CN108711450A - Equipment calibration method in intelligent drugstore - Google Patents
Equipment calibration method in intelligent drugstore Download PDFInfo
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- CN108711450A CN108711450A CN201810482318.6A CN201810482318A CN108711450A CN 108711450 A CN108711450 A CN 108711450A CN 201810482318 A CN201810482318 A CN 201810482318A CN 108711450 A CN108711450 A CN 108711450A
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/40—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/10—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients
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Abstract
The invention discloses equipment calibration method in a kind of intelligent drugstore, including robot origin position calibration and the calibration of displacement conversion coefficient, the displacement conversion coefficient calibration includes：Measure the physical distance between positive limit sensor and negative limit sensor；Robot is moved to negative limit sensor, the value of feedback of recorder people at this time when encountering negative limit sensor；Robot is moved to positive limit sensor, and the value of feedback of robot at this time is recorded when encountering positive limit sensor；According to the displacement conversion coefficient of motor in two groups of value of feedback calculating robots.The present invention can calibrate the displacement conversion coefficient of motor in robot, so that it is guaranteed that the walking precision of robot, so that it is guaranteed that robot can accurately execute medicine box grasping manipulation.In addition, the present invention also calibrates the other equipment in intelligent drugstore, it is ensured that after equipment replacement, intelligent drugstore can work normally, and the mode of operation of the present invention is simple, is easy to implement.
Description
Technical field
The present invention relates to intelligent drugstore field, more particularly to equipment calibration method in a kind of intelligent drugstore.
Background technology
Automatic dispensary is to run a ripe technology in field in pharmacy in the world, in global developed country
Obtain more universal application.This technology can greatly improve drug zero by artificial intelligence and machine transfers means
The efficiency of terminal storage and transportation is sold, error rate is reduced, saves valuable area of business, then causes retailer's operation flow again
It makes, brings the transformation of management style and the upgrading of operation mode.
It needs to be added medicine to using automation equipment in intelligent drugstore and medicine is taken to operate, when equipment fault is repaired or is maintained
Later, its own can change, if adjusted not in time, can influence to add medicine to and medicine is taken to operate.
Invention content
Equipment calibration method in a kind of intelligent drugstore of present invention offer, is asked with solving above-mentioned technology existing in the prior art
Topic.
In order to solve the above technical problems, the present invention provides a kind of intelligent drugstore inner machine people's calibration method, the intelligent drugstore
Interior equipment includes：Robot, origin sensor, positive limit sensor and negative limit sensor, including robot origin position
Calibration and the calibration of displacement conversion coefficient, wherein the displacement conversion coefficient, which is calibrated, includes：Measure positive limit sensor and cathode limit
Physical distance X between sensor；It sets robot and enters automatic calibration mode；Robot is moved to negative limit sensor, when
The feedback value X 1 of recorder people at this time when encountering negative limit sensor；Robot is moved to positive limit sensor, when encountering just
The feedback value X 2 of robot at this time is recorded when limit sensor；According to the position of motor in two groups of feedback value Xs 1, X2 calculating robots
It moves conversion coefficient and updates.
Preferably, in robot motor displacement conversion coefficient=X/ (s |X2-X1|/ motor encoder resolution ratio).
Preferably, two groups of feedback value Xs 1 and X2 are measured by the encoder of motor and obtained, the positive and negative limit passes
Physical distance between sensor is measured by length tool to be obtained.
Preferably, when replacing origin sensor, the robot origin position calibration includes：
Confirm whether robot finds origin sensor, if so, into next step, if it is not, then first looking for origin sensor；
Robot, which is found, bears limit sensor, and records the position M1 of the negative limit sensor measured；
The position that this is born to limit sensor is compared with the position M2 before replacing origin sensor；
Calculate and update the origin displacement amount of robot.
Preferably, as M1-M2 < 0, show that origin sensor moves M2-M1 to positive limit direction, then origin is inclined
Shifting amount H=- (H0+ (M1-M2)), H0 are original origin offset.
