CN113654718A - Method and device for calibrating supporting leg stress sensor and supporting leg type engineering machinery - Google Patents
Method and device for calibrating supporting leg stress sensor and supporting leg type engineering machinery Download PDFInfo
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- CN113654718A CN113654718A CN202110880475.4A CN202110880475A CN113654718A CN 113654718 A CN113654718 A CN 113654718A CN 202110880475 A CN202110880475 A CN 202110880475A CN 113654718 A CN113654718 A CN 113654718A
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- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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Abstract
The invention discloses a method and a device for calibrating a supporting leg stress sensor and supporting leg type engineering machinery. The invention determines the switching information of the working mode of the leg type engineering machinery; judging whether the switching information meets the calibration condition of the supporting leg stress sensor; and calibrating the supporting leg stress sensor under the condition that the switching information meets the calibration condition. The calibration of the supporting leg stress sensor is triggered by the switching event of the working mode of the supporting leg type engineering machinery, so that the automatic calibration of the supporting leg stress sensor is realized, the manual continuous attention and calibration are not needed, the calibration of the supporting leg stress sensor at a proper time can be guaranteed, and the detection accuracy of the supporting leg stress sensor is enhanced.
Description
Technical Field
The invention relates to the technical field of mechanical automation control, in particular to a method and a device for calibrating a supporting leg stress sensor and a supporting leg type engineering machine.
Background
The landing leg type engineering machinery can keep equipment stable by using the landing leg for operation, avoids equipment from tipping, and can ensure that the equipment works in a good state by detecting the stress of the landing leg, so that the detection of the stress of the landing leg is very necessary.
The stress detection of the supporting leg usually adopts a supporting leg stress sensor based on strain resistance, and the supporting leg stress sensor can cause zero drift of the supporting leg stress detection due to factors such as inelastic deformation or temperature change of an induction structure. In order to improve the detection accuracy of the support leg stress sensor, the sensor needs to be calibrated.
At present, the calibration of the sensor usually adopts manual calibration or automatic calibration by electrifying. The calibration time is difficult to grasp during manual calibration, and inaccurate measurement can be caused if manual lacuna is not calibrated in time; when the power is on and the automatic calibration is performed, if the sensor is in a bearing state, the data of the sensor can be mistaken. Therefore, the calibration mode of the supporting leg stress sensor in the prior art easily causes inaccurate measurement of the sensor.
Disclosure of Invention
The invention mainly aims to provide a method and a device for calibrating a supporting leg stress sensor and supporting leg type engineering machinery, and aims to solve the problem that the sensor measurement is inaccurate easily caused by a calibration mode of the supporting leg stress sensor in the prior art.
In order to achieve the above object, a first aspect of the present invention provides a method for calibrating a leg force sensor, comprising the following steps:
determining switching information of a working mode of the leg type engineering machinery;
judging whether the switching information meets the calibration condition of the supporting leg stress sensor;
and calibrating the supporting leg stress sensor under the condition that the switching information meets the calibration condition.
In the embodiment of the present invention, the calibration conditions include:
the leg type engineering machinery is switched from an operation state to a driving state; or
The leg type construction machine is switched from a traveling state to an operating state.
In the embodiment of the present invention, determining the switching information of the working mode of the leg type construction machine includes:
acquiring the switching state of a master switch of the leg type engineering machinery;
and determining the switching information of the working mode of the leg type engineering machinery according to the switch state.
In the embodiment of the invention, the calibration of the supporting leg stress sensor comprises the following steps:
and calibrating the supporting leg stress sensor to a preset value.
In an embodiment of the present invention, the method for calibrating a leg force sensor further includes:
acquiring a detection value of a supporting leg stress sensor;
comparing the detection value with a preset threshold value;
and calibrating the supporting leg stress sensor under the condition that the detection value is smaller than the preset threshold value.
