CN107997374A - A kind of automatic method of controlling rotation of intelligent dining table and intelligent dining table - Google Patents
A kind of automatic method of controlling rotation of intelligent dining table and intelligent dining table Download PDFInfo
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- CN107997374A CN107997374A CN201711179696.9A CN201711179696A CN107997374A CN 107997374 A CN107997374 A CN 107997374A CN 201711179696 A CN201711179696 A CN 201711179696A CN 107997374 A CN107997374 A CN 107997374A
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- 230000009471 action Effects 0.000 claims description 12
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- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 claims description 3
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- 230000006872 improvement Effects 0.000 description 9
- 235000013305 food Nutrition 0.000 description 8
- 230000008859 change Effects 0.000 description 6
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- 235000012054 meals Nutrition 0.000 description 4
- 239000000047 product Substances 0.000 description 4
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B31/00—Service or tea tables, trolleys, or wagons
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B11/00—Tables with tops revolvable on vertical spindles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B13/00—Details of tables or desks
- A47B13/08—Table tops; Rims therefor
- A47B13/081—Movable, extending, sliding table tops
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B97/00—Furniture or accessories for furniture, not provided for in other groups of this subclass
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1105—I-O
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Table Equipment (AREA)
Abstract
The invention discloses a kind of intelligent automatic method of controlling rotation of dining table, comprise the following steps：(1) intelligent dining table autorotation control system is prepared；(2) turntable often rotates one counted number of pulses of a position correspondence；(3) the current infrared pulse signal of infrared receiver end real-time reception infrared emitting end transmitting, and send and contrasted current infrared pulse signal and standard IR pulse signal to PLC controller, PLC controller, judge whether consistent；It is if inconsistent, then it represents that to exist and block, then PLC controller calculates current PRF count value, and sends a command to Extended orientation module, and servomotor starts with incremental-rotating coder；(4) turntable is rotated with incremental-rotating coder with same angular speed, is produced the pulse that two-way phase difference is 90 °, is determined direction of rotation；(5) turntable rotates corresponding angle with the direction of rotation that determines and with initial speed.Also disclose the intelligent dining table for implementing the above method.
Description
Technical field
The present invention relates to smart home product technical field, more particularly to a kind of automatic method of controlling rotation of intelligent dining table
And intelligent dining table.
Background technology
At present, the exploitation of various smart homes increasingly increases.Lazy Susan is the current common desk of Chinese food and beverage industry,
Lazy Susan is divided according to mode of operation, mainly there is two kinds：One kind is manual rotation, and another kind is to rotate automatically.Rotation manually
Rotary dining table, which needs to have dinner while people is at table, rotates dining table by hand, inconvenient for use.Relative to manual rotation, automatic rotating table
It is the high-end product in such product, after dining table spinfunction is started, the i.e. automatic rotation of dining table, rotates until closing.Automatically
Although lazy Susan solves the shortcomings that rotating dining table by hand, but it is constant speed, it is impossible to the number had dinner and act into
Row automation adjustment.
Meanwhile as automatic rotating table, it is had dinner for people's party and provides certain facility, but federation when in use
When feeling dining table rotation, only a kind of speed can not meet requirement, as waiter is serving or needing being eaten
When the plate of light is made a clean sweep of, faster rotary speed may be just needed to meet need of work.In addition guest is when having dinner, if more
When number people lift chopsticks and pick up food with chopsticks, rotary speed should reduce；And when only less people lifts chopsticks and picks up food with chopsticks, then need what is turned
It is fast.When the vegetable on desktop is more, what should be turned is slower, and when the vegetable on desktop is less, then it should turn
It is fast.If needing dining table to be switched between different rotary speeies these, pacify using only remote control or under desktop
Filling switch may only convenient neighbouring people operate, and guest slightly a little further just cannot operate.Therefore, turn of automatic rotating table
Fast problem needs further Improvement, and existing mode of operation is difficult to meet needs.
As the dining table in high-end food and drink place, often also need to carry out landscape processing, such as set in the center of desktop fresh
The miniature landscape such as flower, lawn, pavilions, terraces and open halls, to set off dining experience by contrast, loosens the mood of people, or promote the appetite of people.
But the effect of current landscape article is only to build atmosphere, not other effects.
Therefore, a kind of collection automation, intelligence, landscape, the intelligent dining table automatic rotary of the induction type of low-power consumption are developed
Turn control method and intelligent dining table, it appears more important.
The content of the invention
For above-mentioned deficiency, it is an object of the invention to provide a kind of intelligent automatic method of controlling rotation of dining table, uses
The mode of infrared induction, according to the number of eater and action change, come realize dining table it is rotating startup and rotating speed it is automatic
Change adjustment, and infrared induction is ingenious in design, accurate, reaches high accuracy positioning and rotating purpose, can effectively avoid interference with
False sense should；Turntable rotation is steady, and turntable rotation is more intelligent, and without human intervention, use is more convenient.
