WO2024016255A1

WO2024016255A1 - Position adjustment method and apparatus

Info

Publication number: WO2024016255A1
Application number: PCT/CN2022/106995
Authority: WO
Inventors: 余俊豪
Original assignee: 宁德时代新能源科技股份有限公司
Priority date: 2022-07-21
Filing date: 2022-07-21
Publication date: 2024-01-25
Also published as: CN118043755A

Abstract

A position adjustment method (100), comprising: acquiring first information, wherein the first information is used for indicating that the position of a sensor (50) is abnormal (110); and adjusting the position of the sensor (50) according to the first information (120). The position of the sensor (50) can be adjusted in a timely manner, such that the problem of a test result of the sensor (50) being inaccurate or the sensor (50) being unable to operate normally due to a position offset of the sensor (50) is prevented, thereby facilitating an improvement in the production efficiency and production safety.

Description

位置调节的方法和装置Position adjustment methods and devices

技术领域Technical field

本申请涉及位置调节技术领域，特别是涉及一种位置调节的方法和装置。The present application relates to the technical field of position adjustment, and in particular to a method and device for position adjustment.

背景技术Background technique

随着工业的机械自动化的发展，传感器被越来越广泛的应用在工业产业中。但是当传感器应用在机械臂、传送带等需要经常产生震动的部件上，传感器的固定螺丝容易发生松动，从而导致传感器位置发生偏移，无法正常感应。一旦传感器无法正常感应信号，连接该传感器的控制器就无法读取到正确的信号，从而导致机械故障，影响设备的正常运行，不利于生产效率及生产安全性的提高。With the development of industrial mechanical automation, sensors are increasingly widely used in industrial industries. However, when the sensor is applied to parts that require frequent vibrations, such as robotic arms and conveyor belts, the fixing screws of the sensor are prone to loosening, causing the sensor position to shift and unable to sense properly. Once the sensor fails to sense signals normally, the controller connected to the sensor cannot read the correct signal, causing mechanical failure and affecting the normal operation of the equipment, which is not conducive to the improvement of production efficiency and production safety.

因此，如何提供一种位置调节的方法，以提高生产的效率和生产的安全性是一项亟待解决的技术问题，是一项亟待解决的技术问题。Therefore, how to provide a position adjustment method to improve production efficiency and production safety is an urgent technical problem that needs to be solved.

发明内容Contents of the invention

本申请提供了一种位置调节的方法和装置，可以远程调整传感器的位置。This application provides a position adjustment method and device, which can remotely adjust the position of the sensor.

第一方面，提供了一种位置调节的方法，所述方法包括：获取第一信息，所述第一信息用于指示传感器的位置异常；根据所述第一信息，调整所述传感器的位置。In a first aspect, a method of position adjustment is provided. The method includes: obtaining first information, the first information being used to indicate abnormal position of a sensor; and adjusting the position of the sensor according to the first information.

在本申请实施例中，提供了一种位置调节的方法。该方法包括：获取第一信息，第一信息用于指示传感器的位置异常；根据第一信息，调整传感器的位置。这样，可以根据第一信息及时获取传感器的位置状态，在传感器的位置异常时，可以及时调整传感器的位置，避免传感器的位置偏移造成的传感器的测试结果不准或传感器不能正常工作的等问题，有利于提升生产效率和生产安全性。In this embodiment of the present application, a position adjustment method is provided. The method includes: obtaining first information, the first information being used to indicate abnormal position of the sensor; and adjusting the position of the sensor according to the first information. In this way, the position status of the sensor can be obtained in time based on the first information. When the position of the sensor is abnormal, the position of the sensor can be adjusted in time to avoid problems such as inaccurate test results of the sensor or failure of the sensor to work properly caused by the position deviation of the sensor. , which is conducive to improving production efficiency and production safety.

在一种可能的实施方式中，所述传感器配置有位置调节机构；所述调整所述传感器的位置，包括：控制所述位置调节机构调整所述传感器的位置。In a possible implementation, the sensor is configured with a position adjustment mechanism; adjusting the position of the sensor includes: controlling the position adjustment mechanism to adjust the position of the sensor.

在该实施方式中，通过设置位置调节机构，可以控制位置调节机构调整传感器的位置，从而不需要进入设备的内部通过手动的方式调整传感器的位置。这样，一方面，可以减少设备的停机和拆装的时间，有利于提高生产效率；另一方面，有利于降低人力成本；再一方面，可以避免频繁进入设备内部对设备造成的不良影响，有利于提高设备及生产的可靠性。In this embodiment, by providing a position adjustment mechanism, the position adjustment mechanism can be controlled to adjust the position of the sensor, thereby eliminating the need to enter the interior of the device to manually adjust the position of the sensor. In this way, on the one hand, it can reduce the downtime and disassembly time of the equipment, which is helpful to improve production efficiency; on the other hand, it can help reduce labor costs; on the other hand, it can avoid the adverse effects on the equipment caused by frequent entry into the equipment. It is beneficial to improve the reliability of equipment and production.

在一种可能的实施方式中，所述位置调节机构包括驱动机构和支架，所述支架的第一端与所述驱动机构和所述传感器连接，所述支架的第二端与所述传感器连接，所述驱动机构驱动所述支架以调整所述传感器的位置。In a possible implementation, the position adjustment mechanism includes a driving mechanism and a bracket. The first end of the bracket is connected to the driving mechanism and the sensor, and the second end of the bracket is connected to the sensor. , the driving mechanism drives the bracket to adjust the position of the sensor.

在该实施方式中，支架的第一端与驱动机构连接，这样，驱动机构可以驱动支架移动。支架的第一端和第二端分别与传感器连接，这样，支架可以固定传感器，并调整传感器的位置和感应方向，扩大传感器的感应范围。通过上述设置，驱动机构可以驱动支架调整传感器的位置。In this embodiment, the first end of the bracket is connected to the driving mechanism, so that the driving mechanism can drive the bracket to move. The first end and the second end of the bracket are respectively connected to the sensor, so that the bracket can fix the sensor, adjust the position and sensing direction of the sensor, and expand the sensing range of the sensor. Through the above settings, the driving mechanism can drive the bracket to adjust the position of the sensor.

在一种可能的实施方式中，所述调整所述传感器的位置，包括：根据所述传感器的当前位置信息和所述传感器的设定位置信息，控制所述位置调节机构调整所述传感器的位置。这样，控制单元可以自动地根据传感器的当前位置信息和传感器的设定位置信息，控制位置调节机构调整传感器的位置，不需要人工干预，有利于提升自动化程度。In a possible implementation, adjusting the position of the sensor includes: controlling the position adjustment mechanism to adjust the position of the sensor based on the current position information of the sensor and the set position information of the sensor. . In this way, the control unit can automatically control the position adjustment mechanism to adjust the position of the sensor based on the current position information of the sensor and the set position information of the sensor, without manual intervention, which is conducive to improving the degree of automation.

在一种可能的实施方式中，所述驱动机构为转动驱动机构；所述控制所述位置调节机构，包括：根据第一差值，控制所述驱动机构转动，以驱动所述支架调整所述传感器的位置，所述第一差值为所述传感器的当前位置信息与所述传感器的设定位置信息的差值。这样，根据第一差值，控制驱动机构转动，从而驱动机构可以带动支架转动，进而带动传感器的移动，实现了对传感器的位置调整。In a possible implementation, the driving mechanism is a rotational driving mechanism; the controlling the position adjustment mechanism includes: controlling the rotation of the driving mechanism according to the first difference to drive the bracket to adjust the The position of the sensor, the first difference is the difference between the current position information of the sensor and the set position information of the sensor. In this way, according to the first difference value, the driving mechanism is controlled to rotate, so that the driving mechanism can drive the bracket to rotate, and then drive the sensor to move, thereby realizing the position adjustment of the sensor.

在一种可能的实施方式中，所述第一差值与所述驱动机构的转动圈数满足：α＝2πTm；其中，α为所述第一差值，T为所述驱动机构的转动圈数，m为所述支架与所述驱动机构之间的传动比。通过第一差值与驱动机构的转动圈数之间的关系，可以根据第一差值的大小，计算驱动机构的转动圈数，从而便于控制驱动机构转动相应的圈数，以通过支架将传感器调整至合适的位置。In a possible implementation, the first difference and the number of rotations of the driving mechanism satisfy: α=2πTm; where α is the first difference, and T is the rotation of the driving mechanism. Number, m is the transmission ratio between the bracket and the driving mechanism. Through the relationship between the first difference and the number of rotations of the driving mechanism, the number of rotations of the driving mechanism can be calculated based on the size of the first difference, thereby facilitating the control of the driving mechanism to rotate the corresponding number of turns to move the sensor through the bracket. Adjust to appropriate position.

在一种可能的实施方式中，在所述根据第一差值，控制所述驱动机构转动后，所述方法还包括：在所述传感器的当前位置正常的情况下，结束调整。这样，完成了对传感器的位置的调整，有利于保证传感器的正常运行。In a possible implementation, after controlling the rotation of the driving mechanism according to the first difference value, the method further includes: ending the adjustment when the current position of the sensor is normal. In this way, the adjustment of the sensor's position is completed, which is beneficial to ensuring the normal operation of the sensor.

在一种可能的实施方式中，在所述根据第一差值，控制所述驱动机构转动后，所述方法还包括：在所述传感器的当前位置异常的情况下，在所述传感器的第一预设位置范围内调整所述传感器的位置。In a possible implementation, after controlling the rotation of the driving mechanism according to the first difference value, the method further includes: when the current position of the sensor is abnormal, when the current position of the sensor is abnormal, Adjust the position of the sensor within a preset position range.

在该实施方式中，在将传感器的位置调整至设定位置后，若传感器此时的位置依旧异常，则可以在第一预设范围内继续调整传感器的位置，以便提高自动调整传感器的位置的成功率。In this embodiment, after adjusting the position of the sensor to the set position, if the position of the sensor is still abnormal at this time, the position of the sensor can be continued to be adjusted within the first preset range, so as to improve the accuracy of automatically adjusting the position of the sensor. Success rate.

在一种可能的实施方式中，在所述在所述传感器的第一预设位置范围内调整所述传感器的位置之后，所述方法还包括：在所述传感器的当前位置正常的情况下，将所述传感器的设定位置信息更新为所述传感器的当前位置信息，并结束调整。这样，当前的位置信息被设置为设定位置信息，可以避免因设定位置信息的不准确造成的传感器位置自动调整失效的情况，从而提高了位置调整的成功率。In a possible implementation, after adjusting the position of the sensor within the first preset position range of the sensor, the method further includes: when the current position of the sensor is normal, Update the set position information of the sensor to the current position information of the sensor, and end the adjustment. In this way, the current position information is set as the set position information, which can avoid the failure of automatic sensor position adjustment caused by inaccurate set position information, thereby improving the success rate of position adjustment.

在一种可能的实施方式中，在所述在所述传感器的第一预设范围内调整所述传感器的位置之后，所述方法还包括：在所述传感器的当前位置异常的情况下，根据用户的输入，调整所述传感器的位置。这样，根据用户的输入，调整传感器的位置，有利于提高传感器的位置调整的成功率。In a possible implementation, after adjusting the position of the sensor within the first preset range of the sensor, the method further includes: in the case that the current position of the sensor is abnormal, according to User input adjusts the sensor's position. In this way, adjusting the position of the sensor according to the user's input will help improve the success rate of sensor position adjustment.

在一种可能的实施方式中，所述调整所述传感器的位置，包括：根据用户的输入，控制所述位置调节机构调整所述传感器的位置。用户的输入通常是用户根据经验或肉眼观察得到的结果，通过一次调整而位置调整成功的概率较大。因此，根据用户的输入，调整传感器的位置有利于提升位置调整的成功率。In a possible implementation, adjusting the position of the sensor includes: controlling the position adjustment mechanism to adjust the position of the sensor according to user input. The user's input is usually the result of the user's experience or naked eye observation. The probability of successful position adjustment through one adjustment is relatively high. Therefore, adjusting the position of the sensor according to the user's input will help improve the success rate of position adjustment.

在一种可能的实施方式中，所述驱动机构为转动驱动机构；所述根据用户的输入，控制所述位置调节机构调整所述传感器的位置，包括：根据所述用户输入的所述传感器的转动角度，控制所述驱动机构转动。传感器的转动角度可以直观的观测到，根据用户输入的传感器的转动角度，可以更加便利地实现对传感器的位置的调整。In a possible implementation, the driving mechanism is a rotational driving mechanism; controlling the position adjustment mechanism to adjust the position of the sensor according to the user's input includes: according to the user's input of the position of the sensor. The rotation angle controls the rotation of the driving mechanism. The rotation angle of the sensor can be observed intuitively. According to the rotation angle of the sensor input by the user, the position of the sensor can be adjusted more conveniently.

