Angle detection method, device and equipment of sowing mechanism and storage medium

Abstract

The invention discloses an angle detection method, device and equipment of a sowing mechanism and a storage medium, and relates to the technical field of unmanned aerial vehicles. The sowing mechanism comprises a driving device and a sowing disc, the driving device comprises a motor and a speed reducer, and the motor is connected with the speed reducer and drives the speed reducer to rotate; an output shaft of the speed reducer is connected with the sowing disc, the sowing disc comprises a shell and a throwing disc, a rotor of the motor is connected with an input shaft of the speed reducer, an output shaft of the speed reducer is connected with the throwing disc, the throwing disc is arranged in the shell, the shell is provided with a Hall sensor, the throwing disc is provided with a magnet, and the rotor of the motor is provided with a position sensor. The method comprises the following steps: acquiring an origin angle of an output shaft, wherein the origin angle is determined based on a trigger signal collected by a Hall sensor; obtaining a current rotor angle collected by a position sensor; and determining a current output shaft angle according to the current rotor angle and the original point angle. According to the scheme, the problem that the accuracy of controlling the throwing disc to rotate by the motor is reduced due to poor signal transmission quality in related technologies is solved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method, apparatus, equipment, and storage medium for detecting the angle of a dispersing mechanism. Background Technology

[0002] A motor with a speed reducer is generally referred to as a motor, and it is a power transmission mechanism that combines a motor and a speed reducer. The motor uses a gear speed converter to reduce its high speed to the required low speed, while increasing torque in the process to meet specific operational needs. Motors have wide applications in many fields. In the field of spreading mechanisms, specifically in angle detection equipment for spreading mechanisms, the motor can serve as the drive unit for the spreading mechanism. By controlling the swing angle of the spreading mechanism's disc, the motor controls the spreading width during material distribution.

[0003] In related technologies, the servo control of the motor in a spreading mechanism often requires two position sensors: one to detect the angle of the motor rotor and the other to detect the angle of the reducer output shaft. The swing angle of the slinger is controlled based on the output shaft angle and the rotor angle, thereby controlling the spreading width of the material. The motor control board is typically located close to the motor, while the motor and the reducer output shaft are separated by a considerable distance. This necessitates a long cable connection between the position sensor on the reducer output shaft and the control board. However, a long cable distance can affect signal transmission quality, leading to reduced signal accuracy and consequently, reduced accuracy in controlling the slinger's rotation, thus impacting the spreading precision of the spreading mechanism. Furthermore, it also increases the need for additional cable protection. Summary of the Invention

[0004] This application provides an angle detection method, apparatus, device, and storage medium for a spreading mechanism. By setting magnets and Hall sensors on the spinning disc and the outer casing respectively, the origin angle of the output shaft is determined based on the trigger signal collected by the Hall sensor. The output shaft angle is calculated by combining the origin angle and the rotor angle detected by the position sensor. The trigger signal of the Hall sensor is a digital signal, which is not affected by long wiring. This solves the problem of reduced accuracy of motor-controlled spinning disc rotation due to poor signal transmission quality in related technologies, and improves the spreading accuracy of the spreading mechanism.

[0005] In a first aspect, this application provides an angle detection method for a spreading mechanism, the spreading mechanism including a driving device and a spreading disc, the driving device including a motor and a reducer, the motor being connected to the reducer and driving the reducer to rotate; the output shaft of the reducer being connected to the spreading disc, the spreading disc including a housing and a spinning disc, the rotor of the motor being connected to the input shaft of the reducer, the output shaft of the reducer being connected to the spinning disc, the spinning disc being disposed within the housing, the housing being provided with a Hall sensor, the spinning disc being provided with a magnet, and the rotor of the motor being provided with a position sensor; the method includes:

[0006] The origin angle of the output shaft is obtained, and the origin angle is determined based on the trigger signal collected by the Hall sensor;

[0007] Obtain the current rotor angle collected by the position sensor;

[0008] The output shaft angle is determined based on the current rotor angle and the origin angle.

[0009] Secondly, this application provides an angle detection device for a spreading mechanism. The spreading mechanism includes a driving device and a spreading disc. The driving device includes a motor and a reducer. The motor is connected to the reducer and drives the reducer to rotate. The output shaft of the reducer is connected to the spreading disc. The spreading disc includes a housing and a spinning disc. The rotor of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the spinning disc. The spinning disc is disposed within the housing. The housing is provided with a Hall sensor, the spinning disc is provided with a magnet, and the rotor of the motor is provided with a position sensor. The device includes:

[0010] The origin angle acquisition module is configured to acquire the origin angle of the output shaft, which is determined based on the trigger signal acquired by the Hall sensor.

[0011] The rotor angle acquisition module is configured to acquire the current rotor angle collected by the position sensor;

[0012] The output shaft angle determination module is configured to determine the output shaft angle based on the current rotor angle and the origin angle.

[0013] Thirdly, this application provides an angle detection device for a dispersing mechanism, comprising:

[0014] One or more processors; a memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the angle detection method for the dispersing mechanism as described in the first aspect.

[0015] Fourthly, this application provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the angle detection method of the dispersing mechanism as described in the first aspect.

[0016] In this application, a magnet is placed on the spinning disc and a Hall sensor is placed on the disc's outer casing. The origin angle of the output shaft is determined based on the trigger signal collected by the Hall sensor when the disc rotates. The real-time output shaft angle is determined by the rotor angle collected in real time by a position sensor on the rotor and the origin angle of the output shaft. Through this technique, the angle detected by the position sensor when the disc is at its origin (i.e., the origin angle) can be determined using the trigger signal collected by the Hall sensor during disc rotation. Therefore, during subsequent disc rotation, the real-time output shaft angle can be calculated using the origin angle and the rotor angle detected in real time by the position sensor. This achieves accurate detection of the output shaft angle even without a pre-installed position sensor. This solution does not use two position sensors or long wiring. Instead, it uses a Hall sensor installed on the outer shell of the spreading disc. Since the trigger signal of the Hall sensor is not affected by the long wiring, it ensures the accurate calculation of the origin angle, thereby ensuring the accurate calculation of the real-time output shaft angle. This solves the problem of reduced accuracy of motor-controlled disc rotation due to poor signal transmission quality in existing technologies, and improves the spreading accuracy of the spreading mechanism. It also avoids the technical problem of requiring additional wire protection in existing technologies. Attached Figure Description

[0017] Figure 1 This is a side view of the dispersing mechanism provided in the embodiments of this application;

