CN112478540B - Method and device for controlling rotation of tray - Google Patents
Method and device for controlling rotation of tray Download PDFInfo
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- CN112478540B CN112478540B CN201910864695.0A CN201910864695A CN112478540B CN 112478540 B CN112478540 B CN 112478540B CN 201910864695 A CN201910864695 A CN 201910864695A CN 112478540 B CN112478540 B CN 112478540B
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- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a method and a device for controlling rotation of a tray, and relates to the technical field of computers. One embodiment of the method comprises the following steps: acquiring a target rotation angle of the tray; determining a rotated angle of the tray based on the incremental encoder; and calculating the residual rotation angle of the tray according to the target rotation angle, the rotated angle and the zero point zone bit of the control part. According to the embodiment, the position deviation of the goods shelf can be identified without the two-dimension code of the goods shelf, meanwhile, the relative position deviation of the tray and the goods shelf can be controlled and corrected, and the consumption of software and hardware resources is reduced; the accuracy and reliability of tray rotation are improved, and meanwhile, the cost of the tray robot is reduced.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for controlling rotation of a tray.
Background
In the existing pallet robots, such as Automatic Guided Vehicles (AGVs) or forklift storage transfer robots, a pallet and a vehicle-mounted pallet two-dimensional code scanner are generally arranged on a chassis, the initial position of the pallet is manually set, the pallet two-dimensional code scanner is used for identifying the deviation of the relative position of a vehicle body and a pallet before each pallet rotation, the deviation is caused by the accumulation of the deviation caused by the estimation position of an incremental encoder 6, and a motion controller introduces the deviation into a pallet control algorithm to eliminate the continuous deviation of the pallet caused by the accumulation of the deviation of a pallet servo encoder.
In the process of implementing the present invention, the inventor finds that at least the following problems exist in the prior art:
1. the two-dimensional code scanner of the goods shelf can not identify the relative position deviation between the tray and the goods shelf, and the existing tray control algorithm can not correct and compensate, so that an algorithm control blind area exists;
2. the accuracy and precision of the shelf two-dimensional code scanner are seriously affected by the working environment, and the accuracy and reliability are low;
3. the function requirement on the shelf two-dimensional code scanner is higher, and the data acquisition, transmission, analysis, processing and other consumed software and hardware resources are more.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a tray robot, a method and a device for controlling rotation of a tray, which can ensure that the relative position deviation between the tray and a goods shelf is controllable and correctable and reduce the consumption of software and hardware resources while the position deviation of the goods shelf is not required to be identified by a two-dimensional code of the goods shelf; the accuracy and reliability of tray rotation are improved, and meanwhile, the cost of the tray robot is reduced.
To achieve the above object, according to one aspect of the embodiments of the present invention, there is provided a method of controlling rotation of a tray.
The invention provides a method for controlling rotation of a tray, which is applied to the tray robot of the embodiment of the invention, and comprises a chassis, a tray, a zero limit switch arranged on the chassis, an incremental encoder and a control part, wherein at least two groups of zero positions consisting of two zero holes are arranged on the tray, and the number of overlapping times of the zero limit switch and the zero holes and the position state of the tray in the rotation process of the tray are recorded on the zero mark position of the control part, and the method comprises the following steps: acquiring a target rotation angle of the tray; determining an angle of rotation of the tray based on the incremental encoder; and calculating the residual rotation angle of the tray according to the target rotation angle, the rotated angle and the zero point zone bit of the control part.
Optionally, calculating the remaining rotation angle of the tray according to the target rotation angle, the rotated angle and the zero point flag bit of the control part includes: calculating a predicted remaining angle of the tray according to the target rotation angle and the rotated angle; and reading a zero point zone bit of the control part, and correcting the predicted residual angle based on the zero point zone bit to obtain the residual rotation angle of the tray.
Optionally, reading a zero point flag bit of the control part, correcting the predicted remaining angle based on the zero point flag bit to obtain a remaining rotation angle of the tray, including: reading the zero point zone bit of the control part to obtain the superposition times and the position state of the tray; correcting the predicted residual angle according to the superposition times and the rotated angle to obtain the residual rotating angle of the tray, and updating the position state of the tray and the target rotating angle; or correcting the predicted residual angle of the tray according to the superposition times and the position state of the tray to obtain the residual rotation angle of the tray, and updating the position state of the tray and the target rotation angle.
Optionally, correcting the predicted remaining angle according to the overlapping times and the rotated angle to obtain a remaining rotation angle of the tray, and updating the position state of the tray and the target rotation angle, including:
if the overlapping frequency is 0, updating the value of the target rotation angle to the value of the residual rotation angle, wherein θ2=θ1- θOK;
if the coincidence times is 1, the rotated angle is obtained,
when the rotated angle is greater than half of the zero point adjacent angle, θ2=θ1- (a-b/2), updating the position state of the tray to a first state, and updating the value of the target rotated angle to the value of the remaining rotated angle;
when the rotated angle is less than or equal to half of the zero point adjacent angle, θ2=θ1- (b/2), updating the position state of the tray to a second state, and updating the value of the target rotated angle to the value of the remaining rotated angle;
wherein θ2 is the remaining rotation angle; θ1 is the target rotation angle; θok is the rotated angle; a is the zero point adjacent angle, and the zero point adjacent angle is the included angle of the central lines of two adjacent zero point positions; b is the zero internal angle, and the zero internal angle is the central angle of two zero holes of the same zero position.
Optionally, correcting the predicted remaining angle of the tray according to the overlapping times, the rotated angle and the position state of the tray to obtain the remaining rotation angle of the tray, and updating the position state of the tray and the target rotation angle, including:
if the coincidence times is more than or equal to 2, the central angle of the zero point hole corresponding to the latest twice coincidence is obtained,
when the central angle of the zero point hole corresponding to the latest twice superposition is larger than the zero point inner angle, updating the position state of the tray to a fifth state, and updating the value of the target rotation angle to the value of the residual rotation angle;
when the central angle of the zero point hole corresponding to the latest twice overlapping is equal to the zero point inner angle, inquiring the position state of the tray,
if the position state of the tray is the second state, θ2=θ1, the position state of the tray is updated to the fourth state, the value of the target rotation angle is updated to the value of the remaining rotation angle,
if the position state of the tray is the first state, the second state, the third state or the fifth state, θ2=θ1-b, the position state of the tray is updated to the third state, and the value of the target rotation angle is updated to the value of the remaining rotation angle.