在一种可能的实施方式中，所述根据用户输入的所述传感器的转动角度，控制所述驱动机构转动，包括：在所述驱动机构的转动圈数小于所述驱动机构的最大转动圈数的情况下，控制所述驱动机构转动。这样，可以避免驱动机构转动圈数过多导致支架和传感器的转动角度过大，从而可以避免支架和传感器被破坏。In a possible implementation, controlling the rotation of the driving mechanism according to the rotation angle of the sensor input by the user includes: when the number of rotations of the driving mechanism is less than the maximum number of rotations of the driving mechanism In this case, the driving mechanism is controlled to rotate. In this way, it can be avoided that the driving mechanism rotates too many times, causing the bracket and the sensor to rotate at an excessively large angle, thereby preventing the bracket and the sensor from being damaged.

在一种可能的实施方式中，所述用户输入的所述传感器的转动角度与所述驱动机构的转动圈数满足：β＝2πTm；其中，β为所述用户输入的所述传感器的转动角度，T为所述驱动机构的转动圈数，m为所述支架与所述驱动机构之间的传动比。这样，便于控制单元根据用户输入的传感器的转动角度计算驱动机构的转动圈数。In a possible implementation, the rotation angle of the sensor input by the user and the number of rotation turns of the driving mechanism satisfy: β = 2πTm; where β is the rotation angle of the sensor input by the user. , T is the number of rotations of the driving mechanism, and m is the transmission ratio between the bracket and the driving mechanism. In this way, it is convenient for the control unit to calculate the number of rotations of the driving mechanism according to the rotation angle of the sensor input by the user.

在一种可能的实施方式中，在所述根据用户输入的所述传感器的转动角度，控制所述驱动机构转动后，所述方法还包括：在所述传感器的当前位置正常的情况下，结束调整。这样，传感器的位置调整结束，即代表传感器此时位置正常。In a possible implementation, after controlling the rotation of the driving mechanism according to the rotation angle of the sensor input by the user, the method further includes: when the current position of the sensor is normal, end Adjustment. In this way, the position adjustment of the sensor is completed, which means that the sensor position is normal at this time.

在一种可能的实施方式中，在所述根据用户输入的所述传感器的转动角度，控制所述驱动机构转动后，所述方法还包括：在所述传感器的当前位置正常的情况下，根据所述传感器的当前位置信息，更新所述驱动机构的最大转动圈数。In a possible implementation, after controlling the rotation of the driving mechanism according to the rotation angle of the sensor input by the user, the method further includes: when the current position of the sensor is normal, based on The current position information of the sensor updates the maximum number of rotations of the driving mechanism.

在该实施方式中，根据传感器的当前位置信息更新驱动机构的最大转动圈数，可以避免在控制驱动机构转动时，驱动机构的转动圈数超过原最大转动圈数而导致的支架和传感器被破坏的情况。In this embodiment, the maximum number of rotations of the driving mechanism is updated based on the current position information of the sensor, which can avoid the destruction of the bracket and the sensor caused by the number of rotations of the driving mechanism exceeding the original maximum number of rotations when controlling the rotation of the driving mechanism. Case.

在一种可能的实施方式中，所述驱动机构的最大转动圈数满足：

其中，T _max为所述驱动机构的最大转动圈数，Δα为所述传感器的转动边界的角度与所述传感器的当前位置的角度的差值，m为所述支架与所述驱动机构之间的传动比。通过驱动机构的最大圈数的计算公式，便于控制单元根据传感器的当前位置计算驱动机构的最大转动圈数。 In a possible implementation, the maximum number of rotations of the driving mechanism satisfies:

Among them, T _max is the maximum number of rotations of the driving mechanism, Δα is the difference between the angle of the rotation boundary of the sensor and the angle of the current position of the sensor, and m is the distance between the bracket and the driving mechanism. transmission ratio. Through the calculation formula of the maximum number of turns of the drive mechanism, it is convenient for the control unit to calculate the maximum number of turns of the drive mechanism based on the current position of the sensor.

在一种可能的实施方式中，所述驱动机构包括n个双层齿轮，所述双层齿轮包括同轴设置的第一子齿轮和第二子齿轮，所述第一子齿轮的齿数大于所述第二子齿轮的齿数，一个双层齿轮的第二子齿轮与另一个双层齿轮的第一子齿轮转动连接。扎样，便于将驱动机构的较高的转速转换为支架的较小的转动速度In a possible implementation, the driving mechanism includes n double-layer gears. The double-layer gears include a first sub-gear and a second sub-gear arranged coaxially. The number of teeth of the first sub-gear is greater than the number of teeth of the first sub-gear. Describe the number of teeth of the second sub-gear, and the second sub-gear of one double-layer gear is rotationally connected to the first sub-gear of another double-layer gear. It is easy to convert the higher speed of the drive mechanism into the smaller rotation speed of the bracket.

在一种可能的实施方式中，所述支架与所述驱动机构之间的传动比满足：m＝(-k) ⁿ；其中，m为所述支架与所述驱动机构之间的传动比，k为所述第二子齿轮与所述第一子齿轮的齿数比，n为所述双层齿轮的个数。这样，可以便于根据实际需要设计双层齿轮的个数和第一子齿轮和第二子齿轮的齿数；在改变双层齿轮的个数或第一/第二子齿轮的齿数后，只需在控制单元中(例如，上位机的软件的界面)作相应的更改即可。 In a possible implementation, the transmission ratio between the bracket and the driving mechanism satisfies: m=(-k) ⁿ ; where m is the transmission ratio between the bracket and the driving mechanism, k is the gear ratio between the second sub-gear and the first sub-gear, and n is the number of the double-layer gears. In this way, it is easy to design the number of double-layer gears and the number of teeth of the first and second sub-gears according to actual needs; after changing the number of double-layer gears or the number of teeth of the first/second sub-gears, just Just make corresponding changes in the control unit (for example, the software interface of the host computer).

第二方面，本申请提供了一种位置调节的装置，包括控制单元；其中，所述控制单元用于：获取第一信息，所述第一信息用于指示所述传感器的位置异常；根据所述第一信息，调整所述传感器的位置。In a second aspect, the present application provides a position adjustment device, including a control unit; wherein the control unit is configured to: obtain first information, the first information is used to indicate abnormal position of the sensor; according to the According to the first information, the position of the sensor is adjusted.

第三方面，本申请提供了一种位置调节的装置，包括：存储器，用于存储计算机可执行指令；处理器，用于访问所述存储器，并执行所述计算机可执行指令，以进行根据第一方面中任一项所述的方法中的操作。In a third aspect, the present application provides a position adjustment device, including: a memory for storing computer-executable instructions; a processor for accessing the memory and executing the computer-executable instructions to perform operations according to the third aspect. Operations in the method of any one of the aspects.

第四方面，本申请提供了一种存储介质，用于存储计算机程序，当所述计算机程序被计算设备执行时，使得所述计算设备实现第一方面中任一项所述的方法。In a fourth aspect, the present application provides a storage medium for storing a computer program. When the computer program is executed by a computing device, the computing device implements the method described in any one of the first aspects.

附图说明Description of drawings

为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据附图获得其他的附图。In order to explain the technical solutions of the embodiments of the present application more clearly, the drawings required to be used in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. Those of ordinary skill in the art can also obtain other drawings based on the drawings without exerting creative efforts.

图1是本申请一实施例的位置调节的方法的示意图；Figure 1 is a schematic diagram of a position adjustment method according to an embodiment of the present application;

图2是本申请一实施例的位置调节机构的示意图；Figure 2 is a schematic diagram of a position adjustment mechanism according to an embodiment of the present application;

图3是本申请一实施例的盖板的俯视图；Figure 3 is a top view of the cover plate according to an embodiment of the present application;

图4是本申请一实施例的支架与驱动机构连接的俯视图；Figure 4 is a top view of the connection between the bracket and the driving mechanism according to an embodiment of the present application;

图5是本申请一实施例的传感器的感应范围示意图；Figure 5 is a schematic diagram of the sensing range of a sensor according to an embodiment of the present application;

图6是本申请一实施例的传感器的位置信息的示意图；Figure 6 is a schematic diagram of position information of a sensor according to an embodiment of the present application;

图7是本申请一实施例的在第一预设位置范围内调整传感器的位置的示意图；Figure 7 is a schematic diagram of adjusting the position of the sensor within the first preset position range according to an embodiment of the present application;

图8是本申请一实施例的采用自动模式调整传感器的位置的流程图；Figure 8 is a flow chart for adjusting the position of a sensor using automatic mode according to an embodiment of the present application;

图9是本申请一实施例的支架的转动角度的示意图；Figure 9 is a schematic diagram of the rotation angle of the bracket according to an embodiment of the present application;

图10是本申请一实施例的支架的转动范围的示意图；Figure 10 is a schematic diagram of the rotation range of the bracket according to an embodiment of the present application;

图11是本申请一实施例的采用手动模式进行位置调节的方法的流程图；Figure 11 is a flow chart of a method for position adjustment using manual mode according to an embodiment of the present application;

图12是本申请一实施例的双层齿轮的侧面示意图；Figure 12 is a schematic side view of a double-layer gear according to an embodiment of the present application;

图13是本申请一实施例的双层齿轮的传动连接的示意图；Figure 13 is a schematic diagram of the transmission connection of a double-layer gear according to an embodiment of the present application;

图14是本申请一实施例的位置调节装置的示意图；Figure 14 is a schematic diagram of a position adjustment device according to an embodiment of the present application;

图15是本申请一实施例的位置调节装置调整传感器的位置的示意图；Figure 15 is a schematic diagram of the position adjustment device adjusting the position of the sensor according to an embodiment of the present application;

图16是本申请一实施例的位置调节的装置的示意图。Figure 16 is a schematic diagram of a position adjustment device according to an embodiment of the present application.

在附图中，附图并未按照实际的比例绘制。In the drawings, the drawings are not drawn to actual scale.

具体实施方式Detailed ways

下面结合附图和实施例对本申请的实施方式作进一步详细描述。以下实施例的详细描述和附图用于示例性地说明本申请的原理，但不能用来限制本申请的范围，即本申请不限于所描述的实施例。The embodiments of the present application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

本申请中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本申请中字符“/”，一般表示前后关联对象是一种“或”的关系。The term "and/or" in this application is just an association relationship describing related objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, alone There are three situations B. In addition, the character "/" in this application generally indicates that the related objects are an "or" relationship.

随着工业机械自动化的发展，传感器的应用越来越广泛。传感器一般设置在设备中，例如设置在传送带或机械臂上，当设备或者传送带或机械臂发生震动时，传感器的位置发生偏移，可能会导致传感器无法正常感应或感应出错，影响设备的正常运行，不利于生产效率及生产安全性的提高。因此，如何提供一种位置调节的方法，以提高生产的效率和生产的安全性是一项亟待解决的技术问题。With the development of industrial machinery automation, the application of sensors is becoming more and more widespread. Sensors are generally installed in equipment, such as on conveyor belts or robotic arms. When the equipment, conveyor belt, or robotic arm vibrates, the position of the sensor will shift, which may cause the sensor to fail to sense normally or cause errors in sensing, affecting the normal operation of the equipment. , which is not conducive to the improvement of production efficiency and production safety. Therefore, how to provide a position adjustment method to improve production efficiency and production safety is an urgent technical issue that needs to be solved.

有鉴于此，本申请提供了一种位置调节的方法，包括：获取第一信息，第一信息用于指示传感器的位置异常；根据第一信息，调整传感器的位置。这样，根据获取的第一信息，即可确定传感器的位置是否异常，并且还可以根据第一信息，调整传感器的位置。因此，可以在传感器的位置异常时，及时发现异常并对传感器的位置进行调整，从而避免了传感器的位置偏移对生产效率和生产安全造成影响。In view of this, the present application provides a position adjustment method, which includes: obtaining first information, the first information being used to indicate abnormal position of the sensor; and adjusting the position of the sensor according to the first information. In this way, based on the obtained first information, it can be determined whether the position of the sensor is abnormal, and the position of the sensor can also be adjusted based on the first information. Therefore, when the position of the sensor is abnormal, the abnormality can be discovered in time and the position of the sensor can be adjusted, thereby avoiding the impact of the position deviation of the sensor on production efficiency and production safety.

图1为本申请一实施例的位置调节的方法的示意图，方法100具体包括以下步骤110和120。Figure 1 is a schematic diagram of a position adjustment method according to an embodiment of the present application. The method 100 specifically includes the following

steps

110 and 120.

