CN110297507A - A kind of height positioning method of elevating lever, device and storage medium - Google Patents
A kind of height positioning method of elevating lever, device and storage medium Download PDFInfo
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- CN110297507A CN110297507A CN201910541414.8A CN201910541414A CN110297507A CN 110297507 A CN110297507 A CN 110297507A CN 201910541414 A CN201910541414 A CN 201910541414A CN 110297507 A CN110297507 A CN 110297507A
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- elevating lever
- altitude location
- pulse
- numerical value
- coded number
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a kind of height positioning method of elevating lever, device and storage medium, the first instruction of triggering altitude location, elevation information is carried in the altitude location instruction；Then it is instructed in response to the altitude location, coded number to be obtained is calculated according to the elevation information；Further, elevating lever motor movement is driven, to drive elevating lever constantly to increase；During the elevating lever motor movement, umber of pulse caused by the magnetic field of magnet ring entrained by elevating lever motor is read；When read umber of pulse, which corresponds to numerical value, to be reached coded number to be obtained and correspond to numerical value, the stop motion of elevating lever motor is controlled, the elevation amplitude to realize elevating lever is consistent with elevation information.In this way, the present invention generates the effect of pulse, the accurate altitude location for controlling elevating lever, to accomplish full automation and the intelligence of altitude location using the magnetic field of magnet ring written by elevating lever motor.
Description
Technical field
The present invention relates to intelligent control technology more particularly to a kind of height positioning methods of elevating lever, device and computer
Readable storage medium storing program for executing.
Background technique
Currently, crusing robot is in application process, inevitably with video camera entrained on holder to being detected
Instrument and meter is taken pictures.But the height of clapped instrument and meter can not accomplish that height is consistent completely, it is therefore desirable to holder
Video camera carries out the adjustment in height, to meet the picture that PTZ camera can take the instrument on different height.
Based on the above-mentioned application for realizing holder positioning by taking crusing robot as an example, occurs various control cloud on the market at present
Platform is elevated to the implementation method of feature position, such as holder focusing method, elevating lever drag holder method.Wherein, it is dragged with elevating lever
For holder method, this method be can be realized for the instrument and meter considerably beyond robot body height without the light of focusing
Camera function.Specifically, it is mainly controlled by elevating lever height and realizes that video camera is concordant with instrument, this performance to video camera
It is required that lower.
However, above-mentioned mentioned elevating lever dragging holder method needs backstage that the lifting of control elevating lever is gone to realize in real time
Alignment in height, therefore exist and position not accurate and can not accomplish completely automation and intelligence.
Summary of the invention
The embodiment of the present invention in order to solve it is above-mentioned refer to existing holder method dragged using elevating lever realize holder height
Existing positioning is not accurate during positioning and can not accomplish to be fully automated and intelligentized problem, creative offer
A kind of height positioning method of elevating lever, device and computer readable storage medium.
According to a first aspect of the embodiments of the present invention, a kind of height positioning method of elevating lever is provided, this method comprises: touching
Altitude location instruction is sent out, carries elevation information in the altitude location instruction；It is instructed in response to the altitude location, according to institute
It states elevation information and calculates coded number to be obtained；It is instructed in response to the altitude location, elevating lever motor movement is driven, with band
Dynamic elevating lever constantly increases；During the elevating lever motor movement, the magnetic field institute of magnet ring entrained by elevating lever motor is read
The umber of pulse of generation；When read umber of pulse, which corresponds to numerical value, to be reached coded number to be obtained and correspond to numerical value, elevating lever is controlled
Motor stop motion, the elevation amplitude to realize elevating lever are consistent with elevation information.
According to an embodiment of the present invention, the method also includes: reach when read umber of pulse corresponds to numerical value wait obtain
When the coded number taken corresponds to numerical value, elevating lever rises to the limit switch of highest order, to calculated coded number to be obtained
It resets.
According to an embodiment of the present invention, the method also includes: triggering elevating lever zero instruction；In response to the lifting
Bar zero instruction, control elevating lever drop to the limit switch of lowest order.
According to an embodiment of the present invention, the method also includes: opened when control elevating lever drops to the limit of lowest order
Guan Shi, to calculated coded number to be obtained and/or read umber of pulse reset.