The present invention also aims to provide a kind of intelligent dining table of above method, collection automation, intelligent, landscape
With low-power consumption in one, the rotating automatic start of dining table and stopping, the adjustment of rotation angle range and speed, automatic rotation are realized
Directly switch with manual rotation, the degree of automation is high, fast response time, and performance is stablized, and smooth rotation is good, highly practical.
The present invention is that technical solution is used by reaching above-mentioned purpose：
A kind of automatic method of controlling rotation of intelligent dining table, it is characterised in that comprise the following steps：
(1) an intelligent dining table autorotation control system is prepared, including control unit, dining table body and is arranged at meal
Turntable, landscape column on table body, the control unit include PLC controller, Extended orientation module, servo actuator and increment
Type rotary encoder, the servo actuator include servomotor, which is co-axially mounted with turntable；The meal
Some infrared inductors are provided with table body, which includes infrared emitting end and infrared receiver end,
Landscape column is equipped with reflective mirror, and the infrared ray that each infrared emitting end is sent is matched by reachable after mirror reflection with it
Infrared receiver end；Each infrared inductor is electrically connected with PLC controller；
(2) turntable base position and turntable initial speed are preset by PLC controller, and it is red to prestore in PLC controller
Standard IR pulse signal between outside line transmitting terminal and infrared receiver end, PLC controller are opposite according to each position of turntable
In the angle corresponding to base position, corresponding counted number of pulses is converted into, turntable often rotates one pulse of a position correspondence
Count value；
(3) the current infrared pulse signal of infrared receiver end real-time reception infrared emitting end transmitting, and will be current red
Outer pulse signal is sent to PLC controller, and PLC controller carries out current infrared pulse signal and standard IR pulse signal pair
Than judging whether consistent；It is if inconsistent, then it represents that to exist and block, then PLC controller calculates current infrared pulse signal and sends
Relative to the current PRF count value of base position at position, and send FROM/TO and instruct to Extended orientation module, positioning extension
Module drives servomotor to start with incremental-rotating coder；Otherwise, the step is constantly repeated；
(4) start when, servomotor drive turntable rotated with an angular speed, at the same time, incremental-rotating coder with
Identical angular speed rotates, and produces the pulse that two-way phase difference is 90 °, by judging that phase is advanced or the relation of hysteresis, determines
The direction of rotation of turntable；
(5) under the drive of servo actuator, the current PRF count value that is calculated according to PLC controller, turntable with
Direction of rotation that computing determines, rotating speed rotate corresponding angle, and block action frequency according to the eater sensed behind
The secondary steering for voluntarily adjusting turntable and rotating speed：When the eater sensed block the action frequency it is high when reduce rotating speed, and frequency
Rotating speed is then improved when secondary low, but no more than the maximum speed of setting.
As a further improvement on the present invention, in the step (1), standard IR pulse is preserved in PLC controller
The calibration pulse timing waveform of signal；In the step (3), judge that infrared emitting end whether there is with infrared receiver end
The method blocked is：PLC controller is by the pulse sequence waveform of the current infrared pulse signal received and PLC controller
Calibration pulse timing waveform is compared；If comparison is inconsistent, represent exist between infrared emitting end and infrared receiver end
Block；If comparing consistent, represent unobstructed between infrared emitting end and infrared receiver end, then by infrared receiver end when
Clock is adjusted to consistent with infrared emitting end, and produces a trace pulse sequential.
As a further improvement on the present invention, the step (3) is further comprising the steps of：
(3.1) PLC controller uses the power supply at trace pulse timing control infrared receiver end so that infrared receiver end
Power supply infrared emitting end infrared pulse signal arrive before 0.5-1.0s open, the infrared pulse at infrared emitting end
Signal is closed after finishing receiving；
(3.2) PLC controller enters holding state after the infrared pulse signal at infrared emitting end finishes receiving, and waits
The arrival of next infrared pulse signal.
As a further improvement on the present invention, in the step (1), the turntable lower end is provided with torsion sensing
Device, is provided with an electromagnetic clutch and a rotary encoder, the output of the servomotor between servo actuator and turntable
By driving axis connection between axis and turntable；The step (5) is further comprising the steps of：
(5.1) PLC controller constantly obtains the contacts status signal of torsion sensor output；
(5.2) when exterior twisting resistance suffered by turntable causes moment of torsion suffered by torsion sensor to be more than its ultimate torque, torsion
Normally opened contact closes in sensor, and normally-closed contact disconnects, then PLC controller control electromagnetic clutch contact separation so that servo
The servo motor output shaft of executing agency is disconnected with drive shaft, and turntable can be rotated with exterior twisting resistance；
(5.3) PLC controller obtains the feedback rotating speed of turntable by rotary encoder, then controls servomotor to feed back
Rotating speed is run；
(5.4) when exterior twisting resistance disappears so that when torsion sensor contact resets, PLC controller control electromagnetic clutch
Device contact closure so that the output shaft of servomotor is reconnected with drive shaft, and turntable is under the driving of servomotor with feedback
Rotating speed operation is rotated to corresponding angle.