本申请中的方法100可以由控制单元执行。其中，控制单元可以为上位机，可以为包括上位机和下位机的***，也可以为其他具有控制功能的控制器。The method 100 in this application can be executed by a control unit. The control unit may be a host computer, a system including a host computer and a slave computer, or other controllers with control functions.

可选地，下位机可以为可编程控制器(Programmable Logic Controller，PLC)。Optionally, the lower computer can be a programmable logic controller (PLC).

步骤110，获取第一信息，第一信息用于指示传感器的位置异常。Step 110: Obtain first information, which is used to indicate abnormal position of the sensor.

传感器可以为工业上应用的传感器，例如有料检测传感器、测距传感器等。The sensor may be a sensor used in industry, such as a material detection sensor, a distance measuring sensor, etc.

传感器在工作状态下，一般会放置在设定的位置。当传感器由于震动等因素发生移动时，会相对于设定位置偏移。传感器的位置偏移后，导致传感器的测量数据准确度下降或传感器不能正常工作，影响设备的运行。因此，传感器的位置偏移可以称为传感器的位置异常。When the sensor is in working condition, it will generally be placed at a set position. When the sensor moves due to factors such as vibration, it will deviate from the set position. After the sensor's position is shifted, the accuracy of the sensor's measurement data will decrease or the sensor will not work properly, affecting the operation of the equipment. Therefore, the position deviation of the sensor can be called a position anomaly of the sensor.

第一信息用于指示传感器的位置异常，例如，第一信息可以包括报警信号，在传感器的位置异常时，控制单元可以获取到该报警信号。The first information is used to indicate abnormal position of the sensor. For example, the first information may include an alarm signal. When the position of the sensor is abnormal, the control unit may obtain the alarm signal.

第一信息还可以包括传感器的位置信息，例如，传感器的当前位置，传感器的当前位置相对于初始位置的转动角度，传感器的当前角度信息等。The first information may also include position information of the sensor, for example, the current position of the sensor, the rotation angle of the current position of the sensor relative to the initial position, the current angle information of the sensor, etc.

控制单元可以通过定时算法，即，每隔固定时间，获取传感器的第一信息。The control unit can obtain the first information of the sensor through a timing algorithm, that is, every fixed time.

步骤120，根据第一信息，调整传感器的位置。Step 120: Adjust the position of the sensor according to the first information.

根据第一信息调整传感器的位置，可以包括，在传感器的位置异常的情况下，调整传感器的位置；也可以包括，在传感器的位置正常的情况下，不调整传感器的位置，即，保持传感器的当前位置，不做调整。Adjusting the position of the sensor according to the first information may include adjusting the position of the sensor when the position of the sensor is abnormal; it may also include not adjusting the position of the sensor when the position of the sensor is normal, that is, maintaining the position of the sensor. The current position will not be adjusted.

在本申请实施例中，提供了一种位置调节的方法，该方法包括：获取第一信息，第一信息用于指示传感器的位置异常；根据第一信息，调整传感器的位置。这样，可以根据第一信息及时获取传感器的位置状态，在传感器的位置异常时，可以及时调整传感器的位置，避免传感器的位置偏移造成的传感器的测试结果不准或传感器不能正常工作的等问题，有利于提升生产效率和生产安全性。In an embodiment of the present application, a position adjustment method is provided, which method includes: obtaining first information, the first information being used to indicate abnormal position of the sensor; and adjusting the position of the sensor according to the first information. In this way, the position status of the sensor can be obtained in time based on the first information. When the position of the sensor is abnormal, the position of the sensor can be adjusted in time to avoid problems such as inaccurate test results of the sensor or failure of the sensor to work properly caused by the position deviation of the sensor. , which is conducive to improving production efficiency and production safety.

在本申请一实施例中，传感器配置有位置调节机构，步骤120包括：控制位置调节机构调整传感器的位置。In an embodiment of the present application, the sensor is configured with a position adjustment mechanism, and step 120 includes: controlling the position adjustment mechanism to adjust the position of the sensor.

通过设置位置调节机构，可以控制位置调节机构调整传感器的位置，从而不需要进入设备的内部通过手动的方式调整传感器的位置。这样，一方面，可以减少设备的停机和拆装的时间，有利于提高生产效率；另一方面，有利于降低人力成本；再一方面，可以避免频繁进入设备内部对设备造成的不良影响，有利于提高设备及生产的可靠性。By providing a position adjustment mechanism, the position adjustment mechanism can be controlled to adjust the position of the sensor, thereby eliminating the need to enter the interior of the device to manually adjust the position of the sensor. In this way, on the one hand, it can reduce the downtime and disassembly time of the equipment, which is helpful to improve production efficiency; on the other hand, it can help reduce labor costs; on the other hand, it can avoid the adverse effects on the equipment caused by frequent entry into the equipment. It is beneficial to improve the reliability of equipment and production.

图2为本申请一实施例的位置调节机构的示意图。在本申请一实施例中，如图2所示，位置调节机构1包括驱动机构20和支架10，支架10的第一端与驱动机构20和传感器50连接，支架10的第二端与传感器50连接，驱动机构20驱动支架10以调整传感器50的位置。Figure 2 is a schematic diagram of a position adjustment mechanism according to an embodiment of the present application. In an embodiment of the present application, as shown in Figure 2, the position adjustment mechanism 1 includes a driving mechanism 20 and a bracket 10. The first end of the bracket 10 is connected to the driving mechanism 20 and the sensor 50, and the second end of the bracket 10 is connected to the sensor 50. Connected, the driving mechanism 20 drives the bracket 10 to adjust the position of the sensor 50 .

传感器50和支架10分别位于盖板30的厚度方向的两侧。具体地，如图2所示，沿z方向，传感器50设置于盖板30的下方，支架10设置于盖板30的上方。The sensor 50 and the bracket 10 are respectively located on both sides of the cover plate 30 in the thickness direction. Specifically, as shown in FIG. 2 , along the z direction, the sensor 50 is disposed below the cover plate 30 , and the bracket 10 is disposed above the cover plate 30 .

可选地，盖板30为容纳传感器50的箱体的一部分，盖板30用于盖合箱体，以将传感器50容纳于箱体内。Optionally, the cover 30 is a part of the box housing the sensor 50 , and the cover 30 is used to cover the box to accommodate the sensor 50 in the box.

图3为本申请一实施例的盖板的俯视图，图4为本申请一实施例的支架与驱动机构连接的俯视图。可选地，结合图2至图4所示，盖板30上设置有贯穿盖板30的第一孔31和第二孔32，支架10的第一端和第二端分别设置有第一凸出部11和第二凸出部12，第一凸出部11和第二凸出部12分别通过第一孔31和第二孔32与传感器50连接。FIG. 3 is a top view of the cover plate according to one embodiment of the present application, and FIG. 4 is a top view of the connection between the bracket and the driving mechanism according to one embodiment of the present application. Optionally, as shown in FIGS. 2 to 4 , the cover 30 is provided with a first hole 31 and a second hole 32 penetrating the cover 30 , and the first end and the second end of the bracket 10 are respectively provided with first protrusions. The protruding part 11 and the second protruding part 12, the first protruding part 11 and the second protruding part 12 are connected to the sensor 50 through the first hole 31 and the second hole 32 respectively.

第一凸出部11和第二凸出部12垂直于传感器50，支架10的转动角度等于传感器50的转动角度。The first protruding portion 11 and the second protruding portion 12 are perpendicular to the sensor 50 , and the rotation angle of the bracket 10 is equal to the rotation angle of the sensor 50 .

可选地，第二孔32为弧形孔，这样，支架10可以以第一孔31为圆心，在第二孔32的范围内转动，从而可以带动传感器50移动，调整传感器50的位置。此外，由于支架10的第一端和第二端分别与传感器50连接，传感器50的转动角度与支架10的转动角度相同。Optionally, the second hole 32 is an arc-shaped hole, so that the bracket 10 can rotate within the range of the second hole 32 with the first hole 31 as the center of the circle, thereby driving the sensor 50 to move and adjusting the position of the sensor 50 . In addition, since the first end and the second end of the bracket 10 are connected to the sensor 50 respectively, the rotation angle of the sensor 50 is the same as the rotation angle of the bracket 10 .

可选地，支架10的第一端可以为沿x方向，靠近驱动机构20的一端，支架10的第二端可以为沿x方向，远离驱动机构20的一端。Alternatively, the first end of the bracket 10 may be an end along the x direction, close to the driving mechanism 20 , and the second end of the bracket 10 may be an end along the x direction, far away from the driving mechanism 20 .

需要注意的是，本申请对支架10与传感器50之间的具体连接方式不作具体限制，只要能够实现支架10对传感器50的位置调整即可。另外，本申请对支架10与驱动机构20之间的具体连接方式不做具体限制，只要能够实现驱动机构20带动支架10 移动即可。It should be noted that this application does not impose specific restrictions on the specific connection method between the bracket 10 and the sensor 50 , as long as the position adjustment of the bracket 10 to the sensor 50 can be achieved. In addition, this application does not impose specific restrictions on the specific connection method between the bracket 10 and the driving mechanism 20 , as long as the driving mechanism 20 can drive the bracket 10 to move.

图5为本申请一实施例的传感器的感应范围示意图。如图5所示，x方向的坐标代表传感器的位置，y方向对应传感器的感应方向。在传感器50未设置有支架10的情况下，传感器50只能感应位于传感器50的正前方的区域，如图5中最右侧的直线(y轴)所示。在传感器50设置有支架的情况下，传感器50的可感应区域明显变大，如图5中的阴影区域所示。因此，支架10的设置给传感器50提供了一个可活动范围，同时也增大了传感器50的感应范围。FIG. 5 is a schematic diagram of the sensing range of a sensor according to an embodiment of the present application. As shown in Figure 5, the coordinates in the x direction represent the position of the sensor, and the y direction corresponds to the sensing direction of the sensor. When the sensor 50 is not provided with the bracket 10 , the sensor 50 can only sense the area located directly in front of the sensor 50 , as shown by the rightmost straight line (y-axis) in FIG. 5 . When the sensor 50 is provided with a bracket, the sensing area of the sensor 50 becomes significantly larger, as shown in the shaded area in FIG. 5 . Therefore, the arrangement of the bracket 10 provides a movable range for the sensor 50 and also increases the sensing range of the sensor 50 .

支架10的第一端与驱动机构20连接，这样，驱动机构20可以驱动支架10移动。支架10的第一端和第二端分别与传感器50连接，这样，支架10可以固定传感器50，并调整传感器50的位置和感应方向，扩大传感器的感应范围。通过上述设置，驱动机构20可以驱动支架10调整传感器50的位置。The first end of the bracket 10 is connected to the driving mechanism 20 , so that the driving mechanism 20 can drive the bracket 10 to move. The first end and the second end of the bracket 10 are connected to the sensor 50 respectively. In this way, the bracket 10 can fix the sensor 50 and adjust the position and sensing direction of the sensor 50 to expand the sensing range of the sensor. Through the above arrangement, the driving mechanism 20 can drive the bracket 10 to adjust the position of the sensor 50 .

在本申请一实施例中，步骤120包括：根据传感器的当前位置信息和传感器的设定位置信息，控制位置调节机构1调整传感器50的位置。In an embodiment of the present application, step 120 includes: controlling the position adjustment mechanism 1 to adjust the position of the sensor 50 according to the current position information of the sensor and the set position information of the sensor.

传感器50的两端分别与支架10连接，支架10的转动角度等于传感器50的转动角度，因此，传感器50的位置信息对应于支架10的位置信息。Both ends of the sensor 50 are connected to the bracket 10 respectively. The rotation angle of the bracket 10 is equal to the rotation angle of the sensor 50 . Therefore, the position information of the sensor 50 corresponds to the position information of the bracket 10 .

图6为本申请一实施例的传感器的位置信息的示意图。如图6所示，传感器50的位置信息可以包括传感器50的角度。传感器50的当前角度可以为，在x-y平面上，当前支架10与x轴的夹角c1；传感器50的设定角度可以为，在x-y平面上，传感器50位于设定位置时，支架10与x轴的夹角。Figure 6 is a schematic diagram of position information of a sensor according to an embodiment of the present application. As shown in FIG. 6 , the position information of the sensor 50 may include the angle of the sensor 50 . The current angle of the sensor 50 can be, on the x-y plane, the angle c1 between the current bracket 10 and the x-axis; the set angle of the sensor 50 can be, on the x-y plane, when the sensor 50 is at the set position, the angle c1 between the bracket 10 and the x-axis angle of the axis.

