CN113911621B - Intelligent file cabinet system scanning and storage method - Google Patents
Intelligent file cabinet system scanning and storage method Download PDFInfo
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- CN113911621B CN113911621B CN202111117000.6A CN202111117000A CN113911621B CN 113911621 B CN113911621 B CN 113911621B CN 202111117000 A CN202111117000 A CN 202111117000A CN 113911621 B CN113911621 B CN 113911621B
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- manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1376—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning conveyor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a scanning and position storing method for an intelligent file cabinet system, which specifically comprises the following steps: the PC end gives an instruction to the PLC system, the manipulator is required to scan the storage position a, and at the moment, the manipulator is positioned and moved to the position of an X coordinate xpos, a Y coordinate ypos and an R coordinate rpos corresponding to the hole position of the storage position a; detecting the hole position corresponding to the storage position through a photoelectric detection device arranged at the top end of the manipulator, and feeding back information to a PC (personal computer) end according to a photoelectric detection result; and the PC end judges according to the feedback result to determine whether the position of the manipulator needs to be adjusted, and the PC end sends a scanning command to the next storage position after the adjustment is finished. The invention scans the storage positions required to be operated by the manipulator one by one through a photoelectric detection means, the information of each scanning is directly fed back to the PC end, and in order to ensure the scanning accuracy, when the photoelectric detection is abnormal, the system performs offset adjustment on the coordinate position of the X axis and the Y axis of the manipulator.
Description
Technical Field
The invention relates to the technical field of intelligent file cabinet systems, in particular to a scanning and storage method of an intelligent file cabinet system.
Background
Aiming at the problems of current file storage, large workload of data management, low efficiency and the like, the prior art needs to develop an electronic automatic file cabinet control management system urgently, and the PLC, the operating keyboard and the computer are main components thereof, but in actual use, the mechanical arm can appoint each time to reach an accurate storage position.
The archives box stock of archives robot is thousands to tens of thousands, every archives box is got and is put and all need the accurate storage position of adjusting of manipulator, and in every storage position relative manipulator coordinate system after the robot apparatus production equipment, there is three position value of XYR in the theory, but because installation error, theoretical coordinate value can not directly be used, need to store up the coordinate value of position to every and revise the affirmation one by one, and the manual work is adjusted inefficiency well, has objective deviation.
Therefore, we propose an intelligent filing cabinet system scanning storage method to solve the above problem.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an intelligent file cabinet system scanning and storage method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a scanning and storage method for an intelligent file cabinet system specifically comprises the following steps:
firstly, a PC end gives an instruction to a PLC system, a manipulator is required to scan a storage position a, and at the moment, the manipulator is positioned and moved to the X coordinate xpos, the Y coordinate ypos and the R coordinate rpos corresponding to the storage position a;
detecting a hole position corresponding to the storage position through a photoelectric sensor arranged at the top end of the manipulator, and feeding back photoelectric detection result information to a PC (personal computer) end;
and step three, the PC end judges according to the feedback result to determine whether the position of the manipulator needs to be adjusted, and the PC end sends a scanning command of the next storage position after the adjustment is finished.
Preferably, in the second step, the specific method of photoelectric detection is to detect whether the corresponding hole of the reservoir is in place by a photoelectric sensor: if the hole position is detected correspondingly, the photoelectric sensor is in a normally-on state; and if the hole position is not detected correspondingly, the photoelectric sensor is in a normally-off state.
Preferably, in the second step, if the manipulator does not find a corresponding hole, the PLC system executes a shift command in the X-axis and Y-axis directions.
Preferably, after the current scanning position xpos, ypos is executed, if the photoelectric sensor still cannot detect a hole position, the current scanning position xpos and ypos are detected again according to a preset position increment, namely, the increment is added to xpos, until the displacement of xpos is automatically increased to xpos + or is not detected, ypos is added to the increment until the hole position is found, and after the hole position is found, a new storage position coordinate is corrected, and the previous scanning position is covered to be a new xpos, ypos.
Preferably, after the execution of the offset instruction is finished, whether the hole position is found by the manipulator is judged again, if the hole position is not found, the abnormal information is fed back to the PC end, and the current storage position number is recorded.
Preferably, after the scanning is finished, the method manually debugs to the accurate position according to the abnormal position storage number recorded in the step two and refills the values of xpos, ypos and rpos.
