CN108756593B - Self-calibration system for fully automatic safe deposit box and method thereof - Google Patents
Self-calibration system for fully automatic safe deposit box and method thereof Download PDFInfo
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- CN108756593B CN108756593B CN201810616521.8A CN201810616521A CN108756593B CN 108756593 B CN108756593 B CN 108756593B CN 201810616521 A CN201810616521 A CN 201810616521A CN 108756593 B CN108756593 B CN 108756593B
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- position data
- light source
- source device
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- photoelectric detector
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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
Abstract
The invention relates to the technical field of safe deposit boxes, in particular to a self-calibration system and a self-calibration method for a full-automatic safe deposit box. The self-calibration system comprises a light source device arranged below any storage tank of the storage rack of the storage tank and a four-quadrant photoelectric detector arranged at the grabbing mechanism, wherein the four-quadrant photoelectric detector corresponds to the position of the light source device; the four-quadrant photoelectric detector is used for detecting real-time position data of the light source device and uploading the real-time position data to the central control unit, and the central control unit is used for comparing the real-time position data with the reference position data and controlling the grabbing mechanism to finely adjust the real-time position data until the real-time position data is identical with the reference position data through an executing mechanism. The self-calibration method is realized based on the self-calibration system. The invention can realize the automatic calibration of the relative position between the grabbing mechanism and the grabbing target.
Description
Technical Field
The invention relates to the technical field of safe deposit boxes, in particular to a self-calibration system and a self-calibration method for a full-automatic safe deposit box.
Background
The bank safe deposit box is a safe and reliable secret facility provided by the bank for conveniently depositing valuables and documents by clients, can store gold and silver jewelry, cultural relics, securities, contracts, important data, secret files and the like, and has the characteristics of proper lease price, complete varieties, safety, reliability and the like. The safe deposit box service is accepted by more and more users by virtue of its excellent privacy function and cost performance.
The bank safe deposit box products in the market at present are mainly divided into a fixed safe deposit box, a movable combined safe deposit box and a full-automatic safe deposit box 3, wherein the full-automatic safe deposit box is a novel product. The power of the full-automatic safe deposit box depends on a motor, and the stroke depends on the number of pulses given to the motor. The method ensures that the pulse fine calculation and positioning are required to be carried out on the storage groove position of each box body when the existing full-automatic safe deposit box runs for the first time, and after long-time running, the positioning deviation is easy to be caused due to mechanical abrasion or accumulation of dust on a moving track, and particularly, the error accumulation is more obvious for longer moving length, so that a series of faults, large maintenance amount, long downtime and the like are caused.
Disclosure of Invention
The present invention provides a self-calibrating system for a fully automated safe that overcomes some or all of the shortcomings of the prior art.
The self-calibration system for the full-automatic safe deposit box comprises a light source device arranged below any safe deposit box storage groove of the safe deposit box storage rack and a four-quadrant photoelectric detector arranged at the grabbing mechanism, wherein the four-quadrant photoelectric detector corresponds to the position of the light source device; the four-quadrant photoelectric detector is used for detecting real-time position data of the light source device and uploading the real-time position data to the central control unit, and the central control unit is used for comparing the real-time position data with the reference position data and controlling the grabbing mechanism to finely adjust the real-time position data until the real-time position data is identical with the reference position data through an executing mechanism.
The self-calibration system can detect the position of the light source device by adopting the four-quadrant photoelectric detector, so that the position of the corresponding light source device at the four-quadrant photoelectric detector can be obtained. This enables the gripping means to be manually aligned with each of the safe storage tanks during the fully automatic safe debugging phase (before initial use), and enables the position of the corresponding light source device at the four-quadrant photodetector at this time to be stored at the central control unit as reference position data for the corresponding safe storage tank. And then, when the full-automatic safe deposit box is actually applied, the executing mechanism can move the grabbing mechanism to the corresponding safe deposit box storage groove, and at the moment, the four-quadrant photoelectric detector can detect the corresponding light source device in real time and compare the real-time position data with the reference position data through the central control unit, so that the central control unit can finely adjust the position of the grabbing mechanism through the executing mechanism. By the aid of the mechanism, the positioning accuracy of the grabbing mechanism and the corresponding safe deposit box storage groove piece can be effectively guaranteed, and then matching errors caused by mechanical abrasion, deformation and the like can be effectively reduced.
Preferably, the light source device employs a light emitting diode. The light source device can adopt the conventional light emitting diode, so that the manufacturing cost is low and the realization is convenient.