Optionally, the method further comprises: controlling the tray to rotate to a zeroing position; the zero resetting position is a position where the tray is positioned at the center line of one group of zero point positions where the zero limit switch is positioned.
To achieve the above object, according to another aspect of the embodiments of the present invention, there is provided an apparatus for controlling rotation of a tray.
The device for controlling the rotation of the tray comprises: the acquisition module is used for acquiring the target rotation angle of the tray; a determining module for determining a rotated angle of the tray based on the incremental encoder; and the calculation module is used for calculating the residual rotation angle of the tray according to the target rotation angle, the rotated angle and the zero point zone bit of the control part.
Optionally, the computing module is further configured to: calculating a predicted remaining angle of the tray according to the target rotation angle and the rotated angle; and reading a zero point zone bit of the control part, and correcting the predicted residual angle based on the zero point zone bit to obtain the residual rotation angle of the tray.
Optionally, the computing module is further configured to: reading the zero point zone bit of the control part to obtain the superposition times and the position state of the tray; correcting the predicted residual angle according to the superposition times and the rotated angle to obtain the residual rotating angle of the tray, and updating the position state of the tray and the target rotating angle; or correcting the predicted residual angle of the tray according to the superposition times and the position state of the tray to obtain the residual rotation angle of the tray, and updating the position state of the tray and the target rotation angle.
Optionally, the computing module is further configured to:
if the overlapping frequency is 0, updating the value of the target rotation angle to the value of the residual rotation angle, wherein θ2=θ1- θOK;
if the coincidence times is 1, the rotated angle is obtained,
when the rotated angle is greater than half of the zero point adjacent angle, θ2=θ1- (a-b/2), updating the position state of the tray to a first state, and updating the value of the target rotated angle to the value of the remaining rotated angle;
when the rotated angle is less than or equal to half of the zero point adjacent angle, θ2=θ1- (b/2), updating the position state of the tray to a second state, and updating the value of the target rotated angle to the value of the remaining rotated angle;
wherein θ2 is the remaining rotation angle; θ1 is the target rotation angle; θok is the rotated angle; a is the zero point adjacent angle, and the zero point adjacent angle is the included angle of the central lines of two adjacent zero point positions; b is the zero internal angle, and the zero internal angle is the central angle of two zero holes of the same zero position.
Optionally, the computing module is further configured to:
if the coincidence times is more than or equal to 2, the central angle of the zero point hole corresponding to the latest twice coincidence is obtained,
When the central angle of the zero point hole corresponding to the latest twice superposition is larger than the zero point inner angle, updating the position state of the tray to a fifth state, and updating the value of the target rotation angle to the value of the residual rotation angle;
when the central angle of the zero point hole corresponding to the latest twice overlapping is equal to the zero point inner angle, inquiring the position state of the tray,
if the position state of the tray is the second state, θ2=θ1, the position state of the tray is updated to the fourth state, the value of the target rotation angle is updated to the value of the remaining rotation angle,
if the position state of the tray is the first state, the second state, the third state or the fifth state, θ2=θ1-b, the position state of the tray is updated to the third state, and the value of the target rotation angle is updated to the value of the remaining rotation angle.
Optionally, the system further comprises a control module for: controlling the tray to rotate to a zeroing position; the zero resetting position is a position where the tray is positioned at the center line of one group of zero point positions where the zero limit switch is positioned.
In order to achieve the above object, according to still another aspect of the embodiments of the present invention, there is provided an electronic apparatus for controlling rotation of a tray.
An electronic device for controlling rotation of a tray according to an embodiment of the present invention includes: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize a method for controlling the rotation of the tray.
To achieve the above object, according to still another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium.
A computer-readable storage medium of an embodiment of the present invention has stored thereon a computer program which, when executed by a processor, implements a method of controlling rotation of a tray of an embodiment of the present invention.
One embodiment of the above invention has the following advantages or benefits: because the acquisition of the target rotation angle of the tray is adopted; determining an angle of rotation of the tray based on the incremental encoder; according to the target rotation angle, the rotated angle and the zero point zone bit of the control part, the residual rotation angle of the tray is calculated, so that the technical means that the relative position deviation between the tray and the shelf cannot be identified by a shelf two-dimension code scanner is overcome, the existing tray control algorithm cannot be corrected and compensated, and an algorithm control blind area exists; the accuracy and reliability of the shelf two-dimensional code scanner are low; the function requirement on the shelf two-dimension code scanner is higher, and the technical problems that the data acquisition, the data transmission, the analysis, the processing and the like consume more software and hardware resources are solved, so that the relative position deviation of the tray and the shelf is ensured to be controllable and correctable while the shelf two-dimension code is not required to identify the position deviation of the shelf, and the consumption of the software and hardware resources is reduced; the accuracy and the reliability of the rotation of the tray are improved, and meanwhile, the technical effect of the cost of the tray robot is reduced.
Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic view of a chassis of a pallet robot according to an embodiment of the invention;
FIG. 2 is a schematic diagram II of a chassis of a pallet robot according to an embodiment of the invention;
fig. 3 is a schematic view of a pallet robot according to an embodiment of the invention;
FIG. 4 is a schematic view of a pallet robot with a pallet in a zeroed position according to an embodiment of the invention;
FIG. 5 is a schematic diagram of the main steps of a method of controlling rotation of a tray according to an embodiment of the invention;
FIG. 6 is a schematic diagram of a position during rotation of a tray in a method of controlling rotation of a tray according to an embodiment of the invention;
FIG. 7 is a second schematic view of a position during rotation of a tray in a method of controlling rotation of a tray according to an embodiment of the invention;
FIG. 8 is a schematic diagram III of positions during rotation of a tray in a method of controlling rotation of a tray according to an embodiment of the invention;
FIG. 9 is a schematic diagram IV of a position during rotation of a tray in a method of controlling rotation of the tray according to an embodiment of the invention;
FIG. 10 is a schematic view of the main modules of an apparatus for controlling rotation of a tray according to an embodiment of the present invention;
FIG. 11 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;
fig. 12 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the embodiments of the present invention and the technical features in the embodiments may be combined with each other without collision.