As a further improvement on the present invention, step (6) is further included：By PLC controller preset infrared emitting end with
The time threshold T, each time threshold T being blocked between infrared receiver end correspond to a current PRF count value；Work as detection
To after blocking, the high-speed counter built in PLC controller starts timing, blocks action and disappears, high-speed counter stops immediately
Actuation time nT is blocked in timing, acquisition；The then angle corresponding to servo actuator control n current PRF count value of turntable rotation
Degree.
Implement the intelligent dining table of the above method, it is characterised in that including control unit, dining table body and be arranged at meal
Turntable on table body, the control unit include PLC controller, Extended orientation module, servo actuator and incremental and rotate
Encoder, the servo actuator include servomotor, which is co-axially mounted with turntable；The dining table body
On be provided with some infrared inductors, which includes infrared emitting end and infrared receiver end, landscape column
Be equipped with reflective mirror, the infrared ray that each infrared emitting end is sent by after mirror reflection it is reachable match with it is infrared
Receiving terminal；Each infrared inductor is electrically connected with PLC controller.
As a further improvement on the present invention, be provided between the servo actuator and turntable a torsion sensor,
One electromagnetic clutch and a rotary encoder, by driving axis connection between the output shaft and turntable of the servomotor.
As a further improvement on the present invention, the groove for accommodating turntable, the groove are offered on the dining table body
Annular groove is inside offered, which offers the upper annular groove to match with lower annular groove, the turntable and groove
Between connected by some balls, and the ball upper end is arranged in annular groove, and lower end is arranged in lower annular groove, ring on this
Shape groove and the vertical section of lower annular groove take the shape of the letter U.
As a further improvement on the present invention, the dining table body includes desktop and the feet being arranged at below desktop, should
Feet includes base, the column being connected between desktop and base and the support column being connected between desktop and base, wherein,
Base accommodating cavity is provided with the base, the column accommodating cavity being connected with base accommodating cavity, the PLC are provided with the column
Controller, servo actuator, Extended orientation module are respectively arranged in base accommodating cavity, the incremental-rotating coder,
Drive shaft, electromagnetic clutch and rotary encoder are respectively arranged in column accommodating cavity.
As a further improvement on the present invention, the turntable includes layer glass and is located in black between layer glass
Color light-absorption layer, the black light-absorption layer can absorb the light from all directions, avoid it is reflective, in order to avoid influence infrared sensor group
The work built, causes false sense should.
Beneficial effects of the present invention are：
The automatic method of controlling rotation of intelligent dining table provided by the invention and intelligent dining table, by the way of infrared induction
Behavior to eater senses, and when diner picks up food with chopsticks, the action of its upper limb will block infrared ray；It is infrared by detecting
Whether the infrared pulse signal produced between line transmitting terminal and infrared receiver end occurs blocking action, to judge infrared emitting
Whether there is shelter (hand or arm of eater) between end and infrared receiver end, and in this, as realizing that dining table revolves
The foundation of the startup, the steering of adjusting turntable and the rotating speed that turn；Due to being provided with reflective mirror on the top of landscape column, infrared sense can be made
Should be accurate, comprehensive, light path is upward, and effectively avoiding disturbing and produce false sense should；Meanwhile eliminate what is produced by mechanical transmission mechanism
The rotation errors caused by factor such as gap, the poor, inertia of backhaul, reach high accuracy positioning and rotating purpose.
Meanwhile the open and close of infrared receiver end power supply are controlled by the trace pulse sequential of formation, reach intelligence
The effect that can be opened and closed, and achieve the purpose that energy saving, reduction power consumption.
Demand of the user to rotary speed is sensed by torsion sensor, so as to disconnect rotation of the servomotor to turntable
Driving so that external force can arbitrarily rotate turntable；Then obtained again by rotary encoder after being driven with feedback turntable by external force
Rotating speed, according to the driving rotating speed of this adjustment of rotational speed servomotor and export, realize that dining table automatically with manual rotation cut by rotation
Change, the rotation of turntable and speed handoff procedure are steady.
When needing rotation angle range bigger, as long as extending shelter is positioned over infrared emitting end and infrared receiver
Time between end, if the time being blocked between infrared emitting end and infrared receiver end is nT, turntable rotation
Angle be angle value corresponding to n times of current PRF count value, further increase the intelligence of turntable rotation with just
Profit.
