Homing mechanism for automated footwear platform
Systems, methods, and apparatus related to a homing mechanism within a drive mechanism of a lacing engine for an automated footwear platform are described. In an example, the homing apparatus can include an indexing wheel, a plurality of Geneva teeth and a stop tooth. The plurality of Geneva teeth can be distributed around a portion of a perimeter of the indexing wheel. Each Geneva tooth of the plurality of Geneva teeth can include side profiles conforming to a first side profile that generates a first force when engaged by an index tooth on a portion of the drive mechanism. The stop tooth can be located along the perimeter of the indexing wheel between two Geneva teeth. Additionally, the stop tooth can include side profiles conforming to a second side profile that generates a second force when engaged by the index tooth.
1. A method of homing a drive mechanism for a lacing engine, the method comprising:
commanding the drive mechanism to turn a gear including an index tooth that engages a homing apparatus, the homing apparatus including a plurality of Geneva teeth and one stop tooth;
detecting a force associated with the index tooth engaging the horning apparatus; and
identifying a home position based on detecting when the force matches a pre-determined force profile.
2. The method of claim 1 , wherein detecting when the force matches a pre-determined force profile includes detecting that the force exceeds a pre-determined threshold force.
3. The method of claim 1 , wherein detecting when the force matches a pre-determined force profile includes detecting a force profile with a high rate of change.
4. The method of claim 1 , wherein detecting when the force matches a pre-determined force profile includes detecting a force profile with a high magnitude and a high rate of change.
5. The method of claim 1 , further comprising upon detecting a force profile matching the pre-determined force profile putting the drive mechanism in a home state.
6. The method of claim 1 , wherein identifying the home position includes differentiating between a first force profile associated with the index tooth engaging a Geneva tooth of the plurality of Geneva teeth and a second force profile associated with the index tooth engaging the stop tooth.
7. The method of claim 6 , wherein the first force profile includes a first maximum force smaller than a second maximum force in the second force profile.
8. The method of claim 6 , wherein the second force profile includes a steep slope indicative of the rate of change in force over time.
9. A method of operating a lacing engine within a footwear apparatus, the method comprising:
commanding, using a processing circuit, a drive mechanism within the lacing engine to turn a gear including an index tooth that engages a homing apparatus, the homing apparatus including a plurality of Geneva teeth and one stop tooth;
detecting, using a processing circuit, a force associated with the index tooth engaging the homing apparatus; and
identifying, using a processing circuit, a home position based on detecting when the force matches a pre-determined force profile.
10. The method of claim 9 , wherein detecting when the force matches a pre-determined force profile includes detecting that the force exceeds a pre-determined threshold force.
11. The method of claim 9 , wherein detecting when the force matches a pre-determined force profile includes detecting a force profile with a high rate of change.
12. The method of claim 9 , wherein detecting when the force matches a pre-determined force profile includes detecting a force profile with a high magnitude and a high rate of change.
13. The method of claim 9 , further comprising upon detecting a force profile matching the pre-determined force profile putting the drive mechanism in a home state.
14. The method of claim 9 , wherein identifying the home position includes differentiating between a first force profile associated with the index tooth engaging a Geneva tooth of the plurality of Geneva teeth and a second force profile associated with the index tooth engaging the stop tooth.
15. The method of claim 14 , wherein the first force profile includes a first maximum force smaller than a second maximum force in the second force profile.
16. The method of claim 14 , wherein the second force profile includes a steep slope indicative of the rate of change in force over time.
17. At least one non-transitory computer-readable medium containing instructions that, when executed by a processing circuit within a lacing engine of a footwear apparatus, cause the processing circuit to perform operations including:
detecting a force associated with an index tooth engaging a homing apparatus, wherein the homing apparatus includes a plurality of Geneva teeth and one stop tooth and the index tooth is coupled to a gear within a drive mechanism of the lacing engine; and
identifying a home position based on detecting when the force matches a pre-determined force profile.
18. The non-transitory computer-readable medium of claim 17 , wherein identifying the home position includes differentiating between a first force profile associated with the index tooth engaging a Geneva tooth of the plurality of Geneva teeth and a second force profile associated with the index tooth engaging the stop tooth.
19. The non-transitory computer-readable medium of claim 18 , wherein the second force profile includes a steep slope indicative of the rate of change in force over time.