The flow of the tray control algorithm adopted by the existing tray robot is as follows:
first, the tray robot receives a tray rotation instruction, a tray left/right rotation angle (θ0);
secondly, the tray robot automatically triggers a goods shelf two-dimension code scanner on the tray robot to read a deviation angle (m) of a goods shelf and a car body, and based on the deviation angle, an angle (theta X) of the tray to be rotated is calculated:
Tray turns left, ox=θ0-m;
tray right turn, θx=θ0+m;
then, the tray remaining rotation angle (θy) is calculated in real time based on the real-time code disc value (RealPlateNum) of the tray motor and the code disc value (RealPlateNumOld) of the last cycle:
θY＝θX-(RealPlateNum-RealPlateNumOld)；
finally, when θ2=0, the tray reaches a specific position, and the tray motor stops operating.
The existing tray control algorithm only estimates the position by means of the code wheel value of the motor, belongs to pure software calculation, inevitably has calculation deviation, has no mechanism for eliminating the deviation, and has accumulated deviation if used for a long time. In order to ensure no deviation of the relative positions of the goods shelf and the vehicle body, each time the tray rotates, the scanning, the data sending and receiving and the data analyzing and processing of the goods shelf two-dimension code scanner are required to be triggered, the function requirement on the goods shelf two-dimension code scanner is higher, the difficulty of device selection and the cost of the whole vehicle are greatly improved, and the consumption of software and hardware resources is increased; the accuracy of the relative position deviation recognition of the goods shelf and the vehicle body is related to the reliability of the goods shelf two-dimensional code scanner, the accuracy and precision of the goods shelf two-dimensional code scanner are seriously influenced by the technology and the working environment, dust in the warehouse environment and the shake of the goods shelf influence the goods shelf two-dimensional code scanner, the recognition accuracy is reduced, and the reliability of the goods shelf two-dimensional code scanner is low; the shelf two-dimensional code scanner is mounted on the chassis, so that the relative position deviation of the shelf and the chassis (namely the vehicle body) can be identified, and the relative position deviation exists between the tray and the shelf, which is unrecognizable by the shelf two-dimensional code scanner, and can not be corrected and compensated, namely an algorithm control blind area exists.
Therefore, the embodiment of the invention provides a tray robot and a method for controlling the rotation of a tray, which aim to eliminate the position deviation of a chassis 1 and the tray 2, namely the initial position deviation between the chassis 1 and the tray 2 and the accumulated deviation introduced by the estimated position of an incremental encoder 6 when the tray 2 rotates, ensure that the relative position deviation between the tray 2 and a shelf can be corrected controllably while the two-dimensional code of the shelf is not needed to identify the position deviation of the shelf, reduce the consumption of software and hardware resources, improve the accuracy and the reliability of the rotation of the tray 2, and reduce the cost of the tray robot.
As shown in fig. 2 to 3, a pallet robot according to an embodiment of the present invention mainly includes a chassis 1, a pallet 2, an incremental encoder 6, a zero limit switch 3, and a control part (not shown in the drawings). Wherein, the tray 2 is the rotating part of the tray robot and is used for driving the functional parts thereon to rotate. Under the condition that the integral rotation is inconvenient, the tray 2 can drive the functional components to rotate independently, for example, the tray 2 of a forklift is used for driving a fork to rotate so as to fork and take goods; the tray 2 of the AGV is used for jacking the goods shelf to rotate so as to place the goods shelf at a specific angle; the tray 2 of the image acquisition robot is used for driving a camera or a video camera to rotate so as to adjust the angle of a lens. The incremental encoder 6 is a digital encoder for measuring angular displacement, has the advantages of strong resolving power, high measuring precision, reliable operation and the like, is a most commonly used displacement sensor for measuring the rotation angle position of a shaft, and can add and subtract pulse increment generated by a rotary code disc to a certain reference number by using a computing system to obtain the angular displacement. In the embodiment of the present invention, the incremental encoder 6 is used to detect the rotation angle of the tray 2. The zero limit switch 3 is a mechanical device provided with a mechanical zero induction flag bit for indicating whether the device is detected. In the embodiment of the invention, when the zero limit switch 3 is overlapped with the zero hole 5 of the tray 2, a high potential is input, and the value of a mechanical zero induction zone bit is 1; otherwise, inputting a low potential, wherein the value of the mechanical zero induction zone bit is 0.
Specifically, the incremental encoder 6 is disposed between the tray 2 and the chassis 1, and the incremental encoder 6 is located at the axial center of the tray 2. The chassis 1 is located the below of tray 2, and limit switch 3 sets up on chassis 1, is provided with two at least zero bit 4 in group on the tray 2, and wherein, zero bit 4 in every group includes two zero holes 5, and when limit switch 3 and arbitrary zero hole 5 coincidence, limit switch 3 input high potential, otherwise input low potential. The control part is in communication connection with the incremental encoder 6 and the zero limit switch 3, and is used for controlling the rotation of the tray 2, the operation of the tray robot and the like. The zero point zone bit of the control part records the overlapping times of the zero point limit switch 3 and the zero point hole 5 and the position state of the tray 2 in the rotation process of the tray 2. In addition, the tray robot further includes other components, such as wheels, motors, or scanners, which enable the tray robot to function normally and perform certain functions, and the embodiments of the present invention are not described in detail.
In the embodiment of the invention, the zero positions 4 are uniformly distributed along the circumference of the tray 2, and the projection of the zero limit switch 3 on the tray 2 is positioned on the circumference of the zero hole 5. The angle between the middle lines of two adjacent zero points 4 may be referred to as the zero point adjacent angle, and the central angle of two zero point holes 5 of the same zero point 4 may be referred to as the zero point internal angle, which is smaller than 30 ° as a preferred embodiment. Further, the shape of the tray 2 may be any shape, such as a circle, a square, a triangle, or the like.
In the embodiment of the invention, a zeroing position can be set for the tray 2, the zeroing position is used as an ideal initial position of the tray 2, and the tray 2 is rotated to the zeroing position after finishing the action corresponding to the tray rotation instruction once, so that the tray 2 is accurately controlled to rotate when the tray rotation instruction is received next time. When the pallet 2 is in the zeroing position, the limit switch 3 is positioned at the middle line of one of the zero points 4, for example as shown in fig. 4.