In an embodiment of the present invention, the method for calibrating a leg force sensor further includes:
acquiring a detection value of a supporting leg stress sensor;
determining a difference value between the detection value and a preset value;
comparing the difference value with a preset threshold value;
and calibrating the supporting leg stress sensor to be a preset value under the condition that the difference value is smaller than a preset threshold value.
In an embodiment of the present invention, the method for calibrating a leg force sensor further includes:
acquiring performance parameters of a supporting leg force sensor, wherein the performance parameters comprise at least one of measuring range, precision, minimum resolution or maximum design error;
and determining a preset threshold according to the performance parameters.
A second aspect of the invention provides a processor configured to perform the above-described method for calibration of a leg force sensor.
The third aspect of the present invention provides a device for calibrating a leg force sensor, comprising:
the processor described above.
A fourth aspect of the present invention provides a leg type construction machine, comprising:
the landing leg stress sensor is arranged on a landing leg of the landing leg type engineering machinery; and
the device for calibrating the pressure sensor is described above.
By the technical scheme, the switching information of the working mode of the leg type engineering machinery is determined; judging whether the switching information meets the calibration condition of the supporting leg stress sensor; and calibrating the supporting leg stress sensor under the condition that the switching information meets the calibration condition. The calibration of the supporting leg stress sensor is triggered by the switching event of the working mode of the supporting leg type engineering machinery, so that the automatic calibration of the supporting leg stress sensor is realized, the manual continuous attention and calibration are not needed, the calibration of the supporting leg stress sensor at a proper time can be guaranteed, and the detection accuracy of the supporting leg stress sensor is enhanced.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic flow chart of an embodiment of a method for calibrating a leg force sensor according to the present invention;
FIG. 2 is a schematic flow chart of another embodiment of a method for calibrating a leg force sensor according to the present invention;
FIG. 3 is a schematic flow chart of a method for calibrating a leg force sensor according to another embodiment of the present invention;
fig. 4 is a functional block diagram of a leg type construction machine according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic flow chart of an embodiment of a method for calibrating a leg force sensor according to the present invention. Referring to fig. 1, in an embodiment of the present invention, a method for calibrating a leg force sensor is applied to a leg-type engineering machine, and the method may include the following steps:
s10: switching information of the operating mode of the leg type construction machine is determined.
It should be understood that the legged engineering machinery refers to mobile engineering equipment with legs, such as concrete pump trucks, engineering cranes, fire trucks, aerial platform trucks and the like; the landing leg stress sensor is a sensor which is arranged on a landing leg of the landing leg type engineering machinery and used for detecting the stress of the landing leg.
A legged work machine may include two modes of operation, a work state and a travel state, which are not normally present at the same time for safety reasons. When the leg type engineering machinery is in an operating state, the legs are unfolded and fall down to form effective support, and the leg sensors detect the stress of the legs; when the leg type engineering machinery is in a running state, the legs are lifted and retracted, so that the leg type engineering machinery can be transferred to a place or stored.
In one example, if the working mode of the leg type engineering machine is manually operated, the leg type engineering machine is provided with an electric master switch to perform mode switching, and the switching information of the working mode can be determined by detecting the switching state of the master switch. If the working mode of the leg type engineering machinery is automatically switched by the control system, the control system can directly acquire the switching driving action or the completion result so as to determine the switching information of the working mode.
In another example, the leg-type engineering machinery also has the characteristic that the arm support is unfolded in the working state, and after the working is completed, the high-lift arm support needs to be retracted onto the support to ensure the safety of equipment during driving. Therefore, the state of the support leg of the leg type engineering machinery can be inferred through the unfolding state of the arm support, and then the switching information of the working mode is determined, namely the switching information of the working mode can also be determined through detecting the unfolding state of the arm support.
S20: and judging whether the switching information meets the calibration condition of the supporting leg stress sensor.
The calibration condition can comprise that the leg type engineering machinery is switched from an operation state to a running state; or the leg type construction machine is switched from the running state to the operating state.