Preferably, the grabbing mechanism comprises a grabbing bracket, the grabbing bracket comprises a first side plate, a bottom plate and a second side plate which are sequentially connected, and the first side plate and the second side plate are vertically arranged at two ends of the bottom plate on the same side; a supporting plate is vertically arranged at the inner side opposite positions of the first side plate and the second side plate, a safe deposit box grabbing groove matched with the safe deposit box is formed above the supporting plate, and a detector mounting groove for mounting the four-quadrant photoelectric detector is formed below the supporting plate. Thereby facilitating implementation.
Preferably, when the grabbing mechanism is aligned with any storage groove of the incubator, the distance between the four-quadrant photoelectric detector and the horizontal direction of the corresponding light source device is not more than 3cm, and the distance between the center point of the four-quadrant photoelectric detector and the vertical direction of the corresponding light source device is not more than 2cm. Therefore, the detection accuracy of the four-quadrant photoelectric detector on the corresponding light source device can be better ensured.
Preferably, the four-quadrant photodetector comprises 4 photodetectors.
The invention also provides a self-calibration method for the full-automatic safe deposit box, which comprises the following steps:
step one: a light source device is arranged below any one of the preserving boxes of the preserving box storage rack;
setting a four-quadrant photoelectric detector at the grabbing mechanism, and enabling the four-quadrant photoelectric detector to correspond to the position of the light source device;
detecting the position of the light source device by adopting a four-quadrant photoelectric detector to acquire real-time position data of the light source device, and sending the real-time position data to a central control unit;
and step four, the central control unit compares the real-time position data with the reference position data and controls the grabbing mechanism to operate through an executing mechanism until the real-time position data is identical with the reference position data.
By the self-calibration method, the grabbing mechanism can be calibrated by detecting the position of the light source device through the four-quadrant photoelectric detector every time the grabbing mechanism runs to the corresponding storage groove of the safe deposit box, so that smooth pushing and pulling of the safe deposit box can be better realized. By the method, the upper, lower, left and right precise adjustment of the grabbing mechanism can be better realized, and the self calibration of the grabbing mechanism is better realized.
Preferably, the method further comprises a reference position data acquisition step of manually aligning the safe storage racks to the corresponding safe storage slots, and storing the position data of the light source device detected by the four-quadrant photodetector at this time as reference position data at the central control unit.
In the self-calibration method, the grabbing mechanism can be manually adjusted to a proper position during initial operation until the grabbing mechanism can smoothly push and pull the safe deposit box, and the position of the light source device acquired by the four-quadrant photoelectric detector is used as reference position data, so that the grabbing mechanism is preferably initialized. Then, corresponding to each storage tank of the storage box, the central control unit can roughly set one motor operation pulse information in a one-to-one correspondence mode, and the method is the same as the existing setting method (the method is obtained by referring to the motor electronic gear ratio after the storage tank is actually measured from the original point distance), only the requirement on accuracy is not required to reach the degree that the grabbing mechanism can be well matched with the storage tank of the storage box, and only the detection range of the four-quadrant photoelectric detector can cover the irradiation range of the light source device at the storage tank of the corresponding storage box. And then, the self calibration of the grabbing mechanism can be better realized through the matching of the four-quadrant photoelectric detector and the corresponding light source device.
Drawings
FIG. 1 is a schematic view of a safe deposit box in example 1;
FIG. 2 is a schematic view of a box-transferring rack in embodiment 1;
FIG. 3 is a system block diagram of a self-calibration system for a fully automated safe in accordance with example 1;
FIG. 4 is a schematic diagram of a four-quadrant photodetector in embodiment 1;
FIG. 5 is a flow chart of a self-calibration method for a fully automated safe in accordance with embodiment 1.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples. It is to be understood that the examples are illustrative of the present invention and are not intended to be limiting.
Example 1
The embodiment provides a self-calibration system for a full-automatic safe deposit box, which can adopt an optical scheme to perform deviation calibration, and can better realize the positioning of the safe deposit box under the conditions of abrasion or deformation of a mechanical structure after the relative standard position is determined.
As shown in fig. 1, a schematic view of a safe deposit box 100 in this embodiment is shown. The rectangular array of the safe storage rack 100 has a plurality of safe storage slots 110, and a light source device 120 is disposed below each of the safe storage slots 110.
As shown in fig. 2, a schematic view of a part of the structure of the gripping mechanism 210 in the present embodiment is shown. The grabbing mechanism 210 is used for grabbing the safe deposit box 230, and a four-quadrant photodetector 220 is disposed at the grabbing mechanism 210, and the four-quadrant photodetector 220 is used for matching with the light source device 120.
As shown in fig. 3, the self-calibration system of the present embodiment includes a light source device 120 disposed below any one of the safe storage slots 110 of the safe storage rack 100 and a four-quadrant photodetector 220 disposed at the grabbing mechanism 210. Wherein the four-quadrant photodetector 220 corresponds to the position of the light source device 120. The four-quadrant photodetector 220 is configured to detect real-time position data of the light source device 120 and upload the real-time position data to a central control unit, where the central control unit is configured to compare the real-time position data with reference position data and control the grabbing mechanism 210 to fine tune through an executing mechanism until the real-time position data is identical to the reference position data.