During the rotation of the tray 2, the tray 2 rotates relative to the zero limit switch 3 on the chassis 1. When the zero limit switch 3 is overlapped with any one of the zero holes 5, the zero limit switch 3 inputs a high potential, the value of the mechanical zero induction zone bit of the zero limit switch 3 is 1, at the moment, the tray 2 is rotated to a specific position, the position state of the tray 2 can be obtained by identifying the specific position, and the degree by which the tray 2 is rotated from the zeroing position to the specific position is obtained, so that the residual rotation angle of the tray 2 is accurately calculated. Otherwise (i.e. when the zero limit switch 3 is not overlapped with any zero hole 5), the zero limit switch 3 inputs a low potential, and the value of the mechanical zero induction flag bit of the zero limit switch 3 is 0. The zero zone bit of the control part records the number of times of superposition of the zero limit switch 3 and the zero hole 5 and the position state of the tray 2 in the process of executing a tray rotation instruction (namely, the process of rotating the tray 2 to a target rotation angle) of the tray 2, wherein the position state of the tray 2 can be updated when the superposition of the zero limit switch 3 and the zero hole 5 is detected, and can also be updated according to preset frequency. Because the positions of the zero point limit switch 3 and the zero point hole 5 are fixed, the rotated angle and the residual rotated angle of the tray 2 can be corrected in any initial state as long as the coincidence and the coincidence times of the zero point limit switch 3 and the zero point hole 5 are identified, and the initial position deviation between the vehicle body and the tray 2 is eliminated, so that the rotated position of the tray 2 is accurately determined, the vehicle is accurately stopped (namely, the vehicle is controlled to be stopped after being rotated to a specific position), and the inconsistency between the stopped position and the actual requirement is avoided.
As shown in fig. 5, the method for controlling the rotation of the tray according to the embodiment of the present invention mainly includes the following steps:
step S501: a target rotation angle of the tray 2 is acquired.
When the tray robots such as the AGVs, the fork trucks, the image acquisition robots and the like run, the tray robots are generally controlled by a dispatching system, a control center or a total server and the like, receive instructions of the dispatching system, the control center or the total server and the like, execute corresponding actions, and when the tray 2 needs to be rotated, the tray robots receive tray rotation instructions, and the target rotation angles of the tray 2 can be obtained from the tray rotation instructions. Or, when it is necessary to rotate the tray 2 to a specific position, the angle of rotation (i.e., the target rotation angle) is estimated. Further, the left turn or the right turn may be indicated by the positive or negative of the value of the target turning angle, which may be acquired by the control section of the tray robot and control the tray 2 to be turned, or may be executed by a third party server instead of the control section.
Step S502: the rotated angle of the tray 2 is determined based on the incremental encoder 6.
The incremental encoder 6 can add or subtract pulse increments generated by rotating the code wheel to a certain reference number by means of a computing system to obtain an angular displacement, i.e. the rotated angle of the tray 2 can be determined from the value of the incremental encoder 6. As an alternative implementation manner, the code disc value of the current period of the incremental encoder 6 may be read, and the code disc value of the previous period (that is, the code disc value corresponding to the stop position of the tray 2 after the previous task is performed) may be obtained, and the rotated angle is obtained by subtracting the code disc value of the previous period from the code disc value of the current period.
Step S503: the remaining rotation angle of the tray 2 is calculated from the target rotation angle, the rotated angle, and the zero point flag bit of the control section.
Because the initial position of the tray 2 mounted on the chassis 1 is manually adjusted, initial position deviation may exist between the initial position and the zero-resetting position, and accumulated deviation possibly introduced by the position estimation of the incremental encoder 6 when the tray 2 rotates can be corrected and compensated when the residual rotation angle is calculated according to the recorded content of the zero zone bit, thereby ensuring that the relative position deviation of the tray 2 and the goods shelf is controllable and correctable and improving the accuracy and reliability of the rotation of the tray 2; meanwhile, in the process, the deviation between the identification of the two-dimension code scanner of the goods shelf and the goods shelf is not needed, and the cost of the tray robot is reduced.
In the embodiment of the present invention, step S503 may be implemented by: calculating a predicted remaining angle of the tray 2 according to the target rotation angle and the rotated angle; and reading the zero point zone bit of the control part, and correcting and predicting the residual angle based on the zero point zone bit to obtain the residual rotation angle of the tray 2.
The predicted remaining angle of the tray 2 is obtained by subtracting the rotated angle of the tray 2 from the target rotated angle of the tray 2, which is estimated based on the rotated angle and which may be rotated to a specific position by how much the tray 2 needs to be rotated, but the rotated angle is actually rotated by how much according to the value read from the incremental encoder 6, not by how much according to the zero position, so that it is necessary to correct the predicted remaining angle according to the content of the zero flag bit to accurately obtain the remaining rotated angle of the tray 2.
In the embodiment of the invention, the zero zone bit of the control part is read, the predicted residual angle is corrected based on the zero zone bit, and the residual rotation angle of the tray 2 is obtained, and the step can be realized by the following steps: reading the zero point zone bit of the control part to obtain the superposition times and the position state of the tray 2; correcting and predicting the residual angle according to the superposition times and the rotated angle to obtain the residual rotated angle of the tray 2, and updating the position state and the target rotated angle of the tray 2; or correcting the predicted remaining angle of the tray 2 according to the superposition times and the position state of the tray 2 to obtain the remaining rotation angle of the tray 2, and updating the position state of the tray 2 and the target rotation angle.
In the process of rotating the tray 2, when the zero limit switch 3 is overlapped with any zero hole 5, the zero limit switch 3 inputs a high potential, the value of a mechanical zero induction zone bit of the zero limit switch 3 is 1, the tray 2 is rotated to a specific position at the moment, the degree of rotation of the tray 2 from the zeroing position to the specific position can be obtained by identifying the specific position, the predicted residual angle of the tray 2 is corrected to obtain the residual rotating angle of the tray 2, and meanwhile, the position state of the tray 2 can be updated according to the specific position; when the zero limit switch 3 is not overlapped with any zero hole 5, the zero limit switch 3 inputs a low potential, and the value of a mechanical zero induction zone bit of the zero limit switch 3 is 0. In the whole process of controlling the rotation of the tray 2 to the target rotation angle (namely, the rotation process of executing a tray rotation instruction of the tray 2), the overlapping times of the zero limit switch 3 and the zero hole 5 and the position state of the tray 2 are recorded in the zero marker bit of the control part, and when the residual rotation angle of the tray 2 is calculated, the calculation can be performed according to the overlapping times and the rotated angle, and also can be performed according to the overlapping times, the rotated angle and the position state of the tray 2.
It should be noted that, in the whole process of controlling the rotation of the tray 2 to the target rotation angle, there may be a plurality of times of calculating and updating the remaining rotation angle, that is, when the zero limit switch 3 is detected to be overlapped with the zero point hole 5 each time, the remaining rotation angle of the tray 2 is calculated, the position state of the tray 2 is updated, the rotated angle is read again before each calculation, the value of the target rotation angle is updated after each calculation, and the updated target rotation angle indicates that the tray 2 is theoretically required to rotate to a specific position.