S30: and calibrating the supporting leg stress sensor under the condition that the switching information meets the calibration condition.
It should be understood that when the switching information is that the leg type engineering machinery is switched from the working state to the running state or the leg type engineering machinery is switched from the running state to the working state, the leg stress sensor is automatically calibrated. And under the condition that the switching information does not meet the calibration condition, the supporting leg stress sensor is not calibrated so as to avoid the data error of the sensor caused by calibration when the supporting leg stress sensor is in a bearing state.
The embodiment of the invention determines the switching information of the working mode of the leg type engineering machinery; judging whether the switching information meets the calibration condition of the supporting leg stress sensor; and calibrating the supporting leg stress sensor under the condition that the switching information meets the calibration condition. The calibration of the supporting leg stress sensor is triggered by the switching event of the working mode of the supporting leg type engineering machinery, so that the automatic calibration of the supporting leg stress sensor is realized, the manual continuous attention and calibration are not needed, the calibration of the supporting leg stress sensor at a proper time can be guaranteed, and the detection accuracy of the supporting leg stress sensor is enhanced.
Fig. 2 is a schematic flow chart of another embodiment of the method for calibrating a supporting leg force sensor, and referring to fig. 2, in the embodiment of the present invention, the method for calibrating a supporting leg force sensor further includes:
s40: and acquiring the detection value of the support leg stress sensor.
It should be understood that the detected value refers to a value of the leg force detected by the leg force sensor. In implementation, the detection value may be read from the leg force sensor.
S50: the detection value is compared with a preset threshold value.
It should be noted that, in order to avoid the mis-calibration caused by the false triggering of switching between the driving state and the operating state in the supporting state of the supporting leg, the embodiment of the present invention adds the constraint condition that the detection value of the supporting leg stress sensor satisfies the preset threshold value allowing the calibration.
The preset threshold is used to define that the leg should be in a released state condition. If the switching between the driving state and the operating state of the leg type engineering machinery is carried out in the state that the leg support is not retracted (namely not released), the zero clearing calibration of the leg stress sensor is not required to be carried out so as to avoid the error zero clearing caused by the error triggering.
In a specific implementation, performance parameters of the leg force sensor may be obtained, where the performance parameters include at least one of range, accuracy, minimum resolution, or maximum design error; and determining a preset threshold according to the performance parameters.
Taking the performance parameter as the range as an example, the preset threshold may be set to a proportion or a specific value of the stressed full range of the support leg, for example, any value in the range of 0.1% to 1%; taking the maximum design error of the sensor as an example, the preset threshold value can be set to any value within 2 to 20 times of the maximum design error; taking the performance parameter as the minimum resolution as an example, the preset threshold may be selected to be any value within 2 to 200 times the minimum resolution. Of course, the preset threshold may also be determined according to the above performance parameters, for example, for a leg force sensor with a range of 60 tons, an accuracy of 20kg, and a maximum design error of 30kg, the preset threshold may be set to 200 kg.
S60: and calibrating the supporting leg stress sensor under the condition that the detection value is smaller than the preset threshold value.
It should be understood that the calibration is performed on the supporting leg stress sensor when the detection value is smaller than the preset threshold value, and the calibration is not performed when the detection value is greater than or equal to the preset threshold value, so that the miscalibration of the supporting leg stress sensor caused by the state switching false triggering is avoided.
In a specific implementation, the steps of the working mode determination and the detection value determination are not in a sequential order. Switching information of the working mode of the leg type engineering machinery can be determined firstly; judging whether the switching information meets the calibration condition of the supporting leg stress sensor; under the condition that the switching information meets the calibration condition, the detection value of the supporting leg stress sensor is obtained; comparing the detection value with a preset threshold value; and calibrating the supporting leg stress sensor under the condition that the detection value is smaller than the preset threshold value.
