For example, when the number of code teeth is an integer multiple of the number of gear teeth, multiple code teeth can correspond to the phase position of a single gear tooth, and this relationship ensures the uniqueness of position recognition.

[0048] It should be noted that the code disc and the ratchet are a pair of core mechanical components that work cooperatively to achieve precise and intermittent feeding in a tape feeding device. The ratchet mechanism is usually driven by an electromagnet or a motor. After the electromagnet is powered on, it is attracted and will push a pawl, which is clamped into the tooth groove of the ratchet, to push the ratchet to rotate a fixed angle (usually a pitch). After power-off, the electromagnet releases, and the pawl resets under the action of the spring, preparing for the next push. The code disc is usually used in pairs with a photoelectric sensor (slot type optocoupler). When the code disc rotates, its teeth will continuously block the light path of the sensor, thereby generating a series of pulse electrical signals.

[0049] As some examples, before determining the absolute position of the ratchet, the terminal reads the inter-tooth encoding information from the memory in which the inter-tooth encoding information is stored in the terminal or acquires the inter-tooth encoding information from the upper computer, and then waits for the recognition result of the code tooth currently detected by the code disc.

[0050] Step S202, identifying the code tooth currently detected by the code disc.

[0051] It can be understood that the current detected code tooth refers to a single or multiple code teeth that enter the detected area in real time during the rotation of the code disc, which can be specifically realized by detecting the change of the shielding signal by the photoelectric sensor, and this feature is used to lock the physical position reference corresponding to the current detection point. For example, the code teeth that enter the detected area in real time can be two, and the width of the code tooth can be seven. By configuring the positions of code teeth with different tooth widths, 49 types of currently detected code teeth can be realized.

[0052] As some examples, the length of time when the detected area is shielded can be detected by the photoelectric sensor, the length of time when the current detected code tooth shields the detected area is obtained by the photoelectric sensor, and the rotational speed of the code disc is combined, so that the tooth width of the current detected code tooth can be calculated, and the current detected code tooth of the code disc can be identified,

[0053] In step S203, the absolute position of the ratchet wheel is determined based on the inter-tooth encoding information and the current detected code tooth.

[0054] As some examples, after determining the current detected code tooth of the code disc, the tooth that has an absolute position mapping relationship with the current detected code tooth is found based on the inter-tooth encoding information, so as to determine the absolute position of the ratchet wheel. It can be understood that, based on the absolute position mapping relationship between the code teeth of the code disc and the teeth of the ratchet wheel, when the current detected code tooth is in the detected area, the tooth that has an absolute position mapping relationship with the current detected code tooth is currently in the corresponding area, that is, the absolute position of the ratchet wheel can be determined.

[0055] The ratchet position positioning method provided by the embodiments of the present application generates the inter-tooth encoding information by measuring the absolute position mapping relationship between the code teeth and the wheel teeth in the synchronous rotation process of the ratchet and the code disc. When the code disc rotates at a uniform speed after resetting, the actual shielding time of each code tooth is recorded, and the tooth width variation sequence is calculated in combination with the rotation speed. Since the wheel teeth of the ratchet and the code teeth of the code disc have a fixed number ratio, the tooth width sequence forms a unique encoding mode, and each code tooth corresponds to the absolute position of the wheel tooth. In the positioning stage, the current code tooth shielding time feature is detected in real time, and the pre-stored encoding information is matched, so that the precise angle position of the ratchet can be directly determined. For example, the ratchet has 40 teeth, the code disc has 40 code teeth, the number of code teeth detected each time is 2, the width of the code teeth has 7 types, any adjacent 2 code teeth combination can simultaneously form 40 detected code tooth combinations, each detected code tooth combination corresponds to 1 wheel tooth, after the current two code teeth of the code disc are identified, the corresponding detected code tooth combination of the inter-tooth encoding information is determined based on the current two code teeth, and then the corresponding wheel tooth is determined, so as to obtain the absolute position of the ratchet. Thus, by using the linkage relationship between the code disc and the ratchet, the position encoding is established by dynamic detection, without the need of additionally installing an independent encoding device, so that the detection structure and the moving part are integrated, the space occupation is reduced, the hardware cost is reduced, the high-precision absolute positioning in the limited space is realized, the installation difficulty of the traditional encoder in the thin device is effectively solved, the dynamic mapping of the code tooth feature and the wheel tooth position is ensured, the precise control of the position at each shutdown is ensured, the use of the expensive external encoder is avoided, and the equipment manufacturing cost is significantly reduced.

