CN108756593A - Self-calibration system and its method for Full-automatic safe deposit box - Google Patents
Self-calibration system and its method for Full-automatic safe deposit box Download PDFInfo
- Publication number
- CN108756593A CN108756593A CN201810616521.8A CN201810616521A CN108756593A CN 108756593 A CN108756593 A CN 108756593A CN 201810616521 A CN201810616521 A CN 201810616521A CN 108756593 A CN108756593 A CN 108756593A
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- China
- Prior art keywords
- deposit box
- safe deposit
- position data
- photo detector
- self
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05G—SAFES OR STRONG-ROOMS FOR VALUABLES; BANK PROTECTION DEVICES; SAFETY TRANSACTION PARTITIONS
- E05G1/00—Safes or strong-rooms for valuables
- E05G1/02—Details
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05G—SAFES OR STRONG-ROOMS FOR VALUABLES; BANK PROTECTION DEVICES; SAFETY TRANSACTION PARTITIONS
- E05G1/00—Safes or strong-rooms for valuables
- E05G1/10—Safes or strong-rooms for valuables with alarm, signal or indicator
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- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to safe deposit box technical fields, specifically, being related to a kind of self-calibration system and its method for Full-automatic safe deposit box.The self-calibration system includes the light supply apparatus being set to below any safe deposit box storage groove of safe deposit box storage rack, and the four-quadrant photo detector at grasping mechanism, four-quadrant photo detector be corresponding with the position of light supply apparatus；Four-quadrant photo detector is used for the real time position data of probe source device and controls unit in being uploaded to one, middle control unit is used to be compared real time position data with reference position data and finely tune by an actuating mechanism controls grasping mechanism, until real time position data is identical as reference position data.The method for self-calibrating is realized based on above-mentioned self-calibration system.The present invention can realize grasping mechanism and capture the automatic calibration of relative position between target.
Description
Technical field
The present invention relates to safe deposit box technical fields, specifically, being related to a kind of self calibration system for Full-automatic safe deposit box
System and its method.
Background technology
Safe deposit box is that bank sets for convenience of the safe and reliable secrecy that client deposits valuables and document and provides
It applies, it can store gold, silver and jewelry, heritage treasure, marketable securities, contract, contract, capsule information and master files etc., have rent rate
Suitable, great variety of goods and it is safe and reliable the features such as.Safe deposit box service is got over by its remarkable secret sexual function and cost performance
Carry out more users to approve.
Safe deposit box product is broadly divided into fixed safe deposit box, mobile combination safe deposit box and full-automatic keeping currently on the market
3 major class product of case, wherein Full-automatic safe deposit box are novel product.Full-automatic safe deposit box power relies on motor, and stroke is by control
Give the pulse number of motor.It needs to carry out each babinet holding tank position when this makes existing Full-automatic safe deposit box run for the first time
Pulse Exact calculation positions, and after long-play, abrasion or dust due to machinery collect together product in tracks, are easy to make
Especially long to movement length at deviations, error, which is saved bit by bit, to be become apparent, and a series of failures are caused, and maintenance is big, stops
Machine time length etc..
Invention content
The present invention provides a kind of self-calibration systems for Full-automatic safe deposit box, can overcome certain of the prior art
Or certain defects.
Self-calibration system according to the present invention for Full-automatic safe deposit box comprising be set to any guarantor of safe deposit box storage rack
Light supply apparatus below bobbin carriage storage groove, and the four-quadrant photo detector at grasping mechanism, four-quadrant photo detector
It is corresponding with the position of light supply apparatus；Four-quadrant photo detector is used for the real time position data of probe source device and is uploaded to
Unit is controlled in one, middle control unit is used to be compared real time position data with reference position data and control by an executing agency
Grasping mechanism fine tuning processed, until real time position data is identical as reference position data.
