CN109391190B - Motor reset control method, device, storage medium and transmission equipment - Google Patents
Motor reset control method, device, storage medium and transmission equipment Download PDFInfo
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- CN109391190B CN109391190B CN201811178776.7A CN201811178776A CN109391190B CN 109391190 B CN109391190 B CN 109391190B CN 201811178776 A CN201811178776 A CN 201811178776A CN 109391190 B CN109391190 B CN 109391190B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/04—Arrangements for starting
- H02P8/06—Arrangements for starting in selected direction of rotation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/04—Arrangements for starting
- H02P8/08—Determining position before starting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
- H02P8/20—Arrangements for controlling speed or speed and torque characterised by bidirectional operation
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Abstract
The invention discloses a motor reset control method, a motor reset control device, a storage medium and transmission equipment. The motor reset control method comprises the following steps: controlling the motor to move forward along a first direction according to a received motor reset starting instruction until a stop block triggers a limit sensor for the first time, wherein the stop block is any one of one or more stop blocks on a conveyor belt driven by the motor; if the limit sensor triggered for the first time is the first limit sensor, controlling the motor to move forward along the first direction until the first limit sensor is not triggered; and controlling the motor to move in the negative direction along the first direction at a first speed less than a preset speed threshold until the stop block triggers the first limit sensor, and stopping the motor to move so as to reset the motor. According to the method provided by the embodiment of the invention, the motor reset position can be accurately positioned.
Description
Technical Field
The invention relates to the field of automation control, in particular to a motor reset control method and device, a storage medium and a transmission device.
Background
The motor is used as an actuating element, is one of key products of electromechanical integration, and is widely applied to various automatic control systems. During the operation of the motor, the motor needs to be reset (the zero position of the motor is calibrated). When the motor is reset, the photoelectric sensor can be adopted to calibrate the zero position of the motor so as to realize the control of the reset position of the stepping motor.
The motor reset stop block has a certain time difference between triggering reset photoelectricity and motor stop motion, and the motor reset is different in the position after the motor triggers reset photoelectricity and stops motion every time, so that the problem of low reset position precision is caused.
Disclosure of Invention
The embodiment of the invention provides a motor reset control method, a motor reset control device, a storage medium and transmission equipment, which can accurately position a motor reset position.
According to an aspect of an embodiment of the present invention, there is provided a motor reset control method including:
controlling the motor to move forward along a first direction according to a received motor reset starting instruction until a stop block triggers a limit sensor for the first time, wherein the stop block is any one of one or more stop blocks on a conveyor belt driven by the motor; if the limit sensor triggered for the first time is the first limit sensor, controlling the motor to move forward along the first direction until the first limit sensor is not triggered; and controlling the motor to move in the negative direction along the first direction at a first speed less than a preset speed threshold until the stop block triggers the first limit sensor, and stopping the motor to move so as to reset the motor.
According to another aspect of the embodiments of the present invention, there is provided a motor return control apparatus including:
the motor reset starting module is used for controlling the motor to move forward along a first direction according to a received motor reset starting instruction until the stop block triggers the limit sensor for the first time, and the stop block is any one of one or more stop blocks on the conveyor belt driven by the motor; the first motion control module is used for controlling the motor to move forward along a first direction until the first limit sensor is not triggered if the limit sensor triggered for the first time is the first limit sensor; and the second motion control module is used for controlling the motor to move in a negative direction along the first direction at a first speed less than a preset speed threshold until the stop block triggers the first limit sensor, and stopping the motor to complete resetting of the motor.
According to still another aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored therein instructions that, when executed on a computer, cause the computer to execute the motor reset control method of the above-described aspects.
According to still another aspect of embodiments of the present invention, there is provided a sample transfer apparatus including:
the device comprises a conveyor belt, a plurality of sample stop blocks, a motor and a motor reset control system; the conveying belt is used for driving the sample stoppers to move under the rotation of the motor; a plurality of sample stoppers for fixing the position of the sample transferred on the transfer belt; the motor reset control system is used for controlling the motor to move forward along a first direction according to a received motor reset starting instruction until the stop block triggers the limit sensor for the first time, and the stop block is any one of one or more stop blocks on the conveyor belt driven by the motor; if the limit sensor triggered for the first time is the first limit sensor, controlling the motor to move forward along the first direction until the first limit sensor is not triggered; and controlling the motor to move in the negative direction along the first direction at a first speed less than a preset speed threshold until the stop block triggers the first limit sensor, and stopping the motor to move so as to reset the motor.