Preferably, in the second step, if the manipulator finds a corresponding hole position, new xpos, ypos and rpos are assigned to the storage position, and scanning of the storage position a is finished.
Preferably, in the first step, the X coordinate refers to a horizontal moving direction of the manipulator, the Y coordinate refers to a vertical moving direction of the manipulator, and the R coordinate refers to a self-rotation moving direction of the manipulator.
Compared with the prior art, the invention has the beneficial effects that: the storage positions required to be operated by the mechanical arm are scanned one by one through a photoelectric detection means, the scanned information every time is directly fed back to the PC end, in order to guarantee the scanning accuracy, when the photoelectric detection is abnormal, the system conducts offset adjustment on the coordinate position of the X axis and the Y axis of the mechanical arm, and assignment is conducted on a new position until the new position is correct, correction work of all the storage positions is automatically completed, the work efficiency is improved, artificial objective errors are eliminated, the system can record the coordinate information of each storage position, and the accuracy of later-stage movement is guaranteed.
Drawings
FIG. 1 is a schematic flow chart of a method for scanning and storing a file in an intelligent file cabinet system according to the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1, a method for scanning and storing a position of an intelligent file cabinet system specifically includes the following steps:
step one, a command is given by a PC end to a PLC system, the manipulator is required to scan the storage position a, at the moment, the manipulator is positioned and moved to the positions of an X coordinate xpos, a Y coordinate ypos and an R coordinate rpos corresponding to the storage position a, and what needs to be particularly described here is that: the X coordinate refers to the horizontal moving direction of the mechanical hand, the Y coordinate refers to the vertical moving direction of the mechanical hand, and the R coordinate refers to the self-rotating moving direction of the mechanical hand.
Step two, detecting the hole position corresponding to the storage position through a photoelectric sensor arranged at the top end of the manipulator, and feeding back photoelectric detection result information to a PC (personal computer) end, wherein the specific method of photoelectric detection needs to be noted is to detect whether the hole corresponding to the storage position is in place through the photoelectric sensor: if the hole position is detected correspondingly, the photoelectric sensor is in a normally-on state; if no hole position is detected correspondingly, the photoelectric sensor is in a normally off state;
if the manipulator does not find the corresponding hole position, the PLC system executes the offset instruction in the X-axis and Y-axis directions, wherein the specific method of the offset instruction is as follows: and if the photoelectric sensor cannot detect the hole position after the current scanning position xpos and ypos are executed, detecting again according to a preset position increment, namely adding the increment to xpos, until the xpos is automatically increased to xpos + offset or is not detected, adding the increment to ypos until the hole position is found, correcting a new position storage coordinate after the hole position is found, and covering the previous scanning position into a new xpos and ypos.
And if the manipulator finds the corresponding hole position, assigning new xpos, ypos and rpos to the storage position, and finishing scanning the storage position a.
It should be noted that, after the execution of the offset instruction is finished, it is determined again whether the manipulator finds a hole location, if not, the abnormal information is fed back to the PC end, and the current storage location number is recorded
And step three, the PC end judges according to the feedback result to determine whether the position of the manipulator needs to be adjusted, and the PC end sends a scanning command of the next storage position after the adjustment is finished.
Specifically, after the scanning process is finished, the accurate position is manually debugged according to the abnormal storage position number recorded in the step two, and the xpos, ypos and rpos values are filled in the position.