[0018] Figure 2 This is a flowchart of an angle detection method for a dispersing mechanism provided in an embodiment of this application;

[0019] Figure 3 This is a flowchart of the origin calibration operation performed by the UAV according to an embodiment of this application;

[0020] Figure 4 This is a schematic diagram of the structure of the seeding disk provided in the embodiments of this application;

[0021] Figure 5 This is a rear view of the dispersing mechanism provided in the embodiments of this application;

[0022] Figure 6 This is a waveform diagram of the trigger signal of the Hall switch provided in the embodiments of this application;

[0023] Figure 7 This is a schematic diagram of the disc-swing motion curve provided in the embodiments of this application;

[0024] Figure 8 This is a schematic diagram of the structure of an angle detection device for a spreading mechanism provided in an embodiment of this application;

[0025] Figure 9 This is a schematic diagram of the structure of an angle detection device for a spreading mechanism provided in an embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, specific embodiments of this application will be described in further detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining this application and not for limiting it. It should also be noted that, for ease of description, only the parts relevant to this application are shown in the drawings, not all of them. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. A process can be terminated when its operation is completed, but it may also have additional steps not included in the drawings. A process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0027] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0028] In this solution, the angle detection equipment for the spreading mechanism may include drones, unmanned vehicles, or other devices capable of spreading operations and autonomous movement. The following section uses a drone as an example to describe the specific implementation of this solution.

[0029] The drone's distributing mechanism includes a motor and a distributing disc. The motor's reducer output shaft connects to the distributing disc's swing plate, and the motor is servo-controlled via a control board. When servo-controlling the motor, the control board detects the output shaft angle via a position sensor mounted on the reducer's output shaft and the rotor angle via a position sensor mounted on the motor rotor. Based on the rotor angle, output shaft angle, and reducer reduction ratio, the control board adjusts the rotor angle, which in turn adjusts the output shaft angle, which in turn adjusts the swing angle of the distributing disc, thus adjusting the material distribution width. Therefore, the control board can adjust the swing angle of the distributing disc by controlling the rotor angle, output shaft angle, and reducer reduction ratio, thereby adjusting the material distribution width. The control board is typically positioned close to the motor, while the motor and reducer output shaft are relatively far apart, meaning there is also a significant distance between the control board and the reducer output shaft. Therefore, the position sensor mounted on the reducer output shaft needs to be connected to the control board via a relatively long cable. The output shaft angle acquired by the position sensor is an analog signal. Analog signals gradually attenuate in quality and are susceptible to external interference during long-distance transmission, resulting in lower accuracy of the output shaft angle received by the circuit board. This affects the control accuracy of the swivel angle of the spinning disc, which in turn affects the control accuracy of the material spreading width, leading to a reduction in the spreading accuracy of the spreading mechanism. To enhance the anti-interference capability of the analog signal, a corresponding protective layer must be added to the wiring, increasing the additional cost of wiring protection and thus increasing the implementation cost of the spreading mechanism.

[0030] To address the problems existing in the above implementation methods, this embodiment provides an angle detection method for a spreading mechanism. By setting magnets and Hall sensors on the swivel disc and the outer casing respectively, the origin angle of the output shaft is determined based on the trigger signal collected by the Hall sensor. The output shaft angle is calculated by combining the origin angle and the rotor angle detected by the position sensor. The trigger signal of the Hall sensor is a digital signal, which is not affected by the long wiring, ensuring the control accuracy of the swivel disc angle and thus improving the spreading accuracy of the spreading mechanism.

[0031] The angle detection method for the dispersing mechanism provided in this embodiment can be executed by an angle detection device for the dispersing mechanism. This angle detection device can be implemented through software and / or hardware. It can consist of two or more physical entities, or it can be a single physical entity. For example, the angle detection device can be the dispersing mechanism or its controller, the control board of the drive unit included in the dispersing mechanism, or the drone carrying the dispersing mechanism or its control system.

[0032] In one embodiment, Figure 1 This is a side view of the dispersing mechanism provided in an embodiment of this application. (As shown) Figure 1As shown, the spreading mechanism includes a drive unit 11 and a spreading disk 12. The drive unit 11 includes a motor 111 and a reducer 112. The motor 111 is connected to the reducer 112 and drives the reducer 112 to rotate. The output shaft of the reducer 112 is connected to the spreading disk 12. The spreading disk 12 includes a housing 122 and a spinning disk 121. The rotor of the motor 111 is connected to the input shaft of the reducer 112, and the output shaft of the reducer 112 is connected to the spinning disk 121. The spinning disk 121 is disposed inside the housing. The housing 122 is provided with a Hall sensor 123, the spinning disk 121 is provided with a magnet 124, and the rotor of the motor 111 is provided with a position sensor.

[0033] This embodiment utilizes a Hall sensor and a magnet. Since the trigger signal detected by the Hall sensor is a digital signal, digital signals offer advantages such as ease of protection, strong anti-interference capability, and high signal integrity and stability during long-distance transmission. Furthermore, the Hall sensor is less expensive than a position sensor. Therefore, replacing the output shaft position sensor with a Hall sensor and a magnet not only effectively improves signal transmission quality and ensures precise control of the dispensing disc's swing angle, but also reduces the implementation cost of the seeding mechanism.

[0034] The angle detection device for the seeding mechanism is equipped with at least one type of operating system. The device can install at least one application program based on this operating system. This application program can be a built-in application of the operating system or an application downloaded from a third-party device or server. In this embodiment, the angle detection device for the seeding mechanism has at least one application program capable of executing the angle detection method for the seeding mechanism.

[0035] For ease of understanding, this embodiment uses an unmanned aerial vehicle (UAV) as the main example of an angle detection method that performs the dispersal mechanism.

[0036] Figure 2 A flowchart of an angle detection method for a dispersing mechanism provided in an embodiment of this application is given.

[0037] refer to Figure 2 The angle detection method for this dispersing mechanism specifically includes:

[0038] S110. Obtain the origin angle of the output shaft. The origin angle is determined based on the trigger signal collected by the Hall sensor.

[0039] The origin angle can be considered as the angle detected by the position sensor installed on the motor rotor when the spinning disc is in the origin position. The origin position can be considered a reference position, which can be set according to actual needs. For example, the position of the spinning disc in its initial state can be set as the origin position. In the initial state, the spinning disc is directly below the housing. Figure 1At this point, the slinger 121 is in its initial state, and its position can be set as the origin. Since the slinger 121 is connected to the output shaft of the reducer 112, the angle detected by the position sensor corresponding to the rotor of the motor 111 when the slinger 121 is in the origin position can be considered as the origin angle of the output shaft. It should be noted that the origin angle of the output shaft is detected by the position sensor, therefore the origin angle and the rotor angle detected by the position sensor are in the rotor coordinate system, while the output shaft angle is in the output shaft coordinate system, that is, the origin angle and the output shaft angle are in different coordinate systems.