Intelligent dining table provided by the invention, can be realized to the rotating automatic start of dining table and stopping by infrared induction,
And can realize the adjust automatically of rotation angle range, direction of rotation and speed, it can also realize that automatic rotation is straight with manual rotation
Switching is connect, the degree of automation is high, fast response time, and performance is stablized, and smooth rotation is good, highly practical, low in energy consumption, with landscape one
Body, can be widely used for the public places such as various hotels, restaurant, dining room.
Above-mentioned is the general introduction of inventive technique scheme, below in conjunction with attached drawing and embodiment, the present invention is done further
Explanation.
Brief description of the drawings
Fig. 1 is the overall cross-sectional view of the intelligent dining table of the present invention；
Fig. 2 is the three-dimensional assembling structure schematic diagram of the intelligent dining table of the present invention.
Embodiment
Further to illustrate the present invention to reach the technological means and effect that predetermined purpose is taken, below in conjunction with attached drawing
And preferred embodiment, the embodiment of the present invention is described in detail.
Embodiment one：
Fig. 1 and Fig. 2 are refer to, the intelligent automatic method of controlling rotation of dining table provided in this embodiment, comprises the following steps：
(1) an intelligent dining table autorotation control system is prepared, which uses for 8 people, including control unit 1, meal
Table body 2 and the turntable 3 being arranged on dining table body 2, landscape column 10, which includes PLC controller 11, positioning is expanded
Opening up module 12, servo actuator 13 and incremental-rotating coder 14, the servo actuator 13 includes servomotor 131,
The incremental-rotating coder 14 is co-axially mounted with turntable 3；Some infrared inductors 4 are provided with the dining table body 2, this is red
Outer sensing device includes infrared emitting end 41 and infrared receiver end 42, and landscape column 10 is equipped with reflective mirror 101, each infrared
The infrared ray that line transmitting terminal 41 is sent reachable infrared receiver end 42 matched with it after being reflected by reflective mirror 101；Described
Each infrared inductor 4 is electrically connected with PLC controller 11；
PLC in the present embodiment, have selected Mitsubishi Corporation of Japan FX2N-64MT type PLC modules, can also select Omron
One of CQMI series, C200H series, C500 series of PLC modules；
Infrared emitting end 41 in the infrared sensor and infrared receiver end 42, are to set in the present embodiment
On the table, on the outside of turntable；, can also be by one of them setting on the table in other embodiment, and the other end is arranged on instead
On light microscopic 101.The two sets position on the table, does not have dinner the action (thing picked up food with chopsticks or taken on turntable for eater
Product) when, infrared sensing light path is not blocked；And once have dinner action when, then block infrared sensing light path, sensed in time；
On the landscape column, each position can set flowers and plants, tasselled etc. to make scenery product, landscape be formed, as long as not
Block infrared induction light path；
The reflective mirror 101, is that part can reflect infrared ray, makes infrared emitting end 41 and infrared receiver end 42
Between formed sensing light path fall funnel-form, it is arranged on the top of landscape column or middle part, and the inclination angle of its surface of emission is generally
30-60 °, specifically it is used cooperatively with infrared emitting end 41 and infrared receiver end 42；It is between infrared ray sensor 41,42
The sensing light path of formation is to extend to desktop oblique upper middle position, and the light path is shorter, be only sensor between reflective mirror, one
The reaction speed of sensor has been to speed up, second, can be interfered to avoid indoor other light sources to sensor, has avoided false sense should；
(3) 3 base position of turntable and 3 initial speed of turntable are preset by PLC controller 11, and in PLC controller 11
The standard IR pulse signal to prestore between infrared emitting end 41 and infrared receiver end 42, PLC controller 11 is according to turntable
Each position is converted into corresponding counted number of pulses, turntable often rotates a position relative to the angle corresponding to base position
A corresponding counted number of pulses；The counted number of pulses can be set as corresponding with dining table seat sequence number；
The present invention is using pulse signal rather than infrared sensor is shone always, also for the accurate of raising sensing
Property, avoid false sense from answering, and for reducing the calculation amount of PLC, and reduce the power consumption of whole system；
(3) the current infrared pulse signal that infrared receiver end real-time reception infrared emitting end 41 is launched, and will be current
Infrared pulse signal is sent to PLC controller 11, and PLC controller 11 is by current infrared pulse signal and standard IR pulse signal
Contrasted, judged whether consistent；It is if inconsistent, then it represents that to exist and block, then PLC controller 11 calculates current infrared pulse
Signal is sent relative to the current PRF count value of base position at position, and is sent FROM/TO and instructed to Extended orientation module
12, Extended orientation module 12 drives servomotor 131 to start with incremental-rotating coder 14；Otherwise, the step is constantly repeated；
(4) servomotor 131 drives turntable 3 to be rotated with an angular speed, and at the same time, incremental-rotating coder 14 is with phase
With angular speed rotate, produce the pulse that two-way phase difference is 90 °, by judging that phase is advanced or the relation of hysteresis, determine to turn
The direction of rotation of disk 3；
(5) when starting, under the drive of servo actuator 13, the current PRF meter that is calculated according to PLC controller 11
Numerical value, direction of rotation that turntable 3 is determined with computing, rotating speed rotate corresponding angle, and are had dinner behind according to what is sensed
Person acts steering and the rotating speed that the frequency voluntarily adjusts turntable 3：When the eater sensed block action the frequency it is high when reduce
Rotating speed, and the frequency is low when, then improves rotating speed, but no more than the maximum speed of setting.In the present embodiment, initial rotation speed
For 0.1rpm, maximum sets rotary speed as 0.5rpm.