According to the motor reset control method and device, the storage medium and the conveying device in the embodiment of the invention, the motor can be ensured to stay at the same position after the motor is reset through the control of the motor movement stroke and the control of the movement speed, so that the consistency and the accuracy of the stop position of the motor stop block in each reset are ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a diagram illustrating a motor limit electro-optic according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a motor return control method according to an exemplary embodiment of the present invention;
FIG. 3 is a flowchart illustrating a motor reset control method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram illustrating a motor return control apparatus provided according to an embodiment of the present invention;
fig. 5 shows a schematic structural view of a sample transfer apparatus according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
For better understanding of the present invention, a motor reset control method according to an embodiment of the present invention will be described below with reference to fig. 1 and 2. It should be noted that these examples are not intended to limit the scope of the present disclosure.
First, referring to fig. 1, the basic operation principle of the motor reset in the embodiment of the present invention will be described. Fig. 1 is a schematic diagram illustrating an embodiment according to the present invention.
In an embodiment of the invention, the apparatus using a motor as an actuator may be an object transport apparatus, and the drive apparatus may comprise a conveyor belt on which stops may be provided for fixing the position of the material. Because the conveyer belt wheel is directly connected on the motor shaft, the motor can drive the stop block on the conveyer belt to move when running.
The motor has two directions of operation, a clockwise direction of operation and a counter-clockwise direction of operation. One of the operating directions may be selected as the operating direction of the motor when the motor is reset to start in the embodiment of the present invention. In the following embodiments, for convenience of description, the operation direction of the motor at the time of reset start of the motor may be referred to as a first direction positive direction, and a direction opposite to the first direction positive direction may be referred to as a first direction negative direction.
In one embodiment, the motor may be a stepping motor, and the stepping motor may control the rotation speed and acceleration of the motor by controlling the pulse frequency, so as to achieve the purpose of speed regulation of the motor.
As shown in fig. 1, in the moving process of the motor (not shown in the figure), the conveyor belt drives the stopper located on the conveyor belt to move, and the stopper can trigger the limit photoelectric sensor in the moving process.
In one embodiment, the limit photoelectric sensor is an electrical switch that can be used to control the position of the travel of the stop. As shown in fig. 1, the position-limiting photoelectric sensor includes a photoelectric emitter and a photoelectric receiver, the photoelectric emitter may employ a photoelectric emitting tube, and the photoelectric receiver may employ a photoelectric receiving tube.
The operation of the limit photoelectric sensor is briefly described below. In one embodiment, the transmitter of the limit photoelectric sensor sends out a photoelectric signal, and the limit photoelectric receiver receives the photoelectric signal. When no stop blocks the limit photoelectric sensor, the limit photoelectric sensor is not triggered, and the photoelectric signal is continuously transmitted; in the motor rotation process, when the stop blocks photoelectric signals, the limiting photoelectric sensor is triggered, and at the moment, the photoelectric signal transmission is disconnected.
In one embodiment, the photoelectric signal transmission of the limit photoelectric sensor is disconnected, the limit photoelectric sensor can send a photoelectric signal transmission disconnection state to the motor reset control system, and the motor reset control system controls the motor to stop moving according to the photoelectric signal transmission disconnection state.
In one embodiment, after the motor stops moving, the motor reset control system can continue to control the motor to move in the first direction in the forward direction and in the first direction in the reverse direction.
With continued reference to FIG. 1, in an embodiment of the present invention, one or more stops are provided on the conveyor belt. In the following embodiments, the motor, when moved, triggers any of the one or more stops of the limit photosensor.
In one embodiment, the motor reset control system may include one or more limit sensors, and the motor reset control system may pre-record the order of arrangement and the spacing distance between the limit sensors.
The working principle of the motor reset when the motor reset control system only includes one limit sensor will be described with reference to fig. 1.
In one embodiment, where the motor reset control system includes only one limit sensor, the limit sensor may be, for example, the first limit sensor shown in FIG. 1. The motor reset control method comprises the following steps:
s01, when the motor is reset and started, the motor reset control system controls the motor to move forward along the first direction until the first limit sensor is triggered, and the motor stops moving.
As shown in fig. 1 at position D, the stop positions at this time are: when the motor moves forward along a first direction at a first movement speed, the stop block just triggers the first limiting photoelectric sensor to stop moving until the stop block is located.
In one embodiment, the position of the stop represented by position D is different if the first speed of movement is different during each motor reset.
And S02, controlling the motor to move forward along the first direction until the stop does not trigger the first limit sensor.
As shown in fig. 1 at position B, the stop positions are: when the motor moves forward along the first direction at the second movement speed, the stop block just does not trigger the first limit photoelectric sensor, and the stop block is located.