[0040] The motor rotor is connected to the input shaft of the reducer, and the input and output shafts of the reducer are coaxial. Ideally, the origin angle of the output shaft is zero, meaning that when the rotor disc is at the origin position, the angle detected by the motor rotor's position sensor is zero. However, due to geometric errors in the mechanism and limitations of the installation structure, the angle detected by the position sensor is not zero. Therefore, the origin angle of the output shaft is also considered as the offset between the output shaft angle detected by the position sensor and the rotor angle. In the actual process of detecting the output shaft angle, the output shaft angle detected by the position sensor can be calculated based on the origin angle and the rotor angle, that is, the output shaft angle in the rotor coordinate system can be calculated, and then the output shaft angle in the rotor coordinate system can be converted to the output shaft coordinate system to obtain the final output shaft angle.

[0041] Furthermore, due to differences in geometric errors and inconsistent installation of the spreading mechanisms, the origin angles of different spreading mechanisms vary, making it impossible to use a fixed origin angle as a standard. Therefore, in order to determine the origin angle of the output shaft of different spreading mechanisms, this embodiment uses a Hall sensor mounted on the housing and a magnet mounted on the spinning disc. The origin angle of the output shaft is determined based on the trigger signal collected by the Hall sensor during the rotation of the spinning disc.

[0042] For example, the user can test the origin angle of the output shaft of each spreading mechanism in advance using a Hall sensor installed on the casing of the spreading mechanism and a position sensor installed on the motor rotor. Before the drone carries the spreading mechanism to perform the spreading task, the user can configure the pre-tested origin angle of the output shaft in the task information of the spreading task through a remote control device. The remote control device uploads the task information to the drone, and the drone creates the corresponding spreading task based on the task information. When performing the spreading task, the user can obtain the origin angle of the output shaft from the task information, determine the current output shaft angle based on the origin angle and the current rotor angle collected by the position sensor, and then adjust the swing angle of the swivel disc according to the current output shaft angle, thereby adjusting the spreading amplitude of the material.

[0043] After a drone carrying a seeding mechanism has performed a seeding mission, the origin angle of the output shaft of the seeding mechanism can be saved locally so that when the same seeding mechanism is used to perform a seeding mission again, the pre-saved origin angle can be retrieved locally.

[0044] Optionally, before performing a seeding task, the UAV can detect whether the task information includes the origin angle of the output axis. If it does, the origin angle of the output axis is directly obtained from the task information. If it does not, the UAV checks whether the origin angle of the output axis is saved locally. If the origin angle of the output axis is saved locally, it is obtained. If the origin angle of the output axis is not saved locally, an origin calibration operation can be performed before or at the beginning of the seeding task to determine the origin angle of the output axis. The origin calibration operation involves the UAV determining the origin angle of the output axis based on a trigger signal collected by a Hall sensor.

[0045] In addition to performing origin calibration when detecting mission information and not having the locally saved origin angle of the output axis, the drone can also perform origin calibration upon receiving an origin calibration command from the remote control device. For example, after the user configures the seeding mission information on the remote control device, the device may prompt the user whether to perform origin calibration on the drone's seeding mechanism. If the user clicks the confirmation button, the remote control device sends the mission information and the origin calibration command to the drone, enabling the drone to create a seeding mission based on the mission information and perform origin calibration based on the origin calibration command.

[0046] Optionally, the drone can perform origin calibration before or at the beginning of the seeding task. For example, the drone can perform origin calibration before takeoff, during flight to the work area, or after seeding begins. Since the drone controls the disk rotation during origin calibration, performing it after seeding begins sacrifices seeding accuracy in the early stages but saves energy for the seeding mechanism. Performing it during flight ensures consistent seeding accuracy but increases energy consumption. Performing it before takeoff ensures consistent seeding accuracy and replenishes the drone's power, but reduces seeding efficiency. Therefore, the appropriate calibration method should be selected based on the specific scenario and requirements.

[0047] In one embodiment, Figure 3 This is a flowchart illustrating the origin calibration operation performed by a drone according to an embodiment of this application. Figure 3 As shown, the specific steps for the UAV to perform origin calibration include S1101-S1102:

[0048] S1101. During the rotation of the spinning disc, the trigger signal collected by the Hall sensor is acquired.

[0049] For example, a magnet generates a corresponding magnetic field, and as the spinning disc rotates, the position of the magnetic field changes accordingly. A Hall sensor is fixedly mounted on the housing, and its position remains constant. Therefore, the magnetic field strength detected by the Hall sensor changes with the position of the magnetic field, and the Hall sensor can generate a trigger signal based on the detected magnetic field strength.

[0050] If the origin calibration operation is performed during the seeding operation, the UAV will first control the auger of the seeding mechanism to rotate and control the spinning disc to rotate. During the rotation of the spinning disc, the trigger signal collected by the Hall sensor will be acquired. The trigger signal collected by the Hall sensor within one cycle of the spinning disc rotation can be acquired. Of course, in order to improve the accuracy and precision of the origin angle calculation, the trigger signal collected by the Hall sensor within multiple cycles of the spinning disc rotation can be acquired.

[0051] If the origin calibration operation is performed before the spreading operation, the UAV can control the rotation of the spinning disc independently. Since only the spinning disc rotates while the auger does not, the spreading mechanism will not discharge material. During the spinning disc's rotation, trigger signals collected by Hall sensors are acquired. The UAV can control the spinning disc to rotate for one or more cycles, thereby acquiring trigger signals collected by Hall sensors within the corresponding cycles.

[0052] In one embodiment, Figure 4 This is a schematic diagram of the spreading disk provided in an embodiment of this application. Figure 4 As shown, in its initial state, the swivel disc 121's central axis of symmetry points directly downwards. The swivel disc 121 has a symmetrical structure; when in its initial state, the position of its central axis of symmetry can be considered its origin, at which point the swing angle is zero. When the swivel disc 121 rotates, it swings left and right around its rotation center 125, the swing angle controlled by a drive device. The UAV can control the swivel disc 121 to perform unidirectional or reciprocating motion to obtain trigger signals collected by Hall sensors during unidirectional or reciprocating motion. Unidirectional motion can be understood as clockwise or counterclockwise motion of the swivel disc 121. Reciprocating motion can be understood as the swivel disc 121 alternating between clockwise and counterclockwise motion, or reciprocating motion including one forward motion and one reverse motion. When the swivel disc 121 moves in one direction or back and forth, the magnet 124 also moves in one direction or back and forth. The magnet 124 will gradually move closer to or further away from the Hall sensor 123. The Hall sensor 123 can generate a trigger signal according to the detected magnetic field strength.