According to an embodiment of the present invention, the method also includes: when realize elevating lever elevation amplitude and elevation information
When consistent, control PTZ camera is taken pictures.
According to a second aspect of the embodiments of the present invention, a kind of height locating device of elevating lever is also provided, which includes:
Controller carries elevation information in the altitude location instruction for triggering altitude location instruction；Single-chip microcontroller, for responding
It is instructed in the altitude location, coded number to be obtained is calculated according to above-mentioned elevation information；It is also used in response to above-mentioned height
Positioning instruction drives elevating lever motor movement, to drive elevating lever constantly to increase；Encoder, in the elevating lever motor
In motion process, umber of pulse caused by the magnetic field of magnet ring entrained by elevating lever motor is read；The controller is also used to work as institute
When the umber of pulse of reading corresponds to numerical value and reaches coded number to be obtained and correspond to numerical value, the stop motion of elevating lever motor is controlled, with reality
The elevation amplitude of existing elevating lever is consistent with elevation information.
According to an embodiment of the present invention, the encoder, be also used to when read umber of pulse correspond to numerical value reach to
When the encoder of acquisition corresponds to numerical value, elevator rises to the limit switch of highest order, to calculated coding to be obtained
Number is reset.
According to an embodiment of the present invention, the controller is also used to trigger elevating lever zero instruction；The single-chip microcontroller,
It is also used to be zeroed in response to the elevating lever and instruct, control elevating lever drops to the limit switch of lowest order.
According to an embodiment of the present invention, the encoder is also used to drop to the limit of lowest order when control elevating lever
When switch, to calculated coded number to be obtained and/or read umber of pulse reset.
According to an embodiment of the present invention, the controller is also used to believe when the elevation amplitude and height of realizing elevating lever
When ceasing consistent, control PTZ camera is taken pictures.
According to a third aspect of the embodiments of the present invention, a kind of computer readable storage medium, the storage medium packet are provided
A group of computer-executable instructions are included, when executed for executing the altitude location side of any of the above-described elevating lever
Method.
Height positioning method, device and the computer readable storage medium of elevating lever described in the embodiment of the present invention, are touched first
Altitude location instruction is sent out, carries elevation information in the altitude location instruction；Then it is instructed in response to the altitude location, root
Coded number to be obtained is calculated according to the elevation information；Further, elevating lever motor movement is driven, to drive elevating lever not
It is disconnected to increase；During the elevating lever motor movement, pulse caused by the magnetic field of magnet ring entrained by elevating lever motor is read
Number；When read umber of pulse, which corresponds to numerical value, to be reached coded number to be obtained and correspond to numerical value, control elevating lever motor stops fortune
Dynamic, the elevation amplitude to realize elevating lever is consistent with elevation information.In this way, the present invention utilizes magnet ring written by elevating lever motor
Magnetic field generates the effect of pulse, the accurate altitude location for controlling elevating lever, to accomplish the full automation and intelligence of altitude location
Energyization.
It is to be appreciated that the teachings of the present invention does not need to realize whole beneficial effects recited above, but it is specific
Technical solution may be implemented specific technical effect, and other embodiments of the invention can also be realized and not mentioned above
Beneficial effect.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, above-mentioned and other mesh of exemplary embodiment of the invention
, feature and advantage will become prone to understand.In the accompanying drawings, if showing by way of example rather than limitation of the invention
Dry embodiment, in which:
In the accompanying drawings, identical or corresponding label indicates identical or corresponding part.
Fig. 1 is shown in the related technology using the product schematic diagram of elevating lever dragging holder method one；
Fig. 2 shows the product schematic diagrames for using elevating lever dragging holder method two in the related technology；
Fig. 3 shows the implementation process schematic diagram of the height positioning method of elevating lever of the embodiment of the present invention；
Fig. 4 shows the work block diagram of the height positioning method of elevating lever in an application example of the invention；
Fig. 5 shows the composed structure schematic diagram of the height locating device of elevating lever of the embodiment of the present invention.