By the self-calibration system of the present embodiment, the four-quadrant photodetector 220 can be used to detect the position of the light source device 120, so that the position of the corresponding light source device 120 at the four-quadrant photodetector 220 can be obtained. This allows the gripping mechanism 210 to be manually aligned with each of the safe storage tanks 110 during the fully automatic safe debugging phase (before initial use), and allows the position of the corresponding light source device 120 at the four-quadrant photodetector 220 at this time to be stored at the central control unit as reference position data of the corresponding safe storage tank 110. Then, in the actual application of the full-automatic safe deposit box, the executing mechanism can move the grabbing mechanism 210 to the corresponding safe deposit box storage groove 110, and at the moment, the four-quadrant photoelectric detector 220 can detect the corresponding light source device 120 in real time and compare the real-time position data with the reference position data through the central control unit, so that the central control unit can finely adjust the position of the grabbing mechanism 210 through the executing mechanism. By this, the positioning accuracy of the gripping mechanism 210 and the corresponding safe deposit box storage groove 110 can be effectively ensured, and thus the fit error caused by the abrasion, deformation and other reasons of the machine can be effectively reduced.
In this embodiment, the light source device 120 employs a light emitting diode. The light source device 120 can use the conventional light emitting diode, so that the manufacturing cost is low and the implementation is convenient.
In this embodiment, the grabbing mechanism 210 includes a grabbing bracket 211, where the grabbing bracket 211 includes a first side plate, a bottom plate, and a second side plate that are sequentially connected, and the first side plate and the second side plate are vertically disposed at two ends of the bottom plate on the same side; a supporting plate 212 is vertically disposed at the inner opposite positions of the first side plate and the second side plate, a safe grabbing groove 213 for matching with the safe 230 is formed above the supporting plate 212, and a detector mounting groove 214 for mounting the four-quadrant photodetector 220 is formed below the supporting plate 212. Thereby facilitating implementation.
In this embodiment, when the grabbing mechanism 210 is aligned with any one of the storage tanks 110, the distance between the four-quadrant photodetector 220 and the corresponding light source device 120 in the horizontal direction is not more than 3cm, and the distance between the center point of the four-quadrant photodetector 220 and the corresponding light source device 120 in the vertical direction is not more than 2cm. So that the detection accuracy of the four-quadrant photodetector 220 with respect to the corresponding light source device 120 can be preferably ensured.
As shown in fig. 4, the four-quadrant photodetector 220 includes 4 photodetectors. Wherein the photodetectors can employ existing conventional photodetectors, each of which can be responsible for detecting an area within a different quadrant. When the four-quadrant photoelectric detector 220 detects the corresponding light source device 120, each photoelectric detector can generate an electric signal, the electric signal is processed and then sent to the central control unit, and the central control unit can determine the position information of the corresponding light source device 120 relative to each quadrant according to the amplitude of the received 4 photoelectric signals, so that the real-time position data of the corresponding light source device 120 can be acquired better.
The gripping mechanism 210 in this embodiment can employ a conventional robot arm.
Based on the self-calibration system of the present embodiment, the present embodiment further provides a self-calibration method for a fully automatic safe deposit box, which includes the following steps:
step one: a light source device 120 is disposed below any one of the holding boxes 110 of the safe storage rack 100;
step two, a four-quadrant photo-detector 220 is arranged at the grabbing mechanism 210, and the four-quadrant photo-detector 220 corresponds to the position of the light source device 120;
detecting the position of the light source device 120 by using the four-quadrant photodetector 220 to obtain real-time position data of the light source device 120, and sending the real-time position data to a central control unit;
step four, the central control unit compares the real-time position data with the reference position data and controls the grabbing mechanism 210 to operate through an executing mechanism until the real-time position data is identical to the reference position data.
By the self-calibration method in this embodiment, the grabbing mechanism 210 can be calibrated by detecting the position of the light source device 120 by the four-quadrant photoelectric detector 220 every time the grabbing mechanism 210 runs to the corresponding safe deposit box storage groove 110, so that smooth pushing and pulling of the safe deposit box 230 can be preferably realized. By the method, the upper, lower, left and right precise adjustment of the grabbing mechanism 210 can be better realized, and the self calibration of the grabbing mechanism 210 is better realized.
The self-calibration method of the present embodiment further includes a reference position data obtaining step, specifically, manually aligning the safe deposit box 100 with the corresponding safe deposit box 110, and storing the position data of the light source device 120 detected by the four-quadrant photodetector 220 at this time at the central control unit as the reference position data.