[0053] A Hall sensor can be a magnetic field strength sensor based on the Hall effect. It includes a Hall element, which generates a Hall voltage when a magnetic field is applied to the Hall element. The Hall sensor converts the Hall voltage into a voltage level signal to obtain a trigger signal. The Hall voltage is proportional to the magnetic field strength; that is, the closer the magnet is to the Hall sensor, the larger the Hall voltage, and the larger the voltage value of the corresponding trigger signal.

[0054] In addition, Hall sensors can be switching circuits based on the Hall effect, i.e., Hall switches. When the magnetic field reaches a preset strength, the internal circuit of the Hall switch conducts and outputs a high-level signal or a low-level signal, which is the trigger signal generated by the Hall sensor. When a magnet is close to the Hall sensor, the Hall sensor can continuously output a trigger signal; when the magnet moves away from the Hall sensor, the Hall sensor no longer outputs a trigger signal.

[0055] Optionally, the steps for acquiring the trigger signal collected by the Hall sensor specifically include S11011-S11012:

[0056] S11011, control the disc to make multiple back-and-forth movements.

[0057] refer to Figure 4 The reciprocating motion of the spinning disc 121 involves swinging from the left or right to the origin position, then continuing to swing to the left or right, and finally returning to the left or right. If the origin calibration operation is performed during the seeding operation, the UAV can control the spinning disc 121 to swing at a uniform speed corresponding to the spinning disc 121 rotation speed set for the seeding task. If the origin calibration operation is performed before the seeding operation, the UAV can control the spinning disc 121 to swing at a preset rotation speed. Generally, the preset rotation speed is lower than the spinning disc 121 rotation speed set for the seeding task, in order to more accurately record the triggering time of the Hall sensor 123 trigger signal and improve the calibration accuracy of the origin angle.

[0058] Furthermore, if the origin calibration operation is performed during the seeding operation, the UAV can control the spinning disc to continuously perform reciprocating motions, and acquire trigger signals collected by the Hall sensor during a certain number of reciprocating motions. If the origin calibration operation is performed before the seeding operation, the UAV can control the spinning disc to perform a preset number of reciprocating motions, and acquire trigger signals collected by the Hall sensor during the preset number of reciprocating motions. The preset number of reciprocating motions is greater than one.

[0059] S11012. Acquire the rising edge and falling edge signals collected by the Hall sensor during the multiple reciprocating motions of the swivel disc.

[0060] For example, when the Hall sensor is a Hall switch, during the unidirectional movement of the spinning disc, the disc first approaches the Hall switch and then moves away from it. As the disc approaches the Hall switch, the magnetic field strength of the Hall switch gradually increases. When the detected magnetic field strength reaches a preset level, a rising edge signal or a falling edge signal is generated. As the disc moves away from the Hall switch, the magnetic field strength gradually decreases. When the detected magnetic field strength decreases to a preset level, a falling edge signal or a rising edge signal is generated. Therefore, in one unidirectional movement of the disc, the Hall switch will collect one rising edge signal and one falling edge signal. In one round-trip movement of the disc, the Hall switch will collect two rising edge signals and two falling edge signals.

[0061] Based on the rising edge signal and falling edge signal combined with the magnetic field characteristics of the magnet, the position of the magnet at the triggering moment of the rising edge signal and the position of the magnet at the triggering moment of the falling edge signal can be determined. Based on the position of the magnet at the two triggering moments, the origin position of the spinning disc can be determined, and the origin angle of the output shaft can be determined according to the origin position of the spinning disc.

[0062] This embodiment acquires the rising and falling edge signals of the Hall switch during the multiple reciprocating motions of the spinning disc, so that the origin angle of the output shaft can be calibrated based on the rising and falling edge signals. This eliminates the need to continuously acquire the trigger signal of the Hall sensor to achieve accurate calibration of the origin angle of the output shaft, simplifying the calibration operation and thus improving the calibration efficiency of the origin angle.

[0063] S1102. Determine the origin angle of the output shaft based on the trigger signal.

[0064] For example, when the Hall sensor is a magnetic field strength sensor based on the Hall effect, the level value of the corresponding trigger signal can characterize the strength of the magnetic field where the Hall sensor is located at the corresponding moment. The strength of the magnetic field where the Hall sensor is located is positively correlated with the distance between the Hall sensor and the magnet. The distance between the Hall sensor and the magnet can be determined based on the level value of the trigger signal and this positive correlation. The installation position of the Hall sensor is known, and the current position of the magnet can be determined based on the installation position of the Hall sensor and the distance between the Hall sensor and the magnet. The installation position of the magnet on the swivel disc is known, and the distance between the magnet and the central axis of symmetry of the swivel disc can be determined based on the installation position of the magnet. The current position of the central axis of symmetry of the swivel disc is determined based on the current position of the magnet and the distance between the magnet and the swivel disc. The current swing angle of the swivel disc is determined based on the current swing angle of the swivel disc, the rotation speed of the swivel disc, and the trigger time of the trigger signal. The origin time when the swivel disc is at the origin position is calculated based on the current swing angle of the swivel disc, the rotation speed of the swivel disc, and the trigger time of the trigger signal. Based on the origin time, the rotor angle collected by the position sensor of the motor rotor when the swivel disc is at the origin position is obtained, and this rotor angle is determined as the origin angle of the output shaft.

[0065] When the Hall sensor is a Hall switch, the corresponding rising or falling edge signal indicates that the strength of the magnetic field where the Hall sensor is located has reached a preset strength at that moment. The strength of the magnetic field where the Hall sensor is located is positively correlated with the distance between the Hall sensor and the magnet. The distance between the Hall sensor and the magnet when the rising or falling edge signal is triggered can be determined based on the preset strength and this positive correlation. The current position of the magnet is determined based on the installation position of the Hall sensor and the distance between the Hall sensor and the magnet. The distance between the magnet and the central axis of symmetry of the spinning disc is determined based on the installation position of the magnet. The current position of the central axis of symmetry of the spinning disc is determined based on the current position of the magnet and the distance between the magnet and the spinning disc. The current swing angle of the spinning disc is determined based on the current swing angle of the spinning disc, the rotational speed of the spinning disc, and the trigger time of the rising or falling edge signal. The origin time when the spinning disc is at the origin position is calculated. Based on the origin time, the rotor angle collected by the motor rotor position sensor when the spinning disc is at the origin position is obtained, and this rotor angle is determined as the origin angle of the output shaft.

