阅读说明：本技术 一种用于机器人仓门的双开门控制的方法及设备 (Double-door control method and device for robot bin door ) 是由 沈博 潘帮辉 陈士凯 林凌 黄珏珅 于 2021-07-15 设计创作，主要内容包括：本申请的目的是提供一种用于机器人仓门的双开门控制的方法及设备,本申请槽型遮挡式光电传感器与电机控制器连接,用于通过将获取到的光强度变化转化为电信号的变化,并将所述电信号的变化传输至所述电机控制器；电机控制器与步进电机连接,用于通过检测到的电信号的变化控制所述步进电机的转动；步进电机与双开门传动装置连接,用于根据所述电信号的变化驱动所述双开门传动装置执行角位移；所述双开门传动装置,用于根据所述双开门传动装置的角位移控制机器人仓门的双开门的开启状态。使得仓门保存在开启状态,也可以解放用户的另一只手,让用户在取物品时体验更佳。(The groove-type shielding type photoelectric sensor is connected with a motor controller, and is used for converting acquired light intensity change into electric signal change and transmitting the electric signal change to the motor controller; the motor controller is connected with the stepping motor and is used for controlling the rotation of the stepping motor through the detected change of the electric signal; the stepping motor is connected with the double-door transmission device and is used for driving the double-door transmission device to execute angular displacement according to the change of the electric signal; the double-door transmission device is used for controlling the opening state of double doors of the robot bin door according to the angular displacement of the double-door transmission device. The bin door is kept in an open state, the other hand of the user can be released, and the user can get better experience when taking articles.)

1. An apparatus for double door control of a robot hatch, characterized in that the apparatus comprises: the device comprises a groove type shielding photoelectric sensor, a motor controller, a stepping motor and a double-door transmission device;

the groove-type shielding type photoelectric sensor is connected with the motor controller and used for converting the acquired light intensity change into the change of an electric signal and transmitting the change of the electric signal to the motor controller;

the motor controller is connected with the stepping motor and is used for controlling the rotation of the stepping motor through the detected change of the electric signal;

the stepping motor is connected with the double-door transmission device and is used for driving the double-door transmission device to execute angular displacement according to the change of the electric signal;

the double-door transmission device is used for controlling the opening state of double doors of the robot bin door according to the angular displacement of the double-door transmission device.

2. The apparatus of claim 1, comprising a photosensor trigger mounted on the door for entering the slot-type shuttered photosensor when the door is opened or closed to a preset position.

3. The apparatus of claim 2, wherein the slot-type shuttered photosensor comprises a plurality of photogates for acquiring and converting to electrical signal changes in light intensity when the photosensor trigger device enters the slot-type shuttered photosensor.

4. The apparatus of claim 3, wherein the plurality of photoelectric gates comprises a first photoelectric gate and a second photoelectric gate, wherein when the bin gate is closed to a preset position, the photoelectric sensor triggering device triggers the first photoelectric gate and the second photoelectric gate, and the motor controller detects a change of the electric signal determined by the first photoelectric gate and the second photoelectric gate and controls the stepping motor to stop running.

5. The apparatus of claim 3, wherein the plurality of photoelectric gates comprises a third photoelectric gate and a fourth photoelectric gate, wherein when the bin gate is opened to a preset position, the photoelectric sensor triggering device triggers the third photoelectric gate and the fourth photoelectric gate, and the motor controller detects a change of the electric signal determined by the third photoelectric gate and the fourth photoelectric gate and controls the stepping motor to stop running.

6. The apparatus of claim 1, wherein the motor controller is configured to control the stepper motor to stop when a locked-rotor current of the stepper motor is detected to be greater than a normal operating current.

7. The apparatus of claim 6, comprising an analog-to-digital conversion circuit configured to collect an operating current of the stepper motor and transmit the operating current to the motor controller, wherein the motor controller determines whether the stepper motor is in a locked-rotor state according to the operating current and a locked-rotor current.

8. The apparatus according to claim 1, further comprising a hall sensor connected to the motor controller for converting a magnetic signal generated during the movement of the bin gate into an electrical signal and transmitting the electrical signal to the motor controller, wherein the motor controller limits the double-door according to the electrical signal transmitted by the hall sensor.

9. A method for double door control of a robot hatch, the method comprising:

triggering the groove-type shielding type photoelectric sensor to work according to the position change of the double doors of the bin door;

converting the acquired light intensity change into the change of an electric signal by using the groove-shaped shielding type photoelectric sensor;

driving a double-door transmission device to execute angular displacement according to the change of the electric signal;

and controlling the opening state of the double doors of the bin door of the robot according to the angular displacement of the double door transmission device.