In one embodiment, the position of the stop represented by position B is different if the second speed of movement is different during each motor reset.
And S03, controlling the motor to move in the negative direction along the first direction until the stop block triggers the first limit sensor, stopping the motor from moving, and finishing the resetting of the motor.
As shown in fig. 1 at position C, the stop positions are: when the motor moves in the negative direction along the first direction at the third movement speed, the stop block just triggers the first limiting photoelectric sensor until the motor stops moving, and then the stop block is located.
In this step, the third moving speed is a moving speed of the motor that is less than a preset speed threshold, and the preset speed threshold is equal to or less than a moving speed at which the motor normally operates.
In a practical application scenario, the object conveying device is, for example, an injector, and a conveyor belt of the injector includes a plurality of blocks, and a distance between two adjacent blocks is the width of one sample rack, so as to form a rack entering area.
Because the motor resets and drives the conveyer belt and reset and the dog resets, need to guarantee that the position that two adjacent dogs stopped will aim at the sample frame of advancing the frame district when the belt resets, can guarantee that the sample frame can smooth propelling movement belt. If the motor resets at every turn after, the dog position is inaccurate or inconsistent, will lead to the sample tube to normally send into the belt to lead to the instrument and equipment trouble or unable normal work.
In the embodiment of the present invention, in order to ensure the accuracy of the position of the stop after each reset of the motor, the stop may be moved from a position (e.g., position B) that does not trigger the first limit photosensor in the negative direction by controlling the moving speed of the motor (e.g., the third moving speed described above), and moved to a position that triggers the first limit photosensor at a very slow speed.
For example, the motor is controlled to move from a position where the first limit photosensor is not triggered to a position where the first limit photosensor is triggered at a constant speed at the third movement speed. And then for example, the speed is accelerated to the third movement speed, and the first limit photoelectric sensor is triggered by the uniform movement at the third movement speed.
According to the motor reset control method provided by the embodiment of the invention, even if a certain time difference exists between the triggering of the reset photoelectric by the stop dog and the stop of the motor, the stop dog cannot stop moving immediately under the driving of the motor, but the moving speed is slow enough to ensure that the difference between the stop positions of the stop dog is small enough when the motor stops moving every time, so that the accuracy and consistency of the stop dog position control are ensured when the motor is reset, and the normal and stable operation of instrument equipment is ensured.
According to the motor reset control method provided by the embodiment of the invention, the motor can start to move at different initial movement speeds. The motor reset control system can control the motor to accelerate to a preset movement speed, such as the third movement speed, from the initial movement speed or the current movement speed, and then move at a constant speed to trigger the first limit photoelectric sensor at the preset movement speed. Therefore, after the motor is reset, the accuracy and consistency of the position of the stop block are ensured, and the normal and stable work of the instrument and equipment is ensured.
With continued reference to fig. 1, the operation principle of the motor reset when the motor reset control system includes a plurality of limit sensors will be described. In the present embodiment, the plurality indicates two or more.
In the embodiment of the invention, when the motor reset control system receives a motor reset starting instruction, the position of the stop block is random and unfixed. In order to fix and only the position of the stop block after the motor is reset, the relative position between the limit sensors except the first limit sensor and the first limit sensor can be determined according to the arrangement sequence and the spacing distance between the limit sensors.
And S11, when resetting, controlling the motor to move forward along the first direction, and judging the limit sensor triggered for the first time in the forward movement process of the motor.
In the step, the motor is controlled to move according to the first triggered limit sensor and the relative position between the first triggered limit sensor and the first limit sensor until the first limit sensor is triggered.
And S12, controlling the motor to move to the position for triggering the first limit sensor according to the relative position between the first limit sensor and the first limit sensor which is triggered for the first time.
In one embodiment, case 1: the first limit sensor may be located at a first negative-direction position starting from the position of the limit sensor that is first triggered; case 2: it is also possible that the first limit sensor is located in a first direction positive direction starting from the position of the limit sensor that is first triggered.
In case of the above-mentioned case 1, the motor may be controlled to move in a negative direction in the first direction from the position of the first activated limit sensor until the first limit sensor is activated.
In case 2, the motor may be controlled to move in a negative direction in the first direction from the position of the first activated limit sensor until the first limit sensor is activated.
Taking the above case 1 as an example, as shown in the position C' in fig. 1, the positions of the stoppers at this time are: when the motor moves along the negative direction of the first direction at the fourth movement speed, the stop block just triggers the first limiting photoelectric sensor to the position of the stop block after the motor stops moving.