[0056] In some embodiments, before acquiring the inter-tooth encoding information, the method further includes: controlling the code disc to reset to a preset starting state; after the code disc is reset, controlling the code disc to rotate at a uniform speed along a single direction for at least one circle, determining the tooth width variation information of the code teeth in the detected area in the uniform rotation process; based on the number information and the tooth width variation information of the code teeth and the wheel teeth, determining the absolute position mapping relationship between the code teeth and the wheel teeth, and obtaining the inter-tooth encoding information. The ratchet rotates with the code disc, and the angular displacement of the code disc and the ratchet is the same.

[0057] It can be understood that the code disc resetting to the preset starting state can be calibrating the initial position of the code disc to the fixed reference point, which can be realized by using a mechanical limiting device or a photoelectric sensor trigger signal, to ensure the consistency of the subsequent rotation measurement reference. The tooth width variation information refers to the width difference data generated by different code teeth passing through the detected area, which can be calculated by detecting the time length of the code tooth shielding the detected area and combining the code disc rotation speed. This information reflects the actual width variation characteristics of the code teeth corresponding to different wheel tooth positions, and is used to distinguish the specific wheel tooth position corresponding to each code tooth, so as to eliminate the position ambiguity.

[0058] Before acquiring the inter-tooth encoding information, the initial position of the code disc is calibrated to a fixed reference point to reset the code disc. After resetting the code disc, the code disc is controlled to rotate continuously at a constant speed to complete a full rotation period, during which the time length for each code tooth to block the detection region is recorded by the photoelectric sensor. The rotation can be achieved by using a stepper motor or a servo motor in combination with a closed-loop control algorithm to eliminate the interference of speed fluctuation on the tooth width measurement. Since the code disc and the ratchet wheel rotate synchronously and have the same angular displacement, the blocking time is proportional to the actual width of the code tooth. By counting the width variation data of all code teeth in one revolution, the position of each code tooth corresponding to the tooth of the ratchet wheel can be derived, thereby generating unique inter-tooth encoding information. For example, when the number of code disc teeth is twice the number of ratchet wheel teeth, each two adjacent code teeth correspond to a tooth of the ratchet wheel, and a mapping table can be established by identifying the periodic variation rule of the code tooth width. Thus, by the mechanical linkage relationship between the code disc and the ratchet wheel and the analysis of the tooth width variation under uniform rotation, only a single sensor is needed to indirectly derive the absolute position, significantly simplifying the hardware structure.

[0059] In some embodiments, determining the tooth width variation information of the code tooth in the detection region during the uniform rotation process includes: acquiring the code tooth blocking time length obtained by detecting the time length for the code tooth to block the detection region; and determining the tooth width of the code tooth in the detection region during the uniform rotation of the code disc based on the rotation speed of the code disc and the code tooth blocking time length, to obtain the tooth width variation information.

[0060] It can be understood that the code tooth blocking time length refers to the time length for the code tooth to block the detection device when passing through the detection region, which can be achieved by detecting the time difference of the blocking signal by using a photoelectric sensor or an infrared sensor. This parameter directly reflects the actual physical size and motion state of the code tooth, which is used for subsequent tooth width calculation.

