CN108711450B - Method for calibrating equipment in intelligent pharmacy - Google Patents
Method for calibrating equipment in intelligent pharmacy Download PDFInfo
- Publication number
- CN108711450B CN108711450B CN201810482318.6A CN201810482318A CN108711450B CN 108711450 B CN108711450 B CN 108711450B CN 201810482318 A CN201810482318 A CN 201810482318A CN 108711450 B CN108711450 B CN 108711450B
- Authority
- CN
- China
- Prior art keywords
- robot
- limit sensor
- origin
- sensor
- negative limit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/40—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/10—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to drugs or medications, e.g. for ensuring correct administration to patients
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- General Business, Economics & Management (AREA)
- Epidemiology (AREA)
- Business, Economics & Management (AREA)
- Medical Informatics (AREA)
- Primary Health Care (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Medicinal Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method for calibrating equipment in an intelligent pharmacy, which comprises the steps of calibrating an original point position of a robot and calibrating a displacement conversion coefficient, wherein the step of calibrating the displacement conversion coefficient comprises the following steps: measuring a physical distance between the positive limit sensor and the negative limit sensor; the robot moves to the negative limit sensor, and when the robot touches the negative limit sensor, a feedback value of the robot at the moment is recorded; the robot moves towards the positive limit sensor, and when the robot touches the positive limit sensor, a feedback value of the robot at the moment is recorded; and calculating the displacement conversion coefficient of the motor in the robot according to the two groups of feedback values. The invention can calibrate the displacement conversion coefficient of the motor in the robot, thereby ensuring the walking precision of the robot and ensuring that the robot can accurately execute the medicine box grabbing operation. In addition, the intelligent pharmacy system also calibrates other equipment in the intelligent pharmacy, ensures that the intelligent pharmacy can normally work after the equipment is replaced, and is simple in operation mode and convenient to implement.
Description
Technical Field
The invention relates to the field of intelligent pharmacies, in particular to a method for calibrating equipment in an intelligent pharmacy.
Background
An automatic pharmacy is a mature technology in the pharmacy operation field internationally and is commonly applied in developed countries all over the world. The technology can greatly improve the storage and transportation efficiency of the drugs at the retail terminal, reduce the error rate, save the precious business area, further initiate the reconstruction of the business process of the retail enterprise and bring about the conversion of the business mode and the upgrade of the operation mode through artificial intelligence and machine transmission means.
Need use automatic equipment to go on the operation of adding medicine and getting it filled in the intelligence drugstore, after equipment trouble maintenance or maintenance, its self can change, if untimely adjustment, then can influence the operation of adding medicine and getting it filled.
Disclosure of Invention
The invention provides an intelligent pharmacy equipment calibration method, which aims to solve the technical problems in the prior art.
In order to solve the technical problem, the invention provides a robot calibration method in an intelligent pharmacy, and equipment in the intelligent pharmacy comprises the following steps: robot, origin sensor, positive limit sensor and negative limit sensor, including robot origin position calibration and displacement conversion coefficient calibration, wherein, displacement conversion coefficient calibration includes: measuring a physical distance X between the positive limit sensor and the negative limit sensor; setting the robot to enter an automatic calibration mode; the robot moves to the negative limit sensor, and when the robot touches the negative limit sensor, a feedback value X1 of the robot at the moment is recorded; the robot moves to the positive limit sensor, and when the robot touches the positive limit sensor, a feedback value X2 of the robot at the moment is recorded; and calculating and updating the displacement conversion coefficient of the motor in the robot according to the two groups of feedback values X1 and X2.
Preferably, the displacement conversion coefficient of the motor in the robot is X/(| X2-X1 |/motor encoder resolution).
Preferably, the two sets of feedback values X1 and X2 are both obtained from motor encoder measurements, and the physical distance between the positive and negative limit sensors is obtained from length tool measurements.
Preferably, when the origin sensor is replaced, the robot origin position calibration includes:
confirming whether the robot finds the origin sensor, if so, entering the next step, and if not, finding the origin sensor firstly;
the robot searches for the negative limit sensor and records the measured position M1 of the negative limit sensor;
comparing the position of the negative limit sensor with a position M2 before the replacement of the origin sensor;
and calculating and updating the original point displacement of the robot.
Preferably, when M1-M2 < 0 indicates that the origin sensor has moved M2-M1 in the positive limit direction, the origin offset amount H ═ H0+ (M1-M2)), and H0 is the original origin offset amount.
Preferably, when M1-M2 > 0, indicating that the origin sensor has moved M1-M2 in the negative limit direction, the origin offset amount H ═ H0- (M1-M2)), and H0 is the original origin offset amount.