PLC computings determine that the algorithm principle of direction of rotation is, first setting, which is initially, rotates clockwise, further according to infrared sensing
Scope, changing rule residing for the current PRF count value of device, are adjusted direction of rotation：When rotating clockwise certain
Between after, when blocking action and starting to become unordered of eater, the use of intermittent counterclockwise, be alternately rotated clockwise, to facilitate
Eater selects the food oneself liked；And when block action it is orderly when, then according to counted number of pulses changing rule select rotation
Turn direction, when counted number of pulses is ascending, to rotate clockwise；And when descending, then be converted to rotation counterclockwise.
The selection of rotary rpm, the then change rate (derivative) that the counted number of pulses that action produces is blocked according to eater select
Select acceleration or deceleration；0.1rpm is initially set, maximum sets rotary speed as 0.5rpm；When change rate reduces, suitably
Accelerate；And when change rate increases, it is appropriate to slow down；So as to the needs with eater, atmosphere close fit.
In the step (1), the calibration pulse sequential ripple of standard IR pulse signal is preserved in PLC controller 11
Shape；In the step (3), judge that infrared emitting end 41 whether there is the method blocked with infrared receiver end 42 and be：PLC
Controller 11 is by the calibration pulse sequential in the pulse sequence waveform of the current infrared pulse signal received and PLC controller 11
Waveform is compared；If comparison is inconsistent, represents to exist between infrared emitting end 41 and infrared receiver end 42 and block；If than
It is unobstructed between expression infrared emitting end 41 and infrared receiver end 42 to consistent, then by the clock tune at infrared receiver end
It is whole to arrive with infrared emitting end 41 unanimously, and produce a trace pulse sequential.
The step (3) is further comprising the steps of：
(3.1) PLC controller 11 uses the power supply at trace pulse timing control infrared receiver end so that infrared receiver
The power supply at end 0.5-1.0s before the infrared pulse signal at infrared emitting end 41 arrives is opened, in the red of infrared emitting end 41
Closed after the completion of outer pulsed signal；
(3.2) PLC controller 11 enters holding state after the infrared pulse signal at infrared emitting end 41 finishes receiving,
Wait the arrival of next infrared pulse signal.
Control method provided in this embodiment, by the way of pulsed infrared induction, sensing infrared emitting end 41 with
It whether there is between infrared receiver end 42 and block (for example, being positioned over infrared emitting end 41 and infrared ray by lifting chopsticks
Between receiving terminal 42), if the infrared pulse signal produced between the infrared emitting end 41 and infrared receiver end 42 that detect
There is deviation, then can determine that between infrared emitting end 41 and infrared receiver end 42 blocking position occur, so as to induce
Dining table needs the position rotated to, and infrared induction is accurate；Simultaneously as mechanical transmission mechanism produce gap, backhaul is poor, inertia
Can cause phenomena such as rotation cannot start or stop in time occur there are error etc. rotation caused by factor, the present invention by with
The coaxial mounted incremental-rotating coder 14 of turntable 3, to determine rotating direction, then by the record of umber of pulse realizes dining table
3 ground rotational positioning of turntable, achievees the purpose that high accuracy positioning.
Meanwhile the open and close of infrared receiver end power supply are controlled by the trace pulse sequential of formation, reach intelligence
The effect that can be opened and closed, and achieve the purpose that easily controllable, energy saving, reduction power consumption.