也就是说，传感器50的当前位置信息可以为传感器50的当前角度，传感器50的设定位置信息可以为传感器50的设定位置所对应的角度。传感器50的设定位置信息可以为预先存储在存储器中的信息，可供控制单元在需要时获取。控制单元可以实时获取传感器的当前位置信息。That is to say, the current position information of the sensor 50 may be the current angle of the sensor 50 , and the set position information of the sensor 50 may be the angle corresponding to the set position of the sensor 50 . The set position information of the sensor 50 may be information stored in the memory in advance, which can be obtained by the control unit when needed. The control unit can obtain the current position information of the sensor in real time.

在该实施例中，控制单元可以自动地根据传感器的当前位置信息和传感器的设定位置信息，控制位置调节机构调整传感器的位置，不需要人工干预，有利于提升自动化程度。In this embodiment, the control unit can automatically control the position adjustment mechanism to adjust the position of the sensor based on the current position information of the sensor and the set position information of the sensor, without manual intervention, which is beneficial to improving the degree of automation.

在本申请一实施例中，驱动机构20为转动驱动机构。控制位置调节机构1调整传感器50的位置，包括：根据第一差值，控制驱动机构20转动，以驱动支架10调整传感器50的位置。其中，第一差值为传感器50的当前位置信息与传感器50的设定位置信息的差值。In an embodiment of the present application, the driving mechanism 20 is a rotational driving mechanism. Controlling the position adjustment mechanism 1 to adjust the position of the sensor 50 includes: controlling the rotation of the driving mechanism 20 according to the first difference value to drive the bracket 10 to adjust the position of the sensor 50 . The first difference is the difference between the current position information of the sensor 50 and the set position information of the sensor 50.

例如，传感器50处于设定位置时，支架10与x轴的夹角为c0，传感器50处于当前位置时，支架10与x轴的夹角为c1，第一差值为c1-c0或c0-c1。也就是说，传感器50的当前位置信息与传感器50的设定位置信息的差值可以为传感器50的当前位置相当于设定位置转动过的角度。For example, when the sensor 50 is at the set position, the angle between the bracket 10 and the x-axis is c0. When the sensor 50 is at the current position, the angle between the bracket 10 and the x-axis is c1, and the first difference is c1-c0 or c0- c1. That is to say, the difference between the current position information of the sensor 50 and the set position information of the sensor 50 may be the angle through which the current position of the sensor 50 is equivalent to the set position.

可选地，驱动机构20包括电机。Optionally, the drive mechanism 20 includes a motor.

在该实施例中，根据第一差值，控制驱动机构20转动，从而驱动机构20可以带动支架10转动，进而带动传感器50的移动，实现了对传感器50的位置调整。In this embodiment, the driving mechanism 20 is controlled to rotate according to the first difference, so that the driving mechanism 20 can drive the bracket 10 to rotate, thereby driving the sensor 50 to move, thereby realizing the position adjustment of the sensor 50 .

在本申请一实施例中，第一差值与驱动机构20的转动圈数满足：α＝2πTm。其中，α为第一差值，T为驱动机构20的转动圈数，m为支架10与驱动机构20之间的传动比。In an embodiment of the present application, the first difference and the number of rotations of the driving mechanism 20 satisfy: α=2πTm. Wherein, α is the first difference, T is the number of rotations of the driving mechanism 20 , and m is the transmission ratio between the bracket 10 and the driving mechanism 20 .

可选地，支架10与驱动机构20之间的传动可以靠齿轮实现。Optionally, the transmission between the bracket 10 and the driving mechanism 20 can be achieved by gears.

通过第一差值与驱动机构20的转动圈数之间的关系，可以根据第一差值的大小，计算驱动机构20的转动圈数，从而便于控制驱动机构20转动相应的圈数，以通过支架10将传感器50调整至合适的位置。Through the relationship between the first difference and the number of rotations of the driving mechanism 20, the number of rotations of the driving mechanism 20 can be calculated according to the size of the first difference, thereby facilitating the control of the driving mechanism 20 to rotate the corresponding number of rotations to pass Bracket 10 adjusts sensor 50 to the appropriate position.

在本申请一实施例中，在根据第一差值，控制驱动机构20转动之后，方法100还包括：在传感器50的当前位置正常的情况下，结束调整。In an embodiment of the present application, after controlling the rotation of the driving mechanism 20 according to the first difference value, the method 100 further includes: ending the adjustment when the current position of the sensor 50 is normal.

可选地，在确定传感器50的当前位置正常之前，还可以获取传感器50的当前位置或第一信息。Optionally, before determining that the current position of the sensor 50 is normal, the current position or the first information of the sensor 50 may also be obtained.

在该实施例中，在根据第一差值控制驱动机构20转动后，在传感器50的当前位置正常的情况下，结束对传感器50的位置的调整，也即结束对驱动结构20的调整。这样，完成了对传感器50的位置的调整，有利于保证传感器50的正常运行。In this embodiment, after controlling the rotation of the driving mechanism 20 according to the first difference, when the current position of the sensor 50 is normal, the adjustment of the position of the sensor 50 is completed, that is, the adjustment of the driving structure 20 is completed. In this way, the adjustment of the position of the sensor 50 is completed, which is beneficial to ensuring the normal operation of the sensor 50 .

在本申请一实施例中，在根据第一差值，控制驱动机构20转动之后，方法100还包括：在传感器50的当前位置异常的情况下，在传感器50的第一预设位置范围内调整传感器50的位置。In an embodiment of the present application, after controlling the rotation of the driving mechanism 20 according to the first difference value, the method 100 further includes: when the current position of the sensor 50 is abnormal, adjusting within the first preset position range of the sensor 50 location of sensor 50.

传感器50的第一预设位置范围可以为传感器50的设定位置的临近位置，该第一预设位置范围可以根据实际需求具体设置，本申请对此不作具体限制。The first preset position range of the sensor 50 can be a position adjacent to the set position of the sensor 50. The first preset position range can be specifically set according to actual needs, and this application does not impose specific restrictions on this.

图7为本申请一实施例的在第一预设位置范围内调整传感器的位置的示意图。如图7所示，在传感器的第一预设位置范围内调整传感器的位置可以包括以下步骤。FIG. 7 is a schematic diagram of adjusting the position of the sensor within the first preset position range according to an embodiment of the present application. As shown in FIG. 7 , adjusting the position of the sensor within the first preset position range of the sensor may include the following steps.

步骤161，调整传感器50的位置。 Step 161, adjust the position of the sensor 50.

在初次在第一预设位置范围内调整传感器50的位置时，可以将传感器50的位置调整至第一位置处。第一位置处可以为，以一定的间隔，在第一预设位置范围内，距离传感器50的设定位置最近的位置。该间隔可以根据实际需要具体设置，本申请对此不作具体限制。When adjusting the position of the sensor 50 within the first preset position range for the first time, the position of the sensor 50 may be adjusted to the first position. The first position may be, at a certain interval, the closest position to the set position of the sensor 50 within the first preset position range. This interval can be specifically set according to actual needs, and this application does not impose specific restrictions on this.

在后续的多次调整传感器50的位置时，相邻的位置之间可以具有相同的间隔。例如，将传感器50的位置由第一位置调整至第二位置处时，以及将传感器的位置由第二位置调整至第三位置处时，第二位置和第一位置之间的间隔，与第三位置和第二位置之间的间隔相同。When the position of the sensor 50 is adjusted for multiple subsequent times, the adjacent positions may have the same interval. For example, when the position of the sensor 50 is adjusted from the first position to the second position, and when the position of the sensor is adjusted from the second position to the third position, the interval between the second position and the first position is equal to the distance between the second position and the first position. The distance between the third position and the second position is the same.

步骤162，判断传感器50的当前位置是否正常或当前位置是否超出第一预设位置范围。Step 162: Determine whether the current position of the sensor 50 is normal or whether the current position exceeds the first preset position range.

在传感器的当前位置正常或当前位置超出第一预设位置范围的情况下，结束调整。When the current position of the sensor is normal or the current position exceeds the first preset position range, the adjustment is ended.

在传感器的当前位置异常的情况下，执行步骤161。If the current position of the sensor is abnormal, step 161 is executed.

在将传感器50的位置调整至设定位置后，若传感器50此时的位置依旧异常，则可以在第一预设范围内继续调整传感器50的位置，以便提高自动调整传感器50的位置的成功率。After adjusting the position of the sensor 50 to the set position, if the position of the sensor 50 is still abnormal at this time, the position of the sensor 50 can be continued to be adjusted within the first preset range to improve the success rate of automatically adjusting the position of the sensor 50 .

在本申请一实施例中，在传感器50的第一预设位置范围内调整传感器50的位置，之后，方法100还包括：在传感器50的当前位置正常的情况下，将传感器50的设定位置信息更新为传感器50的当前位置信息，并结束调整。In an embodiment of the present application, the position of the sensor 50 is adjusted within the first preset position range of the sensor 50 . After that, the method 100 further includes: when the current position of the sensor 50 is normal, changing the set position of the sensor 50 The information is updated to the current position information of the sensor 50, and the adjustment is completed.

这样，当前的位置信息被设置为设定位置信息，可以避免因设定位置信息的不准确造成的传感器50位置自动调整失效的情况，从而提高了位置调整的成功率。In this way, the current position information is set as the set position information, which can avoid the failure of the automatic position adjustment of the sensor 50 due to inaccurate set position information, thereby improving the success rate of position adjustment.

在本申请一实施例中，在传感器50的第一预设位置范围内调整传感器50的位置，之后，方法100还包括：在传感器50的当前位置异常的情况下，根据用户的输入，调整传感器50的位置。In an embodiment of the present application, the position of the sensor 50 is adjusted within the first preset position range of the sensor 50. After that, the method 100 further includes: when the current position of the sensor 50 is abnormal, adjust the sensor according to the user's input. 50 location.

这样，根据用户的输入，调整传感器的位置，有利于提高传感器的位置调整的成功率。In this way, adjusting the position of the sensor according to the user's input will help improve the success rate of sensor position adjustment.

图8为本申请一实施例的采用自动模式调整传感器的位置的流程图。采用自动模式调整传感器的位置具体包括以下步骤。FIG. 8 is a flow chart for adjusting the position of a sensor in an automatic mode according to an embodiment of the present application. Adjusting the sensor position in automatic mode includes the following steps.

步骤810，将传感器50调整至设定位置。 Step 810, adjust the sensor 50 to the set position.

步骤810可以在控制单元接收到第一信息，并且第一信息指示传感器50的位置异常之后执行。也就是说，步骤810是在传感器50的当前位置异常的情况下执行的。Step 810 may be performed after the control unit receives the first information, and the first information indicates that the position of the sensor 50 is abnormal. That is to say, step 810 is performed when the current position of the sensor 50 is abnormal.

将传感器50调整至设定位置，可以包括：根据第一差值，将传感器50由当前位置调整至设定位置。Adjusting the sensor 50 to the set position may include: adjusting the sensor 50 from the current position to the set position according to the first difference value.

步骤820，判断传感器50的当前位置是否正常。Step 820: Determine whether the current position of the sensor 50 is normal.

具体地，控制单元可以根据第一信息确定传感器50的当前位置是否正常。Specifically, the control unit may determine whether the current position of the sensor 50 is normal according to the first information.

在传感器50的当前位置正常的情况下，进入步骤830；在传感器50的当前位置异常的情况下，进入步骤840。If the current position of the sensor 50 is normal, step 830 is entered; if the current position of the sensor 50 is abnormal, step 840 is entered.

步骤830，结束对传感器50的位置的调整。Step 830: End adjusting the position of the sensor 50.

步骤840，在第一预设位置范围内调整传感器50的位置。Step 840: Adjust the position of the sensor 50 within the first preset position range.

步骤850，判断传感器50的当前位置是否正常。 Step 850, determine whether the current position of the sensor 50 is normal.

在传感器50的当前位置正常的情况下，进入步骤860。If the current position of the sensor 50 is normal, step 860 is entered.

步骤860，将传感器50的设定位置更新为传感器50的当前位置，之后，进入步骤830。Step 860: Update the set position of the sensor 50 to the current position of the sensor 50, and then proceed to step 830.

步骤870，进入手动调整模式。 Step 870, enter manual adjustment mode.

在本申请一实施例中，步骤120包括：根据用户的输入，调整传感器50的位置。In an embodiment of the present application, step 120 includes: adjusting the position of the sensor 50 according to the user's input.