Self-calibration system through the invention can visit the position of light supply apparatus using four-quadrant photo detector
It surveys, so as to obtain position of the respective sources device at four-quadrant photo detector.This makes Full-automatic safe deposit box debug
When stage (before first use), manually grasping mechanism can be aligned with each safe deposit box storage groove, and can will at this time
Reference position data storage of position of the respective sources device at four-quadrant photo detector as corresponding safe deposit box storage groove
At middle control unit.Later, in Full-automatic safe deposit box practical application, grasping mechanism can be moved to accordingly by executing agency
At safe deposit box storage groove, and during four-quadrant photo detector can be detected and be passed through to respective sources device in real time at this time
Real time position data is compared by control unit with reference position data, so that middle control unit can pass through executing agency pair
The position of grasping mechanism is finely adjusted.By this measure, it can effectively ensure grasping mechanism and corresponding safe deposit box storage slotware
Location accuracy, and then the mismatch error caused by the causes such as abrasion, the deformation of machinery can be effectively reduced.
Preferably, light supply apparatus uses light emitting diode.Light supply apparatus can use existing conventional light emitting diode,
To low cost, it is easy to implement.
Preferably, grasping mechanism include one crawl bracket, crawl bracket include sequentially connected first side plate, bottom plate and
It is vertical at bottom plate both ends to second side plate, the first side plate and the second side plate homonymy；The inside phase of first side plate and the second side plate
To being vertically equipped with a support plate at position, the safe deposit box grabbing groove for coordinating with safe deposit box, support are formed above support plate
The detector mounting groove for installing four-quadrant photo detector is formed below plate.Consequently facilitating realizing.
Preferably, when grasping mechanism is aligned with any safe deposit box storage groove, four-quadrant photo detector and respective sources
The distance of the horizontal direction of device is no more than 3cm, the vertical direction of four-quadrant photo detector central point and respective sources device
Distance be no more than 2cm.So as to preferably ensure detection accuracy of the four-quadrant photo detector to respective sources device.
Preferably, four-quadrant photo detector includes 4 photodetectors.
The present invention also provides a kind of method for self-calibrating for Full-automatic safe deposit box comprising following steps：
Step 1：It is respectively provided with a light supply apparatus at the lower section of any safe deposit box storage groove of safe deposit box storage rack；
A four-quadrant photo detector is arranged at grasping mechanism, and makes four-quadrant photo detector and light for step 2
The position of source device is corresponding；
Step 3 uses four-quadrant photo detector to detect the position of light supply apparatus to obtain the reality of light supply apparatus
When position data, and control unit in being sent to one；
Real time position data is compared with reference position data and is controlled by an executing agency by step 4, middle control unit
Grasping mechanism operation processed, until real time position data is identical as reference position data.
Method for self-calibrating in through the invention so that grasping mechanism is every time at operation to corresponding safe deposit box storage groove
When, detection that can be by four-quadrant photo detector to light supply apparatus position, and realize the calibration to grasping mechanism, to
It can preferably realize the smooth push-and-pull of safe deposit box.By this kind of method can preferably realize grasping mechanism it is upper and lower, left,
Right accurate adjustment, and then preferably realize the self calibration of grasping mechanism.
Preferably, further including reference position data acquisition step, specifically, by being manually directed at safe deposit box storage rack
Corresponding safe deposit box storage groove, and the position data for the light supply apparatus that four-quadrant photo detector at this time is detected is as benchmark
Position data, and be stored at middle control unit.
In the method for self-calibrating of the present invention, in first operation, grasping mechanism can be artificially adjusted to suitable position, directly
It can smoothly push away to grasping mechanism, draw safe deposit box, and by the position of the light supply apparatus of the acquisition of four-quadrant photo detector at this time
As reference position data, to preferably realize the initialization of grasping mechanism.Later, corresponding each safe deposit box storage groove,
A motor operating pulse information can be arranged roughly in middle control unit correspondingly, and this method is (real with existing setting method
Safe deposit box storage groove location is surveyed to obtain with reference to motor electronic gear ratio with after initial point distance) it is identical, only to the requirement of accuracy
It does not need to reach the degree that grasping mechanism can preferably be coordinated with safe deposit box storage groove, it is only necessary to so that four-quadrant photoelectricity
The investigative range of detector can cover the range of exposures of the light supply apparatus at corresponding safe deposit box storage groove.Later, pass through
The cooperation of four-quadrant photo detector and respective sources device can preferably realize the self calibration of grasping mechanism.