Preferably, as M1-M2 > 0, show that origin sensor moves M1-M2 to negative limit direction, then origin is inclined
Shifting amount H=- (H0- (M1-M2)), H0 are original origin offset.
Preferably, when the robot power interruption recovering, origin sensor is directly found by robot, to realize origin
Position correction.
Preferably, when being calibrated to positive limit sensor or negative limit sensor：
Whether robot is first confirmed in origin recovery state, if it is not, it is laggard then to carry out origin position calibration to robot
Enter next step, if so, being directly entered next step；
Then, positive limit sensor or negative limit sensor are found by robot, and record the positive limit sensing measured
The position of device or negative limit sensor；
The position of positive limit sensor or negative limit sensor is updated.
Compared with prior art, intelligent drugstore inner machine people's calibration method of the invention, including robot origin position school
Accurate and displacement conversion coefficient calibration, wherein the displacement conversion coefficient, which is calibrated, includes：It measures positive limit sensor and cathode limit passes
Physical distance X between sensor；It sets robot and enters automatic calibration mode；Robot is moved to negative limit sensor, when touching
To the feedback value X 1 of recorder people when negative limit sensor at this time；Robot is moved to positive limit sensor, when encountering anode
The feedback value X 2 of robot at this time is recorded when limiting sensor；According to the displacement of motor in two groups of feedback value Xs 1, X2 calculating robots
Conversion coefficient simultaneously updates.The present invention can calibrate the displacement conversion coefficient of motor in robot, so that it is guaranteed that robot
Walking precision, so that it is guaranteed that robot can accurately execute medicine box grasping manipulation.In addition, the present invention is also in intelligent drugstore
Other equipment is calibrated, it is ensured that after equipment replacement, intelligent drugstore can work normally, and the mode of operation letter of the present invention
It is single, it is easy to implement.
Description of the drawings
Fig. 1 is the operating process schematic diagram that displacement conversion coefficient is calibrated in the present invention；
Fig. 2 is the operating process schematic diagram of robot origin position calibration in the present invention.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific implementation mode be described in detail.It should be noted that attached drawing of the present invention is all made of simplified form and uses non-essence
Accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
The present invention provides a kind of intelligent drugstore inner machine people's calibration method, and the equipment in the intelligent drugstore includes：Robot,
Origin sensor, positive limit sensor and negative limit sensor.Therefore the present invention be used for the robot, origin sensor and
The position of positive and negative limit sensor is calibrated, to ensure that intelligent drugstore can be with normal operation.
Due to the origin sensor be with the motor cooperating in robot, therefore to the position correction of origin sensor
It that is to say the origin position calibration to robot.Further, since carrying encoder in motor, which can be to the row of motor
It walks distance to measure, but is had differences between the distance and actual physics distance of its measurement, therefore need the displacement to motor
Conversion coefficient is calibrated.Wherein, the displacement conversion coefficient refers to：Motor internal rotor revolves the distance actually walked that turns around.
Please refer to Fig. 1, the step of displacement conversion coefficient calibration includes：
Physical distance X between positive limit sensor and negative limit sensor is measured using conventional survey tool；
It sets robot and enters automatic calibration mode；
Robot is moved to negative limit sensor, the value of feedback of recorder people at this time when encountering negative limit sensor
X1, certainly, the feedback value X 1 are measured by the encoder of motor and are obtained, and in other words, feedback value X 1 is not the practical walking of robot
Distance, but the distance that encoder measurement obtains in motor.
Then, robot is moved to positive limit sensor, and when encountering positive limit sensor, record robot at this time is anti-
Feedback value X2；Likewise, the practical travel distance of numerical value rather than robot that encoder measurement when feedback value X 2 in motor obtains.