Preferably, when the robot is powered off and recovers, the robot directly searches for the origin sensor, so that the origin position calibration is realized.
Preferably, when the positive limit sensor or the negative limit sensor is calibrated:
firstly, determining whether the robot is in an original point recovery state, if not, performing original point position calibration on the robot, and then entering the next step, and if so, directly entering the next step;
then, the robot searches for a positive limit sensor or a negative limit sensor and records the measured position of the positive limit sensor or the negative limit sensor;
the position of the positive limit sensor or the negative limit sensor is updated.
Compared with the prior art, the calibration method of the robot in the intelligent pharmacy comprises robot origin position calibration and displacement conversion coefficient calibration, wherein the displacement conversion coefficient calibration comprises the following steps: measuring a physical distance X between the positive limit sensor and the negative limit sensor; setting the robot to enter an automatic calibration mode; the robot moves to the negative limit sensor, and when the robot touches the negative limit sensor, a feedback value X1 of the robot at the moment is recorded; the robot moves to the positive limit sensor, and when the robot touches the positive limit sensor, a feedback value X2 of the robot at the moment is recorded; and calculating and updating the displacement conversion coefficient of the motor in the robot according to the two groups of feedback values X1 and X2. The invention can calibrate the displacement conversion coefficient of the motor in the robot, thereby ensuring the walking precision of the robot and ensuring that the robot can accurately execute the medicine box grabbing operation. In addition, the intelligent pharmacy system also calibrates other equipment in the intelligent pharmacy, ensures that the intelligent pharmacy can normally work after the equipment is replaced, and is simple in operation mode and convenient to implement.
Drawings
FIG. 1 is a schematic diagram of the operation flow of the shift conversion coefficient calibration according to the present invention;
fig. 2 is a schematic view of the operation flow of the robot origin position calibration in the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be noted that the drawings are in simplified form and are not to precise scale, which is provided for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention provides a robot calibration method in an intelligent pharmacy, and equipment in the intelligent pharmacy comprises the following steps: the robot, origin sensor, positive limit sensor and negative limit sensor. Therefore, the intelligent pharmacy robot calibration system is used for calibrating the positions of the robot, the origin sensor and the positive and negative limit sensors so as to ensure that the intelligent pharmacy can normally operate.
Because the origin sensor is matched with a motor in the robot to work, the position of the origin sensor is calibrated, namely the origin position of the robot is calibrated. In addition, since the motor is provided with an encoder, the encoder can measure the traveling distance of the motor, but the measured distance is different from the actual physical distance, so that the displacement conversion coefficient of the motor needs to be calibrated. Wherein, the displacement conversion coefficient is: the inner rotor of the motor rotates for a circle of actual walking distance.
Referring to fig. 1, the step of calibrating the shift conversion coefficient includes:
measuring a physical distance X between the positive limit sensor and the negative limit sensor by using a conventional measuring tool;
setting the robot to enter an automatic calibration mode;
the robot moves to the negative limit sensor, and when the robot meets the negative limit sensor, a feedback value X1 of the robot at the moment is recorded, of course, the feedback value X1 is obtained by measuring by an encoder of the motor, that is, the feedback value X1 is not the distance actually traveled by the robot, but is the distance measured by the encoder in the motor.
Then, the robot moves to a positive limit sensor, and when the robot touches the positive limit sensor, a feedback value X2 of the robot at the moment is recorded; similarly, the feedback value X2 is the value measured by the encoder in the motor, not the actual walking distance of the robot.
And calculating and updating the displacement conversion coefficient of the motor in the robot according to the two groups of feedback values X1 and X2. Specifically, the displacement conversion coefficient of the motor in the robot is X/(| X2-X1 |/motor encoder resolution). The processing mode of the motor encoder on the displacement is as follows: the measured displacement is converted into a periodic electric signal, the electric signal is converted into counting pulses, the number of the pulses is used for representing the size of the displacement, the resolution of a motor encoder refers to the number of pulses corresponding to one rotation of a rotor of a motor, therefore, the total number of rotations of electrons of the motor during movement between a positive limit sensor and a negative limit sensor can be obtained by calculating the resolution of | X2-X1 |/the motor encoder, a displacement conversion coefficient of the motor can be obtained by combining a physical distance X between the positive limit sensor and the negative limit sensor, the displacement conversion coefficient is updated, and therefore calibration of the displacement conversion coefficient of the motor of the robot is completed.