10. The method of claim 9, further comprising:

and converting a magnetic signal generated in the moving process of the bin gate into an electric signal by using a Hall sensor, and limiting the double-door according to the electric signal obtained by the Hall sensor.

11. The method of claim 9, wherein the method comprises:

collecting working current of a stepping motor for driving the double-door transmission device;

and judging whether the stepping motor is in a locked-rotor state or not according to the working current and the locked-rotor current, and if so, stopping the stepping motor.

Technical Field

The application relates to the field of robots, in particular to a method and equipment for controlling double door opening of a robot bin door.

Background

Along with the development of science and technology, the application of robot is more and more extensive, for example existing robot has been used on the delivery task in hotel now, and the scheme of opening the door of takeaway storehouse of hotel delivery robot at present all is electromagnetic lock bullet door scheme, and the user needs one hand to lift takeaway storehouse lid when taking out the takeaway, and one hand is taken out the takeaway, and to bulky takeaway, it is inconvenient when taking out the takeaway. In addition, the take-out bin of the current robot cannot be kept in an open state.

Disclosure of Invention

An object of this application is to provide a method and equipment that is used for two door control of robot door, solves the inconvenient problem of user when door can't keep opening state and get article among the prior art.

According to one aspect of the present application, there is provided an apparatus for double door control of a robot hatch, the apparatus comprising: the device comprises a groove type shielding photoelectric sensor, a motor controller, a stepping motor and a double-door transmission device;

the groove-type shielding type photoelectric sensor is connected with the motor controller and used for converting the acquired light intensity change into the change of an electric signal and transmitting the change of the electric signal to the motor controller;

the motor controller is connected with the stepping motor and is used for controlling the rotation of the stepping motor through the detected change of the electric signal;

the stepping motor is connected with the double-door transmission device and is used for driving the double-door transmission device to execute angular displacement according to the change of the electric signal;

the double-door transmission device is used for controlling the opening state of double doors of the robot bin door according to the angular displacement of the double-door transmission device.

Optionally, the apparatus includes a photosensor trigger device mounted on the door for entering the slot-type shuttered photosensor when the door is opened or closed to a predetermined position.

Optionally, the groove-shaped shielding type photoelectric sensor comprises a plurality of photoelectric doors, and the photoelectric doors are used for acquiring light intensity changes and converting the light intensity changes into changes of electric signals when the photoelectric sensor triggering device enters the groove-shaped shielding type photoelectric sensor.

Optionally, the plurality of photoelectric gates include a first photoelectric gate and a second photoelectric gate, wherein when the bin gate is closed to a preset position, the photoelectric sensor triggering device triggers the first photoelectric gate and the second photoelectric gate, and the motor controller detects a change of the electric signal determined by the first photoelectric gate and the second photoelectric gate and controls the stepping motor to stop running.

Optionally, the plurality of photoelectric gates include a third photoelectric gate and a fourth photoelectric gate, wherein when the bin gate is opened to a preset position, the photoelectric sensor triggering device triggers the third photoelectric gate and the fourth photoelectric gate, and the motor controller detects a change of the electric signal determined by the third photoelectric gate and the fourth photoelectric gate and controls the stepping motor to stop operating.

Optionally, the motor controller is configured to control the stepping motor to stop operating when detecting that a locked-rotor current of the stepping motor is greater than a normal operating current.

Optionally, the apparatus includes an analog-to-digital conversion circuit, configured to collect a working current of the stepping motor, and transmit the working current to the motor controller, where the motor controller determines whether the stepping motor is in a locked-rotor state according to the working current and the locked-rotor current.

Optionally, the equipment further comprises a hall sensor, the hall sensor is connected with the motor controller and used for converting magnetic signals generated in the moving process of the bin gate into electric signals and transmitting the electric signals to the motor controller, and the motor controller limits the double-door opening according to the electric signals transmitted by the hall sensor.

According to another aspect of the present application, there is also provided a method for double door control of a robot hatch, the method comprising:

triggering the groove-type shielding type photoelectric sensor to work according to the position change of the double doors of the bin door;

converting the acquired light intensity change into the change of an electric signal by using the groove-shaped shielding type photoelectric sensor;

driving a double-door transmission device to execute angular displacement according to the change of the electric signal;

and controlling the opening state of the double doors of the bin door of the robot according to the angular displacement of the double door transmission device.

Optionally, the method further comprises:

and converting a magnetic signal generated in the moving process of the bin gate into an electric signal by using a Hall sensor, and limiting the double-door according to the electric signal obtained by the Hall sensor.