[0066] The aforementioned calculation process involves position, distance, and time calculations, making it complex and prone to errors, resulting in low efficiency and accuracy of origin calibration. This is because the Hall sensor's installation position is not aligned with the origin of the spinning disc. Complex position and time conversions are required to determine the moment the disc is at the origin, allowing the acquisition of the rotor angle from the position sensor at that moment. To address this, the Hall sensor and the magnet can be aligned with the origin of the spinning disc. This allows for a simple calculation of the disc's origin based on the trigger signal's timing, eliminating the complex position and time conversions and improving the efficiency and accuracy of origin calibration.

[0067] For example, Figure 5 This is a rear view of the dispersing mechanism provided in an embodiment of this application. Figure 5 and Figure 4 As shown, the outer casing 122 is a symmetrical structure, with its central axis of symmetry aligned with that of the spinning disc 121. The Hall sensor 123 is positioned on the central axis of symmetry of the outer casing 122, also aligned with the central axis of symmetry of the spinning disc 121. The magnet 124 is positioned on the central axis of symmetry of the spinning disc 121. When the spinning disc 121 is at its origin, the distance between the Hall sensor 123 and the magnet 124 is closest, and the Hall sensor 123 detects the strongest magnetic field. As the spinning disc 121 swings left and right, the distance between the Hall sensor 123 and the magnet 124 increases, and the magnetic field strength detected by the Hall sensor 123 decreases.

[0068] Optionally, when the Hall sensor is positioned on the central axis of symmetry of the housing and the magnet is positioned on the central axis of symmetry of the spinning disc, the step of determining the origin angle of the output shaft based on the trigger signal specifically includes S11021:

[0069] S11021. Obtain the trigger rotor angle collected by the position sensor at the corresponding moment according to the trigger signal.

[0070] S11022. Determine the origin angle of the output shaft based on the trigger rotor angle corresponding to the trigger signal.

[0071] The trigger rotor angle is the rotor angle collected by the motor rotor position sensor at the moment the trigger signal is triggered when the UAV performs origin calibration.

[0072] For example, when the Hall sensor is a magnetic field strength sensor based on the Hall effect, the trigger signal with the largest voltage value collected by the Hall sensor in one round-trip motion is triggered when the Hall sensor is closest to the magnet. At this time, it can be regarded as the spinning disc being at the origin position. Therefore, the moment of the trigger signal with the largest voltage value is the origin moment when the spinning disc is at the origin position. The trigger rotor angle collected by the motor rotor position sensor at the moment of the trigger signal with the largest voltage value can be used as the origin angle of the output shaft.

[0073] Optionally, trigger signals collected by a Hall effect-based magnetic field strength sensor during the unidirectional or reciprocating motion of the spinning disc are acquired. The voltage values ​​corresponding to each trigger signal are compared to determine the trigger signal with the largest voltage value. The trigger time of the trigger signal with the largest voltage value is determined as the origin time when the spinning disc is at the origin position. Thus, the rotor angle collected by the motor rotor position sensor at the origin time is obtained as the origin angle of the output shaft. In addition, during the reciprocating motion of the spinning disc, the number of reciprocating motions can be recorded. The trigger signals collected by the magnetic field strength sensor during multiple reciprocating motions are sorted in descending order of voltage value. The top-ranked trigger signals are obtained based on twice the number of reciprocating motions. These trigger signals can all be regarded as the trigger signals collected by the Hall sensor when the spinning disc is at the origin position. The trigger time of these trigger signals is determined as the origin time when the spinning disc is at the origin position. The average value of the rotor angles collected by the motor rotor position sensor at multiple origin times is determined as the origin angle of the output shaft.

[0074] Furthermore, the magnet can be a radially magnetized magnet, and the Hall sensor can be a Hall switch. Correspondingly, when the spinning disc is at the origin, the magnet forms a magnetic field symmetrically distributed relative to the Hall switch at the origin. As the spinning disc moves closer to the origin, the Hall switch detects an increase in magnetic field strength. When the magnetic field strength increases to a preset level, the Hall switch triggers a rising or falling edge signal. As the spinning disc moves away from the origin, the Hall switch detects an increase in magnetic field strength. When the magnetic field strength increases to a preset level, the Hall switch triggers a falling or rising edge signal. Because the magnet forms a symmetrically distributed magnetic field relative to the Hall switch at the origin, the swing angle of the spinning disc is also symmetrical at the triggering times of the falling and rising edge signals. Figure 6 This is a waveform diagram of the trigger signal of the Hall switch provided in an embodiment of this application. For example... Figure 6As shown, assuming the Hall switch triggers a high-level signal when the magnetic field strength is greater than or equal to a preset strength, as the disc swings from left or right back to the origin, the magnet gradually approaches the Hall switch, and the magnetic field strength detected by the Hall switch gradually increases. When the swing angle of the disc equals θ, the magnetic field strength reaches the preset strength, at which point the Hall switch triggers a rising edge signal, and then continuously generates a high-level signal. Conversely, as the disc swings from right or left of the origin, the magnet gradually moves away from the Hall switch, and the magnetic field strength detected by the Hall switch gradually decreases. When the swing angle of the disc equals -θ, the magnetic field strength reaches the preset strength, at which point the Hall switch triggers a falling edge signal, and then does not trigger a high-level signal.

[0075] Depend on Figure 6 As shown, when the spinning disc rotates at a constant speed, the midpoint of the time interval between the triggering time of the rising edge signal and the triggering time of the falling edge signal is the origin time when the spinning disc is at the origin position.

[0076] Optionally, during a single unidirectional motion of the spinning disc, the trigger times of the rising and falling edge signals during this unidirectional motion are acquired. The average of the trigger times of the rising and falling edge signals is determined as the origin time when the spinning disc reaches the origin position, i.e., the origin time when the spinning disc reaches the origin position is T = (T1 + T2) / 2, where T1 and T2 are the trigger times of the rising and falling edge signals, respectively. The trigger rotor angle collected by the position sensor at the midpoint between the trigger times of the rising and falling edge signals can be obtained as the origin angle of the output shaft.