The embodiment of the present invention additionally provide implement the above method intelligent dining table, including control unit 1, dining table body 2,
And turntable 3, landscape column 10 on dining table body 2 are arranged at, which includes PLC controller 11, Extended orientation module
12nd, servo actuator 13 and incremental-rotating coder 14, the servo actuator 13 include servomotor 131, the increment
Type rotary encoder 14 is co-axially mounted with turntable 3；Some infrared inductors 4, the infrared induction are provided with the dining table body 2
Device 4 includes infrared emitting end 41 and infrared receiver end 42, and landscape column 10 is equipped with reflective mirror 101, each infrared ray hair
Penetrate the reachable infrared receiver end 42 matched with it after the infrared ray that end 41 is sent is reflected by reflective mirror 101；Described is each red
Outer sensing device 4 is electrically connected with PLC controller 11.
Embodiment two：
The method and intelligent dining table that the present embodiment is provided with embodiment one are essentially identical, the main distinction be：
In the step (1), 3 lower end of turntable is additionally provided with a torsion sensor, and servo actuator 13 is with turning
An electromagnetic clutch 6 and a rotary encoder 7, output shaft 1311 and the turntable 3 of the servomotor 131 are provided between disk 3
Between connected by drive shaft 8；The step (5) is further comprising the steps of：
(5.1) PLC controller 11 constantly obtains the contacts status signal of torsion sensor output；
(5.2) when exterior twisting resistance suffered by turntable 3 causes moment of torsion suffered by torsion sensor to be more than its ultimate torque, torsion
Normally opened contact closes in sensor, and normally-closed contact disconnects, then PLC controller 11 controls 3 contact separation of electromagnetic clutch so that watches
131 output shaft 1311 of servomotor for taking executing agency 13 is disconnected with drive shaft 8, and turntable 3 can be rotated with exterior twisting resistance；
(5.3) PLC controller 11 obtains the feedback rotating speed of turntable 3 by rotary encoder 7, then controls servomotor
131 are run with feeding back rotating speed；
(5.4) when exterior twisting resistance disappear so that torsion sensor contact reset when, PLC controller 11 control electromagnetism from
6 contact closure of clutch so that the output shaft 1311 of servomotor 131 is reconnected with drive shaft 8, and turntable 3 is in servomotor 131
Driving under to feed back rotating speed operation rotation to corresponding angle.
Control method provided in this embodiment realizes that dining table rotates automatically, it can be achieved that the adjustment of dining table rotary speed
With the switching of manual rotation.Demand of the user to 3 rotating speed of turntable is sensed by torsion sensor, so as to disconnect servomotor
The rotation driving of 131 pairs of turntables 3 so that external force can arbitrarily rotate turntable 3；Then again by rotary encoder 7 obtain with it is anti-
The rotating speed after turntable is driven by external force is presented, according to the driving rotating speed of this adjustment of rotational speed servomotor 131 and is exported.Realize dining table certainly
Dynamic rotation and the switching of manual rotation, the rotation of turntable and speed handoff procedure are steady.
In intelligent dining table provided in this embodiment, a torsion sensor is provided with 3 lower end of turntable, servo performs
An electromagnetic clutch 6 and a rotary encoder 7, the output shaft of the servomotor 131 are provided between mechanism 13 and turntable 3
Connected between 1311 and turntable 3 by drive shaft 8.
In the present embodiment, the groove 21 for accommodating turntable 3 is offered on the dining table body 2, is opened in the groove 21
Equipped with annular groove 211 once, which offers the upper annular groove 31 to match with lower annular groove 211, the turntable 3
It is connected between groove 21 by some balls 9, and 9 upper end of ball is arranged in annular groove 31, lower end is arranged at lower ring
In shape groove 211, annular groove 31 and the vertical section of lower annular groove 211 take the shape of the letter U on this.
Meanwhile the dining table body 2 includes desktop 22 and is arranged at the feet 23 of the lower section of desktop 22, which includes
Base 231, the column 232 being connected between desktop 22 and base 231 and the support being connected between desktop 22 and base 231
Column 233, wherein, base accommodating cavity 2311 is provided with the base 231, is provided with the column 232 and base accommodating cavity 2311
The column accommodating cavity 2321 being connected, the PLC controller 11, servo actuator 13, Extended orientation module 12 are set respectively
In in base accommodating cavity 2311, the incremental-rotating coder 14, drive shaft 8, electromagnetic clutch 6 and rotary encoder 7 divide
It is not arranged in column accommodating cavity 2321.
In the present embodiment, the turntable 3 includes layer glass and the black light-absorption layer being located between layer glass.
The black light-absorption layer can absorb the light from all directions, avoid it is reflective, in order to avoid influence infrared sensor set up work,
Cause false sense should.