Optionally, the method comprises:

collecting working current of a stepping motor for driving the double-door transmission device;

and judging whether the stepping motor is in a locked-rotor state or not according to the working current and the locked-rotor current, and if so, stopping the stepping motor.

Compared with the prior art, this application is through providing the equipment that is used for two door control of robot door, this equipment includes: the device comprises a groove type shielding photoelectric sensor, a motor controller, a stepping motor and a double-door transmission device; the groove-type shielding type photoelectric sensor is connected with the motor controller and used for converting the acquired light intensity change into the change of an electric signal and transmitting the change of the electric signal to the motor controller; the motor controller is connected with the stepping motor and is used for controlling the rotation of the stepping motor through the detected change of the electric signal; the stepping motor is connected with the double-door transmission device and is used for driving the double-door transmission device to execute angular displacement according to the change of the electric signal; the double-door transmission device is used for controlling the opening state of double doors of the robot bin door according to the angular displacement of the double-door transmission device. The bin door is kept in an open state, the other hand of the user can be released, and the user can get better experience when taking articles.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 illustrates a schematic structural view of an apparatus for double door control of a robot hatch provided according to one aspect of the present application;

FIG. 2 is a schematic diagram illustrating the control of the double door of the robot door in one embodiment of the present disclosure;

figure 3 shows a schematic structural diagram of a design of a light-operated door of a hotel delivery robot in an embodiment of the present application;

FIG. 4 shows an enlarged schematic view of the opto-electronic part 14 of FIG. 3;

fig. 5 illustrates a flow diagram of a method for double door control of a robot door provided in accordance with another aspect of the present application.

The same or similar reference numbers in the drawings identify the same or similar elements.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.

Fig. 1 shows a schematic structural diagram of an apparatus for double door control of a robot hatch provided according to an aspect of the present application, the apparatus comprising: the device comprises a groove type shielding photoelectric sensor 100, a motor controller 200, a stepping motor 300 and a double-door transmission device 400; the groove-type shielding photoelectric sensor 100 is connected to the motor controller 200, and is configured to convert an acquired light intensity change into an electrical signal change and transmit the electrical signal change to the motor controller 200; the motor controller 200 is connected to the stepping motor 300, and is configured to control rotation of the stepping motor 300 through a detected change in the electrical signal; the stepping motor 300 is connected with the double-door transmission device 400 and is used for driving the double-door transmission device 400 to execute angular displacement according to the change of the electric signal; the double door transmission device 400 is used for controlling the opening state of double doors of the robot bin door according to the angular displacement of the double door transmission device.

The robot is applied to the delivery of articles, particularly to a hotel delivery robot, a door of the hotel delivery robot is a double-door type, and a groove type shielding photoelectric sensor, a motor controller, a stepping motor and a double-door transmission device are arranged in the robot; the groove type shielding photoelectric sensor is a triggering device with a groove body in which the photoelectric sensor can be inserted, the groove type shielding photoelectric sensor can be used for sensing the light source shielding change of the infrared light source, so that the light change is determined, the light change is converted into the change of an electric signal, and the magnetic field interference generated by the work of the stepping motor in the moving process of the bin gate is avoided in a sensing mode of the infrared light source; the groove-type shielding photoelectric sensor adopts a photoelectric element as a sensor of a detection element, converts the measured change into the change of an optical signal, and then further converts the optical signal into an electric signal by means of the photoelectric element, so that the stepping motor is controlled by converting the change of light intensity into the change of the electric signal; when the stepping motor is controlled, firstly, the motor controller controls driving, when the motor controller receives a pulse signal, the stepping motor is driven to rotate by a fixed angle according to a set direction, the fixed angle is a stepping angle, the rotation of the stepping motor further runs by the fixed angle, and the angular displacement can be controlled by controlling the number of pulses, so that the aim of accurate positioning is fulfilled; meanwhile, the rotating speed and the rotating acceleration of the motor can be controlled by controlling the pulse frequency, so that the aim of speed regulation is fulfilled. The double door is designed by utilizing the transmission of a stepping motor and driving a double door transmission device through the stepping motor to realize the safe closing of the bin door from two sides. Through the linkage of each part, can make the door keep in the open mode, also can liberate user's another hand, let the user experience when getting article better.

In some embodiments of the present application, the apparatus comprises a photosensor trigger 500, wherein the photosensor trigger 500 is mounted on the door for entering the slot-type shuttered photosensor 100 when the door is opened or closed to a predetermined position. Here, photoelectric sensor trigger device sets up on the bin door of two divisions of doors of robot, and when the storehouse body opened the door or closed the door and reachd a certain position, opened the door and target in place or closed the door when target in place promptly, this photoelectric sensor trigger device gets into the cell type and shelters from among the formula photoelectric sensor, specifically inserts the inslot that sets up on this photoelectric sensor to trigger this photoelectric sensor work, machine controller detects photoelectric sensor's photoelectric signal change.