Specific embodiment
The principle and spirit of the invention are described below with reference to several illustrative embodiments.It should be appreciated that providing this
A little embodiments are only to be to make those skilled in the art can better understand that realize the present invention in turn, and not with any side
Formula limits the scope of the invention.On the contrary, it is of the invention more thorough and complete to make for providing these embodiments, and it can incite somebody to action this
The range of invention is completely communicated to those skilled in the art.
The technical solution of the present invention is further elaborated in the following with reference to the drawings and specific embodiments.
Fig. 1 is shown in the related technology using the product schematic diagram of elevating lever dragging holder method one；Fig. 2 shows related skills
Using the product schematic diagram of elevating lever dragging holder method two in art；Fig. 3 shows the altitude location of elevating lever of the embodiment of the present invention
The implementation process schematic diagram of method.
In the related technology, the application for being realized holder positioning by taking crusing robot as an example based on above-mentioned, is occurred on the market at present
Various control holder is elevated to the implementation method of feature position, such as holder focusing method, elevating lever drag holder method.Wherein,
Two kinds of concrete methods of realizing based on elevating lever dragging holder method, specifically refer to the dragging of the elevating lever as shown in Fig. 1 product
Holder and Background control start and stop method and elevating lever as shown in Figure 2 dragging holder and locator timing controlled start and stop method.
Here, holder and Background control start and stop method are dragged with elevating lever shown in Fig. 1 product, this method can be realized for
Considerably beyond the light camera function without focusing of the instrument and meter of robot body height.Specifically, mainly pass through lifting
Bar height controls to realize that video camera is concordant with instrument, this is lower to the performance requirement of video camera.But this method needs backstage
It goes the lifting of control elevating lever to realize the alignment in height in real time, therefore cannot accomplish absolute automation and intelligence, therefore
Indoors using not too much extensively under automatic detecting scene.
In addition, dragging holder and locator timing controlled start and stop method, this method elevating lever with elevating lever shown in Fig. 2 product
Lifting speed is certain, is user controllable system, that is, knows the movement velocity of elevating lever.When building figure, according to the height of instrument, control
Elevating lever processed moves to concordantly, records run duration, this run duration is recorded in inside controller, each observation point is right
Answer a run duration.Afterwards when inspection, according to different observation points, control elevating lever run duration, which can be realized, reaches corresponding
Height is realized and is clearly taken pictures.But whether the speed that the success or not of the method depends entirely on elevating lever is constant consistent, generally
In the case of elevating lever moved by motor control, there is a certain error for motor speed, it is impossible to be invariable one every time
A value, therefore not can guarantee in later elevating control, under special time period, the height and actual demand of lifter rod lifting
Height is consistent, causes error, eventually leading to not taking pictures or take pictures has deviation.
Present in during realizing holder altitude location based on elevating lever dragging holder method is used in the related technology
It positions not accurate and can not accomplish that full automation and intelligentized problem, the embodiment of the present invention provide a kind of height of elevating lever
Localization method, as shown in figure 3, this method comprises: operation 301, triggers altitude location instruction, carry in the altitude location instruction
There is elevation information；Operation 302 instructs in response to the altitude location, coding to be obtained is calculated according to the elevation information
Number；Operation 303 is instructed in response to the altitude location, elevating lever motor movement is driven, to drive elevating lever constantly to increase；Behaviour
Make 304, during the elevating lever motor movement, reads pulse caused by the magnetic field of magnet ring entrained by elevating lever motor
Number；It is electric to control elevating lever when read umber of pulse, which correspond to numerical value, to be reached coded number to be obtained and correspond to numerical value for operation 305
Machine stop motion, the elevation amplitude to realize elevating lever are consistent with elevation information.