[0077] Furthermore, in the case of one or more reciprocating motions of the spinning disc, the trigger times of the rising and falling edge signals collected during the forward and reverse motion processes of each reciprocating motion are acquired. The origin time when the spinning disc is at its original position during the forward motion is determined based on the trigger times of the rising and falling edge signals collected during the forward motion, and the origin time when the spinning disc is at its original position during the reverse motion is determined based on the trigger times of the rising and falling edge signals collected during the reverse motion. The trigger rotor angle collected by the position sensor at the origin time during the forward and reverse motion processes is acquired, and the average value of the trigger rotor angles corresponding to multiple origin times is taken as the origin angle of the output shaft.

[0078] Depend on Figure 6 As shown, the center angle of the angle range between the rotor angle collected by the motor rotor position sensor at the trigger moment of the rising edge signal and the rotor angle collected at the trigger moment of the falling edge signal is the rotor angle collected by the position sensor when the spinning disc is at the origin position.

[0079] Optionally, during a single unidirectional motion of the rotor, the first trigger rotor angle is obtained from the rising edge signal acquired by the Hall sensor during this unidirectional motion, and the second trigger rotor angle is obtained from the falling edge signal acquired by the Hall sensor during this unidirectional motion. The first trigger rotor angle is the rotor angle acquired by the motor rotor position sensor at the trigger moment of the rising edge signal, and the second trigger rotor angle is the rotor angle acquired by the motor rotor position sensor at the trigger moment of the falling edge signal. The average value of the first and second trigger rotor angles is determined as the origin angle of the output shaft.

[0080] Furthermore, during the multiple reciprocating motions of the spinning disc, the first trigger rotor angle collected by the position sensor at the corresponding moment is obtained based on the rising edge signal collected during the multiple reciprocating motions, resulting in multiple first trigger rotor angles; the second trigger rotor angle collected by the position sensor at the corresponding moment is obtained based on the falling edge signal collected during the multiple reciprocating motions, resulting in multiple second trigger rotor angles.

[0081] For example, Figure 7 This is a schematic diagram of the disc-swing motion curve provided in an embodiment of this application. For example... Figure 7 As shown, when the swivel disc moves forward, it swings from left (right) to right (left). The position sensor detects the first trigger rotor angle θ at the trigger moment of the rising edge signal. a1 The position sensor detects the second trigger rotor angle θ at the trigger moment of the falling edge signal. b1 When the swivel disc moves in the opposite direction, it swings from right (left) to left (right). The position sensor detects the first trigger rotor angle θ at the moment of the rising edge signal. a2 The position sensor detects the second trigger rotor angle θ at the trigger moment of the falling edge signal. b2 If the rotor performs n round trip movements, then 2n first trigger rotor angles {θ} will be obtained. a1 θ a2 , ..., θ a2n}, and obtain 2n second trigger rotor angles {θ} b1 θ b2 , ..., θ b2n}

[0082] After obtaining multiple first trigger rotor angles and multiple second trigger rotor angles, a first angle average value of the multiple first trigger rotor angles can be determined; a second angle average value of the multiple second trigger rotor angles can be determined; and the average value of the first angle average value and the second angle average value can be determined as the origin angle of the output shaft. For example, the first angle average value θ... a=(θ a1 +θ a2 +...+θ a2n ) / 2n, the average value of the second angle θ b =(θ b1 +θ b2 +...+θ b2n ) / 2n, the origin angle θ of the output axis zero =(θ a +θ b ) / 2.

[0083] This embodiment determines the origin angle of the output shaft by using the trigger rotor angle collected by the position sensor at the triggering time of the rising and falling edge signals triggered by the Hall sensor during the multiple reciprocating motions of the spinning disc. This eliminates the need for complex calculations to calibrate the origin angle, thus improving the efficiency and accuracy of origin calibration.

[0084] Optionally, after calculating the origin angle of the output shaft, the origin angle can be saved locally so that the drone can use the locally saved origin angle when performing the next seeding task. It should be noted that after prolonged use, the seeding mechanism will develop new geometric errors, causing the previously calibrated origin angle to become inapplicable. In this case, after the locally saved origin angle has been stored for a preset period of time, the drone can perform an origin calibration operation to determine a new origin angle, thereby obtaining an origin angle that conforms to the current seeding mechanism and ensuring the seeding accuracy of the seeding mechanism.

[0085] S120: Obtain the current rotor angle collected by the position sensor.

[0086] The current rotor angle is the rotor angle collected by the position sensor of the motor rotor at the current moment during the material spreading process by the drone. For example, after the drone controls the spreading mechanism to start spreading materials, it activates the position sensor to obtain the current rotor angle collected by the position sensor in real time.

[0087] S130. Determine the current output shaft angle based on the current rotor angle and origin angle.

[0088] The current output shaft angle is the angle calculated at the current moment during the material dispersal process by the drone. As mentioned above, the origin angle of the output shaft can be considered as the offset between the output shaft angle detected by the rotor's position sensor and the rotor angle. Therefore, the output shaft angle in the rotor coordinate system can be calculated using the current rotor angle and the origin angle. Converting the output shaft angle from the rotor coordinate system to the output shaft coordinate system yields the current output shaft angle.

[0089] Optionally, the difference between the current rotor angle and the origin angle can be determined; the ratio of this difference to the reduction ratio of the reducer is used to determine the current output shaft angle. For example, subtracting the origin angle from the current rotor angle (i.e., subtracting the offset between the output shaft angle and the rotor angle from the current rotor angle) yields the output shaft angle in the rotor coordinate system. Dividing this output shaft angle in the rotor coordinate system by the reduction ratio of the reducer converts the output shaft angle in the rotor coordinate system to the output shaft coordinate system, and the resulting ratio is the current output shaft angle. This embodiment determines the output shaft angle in the rotor coordinate system by the difference between the current rotor angle and the origin angle. Dividing this difference by the reduction ratio of the reducer converts the output shaft angle in the rotor coordinate system to the output shaft coordinate system, thus obtaining the current output shaft angle. This allows for the detection of the current output shaft angle without installing an output shaft position sensor. Furthermore, since the origin angle is predetermined, the calculation of the output shaft angle can be completed after obtaining the rotor angle detected by the position sensor, eliminating the transmission time for the output shaft angle, improving the detection efficiency of the output shaft angle, and consequently improving the control efficiency of the spreading mechanism.