In some embodiments of the present application, the slot type blocking photosensor 100 includes a plurality of photogates for acquiring light intensity variation and converting the light intensity variation into electrical signal variation when the photosensor triggering device 500 enters the slot type blocking photosensor 100. Here, set up the photogate scheme in the hotel delivery robot of this application, this photogate scheme includes the device that above-mentioned equipment includes, sets up a plurality of photogates in photoelectric sensor 100 to when the storehouse body opens the door or closes the door and targets in place, confirm the change of photoelectric signal through a plurality of photogates, and then control the operating condition of door.

In the above embodiment, the plurality of photoelectric gates include a first photoelectric gate 101 and a second photoelectric gate 102, wherein when the bin gate is closed to a preset position, the photosensor triggering device 500 triggers the first photoelectric gate 101 and the second photoelectric gate 102, and the motor controller 200 detects a change in the electrical signal determined by the first photoelectric gate 101 and the second photoelectric gate 102 and controls the stepping motor 300 to stop operating. Here, as shown in fig. 2, the photoelectric door 1 and the photoelectric door 2 are a first photoelectric door and a second photoelectric door, when the door is closed in place, a physical structure (a photoelectric sensor trigger device 500) on the door for triggering the photoelectric sensor enters the groove-type shielding photoelectric sensor to trigger the photoelectric door 1 and the photoelectric door 2, and after the motor controller 500(MCU) detects a change of a photoelectric signal, the stepping motor is controlled to stop operating.

In connection with the above embodiment, the plurality of photoelectric gates include a third photoelectric gate 103 and a fourth photoelectric gate 104, wherein when the bin gate is opened to a preset position, the photoelectric sensor triggering device triggers the third photoelectric gate 103 and the fourth photoelectric gate 104, and the motor controller detects a change in an electrical signal determined by the third photoelectric gate 103 and the fourth photoelectric gate 104, and controls the stepping motor to stop operating. Here, with reference to fig. 2, when the door is opened and the door is in place, the physical structure (the photoelectric sensor trigger device 500) on the door for triggering the photoelectric sensor enters the groove-type shielded photoelectric sensor to trigger the photoelectric door 3 and the photoelectric door 4, and the motor controller 500(MCU) controls the stepping motor to stop operating after detecting the change of the photoelectric signal. That is, when the double-door linkage structure (the photoelectric sensor trigger device 500 installed on the double-door) moves to the groove of the groove-type shielding type photoelectric sensor to shield the infrared light source, the MCU sends a stop command to the stepping motor after detecting the change of the electric signal of the photoelectric sensor.

In some embodiments of the present application, the motor controller is configured to control the stepping motor to stop operating when detecting that a locked-rotor current of the stepping motor is greater than a normal operating current. When the bin door is closed, if hands or other objects are clamped by the bin door, the MCU detects that the locked-rotor current of the stepping motor is larger than the current of normal work, and the MCU immediately controls the stepping motor to stop running, so that an anti-clamping function is realized; the locked-rotor current is a condition that the motor still outputs torque when the rotating speed is 0, and the working current in the condition is the locked-rotor current.

In some embodiments of the present application, the apparatus includes an analog-to-digital conversion circuit 600, configured to collect a working current of the stepping motor, and transmit the working current to the motor controller, and the motor controller determines whether the stepping motor is in a locked-rotor state according to the working current and the locked-rotor current. Here, the MCU collects the working current of the stepping motor through the analog-to-digital conversion circuit 600(ADC), thereby detecting the working state of the stepping motor, and when the detected current value exceeds the current of the stepping motor for normal operation and reaches the locked-rotor current value of the stepping motor within a short time, it determines that the stepping motor is in the locked-rotor state, and sends a command to stop the operation to the stepping motor; the anti-pinch function is realized by detecting the driving current of the stepping motor in real time.

In some embodiments of the present application, the apparatus further includes a hall sensor 700, the hall sensor 700 is connected to the motor controller 200, and is configured to convert a magnetic signal generated in the door moving process into an electrical signal, and transmit the electrical signal to the motor controller 200, and the motor controller 200 is configured to limit the double door according to the electrical signal transmitted by the hall sensor. Here, photoelectric sensor in this application can also adopt hall sensor, and the scheme through adopting step motor to combine hall sensor carries on spacingly to the electric current, utilizes door removal in-process magnetic signal's change to the different actions that the signal of telecommunication triggered step motor through hall sensor to close the door to two and carry out spacingly, it is spacing to use hall sensor to realize hall, can avoid the influence of dust in the air.