Referring to fig. 2, when the origin sensor is replaced, since the position of the origin sensor when it is installed again may be deviated from the previous position, the robot needs to use a fixed position as a zero point, and the position is set with the origin sensor before replacement as a reference target, which may be the position of the origin sensor before replacement or a certain position at a certain distance from the origin sensor before replacement. Therefore, the offset distance of the front and rear origin sensors needs to be measured, and the origin offset of the motor in the robot is set by the offset distance, so that the origin position of the robot is calibrated. Wherein, the origin offset is: the robot takes the position of the robot deviated from the origin sensor as a zero point, and the distance between the position and the origin sensor is the origin offset.
Therefore, in the embodiment, the origin position of the motor in the robot is mainly calibrated through the origin offset. The method comprises the following steps:
firstly, whether the robot finds the origin sensor is determined, if so, the next step is carried out, if not, the robot is in a power failure recovery state, the robot which is subjected to power failure recovery needs to find the origin sensor, and the distance value of a motor in the robot is 0 at the moment, namely, the position of the origin sensor is taken as the origin by the robot at the moment.
Then, the robot searches for a negative limit sensor and records the measured position M1 of the negative limit sensor;
the position M1 of the negative limit sensor is compared with the position M2 before the replacement of the origin sensor, that is, in the present embodiment, the negative limit sensor is used as a reference object, the distances between the origin sensor and the reference object before and after the replacement are measured, and the position deviation before and after the replacement of the origin sensor can be easily known by comparison.
The displacement of the origin of the robot is obtained by calculation and updated. Specifically, when M1-M2 < 0, indicating that the origin sensor has moved M2-M1 in the positive limit direction relative to the position before replacement, the origin offset amount H ═ H0+ (M1-M2)), H0 is the original origin offset amount in the robot, and H0 may be zero. When M1-M2 > 0, it indicates that the origin sensor has moved M1-M2 in the negative limit direction, and the origin offset amount H ═ H0- (M1-M2)), and H0 is the original origin offset amount.
And updating the new origin offset into the robot, and automatically moving the robot to a zero point according to the origin offset after finding the origin sensor, wherein the distance value of the motor in the robot at the moment is 0.
Further, when the robot is recovered from power failure, the setting parameters of the offset of the origin cannot be lost, but the origin sensor needs to be searched again, and after the origin sensor is found, the calibration of the position of the origin can be realized according to the offset of the origin.
When the positive limit sensor or the negative limit sensor needs to be replaced, the position of the origin sensor is fixed, so that whether the robot is in a power failure recovery state or not only needs to be confirmed, if so, the robot needs to be calibrated at the origin position first and then enters the next step, and if not, the robot directly enters the next step; then, the robot searches for a positive limit sensor or a negative limit sensor and records the measured position of the positive limit sensor or the negative limit sensor, wherein the measured value is the actual installation position of the positive limit sensor or the negative limit sensor; the position of the positive limit sensor or the negative limit sensor is updated.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. An intelligent in-pharmacy equipment calibration method comprises the following steps: robot, origin sensor, positive limit sensor and negative limit sensor, its characterized in that, including robot origin position calibration and displacement conversion coefficient calibration, wherein, displacement conversion coefficient calibration includes:
measuring a physical distance X between the positive limit sensor and the negative limit sensor;
setting the robot to enter an automatic calibration mode;
the robot moves to the negative limit sensor, and when the robot touches the negative limit sensor, a feedback value X1 of the robot at the moment is recorded;
the robot moves to the positive limit sensor, and when the robot touches the positive limit sensor, a feedback value X2 of the robot at the moment is recorded;
calculating and updating a displacement conversion coefficient of a motor in the robot according to the two groups of feedback values X1 and X2;
wherein, when changing the origin sensor, the calibration of the robot origin position comprises:
confirming whether the robot finds the origin sensor, if so, entering the next step, and if not, finding the origin sensor firstly;
the robot searches for the negative limit sensor and records the measured position M1 of the negative limit sensor;
comparing the position of the negative limit sensor with a position M2 before the replacement of the origin sensor;
and calculating and updating the original point displacement of the robot.
2. The intelligent intra-pharmacy equipment calibration method as claimed in claim 1, wherein the displacement conversion coefficient of the motor in the robot is X/(| X2-X1 |/motor encoder resolution).
3. The intelligent intra-pharmacy equipment calibration method as claimed in claim 1, characterized in that said two sets of feedback values X1 and X2 are both obtained by motor encoder measurements, and the physical distance between the positive and negative limit sensors is obtained by length tool measurements.
4. The intelligent intra-pharmacy equipment calibration method as claimed in claim 1, wherein when M1-M2 < 0, indicating that the origin sensor moves M2-M1 in the positive limit direction, the origin offset H ═ H- (H1)0+(M1-M2))，H0Is the original origin offset.