In this step, if the fourth movement speed is different during each motor reset, the stopper position indicated by the position C' is different.
Taking the above case 2 as an example, as shown in the position D in fig. 1, the positions of the stoppers at this time are: when the motor moves forward along the first direction at a fifth movement speed, the stop block just triggers the first limiting photoelectric sensor to stop moving until the stop block is located.
In this step, if the fifth moving speed is different during each motor reset, the stopper position represented by the position D is different.
Through step S11, the stopper can be controlled to move from any position where the motor is at the beginning of resetting to a position after triggering the first limit sensor. Therefore, the motor resetting control method provided by the embodiment of the invention is irrelevant to the position of the stop block at the beginning of resetting.
As can be seen from the above, in the embodiment of the present invention, if the motor moves in different directions from the first-triggered limit sensor until the first limit sensor is triggered until the motor stops moving, the position of the stop is different. For example, the motor may be moved forward in a first direction from the first activated limit sensor until the first limit sensor is activated, e.g., may stop at position D as shown in fig. 1; the motor moves negatively in a first direction from the first activated limit sensor until the first limit sensor is activated, e.g. may stop at position C' as shown in fig. 1. In order to ensure the position consistency of the reset stop block each time, the stop position when the motor is reset is further adjusted.
And S12, controlling the motor to move in the negative direction along the first direction until the stop triggers the first limit sensor.
As shown in fig. 1 at position B, the stop positions are: when the motor moves forward along the first direction at a sixth movement speed, the stop block does not trigger the first limiting photoelectric sensor to the position of the stop block after the motor stops moving.
In this step, if the sixth moving speed is different during each motor reset, the stopper position indicated by the position B is different.
Through step S12, the stoppers may be uniformly adjusted to positions that do not trigger the first limit sensor by the movement of the motor.
And step S13, controlling the motor to move in the negative direction along the first direction until the stop block triggers the first limit sensor, stopping the motor from moving, and finishing the resetting of the motor.
As shown in position C in fig. 1, the positions of the stoppers at this time are: when the motor moves forward along the first direction at the third movement speed, the stop block does not trigger the first limiting photoelectric sensor to the position of the stop block after the motor stops moving. Step S13 is substantially the same as step S03 described above, and is not repeated here.
It should be noted that, the motor is also controlled to move in the negative direction in the first direction until the first limit sensor is triggered, and the motor stops moving, the difference between the position C and the position C' described in the above embodiment is that: firstly, the position C is a position at which the motor moves to drive the stop block to stop when triggering the first limit photoelectric sensor and the limit photoelectric sensor except the first limit photoelectric sensor; and position C' is the position at which the stopper moves from a position at which the first limit photosensor is not triggered, to a position at which it stops when the first limit photosensor is triggered, at a movement speed less than a predetermined speed threshold.
And because the predetermined speed threshold is usually less than the normal movement speed of the motor, the speed of the motor can be ensured to be small enough when resetting every time, so that the position of the stop block is basically kept consistent when the stop block moves from the position of not triggering the first limit photoelectric sensor to the position of triggering the first limit photoelectric sensor and stops. Therefore, the position C' of the stop block is higher in repeatability and better in consistency than the position C.
The specific flow of motor resetting is described below by way of an exemplary embodiment in conjunction with fig. 2. Fig. 2 shows a flowchart of a motor return control method according to an exemplary embodiment of the present invention.
In this embodiment, the motor reset control system may include, for example, a first limit sensor and a second limit sensor, with the first limit sensor being located in a first negative direction of motion starting from the second limit sensor.
As shown in fig. 2, in one embodiment, the motor reset control method may include:
and S101, starting motor reset, wherein the motor reset control system receives a motor reset signal and controls the motor to move forwards at a speed A1 according to the received motor reset starting signal.
And S102, judging whether the first triggered limit photoelectric sensor is a second limit photoelectric sensor in the forward motion process of the motor.
When the first triggered limit photoelectric sensor is the second limit photoelectric sensor, executing the following steps S103 to S106;
when the first triggered limit photosensor is the first limit photosensor, step S106 is executed as follows.
And step S103, controlling the motor to stop moving.
And step S104, controlling the motor to move in a negative direction at the speed A2.
And step S105, judging whether the stop block triggers the first limit sensor or not in the negative movement process of the motor, and controlling the motor to continue the negative movement until the first limit sensor is triggered when the first limit sensor is not triggered.
Step S106, the motor stops moving.