In the embodiment of the present invention, the residual rotation angle of the tray 2 is obtained by correcting the predicted residual angle according to the overlapping times and the rotated angle, and the position state and the target rotation angle of the tray 2 are updated, which can be specifically realized by the following steps: if the overlapping frequency is 0, θ2=θ1- θok, and updating the value of the target rotation angle to the value of the residual rotation angle; if the number of coincidence times is 1, acquiring a rotated angle, and updating the position state of the tray 2 into a first state and updating the value of the target rotated angle into the value of the residual rotated angle when the rotated angle is greater than half of the zero point adjacent angle; when the rotated angle is less than or equal to half of the zero point adjacent angle, θ2=θ1- (b/2), the position state of the tray 2 is updated to the second state, and the value of the target rotated angle is updated to the value of the remaining rotated angle.
In the embodiment of the present invention, the predicted remaining angle of the tray 2 is corrected according to the number of overlapping times and the position state of the tray 2, to obtain the remaining rotation angle of the tray 2, and the position state of the tray 2 and the target rotation angle are updated, which can be specifically achieved by the following steps: if the number of coincidence times is greater than or equal to 2, obtaining the central angle of the zero point hole 5 corresponding to the latest twice coincidence, and updating the position state of the tray 2 into a fifth state and updating the value of the target rotation angle into the value of the residual rotation angle when the central angle of the zero point hole 5 corresponding to the latest twice coincidence is greater than the zero point inner angle; when the central angle of the zero point hole 5 corresponding to the latest twice overlapping is equal to the zero point inner angle, the position state of the tray 2 is inquired, if the position state of the tray 2 is the second state, θ2=θ1, the position state of the tray 2 is updated to the fourth state, the value of the target rotation angle is updated to the value of the residual rotation angle, and if the position state of the tray 2 is the first state, the second state, the third state or the fifth state, θ2=θ1-b, the position state of the tray 2 is updated to the third state, and the value of the target rotation angle is updated to the value of the residual rotation angle.
Wherein θ2 is the remaining rotation angle; θ1 is a target rotation angle; θok is the rotated angle; a is a zero point adjacent angle, and the zero point adjacent angle is an included angle of the central lines of two adjacent zero point positions 4; b is the zero internal angle, which is the central angle of two zero holes 5 at the same zero point 4.
When the number of times of overlapping the zero point limit switch 3 and the zero point hole 5 is 0, correction cannot be performed, and the remaining rotation angle can be calculated by directly subtracting the rotation angle from the target rotation angle.
When the number of coincidence times of the zero limit switch 3 and the zero hole 5 is 1, the angle at which the tray 2 rotates relative to the zero position is larger than half of the zero inner angle, but smaller than the zero adjacent angle minus the zero inner angle, if the rotated angle is larger than half of the zero adjacent angle, the initial position of rotation of the tray 2 is not the zero position, the rotation process of the tray 2 is that one zero position 4 on the tray is from far to near the zero limit switch 3, otherwise, the initial position of rotation of the tray 2 is the zero position, the rotation process of the tray 2 is that one zero position 4 on the tray is always near the zero limit switch 3 (the area within one zero position 4 of the tray 2 rotates from the zero limit switch 3), and therefore, correction can be performed in combination with the rotated angle.
When the number of coincidence times of the zero limit switch 3 and the zero hole 5 is greater than or equal to 2, the rotating angle of the tray 2 relative to the zero position is greater than or equal to the zero inner angle, but less than half of the zero adjacent angle plus the zero inner angle, if the central angle of the zero hole 5 corresponding to the latest twice coincidence is equal to the zero inner angle, the tray 2 is indicated to rotate completely from the zero limit switch 3 by one zero position 4 thereon, and if the central angle of the zero hole 5 corresponding to the latest twice coincidence is greater than the zero inner angle, the tray 2 is indicated to rotate possibly from the zero limit switch 3 by the zero holes 5 respectively belonging to the two adjacent zero positions 4 in turn, or the rotating initial position of the tray 2 is not the zero position, so that the rotating angle of the tray 2 is greater than the theoretical value, and the position state of the tray 2 can be corrected.
Based on the algorithm, the rotated angle and the residual rotated angle of the tray 2 can be corrected in any initial state, and the initial position deviation between the vehicle body and the tray 2 is eliminated, so that the rotated position of the tray 2 is accurately determined, and the vehicle is accurately stopped (namely, the tray 2 is controlled to be stopped after being rotated to a specific position), and the inconsistency between the stopped position and the actual requirement is avoided.
In the embodiment of the invention, the method for controlling the rotation of the tray can further comprise the following steps: the control tray 2 rotates to the zeroing position.
The zeroing position serves as an ideal initial position of the tray 2, and after the tray 2 completes the action corresponding to the tray rotation instruction, the tray 2 rotates to the zeroing position, so that the tray 2 is accurately controlled to rotate when the tray rotation instruction is received next time. In addition, a zero inner angle different from other zero points 4 can be set for the zero point 4 corresponding to the zero return position, for example, the zero inner angle of the zero point 4 corresponding to the zero return position is 8 degrees, the zero inner angle of the other zero points 4 is 10 degrees, and the tray 2 is controlled to rotate to the zero return position through the zero inner angle; the reverse rotation of the tray 2 back to the zeroing position, etc. can also be controlled.
As can be seen from the method of controlling the rotation of the tray according to the embodiment of the present invention, since the target rotation angle of the tray 2 is acquired; determining the rotated angle of the tray 2 based on the incremental encoder 6; according to the target rotation angle, the rotated angle and the zero point zone bit of the control part, the residual rotation angle of the tray 2 is calculated, so that the technical means that the relative position deviation between the tray and the shelf cannot be identified by the shelf two-dimensional code scanner is overcome, the existing tray control algorithm cannot be corrected and compensated, and an algorithm control blind area exists; the accuracy and reliability of the shelf two-dimensional code scanner are low; the function requirement on the shelf two-dimension code scanner is higher, and the technical problems that the data acquisition, the data transmission, the analysis, the processing and the like consume more software and hardware resources are solved, so that the relative position deviation of the tray 2 and the shelf is ensured to be controllable and correctable while the shelf two-dimension code is not required to identify the position deviation of the shelf, and the consumption of the software and hardware resources is reduced; the accuracy and reliability of the rotation of the tray 2 are improved, and meanwhile, the cost of the tray robot is reduced.