Description of the drawings
Fig. 1 is the schematic diagram of the safe deposit box storage rack in embodiment 1；
Fig. 2 is the schematic diagram of the babinet transfer frame in embodiment 1；
Fig. 3 is a kind of system block diagram of self-calibration system for Full-automatic safe deposit box in embodiment 1；
Fig. 4 is the schematic diagram of the four-quadrant photo detector in embodiment 1；
Fig. 5 is a kind of flow diagram of method for self-calibrating for Full-automatic safe deposit box in embodiment 1.
Specific implementation mode
To further appreciate that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.It should be understood that
, embodiment be only to the present invention explain and and it is non-limiting.
Embodiment 1
A kind of self-calibration system for Full-automatic safe deposit box is present embodiments provided, optical plan can be used to carry out
Deviation calibration can the preferably realization pair when abrasion or deformation occur for mechanical structure after determining relative standard position
The positioning of safe deposit box.
As shown in Figure 1, for the schematic diagram of the safe deposit box storage rack 100 in the present embodiment.Wherein, safe deposit box storage rack 100
Place's rectangular array has multiple safe deposit box storage grooves 110,110 lower section of each safe deposit box storage groove to be equipped with a light supply apparatus 120.
As shown in Fig. 2, for the part-structure schematic diagram of the grasping mechanism 210 in the present embodiment.Wherein, grasping mechanism 210
For realizing the crawl to safe deposit box 230, a four-quadrant photo detector 220 is equipped at grasping mechanism 210, four-quadrant photoelectricity is visited
Device 220 is surveyed for being coordinated with light supply apparatus 120.
As shown in figure 3, the self-calibration system of the present embodiment includes being set to 100 any safe deposit box storage groove of safe deposit box storage rack
The light supply apparatus 120 and the four-quadrant photo detector 220 at grasping mechanism 210 of 110 lower sections.Wherein, four-quadrant photoelectricity
Detector 220 is corresponding with the position of light supply apparatus 120.Four-quadrant photo detector 220 is used for the reality of probe source device 120
When position data and unit is controlled in being uploaded to one, middle control unit is for real time position data to be compared with reference position data
And finely tuned by an actuating mechanism controls grasping mechanism 210, until real time position data is identical as reference position data.
Self-calibration system through this embodiment can use position of the four-quadrant photo detector 220 to light supply apparatus 120
It sets and is detected, so as to obtain position of the respective sources device 120 at four-quadrant photo detector 220.This makes entirely
When automatic safe deposit box debugging stage (before first use), can manually by grasping mechanism 210 and each safe deposit box storage groove 110 into
Row alignment, and can be using position of the respective sources device 120 at four-quadrant photo detector 220 at this time as corresponding safe deposit box
The reference position data of storage groove 110 are stored at middle control unit.Later, in Full-automatic safe deposit box practical application, machine is executed
Grasping mechanism 210 can be moved at corresponding safe deposit box storage groove 110 by structure, and four-quadrant photo detector 220 at this time
Can in real time to respective sources device 120 carry out detection and by middle control unit by real time position data and reference position data into
Row compares, so that middle control unit can be finely adjusted the position of grasping mechanism 210 by executing agency.By this measure,
It can effectively ensure the location accuracy of grasping mechanism 210 and corresponding safe deposit box storage groove 110, and then can effectively drop
The low mismatch error caused by the causes such as abrasion, the deformation of machinery.
In the present embodiment, light supply apparatus 120 uses light emitting diode.Light supply apparatus 120 can use existing conventional hair
Optical diode is easy to implement to low cost.
In the present embodiment, grasping mechanism 210 includes a crawl bracket 211, and crawl bracket 211 includes sequentially connected first
It is vertical at bottom plate both ends to side plate, bottom plate and the second side plate, the first side plate and the second side plate homonymy；First side plate and the second side
The inside relative position of plate is vertically equipped with a support plate 212, and 212 top of support plate is formed for coordinating with safe deposit box 230
Safe deposit box grabbing groove 213, the lower section of support plate 212 forms the detector mounting groove for installing four-quadrant photo detector 220
214.Consequently facilitating realizing.
In the present embodiment, when grasping mechanism 210 is aligned with any safe deposit box storage groove 110, four-quadrant photo detector 220
With at a distance from the horizontal direction of respective sources device 120 be no more than 3cm, 220 central point of four-quadrant photo detector and corresponding light
The distance of the vertical direction of source device 120 is no more than 2cm.So as to preferably ensure four-quadrant photo detector 220 to phase
Answer the detection accuracy of light supply apparatus 120.