In the invention, the storage positions required to be operated by the manipulator are scanned one by a photoelectric detection means, the information scanned each time is directly fed back to the PC end, and in order to ensure the scanning accuracy, when the photoelectric detection is abnormal, the system performs offset adjustment on the coordinate position of the X axis and the Y axis of the manipulator, and assigns a new position until the new position is correct, so that the system can record the coordinate information of each storage position, and the accuracy of later movement is ensured.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. An intelligent file cabinet system scanning and storage method is characterized by comprising the following steps:
the method comprises the following steps that firstly, a PC end gives an instruction to a PLC system, the manipulator is required to scan a storage position a, and at the moment, the manipulator is positioned and moved to the position of an X coordinate xpos, a Y coordinate ypos and an R coordinate rpos corresponding to the position of the storage position a;
detecting a hole position corresponding to the storage position through a photoelectric sensor arranged at the top end of the manipulator, and feeding back photoelectric detection result information to a PC (personal computer) end;
if the manipulator does not find the corresponding hole position, the PLC system executes the offset instruction in the X-axis and Y-axis directions, and the specific method comprises the following steps: after the current scanning position xpos and ypos are executed, if the photoelectric sensor cannot detect the hole position, detecting again according to a preset position increment, namely adding the increment to the xpos, until the xpos is automatically increased to the xpos + offset or is not detected, adding the increment to the ypos until the hole position is found, correcting a new storage position coordinate after the hole position is found, and covering the previous scanning position into a new xpos and ypos;
judging whether the manipulator finds a hole site or not again after the execution of the offset instruction is finished, if not, feeding back the abnormal information to the PC end, and recording the current storage number;
in the process, if the manipulator finds the corresponding hole position, new xpos, ypos and rpos are assigned to the storage position, the scanning of the storage position a is finished, and after the scanning is finished, the manipulator manually debugs to the accurate position according to the abnormal storage position number recorded in the step two and fills the xpos, ypos and rpos values again;
and step three, the PC terminal judges according to the feedback result to determine whether the position of the manipulator needs to be adjusted, and the PC terminal sends a scanning command to the next storage position after the adjustment is finished.
2. The intelligent filing cabinet system scanning storage position method of claim 1, wherein in the second step, the photoelectric detection is performed by detecting whether the corresponding hole of the storage position is in place by a photoelectric sensor: if the hole position is detected correspondingly, the photoelectric sensor is in a normally-on state; and if the hole position is not detected correspondingly, the photoelectric sensor is in a normally-off state.
3. The intelligent file cabinet system scanning and storage method as recited in claim 2, wherein in the first step, the X coordinate is a horizontal moving direction of the manipulator, the Y coordinate is a vertical moving direction of the manipulator, and the R coordinate is a self-rotation moving direction of the manipulator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111117000.6A CN113911621B (en) | 2021-09-23 | 2021-09-23 | Intelligent file cabinet system scanning and storage method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111117000.6A CN113911621B (en) | 2021-09-23 | 2021-09-23 | Intelligent file cabinet system scanning and storage method |
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| Publication Number | Publication Date |
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| CN113911621A CN113911621A (en) | 2022-01-11 |
| CN113911621B true CN113911621B (en) | 2023-03-07 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101564241A (en) * | 2009-06-03 | 2009-10-28 | 东北大学 | Document automatic access device and control method |
| CN103010648A (en) * | 2012-12-25 | 2013-04-03 | 云南财经大学 | Three-dimensional warehousing method for automatic virtual storage bin and warehousing system |
| JP2015193468A (en) * | 2014-03-31 | 2015-11-05 | 株式会社富士通アドバンストエンジニアリング | commodity picking device and program |
| CN107973045A (en) * | 2017-11-28 | 2018-05-01 | 武汉市新攀登科技有限公司 | A kind of smart profile transfers method |
| CN111438688A (en) * | 2020-02-28 | 2020-07-24 | 广东拓斯达科技股份有限公司 | Robot correction method, robot correction device, computer equipment and storage medium |
| CN112101834A (en) * | 2019-06-18 | 2020-12-18 | 北京京东尚科信息技术有限公司 | Method, device, system and medium for positioning storage position in warehouse |
-
2021
- 2021-09-23 CN CN202111117000.6A patent/CN113911621B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101564241A (en) * | 2009-06-03 | 2009-10-28 | 东北大学 | Document automatic access device and control method |
| CN103010648A (en) * | 2012-12-25 | 2013-04-03 | 云南财经大学 | Three-dimensional warehousing method for automatic virtual storage bin and warehousing system |
| JP2015193468A (en) * | 2014-03-31 | 2015-11-05 | 株式会社富士通アドバンストエンジニアリング | commodity picking device and program |
| CN107973045A (en) * | 2017-11-28 | 2018-05-01 | 武汉市新攀登科技有限公司 | A kind of smart profile transfers method |
| CN112101834A (en) * | 2019-06-18 | 2020-12-18 | 北京京东尚科信息技术有限公司 | Method, device, system and medium for positioning storage position in warehouse |
| CN111438688A (en) * | 2020-02-28 | 2020-07-24 | 广东拓斯达科技股份有限公司 | Robot correction method, robot correction device, computer equipment and storage medium |
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| CN113911621A (en) | 2022-01-11 |
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