[0090] In summary, the angle detection method for the spreading mechanism provided in this application embodiment uses a magnet on the spinning disc and a Hall sensor on the disc's housing to determine the origin angle of the output shaft based on the trigger signal collected by the Hall sensor during disc rotation. The real-time output shaft angle is determined by the rotor angle collected in real-time by a position sensor on the rotor and the origin angle of the output shaft. Through this technical means, the angle detected by the position sensor when the disc is at its origin (i.e., the origin angle) can be determined using the trigger signal collected by the Hall sensor during disc rotation. Therefore, during subsequent disc rotation, the real-time output shaft angle can be calculated using the origin angle and the rotor angle detected in real-time by the position sensor. This achieves accurate detection of the output shaft angle even without a position sensor. Since the trigger signal of the Hall sensor is a digital signal, it is not affected by long wiring, ensuring accurate calculation of the origin angle and thus accurate calculation of the real-time output shaft angle. This solves the problem of low spreading accuracy in existing technologies due to poor signal transmission quality, improving the spreading accuracy of the spreading mechanism. In the real-time calculation of the output shaft angle, since the origin angle is predetermined, the calculation of the output shaft angle can be completed after the rotor angle detected by the position sensor is obtained, which saves the transmission time of the output shaft angle, improves the detection efficiency of the output shaft angle, and thus improves the control efficiency of the spreading mechanism.

[0091] Based on the above embodiments, Figure 8 This is a schematic diagram of the structure of an angle detection device for a dispersing mechanism provided in an embodiment of this application. (Reference) Figure 8The angle detection device for the spreading mechanism provided in this embodiment specifically includes: an origin angle acquisition module 21, a rotor angle acquisition module 22, and an output shaft angle determination module 23.

[0092] Among them, the origin angle acquisition module 21 is configured to acquire the origin angle of the output shaft, and the origin angle is determined based on the trigger signal collected by the Hall sensor;

[0093] The rotor angle acquisition module 22 is configured to acquire the current rotor angle collected by the position sensor;

[0094] The output shaft angle determination module 23 is configured to determine the output shaft angle based on the current rotor angle and the origin angle.

[0095] Based on the above embodiments, the magnet is a radially magnetized magnet, which is arranged on the central axis of the swivel disc; the Hall sensor is arranged on the central axis of the outer shell.

[0096] Based on the above embodiments, the origin angle acquisition module 21 includes: an origin angle acquisition submodule, configured to acquire the origin angle of the locally stored output axis.

[0097] Based on the above embodiments, the origin angle acquisition module 21 includes: a trigger signal acquisition submodule, configured to acquire the trigger signal collected by the Hall sensor during the rotation of the spinning disc; and an origin angle determination submodule, configured to determine the origin angle of the output shaft based on the trigger signal.

[0098] Based on the above embodiments, the trigger signal acquisition submodule includes: a disc motion control unit configured to control the disc to perform multiple reciprocating movements; and a trigger signal acquisition unit configured to acquire the rising edge signal and falling edge signal collected by the Hall sensor during the multiple reciprocating movements of the disc.

[0099] Based on the above embodiments, the origin angle determination submodule includes: a trigger rotor angle determination unit, configured to acquire the trigger rotor angle collected by the position sensor at the corresponding time according to the trigger signal; and an origin angle determination unit, configured to determine the origin angle of the output shaft according to the trigger rotor angle corresponding to the trigger signal.

[0100] Based on the above embodiments, the trigger signal includes a rising edge signal and a falling edge signal; the trigger rotor angle determination unit includes: a first trigger rotor angle determination subunit, configured to obtain the first trigger rotor angle collected by the position sensor at the corresponding time based on the rising edge signal collected during multiple reciprocating motions, thereby obtaining multiple first trigger rotor angles; and a second trigger rotor angle determination subunit, configured to obtain the second trigger rotor angle collected by the position sensor at the corresponding time based on the falling edge signal collected during multiple reciprocating motions, thereby obtaining multiple second trigger rotor angles.

[0101] Based on the above embodiments, the origin angle determination unit includes: a first angle average value determination subunit, configured to determine a first angle average value of a plurality of first trigger rotor angles; a second angle average value determination subunit, configured to determine a second angle average value of a plurality of second trigger rotor angles; and an origin angle determination subunit, configured to determine the average of the first angle average value and the second angle average value as the origin angle of the output shaft.

[0102] Based on the above embodiments, the output shaft angle determination module includes: an angle difference determination submodule, configured to determine the difference between the current rotor angle and the origin angle; and an output shaft angle determination submodule, configured to determine the ratio of the difference to the reduction ratio of the reducer as the current output shaft angle.

[0103] The angle detection device for the spreading mechanism provided in this application embodiment, by setting a magnet on the spinning disc and a Hall sensor on the outer shell of the spinning disc, determines the origin angle of the output shaft based on the trigger signal collected by the Hall sensor when the spinning disc rotates. The real-time output shaft angle is determined by the rotor angle collected in real-time by a position sensor on the rotor and the origin angle of the output shaft. Through this technical means, the angle detected by the position sensor when the spinning disc is at its origin, i.e., the origin angle, can be determined by the trigger signal collected by the Hall sensor during the spinning disc's rotation. Therefore, during subsequent rotation of the spinning disc, the real-time output shaft angle can be calculated using the origin angle and the rotor angle detected in real-time by the position sensor. This achieves accurate detection of the output shaft angle even without a position sensor for the output shaft. Since the trigger signal of the Hall sensor is a digital signal, it is not affected by long wiring, ensuring accurate calculation of the origin angle, thereby ensuring accurate calculation of the real-time output shaft angle. This solves the problem of low spreading accuracy in the spreading mechanism due to poor signal transmission quality in the prior art, and improves the spreading accuracy of the spreading mechanism. In the real-time calculation of the output shaft angle, since the origin angle is predetermined, the calculation of the output shaft angle can be completed after the rotor angle detected by the position sensor is obtained, which saves the transmission time of the output shaft angle, improves the detection efficiency of the output shaft angle, and thus improves the control efficiency of the spreading mechanism.

[0104] The angle detection device for the spreading mechanism provided in this application embodiment can be used to execute the angle detection method for the spreading mechanism provided in the above embodiment, and has corresponding functions and beneficial effects.

[0105] Figure 9 This is a schematic diagram of the structure of an angle detection device for a spreading mechanism provided in an embodiment of this application, with reference to... Figure 9 The angle detection device of the dispersing mechanism includes: a processor 31, a memory 32, a communication device 33, an input device 34, and an output device 35. The number of processors 31 and the number of memories 32 in the angle detection device can be one or more. The processor 31, memory 32, communication device 33, input device 34, and output device 35 of the angle detection device can be connected via a bus or other means.