在控制单元获取第一信息后，第一信息指示传感器50的位置异常，此时，可以直接根据用户的输入，控制位置调节机构1调整传感器50的位置。用户的输入通常是用户根据经验或肉眼观察得到的结果，通过一次调整而位置调整成功的概率较大。因此，根据用户的输入，调整传感器的位置有利于提升位置调整的成功率。After the control unit acquires the first information, which indicates that the position of the sensor 50 is abnormal, at this time, the position adjustment mechanism 1 can be controlled to adjust the position of the sensor 50 directly according to the user's input. The user's input is usually the result of the user's experience or naked eye observation. The probability of successful position adjustment through one adjustment is relatively high. Therefore, adjusting the position of the sensor according to the user's input will help improve the success rate of position adjustment.

在本申请一实施例中，根据用户的输入，调整传感器50的位置，可以包括：根据用户输入的传感器50的转动角度，控制驱动机构20转动。In an embodiment of the present application, adjusting the position of the sensor 50 according to the user's input may include: controlling the rotation of the driving mechanism 20 according to the rotation angle of the sensor 50 input by the user.

用户可以在显示界面上弹出的窗口中输入传感器50的转动角度，控制单元可以根据该转动角度，控制驱动机构20转动。The user can input the rotation angle of the sensor 50 in the window that pops up on the display interface, and the control unit can control the rotation of the driving mechanism 20 according to the rotation angle.

传感器50的转动角度可以直观的观测到，根据用户输入的传感器50的转动角度，可以更加便利地实现对传感器50的位置的调整。The rotation angle of the sensor 50 can be visually observed. According to the rotation angle of the sensor 50 input by the user, the position of the sensor 50 can be adjusted more conveniently.

在本申请一实施例中，根据用户输入的传感器50的转动角度，控制驱动机构20转动，包括：在驱动机构20的转动圈数小于驱动机构20的最大转动圈数的情况下，控制驱动机构20转动。In an embodiment of the present application, controlling the rotation of the driving mechanism 20 according to the rotation angle of the sensor 50 input by the user includes: when the number of rotations of the driving mechanism 20 is less than the maximum number of rotations of the driving mechanism 20, controlling the driving mechanism 20 turns.

用户输入的传感器50的转动角度可能会大于传感器50所允许转动的最大角度，即，传感器50的转动角度所对应的驱动机构20的转动圈数可能会大于驱动机构20所允许的最大转动圈数。在在驱动机构20的转动圈数小于驱动机构20的最大转动圈数的情况下，控制驱动机构20转动，可以避免驱动机构20转动圈数过多导致支架10和传感器50的转动角度过大，从而可以避免支架10和传感器50被破坏。The rotation angle of the sensor 50 input by the user may be greater than the maximum allowable rotation angle of the sensor 50 , that is, the number of rotation turns of the driving mechanism 20 corresponding to the rotation angle of the sensor 50 may be greater than the maximum number of rotation turns of the drive mechanism 20 . . When the number of rotations of the driving mechanism 20 is less than the maximum number of rotations of the driving mechanism 20, controlling the rotation of the driving mechanism 20 can prevent the excessive rotation of the driving mechanism 20 from causing the rotation angle of the bracket 10 and the sensor 50 to be too large. This prevents the bracket 10 and the sensor 50 from being damaged.

在本申请一实施例中，用户输入的传感器50的转动角度与驱动机构20的转动圈数满足：β＝2πTm；其中，β为用户输入的传感器50的转动角度，T为驱动机构20的转动圈数，m为支架10与驱动机构20之间的传动比。这样，便于控制单元根据用户输入的传感器50的转动角度计算驱动机构20的转动圈数。In an embodiment of the present application, the rotation angle of the sensor 50 input by the user and the number of rotation turns of the driving mechanism 20 satisfy: β = 2πTm; where β is the rotation angle of the sensor 50 input by the user, and T is the rotation of the driving mechanism 20 The number of turns, m is the transmission ratio between the bracket 10 and the driving mechanism 20 . In this way, it is convenient for the control unit to calculate the number of rotations of the driving mechanism 20 according to the rotation angle of the sensor 50 input by the user.

在本申请一实施例中，根据用户输入的传感器50的转动角度，控制驱动机构20转动之后，方法100包括：在传感器50的当前位置正常的情况下，结束调整。这样，传感器50的位置调整结束，即代表传感器50此时位置正常。In an embodiment of the present application, after controlling the rotation of the driving mechanism 20 according to the rotation angle of the sensor 50 input by the user, the method 100 includes: ending the adjustment when the current position of the sensor 50 is normal. In this way, the position adjustment of the sensor 50 is completed, which means that the position of the sensor 50 is normal at this time.

在本申请一实施例中，在根据用户输入的传感器50的转动角度，控制驱动机构20转动之后，方法100包括：在传感器50的当前位置正常的情况下，根据传感器50的当前位置信息，更新驱动机构20的最大转动圈数。In an embodiment of the present application, after controlling the rotation of the driving mechanism 20 according to the rotation angle of the sensor 50 input by the user, the method 100 includes: when the current position of the sensor 50 is normal, update the data according to the current position information of the sensor 50 The maximum number of rotations of the drive mechanism 20.

在传感器50的使用过程中，随着设备的震动等，传感器50的位置发生偏移，但与传感器50连接的驱动机构20并未转动。也可以说，驱动机构20的初始最大转动圈数与传感器50的初始位置或设定位置对应，当传感器50的位置发生偏移时，传感器50所能转动的最大角度及驱动机构20的最大转动圈数也随之发生变化。During the use of the sensor 50, the position of the sensor 50 shifts due to the vibration of the equipment, but the driving mechanism 20 connected to the sensor 50 does not rotate. It can also be said that the initial maximum number of rotations of the driving mechanism 20 corresponds to the initial position or set position of the sensor 50. When the position of the sensor 50 deviates, the maximum angle that the sensor 50 can rotate and the maximum rotation of the driving mechanism 20 The number of laps also changes.

在该实施例中，根据传感器50的当前位置信息更新驱动机构20的最大转动圈数，可以避免在控制驱动机构20转动时，驱动机构20的转动圈数超过原最大转动圈数而导致的支架10和传感器50被破坏的情况。In this embodiment, the maximum number of rotations of the driving mechanism 20 is updated according to the current position information of the sensor 50, which can avoid the bracket being damaged due to the number of rotations of the driving mechanism 20 exceeding the original maximum number of rotations when controlling the rotation of the driving mechanism 20. 10 and sensor 50 are damaged.

可选地，在根据用户输入的传感器50的转动角度，控制驱动机构20转动之后，方法100包括：在传感器50的当前位置正常的情况下，将传感器50的设定位置更新为传感器50的当前位置。随着设备的震动，传感器50的位置可能会发生偏移，而传感器50的位置于驱动机构20的转动圈数之间存在对应的关系。因此，控制单元的显示界面处所显示的传感器50的位置可能会与传感器50的实际位置有偏差。将传感器50的设定位置更新为传感器50的当前位置，可以提高位置调整的准确性。Optionally, after controlling the rotation of the driving mechanism 20 according to the rotation angle of the sensor 50 input by the user, the method 100 includes: updating the set position of the sensor 50 to the current position of the sensor 50 when the current position of the sensor 50 is normal. Location. As the device vibrates, the position of the sensor 50 may shift, and there is a corresponding relationship between the position of the sensor 50 and the number of rotations of the driving mechanism 20 . Therefore, the position of the sensor 50 displayed on the display interface of the control unit may deviate from the actual position of the sensor 50. Updating the set position of the sensor 50 to the current position of the sensor 50 can improve the accuracy of position adjustment.

在本申请一实施例中，驱动机构20的最大转动圈数满足：

其中，T _max为驱动机构20的最大转动圈数，Δα为传感器50的转动边界的角度与传感器50的当前位置的角度的差值，m为支架10与驱动机构20之间的传动比。 In an embodiment of the present application, the maximum number of rotations of the driving mechanism 20 satisfies:

Among them, T _max is the maximum number of rotations of the driving mechanism 20 , Δα is the difference between the angle of the rotation boundary of the sensor 50 and the angle of the current position of the sensor 50 , and m is the transmission ratio between the bracket 10 and the driving mechanism 20 .

传感器50的转动角度与支架10的转动角度相同，因此，支架10的转动边界的角度也可以对应为传感器50的转动边界的角度。The rotation angle of the sensor 50 is the same as the rotation angle of the bracket 10 . Therefore, the angle of the rotation boundary of the bracket 10 may also correspond to the angle of the rotation boundary of the sensor 50 .

图9是本申请一实施例的支架的转动角度的示意图。如图9所示，第二孔32的末端分别为第一端32a和第二端32b，当支架10转动到第一端32a时或第二端32b时，此时支架10的位置可以称为支架10的转动边界，并且此时支架10与x轴之间的夹角可以称为支架10的转动边界的角度。例如，当支架10转动到第一端32a处时，支架10与x轴之间的角度为c3，即传感器50的转动边界的角度；当支架10转动到第二端32b处时，支架10与x轴之间的角度为c2，即传感器50的转动边界的角度。Figure 9 is a schematic diagram of the rotation angle of the bracket according to an embodiment of the present application. As shown in Figure 9, the ends of the second hole 32 are the first end 32a and the second end 32b respectively. When the bracket 10 rotates to the first end 32a or the second end 32b, the position of the bracket 10 at this time can be called The rotation boundary of the bracket 10 , and the angle between the bracket 10 and the x-axis at this time can be called the angle of the rotation boundary of the bracket 10 . For example, when the bracket 10 rotates to the first end 32a, the angle between the bracket 10 and the x-axis is c3, which is the angle of the rotation boundary of the sensor 50; when the bracket 10 rotates to the second end 32b, the angle between the bracket 10 and the x-axis The angle between the x-axes is c2, which is the angle of the rotational boundary of sensor 50.

在控制驱动机构20驱动支架10调整传感器50的位置的过程中，支架10有可能向靠近第二孔32的第一端32a的方向转动，也有可能向靠近第二孔32的第二端32b的方向转动。例如，当支架10向靠近第二孔32的第一端32a的方向转动的过程中，Δα＝c1-c3；当支架10向靠近第二孔32的第二端32b的方向转动的过程中，Δα＝c2-c1；其中，c1为传感器50处于当前位置时，支架10的位置于x轴之间的夹角。需要注意的是，Δα的值可以大于0，也可以小于0，这可以根据具体设置和需要进行设置。During the process of controlling the driving mechanism 20 to drive the bracket 10 to adjust the position of the sensor 50 , the bracket 10 may rotate toward the first end 32 a of the second hole 32 , or may rotate toward the second end 32 b of the second hole 32 . direction of rotation. For example, when the bracket 10 rotates toward the first end 32a of the second hole 32, Δα=c1-c3; when the bracket 10 rotates toward the second end 32b of the second hole 32, Δα=c2-c1; where c1 is the angle between the position of the bracket 10 and the x-axis when the sensor 50 is at the current position. It should be noted that the value of Δα can be greater than 0 or less than 0, which can be set according to specific settings and needs.

在该实施例中，通过驱动机构20的最大圈数的计算公式，便于控制单元根据传感器50的当前位置计算驱动机构20的最大转动圈数。In this embodiment, the calculation formula of the maximum number of rotations of the driving mechanism 20 facilitates the control unit to calculate the maximum number of rotations of the driving mechanism 20 according to the current position of the sensor 50 .

图10为本申请一实施例的支架的转动范围的示意图。可选地，如图10所示，第二孔32上设置有预留区域321和322，以及转动区域323。其中，支架10可以在转动区域323的范围内转动，也就是说，支架10的转动范围不会超过转动区域323的范围，不会在区域321和区域322内转动。这样，可以避免因驱动机构20对支架10的传动力较大导致在位置调整过程中支架10的结构和驱动机构20发生破坏的情况。Figure 10 is a schematic diagram of the rotation range of the bracket according to an embodiment of the present application. Optionally, as shown in FIG. 10 , the second hole 32 is provided with

reserved areas

321 and 322 and a rotation area 323 . Among them, the bracket 10 can rotate within the range of the rotation area 323, that is to say, the rotation range of the bracket 10 will not exceed the range of the rotation area 323, and will not rotate within the area 321 and the area 322. In this way, it can be avoided that the structure of the bracket 10 and the driving mechanism 20 are damaged during the position adjustment process due to the large transmission force of the driving mechanism 20 on the bracket 10 .

图11为本申请一实施例的采用手动模式进行位置调节的方法的流程图。如图11所示，该方法具体包括以下步骤。Figure 11 is a flow chart of a method for position adjustment using manual mode according to an embodiment of the present application. As shown in Figure 11, the method specifically includes the following steps.

步骤1110，根据用户的输入，调整传感器50的位置。Step 1110: Adjust the position of the sensor 50 according to the user's input.