In the height that operation 301~302, controller position required for knowing, i.e. elevation information, can be denoted as after H,
To single-chip microcontroller triggering altitude location instruction；Further, single-chip microcontroller can calculate coded number to be obtained according to elevation information.Tool
Body, single-chip microcontroller calculates coded number N to be obtained, i.e. N=H/ according to elevation information H and the corresponding distance D of single pulse
D。
In operation 303~305, single-chip microcontroller drives elevating lever constantly to increase by driving elevating lever motor movement.Due to
Magnet ring is installed in elevating lever motor output shaft in advance, therefore when motor movement, magnet ring rotates together, and the magnetic field of magnet ring generates simultaneously
The pole N/S is exported, to export height pulse.In this way, can be read by encoder during the elevating lever motor movement
Umber of pulse caused by the magnetic field of magnet ring entrained by elevating lever motor is taken, until read umber of pulse corresponds to numerical value and reaches wait obtain
When the coded number taken corresponds to numerical value, the stop motion of elevating lever motor is controlled, to realize the elevation amplitude and elevation information of elevating lever
Unanimously.
According to an embodiment of the present invention, the method also includes: reach when read umber of pulse corresponds to numerical value wait obtain
When the coded number taken corresponds to numerical value, elevating lever rises to the limit switch of highest order, to calculated coded number to be obtained
It resets.Here, since the highest order in elevating lever increases limit switch, therefore when reaching the limit switch of highest order, monolithic
Machine can change detect whether reach highest order by limit switch signal, and then record to encoder is controlled before single-chip microcontroller
Coded number reset, so that eliminating encoder that may be present loses cumulative errors caused by code, guarantee to execute fixed high task every time
It can precisely complete, to be prepared to enter into fixed high task next time.
According to an embodiment of the present invention, the method also includes: triggering elevating lever zero instruction；In response to the lifting
Bar zero instruction, control elevating lever drop to the limit switch of lowest order.In this way, have the audacity after zero after sage's peace, that is, be ready for into
Enter fixed high task next time.
Further, according to an embodiment of the present invention, the method also includes: when control elevating lever drop to lowest order
Limit switch when, to calculated coded number to be obtained and/or read umber of pulse reset.Here, due to rising
The lowest order of drop bar increases limit switch, therefore when reaching the limit switch of lowest order, single-chip microcontroller can pass through limit switch
Signal intensity detects whether reach lowest order, and then controls single-chip microcontroller the coded number or read of encoder record before
Umber of pulse is reset, so that eliminating encoder that may be present loses cumulative errors caused by code, guarantees to execute fixed high task every time all
It can precisely complete, to be prepared to enter into fixed high task next time.
According to an embodiment of the present invention, the method also includes: when realize elevating lever elevation amplitude and elevation information
When consistent, control PTZ camera is taken pictures.
The height positioning method of elevating lever described in the embodiment of the present invention, the first instruction of triggering altitude location, the height are fixed
Elevation information is carried in bit instruction；Then it instructs in response to the altitude location, is calculated according to the elevation information wait obtain
The coded number taken；Further, elevating lever motor movement is driven, to drive elevating lever constantly to increase；In the elevating lever motor
In motion process, umber of pulse caused by the magnetic field of magnet ring entrained by elevating lever motor is read；When read umber of pulse is corresponding
When numerical value reaches coded number to be obtained and corresponds to numerical value, the stop motion of elevating lever motor is controlled, to realize the raising width of elevating lever
It spends consistent with elevation information.In this way, the present invention generates the effect of pulse using the magnetic field of magnet ring written by elevating lever motor, accurately
The altitude location for controlling elevating lever, to accomplish full automation and the intelligence of altitude location.
Fig. 4 shows the work block diagram of the height positioning method of elevating lever in an application example of the invention.With reference to Fig. 4, originally
Invent the altitude location of elevating lever in an application example groundwork process include: 1) controller issue that determine Gao Zhiling (i.e. high
Spend positioning instruction) to single-chip microcontroller, this instruction carries elevation information；2) single-chip microcontroller analyzes the instruction, and obtains elevation information, and calculating needs
The coded number to be obtained；3) single-chip microcontroller sends instructions to motor driven, controls elevating lever motor movement；4) elevating lever motor exports
Axis has magnet ring, and when motor movement, magnet ring rotates together；5) magnetic field that encoder reads magnet ring at this time exports the pole N/S, output
Height pulse；6) single-chip microcontroller gets required coded number, i.e. pulse, and motor driven is immediately controlled, and stops motor；7) controller control
Holder processed is taken pictures；8) after taking pictures, to sending instructions under single-chip microcontroller, order elevating lever is zeroed controller；9) single-chip microcontroller obtains zero and refers to
After order, control elevating lever decline, the signal in place until triggering lowest order；10) after being zeroed, the encoded radio of reading is all clear
Zero, prepare fixed high task next time.