According to the displacement conversion coefficient of motor in two groups of feedback value Xs 1, X2 calculating robots and update.Specifically, robot
The displacement conversion coefficient of middle motor=X/ (s |X2-X1|/ motor encoder resolution ratio).Wherein, place of the motor encoder to displacement
Reason mode is：The displacement first measured is converted into periodic electric signal, then this electric signal is transformed into counting pulse, uses arteries and veins
The number of punching indicates that the size of displacement, the motor encoder resolution ratio refer to that the rotor of motor revolves corresponding pulse of turning around
Number, therefore, by calculating |X2-X1|/ motor encoder resolution ratio can obtain the electronics of motor in positive limit sensor and bear
The number of total coils rotated when being moved between limit sensor, in conjunction with the physical distance between positive limit sensor and negative limit sensor
X can obtain the displacement conversion coefficient of motor, be updated to the displacement conversion coefficient, to complete the electricity to robot
The calibration of the displacement conversion coefficient of machine.
Please refer to Fig. 2, when replacing origin sensor, position when being installed again due to origin sensor can with before
There are deviations for position, and robot is needed using fixed position as zero, and the setting of the position is with the origin sensing before replacement
Device may be the origin sensor position before replacing as reference object, it is also possible to which the origin before distance is replaced passes
Some position of sensor certain distance.Therefore need to measure the offset distance of front and back origin sensor, it is set by the offset distance
The origin offset of motor in robot is set, to realize that the origin position to robot is calibrated.Wherein, the origin offset
Refer to：Robot can be using the position of its deviation from origin sensor as zero, and the distance between the position and origin sensor are
Origin offset.
Therefore the present embodiment is mainly to carry out origin position school to the motor in the robot by the origin offset
It is accurate.Its step specifically includes：
First, confirm whether robot finds origin sensor, if so, into next step, if it is not, then showing robot
In power interruption recovering state, need that the robot of power interruption recovering is first allowed to find origin sensor, at this time in robot motor away from
It is 0 from value, in other words, robot is using origin sensor position as origin at this time.
Then, robot, which is found, bears limit sensor, and records the position M1 of the negative limit sensor measured；
The position M1 that this is born to limit sensor is compared with the position M2 before replacing origin sensor, that is to say
It says, the present embodiment measures origin sensor and replacing longitudinal separation object of reference respectively using negative limit sensor as object of reference
Distance can easily learn that origin sensor replaces front and back position deviation by comparing.
The origin displacement amount of robot is obtained by calculating, and it is updated.Specifically, as M1-M2 < 0, table
Before bright origin sensor is relative to replacement, M2-M1 is moved to positive limit direction, then origin offset H=- (H0+ (M1-
M2)), H0 is original origin offset in robot, and H0 can be zero.As M1-M2 > 0, show origin sensor to negative
Limit direction moves M1-M2, then origin offset H=- (H0- (M1-M2)), and H0 is original origin offset.
By in new origin offset update to robot, robot will be after finding origin sensor according to origin
Offset is automatically moved to zero, and is 0 by the distance value of motor in robot at this time.
Further, when the robot power interruption recovering, the arrange parameter of origin offset will not lose, but need
Again origin sensor is found, after finding origin sensor, can realize that origin position is calibrated according to origin offset.
When needing to replace positive limit sensor or negative limit sensor, the position of origin sensor is at this time
It is fixed, therefore only need to confirm whether robot is in power interruption recovering state, if if, it needs first to carry out origin to robot
Position correction and then then it is directly entered next step if not into next step；Then, the positive limit is found by robot
The position of sensor positive limit sensor or negative limit sensor that either negative limit sensor and record measure, the survey
Numerical quantity is the actual installation position of positive limit sensor or negative limit sensor；Positive limit sensor or cathode are limited
The position of sensor is updated.
Obviously, those skilled in the art can carry out invention spirit of the various modification and variations without departing from the present invention
And range.If in this way, these modifications and changes of the present invention belong to the claims in the present invention and its equivalent technologies range it
Interior, then the present invention is also intended to including these modification and variations.