As shown in figure 4, four-quadrant photo detector 220 includes 4 photodetectors.Wherein, photodetector can be adopted
With existing conventional photodetector, each photodetector can be responsible for the detection to a different quadrant inner regions.Four-quadrant
Photodetector 220 is limited when being detected to respective sources device 120, each photodetector can generate a telecommunications
Number and be sent to middle control unit after treatment, middle control unit can be according to the amplitude size determination for receiving 4 photosignals
Location information of the respective sources device 120 relative to each quadrant, so as to preferably obtain the reality of respective sources device 120
When position data.
Grasping mechanism 210 in the present embodiment can use conventional mechanical arm.
Self-calibration system based on the present embodiment, the present embodiment additionally provide a kind of self calibration for Full-automatic safe deposit box
Method comprising following steps：
Step 1：It is respectively provided with a light supply apparatus at the lower section of any safe deposit box storage groove 110 of safe deposit box storage rack 100
120；
A four-quadrant photo detector 220 is arranged at grasping mechanism 210, and makes four-quadrant photodetection for step 2
Device 220 is corresponding with the position of light supply apparatus 120；
Step 3 uses four-quadrant photo detector 220 to detect the position of light supply apparatus 120 to obtain light source dress
120 real time position data is set, and unit is controlled in being sent to one；
Real time position data is compared with reference position data and is controlled by an executing agency by step 4, middle control unit
Grasping mechanism 210 processed is run, until real time position data is identical as reference position data.
Method for self-calibrating in through this embodiment so that grasping mechanism 210 is every time in operation to corresponding safe deposit box storage
When at slot 110, detection that can be by four-quadrant photo detector 220 to 120 position of light supply apparatus, and realize to gripper
The calibration of structure 210, so as to preferably realize the smooth push-and-pull of safe deposit box 230.It can preferably be realized by this kind of method
The accurate adjustment of the upper and lower, left and right of grasping mechanism 210, and then preferably realize the self calibration of grasping mechanism 210.
The method for self-calibrating of the present embodiment further includes reference position data acquisition step, specifically, by manually will keeping
Case storage rack 100 is directed at corresponding safe deposit box storage groove 110, and by four-quadrant photo detector 220 detects at this time light source
The position data of device 120 is stored in as reference position data at middle control unit.
In the method for self-calibrating of the present embodiment, in first operation, grasping mechanism 210 can be artificially adjusted to suitable position
It sets, until grasping mechanism 210 can be pushed away smoothly, draw safe deposit box 230, and four-quadrant photo detector 220 at this time is acquired
The position of light supply apparatus 120 is as reference position data, to preferably realize the initialization of grasping mechanism 210.Later, right
Answer each safe deposit box storage groove 110, middle control unit that one motor operating pulse information can be set roughly correspondingly, it should
Method (obtains after 110 position of actual measurement safe deposit box storage groove and initial point distance with reference to motor electronic gear ratio) with existing setting method
It is identical, only do not need to reach that required in the prior art degree --- grasping mechanism 210 can to the requirement of accuracy
Preferably coordinated with safe deposit box storage groove 110；And only it is required that the investigative range of four-quadrant photo detector 220 can be covered
Cover the range of exposures of the light supply apparatus 120 at corresponding safe deposit box storage groove 110.Later, pass through four-quadrant photo detector
220 and the cooperation of respective sources device 120 can preferably realize the self calibration of grasping mechanism 210.
Self-calibration system through this embodiment and method for self-calibrating can preferably realize grasping mechanism 210 and crawl
The automatic calibration of relative position between target, the variety of problems that can preferably overcome absolute position to be brought by machine error, and school
Quasi- position fixing process is intervened without extraneous, and reliability is higher.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (7)
1. the self-calibration system for Full-automatic safe deposit box, it is characterised in that：Including being set to safe deposit box storage rack (100) any guarantor
Light supply apparatus (120) below bobbin carriage storage groove (110), and the four-quadrant photo detector at grasping mechanism (210)
(220), four-quadrant photo detector (220) is corresponding with the position of light supply apparatus (120)；Four-quadrant photo detector (220)
For probe source device (120) real time position data and unit is controlled in being uploaded to one, middle control unit is used for real time position
Data are compared with reference position data and are finely tuned by an actuating mechanism controls grasping mechanism (210), until real time position
Data are identical as reference position data.