According to the steps, when the motor is reset, when the first triggered limiting photoelectric sensor is the second limiting photoelectric sensor in the positive movement process of the motor, the motor is controlled to move in the negative direction along the first direction until the first limiting photoelectric sensor is triggered, and the motor is stopped to move. For example, the motor position at this time is the motor position C' described in the above embodiment.
Through the above steps, it can also be known that, when the motor is reset, when the first limit photoelectric sensor triggered by the motor in the forward movement process is the first limit photoelectric sensor, the motor is controlled to stop moving, and at this time, the motor position is the motor position D described in the above embodiment.
And step S107, controlling the motor to move forwards at the speed A3 so that the motor stop moves out of the first limit photoelectric sensor.
And step S108, judging whether the first limit photoelectric sensor is triggered or not, and keeping the forward motion of the motor when the first limit photoelectric sensor is continuously triggered until the first limit photoelectric sensor is not triggered.
As an example, after the stepper motor has moved forward at a speed of a3, for example 100 steps, the stop no longer triggers the first limit photosensor, i.e., the stop has moved beyond the first limit photosensor.
In step S109, the motor is controlled to move in the negative direction at the speed B1.
Step S110, determining whether the first limit sensor is triggered, and when the first limit sensor is continuously triggered, maintaining the negative motion of the motor until the first limit photoelectric sensor is triggered, and the motor stop finally stays at the position C described in the above embodiment, and the motor is reset and stopped.
In one embodiment, the motor speed may be a motor speed. The motor moving speeds, such as speed a1, speed a2 and speed A3, may or may not be equal in speed value. The speed values such as the above-mentioned motor movement speeds, for example, speed a1, speed a2 and speed A3, are normal speeds of the motor operation, which may be speed values set by the user according to actual application scenarios, and are not limited in particular again.
According to the motor reset control method provided by the embodiment of the invention, no matter the motor is reset clockwise or anticlockwise, no matter the starting and stopping positions and the starting movement speed of the motor are high or low, after the reset is started, the limit sensor triggered for the first time in the movement process of the motor along a certain specified direction can be determined; controlling the motor to move to a position for triggering the first limit sensor according to the first trigger limit sensor; and then controlling the motor to move to a position where the first photoelectric part is moved out, and moving the motor from the position where the first limit photoelectric part is moved out in a negative direction at a controllable movement speed which is less than a preset speed threshold value until the limit is triggered and finally stays at the position C, and stopping the motor from resetting. Therefore, the consistency and the accuracy of the stop position of the motor stop block are realized when the motor stop block is reset every time.
Fig. 3 is a view illustrating a motor return control method according to another embodiment of the present invention. As shown in FIG. 3, in one embodiment, a motor reset control method 300 may include:
and S310, controlling the motor to move forward along a first direction according to the received motor reset starting instruction until the stop block triggers the limit sensor for the first time, wherein the stop block is any one of one or more stop blocks on the conveyor belt driven by the motor.
In an embodiment, step S310 may specifically include:
and controlling the motor to move forward along a first direction at a first speed according to the received motor reset starting instruction.
And step S320, if the limit sensor triggered for the first time is the first limit sensor, controlling the motor to move forward along the first direction until the first limit sensor is not triggered.
And step S330, controlling the motor to move in a negative direction along the first direction at a first speed less than a preset speed threshold value until the stop block triggers the first limit sensor, and stopping the motor to complete the reset of the motor.
In one embodiment, controlling the motor to move negatively in a first direction at a first speed comprises:
and controlling the motor to accelerate to a first speed and move in a negative direction at a constant speed of the first speed along a first direction.
In one embodiment, the motor reset control method 300 may further include:
step S340, if the limit sensor triggered for the first time is not the first limit sensor, controlling the motor to move according to the position relation between the limit sensor triggered for the first time and the first limit sensor until the stop triggers the first limit sensor.
In one embodiment, the non-first limit sensor may be any one of other limit sensors included in the motor reset system, and may be located in either the first positive direction or the first negative direction of the first limit sensor.
In one embodiment, step S340 may include:
step S341, if the first limit sensor is positioned in the forward direction of the first direction with the limit sensor triggered for the first time as the starting point, controlling the motor to move in the forward direction of the first direction until the stop block triggers the first limit sensor;
in step S342, if the first limit sensor is located in the first negative direction with the limit sensor triggered for the first time as the starting point, the motor is controlled to move in the first negative direction until the stop triggers the first limit sensor.
Step S350, controlling the motor to move forward along the first direction until the first limit sensor is not triggered;
and step S360, controlling the motor to move in a negative direction at a first speed along a first direction until the stop block triggers the first limit sensor, and stopping the motor from moving, wherein the first speed is less than a speed threshold value.