In order to further explain the technical idea of the invention, the technical scheme of the invention is described with specific application scenarios.
Assuming that the tray 2 of an AGV is provided with four sets of zero points 4, the inside angle of the zero point is 10 °, the adjacent angle of the zero point is 90 °, when a mechanical zero point is detected each time (i.e., the zero point limit switch 3 coincides with the zero point hole 5) in the process of controlling the rotation of the tray 2, itsinzeroflag=1, and in other cases itsinzeroflag=0, the number of times of detecting the mechanical zero point, itsInZeroNum (i.e., the number of overlapping times), is recorded in the zero point flag of the control portion, and the position state (palettstatus) of the tray 2 is also recorded in the zero point flag. The main flow of the method for controlling the rotation of the tray is applied to the AGV as follows:
firstly, a tray robot receives a tray rotation instruction, wherein the tray rotation instruction carries an angle (namely theta 1) required to rotate left or right of a tray 2;
then, reading the code disc value of the current period of the incremental encoder 6, acquiring the code disc value of the previous period, and subtracting the code disc value of the previous period from the code disc value of the current period to obtain theta OK;
finally, in the process of controlling the rotation of the tray, according to θ1, θok, a mechanical Zero induction flag (itslnzeroflag), a central angle (θzero) of the Zero hole 5 corresponding to the latest two overlapping, the number of overlapping times of the Zero limit switch 3 and the Zero hole 5, and the position state of the tray 2, θ2 of the tray 2 can be calculated in real time until θ2=0 ° (at this time, the tray 2 rotates to a specific position corresponding to the tray rotation command), and the tray 2 is controlled to stop rotating. The method comprises the following steps:
1. When no mechanical zero is detected:
the overlapping times are 0, so that θ2=θ1- θok, and the target rotation angle is updated at the moment, namely θ1=θ1- θok;
2. the first time a mechanical zero is detected:
the number of coincidence is 1, at this time, itsInzeroFlag=1, itsInzeronum=1;
if θok (α1) >45 °:
θ2=θ1-85 °, at which point the target rotation angle is updated, that is, θ1=θ1-85 °, and the position state of the tray 2 is updated to the first state, that is, pelletstatus=1 (the position shown in fig. 6);
if theta OK (alpha 1) is less than or equal to 45 degrees:
θ2=θ1-5 °, at which point the target rotation angle is updated, that is, θ1=θ1-5 °, and the position state of the pallet 2 is updated to the second state, that is, pallet status=2 (positions shown in fig. 7, 8, and 9, in which the positioning of the pallet 2 shown in fig. 9 requires further confirmation);
3. when the mechanical zero point is detected for the second time and above:
the coincidence times are more than or equal to 2, and at the moment, the itsInzeroFlag=1 and the itsInzeroNum is more than or equal to 2;
if the tray is rotated through an angle θzero (α2) >10 °:
θ2=θ1-80 °, at which point the target rotation angle is updated, that is, θ1=θ1-80 °, and the position state of the tray 2 is updated to the fifth state, that is, pelletstatus=5 (the position shown in fig. 7 and 8);
If the tray rotates through an angle θzero (α2) =10°:
if the pallet status=2, θ2=θ1, at which time θ1 is not updated, the position status of the pallet 2 is updated to a fourth status, that is, pallet status=4 (the position shown in fig. 9, the position of the pallet 2 in the correction algorithm);
if pallet status is not equal to 2, θ2=θ1-10 °, the target rotation angle is updated, that is, θ1=θ1-10 °, and the position state of the pallet 2 is updated to the third state, that is, pallet status=3 (the position shown in fig. 6).
As shown in fig. 10, an apparatus 1000 for controlling rotation of a tray according to an embodiment of the present invention includes: an acquisition module 1001, a determination module 1002 and a calculation module 1003.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
an acquisition module 1001 for acquiring a target rotation angle of the tray 2;
a determining module 1002 for determining the rotated angle of the tray 2 based on the incremental encoder 6;
a calculating module 1003, configured to calculate a remaining rotation angle of the tray 2 according to the target rotation angle, the rotated angle, and the zero flag bit of the control part.
In an embodiment of the present invention, the calculation module 1003 may also be configured to:
calculating a predicted remaining angle of the tray 2 according to the target rotation angle and the rotated angle;
and reading the zero point zone bit of the control part, and correcting and predicting the residual angle based on the zero point zone bit to obtain the residual rotation angle of the tray 2.
In an embodiment of the present invention, the calculation module 1003 may further be configured to:
reading the zero point zone bit of the control part to obtain the superposition times and the position state of the tray 2;
correcting and predicting the residual angle according to the superposition times and the rotated angle to obtain the residual rotated angle of the tray 2, and updating the position state and the target rotated angle of the tray 2; or (b)
And correcting the predicted residual angle of the tray 2 according to the superposition times and the position state of the tray 2 to obtain the residual rotation angle of the tray 2, and updating the position state and the target rotation angle of the tray 2.
In an embodiment of the present invention, the calculation module 1003 may further be configured to:
if the overlapping frequency is 0, θ2=θ1- θok, and updating the value of the target rotation angle to the value of the residual rotation angle;
if the number of coincidence times is 1, the rotated angle is obtained,
when the rotated angle is greater than half of the zero point adjacent angle, θ2=θ1- (a-b/2), updating the position state of the tray 2 to the first state, and updating the value of the target rotated angle to the value of the remaining rotated angle;
when the rotated angle is less than or equal to half of the zero point adjacent angle, θ2=θ1- (b/2), updating the position state of the tray 2 to the second state, and updating the value of the target rotated angle to the value of the remaining rotated angle;
Wherein θ2 is the remaining rotation angle; θ1 is a target rotation angle; θok is the rotated angle; a is a zero point adjacent angle, and the zero point adjacent angle is an included angle of the central lines of two adjacent zero point positions 4; b is the zero internal angle, which is the central angle of two zero holes 5 at the same zero point 4.
In an embodiment of the present invention, the calculation module 1003 may further be configured to:
if the coincidence times is more than or equal to 2, the central angle of the zero point hole 5 corresponding to the latest twice coincidence is obtained,
when the central angle of the zero point hole 5 corresponding to the latest twice overlapping is larger than the zero point inner angle, θ2=θ1- (a-b), updating the position state of the tray 2 into a fifth state, and updating the value of the target rotation angle into the value of the residual rotation angle;
when the central angle of the zero point hole 5 corresponding to the latest twice overlapping is equal to the zero point inner angle, the position state of the tray 2 is inquired,
if the position state of the tray 2 is the second state, θ2=θ1, the position state of the tray 2 is updated to the fourth state, the value of the target rotation angle is updated to the value of the remaining rotation angle,
if the position state of the tray 2 is the first state, the second state, the third state, or the fifth state, θ2=θ1-b, the position state of the tray 2 is updated to the third state, and the value of the target rotation angle is updated to the value of the remaining rotation angle.