Based on the height positioning method of elevating lever referred to above, the embodiment of the present invention provides a kind of computer-readable again
Storage medium, the computer-readable recording medium storage have program, when said program is executed by a processor, so that the place
Reason device at least executes operating procedure as described below: operation 301, triggering altitude location instruction, takes in the altitude location instruction
With elevation information；Operation 302 instructs in response to the altitude location, volume to be obtained is calculated according to the elevation information
Yardage；Operation 303 is instructed in response to the altitude location, elevating lever motor movement is driven, to drive elevating lever constantly to increase；
Operation 304 reads pulse caused by the magnetic field of magnet ring entrained by elevating lever motor during the elevating lever motor movement
Number；It is electric to control elevating lever when read umber of pulse, which correspond to numerical value, to be reached coded number to be obtained and correspond to numerical value for operation 305
Machine stop motion, the elevation amplitude to realize elevating lever are consistent with elevation information.
Further, the height positioning method based on elevating lever described above, the embodiment of the present invention also provide a kind of lifting
The height locating device of bar, as shown in figure 5, the height locating device 50 of the elevating lever includes: controller 501, for triggering
Altitude location instructs, and carries elevation information in the altitude location instruction；Single-chip microcontroller 502, for fixed in response to the height
Bit instruction calculates coded number to be obtained according to above-mentioned elevation information；It is also used to instruct in response to above-mentioned altitude location, driving
Elevating lever motor movement, to drive elevating lever constantly to increase；Encoder 503 is used for during the elevating lever motor movement,
Read umber of pulse caused by the magnetic field of magnet ring entrained by elevating lever motor；The controller 501 is also used to when read arteries and veins
When rushing number and corresponding to numerical value and reach coded number to be obtained and correspond to numerical value, the stop motion of elevating lever motor is controlled, to realize elevating lever
Elevation amplitude it is consistent with elevation information.
According to an embodiment of the present invention, the encoder 503 is also used to reach when read umber of pulse corresponds to numerical value
When encoder to be obtained corresponds to numerical value, elevator rises to the limit switch of highest order, to calculated volume to be obtained
Yardage is reset.
According to an embodiment of the present invention, the controller 501 is also used to trigger elevating lever zero instruction；The monolithic
Machine, being also used to be zeroed in response to the elevating lever instructs, and control elevating lever drops to the limit switch of lowest order.
According to an embodiment of the present invention, the encoder 503 is also used to drop to the limit of lowest order when control elevating lever
When bit switch, to calculated coded number to be obtained and/or read umber of pulse reset.
According to an embodiment of the present invention, the controller 501 is also used to when the elevation amplitude and height for realizing elevating lever
When information is consistent, control PTZ camera is taken pictures.
It need to be noted that: above to the description of the height locating device embodiment of elevating lever, and shown in earlier figures 3
Embodiment of the method description be it is similar, there is the similar beneficial effect with aforementioned embodiment of the method shown in Fig. 3, therefore not
It repeats.For the present invention to undisclosed technical detail in the height locating device embodiment of elevating lever, the present invention is please referred to
The description of aforementioned embodiment of the method shown in Fig. 3 and understand, to save length, therefore repeat no more.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can combine, or
It is desirably integrated into another device, or some features can be ignored or not executed.In addition, shown or discussed each composition portion
Mutual coupling or direct-coupling or communication connection is divided to can be through some interfaces, the INDIRECT COUPLING of equipment or unit
Or communication connection, it can be electrical, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit
The component shown can be or may not be physical unit；Both it can be located in one place, and may be distributed over multiple network lists
In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated in one processing unit, it can also
To be each unit individually as a unit, can also be integrated in one unit with two or more units；It is above-mentioned
Integrated unit both can use formal implementation of hardware, also can use hardware and the form of SFU software functional unit is added to realize.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, which exists
When execution, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: movable storage device, read-only deposits
The various media that can store program code such as reservoir (Read Only Memory, ROM), magnetic or disk.
If alternatively, the above-mentioned integrated unit of the present invention is realized in the form of software function module and as independent product
When selling or using, it also can store in a computer readable storage medium.Based on this understanding, the present invention is implemented
Substantially the part that contributes to existing technology can be embodied in the form of software products the technical solution of example in other words,
The computer software product is stored in a storage medium, including some instructions are used so that computer equipment (can be with
It is personal computer, server or network equipment etc.) execute all or part of each embodiment the method for the present invention.
And storage medium above-mentioned includes: various Jie that can store program code such as movable storage device, ROM, magnetic or disk
Matter.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of height positioning method of elevating lever, which is characterized in that the described method includes:
Altitude location instruction is triggered, carries elevation information in the altitude location instruction；
It is instructed in response to the altitude location, coded number to be obtained is calculated according to the elevation information；
It is instructed in response to the altitude location, elevating lever motor movement is driven, to drive elevating lever constantly to increase；
During the elevating lever motor movement, umber of pulse caused by the magnetic field of magnet ring entrained by elevating lever motor is read；
When read umber of pulse, which corresponds to numerical value, to be reached coded number to be obtained and correspond to numerical value, control elevating lever motor stops fortune
Dynamic, the elevation amplitude to realize elevating lever is consistent with elevation information.
2. the method according to claim 1, wherein the method also includes:
When read umber of pulse, which corresponds to numerical value, to be reached coded number to be obtained and correspond to numerical value, elevating lever rises to highest order
Limit switch, to calculated coded number to be obtained reset.
3. the method according to claim 1, wherein the method also includes:
Trigger elevating lever zero instruction；
It is zeroed and instructs in response to the elevating lever, control elevating lever drops to the limit switch of lowest order.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
When controlling elevating lever and dropping to the limit switch of lowest order, to calculated coded number to be obtained and/or read
The umber of pulse taken is reset.
5. method according to any one of claims 1 to 4, which is characterized in that the method also includes:
When the elevation amplitude for realizing elevating lever is consistent with elevation information, control PTZ camera is taken pictures.
6. a kind of height locating device of elevating lever, which is characterized in that described device includes:
Controller carries elevation information in the altitude location instruction for triggering altitude location instruction；
Single-chip microcontroller calculates coded number to be obtained according to the elevation information for instructing in response to the altitude location；Also
For instructing in response to the altitude location, elevating lever motor movement is driven, to drive elevating lever constantly to increase；
Encoder, for during the elevating lever motor movement, to be produced from the magnetic field for reading magnet ring entrained by elevating lever motor
Raw umber of pulse；
The controller is also used to the control when read umber of pulse corresponds to numerical value and reaches coded number to be obtained and correspond to numerical value
Elevating lever motor stop motion processed, the elevation amplitude to realize elevating lever are consistent with elevation information.
7. device according to claim 6, which is characterized in that
The encoder is also used to rise when read umber of pulse corresponds to numerical value and reaches encoder to be obtained and correspond to numerical value
Drop bar rises to the limit switch of highest order, coded number clearing to be obtained calculated to institute.
8. device according to claim 6, which is characterized in that
The controller is also used to trigger elevating lever zero instruction；
The single-chip microcontroller, being also used to be zeroed in response to the elevating lever instructs, and the limit that control elevating lever drops to lowest order is opened
It closes.
9. device according to claim 8, which is characterized in that
The encoder is also used to when control elevating lever drops to the limit switch of lowest order, calculated to be obtained to institute
Coded number and/or read umber of pulse reset.
10. a kind of computer readable storage medium, which is characterized in that the storage medium, which includes that one group of computer is executable, to be referred to
It enables, requires the height positioning method of any one of the 1-5 elevating lever for perform claim when executed.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114019961A (en) * | 2021-10-25 | 2022-02-08 | 河南牧原智能科技有限公司 | Method and device for positioning trolley and readable storage medium |
| CN114380238A (en) * | 2020-10-20 | 2022-04-22 | 合肥欣奕华智能机器有限公司 | Method, device and equipment for controlling dual-drive lifting platform |
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Application publication date: 20191001 |