步骤1110可以在控制单元接收到第一信息，并且第一信息指示传感器50的位置异常之后执行。也就是说，步骤1110是在传感器50的当前位置异常的情况下执行的。 Step 1110 may be performed after the control unit receives the first information and the first information indicates that the position of the sensor 50 is abnormal. That is to say, step 1110 is performed when the current position of the sensor 50 is abnormal.

步骤1120，判断传感器50的当前位置是否正常。Step 1120: Determine whether the current position of the sensor 50 is normal.

在传感器50的当前位置正常的情况下，进入步骤1130；在传感器50的当前位置异常的情况下，返回步骤1110。If the current position of the sensor 50 is normal, proceed to step 1130; if the current position of the sensor 50 is abnormal, return to step 1110.

在返回步骤1110之后，可以再次根据用户的输入，调整传感器50的位置。也就是说，可能无法通过一次用户输入，将传感器50的位置调整至合适的位置，即，用户输入的传感器50的转动角度可能不是一个完全精准的数值，需要多次尝试。After returning to step 1110, the position of the sensor 50 can be adjusted again according to the user's input. That is to say, it may not be possible to adjust the position of the sensor 50 to a suitable position through one user input. That is, the rotation angle of the sensor 50 input by the user may not be a completely accurate value and requires multiple attempts.

步骤1130，结束对传感器50的位置的调整。Step 1130: End adjusting the position of the sensor 50.

在本申请实施例中，可以采用自动模式调整传感器50的位置，也可以通过手动模式调整传感器50的位置，也可以通过先采用自动模式—自动模式失效—手动模式的方式调整传感器50的位置。这可以根据实际情况具体设置，本申请对此不作具体限制。In the embodiment of the present application, the position of the sensor 50 can be adjusted in the automatic mode, the position of the sensor 50 can be adjusted in the manual mode, or the position of the sensor 50 can be adjusted by first adopting the automatic mode - automatic mode failure - manual mode. This can be specifically set according to the actual situation, and this application does not impose specific restrictions on this.

自动模式失效，可以指，采用自动模式无法将传感器50调整至合适的位置。The failure of the automatic mode can refer to the fact that the sensor 50 cannot be adjusted to a suitable position using the automatic mode.

图12为本申请一实施例的双层齿轮的侧面示意图，图13为本申请一实施例的双层齿轮的传动连接的示意图。在本申请一实施例中，如图12和13所示，驱动机构20包括n个双层齿轮21，双层齿轮21包括同轴设置的第一子齿轮211和第二子齿轮212，第一子齿轮211的齿数大于第二子齿轮212的齿数，一个双层齿轮21的第二子齿轮212与另一个双层齿轮21的第一子齿轮211转动连接。FIG. 12 is a schematic side view of a double-layer gear according to an embodiment of the present application, and FIG. 13 is a schematic diagram of the transmission connection of the double-layer gear according to an embodiment of the present application. In an embodiment of the present application, as shown in Figures 12 and 13, the driving mechanism 20 includes n double-layer gears 21. The double-layer gears 21 include a first sub-gear 211 and a second sub-gear 212 arranged coaxially. The number of teeth of the sub-gear 211 is greater than the number of teeth of the second sub-gear 212 . The second sub-gear 212 of one double-layer gear 21 is rotationally connected to the first sub-gear 211 of the other double-layer gear 21 .

双层齿轮21中的第一子齿轮211和第二子齿轮212同轴设置，这样，第一字齿轮211和第二子齿轮212的转速或角速度相同。相邻的齿轮之间，一个双层齿轮21的第二子齿轮212带动另一个双层齿轮21的第一子齿轮211转动，该不同的双层齿轮的第一子齿轮211和第二子齿轮212具有相同的线速度。The first sub-gear 211 and the second sub-gear 212 in the double-layer gear 21 are coaxially arranged, so that the rotational speed or angular velocity of the first sub-gear 211 and the second sub-gear 212 is the same. Between the adjacent gears, the second sub-gear 212 of one double-layer gear 21 drives the first sub-gear 211 of another double-layer gear 21 to rotate, and the first sub-gear 211 and the second sub-gear of the different double-layer gear 21 212 has the same line speed.

由于驱动机构20的转速较快，采用一个双层齿轮中的第二子齿轮212带动另一个双层齿轮中的第一子齿轮211转动的方式，可以将驱动机构20的较高的转速转换为支架10的较小的转动速度。Since the rotation speed of the driving mechanism 20 is relatively fast, the second sub-gear 212 of one double-layer gear is used to drive the first sub-gear 211 of another double-layer gear to rotate, so that the higher rotation speed of the driving mechanism 20 can be converted into Smaller rotation speed of bracket 10.

在本申请一实施例中，支架10与驱动机构20之间的传动比满足：m＝(-k) ⁿ；其中，m为支架10与驱动机构20之间的传动比，k为第二子齿轮212与第一子齿轮211的齿数比，n为双层齿轮的个数。 In an embodiment of the present application, the transmission ratio between the bracket 10 and the driving mechanism 20 satisfies: m=(-k) ⁿ ; where m is the transmission ratio between the bracket 10 and the driving mechanism 20, and k is the second sub- The gear ratio between the gear 212 and the first sub-gear 211, n is the number of double-layer gears.

在该实施例中，双层齿轮21的个数，第一子齿轮211和第二子齿轮212的齿数可以根据实际需要具体设置。该具体配置可以预先输入控制单元，以便控制单元根据该具体设置计算相应的驱动机构20的转动圈数。In this embodiment, the number of double-layer gears 21 and the number of teeth of the first sub-gear 211 and the second sub-gear 212 can be specifically set according to actual needs. The specific configuration can be input into the control unit in advance, so that the control unit calculates the number of rotations of the corresponding driving mechanism 20 according to the specific settings.

这样，可以便于根据实际需要设计双层齿轮21的个数和第一子齿轮211和第二子齿轮212的齿数；在改变双层齿轮21的个数或第一/第二子齿轮的齿数后，只需在控制单元中(例如，上位机的软件的界面)作相应的更改即可。In this way, it is easy to design the number of double-layer gears 21 and the number of teeth of the first sub-gear 211 and the second sub-gear 212 according to actual needs; after changing the number of double-layer gears 21 or the number of teeth of the first/second sub-gears , just make corresponding changes in the control unit (for example, the software interface of the host computer).

可选地，在双层齿轮21上设置有制动装置，该制动装置可以固定驱动机构20的位置，使驱动机构20在未转动的期间保持位置固定。具体地，该制动装置可以设置在距离支架10最远的双层齿轮上，即，转速最大的双层齿轮上。Optionally, a braking device is provided on the double-layer gear 21, which can fix the position of the driving mechanism 20 so that the driving mechanism 20 remains fixed in position when it is not rotating. Specifically, the braking device can be arranged on the double-layer gear farthest from the bracket 10 , that is, the double-layer gear with the largest rotational speed.

上文结合图1至图13，详细描述了本申请的方法实施例，下文将详细描述本申请的位置调节的装置的实施例。应理解，方法实施例与装置的实施例相互对应，类似的描述可以参照方法实施例。The method embodiments of the present application are described in detail above with reference to FIGS. 1 to 13 , and the embodiments of the position adjustment device of the present application will be described in detail below. It should be understood that the method embodiments correspond to the device embodiments, and similar descriptions may refer to the method embodiments.

图14为本申请一实施例的位置调节装置的示意图。如图14所示，位置调节装置300包括控制单元310。控制单元310用于：获取第一信息，第一信息用于指示传感器50的位置异常；根据第一信息，调整传感器50的位置。Figure 14 is a schematic diagram of a position adjustment device according to an embodiment of the present application. As shown in FIG. 14 , the position adjustment device 300 includes a control unit 310 . The control unit 310 is configured to: obtain first information, which is used to indicate abnormal position of the sensor 50; and adjust the position of the sensor 50 according to the first information.

控制单元310可以为上位机，可以为包括上位机和下位机的***，也可以为其他具有控制功能的控制器。The control unit 310 may be a host computer, a system including a host computer and a slave computer, or other controllers with control functions.

在本申请一实施例中，传感器50配置有位置调节机构1；控制单元310用于：控制位置调节机构1调整传感器50的位置。In an embodiment of the present application, the sensor 50 is configured with a position adjustment mechanism 1; the control unit 310 is used to control the position adjustment mechanism 1 to adjust the position of the sensor 50.

在本申请一实施例中，位置调节机构1包括驱动机构20和支架10，支架10的第一端与驱动机构20和传感器50连接，支架10的第二端与传感器50连接，驱动机构20驱动支架10以调整传感器50的位置。In an embodiment of the present application, the position adjustment mechanism 1 includes a driving mechanism 20 and a bracket 10. The first end of the bracket 10 is connected to the driving mechanism 20 and the sensor 50. The second end of the bracket 10 is connected to the sensor 50. The driving mechanism 20 drives Bracket 10 to adjust the position of sensor 50.

图15为本申请一实施例的位置调节装置调整传感器的位置的示意图。可选地，如图15所示，在一实施例中，控制单元310包括上位机311和PLC，驱动机构20包括电机M。Figure 15 is a schematic diagram of the position adjustment device adjusting the position of the sensor according to an embodiment of the present application. Optionally, as shown in FIG. 15 , in one embodiment, the control unit 310 includes a host computer 311 and a PLC, and the driving mechanism 20 includes a motor M.

如图15所示，传感器50向PLC上传感应信号，PLC根据该感应信号生成第一信息并向上位机311发送第一信息。在第一信息指示传感器50的位置异常的情况下，上位机311向PLC发送位置调整指令，PLC根据该位置调整指令控制电机M转动，电机M驱动支架10以调整传感器50的位置。As shown in FIG. 15 , the sensor 50 uploads a sensing signal to the PLC, and the PLC generates first information based on the sensing signal and sends the first information to the host computer 311 . When the first information indicates that the position of the sensor 50 is abnormal, the host computer 311 sends a position adjustment instruction to the PLC. The PLC controls the rotation of the motor M according to the position adjustment instruction, and the motor M drives the bracket 10 to adjust the position of the sensor 50 .

可选地，PLC可以将位置调整指令转化为脉冲信号，控制电机M进行转动。Alternatively, the PLC can convert the position adjustment command into a pulse signal to control the rotation of the motor M.

可选地，PLC可以控制电机M的转动圈数、转速等，电机M可以向PLC反馈电机M转动的圈数，PLC可以通过电机M的转动圈数确认传感器50的当前位置。Optionally, the PLC can control the number of rotations, rotation speed, etc. of the motor M. The motor M can feedback the number of rotations of the motor M to the PLC, and the PLC can confirm the current position of the sensor 50 through the number of rotations of the motor M.

在一种实现方式中，传感器50向PLC发送感应信号，PLC通过分析感应信号判断传感器50的当前位置是否正常。若传感器50的当前位置异常，PLC发送第一信息至上位机311，上位机311可以根据第一信息确定传感器的位置异常，其中，第一信息可以包括传感器50的当前位置信息，比如，传感器50的当前角度。若传感器50的当前位置正常，PLC也可以发送第一信息至上位机311，第一信息可以包括传感器50的当前位置信息。In one implementation, the sensor 50 sends a sensing signal to the PLC, and the PLC determines whether the current position of the sensor 50 is normal by analyzing the sensing signal. If the current position of the sensor 50 is abnormal, the PLC sends the first information to the host computer 311, and the host computer 311 can determine that the position of the sensor is abnormal based on the first information, where the first information can include the current position information of the sensor 50, for example, the sensor 50 the current angle. If the current position of the sensor 50 is normal, the PLC can also send the first information to the host computer 311 , and the first information can include the current position information of the sensor 50 .

在本申请一实施例中，控制单元310用于：根据传感器50的当前位置信息和传感器50的设定位置信息，控制位置调节机构1调整传感器50的位置。In an embodiment of the present application, the control unit 310 is used to control the position adjustment mechanism 1 to adjust the position of the sensor 50 according to the current position information of the sensor 50 and the set position information of the sensor 50 .

在本申请一实施例中，驱动机构20为转动驱动机构；控制单元310用于：根据第一差值，控制驱动机构20转动，以驱动支架10调整传感器50的位置，第一差值为传感器50的当前位置信息与传感器50的设定位置信息的差值。In one embodiment of the present application, the driving mechanism 20 is a rotational driving mechanism; the control unit 310 is used to: control the rotation of the driving mechanism 20 according to the first difference value to drive the bracket 10 to adjust the position of the sensor 50 , where the first difference value is The difference between the current position information of sensor 50 and the set position information of sensor 50.

在本申请一实施例中，第一差值与驱动机构20的转动圈数满足：α＝2πTm；其中，α为第一差值，T为驱动机构20的转动圈数，m为支架10与驱动机构20之间的传动比。In an embodiment of the present application, the first difference and the number of rotations of the driving mechanism 20 satisfy: α=2πTm; where α is the first difference, T is the number of rotations of the driving mechanism 20, and m is the number of rotations between the bracket 10 and the driving mechanism 20. The transmission ratio between the drive mechanisms 20.