In an embodiment of the present invention, the motor reset control method 300 may further include:
step S370, determining that the position of the stop block is a first position when the motor is reset;
step S371, receiving the motor reset starting instruction again, and determining that the position of the stop block is a second position when the motor finishes resetting again according to the received motor reset starting instruction again;
step 372, adjusting the first speed according to the position difference between the first position and the second position, so that the position difference is smaller than the position difference threshold.
In this step, if the stopper position after each reset is different, the first speed or the speed threshold may be adjusted according to the stopper position which is different after each reset to accurately control the stopper position after each reset.
According to the motor reset control method provided by the embodiment of the invention, no matter the motor is reset clockwise or anticlockwise, the stop dog can be ensured to stay at the same position after the motor is reset by the starting motion direction and the starting motion speed of the motor at the beginning of resetting, so that the consistency and the accuracy of the stop position of the stop dog of the motor are realized during each resetting.
Fig. 4 is a schematic structural diagram illustrating a motor reset control apparatus according to an embodiment of the present invention. As shown in fig. 4, the motor return control apparatus 400 includes:
and the motor resetting starting module 410 is used for controlling the motor to move forward along the first direction according to the received motor resetting starting instruction until the stop block triggers the limit sensor for the first time, and the stop block is any one of one or more stop blocks on the conveyor belt driven by the motor.
In one embodiment, the motor reset start module 410, when being specifically configured to control the motor to move forward in the first direction according to the received motor reset start command, is further specifically configured to: and controlling the motor to move forward along a first direction at a first speed according to the received motor reset starting instruction.
And the first motion control module is used for controlling the motor to move forward along the first direction until the first limit sensor is not triggered if the limit sensor triggered for the first time is the first limit sensor.
And the second motion control module is used for controlling the motor to move in a negative direction along the first direction at a first speed less than a preset speed threshold until the stop block triggers the first limit sensor, and stopping the motor to complete resetting of the motor.
In one embodiment, the motor reset control apparatus 400 may further include:
the third motion control module is used for controlling the motor to move until the stop block triggers the first limit sensor according to the position relation between the first-triggered limit sensor and the first limit sensor if the first-triggered limit sensor is not the first limit sensor;
the fourth motion control module is used for controlling the motor to move forward along the first direction until the first limit sensor is not triggered;
the second motion control module is further used for controlling the motor to move in a negative direction along the first direction at a first speed which is smaller than a preset speed threshold value until the stop block triggers the first limit sensor, and the motor stops moving, wherein the first speed is smaller than the speed threshold value.
In one embodiment, a fourth motion control module includes:
the positive motion unit is used for controlling the motor to move positively along a first direction until the stop block triggers the first limit sensor if the first limit sensor is positioned in the positive direction of the first direction with the limit sensor triggered for the first time as a starting point;
and the reverse movement unit is used for controlling the motor to move along the negative direction of the first direction until the stop block triggers the first limit sensor if the first limit sensor is positioned in the negative direction of the first direction with the limit sensor triggered for the first time as a starting point.
In one embodiment, the motor reset control apparatus 400 may further include:
the first stop block position determining module is used for determining that the position of the stop block is a first position when the motor finishes resetting;
the second stop block position determining module is used for receiving the motor reset starting instruction again, and determining that the stop block is positioned at a second position when the motor finishes resetting again according to the received motor reset starting instruction again;
and the movement speed adjusting module is used for adjusting the first speed according to the position difference value between the first position and the second position so as to enable the position difference value to be smaller than the position difference value threshold.
It is to be understood that the invention is not limited to the particular arrangements and instrumentality described in the above embodiments and shown in the drawings. For convenience and brevity of description, detailed description of a known method is omitted here, and for the specific working processes of the system, the module and the unit described above, reference may be made to corresponding processes in the foregoing method embodiments, which are not described herein again.
Fig. 5 shows a schematic structural view of a sample transfer apparatus according to an embodiment of the present invention. As shown in fig. 5, in one embodiment, the sample transfer device 500 may include:
a conveyor belt 510, a plurality of sample stops 520, a motor 530, and a motor reset control system 540.
Wherein the plurality of sample stops are located on the conveyor belt and a distance between two adjacent sample stops of the plurality of sample stops.
And the conveyor belt 510 is used for driving the plurality of sample stoppers to move under the rotation of the motor.
And a plurality of sample stoppers 520 for fixing the position of the sample transferred on the transfer belt.