In addition, the apparatus 1000 for controlling rotation of the tray may further include a control module (not shown in the drawings) for: controlling the tray 2 to rotate to a zeroing position; the zeroing position is a position where the tray 2 is located at a center line of one group of zero points 4 where the zero limit switch 3 is located.
The device for controlling the rotation of the tray according to the embodiment of the present invention can be seen in that the target rotation angle of the tray 2 is obtained; determining the rotated angle of the tray 2 based on the incremental encoder 6; according to the target rotation angle, the rotated angle and the zero point zone bit of the control part, the residual rotation angle of the tray 2 is calculated, so that the technical means that the relative position deviation between the tray and the shelf cannot be identified by the shelf two-dimensional code scanner is overcome, the existing tray control algorithm cannot be corrected and compensated, and an algorithm control blind area exists; the accuracy and reliability of the shelf two-dimensional code scanner are low; the function requirement on the shelf two-dimension code scanner is higher, and the technical problems that the data acquisition, the data transmission, the analysis, the processing and the like consume more software and hardware resources are solved, so that the relative position deviation of the tray 2 and the shelf is ensured to be controllable and correctable while the shelf two-dimension code is not required to identify the position deviation of the shelf, and the consumption of the software and hardware resources is reduced; the accuracy and reliability of the rotation of the tray 2 are improved, and meanwhile, the cost of the tray robot is reduced.
Fig. 11 illustrates an exemplary system architecture 1100 of a method of controlling rotation of a tray or an apparatus for controlling rotation of a tray to which embodiments of the present invention may be applied.
As shown in fig. 11, system architecture 1100 may include terminal devices 1101, 1102, 1103, a network 1104, and a server 1105. Network 1104 is the medium used to provide communication links between terminal devices 1101, 1102, 1103 and server 1105. Network 1104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
A user may interact with the server 1105 via the network 1104 using the terminal devices 1101, 1102, 1103 to receive or transmit messages, etc. Various communication client applications such as shopping class applications, web browser applications, search class applications, instant messaging tools, mailbox clients, social platform software, and the like may be installed on terminal devices 1101, 1102, 1103.
The terminal devices 1101, 1102, 1103 may be a variety of electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablets, laptop and desktop computers, and the like.
The server 1105 may be a server providing various services, such as a background management server providing support for shopping-type websites browsed by users using the terminal devices 1101, 1102, 1103. The background management server can analyze and other processing on the received data such as the product information inquiry request and the like, and feed back processing results (such as target push information and product information) to the terminal equipment.
It should be noted that, the method for controlling rotation of the tray provided in the embodiment of the present invention is generally executed by the server 1105, and accordingly, the device for controlling rotation of the tray is generally disposed in the server 1105.
It should be understood that the number of terminal devices, networks and servers in fig. 11 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 12, there is illustrated a schematic diagram of a computer system 1200 suitable for use in implementing an embodiment of the present invention. The terminal device shown in fig. 12 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 12, the computer system 1200 includes a Central Processing Unit (CPU) 1201, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1202 or a program loaded from a storage section 1208 into a Random Access Memory (RAM) 1203. In the RAM 1203, various programs and data required for the operation of the system 1200 are also stored. The CPU 1201, ROM 1202, and RAM 1203 are connected to each other through a bus 1204. An input/output (I/O) interface 1205 is also connected to the bus 1204.
The following components are connected to the I/O interface 1205: an input section 1206 including a keyboard, a mouse, and the like; an output portion 1207 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 1208 including a hard disk or the like; and a communication section 1209 including a network interface card such as a LAN card, a modem, or the like. The communication section 1209 performs communication processing via a network such as the internet. The drive 1210 is also connected to the I/O interface 1205 as needed. A removable medium 1211 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on the drive 1210 so that a computer program read out therefrom is installed into the storage section 1208 as needed.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication portion 1209, and/or installed from the removable media 1211. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 1201.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having 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. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor includes an acquisition module, a determination module, and a calculation module. The names of these modules do not constitute limitations on the module itself in some cases, and for example, the acquisition module may also be described as "a module that acquires a target rotation angle of the tray 2".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: step S501: acquiring a target rotation angle of the tray 2; step S502: determining the rotated angle of the tray 2 based on the incremental encoder 6; step S503: the remaining rotation angle of the tray 2 is calculated from the target rotation angle, the rotated angle, and the zero point flag bit of the control section.
According to the technical scheme of the embodiment of the invention, the target rotation angle of the tray 2 is acquired; determining the rotated angle of the tray 2 based on the incremental encoder 6; according to the target rotation angle, the rotated angle and the zero point zone bit of the control part, the residual rotation angle of the tray 2 is calculated, so that the technical means that the relative position deviation between the tray and the shelf cannot be identified by the shelf two-dimensional code scanner is overcome, the existing tray control algorithm cannot be corrected and compensated, and an algorithm control blind area exists; the accuracy and reliability of the shelf two-dimensional code scanner are low; the function requirement on the shelf two-dimension code scanner is higher, and the technical problems that the data acquisition, the data transmission, the analysis, the processing and the like consume more software and hardware resources are solved, so that the relative position deviation of the tray 2 and the shelf is ensured to be controllable and correctable while the shelf two-dimension code is not required to identify the position deviation of the shelf, and the consumption of the software and hardware resources is reduced; the accuracy and reliability of the rotation of the tray 2 are improved, and meanwhile, the cost of the tray robot is reduced.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (9)
1. The utility model provides a method of control tray rotation, is applied to tray robot, tray robot includes chassis (1), tray (2), set up in zero limit switch (3), increment encoder (6) and the control portion on chassis (1), be provided with on tray (2) at least two sets of zero point bit (4) that comprise two zero point holes (5), the zero point zone bit of control portion is recorded in tray (2) rotation in-process zero point limit switch (3) with the coincidence number of zero point hole (5) and the position state of tray (2), its characterized in that, the method includes:
acquiring a target rotation angle of the tray (2);
determining the rotated angle of the tray (2) based on the incremental encoder (6);
and calculating the residual rotation angle of the tray (2) according to the target rotation angle, the rotated angle and the zero point zone bit of the control part.