[0061] When the code disc rotates uniformly, the time length for each code tooth or each group of code teeth to block the detection region is recorded as the code tooth blocking time length after entering the detection region. Since the rotation speed of the code disc is known and constant, the actual angular displacement of each code tooth can be calculated by multiplying the rotation speed and the blocking time length, 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 the tooth width variation information, which reflects the periodic corresponding relationship between the code tooth and the tooth of the ratchet wheel. Thus, the tooth width is calculated by dynamically detecting the blocking time in combination with the rotation speed, without the need for complex measurement equipment. The photoelectric detection module can be directly integrated in a thin device, significantly reducing the hardware complexity, and the linear relationship under the condition of uniform rotation simplifies the calculation process, providing accurate basic data for establishing the absolute position mapping relationship between the code tooth and the tooth of the ratchet wheel.

[0062] In some embodiments, based on the quantity information and the tooth width variation information of both the code teeth and the wheel teeth, the absolute position mapping relationship between the code teeth and the wheel teeth is determined, including: based on the quantity information, a tooth-to-tooth mapping relationship between the code teeth and the wheel teeth is determined; based on the tooth-to-tooth mapping relationship and the tooth width variation information, each code tooth and wheel tooth is coded to determine the absolute position mapping relationship, to obtain tooth-to-tooth coding information.

[0063] It can be understood that the tooth-to-tooth mapping relationship refers to the quantity corresponding ratio between the code teeth and the wheel teeth, which can be specifically implemented by presetting the code tooth quantity to be an integer multiple of the wheel tooth quantity, for example, the code tooth quantity can be twice or three times the wheel tooth quantity. This relationship is used to establish a basic position corresponding framework between the code disc and the ratchet wheel, ensuring that each wheel tooth corresponds to multiple code teeth, providing a structural basis for subsequent coding.

[0064] In the process of uniform rotation of the code disc, first, a basic corresponding relationship between the code teeth and the wheel teeth is determined according to the quantity ratio therebetween, for example, when the code tooth quantity is twice the wheel tooth quantity, every two adjacent code teeth correspond to one wheel tooth, or when the code tooth quantity is equal to the wheel tooth quantity, every two adjacent code teeth are combined to correspond to one wheel tooth. Subsequently, by analyzing the actual tooth width variation of each or each group of code teeth passing through the detected region, for example, when the blocking duration of a certain code tooth is detected to be shorter than that of other code teeth, it can be inferred that the wheel tooth corresponding to the code tooth is at 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 wheel tooth, to finally form a complete absolute position mapping table. Thus, by combining the quantity ratio relationship and the dynamic tooth width variation feature, the absolute position corresponding relationship between the code teeth and the wheel teeth can be accurately established without the need to increase additional sensors, effectively reducing the hardware complexity.

[0065] In some embodiments, the currently detected code tooth of the code disc is identified, including: determining a code disc angular displacement amount of the code disc starting from a preset initial state; obtaining a code tooth blocking duration of a duration during which the code tooth blocks the detected region; and determining the currently detected code tooth according to the code disc angular displacement amount and the code tooth blocking duration.

[0066] It can be understood that the code disc angular displacement amount refers to the angle value of the rotation of the code disc relative to the initial position, which can be specifically implemented by using a rotary encoder or an angle sensor for measurement, or determined by recording the number of code teeth passing through the detected region from the initial position, to establish a corresponding relationship with the time axis by recording the rotation trajectory of the code disc.

[0067] In the process of rotating the code disc, the angular displacement is collected and stored in real time by the encoder, and the photoelectric sensor continuously monitors the shielding state of the detection area. When the code teeth enter the detection area, the sensor output signal triggers the timing module to record the shielding duration. The data processing unit matches and calculates the angular displacement and the shielding duration, combines the rotation direction and speed parameters of the code disc, and compares the preset code tooth position database to accurately identify the code tooth number currently in the detection position. For example, when the code disc rotates 30 degrees and the shielding duration is 5 milliseconds, according to the condition that the rotation speed is 60 revolutions per minute, the width characteristics of the code tooth can be calculated and matched with the data of the 12th code tooth in the code information library. Therefore, by combining the double-parameter detection mechanism of angular displacement and shielding duration, the code tooth recognition can be realized by using a single code disc and a single sensor, which effectively simplifies the hardware structure. For example, in the application of a braiding feeder, a large multi-turn encoder is not needed, and only a rotary encoder and a photoelectric sensor need to be integrated in a space of 8 mm in thickness to complete positioning.