Claims (8)
1. equipment calibration method in a kind of intelligent drugstore, the equipment in the intelligent drugstore includes：Robot, origin sensor, just
Limit sensor and negative limit sensor, which is characterized in that it is calibrated including robot origin position calibration and displacement conversion coefficient,
Wherein, the displacement conversion coefficient, which is calibrated, includes：
Measure the physical distance X between positive limit sensor and negative limit sensor；
It sets robot and enters automatic calibration mode；
Robot is moved to negative limit sensor, the feedback value X 1 of recorder people at this time when encountering negative limit sensor；
Robot is moved to positive limit sensor, and the feedback value X 2 of robot at this time is recorded when encountering positive limit sensor；
According to the displacement conversion coefficient of motor in two groups of feedback value Xs 1, X2 calculating robots and update.
2. equipment calibration method in intelligent drugstore as described in claim 1, which is characterized in that the displacement of motor turns in robot
Change coefficient=X/ (s |X2-X1|/ motor encoder resolution ratio).
3. equipment calibration method in intelligent drugstore as described in claim 1, which is characterized in that two groups of feedback value Xs 1 and X2
It is measured and is obtained by the encoder of motor, the physical distance between the positive and negative limit sensor is obtained by length tool measurement
.
4. equipment calibration method in intelligent drugstore as described in claim 1, which is characterized in that when replacing origin sensor,
The robot origin position is calibrated：
Confirm whether robot finds origin sensor, if so, into next step, if it is not, then first looking for origin sensor；
Robot, which is found, bears limit sensor, and records the position M1 of the negative limit sensor measured；
The position that this is born to limit sensor is compared with the position M2 before replacing origin sensor；
Calculate and update the origin displacement amount of robot.
5. equipment calibration method in intelligent drugstore as claimed in claim 4, which is characterized in that as M1-M2 < 0, show original
Point sensor moves M2-M1 to positive limit direction, then origin offset H=- (H0+ (M1-M2)), H0It is inclined for original origin
Shifting amount.
6. equipment calibration method in intelligent drugstore as claimed in claim 4, which is characterized in that as M1-M2 > 0, show original
Point sensor moves M1-M2 to negative limit direction, then origin offset H=- (H0(M1-M2)), H0It is inclined for original origin
Shifting amount.
7. equipment calibration method in intelligent drugstore as described in claim 1 or 4, which is characterized in that when the robot powers off
When recovery, origin sensor is directly found by robot, to realize that origin position is calibrated.
8. equipment calibration method in intelligent drugstore as described in claim 1, which is characterized in that positive limit sensor or bear
When limit sensor is calibrated：
First confirm robot whether in origin restore state, if it is not, then to robot carry out origin position calibration after enter under
One step, if so, being directly entered next step；
Then, positive limit sensor or negative limit sensor are found by robot, and record the positive limit sensor measured or
Person bears the position of limit sensor；
The position of positive limit sensor or negative limit sensor is updated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810482318.6A CN108711450B (en) | 2018-05-18 | 2018-05-18 | Method for calibrating equipment in intelligent pharmacy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810482318.6A CN108711450B (en) | 2018-05-18 | 2018-05-18 | Method for calibrating equipment in intelligent pharmacy |
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| Publication Number | Publication Date |
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| CN108711450A true CN108711450A (en) | 2018-10-26 |
| CN108711450B CN108711450B (en) | 2021-05-04 |
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| CN201810482318.6A Active CN108711450B (en) | 2018-05-18 | 2018-05-18 | Method for calibrating equipment in intelligent pharmacy |
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| CN101579664A (en) * | 2009-06-22 | 2009-11-18 | 中国电子科技集团公司第四十一研究所 | Adhesive spraying device and adhesive spraying control method |
| US20110061441A1 (en) * | 2009-09-14 | 2011-03-17 | Ko Byoung Gwan | Gantry stage orthogonality error measurement method and error compensation method for position processing |
| CN103482415A (en) * | 2012-06-07 | 2014-01-01 | 村田机械株式会社 | Textile machine, standby position determining method of driven member of winding unit, and winding unit |
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