[0106] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the angle detection method of the dispersing mechanism in any embodiment of this application (e.g., the origin angle acquisition module 21, rotor angle acquisition module 22, and output shaft angle determination module 23 in the angle detection device of the dispersing mechanism). The memory 32 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the device, etc. Furthermore, the memory 32 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0107] The communication device 33 is used for data transmission.

[0108] The processor 31 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 32, thereby realizing the angle detection method of the spreading mechanism described above.

[0109] Input device 34 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 35 may include display devices such as a display screen.

[0110] The angle detection device for the spreading mechanism provided above can be used to execute the angle detection method for the spreading mechanism provided in the above embodiments, and has corresponding functions and beneficial effects.

[0111] This application embodiment also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform an angle detection method for a dispensing mechanism. The angle detection method for the dispensing mechanism includes: acquiring the origin angle of the output shaft, the origin angle being determined based on a trigger signal collected by a Hall sensor; acquiring the current rotor angle collected by a position sensor; and determining the current output shaft angle based on the current rotor angle and the origin angle.

[0112] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a first computer system in which the program is executed, or it may reside in a different second computer system connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term “storage medium” can include two or more storage media residing in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) executable by one or more processors.

[0113] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the angle detection method of the dispersing mechanism described above, but can also execute related operations in the angle detection method of the dispersing mechanism provided in any embodiment of this application.

[0114] The angle detection device, storage medium, and angle detection equipment of the spreading mechanism provided in the above embodiments can execute the angle detection method of the spreading mechanism provided in any embodiment of this application. For technical details not described in detail in the above embodiments, please refer to the angle detection method of the spreading mechanism provided in any embodiment of this application.

[0115] The above description is merely a preferred embodiment and the technical principles employed in this application. This application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions that can be made by those skilled in the art will not depart from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application. The scope of this application is determined by the scope of the claims.

Claims

1. A method for detecting the angle of a dispersing mechanism, characterized in that, The spreading mechanism includes a driving device and a spreading disc. The driving device includes a motor and a reducer. The motor is connected to the reducer and drives the reducer to rotate. The output shaft of the reducer is connected to the spreading disc. The spreading disc includes a housing and a spinning disc. The rotor of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the spinning disc. The spinning disc is disposed inside the housing. The housing is equipped with a Hall sensor, the spinning disc is equipped with a magnet, and the rotor of the motor is equipped with a position sensor. The method includes: The origin angle of the output shaft is obtained, and the origin angle is determined based on the trigger signal collected by the Hall sensor; Obtain the current rotor angle collected by the position sensor; The output shaft angle is determined based on the current rotor angle and the origin angle.

2. The angle detection method for the spreading mechanism according to claim 1, characterized in that, The magnet is a radially magnetized magnet, which is positioned on the central axis of the swivel disc; the Hall sensor is positioned on the central axis of the outer casing.

3. The angle detection method for the dispersing mechanism according to claim 1, characterized in that, The step of obtaining the origin angle of the output shaft includes: Get the origin angle of the locally saved output axis.

4. The angle detection method for the spreading mechanism according to claim 1, characterized in that, The step of obtaining the origin angle of the output shaft includes: The trigger signal collected by the Hall sensor is acquired during the rotation of the spinning disc; The origin angle of the output shaft is determined based on the trigger signal.

5. The angle detection method for the spreading mechanism according to claim 4, characterized in that, The process of acquiring the trigger signal collected by the Hall sensor during the rotation of the spinning disc includes: Control the spinning disc to perform multiple reciprocating movements; The rising edge signal and falling edge signal are acquired by the Hall sensor during the multiple reciprocating motions of the spinning disc.

6. The angle detection method for the spreading mechanism according to claim 4, characterized in that, Determining the origin angle of the output shaft based on the trigger signal includes: The trigger rotor angle collected by the position sensor at the corresponding moment is obtained based on the trigger signal; The origin angle of the output shaft is determined based on the trigger rotor angle corresponding to the trigger signal.

7. The angle detection method for the spreading mechanism according to claim 6, characterized in that, The trigger signal includes a rising edge signal and a falling edge signal; obtaining the trigger rotor angle collected by the position sensor at the corresponding moment based on the trigger signal includes: Based on the rising edge signal collected during multiple round trips, the first trigger rotor angle collected by the position sensor at the corresponding moment is obtained, and multiple first trigger rotor angles are obtained. Based on the falling edge signal collected during multiple round trips, the second trigger rotor angle collected by the position sensor at the corresponding moment is obtained, and multiple second trigger rotor angles are obtained.

8. The angle detection method for the spreading mechanism according to claim 7, characterized in that, Determining the origin angle of the output shaft based on the trigger rotor angle corresponding to the trigger signal includes: Determine the first angle average value of the plurality of first trigger rotor angles; Determine the average second angle of the plurality of second trigger rotor angles; The average of the first angle average and the second angle average is determined as the origin angle of the output shaft.

9. The angle detection method for the spreading mechanism according to claim 1, characterized in that, The step of determining the output shaft angle based on the current rotor angle and the origin angle includes: Determine the difference between the current rotor angle and the origin angle; The ratio of the difference to the reduction ratio of the reducer is determined as the current output shaft angle.

10. An angle detection device for a spreading mechanism, characterized in that, The spreading mechanism includes a drive unit and a spreading disc. The drive unit includes a motor and a reducer. The motor is connected to the reducer and drives the reducer to rotate. The output shaft of the reducer is connected to the spreading disc. The spreading disc includes a housing and a spinning disc. The rotor of the motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the spinning disc. The spinning disc is disposed inside the housing. The housing is equipped with a Hall sensor, the spinning disc is equipped with a magnet, and the rotor of the motor is equipped with a position sensor. The device includes: The origin angle acquisition module is configured to acquire the origin angle of the output shaft, which is determined based on the trigger signal acquired by the Hall sensor. The rotor angle acquisition module is configured to acquire the current rotor angle collected by the position sensor; The output shaft angle determination module is configured to determine the current output shaft angle based on the current rotor angle and the origin angle.

11. An angle detection device for a spreading mechanism, characterized in that, include: One or more processors; A memory that stores one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the angle detection method for the dispersing mechanism as described in any one of claims 1-9.

12. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the angle detection method of the dispersing mechanism as described in any one of claims 1-9.

Images