在本申请一实施例中，控制单元310用于：在根据第一差值控制驱动机构20转动之后，在传感器50的当前位置正常的情况下，结束调整。In an embodiment of the present application, the control unit 310 is configured to: after controlling the rotation of the driving mechanism 20 according to the first difference, end the adjustment when the current position of the sensor 50 is normal.

在本申请一实施例中，控制单元310用于：在根据第一差值控制驱动机构20转动之后，在传感器50的当前位置异常的情况下，在传感器50的第一预设位置范围内调整传感器50的位置。In an embodiment of the present application, the control unit 310 is configured to: after controlling the rotation of the driving mechanism 20 according to the first difference, if the current position of the sensor 50 is abnormal, adjust the sensor 50 within the first preset position range. location of sensor 50.

在本申请一实施例中，控制单元310用于：在传感器50的第一预设位置范围内调整传感器50的位置之后，在传感器50的当前位置正常的情况下，将传感器50的设定位置信息更新为传感器的当前位置信息，并结束调整。In an embodiment of the present application, the control unit 310 is configured to: after adjusting the position of the sensor 50 within the first preset position range of the sensor 50, when the current position of the sensor 50 is normal, change the set position of the sensor 50. The information is updated to the current position information of the sensor, and the adjustment ends.

在本申请一实施例中，控制单元310用于：在传感器50的第一预设范围内调整传感器50的位置之后，在传感器50的当前位置异常的情况下，根据用户的输入，调整传感器50的位置。In an embodiment of the present application, the control unit 310 is configured to: after adjusting the position of the sensor 50 within the first preset range of the sensor 50, if the current position of the sensor 50 is abnormal, adjust the sensor 50 according to the user's input. s position.

在本申请一实施例中，控制单元310用于：根据用户的输入，控制位置调节机构1调整传感器50的位置。In an embodiment of the present application, the control unit 310 is used to control the position adjustment mechanism 1 to adjust the position of the sensor 50 according to the user's input.

在本申请一实施例中，驱动机构20为转动驱动机构；控制单元310用于：根据用户输入的传感器50的转动角度，控制驱动机构20转动。In an embodiment of the present application, the driving mechanism 20 is a rotational driving mechanism; the control unit 310 is used to control the rotation of the driving mechanism 20 according to the rotation angle of the sensor 50 input by the user.

在本申请一实施例中，控制单元310用于：在驱动机构20的转动圈数小于驱动机构20的最大转动圈数的情况下，控制驱动机构20转动。In an embodiment of the present application, the control unit 310 is used to control the rotation of the driving mechanism 20 when the number of rotations of the driving mechanism 20 is less than the maximum number of rotations of the driving mechanism 20 .

在本申请一实施例中，用户输入的传感器50的转动角度与驱动机构20的转动圈数满足：β＝2πTm；其中，β为用户输入的传感器50的转动角度，T为驱动机构20的转动圈数，m为支架10与驱动机构20之间的传动比。In an embodiment of the present application, the rotation angle of the sensor 50 input by the user and the number of rotation turns of the driving mechanism 20 satisfy: β = 2πTm; where β is the rotation angle of the sensor 50 input by the user, and T is the rotation of the driving mechanism 20 The number of turns, m is the transmission ratio between the bracket 10 and the driving mechanism 20 .

在本申请一实施例中，控制单元310用于：在根据用户输入的传感器50的转动角度，控制驱动机构20转动之后，在传感器50的当前位置正常的情况下，结束调整。In an embodiment of the present application, the control unit 310 is configured to: after controlling the rotation of the driving mechanism 20 according to the rotation angle of the sensor 50 input by the user, end the adjustment when the current position of the sensor 50 is normal.

在本申请一实施例中，控制单元310用于：在根据用户输入的传感器50的转动角度，控制驱动机构20转动之后，在传感器50的当前位置正常的情况下，根据传感器50的当前位置信息，更新驱动机构20的最大转动圈数。In an embodiment of the present application, the control unit 310 is configured to: after controlling the rotation of the driving mechanism 20 according to the rotation angle of the sensor 50 input by the user, when the current position of the sensor 50 is normal, according to the current position information of the sensor 50 , update the maximum number of rotations of the driving mechanism 20.

图16为本申请一实施例的位置调节的装置的示意图。如图16所示，在本申请一实施例中，位置调节的装置400包括存储器410和处理器420。存储器410用于存储计算机可执行指令；处理器420用于访问所述存储器，并执行所述计算机可执行指令，以进行前述实施例中任一项的图像处理的方法中的操作。Figure 16 is a schematic diagram of a position adjustment device according to an embodiment of the present application. As shown in FIG. 16 , in an embodiment of the present application, a position adjustment device 400 includes a memory 410 and a processor 420 . The memory 410 is used to store computer-executable instructions; the processor 420 is used to access the memory and execute the computer-executable instructions to perform operations in the image processing method in any of the foregoing embodiments.

本申请实施例的处理器420可以是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法实施例的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法和步骤。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。The processor 420 in this embodiment of the present application may be an integrated circuit chip that has signal processing capabilities. During the implementation process, each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software. The above-mentioned processor can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other available processors. Programmed logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method and step disclosed in the embodiments of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

本申请实施例的存储器410可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)。应注意，本文描述的***和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。The memory 410 in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory may be Random Access Memory (RAM), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (Direct Rambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

本申请实施例提供一种存储介质，用于存储计算机程序，当计算机程序被计算设备执行时，使得计算设备实现前述实施例中任一项所述的方法。Embodiments of the present application provide a storage medium for storing a computer program. When the computer program is executed by a computing device, the computing device implements the method described in any one of the preceding embodiments.

虽然已经参考优选实施例对本申请进行了描述，但在不脱离本申请的范围的情况下，可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。While the present application has been described with reference to preferred embodiments, various modifications may be made and equivalents may be substituted for components thereof without departing from the scope of the application. In particular, as long as there is no structural conflict, the technical features mentioned in the various embodiments can be combined in any way. The application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

一种位置调节的方法，其特征在于，所述方法包括：A method of position adjustment, characterized in that the method includes:

获取第一信息，所述第一信息用于指示传感器的位置异常；Obtaining first information, the first information being used to indicate an abnormal position of the sensor;

根据所述第一信息，调整所述传感器的位置。According to the first information, the position of the sensor is adjusted.
根据权利要求1所述的方法，其特征在于，所述传感器配置有位置调节机构；The method according to claim 1, wherein the sensor is configured with a position adjustment mechanism;

所述调整所述传感器的位置，包括：The adjustment of the position of the sensor includes:

控制所述位置调节机构调整所述传感器的位置。The position adjustment mechanism is controlled to adjust the position of the sensor.
根据权利要求2所述的方法，其特征在于，所述位置调节机构包括驱动机构和支架，所述支架的第一端与所述驱动机构和所述传感器连接，所述支架的第二端与所述传感器连接，所述驱动机构驱动所述支架以调整所述传感器的位置。The method according to claim 2, characterized in that the position adjustment mechanism includes a driving mechanism and a bracket, the first end of the bracket is connected to the driving mechanism and the sensor, and the second end of the bracket is connected to the driving mechanism and the sensor. The sensor is connected, and the driving mechanism drives the bracket to adjust the position of the sensor.
根据权利要求3所述的方法，其特征在于，所述调整所述传感器的位置，包括：The method according to claim 3, wherein the adjusting the position of the sensor includes:

根据所述传感器的当前位置信息和所述传感器的设定位置信息，控制所述位置调节机构调整所述传感器的位置。The position adjustment mechanism is controlled to adjust the position of the sensor according to the current position information of the sensor and the set position information of the sensor.
根据权利要求4所述的方法，其特征在于，所述驱动机构为转动驱动机构；The method according to claim 4, wherein the driving mechanism is a rotational driving mechanism;

所述控制所述位置调节机构，包括：The control of the position adjustment mechanism includes:

根据第一差值，控制所述驱动机构转动，以驱动所述支架调整所述传感器的位置，所述第一差值为所述传感器的当前位置信息与所述传感器的设定位置信息的差值。According to the first difference value, the driving mechanism is controlled to rotate to drive the bracket to adjust the position of the sensor. The first difference value is the difference between the current position information of the sensor and the set position information of the sensor. value.
根据权利要求5所述的方法，其特征在于，所述第一差值与所述驱动机构的转动圈数满足：α＝2πTm；The method according to claim 5, characterized in that the first difference and the number of rotations of the driving mechanism satisfy: α=2πTm;

其中，α为所述第一差值，T为所述驱动机构的转动圈数，m为所述支架与所述驱动机构之间的传动比。Wherein, α is the first difference, T is the number of rotations of the driving mechanism, and m is the transmission ratio between the bracket and the driving mechanism.
根据权利要求5或6所述的方法，其特征在于，在所述根据第一差值，控制所述驱动机构转动后，所述方法还包括：The method according to claim 5 or 6, characterized in that, after controlling the rotation of the driving mechanism according to the first difference, the method further includes:

在所述传感器的当前位置正常的情况下，结束调整。When the current position of the sensor is normal, the adjustment ends.
根据权利要求5或6所述的方法，其特征在于，在所述根据第一差值，控制所述驱动机构转动后，所述方法还包括：The method according to claim 5 or 6, characterized in that, after controlling the rotation of the driving mechanism according to the first difference, the method further includes:

在所述传感器的当前位置异常的情况下，在所述传感器的第一预设位置范围内调整所述传感器的位置。If the current position of the sensor is abnormal, the position of the sensor is adjusted within the first preset position range of the sensor.
根据权利要求8所述的方法，其特征在于，在所述在所述传感器的第一预设位置范围内调整所述传感器的位置之后，所述方法还包括：The method according to claim 8, characterized in that, after adjusting the position of the sensor within the first preset position range of the sensor, the method further includes:

在所述传感器的当前位置正常的情况下，将所述传感器的设定位置信息更新为所述传感器的当前位置信息，并结束调整。When the current position of the sensor is normal, the set position information of the sensor is updated to the current position information of the sensor, and the adjustment is completed.
根据权利要求8所述的方法，其特征在于，在所述在所述传感器的第一预设范围内调整所述传感器的位置之后，所述方法还包括：The method of claim 8, wherein after adjusting the position of the sensor within the first preset range of the sensor, the method further includes:

在所述传感器的当前位置异常的情况下，根据用户的输入，调整所述传感器的位置。When the current position of the sensor is abnormal, the position of the sensor is adjusted according to the user's input.
根据权利要求3所述的方法，其特征在于，所述调整所述传感器的位置，包括：The method according to claim 3, wherein the adjusting the position of the sensor includes:

根据用户的输入，控制所述位置调节机构调整所述传感器的位置。According to the user's input, the position adjustment mechanism is controlled to adjust the position of the sensor.
根据权利要求10或11所述的方法，其特征在于，所述驱动机构为转动驱动机构；The method according to claim 10 or 11, characterized in that the driving mechanism is a rotational driving mechanism;

所述根据用户的输入，控制所述位置调节机构调整所述传感器的位置，包括：Controlling the position adjustment mechanism to adjust the position of the sensor according to the user's input includes:

根据所述用户输入的所述传感器的转动角度，控制所述驱动机构转动。The driving mechanism is controlled to rotate according to the rotation angle of the sensor input by the user.
根据权利要求12所述的方法，其特征在于，所述根据用户输入的所述传感器的转动角度，控制所述驱动机构转动，包括：The method according to claim 12, characterized in that, controlling the rotation of the driving mechanism according to the rotation angle of the sensor input by the user includes:

在所述驱动机构的转动圈数小于所述驱动机构的最大转动圈数的情况下，控制所述驱动机构转动。When the number of rotations of the driving mechanism is less than the maximum number of rotations of the driving mechanism, the driving mechanism is controlled to rotate.
根据权利要求12或13所述的方法，其特征在于，所述用户输入的所述传感器的转动角度与所述驱动机构的转动圈数满足：β＝2πTm；The method according to claim 12 or 13, characterized in that the rotation angle of the sensor input by the user and the number of rotations of the driving mechanism satisfy: β=2πTm;

其中，β为所述用户输入的所述传感器的转动角度，T为所述驱动机构的转动圈数，m为所述支架与所述驱动机构之间的传动比。Wherein, β is the rotation angle of the sensor input by the user, T is the number of rotations of the driving mechanism, and m is the transmission ratio between the bracket and the driving mechanism.
根据权利要求11至14中任一项所述的方法，其特征在于，在所述根据用户输入的所述传感器的转动角度，控制所述驱动机构转动后，所述方法还包括：The method according to any one of claims 11 to 14, characterized in that, after controlling the rotation of the driving mechanism according to the rotation angle of the sensor input by the user, the method further includes:

在所述传感器的当前位置正常的情况下，结束调整。When the current position of the sensor is normal, the adjustment ends.
根据权利要求11至15中任一项所述的方法，其特征在于，在所述根据用户输入的所述传感器的转动角度，控制所述驱动机构转动后，所述方法还包括：The method according to any one of claims 11 to 15, characterized in that, after controlling the rotation of the driving mechanism according to the rotation angle of the sensor input by the user, the method further includes:

在所述传感器的当前位置正常的情况下，根据所述传感器的当前位置信息，更新所述驱动机构的最大转动圈数。When the current position of the sensor is normal, the maximum number of rotations of the driving mechanism is updated based on the current position information of the sensor.
根据权利要求13至16中任一项所述的方法，其特征在于，所述驱动机构的最大转动圈数满足：
The method according to any one of claims 13 to 16, characterized in that the maximum number of rotations of the driving mechanism satisfies:

其中，T _max为所述驱动机构的最大转动圈数，Δα为所述传感器的转动边界的角度与所述传感器的当前位置的角度的差值，m为所述支架与所述驱动机构之间的传动比。 Among them, T _max is the maximum number of rotations of the driving mechanism, Δα is the difference between the angle of the rotation boundary of the sensor and the angle of the current position of the sensor, and m is the distance between the bracket and the driving mechanism. transmission ratio.
根据权利要求3至17中任一项所述的方法，其特征在于，所述驱动机构包括n个双层齿轮，所述双层齿轮包括同轴设置的第一子齿轮和第二子齿轮，所述第一子齿轮的齿数大于所述第二子齿轮的齿数，一个双层齿轮的第二子齿轮与另一个双层齿轮的第一子齿轮转动连接。The method according to any one of claims 3 to 17, wherein the driving mechanism includes n double-layer gears, and the double-layer gears include a first sub-gear and a second sub-gear arranged coaxially, The number of teeth of the first sub-gear is greater than the number of teeth of the second sub-gear, and the second sub-gear of one double-layer gear is rotationally connected to the first sub-gear of another double-layer gear.
根据权利要求18所述的方法，其特征在于，所述支架与所述驱动机构之间的传动比满足：m＝(-k) ⁿ； The method according to claim 18, characterized in that the transmission ratio between the bracket and the driving mechanism satisfies: m=(-k) ⁿ ;

其中，m为所述支架与所述驱动机构之间的传动比，k为所述第二子齿轮与所述第一子齿轮的齿数比，n为所述双层齿轮的个数。Wherein, m is the transmission ratio between the bracket and the driving mechanism, k is the gear ratio between the second sub-gear and the first sub-gear, and n is the number of the double-layer gears.
一种位置调节的装置，其特征在于，包括控制单元；A position adjustment device, characterized in that it includes a control unit;

其中，所述控制单元用于：Wherein, the control unit is used for:

获取第一信息，所述第一信息用于指示传感器的位置异常；Obtaining first information, the first information being used to indicate an abnormal position of the sensor;

根据所述第一信息，调整所述传感器的位置。According to the first information, the position of the sensor is adjusted.
根据权利要求20所述的装置，其特征在于，所述传感器配置有位置调节机构；The device according to claim 20, wherein the sensor is configured with a position adjustment mechanism;

所述控制单元用于：The control unit is used for:

控制所述位置调节机构调整所述传感器的位置Control the position adjustment mechanism to adjust the position of the sensor
根据权利要求21所述的装置，其特征在于，所述位置调节机构包括驱动机构和支架，所述支架的第一端与所述驱动机构和所述传感器连接，所述支架的第二端与所述传感器连接，所述驱动机构驱动所述支架以调整所述传感器的位置。The device according to claim 21, characterized in that the position adjustment mechanism includes a driving mechanism and a bracket, the first end of the bracket is connected to the driving mechanism and the sensor, and the second end of the bracket is connected to the driving mechanism and the sensor. The sensor is connected, and the driving mechanism drives the bracket to adjust the position of the sensor.
根据权利要求22所述的装置，其特征在于，所述控制单元用于：The device according to claim 22, characterized in that the control unit is used for:

根据所述传感器的当前位置信息和所述传感器的设定位置信息，控制所述位置调节机构调整所述传感器的位置。The position adjustment mechanism is controlled to adjust the position of the sensor according to the current position information of the sensor and the set position information of the sensor.
根据权利要求23所述的装置，其特征在于，所述驱动机构为转动驱动机构；The device according to claim 23, wherein the driving mechanism is a rotational driving mechanism;

所述控制单元用于：The control unit is used for:

根据第一差值，控制所述驱动机构转动，以驱动所述支架调整所述传感器的位置，所述第一差值为所述传感器的当前位置信息与所述传感器的设定位置信息的差值。According to the first difference value, the driving mechanism is controlled to rotate to drive the bracket to adjust the position of the sensor. The first difference value is the difference between the current position information of the sensor and the set position information of the sensor. value.
根据权利要求24所述的装置，其特征在于，所述第一差值与所述驱动机构的转动圈数满足：α＝2πTm；The device according to claim 24, wherein the first difference and the number of rotations of the driving mechanism satisfy: α=2πTm;

其中，α为所述第一差值，T为所述驱动机构的转动圈数，m为所述支架与所述驱动机构之间的传动比。Wherein, α is the first difference, T is the number of rotations of the driving mechanism, and m is the transmission ratio between the bracket and the driving mechanism.
根据权利要求23或24所述的装置，其特征在于，所述控制单元用于：The device according to claim 23 or 24, characterized in that the control unit is used for:

在根据所述第一差值控制所述驱动机构转动之后，在所述传感器的当前位置正常的情况下，结束调整。After controlling the rotation of the driving mechanism according to the first difference, if the current position of the sensor is normal, the adjustment is ended.
根据权利要求23或24所述的装置，其特征在于，所述控制单元用于：The device according to claim 23 or 24, characterized in that the control unit is used for:

在根据所述第一差值控制所述驱动机构转动之后，在所述传感器的当前位置异常的情况下，在所述传感器的第一预设位置范围内调整所述传感器的位置。After controlling the rotation of the driving mechanism according to the first difference, if the current position of the sensor is abnormal, the position of the sensor is adjusted within the first preset position range of the sensor.
根据权利要求27所述的装置，其特征在于，所述控制单元用于：在所述传感器的第一预设位置范围内调整所述传感器的位置之后，在所述传感器的当前位置正常的情况下，将所述传感器的设定位置信息更新为所述传感器的当前位置信息，并结束调整。The device according to claim 27, wherein the control unit is configured to: after adjusting the position of the sensor within the first preset position range of the sensor, when the current position of the sensor is normal Next, the set position information of the sensor is updated to the current position information of the sensor, and the adjustment is completed.
根据权利要求27所述的装置，其特征在于，所述控制单元用于：在所述传感器的第一预设范围内调整所述传感器的位置之后，在所述传感器的当前位置异常的情况下，根据用户的输入，调整所述传感器的位置。The device according to claim 27, wherein the control unit is configured to: after adjusting the position of the sensor within the first preset range of the sensor, when the current position of the sensor is abnormal , adjust the position of the sensor according to the user's input.
根据权利要求22所述的装置，其特征在于，所述控制单元用于：The device according to claim 22, characterized in that the control unit is used for:

根据用户的输入，控制所述位置调节机构调整所述传感器的位置。According to the user's input, the position adjustment mechanism is controlled to adjust the position of the sensor.
根据权利要求29或30所述的装置，其特征在于，所述驱动机构为转动驱动机构；The device according to claim 29 or 30, characterized in that the driving mechanism is a rotational driving mechanism;

所述控制单元用于：The control unit is used for:

根据所述用户输入的所述传感器的转动角度，控制所述驱动机构转动。The driving mechanism is controlled to rotate according to the rotation angle of the sensor input by the user.
根据权利要求31所述的装置，其特征在于，所述控制单元用于：The device according to claim 31, characterized in that the control unit is used for:

在所述驱动机构的转动圈数小于所述驱动机构的最大转动圈数的情况下，控制所述驱动机构转动。When the number of rotations of the driving mechanism is less than the maximum number of rotations of the driving mechanism, the driving mechanism is controlled to rotate.
根据权利要求31或32所述的装置，其特征在于，所述用户输入的所述传感器的转动角度与所述驱动机构的转动圈数满足：β＝2πTm；The device according to claim 31 or 32, characterized in that the rotation angle of the sensor input by the user and the number of rotations of the driving mechanism satisfy: β=2πTm;

其中，β为所述用户输入的所述传感器的转动角度，T为所述驱动机构的转动圈数， m为所述支架与所述驱动机构之间的传动比。Wherein, β is the rotation angle of the sensor input by the user, T is the number of rotations of the driving mechanism, and m is the transmission ratio between the bracket and the driving mechanism.
根据权利要求30至33中任一项所述的装置，其特征在于，所述控制单元用于：The device according to any one of claims 30 to 33, characterized in that the control unit is used for:

在根据所述用户输入的所述传感器的转动角度，控制所述驱动机构转动之后，在所述传感器的当前位置正常的情况下，结束调整。After controlling the rotation of the driving mechanism according to the rotation angle of the sensor input by the user, when the current position of the sensor is normal, the adjustment is completed.
根据权利要求30至34中任一项所述的装置，其特征在于，所述控制单元用于：The device according to any one of claims 30 to 34, characterized in that the control unit is used for:

在根据所述用户输入的所述传感器的转动角度，控制所述驱动机构转动之后，在所述传感器的当前位置正常的情况下，根据所述传感器的当前位置信息，更新所述驱动机构的最大转动圈数。After controlling the rotation of the driving mechanism according to the rotation angle of the sensor input by the user, when the current position of the sensor is normal, the maximum position of the driving mechanism is updated based on the current position information of the sensor. Number of turns.
根据权利要求32至35中任一项所述的装置，其特征在于，所述驱动机构的最大转动圈数满足：
The device according to any one of claims 32 to 35, characterized in that the maximum number of rotations of the driving mechanism satisfies:

其中，T _max为所述驱动机构的最大转动圈数，Δα为所述传感器的转动边界的角度与所述传感器的当前位置的角度的差值，m为所述支架与所述驱动机构之间的传动比。 Among them, T _max is the maximum number of rotations of the driving mechanism, Δα is the difference between the angle of the rotation boundary of the sensor and the angle of the current position of the sensor, and m is the distance between the bracket and the driving mechanism. transmission ratio.
根据权利要求20至36中任一项所述的装置，其特征在于，所述驱动机构包括n个双层齿轮，所述双层齿轮包括同轴设置的第一子齿轮和第二子齿轮，所述第一子齿轮的齿数大于所述第二子齿轮的齿数，一个双层齿轮的第二子齿轮与另一个双层齿轮的第一子齿轮转动连接。The device according to any one of claims 20 to 36, wherein the driving mechanism includes n double-layer gears, and the double-layer gears include a first sub-gear and a second sub-gear arranged coaxially, The number of teeth of the first sub-gear is greater than the number of teeth of the second sub-gear, and the second sub-gear of one double-layer gear is rotationally connected to the first sub-gear of another double-layer gear.
根据权利要求37所述的装置，其特征在于，所述支架与所述驱动机构之间的传动比满足：m＝(-k) ⁿ； The device according to claim 37, characterized in that the transmission ratio between the bracket and the driving mechanism satisfies: m=(-k) ⁿ ;

其中，m为所述支架与所述驱动机构之间的传动比，k为所述第二子齿轮与所述第一子齿轮的齿数比，n为所述双层齿轮的个数。Wherein, m is the transmission ratio between the bracket and the driving mechanism, k is the gear ratio between the second sub-gear and the first sub-gear, and n is the number of the double-layer gears.
一种位置调节的装置，其特征在于，包括：A position adjustment device, characterized by including:

存储器，用于存储计算机可执行指令；Memory for storing computer-executable instructions;

处理器，用于访问所述存储器，并执行所述计算机可执行指令，以进行根据权利要求1至19中任一项所述的方法中的操作。A processor, configured to access the memory and execute the computer-executable instructions to perform operations in the method according to any one of claims 1 to 19.
一种存储介质，其特征在于，用于存储计算机程序，当所述计算机程序被计算设备执行时，使得所述计算设备实现如权利要求1至19中任一项所述的方法。A storage medium, characterized in that it is used to store a computer program. When the computer program is executed by a computing device, the computing device implements the method according to any one of claims 1 to 19.