In the self-calibration method of the present embodiment, during the initial operation, the grabbing mechanism 210 can be manually adjusted to a suitable position until the grabbing mechanism 210 can smoothly push and pull the safe deposit box 230, and the position of the light source device 120 collected by the four-quadrant photodetector 220 at this time is used as the reference position data, so that the initialization of the grabbing mechanism 210 is preferably realized. Then, corresponding to each safe deposit box 110, the central control unit can roughly set a motor running pulse message in a one-to-one correspondence manner, and the method is the same as the existing setting method (the method is obtained by referring to the motor electronic gear ratio after the position of the safe deposit box 110 is measured from the original point distance), but the requirement on accuracy is not required to reach the degree required in the prior art, namely, the grabbing mechanism 210 can be matched with the safe deposit box 110 better; but only the detection range of the four-quadrant photodetector 220 needs to be able to cover the irradiation range of the light source device 120 at the corresponding safe deposit box storage slot 110. Self-calibration of the grasping mechanism 210 is then preferably achieved by the cooperation of the four-quadrant photodetector 220 and the corresponding light source device 120.
Through the self-calibration system and the self-calibration method of the embodiment, the automatic calibration of the relative position between the grabbing mechanism 210 and the grabbing target can be preferably realized, various problems caused by mechanical errors of the absolute position can be well overcome, external intervention is not required in the calibration and positioning process, and the reliability is high.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (4)
1. A self-calibrating system for a fully automated safe deposit box, characterized by: the light source device (120) is arranged below any one of the storage tanks (110) of the safe deposit box storage rack (100), and the four-quadrant photoelectric detector (220) is arranged at the grabbing mechanism (210), and the four-quadrant photoelectric detector (220) corresponds to the light source device (120); the four-quadrant photoelectric detector (220) is used for detecting real-time position data of the light source device (120) and uploading the real-time position data to a central control unit, and the central control unit is used for comparing the real-time position data with reference position data and controlling the grabbing mechanism (210) to finely adjust the real-time position data until the real-time position data is identical with the reference position data through an executing mechanism;
the grabbing mechanism (210) comprises a grabbing bracket (211), wherein the grabbing bracket (211) comprises a first side plate, a bottom plate and a second side plate which are sequentially connected, and the first side plate and the second side plate are vertically arranged at two ends of the bottom plate on the same side; a supporting plate (212) is vertically arranged at the inner side opposite positions of the first side plate and the second side plate, a safe deposit box grabbing groove (213) for being matched with the safe deposit box (230) is formed above the supporting plate (212), and a detector mounting groove (214) for mounting the four-quadrant photoelectric detector (220) is formed below the supporting plate (212);
when the grabbing mechanism (210) is aligned with any one of the storage tanks (110), the distance between the four-quadrant photoelectric detector (220) and the corresponding light source device (120) in the horizontal direction is not more than 3cm, and the distance between the center point of the four-quadrant photoelectric detector (220) and the corresponding light source device (120) in the vertical direction is not more than 2cm.
2. A self-calibrating system for a fully automated safe according to claim 1, wherein: the light source device (120) adopts a light emitting diode.
3. A self-calibrating system for a fully automated safe according to claim 1, wherein: the four-quadrant photodetector (220) includes 4 photodetectors.
4. A self-calibration method for a fully automated safe deposit box comprising the steps of:
step one: a light source device (120) is arranged below any one of the storage tanks (110) of the storage tank storage rack (100);
step two, arranging a four-quadrant photoelectric detector (220) at the grabbing mechanism (210), and enabling the four-quadrant photoelectric detector (220) to correspond to the position of the light source device (120);
detecting the position of the light source device (120) by adopting a four-quadrant photoelectric detector (220) to acquire real-time position data of the light source device (120), and sending the real-time position data to a central control unit;
step four, the central control unit compares the real-time position data with the reference position data and controls the grabbing mechanism (210) to operate through an executing mechanism until the real-time position data is identical with the reference position data;
the method further comprises a reference position data acquisition step, specifically, the safe deposit shelf (100) is manually aligned to the corresponding safe deposit groove (110), and the position data of the light source device (120) detected by the four-quadrant photoelectric detector (220) at the moment is used as reference position data and stored in the central control unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810616521.8A CN108756593B (en) | 2018-06-15 | 2018-06-15 | Self-calibration system for fully automatic safe deposit box and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810616521.8A CN108756593B (en) | 2018-06-15 | 2018-06-15 | Self-calibration system for fully automatic safe deposit box and method thereof |
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| CN108756593A CN108756593A (en) | 2018-11-06 |
| CN108756593B true CN108756593B (en) | 2023-09-26 |
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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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