2. the self-calibration system according to claim 1 for Full-automatic safe deposit box, it is characterised in that：Light supply apparatus
(120) light emitting diode is used.
3. the self-calibration system according to claim 1 for Full-automatic safe deposit box, it is characterised in that：Grasping mechanism
(210) include a crawl bracket (211), crawl bracket (211) includes sequentially connected first side plate, bottom plate and the second side plate,
It is vertical at bottom plate both ends to first side plate and the second side plate homonymy；The inside relative position of first side plate and the second side plate is equal
It is vertically equipped with a support plate (212), forms the safe deposit box grabbing groove for coordinating with safe deposit box (230) above support plate (212)
(213), the detector mounting groove (214) for installing four-quadrant photo detector (220) is formed below support plate (212).
4. the self-calibration system according to claim 1 for Full-automatic safe deposit box, it is characterised in that：Grasping mechanism
(210) when being aligned with any safe deposit box storage groove (110), four-quadrant photo detector (220) and respective sources device (120)
The distance of horizontal direction is no more than 3cm, and four-quadrant photo detector (220) central point is vertical with respective sources device (120)
The distance in direction is no more than 2cm.
5. the self-calibration system according to claim 1 for Full-automatic safe deposit box, it is characterised in that：Four-quadrant photoelectricity is visited
It includes 4 photodetectors to survey device (220).
6. the method for self-calibrating for Full-automatic safe deposit box comprising following steps：
Step 1：It is respectively provided with a light supply apparatus at the lower section of any safe deposit box storage groove (110) of safe deposit box storage rack (100)
(120)；
A four-quadrant photo detector (220) is arranged at grasping mechanism (210), and makes four-quadrant photodetection for step 2
Device (220) is corresponding with the position of light supply apparatus (120)；
Step 3 uses four-quadrant photo detector (220) to detect the position of light supply apparatus (120) to obtain light source dress
The real time position data of (120) is set, and unit is controlled in being sent to one；
Real time position data is compared with reference position data and is grabbed by an actuating mechanism controls by step 4, middle control unit
Mechanism (210) is taken to run, until real time position data is identical as reference position data.
7. the method for self-calibrating according to claim 6 for Full-automatic safe deposit box, it is characterised in that：It further include benchmark position
Data acquisition step is set, specifically, by the way that safe deposit box storage rack (100) is manually directed at corresponding safe deposit box storage groove (110),
And will four-quadrant photo detector (220) detects at this time light supply apparatus (120) position data as reference position data,
And it is stored at middle control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810616521.8A CN108756593B (en) | 2018-06-15 | 2018-06-15 | Self-calibration system for fully automatic safe deposit box and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810616521.8A CN108756593B (en) | 2018-06-15 | 2018-06-15 | Self-calibration system for fully automatic safe deposit box and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108756593A true CN108756593A (en) | 2018-11-06 |
| CN108756593B CN108756593B (en) | 2023-09-26 |
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ID=64021192
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810616521.8A Active CN108756593B (en) | 2018-06-15 | 2018-06-15 | Self-calibration system for fully automatic safe deposit box and method thereof |
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| CN204186208U (en) * | 2014-10-10 | 2015-03-04 | 广州优利康沛科技有限公司 | A kind of Full-automatic safe deposit box |
| CN205743438U (en) * | 2016-05-12 | 2016-11-30 | 湖南银宝科技发展有限公司 | Column storing box device |
| CN208330019U (en) * | 2018-06-15 | 2019-01-04 | 安徽中科智链信息科技有限公司 | Self-calibration system for Full-automatic safe deposit box |
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2018
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| KR20100027839A (en) * | 2008-09-03 | 2010-03-11 | 인우시스템 주식회사 | System and method for management a safe deposit box |
| CN103063412A (en) * | 2012-12-18 | 2013-04-24 | 华中科技大学 | System and method for optical gauge sample stage calibration |
| CN204186208U (en) * | 2014-10-10 | 2015-03-04 | 广州优利康沛科技有限公司 | A kind of Full-automatic safe deposit box |
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| CN108756593B (en) | 2023-09-26 |
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