5. The intelligent intra-pharmacy equipment calibration method as claimed in claim 1, wherein when M1-M2 > 0, indicating that the origin sensor moves M1-M2 in the negative limit direction, the origin offset H ═ H- (H2)0-(M1-M2))，H0Is the original origin offset.
6. The intelligent intra-pharmacy equipment calibration method as claimed in claim 1, characterized in that when the robot is powered off and recovered, the robot directly searches for an origin sensor, so as to realize origin position calibration.
7. The intelligent intra-pharmacy equipment calibration method as claimed in claim 1, wherein when the positive limit sensor or the negative limit sensor is calibrated:
firstly, determining whether the robot is in an original point recovery state, if not, performing original point position calibration on the robot, and then entering the next step, and if so, directly entering the next step;
then, the robot searches for a positive limit sensor or a negative limit sensor and records the measured position of the positive limit sensor or the negative limit sensor;
the position of the positive limit sensor or the negative limit sensor is updated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810482318.6A CN108711450B (en) | 2018-05-18 | 2018-05-18 | Method for calibrating equipment in intelligent pharmacy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810482318.6A CN108711450B (en) | 2018-05-18 | 2018-05-18 | Method for calibrating equipment in intelligent pharmacy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108711450A CN108711450A (en) | 2018-10-26 |
| CN108711450B true CN108711450B (en) | 2021-05-04 |
Family
ID=63868300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810482318.6A Active CN108711450B (en) | 2018-05-18 | 2018-05-18 | Method for calibrating equipment in intelligent pharmacy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108711450B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101579664A (en) * | 2009-06-22 | 2009-11-18 | 中国电子科技集团公司第四十一研究所 | Adhesive spraying device and adhesive spraying control method |
| KR101144958B1 (en) * | 2009-09-14 | 2012-05-11 | 순환엔지니어링 주식회사 | Gantry stage orthogonality error measurement and compensation method on homing processing |
| JP2013252948A (en) * | 2012-06-07 | 2013-12-19 | Murata Machinery Ltd | Textile machine |
| CN104007768B (en) * | 2013-02-25 | 2017-04-12 | 全研科技有限公司 | Origin regression method of four-axis coplanar alignment platform |
| CN106197472B (en) * | 2016-09-27 | 2020-07-14 | 中信重工开诚智能装备有限公司 | Device and method for distance positioning and mileage calibration of rail-mounted robot |
-
2018
- 2018-05-18 CN CN201810482318.6A patent/CN108711450B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108711450A (en) | 2018-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100486505B1 (en) | Gyro offset compensation method of robot cleaner | |
| CN113311411B (en) | Laser radar point cloud motion distortion correction method for mobile robot | |
| TWI476428B (en) | Error correction method, device and system for inertial navigation system | |
| KR101222298B1 (en) | Calibrating method of odometry error of 2-wheel mobile robot | |
| CN108469826B (en) | Robot-based map generation method and system | |
| CN114166221B (en) | Auxiliary transportation robot positioning method and system in dynamic complex mine environment | |
| CN110515381B (en) | Multi-sensor fusion algorithm for positioning robot | |
| CN208155322U (en) | A kind of rail mounted tunnel crusing robot positioning system | |
| CN112388602B (en) | Calibration method, device and equipment of mobile robot | |
| CN108711450B (en) | Method for calibrating equipment in intelligent pharmacy | |
| WO2023202157A1 (en) | Bucket coordinate calibration method and apparatus, updating method and device, and excavator | |
| CN103273382B (en) | Reading device of grating ruler | |
| CN103993530B (en) | A kind of track settlement measurement device based on angle measurement and method for measurement | |
| CN106772640B (en) | Automatic precise positioning device and method for geological radar for tunnel disease detection | |
| CN113418493A (en) | Method for auxiliary measurement of angle of servo motor based on gyroscope | |
| CN111964707A (en) | Angular calibration method of absolute magnetic encoder based on cursor code track | |
| CN210014751U (en) | Measuring device for detecting rotation angle of shaft | |
| CN111664882B (en) | Encoder position signal estimation method based on time stamp | |
| CN111367293A (en) | Underground logistics cabin positioning device and method | |
| WO2022237375A1 (en) | Positioning apparatus calibration method, odometer calibration method, program product, and calibration apparatus | |
| CN109823857B (en) | High-reliability bucket wheel machine stroke positioning method | |
| CN107045123B (en) | Method for automatically measuring repose angle of coal by double radars | |
| CN113063413A (en) | Tunnel position positioning method based on multiple sensors | |
| JP2912050B2 (en) | Measuring device for long objects | |
| CN114325596B (en) | Real-time ranging ambiguity-resolving algorithm under large-range maneuver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |