CN110634235B - Baffle movement control method and device, storage medium and intelligent logistics terminal equipment - Google Patents
Baffle movement control method and device, storage medium and intelligent logistics terminal equipment Download PDFInfo
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- CN110634235B CN110634235B CN201910907121.7A CN201910907121A CN110634235B CN 110634235 B CN110634235 B CN 110634235B CN 201910907121 A CN201910907121 A CN 201910907121A CN 110634235 B CN110634235 B CN 110634235B
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- baffle
- access
- photoelectric sensor
- controlling
- rotation direction
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/62—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
- G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned
Abstract
The embodiment of the invention provides a baffle movement control method, a baffle movement control device, a storage medium and intelligent logistics terminal equipment, wherein the method comprises the following steps: acquiring a baffle moving instruction, wherein the baffle moving instruction is used for indicating that a baffle moves from an Nth access grid to an Mth access grid; then, determining an expected rotation direction according to the baffle plate moving instruction, wherein the expected rotation direction is to enable the baffle plate to move from the Nth access grid to the Mth access grid, and controlling the rotation direction of the motor; then controlling the control motor to rotate along the expected rotation direction to drive the baffle to move towards the Mth access grid; and further, acquiring sensor information returned by the photoelectric sensor in the process that the baffle moves to the Mth access grid, and controlling the baffle to stop at the Mth access grid according to the sensor information. The method provided by the invention can realize reliable multi-point baffle movement control, and the number of needed photoelectric sensors is small, so that the cost of the intelligent logistics terminal equipment is greatly reduced.
Description
Technical Field
The invention relates to the technical field of intelligent logistics, in particular to a baffle movement control method and device, a storage medium and intelligent logistics terminal equipment.
Background
Along with the continuous development of intelligent logistics, the intelligent logistics terminal equipment of mechatronic has appeared, for example, intelligent express delivery cabinet. Usually, intelligent express delivery cabinet includes access grid, shuttle, grid support, touch display, scanner, camera etc.. Exemplarily, express delivery personnel pass through the bar code on the scanner scanning express delivery, put into the access check with the express delivery in, and then control system in the intelligence express delivery cabinet weighs and the height finding to the express delivery, and control system in the intelligence express delivery cabinet divides its branch to dispose suitable check support according to the weight and the height of express delivery to accomplish the input of express delivery, through such mode, can improve the utilization ratio of check support.
However, by adopting the mode, the express delivery time is longer. Therefore, one has solved this problem by increasing the number of access slots. At present, if intelligence express delivery cabinet includes when a plurality of access check mouths, traditional mode is the fixed photoelectric sensor on the plywood of every access check mouth, and the baffle of access check mouth rear side moves along with opening of the check mouth door before the access check mouth, and the in-process that the baffle removed, information control baffle that control system returned according to the photoelectric sensor fixed on the plywood of access check mouth stops at target access check mouth.
When the mode is adopted, the number of the needed photoelectric sensors is large, meanwhile, the number of input/output (IO) of the photoelectric sensors occupying the control module is large, the requirement on hardware of the control module is high, and therefore the cost of the intelligent logistics terminal device is high.
Disclosure of Invention
The embodiment of the invention provides a baffle movement control method and device, a storage medium and intelligent logistics terminal equipment, so as to realize reliable multipoint positioning of a movable baffle and reduce the cost of the intelligent logistics terminal equipment.
In a first aspect, an embodiment of the present invention provides a method for controlling movement of a baffle, where the method is applied to an intelligent logistics terminal device, where the intelligent logistics terminal device includes a baffle, a photosensor, a control motor, and L access slots, where the photosensor is fixed to the baffle, and L is an integer greater than or equal to 2, and the method includes:
acquiring a baffle moving instruction, wherein the baffle moving instruction is used for indicating that a baffle moves from an Nth access grid to an Mth access grid, the Nth access grid is the current position of the baffle, and N, M is an integer which is greater than 0 and less than or equal to L;
determining an expected rotation direction according to the baffle plate moving instruction, wherein the expected rotation direction is the rotation direction of enabling the baffle plate to move from the Nth access grid to the Mth access grid, and controlling a motor;
controlling the control motor to rotate along the expected rotation direction to drive the baffle to move towards the Mth access grid;
and acquiring sensor information returned by the photoelectric sensor in the process that the baffle moves to the Mth access grid, and controlling the baffle to stop at the Mth access grid according to the sensor information.
Optionally, the returning, by the photoelectric sensor, sensor information every time the photoelectric sensor passes through an access slot, and controlling the baffle to stop at the mth access slot according to the sensor information includes:
and controlling the baffle to stop at the Mth access grid according to the times of returning the sensor information by the photoelectric sensor.
Optionally, if N is greater than 1 and less than L, before controlling the control motor to rotate in the desired rotation direction, the method further includes:
acquiring the latest rotation direction of the control motor;
correspondingly, the controlling the baffle to stop at the mth access cell according to the number of times that the photoelectric sensor returns sensor information includes:
and controlling the baffle to stop at the Mth access grid according to the expected rotating direction, the last rotating direction of the control motor and the number of times of returning sensor information by the photoelectric sensor.
Optionally, the controlling the baffle to stop at the mth access slot according to the desired rotation direction, the last rotation direction of the control motor, and the number of times that the photoelectric sensor returns sensor information includes:
if the latest rotation direction of the control motor is consistent with the expected rotation direction and the number of times of returning sensor information by the photoelectric sensor is equal to | M-N |, controlling the baffle to stop moving;
if the latest rotation direction of the control motor is inconsistent with the expected rotation direction and the number of times of returning sensor information by the photoelectric sensor is equal to | M-N | +1, controlling the baffle to stop moving;
wherein the baffle stops at the Mth access slot when the baffle stops moving.
Optionally, if N is 1, the controlling the baffle to stop at the mth access slot according to the number of times that the photosensor returns sensor information includes:
and if the number of times of returning the sensor information by the photoelectric sensor is equal to M, controlling the baffle to stop moving.
Optionally, if N ═ L; the controlling the baffle to stop at the Mth access cell according to the number of times of returning the sensor information by the photoelectric sensor comprises:
and if the number of times of returning the sensor information by the photoelectric sensor is equal to | L-M | +1, controlling the baffle to stop moving.
Optionally, the method further comprises: and updating the current position of the baffle to be the Mth access slot.
In a second aspect, an embodiment of the present invention further provides a device for controlling movement of a baffle, which is applied to an intelligent logistics terminal device, where the intelligent logistics terminal device includes a baffle, a photoelectric sensor, a control motor, and L access slots, the photoelectric sensor is fixed on the baffle, and L is an integer greater than or equal to 2, and the device includes:
the acquisition module is used for acquiring a baffle moving instruction, wherein the baffle moving instruction is used for indicating that a baffle moves from an Nth access slot to an Mth access slot, the Nth access slot is the current position of the baffle, and N, M is an integer which is greater than 0 and less than or equal to L;
the processing module is used for determining an expected rotation direction according to the baffle plate moving instruction, wherein the expected rotation direction is the rotation direction of the control motor, the baffle plate moves from the Nth access grid to the Mth access grid;
the control module is used for controlling the control motor to rotate along the expected rotation direction so as to drive the baffle to move to the Mth access grid;
the acquisition module is further used for acquiring sensor information returned by the photoelectric sensor in the process that the baffle moves to the Mth access grid;
the control module is also used for controlling the baffle to stop at the Mth access grid according to the sensor information.
In a third aspect, an embodiment of the present invention further provides a barrier movement control apparatus, including: a memory and a processor;
the memory stores computer program instructions;
the processor executes the computer program instructions to perform the baffle movement control method of any one of the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a readable storage medium, including: carrying out a procedure;
the program is executed by a processor to execute the shutter movement control method according to any one of the first aspect.
In a fifth aspect, an embodiment of the present invention further provides an intelligent logistics terminal device, including a baffle, a photoelectric sensor, a control motor, L access grids, and a controller, where the photoelectric sensor is fixed on the baffle, and L is an integer greater than or equal to 2;
the controller is configured to execute the barrier movement control method according to any one of the first aspect.
In a sixth aspect, embodiments of the present invention further provide a program product, where the program product includes a computer program stored in a readable storage medium, and the computer program is readable by at least one processor in a barrier movement control apparatus, and the at least one processor executes the computer program to make the barrier movement control apparatus execute the barrier movement control method according to any one of the first aspects.
The embodiment of the invention provides a baffle movement control method, a baffle movement control device, a storage medium and intelligent logistics terminal equipment, wherein the method comprises the following steps: acquiring a baffle moving instruction, wherein the baffle moving instruction is used for indicating that a baffle moves from an Nth access grid to an Mth access grid, the Nth access grid is the current position of the baffle, and N, M is an integer which is greater than 0 and less than or equal to L; then, determining an expected rotation direction according to the baffle plate moving instruction, wherein the expected rotation direction is to enable the baffle plate to move from the Nth access grid to the Mth access grid, and controlling the rotation direction of the motor; then controlling the control motor to rotate along the expected rotation direction to drive the baffle to move towards the Mth access grid; and further, acquiring sensor information returned by the photoelectric sensor in the process that the baffle moves to the Mth access grid, and controlling the baffle to stop at the Mth access grid according to the sensor information. The method provided by the invention realizes multi-point reliable baffle movement control by fixing the photoelectric sensor on the baffle and controlling the baffle to move according to the sensor information returned by the photoelectric sensor, and in addition, the cost of the intelligent logistics terminal equipment is greatly reduced because the number of the needed photoelectric sensors is less.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1A is a schematic front view of an intelligent logistics terminal device;
fig. 1B is a schematic back view of an intelligent logistics terminal device;
fig. 1C is a schematic structural diagram of an intelligent logistics terminal device in the prior art;
fig. 2 is a schematic flow chart illustrating a method for controlling movement of a baffle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an intelligent logistics terminal device according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for controlling movement of a shutter according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a barrier movement control device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a barrier movement control device according to another embodiment of the present invention;
fig. 7 is a schematic structural diagram of an intelligent logistics terminal device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Along with the continuous development of intelligent logistics technology, the intelligent logistics terminal equipment of mechatronics appears, for example: intelligent express delivery cabinet. The express delivery person can deposit the express delivery in intelligent express delivery cabinet when people are inconvenient to collect the express delivery, and people take out the express delivery from the express delivery cabinet when convenient, or, when people want to send the express delivery, the express delivery that will send is deposited in intelligent express delivery cabinet, and the express delivery person who will send after receiving the notice message takes out the express delivery that will send from intelligent express delivery cabinet. Due to the intelligent logistics terminal equipment, the life of people is greatly facilitated.
Generally, intelligent express delivery cabinet includes: access grid, shuttle, grid support, touch display, scanner, camera etc.. The express delivery person deposits the express delivery in intelligent express delivery cabinet through the access grid, perhaps takes out the express delivery from intelligent express delivery cabinet.
Fig. 1A is a schematic front view of an intelligent logistics terminal device, fig. 1B is a schematic back view of the intelligent logistics terminal device, and fig. 1C is a schematic structural view of the intelligent logistics terminal device in the prior art. The intelligent logistics terminal equipment shown in fig. 1A-1C is an intelligent express cabinet.
Referring to fig. 1A, the left side of the intelligent express delivery cabinet includes 10 access grids S1, the access grid S1 may be formed by dividing a hollow cavity in the cabinet body of the express delivery cabinet by a plurality of laminates S11 arranged at intervals, and the access grid S1 may also be called batch drop, storage grid, or other names. Referring to fig. 1A, 1B and 1C, a movable shutter S2 is mounted on the back of the access compartment S1, and when a compartment door (not shown) in front of the access compartment S1 is opened, the shutter S2 moves to the access compartment S1.
The control of the movement of the baffle in the prior art is realized by the following modes: referring to fig. 1C, first, a photo sensor S3 is fixed on the layer board of each access cell S1, the controller S4 controls the control motor S5 to rotate, the control motor S5 rotates to drive the baffle S2 to move, the photo sensor S3 is triggered to return sensor information during the movement of the baffle S2, and the controller S4 controls the motor S5 to stop rotating according to the sensor information, so as to control the baffle S2 to stop moving.
When the scheme shown in fig. 1C is adopted, the number of required photoelectric sensors is large, the number of occupied control modules IO is large, and the hardware requirement on the control modules is high, so that the scheme is high in cost.
Based on the problems existing in the scheme in the prior art, the invention provides a baffle movement control method and device, a storage medium and intelligent logistics terminal equipment.
The method for controlling the movement of the baffle plate provided by the invention is described in detail by several specific embodiments.
Fig. 2 is a schematic flow chart illustrating a method for controlling movement of a baffle according to an embodiment of the present invention; fig. 3 is a schematic structural diagram of an intelligent logistics terminal device according to an embodiment of the present invention. As shown in fig. 2, the main body of the baffle plate movement control method provided in this embodiment may be the baffle plate movement control device provided in this embodiment of the present invention, and the device may be implemented by any software and/or hardware manner. For example, the baffle plate movement control device may be a control module, and the control module may be a Micro Controller Unit (MCU), where the MCU may also be referred to as a single-chip microcomputer or other name such as a single-chip microcomputer.
It should be noted that the method for controlling movement of a barrier provided in this embodiment may be applied to an intelligent logistics terminal device as shown in fig. 3, where the intelligent logistics terminal device may be, for example, an intelligent express delivery cabinet, where the intelligent logistics terminal device includes the barrier S2, the photosensor S3, the control motor S6, the L access cells S1, and a controller. L is an integer of 2 or more. In practical applications, the number of baffles S2 may be determined according to the number of accesses S1.
The photoelectric sensor S3 is fixed on the baffle, the photoelectric sensor S3 is electrically connected with the controller, and the photoelectric sensor S3 returns sensor information to the controller once through the access grid S1 in the process of moving up and down. The controller is configured to execute the barrier moving control method provided in this embodiment to control the barrier to move to the position of the target access bay, where the target access bay is one of the L access bays S1 of the intelligent express cabinet.
The controller may be connected to one end of the driving module S5, the other end of the driving module S5 is connected to the control motor S6, and the control motor S6 is connected to the barrier S2.
Of course, the intelligent logistics terminal device may further include other devices such as a camera, a scanner, a display, a shuttle car, a height measuring device, a weight measuring device, a voice recognizer, and the like, which are not shown in fig. 3, and the embodiment of the present invention is not limited thereto.
Next, the shutter movement control method according to the present invention will be described in detail. In this embodiment, the execution body is taken as an example of a controller for detailed description.
S201, a baffle plate moving instruction is obtained.
The baffle plate moving control instruction is used for indicating the baffle plate to move from the Nth access grid to the Mth access grid, wherein the Nth access grid is the current position of the baffle plate. N, M is an integer of greater than 0 and equal to or less than L.
Illustratively, the controller may obtain the shutter movement command by:
according to a possible implementation manner, a controller receives a baffle moving instruction sent by an upper computer (namely, a control system of intelligent logistics terminal equipment), wherein the baffle moving instruction CAN comprise information such as a controller address and a position of a target access grid, and the baffle moving instruction conforms to a communication protocol, and the communication protocol CAN be any one of multiple protocols such as an RS485 protocol, an RS232 protocol, a Controller Area Network (CAN) protocol and the like. The RS485 protocol and the RS232 protocol are two serial communication protocols, the RS485 protocol can also be called as RS-485 protocol, RS-485 and other names, and the RS232 protocol can also be called as RS-232 protocol, RS-232 and other names; the CAN protocol may also be referred to as a CAN bus protocol, and is also a serial communication protocol for real-time application, and in practical application, which protocol is specifically used may be set according to practical requirements, which is not limited in the embodiment of the present invention.
S202, determining the expected rotation direction according to the baffle plate moving instruction.
The expected rotation direction is the rotation direction of the baffle plate which is moved from the Nth access grid to the Mth access grid, and the rotation direction of the motor is controlled.
Wherein, the rotation direction of control motor can include first direction and second direction, and wherein, when control motor rotated along first direction, the baffle increased apart from the distance of the 1 st access grid, and when control motor rotated along the second direction, the baffle reduced apart from the distance of the 1 st access grid.
The expected rotation direction in this step may be the first direction or the second direction, and the expected rotation direction is determined according to the mth access slot in the movement command and the current position (nth access slot) of the shutter.
Illustratively, the intelligent logistics terminal device comprises L access grids which are numbered 1 and 2 … … L respectively, if M is larger than N, the rotation direction is expected to be the first direction, and if M is smaller than N, the rotation direction is expected to be the second direction.
S203, controlling the control motor to rotate along the expected rotation direction so as to drive the baffle to move towards the Mth access grid.
According to a possible implementation manner, the controller is connected with one end of the driving module, the other end of the driving module is connected with the control motor, and the controller can send a corresponding driving instruction to the driving module, wherein the driving instruction instructs the driving module to control the control motor to rotate along a desired rotation direction. And the driving module receives the driving instruction and controls the control motor to rotate along the expected rotation direction according to the driving instruction.
S204, acquiring sensor information returned by the photoelectric sensor in the process that the baffle moves to the Mth access grid, and controlling the baffle to stop at the Mth access grid according to the sensor information.
Wherein, photoelectric sensor can include two kinds of operating condition, is the on-state and off-state respectively, and photoelectric sensor is when the on-state, and photoelectric sensor can return the signal of telecommunication to the controller, and the signal of telecommunication is the high level, and photoelectric sensor is when the off-state, and photoelectric sensor can return the signal of telecommunication to the controller, and the signal of telecommunication is the low level. Or, when the photoelectric sensor is in the on state, the photoelectric sensor may return an electrical signal to the controller, where the electrical signal is at a low level, and when the photoelectric sensor is in the off state, the photoelectric sensor may return an electrical signal to the controller, where the electrical signal is at a high level.
It should be noted that whether the electrical signal returned by the off state of the photo sensor is at a high level or a low level may be defined according to the user's needs, which is not limited by the present invention.
Illustratively, the photosensor is in an on state when the photosensor is located at the layer plate of the access compartment, and the photosensor is in an off state when the photosensor is located at a position between the upper layer plate and the lower layer plate of the access compartment. Or when the photoelectric sensor is positioned at the laminate of the access grid, the photoelectric sensor is in a closed state, and when the photoelectric sensor is positioned between the upper laminate and the lower laminate of the access grid, the photoelectric sensor is in a conducting state.
Because photoelectric sensor fixes on the baffle, therefore, the baffle is in the in-process that moves to the M access grid, drives photoelectric sensor and moves also to the M access grid. In the process that the photoelectric sensor moves to the Mth access grid, the working state of the photoelectric sensor changes once when passing through one access grid, and the level value of the electric signal returned to the controller by the photoelectric sensor also changes correspondingly. The controller may control the shutter to stop at the mth access bay according to the number of level value changes of the electric signal returned by the photosensor. That is, in practical applications, the controller may control the shutter to stop at the mth access slot according to the number of times of sensor information returned by the photosensor.
Because the intelligent logistics terminal equipment provided by the invention comprises a plurality of access grids, the current position (Nth access grid) of the baffle is the 1 st access grid, the Lth access grid and any access grid between the 1 st access grid and the Lth access grid as an example for respectively carrying out detailed description:
if the access grids are distributed in the up-down direction, the 1 st access grid can be the 1 st access grid from the top to the bottom, or the 1 st access grid from the bottom to the top. If the 1 st access slot is the 1 st access slot from top to bottom, that is, the 1 st access slot is the top most and the L-th access slot is the bottom most; if the 1 st access slot is the 1 st access slot from bottom to top, that is, the bottom is the 1 st access slot, and the top is the lth access slot.
If the access slots are distributed along the left-right direction, the 1 st access slot may be the 1 st access slot from left to right, or the 1 st access slot from right to left. If the 1 st access slot is the 1 st access slot from left to right, that is, the leftmost access slot is the 1 st access slot, and the rightmost access slot is the lth access slot; if the 1 st access slot is the 1 st access slot from right to left, that is, the leftmost access slot is the L-th access slot, and the rightmost access slot is the 1 st access slot.
First, N ═ 1 (i.e. nth access slot is 1 st access slot)
Specifically, if the current position of the baffle is the 1 st access grid, the controller controls the baffle to stop moving when the number of times of returning the sensor information by the photoelectric sensor is equal to M.
For example, the intelligent logistics terminal equipment comprises 10 access grids, wherein the baffle is currently positioned at the 1 st access grid, the access grid is the 1 st access grid from bottom to top, the Mth access grid is the 5 th access grid from bottom to top, then the controller controls the control motor to rotate through the driving module to drive the baffle to move from bottom to top, in the process that the baffle moves from bottom to top, every time the photoelectric sensor passes through one access grid, the photoelectric sensor returns sensor information to the controller once, the controller determines whether to control the baffle to stop moving according to the number of times of returning the sensor information by the photoelectric sensor in real time in the moving process, if the controller determines that the number of times of returning the sensor information by the photoelectric sensor is equal to 5 times, the controller controls the control motor to stop rotating through the driving module, so that the baffle is controlled to stop at the 5 th access grid.
Second, N ═ L (i.e. nth access slot is lth access slot)
Specifically, if the current position of the baffle is the L-th access grid, the controller controls the baffle to stop moving when the number of times of returning the sensor information by the photoelectric sensor is equal to | L-M | + 1.
For example, the intelligent logistics terminal device comprises 10 access grids, wherein the baffle is currently located at the 10 th access grid, the 10 th access grid is the 10 th access grid from bottom to top, the mth access grid is the 5 th access grid from bottom to top,
then, the controller controls the control motor to rotate through the driving module to drive the baffle to move from top to bottom, in the process that the baffle moves from top to bottom, every time the baffle passes through one access grid, the photoelectric sensor returns sensor information to the controller, the controller determines whether to control the baffle to stop moving according to the number of times that the photoelectric sensor returns the sensor information in real time in the moving process, if the controller determines that the number of times that the photoelectric sensor returns the sensor information is equal to 6 times, the controller controls the control motor to stop rotating through the driving module, and therefore the baffle is controlled to stop at the 5 th access grid.
Third, N is larger than 1 and smaller than L (i.e. the Nth access slot is any access slot between the 1 st and the Lth access slots)
Specifically, if the current position of the baffle is any one of the access grids between the 1 st access grid and the L-th access grid, the controller needs to acquire the latest rotation direction of the control motor before controlling the control motor to rotate along the expected rotation direction, then the controller acquires the sensor information returned by the photoelectric sensor in the process that the baffle moves to the M-th access grid, and controls the baffle to stop at the M-th access grid according to the expected rotation direction, the latest rotation direction of the control motor and the number of times that the photoelectric sensor returns the sensor information.
If the latest rotation direction of the control motor is consistent with the expected rotation direction, the controller determines whether to control the baffle to stop moving according to the number of times of returning the sensor information by the photoelectric sensor in real time in the moving process, and if the controller determines that the number of times of returning the sensor information by the photoelectric sensor is equal to | M-N |, the controller controls the control motor to stop rotating, so that the baffle is controlled to stop at the Mth access grid.
If the latest rotation direction of the control motor is not consistent with the expected rotation direction, the controller determines whether to control the baffle to stop moving according to the number of times of returning the sensor information by the photoelectric sensor in real time in the moving process, and if the controller determines that the number of times of returning the sensor information by the photoelectric sensor is equal to | M-N | +1, the controller controls the control motor to stop rotating, so that the baffle is controlled to stop at the Mth access grid opening.
Alternatively, in this embodiment, the control motor may be any one of a servo motor, a stepping motor, a brushless motor, and a carbon brush motor.
It should be noted that in the embodiment of the present invention, | | represents an absolute value operation.
In this embodiment, first, a baffle moving instruction is obtained, where the baffle moving instruction is used to instruct a baffle to move from an nth access cell to an mth access cell, and then, an expected rotation direction is determined according to the baffle moving instruction, where the expected rotation direction is to enable the baffle to move from the nth access cell to the mth access cell, and a rotation direction of a motor is controlled; then, controlling the control motor to rotate along the expected rotation direction to drive the baffle to move towards the Mth access grid; and further, acquiring sensor information returned by the photoelectric sensor in the process that the baffle moves to the Mth access grid, and controlling the baffle to stop at the Mth access grid according to the sensor information. In the embodiment, the photoelectric sensor is fixed on the baffle, the baffle is controlled to move according to the sensor information returned by the photoelectric sensor, the overshoot phenomenon of the baffle in the moving process is utilized to determine the times that the photoelectric sensor actually needs to return the sensor information when the baffle moves from the current position to the target access cell, and the multipoint reliable baffle movement control is realized according to the times that the photoelectric sensor returns the sensor information; in addition, the method provided by the embodiment only needs to fix the photoelectric sensor on the baffle, and does not need to fix the photoelectric sensor on the laminate of the access grid, so that the number of the photoelectric sensors needed by the intelligent logistics terminal equipment is greatly reduced, and the cost of the intelligent logistics terminal equipment is greatly reduced due to the fact that the number of the needed photoelectric sensors is small.
Fig. 4 is a schematic flow chart of a baffle movement control method according to another embodiment of the present invention. As shown in fig. 4, the method of this embodiment, based on the embodiment shown in fig. 2, in S204, acquiring sensor information returned by the photosensor during the movement of the barrier to the mth access slot, and controlling the barrier to stop at the mth access slot according to the sensor information, further includes:
s205, updating the current position of the baffle to be the Mth access slot.
By updating the current position of the baffle, the current position of the baffle can be quickly obtained when the control module controls the baffle to move next time.
In some embodiments, the controller may also update the last rotation direction of the control motor to the desired rotation direction.
Fig. 5 is a schematic structural diagram of a barrier movement control device according to an embodiment of the present invention. The baffle mobile control device that this embodiment provided is applied to intelligent logistics terminal, and this intelligent logistics terminal includes baffle, photoelectric sensor, control motor and L access grid, photoelectric sensor fixes on the baffle, L is more than or equal to 2's integer.
As shown in fig. 5, the barrier movement control device 50 according to the present embodiment includes: an acquisition module 51, a processing module 52 and a control module 53.
The obtaining module 51 is configured to obtain a baffle moving instruction, where the baffle moving instruction is used to instruct that the baffle moves from an nth access slot to an mth access slot, where the nth access slot is the current position of the baffle, and N, M is an integer greater than 0 and less than or equal to L.
And the processing module 52 is configured to determine an expected rotation direction according to the baffle moving instruction, where the expected rotation direction is a rotation direction in which the baffle moves from the nth access slot to the mth access slot, and the rotation direction of the motor is controlled.
And the control module 53 is configured to control the control motor to rotate along the expected rotation direction to drive the baffle to move to the mth access cell.
The obtaining module 51 is further configured to obtain sensor information returned by the photoelectric sensor in the process that the baffle moves to the mth access bay.
The control module 53 is further configured to control the baffle to stop at the mth access slot according to the sensor information.
In some embodiments, the control module 53 is specifically configured to control the stop of the barrier at the mth access slot according to the number of times the sensor information is returned by the photosensor.
In some embodiments, if N is greater than 1 and less than L, the obtaining module 51 is further configured to obtain the last rotation direction of the control motor.
Accordingly, the control module 53 is specifically configured to control the baffle to stop at the mth access cell according to the desired rotation direction, the rotation direction of the control motor for the first time, and the number of times that the photoelectric sensor returns sensor information.
In some embodiments, the control module 53 is specifically configured to determine whether a previous rotation direction of the control motor is consistent with an expected rotation direction, and if it is determined that the previous rotation direction of the control motor is consistent with the expected rotation direction, the control module 53 is configured to control the baffle to stop moving if the number of times that the photoelectric sensor returns sensor information is equal to | M-N |; if the previous rotation direction of the control motor is determined to be inconsistent with the expected rotation direction, the control module 53 controls the baffle to stop moving when the number of times of returning the sensor information by the photoelectric sensor is equal to | M-N | + 1; wherein the baffle stops at the Mth access slot when the baffle stops moving.
In some embodiments, if N is 1, the control module 53, specifically configured to control the stop of the shutter when the number of times that the photosensor returns the sensor information is equal to M.
In some embodiments, if N is equal to L, the control module 53, specifically for the number of times that the photosensor returns sensor information, is equal to | L-M | +1, controls the stop of the movement of the shutter.
In some embodiments, the processing module 52 is further configured to update the current position of the bezel to be the mth access slot.
The device for controlling the movement of the baffle plate provided in this embodiment may be used to implement the technical solutions of the embodiments shown in fig. 2 or fig. 3, and the implementation principles and technical effects are similar, and are not described herein again.
Fig. 6 is a schematic structural diagram of a barrier movement control device according to another embodiment of the present invention. The baffle mobile control device 60 that this embodiment provided is applied to intelligent logistics terminal equipment, and this intelligent logistics terminal equipment includes baffle, photoelectric sensor, control motor and L access grid, photoelectric sensor fixes on the baffle, and L is more than or equal to 2's integer.
As shown in fig. 6, the barrier movement control device 60 according to the present embodiment includes: memory 61, processor 62 and computer programs.
Wherein a computer program is stored in the memory 61 and is configured to be executed by the processor 62 to implement the shutter movement control method shown in the embodiment of fig. 2 or 4. The related description may be understood by referring to the related description and effect corresponding to the step shown in the embodiment of fig. 2 or fig. 4, and redundant description is not repeated here.
In the present embodiment, the memory 61 and the processor 62 are connected by a bus 63.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the baffle plate movement control method shown in the embodiment of fig. 2 or fig. 4.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware form, and can also be realized in a form of hardware and a software functional module.
Program code for implementing the methods of the present invention may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagrams to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Fig. 7 is a schematic structural diagram of an intelligent logistics terminal device according to an embodiment of the present invention. As shown in fig. 7, the intelligent logistics terminal device 700 provided in this embodiment includes: a shutter S2, a photosensor S3, a control motor S6, L access bays S1, and a controller S4. L is an integer of 2 or more.
The photoelectric sensor S3 is fixed on the baffle, the photoelectric sensor S3 is electrically connected with the baffle movement control device, and the photoelectric sensor S3 returns sensor information to the controller S4 every time when passing through the access grid S1 in the process of moving up and down.
The controller S4 may be coupled to one end of the drive module S6, the other end of the drive module S6 coupled to the control motor S5, and the control motor S5 coupled to the barrier S2.
In this embodiment, the controller S4 can be used to execute the shutter moving control method described in any of fig. 2 or fig. 4 to control the shutter S2 to move to the mth access bay.
It should be noted that, the intelligent logistics terminal device provided in this embodiment may further include: displays, scanners, cameras, shuttles, height measuring devices, weight measuring devices, voice recognizers, etc. (not shown in fig. 7).
The intelligent logistics terminal device provided by the embodiment fixes the photoelectric sensor on the baffle, controls the baffle to move according to the sensor information returned by the photoelectric sensor, determines the times that the photoelectric sensor actually needs to return the sensor information when the baffle moves from the current position to the target access grid by utilizing the overshoot phenomenon of the baffle in the moving process, and realizes reliable multi-point baffle movement control according to the times that the photoelectric sensor returns the sensor information; in addition, the intelligent logistics terminal equipment that this embodiment provided only needs fixed photoelectric sensor on the baffle, need not fixed photoelectric sensor on the plywood of access grid, has reduced the required photoelectric sensor's of intelligent logistics terminal equipment quantity greatly, just because required photoelectric sensor quantity is less, consequently, has greatly reduced intelligent logistics terminal equipment's cost.
Finally, it should be noted that: although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely exemplary forms of implementing the claims; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The baffle plate movement control method is applied to intelligent logistics terminal equipment, the intelligent logistics terminal equipment comprises a baffle plate, a photoelectric sensor, a control motor and L access grids, the baffle plate is used for blocking the back of each access grid when a door plate of each access grid is opened, the photoelectric sensor is fixed on the baffle plate, L is an integer greater than or equal to 2, and the method comprises the following steps:
acquiring a baffle moving instruction, wherein the baffle moving instruction is used for indicating that a baffle moves from an Nth access grid to an Mth access grid, the Nth access grid is the current position of the baffle, and N, M is an integer which is greater than 0 and less than or equal to L;
determining an expected rotation direction according to the baffle plate moving instruction, wherein the expected rotation direction is the rotation direction of enabling the baffle plate to move from the Nth access grid to the Mth access grid, and controlling a motor;
controlling the control motor to rotate along the expected rotation direction to drive the baffle to move towards the Mth access grid;
and acquiring sensor information returned by the photoelectric sensor in the process that the baffle moves to the Mth access grid, and controlling the baffle to stop at the Mth access grid according to the sensor information, wherein the photoelectric sensor returns the sensor information once when passing through the access grid.
2. The method of claim 1, wherein said controlling said shutter to stop at said mth access bay based on said sensor information comprises:
and controlling the baffle to stop at the Mth access grid according to the times of returning the sensor information by the photoelectric sensor.
3. The method of claim 2, wherein if N is greater than 1 and less than L, prior to said controlling said control motor to rotate in said desired rotational direction, further comprising:
acquiring the latest rotation direction of the control motor;
correspondingly, the controlling the baffle to stop at the mth access cell according to the number of times that the photoelectric sensor returns sensor information includes:
and controlling the baffle to stop at the Mth access grid according to the expected rotating direction, the last rotating direction of the control motor and the number of times of returning sensor information by the photoelectric sensor.
4. The method of claim 3, wherein said controlling said baffle to stop at said mth access bay based on said desired direction of rotation, a last direction of rotation of said control motor, and a number of times said photosensor returned sensor information comprises:
if the latest rotation direction of the control motor is consistent with the expected rotation direction and the number of times of returning sensor information by the photoelectric sensor is equal to | M-N |, controlling the baffle to stop moving;
if the latest rotation direction of the control motor is inconsistent with the expected rotation direction and the number of times of returning sensor information by the photoelectric sensor is equal to | M-N | +1, controlling the baffle to stop moving;
wherein the baffle stops at the Mth access slot when the baffle stops moving.
5. The method of claim 2, wherein controlling the shutter to stop at the mth access slot based on the number of times that the photosensor returns sensor information if N is 1 comprises:
and if the number of times of returning the sensor information by the photoelectric sensor is equal to M, controlling the baffle to stop moving.
6. The method of claim 2, wherein if N ═ L; the controlling the baffle to stop at the Mth access cell according to the number of times of returning the sensor information by the photoelectric sensor comprises:
and if the number of times of returning the sensor information by the photoelectric sensor is equal to | L-M | +1, controlling the baffle to stop moving.
7. The method according to any one of claims 4 to 6, further comprising:
and updating the current position of the baffle to be the Mth access slot.
8. The utility model provides a baffle movement control device, is applied to intelligent logistics terminal, intelligent logistics terminal includes baffle, photoelectric sensor, control motor and L access check, the baffle is used for blocking the back of access check when access check door plant is opened, photoelectric sensor fixes on the baffle, L is more than or equal to 2's integer, a serial communication port, include:
the acquisition module is used for acquiring a baffle moving instruction, wherein the baffle moving instruction is used for indicating that a baffle moves from an Nth access slot to an Mth access slot, the Nth access slot is the current position of the baffle, and N, M is an integer which is greater than 0 and less than or equal to L;
the processing module is used for determining an expected rotation direction according to the baffle plate moving instruction, wherein the expected rotation direction is the rotation direction of the control motor, the baffle plate moves from the Nth access grid to the Mth access grid;
the control module is used for controlling the control motor to rotate along the expected rotation direction so as to drive the baffle to move to the Mth access grid;
the acquisition module is further used for acquiring sensor information returned by the photoelectric sensor in the process that the baffle moves to the Mth access grid;
the control module is further used for controlling the baffle to stop at the Mth access grid according to the sensor information, wherein the photoelectric sensor returns the sensor information once when passing through the access grid.
9. A readable storage medium, comprising: carrying out a procedure;
the program is executed by a processor to execute the shutter movement control method according to any one of claims 1 to 7.
10. An intelligent logistics terminal device is characterized by comprising a baffle, a photoelectric sensor, a control motor, L access grids and a controller, wherein the photoelectric sensor is fixed on the baffle, and L is an integer greater than or equal to 2;
the controller is configured to execute the barrier movement control method according to any one of claims 1 to 7.
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| CN201910907121.7A CN110634235B (en) | 2019-09-24 | 2019-09-24 | Baffle movement control method and device, storage medium and intelligent logistics terminal equipment |
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