Embodiment three：
The method and intelligent dining table that the present embodiment is provided with embodiment one or embodiment two are essentially identical, its main region
It is not：
It further includes step (6)：Preset by PLC controller 11 between infrared emitting end 41 and infrared receiver end 42
The time threshold T, each time threshold T being blocked correspond to a current PRF count value；When detected block after, PLC control
High-speed counter built in device 11 processed starts timing, blocks disappearance, and high-speed counter stops timing immediately, and the time is blocked in acquisition
nT；Then servo actuator 13 controls turntable 3 to rotate the angle corresponding to n current PRF count value.
The control method provided through this embodiment, when needing rotation angle range bigger, puts as long as extending shelter
The time being placed between infrared emitting end 41 and infrared receiver end 42, if infrared emitting end 41 and infrared receiver
The time being blocked between end 42 is 2T, then 3 rotating angle of turntable is the angle corresponding to 2 times of current PRF count value
Value, further increases intelligence and the convenience of turntable rotation.
To sum up, intelligent dining table provided by the invention, is controlled using infrared induction, the light path of infrared induction for obliquely,
Interference source is cleverly avoided, can realize the rotating automatic start of dining table and stopping accurately according to the action of picking up food with chopsticks of eater,
And can realize the adjustment of rotation angle range and speed, rotate and directly switch with manual rotation automatically, the degree of automation is high, response
Speed is fast, and performance is stablized, and smooth rotation is good, highly practical, low in energy consumption, and landscape integrated, can be widely used for various hotels,
The public places such as restaurant, dining room.
The above described is only a preferred embodiment of the present invention, be not intended to limit the scope of the present invention,
Therefore identical with the above embodiment of the present invention or approximate technical characteristic is used, within protection scope of the present invention.
Claims (10)
1. a kind of automatic method of controlling rotation of intelligent dining table, it is characterised in that comprise the following steps：
(1) an intelligent dining table autorotation control system is prepared, including control unit, dining table body and is arranged at dining table sheet
Turntable, landscape column on body, the control unit include PLC controller, Extended orientation module, servo actuator and incremental and revolve
Turn encoder, which includes servomotor, which is co-axially mounted with turntable；The dining table sheet
Some infrared inductors are provided with body, which includes infrared emitting end and infrared receiver end, landscape
Column is equipped with reflective mirror, the infrared ray that each infrared emitting end is sent by after mirror reflection it is reachable match with it is red
Outer receiving terminal；Each infrared inductor is electrically connected with PLC controller；
(2) turntable base position and turntable initial speed are preset by PLC controller, and the infrared ray that prestores in PLC controller
Standard IR pulse signal between transmitting terminal and infrared receiver end, PLC controller is according to each position of turntable relative to base
Angle corresponding to point position, is converted into corresponding counted number of pulses, turntable often rotates one step-by-step counting of a position correspondence
Value；
(3) the current infrared pulse signal of infrared receiver end real-time reception infrared emitting end transmitting, and will current infrared arteries and veins
Rush signal and send to PLC controller, PLC controller and contrasted current infrared pulse signal and standard IR pulse signal,
Judge whether consistent；It is if inconsistent, then it represents that to exist and block, then PLC controller calculates current infrared pulse signal and sends position
Current PRF count value of the place relative to base position is put, and sends FROM/TO and instructs to Extended orientation module, positions expanded mode
Block drives servomotor to start with incremental-rotating coder；Otherwise, the step is constantly repeated；
(4) when starting, servomotor drives turntable to be rotated with an angular speed, and at the same time, incremental-rotating coder is with identical
Angular speed rotate, produce the pulse that two-way phase difference is 90 °, by judging that phase is advanced or the relation of hysteresis, determine turntable
Direction of rotation；
(5) under the drive of servo actuator, the current PRF count value that is calculated according to PLC controller, turntable is with computing
Definite direction of rotation, rotating speed rotate corresponding angle, and behind according to the eater sensed block the action frequency from
The steering of row adjustment turntable and rotating speed.
2. the automatic method of controlling rotation of intelligent dining table according to claim 1, it is characterised in that in the step (1)
In, the calibration pulse timing waveform of standard IR pulse signal is preserved in PLC controller；In the step (3), judge red
Outside line transmitting terminal whether there is the method blocked with infrared receiver end：The current infrared pulse that PLC controller will receive
The pulse sequence waveform of signal is compared with the calibration pulse timing waveform in PLC controller；If comparison is inconsistent, represent red
Exist between outside line transmitting terminal and infrared receiver end and block；If compare consistent, expression infrared emitting end and infrared receiver
It is unobstructed between end, then the clock at infrared receiver end is adjusted to consistent with infrared emitting end, and produce a tracking arteries and veins
Rush sequential.