[0068] In some embodiments, based on the inter-tooth coding information and the currently detected code tooth, the absolute position of the ratchet wheel is determined, including: based on the inter-tooth coding information, determining the gear tooth corresponding to the currently detected code tooth; and based on the gear tooth corresponding to the currently detected code tooth, determining the absolute position of the ratchet wheel.

[0069] In the process of running the braiding feeder, when the code disc rotates to make a code tooth enter the detection area, the shielding duration of the code tooth is detected by the photoelectric sensor and the angular displacement thereof is calculated, and the corresponding ratchet gear tooth number of the code tooth can be queried by combining the preset inter-tooth coding information. For example, if the 5th group of code teeth correspond to the 5th gear tooth of the ratchet wheel in the inter-tooth coding information, when the 5th group of code teeth is detected to be in the detection state, it can be directly determined that the ratchet wheel is currently at the absolute position of the 5th gear tooth. Therefore, by using the mapping relationship between the code disc and the ratchet wheel, only a single photoelectric sensor is needed to detect the code tooth position, so that the absolute positioning function can be realized while the thickness of the device is maintained, without relying on the complex structure of the traditional absolute value encoder, and accurate positioning can be realized only by the mapping relationship between the code tooth and the gear tooth.

[0070] In some embodiments, the number of code teeth of the code disc is an integer multiple of the number of gear teeth of the ratchet wheel.

[0071] When the code disc and the ratchet wheel are coaxially installed and kept synchronous rotation, the number of code teeth is set as an integer multiple of the number of wheel teeth, for example, the number of code teeth can be 2 times, 3 times or higher integer multiple of the number of wheel teeth. In this structure, the rotation angle of each ratchet tooth is evenly divided into multiple angle intervals corresponding to the code disc teeth, and the accurate absolute position of the ratchet wheel can be directly derived by detecting the position of the code disc teeth. The integer multiple relationship makes the position correspondence relationship between the code teeth and the wheel teeth present a periodic repetition feature, so as to realize the absolute value positioning of the full angle of the ratchet wheel under the condition of a limited number of code teeth. Therefore, by the ratio relationship between the number of teeth of the code disc and the ratchet wheel, the positioning function is realized by using the inherent periodic feature of the mechanical structure, without the need of additionally configuring a complex sensor or a signal processing unit. This design effectively reduces the hardware complexity and space occupation while maintaining the positioning accuracy.

[0072] Referring to Figure 3 , the embodiment of the present application also provides a ratchet wheel position positioning device, which can realize the above-mentioned ratchet wheel position positioning method, and the device comprises:

[0073] A first module 301 is configured to acquire inter-tooth coding information, wherein the inter-tooth coding information is obtained based on the measurement of the angular displacement of the code disc on the ratchet wheel, and represents the absolute position mapping relationship between the code teeth of the code disc and the wheel teeth of the ratchet wheel;

[0074] A second module 302 is configured to identify the code teeth currently detected by the code disc;

[0075] A third module 303 is configured to determine the absolute position of the ratchet wheel based on the inter-tooth coding information and the code teeth currently detected.

[0076] The specific implementation of the ratchet wheel position positioning device is basically the same as the specific embodiments of the above-mentioned ratchet wheel position positioning method, and will not be described here.

[0077] Figure 4 is a block diagram of an electronic device according to an example embodiment.

[0078] The electronic device 400 according to this embodiment of the present disclosure will be described below with reference to Figure 4 . Figure 4 The displayed electronic device 400 is only an example, and should not bring any limitation to the function and use range of the embodiments of the present disclosure.