In an embodiment of the present application, the design of the photoelectric door of the hotel distribution robot shown in fig. 3 includes a double door 11, a double door transmission device 12, a stepping motor transmission device 13, and a photoelectric door portion 14, wherein the photoelectric door portion 14 includes a shielding type photoelectric sensor 15 and a double door limit trigger 16 (as shown in fig. 4 by enlarging the photoelectric door portion 14 in fig. 3), wherein one side of the current double door 11 is in an open state, and the other side is in a closed state, the double door transmission device 12 is the same as the double door transmission device 400, and the stepping motor transmission device 13 is the same as the motor controller 200; when the transmission device 12 with the double-door structure moves to the groove body of the groove-shaped shading type photoelectric sensor 100 to shade the infrared light source, the transmission device 13 of the stepping motor sends a stop command to the stepping motor after detecting the change of the electric signal of the photoelectric sensor. Through the design of above-mentioned photoelectric door, can carry out spacing and current detection, the signal of telecommunication that produces the difference through the change of light input volume is in order to reach the trigger of switch door, and photoelectric sensor cooperation step motor is closed the door and is carried on spacingly, and MCU realizes preventing pressing from both sides the function to step motor's drive current real-time detection.

Fig. 5 illustrates a flow diagram of a method for double door control of a robot door provided in accordance with another aspect of the present application, the method comprising: S11-S14, wherein in the S11, the groove type shading photoelectric sensor is triggered to work according to the position change of the double doors of the bin door; step S12, converting the acquired light intensity change into the change of an electric signal by using the groove-shaped shielding type photoelectric sensor; step S13, driving the double-door transmission device to execute angular displacement according to the change of the electric signal; and step S14, controlling the opening state of the double doors of the robot bin door according to the angular displacement of the double door transmission device. Thereby can realize the two control of opening the door of robot door, promote user experience.

The method is implemented by using the equipment, all parts in the equipment are used in a matching way, and in step S11, the groove type shielding type photoelectric sensor is triggered to work according to the position change of the double doors of the bin door; in the moving process, when a certain position is reached, the triggering device is movably inserted into a groove body of the groove type shielding type photoelectric sensor, so that the photoelectric sensor is triggered to work. Next, step S12, converting the acquired light intensity change into a change of an electrical signal by using the groove-shaped shielding type photoelectric sensor; after the groove-type shielding photoelectric sensor is triggered, the acquired light intensity change is converted into the change of an electric signal, and when the controller detects the change of the electric signal, the stepping motor is driven; specifically, in step S13, the double-door transmission device is driven to perform an angular displacement according to the change of the electrical signal; that is, the stepping motor is first driven to rotate according to the change of the electrical signal, so that the stepping motor drives the double door transmission to perform the angular displacement, and operates according to a certain angular displacement, thereby controlling the opening state of the double door of the robot door according to the angular displacement of the double door transmission in step S14. Here, the double door transmission device is used as a linkage device of the double door, and is used for controlling the opening and closing of the double door, and the angular displacement of the double door transmission device is used for controlling the opening degree of the double door, for example, controlling the opening state of the double door to be one side open and one side closed, or controlling both sides open or both sides close, and the like.

In some embodiments of the present application, the method comprises: and converting a magnetic signal generated in the moving process of the bin gate into an electric signal by using a Hall sensor, and limiting the double-door according to the electric signal obtained by the Hall sensor. Here, can also use hall sensor to replace the cell type to shelter from formula photoelectric sensor, carry on spacingly to the electric current through the scheme that adopts step motor to combine hall sensor, utilize the change of door removal in-process magnetic signal to convert the different actions that trigger step motor into the signal of telecommunication through hall sensor to close the door to two to open and carry out spacingly, it is spacing to use hall sensor to realize hall, can avoid the influence of dust in the air.

In some embodiments of the present application, the method comprises: collecting working current of a stepping motor for driving the double-door transmission device; and judging whether the stepping motor is in a locked-rotor state or not according to the working current and the locked-rotor current, and if so, stopping the stepping motor. The MCU acquires the working current of the stepping motor through an analog-to-digital conversion circuit (ADC) so as to detect the working state of the stepping motor, judges that the stepping motor is in a locked-rotor state when the detected current value exceeds the current of the normal work of the stepping motor and reaches the locked-rotor current value of the stepping motor in a short time, and sends a command of stopping the work to the stepping motor; the anti-pinch function is realized by detecting the driving current of the stepping motor in real time.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.

In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.