The motor reset control system 530 is used for controlling the motor to move forward along a first direction according to a received motor reset starting instruction until a stop block triggers the limit sensor for the first time, wherein the stop block is any one of one or more stop blocks on the conveyor belt driven by the motor; if the limit sensor triggered for the first time is the first limit sensor, controlling the motor to move forward along the first direction until the first limit sensor is not triggered; and controlling the motor to move in the negative direction along the first direction at a first speed less than a preset speed threshold until the stop block triggers the first limit sensor, and stopping the motor to move so as to reset the motor.
In an embodiment of the present invention, the motor reset control system may perform the motor reset control method described in the above embodiment with reference to fig. 1 to 3. And will not be described in detail herein.
The sample transfer apparatus according to the embodiment of the present invention can be applied to a sample injector for sample analysis. As an example, in a sample injector of a sample analyzer, a plurality of sample stoppers are disposed on a conveyor belt, for example, a belt connected to a motor shaft, and a distance between two adjacent sample stoppers may be a width of one sample rack. As a specific example, the sample injector of the sample analyzer may be a sample injector of a glycated protein analyzer, and the like, and the specific sample type is not particularly limited in the embodiments of the present invention.
In the embodiment of the invention, if the sample rack is arranged between two adjacent sample stop blocks, the motor resets to drive the belt to reset, and if the reset position of the motor is inaccurate every time, the sample tube cannot be normally conveyed to the belt. According to the motor reset control method provided by the embodiment of the invention, the reset position of the motor can be accurately positioned, so that the position where the sample stop block stays in the reset process can be aligned to the sample rack in the rack entering area, and the sample rack can be smoothly pushed into a belt.
According to the sample conveying equipment provided by the embodiment of the invention, when the motor is reset clockwise and anticlockwise respectively, the motor can be ensured to stay at the same position, the consistency and the accuracy of the position of the motor after each reset are ensured, and the reset operation can be carried out without judging the specific position of the stop block when the motor is reset. On the sample injector of the sample analyzer, the success rate of pushing the sample rack to move is greatly improved.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions which, when run on a computer, cause the computer to perform the methods described in the various embodiments above. The procedures or functions described in accordance with the embodiments of the invention are all or partially effected when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), among others.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A motor reset control method is characterized by comprising the following steps:
controlling the motor to move forward along a first direction according to a received motor reset starting instruction until a stop block triggers a limit sensor for the first time, wherein the stop block is any one of one or more stop blocks on a conveyor belt driven by the motor;
if the limit sensor triggered for the first time is a first limit sensor, controlling the motor to move forward along a first direction until the first limit sensor is not triggered;
controlling the motor to move in a negative direction along a first direction at a first speed less than a preset speed threshold value until the stop block triggers the first limit sensor, and stopping the motor to move so as to enable the motor to complete resetting;
adjusting the first speed or the preset speed threshold according to the position of the stop block after the motor is reset so as to control the position of the stop block after the motor is reset;
the method further comprises the following steps:
if the limit sensor triggered for the first time is not the first limit sensor, controlling the motor to move according to the position relation between the limit sensor triggered for the first time and the first limit sensor until the stop block triggers the first limit sensor;
controlling the motor to move forward along a first direction until the first limit sensor is not triggered;
and controlling the motor to move in a negative direction at a first speed in a first direction until the stop block triggers the first limit sensor, and stopping the motor.
2. The motor reset control method according to claim 1, wherein the controlling the motor to move until the stopper triggers the first limit sensor according to the positional relationship between the first-triggered limit sensor and the first limit sensor comprises:
if the first limit sensor is positioned in the first direction forward direction with the limit sensor triggered for the first time as a starting point, controlling the motor to move forward along the first direction until the stop block triggers the first limit sensor;
and if the first limit sensor is positioned in the first negative direction with the limit sensor triggered for the first time as the starting point, controlling the motor to move in the first negative direction until the stop block triggers the first limit sensor.
3. The motor-return control method of claim 1, wherein said controlling the motor to move negatively in a first direction at a first speed less than a preset speed threshold comprises:
and controlling the motor to accelerate to the first speed and move in a negative direction at the first speed at a constant speed in a first direction.
4. The motor return control method according to claim 1, further comprising:
determining that the position of the stop block is a first position when the motor finishes resetting;
receiving a motor reset starting instruction again, and determining that the position of the stop block is a second position when the motor finishes resetting again according to the received motor reset starting instruction again;
adjusting the first speed based on a position difference between the first position and the second position such that the position difference is less than a position difference threshold.