3. the automatic method of controlling rotation of intelligent dining table according to claim 2, it is characterised in that the step (3) is also
Comprise the following steps：
(3.1) PLC controller uses the power supply at trace pulse timing control infrared receiver end so that the electricity at infrared receiver end
Source 0.5-1.0s before the infrared pulse signal at infrared emitting end arrives is opened, the infrared pulse signal at infrared emitting end
Closed after finishing receiving；
(3.2) PLC controller enters holding state after the infrared pulse signal at infrared emitting end finishes receiving, and waits next
The arrival of infrared pulse signal.
4. the automatic method of controlling rotation of intelligent dining table according to claim 1, it is characterised in that in the step (1)
In, the turntable lower end is provided with a torsion sensor, be provided between servo actuator and turntable an electromagnetic clutch with
One rotary encoder, by driving axis connection between the output shaft and turntable of the servomotor；The step (5) further include with
Lower step：
(5.1) PLC controller constantly obtains the contacts status signal of torsion sensor output；
(5.2) when exterior twisting resistance suffered by turntable causes moment of torsion suffered by torsion sensor to be more than its ultimate torque, torsion sensing
Normally opened contact closes in device, and normally-closed contact disconnects, then PLC controller control electromagnetic clutch contact separation so that servo performs
The servo motor output shaft of mechanism is disconnected with drive shaft, and turntable can be rotated with exterior twisting resistance；
(5.3) PLC controller obtains the feedback rotating speed of turntable by rotary encoder, then controls servomotor to feed back rotating speed
Operation；
(5.4) when exterior twisting resistance disappears so that when torsion sensor contact resets, PLC controller control electromagnetic clutch touches
Point closure so that the output shaft of servomotor is reconnected with drive shaft, and turntable is under the driving of servomotor to feed back rotating speed
Operation is rotated to corresponding angle.
5. the automatic method of controlling rotation of intelligent dining table according to claim 1, it is characterised in that further include step (6)：
The time threshold T being blocked between infrared emitting end and infrared receiver end, each time threshold are preset by PLC controller
T corresponds to a current PRF count value；When having detected that the high-speed counter built in PLC controller starts timing after blocking, hide
Gear disappears, and high-speed counter stops timing immediately, and time nT is blocked in acquisition；Then servo actuator control turntable rotation n is worked as
Angle corresponding to prepulse count value.
6. implement the intelligent dining table of any the method in claim 1-5, it is characterised in that including control unit, dining table
Body and the turntable being arranged on dining table body, landscape column, the control unit include PLC controller, Extended orientation module, watch
Take executing agency and incremental-rotating coder, which includes servomotor, the incremental-rotating coder with
Turntable is co-axially mounted；Some infrared inductors are provided with the dining table body, which includes infrared emitting
End and infrared receiver end, landscape column are equipped with reflective mirror, and the infrared ray that each infrared emitting end is sent is by mirror reflection
The reachable infrared receiver end matched with it afterwards；Each infrared inductor is electrically connected with PLC controller.
7. intelligent dining table according to claim 6, it is characterised in that set between the servo actuator and turntable
There are a torsion sensor, an electromagnetic clutch and a rotary encoder, pass through between the output shaft and turntable of the servomotor
Drive axis connection.
8. intelligent dining table according to claim 6, it is characterised in that offer on the dining table body and turn for accommodating
The groove of disk, offers annular groove in the groove, which offers the upper annular to match with lower annular groove
Groove, is connected between the turntable and groove by some balls, and the ball upper end is arranged in annular groove, and lower end is arranged at down
In annular groove, vertical section of annular groove and lower annular groove takes the shape of the letter U on this.
9. intelligent dining table according to claim 7, it is characterised in that the dining table body includes desktop and is arranged at
Feet below desktop, the feet include base, the column that is connected between desktop and base and be connected to desktop and base it
Between support column, wherein, base accommodating cavity is provided with the base, be provided with the column be connected with base accommodating cavity it is vertical
Column accommodating cavity, the PLC controller, servo actuator, Extended orientation module are respectively arranged in base accommodating cavity, the increasing
Amount type rotary encoder, drive shaft, electromagnetic clutch and rotary encoder are respectively arranged in column accommodating cavity.
10. intelligent dining table according to claim 6, it is characterised in that the turntable includes layer glass and is located in
Black light-absorption layer between layer glass.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711179696.9A CN107997374A (en) | 2017-11-23 | 2017-11-23 | A kind of automatic method of controlling rotation of intelligent dining table and intelligent dining table |
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| CN201711179696.9A CN107997374A (en) | 2017-11-23 | 2017-11-23 | A kind of automatic method of controlling rotation of intelligent dining table and intelligent dining table |
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| CN112603025A (en) * | 2020-12-17 | 2021-04-06 | 湖南城市学院 | Electronic music stand convenient to regulate and control and look over |
| CN113587646A (en) * | 2021-06-18 | 2021-11-02 | 刘军 | Prevent rotation error's laboratory sintering device for intelligent manufacturing |
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