[0079] As Figure 4 shown, the electronic device 400 is in the form of a general computing device. The components of the electronic device 400 can include, but are not limited to, at least one processing unit 410, at least one storage unit 420, a bus 430 connecting different system components (including the storage unit 420 and the processing unit 410), a display unit 440, etc.

[0080] The storage unit stores program codes which can be executed by the processing unit 410, so that the processing unit 410 performs the steps of the ratchet position positioning method according to various exemplary embodiments of the present disclosure described in the above description of the present specification.

[0081] The storage unit 420 can include a readable medium in the form of a volatile storage unit, such as a random access memory (RAM) 4201 and / or a cache memory 4202, and can further include a read-only memory (ROM) 4203.

[0082] The storage unit 420 can further include a program / utility 4204 having a set of 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 can include an implementation of a networking environment, or a combination thereof.

[0083] The bus 430 can represent one or more of several types of bus structures, including a storage unit bus or bus controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of a variety of bus structures.

[0084] The electronic device 400 can also communicate with one or more external devices 400' such as a keyboard, a pointing device, a Bluetooth device, etc.; and can communicate with one or more devices that enable a user to interact with the electronic device 400. The electronic device 400 can also communicate with one or more devices that enable the electronic device 400 to communicate with one or more other computing devices. Such communication can be via an input / output (I / O) interface 450. Further, the electronic device 400 can communicate with one or more networks such as a local area network (LAN), a wide area network (WAN), and / or the public network, such as the Internet, via a network adapter 460. The network adapter 460 can communicate with the other modules of the electronic device 400 via the bus 430. It should be appreciated that although not shown, other hardware and / or software modules could be used in connection with the electronic device 400. These include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0085] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the method described above.

[0086] The ratchet position positioning method, device, equipment and medium provided by the embodiments of the present application utilize the linkage relationship between the code disc and the ratchet wheel, establish position coding through dynamic detection, do not need to additionally install independent coding devices, integrate the detection structure and the moving part, reduce the space occupation and the hardware cost, realize high-precision absolute positioning in limited space, effectively solve the installation difficulty of the traditional encoder in the thin device, ensure the accurate control of the position at each shutdown through the dynamic mapping of the code tooth characteristics and the gear position, avoid using expensive external coding devices, and significantly reduce the equipment manufacturing cost.

[0087] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software or by software combined with necessary hardware. Therefore, the technical solutions 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 U disk, a mobile hard disk, etc.) or a network, and includes a plurality of instructions to enable a computing device (which can be a personal computer, a server, or a network device, etc.) to perform the above-mentioned method according to the embodiments of the present disclosure.

[0088] The program product can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include an electrical connection having 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 of the above.

[0089] The computer readable storage medium can include a data signal propagating in a baseband or as part of a carrier wave propagating through a transmission medium, in which the readable program code is carried. Such a propagating data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The readable storage medium can also be any readable medium other than the readable storage medium, which can send, propagate or transmit programs for use by or in conjunction with an instruction execution system, device or component. The program code contained on the readable storage medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0090] Those skilled in the art can understand that the above-mentioned modules can be distributed in the device according to the description of the embodiment, and can also be changed in one or more devices different from the embodiment. The modules of the above-mentioned embodiment can be combined into one module, or can be further split into multiple sub-modules.

[0091] The exemplary embodiments of this disclosure are specifically shown and described above. It should be understood that the present disclosure is not limited to the detailed structure, arrangement or implementation method described herein; on the contrary, the present disclosure is intended to cover various modifications and equivalent arrangements within the spirit and scope of the appended claims.