5. A motor reset control apparatus, characterized in that the motor reset control apparatus comprises:
the motor reset starting module is used for controlling the motor to move forward along a first direction according to a received motor reset starting instruction until a stop block triggers the limit sensor for the first time, wherein the stop block is any one of one or more stop blocks on the conveyor belt driven by the motor;
the first motion control module is used for controlling the motor to move forward along a first direction until the first limit sensor is not triggered if the limit sensor triggered for the first time is the first limit sensor;
the second motion control module is used for controlling the motor to move in a negative direction along a first direction at a first speed which is less than a preset speed threshold value until the stop block triggers the first limit sensor, and stopping the motor to move so as to enable the motor to complete resetting;
adjusting the first speed or the preset speed threshold according to the position of the stop block after the motor is reset so as to control the position of the stop block after the motor is reset;
the device further comprises:
the third motion control module is used for controlling the motor to move according to the position relation between the limit sensor triggered for the first time and the first limit sensor if the limit sensor triggered for the first time is not the first limit sensor until the stop block triggers the first limit sensor;
the fourth motion control module is used for controlling the motor to move forwards along the first direction until the first limit sensor is not triggered;
the second motion control module is further configured to control the motor to move in a negative direction along a first direction at a first speed less than a preset speed threshold until the stop triggers the first limit sensor, and the motor stops moving.
6. The motor-return control apparatus according to claim 5,
the second motion control module is further configured to control the motor to accelerate to the first speed and move in a negative direction at a constant speed in a first direction at the first speed.
7. A sample transfer apparatus, characterized in that the sample transfer apparatus comprises: the device comprises a conveyor belt, a plurality of sample stop blocks, a motor and a motor reset control system; wherein the content of the first and second substances,
the conveyor belt is used for driving the sample stoppers to move under the rotation of the motor;
the plurality of sample stoppers are used for fixing the positions of the samples conveyed on the conveying belt;
the motor reset control system is used for controlling the motor to move forward along a first direction according to a received motor reset starting instruction until a stop block triggers the limit sensor for the first time, wherein the stop block is any one of one or more stop blocks on the conveyor belt driven by the motor; if the limit sensor triggered for the first time is a first limit sensor, controlling the motor to move forward along a first direction until the first limit sensor is not triggered; controlling the motor to move in a negative direction along a first direction at a first speed less than a preset speed threshold value until the stop block triggers the first limit sensor, and stopping the motor to move so as to enable the motor to complete resetting;
adjusting the first speed or the preset speed threshold according to the position of the stop block after the motor is reset so as to control the position of the stop block after the motor is reset;
the motor reset control system is also used for controlling the motor to move according to the position relation between the limit sensor triggered for the first time and the first limit sensor if the limit sensor triggered for the first time is not the first limit sensor until the stop block triggers the first limit sensor; controlling the motor to move forward along a first direction until the first limit sensor is not triggered; and controlling the motor to move in a negative direction at a first speed in a first direction until the stop block triggers the first limit sensor, and stopping the motor.
8. A computer-readable storage medium, comprising instructions that when executed on a computer cause the computer to perform the motor-reset control method of any of claims 1 to 4.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811178776.7A CN109391190B (en) | 2018-10-10 | 2018-10-10 | Motor reset control method, device, storage medium and transmission equipment |
| US16/219,952 US11022623B2 (en) | 2017-12-14 | 2018-12-14 | Sample transport method and apparatus, test instrument and computer-readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811178776.7A CN109391190B (en) | 2018-10-10 | 2018-10-10 | Motor reset control method, device, storage medium and transmission equipment |
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| CN109391190A CN109391190A (en) | 2019-02-26 |
| CN109391190B true CN109391190B (en) | 2021-04-13 |
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| CN1152732A (en) * | 1995-10-25 | 1997-06-25 | 株式会社爱德万测试 | Method and apparatus for detecting origin of pulse motor |
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| JP5410855B2 (en) * | 2009-06-23 | 2014-02-05 | 大和製衡株式会社 | Hopper gate opening / closing device and weighing device having the same |
| CN102401624B (en) * | 2010-09-10 | 2014-07-16 | 珠海格力电器股份有限公司 | Stepping motor stroke position detection device and detection control method |
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| CN1152732A (en) * | 1995-10-25 | 1997-06-25 | 株式会社爱德万测试 | Method and apparatus for detecting origin of pulse motor |
| CN101776879A (en) * | 2009-12-29 | 2010-07-14 | 上海维宏电子科技有限公司 | Method for returning to mechanical reference point in numerical control machine tool system |
| CN202393775U (en) * | 2011-12-05 | 2012-08-22 | 深圳迈瑞生物医疗电子股份有限公司 | Automatic sample injecting system and analyzing device thereof |
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