2. The method according to claim 1, wherein calculating the remaining rotation angle of the pallet (2) from the target rotation angle, the rotated angle, and a zero flag of the control section, comprises:
calculating a predicted remaining angle of the tray (2) according to the target rotation angle and the rotated angle;
and reading a zero point zone bit of the control part, and correcting the predicted residual angle based on the zero point zone bit to obtain the residual rotation angle of the tray (2).
3. The method according to claim 2, wherein reading a zero flag of the control portion, correcting the predicted remaining angle based on the zero flag, and obtaining the remaining rotation angle of the tray (2) includes:
reading zero point zone bit of the control part to obtain the superposition times and the position state of the tray (2);
correcting the predicted residual angle according to the superposition times and the rotated angle to obtain the residual rotating angle of the tray (2), and updating the position state of the tray (2) and the target rotating angle; or (b)
Correcting the predicted residual angle of the tray (2) according to the superposition times and the position state of the tray (2) to obtain the residual rotation angle of the tray (2), and updating the position state of the tray (2) and the target rotation angle.
4. A method according to claim 3, wherein correcting the predicted remaining angle based on the number of times of coincidence and the rotated angle, to obtain a remaining rotated angle of the tray (2), and updating the position state of the tray (2) and the target rotated angle, comprises:
if the overlapping frequency is 0, updating the value of the target rotation angle to the value of the residual rotation angle, wherein θ2=θ1- θOK;
if the coincidence times is 1, the rotated angle is obtained,
when the rotated angle is greater than half of the zero point adjacent angle, θ2=θ1- (a-b/2), updating the position state of the tray (2) to a first state, and updating the value of the target rotated angle to the value of the remaining rotated angle;
when the rotated angle is less than or equal to half of the zero point adjacent angle, θ2=θ1- (b/2), updating the position state of the tray (2) to a second state, and updating the value of the target rotated angle to the value of the remaining rotated angle;
wherein θ2 is the remaining rotation angle; θ1 is the target rotation angle; θok is the rotated angle; a is a zero point adjacent angle, and the zero point adjacent angle is an included angle of the central lines of two adjacent zero point positions (4); b is a zero internal angle, and the zero internal angle is the central angles of two zero holes (5) of the same zero position (4).
5. The method according to claim 4, wherein correcting the predicted remaining angle of the tray (2) based on the number of times of coincidence, the rotated angle, and the position state of the tray (2), to obtain the remaining rotation angle of the tray (2), and updating the position state of the tray (2) and the target rotation angle, comprises:
if the coincidence times is more than or equal to 2, the central angle of the zero point hole (5) corresponding to the latest twice coincidence is obtained,
when the central angle of the zero point hole (5) corresponding to the latest twice superposition is larger than the zero point inner angle, updating the position state of the tray (2) into a fifth state, and updating the value of the target rotation angle into the value of the residual rotation angle;
when the central angle of the zero point hole (5) corresponding to the latest twice superposition is equal to the zero point inner angle, inquiring the position state of the tray (2),
if the position state of the tray (2) is a second state, θ2=θ1, the position state of the tray (2) is updated to a fourth state, the value of the target rotation angle is updated to the value of the remaining rotation angle,
if the position state of the tray (2) is a first state, a second state, a third state or a fifth state, θ2=θ1-b, the position state of the tray (2) is updated to the third state, and the value of the target rotation angle is updated to the value of the remaining rotation angle.
6. The method according to claim 1, wherein the method further comprises:
controlling the tray (2) to rotate to a zeroing position; the zeroing position is a position where the tray (2) is positioned at the center line of one group of zero points (4) where the zero limit switch (3) is positioned.
7. The utility model provides a control tray pivoted device, its characterized in that sets up in tray robot, tray robot include chassis (1), tray (2), set up in zero limit switch (3), incremental encoder (6) and the control portion on chassis (1), be provided with on tray (2) at least two sets of zero point position (4) that comprise two zero point holes (5), the zero point zone bit record of control portion have in tray (2) rotation in-process zero point limit switch (3) with the coincidence number of times in zero point hole (5) and the position state of tray (2), the device includes:
the acquisition module is used for acquiring a target rotation angle of the tray (2);
a determining module for determining the rotated angle of the tray (2) based on the incremental encoder (6);
and the calculating module is used for calculating the residual rotation angle of the tray (2) according to the target rotation angle, the rotated angle and the zero point zone bit of the control part.
8. An electronic device for controlling rotation of a tray, comprising:
one or more processors;
storage means for storing one or more programs,
when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-6.
9. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-6.
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| CN114013953B (en) * | 2021-11-02 | 2023-04-18 | 湖南省烟草公司衡阳市公司 | Method and system for positioning position of tray of elevator and computer storage medium |
| CN117381804B (en) * | 2023-12-13 | 2024-04-02 | 珠海格力智能装备有限公司 | Automatic material placement part aligning method and device for intelligent transfer robot |
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| JP5538291B2 (en) * | 2011-04-13 | 2014-07-02 | パナソニック株式会社 | Plasma processing apparatus and plasma processing method |
| CN104425328B (en) * | 2013-09-06 | 2017-02-08 | 北京北方微电子基地设备工艺研究中心有限责任公司 | Tray origin positioning system and tray origin positioning method |
| JP6100212B2 (en) * | 2014-07-16 | 2017-03-22 | ジヤトコ株式会社 | Pallet rotating device |
| CN104443977B (en) * | 2014-09-23 | 2016-06-29 | 华北电力大学 | A kind of rotary automatic access goods device and method |
| CN106516591A (en) * | 2016-11-22 | 2017-03-22 | 首钢京唐钢铁联合有限责任公司 | Conveying chain rotating platform rotation control method and rotation control device |
| CN109250377B (en) * | 2017-07-11 | 2021-05-18 | 浙江国自机器人技术股份有限公司 | Replenishment method, execution end and control end |
| JP2019143979A (en) * | 2018-02-15 | 2019-08-29 | セイコーエプソン株式会社 | Encoder unit, angle detection method, and robot |
| JP6999444B2 (en) * | 2018-02-16 | 2022-01-18 | 日本電産サンキョー株式会社 | How to calculate the correction value for industrial robots |
| CN110002367B (en) * | 2019-03-28 | 2023-05-05 | 上海快仓智能科技有限公司 | AGV attitude adjustment system and method in AGV carrier transporting process |
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