Claims

1. A method of ratchet position location, characterized by, The method comprises the following steps: obtaining inter-tooth encoding information; the inter-tooth encoding information is obtained by measuring the angular displacement of a ratchet wheel based on a code disc, and represents an absolute position mapping relationship between code teeth of the code disc and gear teeth of the ratchet wheel; identifying a currently detected code tooth of the code disc; determining an absolute position of the ratchet wheel based on the inter-tooth encoding information and the currently detected code tooth; before the step of obtaining the inter-tooth encoding information, the method further comprises the following steps: controlling the code disc to reset to a preset initial state; after the code disc is reset, rotating the code disc at a constant speed in a single direction for at least one revolution, and determining tooth width change information of a code tooth in a detection region during the constant-speed rotation; the ratchet wheel rotates with the code disc, and the angular displacement of the code disc and the ratchet wheel is the same; determining the absolute position mapping relationship between the code teeth and the gear teeth based on the number information of the code teeth and the gear teeth and the tooth width change information, and obtaining the inter-tooth encoding information; the step of identifying the currently detected code tooth of the code disc comprises the following steps: determining the angular displacement of the code disc from the preset initial state; obtaining code tooth blocking time length detected by the time length during which the code tooth blocks the detection region; determining the currently detected code tooth according to the angular displacement of the code disc and the code tooth blocking time length.

2. The ratchet position location method of claim 1, wherein, the step of determining the tooth width change information of the code tooth in the detection region during the constant-speed rotation comprises the following steps: obtaining code tooth blocking time length detected by the time length during which the code tooth blocks the detection region; determining the tooth width of the code tooth in the detection region during the constant-speed rotation of the code disc based on the rotating speed of the code disc and the code tooth blocking time length, and obtaining the tooth width change information.

3. The ratchet position location method of claim 1, wherein, the step of determining the absolute position mapping relationship between the code teeth and the gear teeth based on the number information of the code teeth and the gear teeth and the tooth width change information comprises the following steps: determining an inter-tooth mapping relationship between the code teeth and the gear teeth based on the number information; encoding each of the code teeth and the gear teeth based on the inter-tooth mapping relationship and the tooth width change information, so as to determine the absolute position mapping relationship and obtain the inter-tooth encoding information.

4. The ratchet position positioning method of claim 1, wherein, the step of determining the absolute position of the ratchet wheel based on the inter-tooth encoding information and the currently detected code tooth comprises the following steps: determining a gear tooth corresponding to the currently detected code tooth based on the inter-tooth encoding information; determining the absolute position of the ratchet wheel based on the gear tooth corresponding to the currently detected code tooth.

5. The ratchet position location method according to any one of claims 1 to 4, characterized in that, The number of code teeth of the code disc is an integer multiple of the number of gear teeth of the ratchet wheel.

6. A ratchet positioner, comprising: The method comprises the following steps: a first module is configured to obtain inter-tooth encoding information; the inter-tooth encoding information is obtained by measuring the angular displacement of a ratchet wheel based on a code disc, and represents an absolute position mapping relationship between code teeth of the code disc and gear teeth of the ratchet wheel; a second module is configured to identify a currently detected code tooth of the code disc; a third module is configured to determine an absolute position of the ratchet wheel based on the inter-tooth encoding information and the currently detected code tooth; before the first module obtains the inter-tooth encoding information, the method further comprises the following steps: controlling the code disc to reset to a preset initial state; After the code disc is reset, the code disc is controlled to rotate at a constant speed in a single direction for at least one circle, and information about the change in the tooth width of the code tooth in the detection area during the constant-speed rotation is determined; the ratchet rotates with the code disc, and the angular displacement of the code disc and the ratchet is the same; Based on the number information of the code tooth and the gear tooth and the information about the change in the tooth width, an absolute position mapping relationship between the code tooth and the gear tooth is determined, and the inter-tooth encoding information is obtained; The code tooth currently detected by the code disc is identified, and the identification includes: The angular displacement of the code disc is determined, which is the angular displacement of the code disc since the code disc starts to rotate from a preset starting state; The code tooth blocking time length is obtained by detecting the time length during which the code tooth blocks the detection area; The code tooth currently detected by the code disc is determined according to the angular displacement of the code disc and the code tooth blocking time length.

7. An electronic device, comprising: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the ratchet position positioning method of any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 7. The computer program is executed by the processor to implement the ratchet position positioning method of any one of claims 1 to 5.

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