Of course, the detection value of the supporting leg stress sensor can also be obtained firstly; comparing the detection value with a preset threshold value; determining switching information of the working mode of the leg type engineering machinery under the condition that the detection value is smaller than a preset threshold value; judging whether the switching information meets the calibration condition of the supporting leg stress sensor; and calibrating the supporting leg stress sensor under the condition that the switching information meets the calibration condition.
It should be noted that, in the use process of the leg type engineering machine, there may be switching of the working mode of the leg in a state where the leg is not released, that is, false triggering of the switching, and in order to avoid calibrating the force sensor of the leg under the condition of the false triggering, in the embodiment of the present invention, a detection value is compared with a preset threshold value, and when the detection value is smaller than the preset threshold value, the leg is determined to be in a release state, so as to determine whether the switching is the false triggering. The comparison result of the detection values and the judgment result of the switching information are jointly used as the condition for triggering the calibration of the stress sensor of the supporting leg, so that the sensor is ensured to be calibrated only when the supporting leg is in the release state and the supporting leg type engineering machinery is switched from the operation state to the running state or the supporting leg type engineering machinery is switched from the running state to the operation state, and the reliability of the calibration is improved.
It should be understood that, during the calibration of the leg force sensor, the leg force sensor may be calibrated to a preset value, and in the embodiment of the present invention, the preset value is a zero value, that is, zero value calibration is performed on the leg force sensor.
According to the embodiment of the invention, the detection value of the supporting leg stress sensor is obtained; comparing the detection value with a preset threshold value; and under the condition that the detection value is smaller than the preset threshold value, the supporting leg stress sensor is calibrated, and the reliability of the system is improved by limiting the constraint condition for avoiding the mis-calibration.
Fig. 3 is a schematic flow chart of a method for calibrating a leg force sensor according to another embodiment of the present invention, and referring to fig. 3, in the embodiment of the present invention, the method for calibrating a leg force sensor further includes:
s41: and acquiring the detection value of the support leg stress sensor.
It should be understood that the detected value refers to a value of the leg force detected by the leg force sensor. In a specific implementation, the detection value may be read from the leg force sensor.
S51: and determining the difference value between the detection value and the preset value.
In the switching process of the operation state and the driving state, under the condition that the stress design value of the supporting leg stress sensor is a non-zero value, the stress design value needs to be obtained and is used as a preset value, and the difference value between the detection value and the preset value is calculated.
S61: comparing the difference value with a preset threshold value;
it should be noted that, in order to avoid the false calibration caused by the false triggering of switching between the driving state and the operating state in the supporting state of the supporting leg, the embodiment of the present invention further increases a constraint condition that a difference between a detection value of the supporting leg force sensor and a preset value satisfies a preset threshold value that allows calibration.
The preset threshold is used to define the condition under which the leg should be in the released state. If the switching between the driving state and the operating state of the leg type engineering machinery is performed in the state that the leg support is not retracted (i.e. not released), the zero clearing calibration of the sensor is not required to be performed so as to avoid the false zero clearing caused by false triggering.
In a specific implementation, performance parameters of the leg force sensor may be obtained, where the performance parameters include at least one of range, accuracy, minimum resolution, or maximum design error; and determining a preset threshold according to the performance parameters.
Taking the performance parameter as the range as an example, the preset threshold may be set to a proportion or a specific value of the stressed full range of the support leg, for example, any value in the range of 0.1% to 1%; taking the maximum design error of the sensor as an example, the preset threshold value can be set to any value within 2 to 20 times of the maximum design error; taking the performance parameter as the minimum resolution as an example, the preset threshold may be selected to be any value within 2 to 200 times the minimum resolution. Of course, the preset threshold may also be determined according to the above performance parameters, for example, for a leg force sensor with a range of 60 tons, an accuracy of 20kg, and a maximum design error of 30kg, the preset threshold may be set to 200 kg.
S71: and calibrating the supporting leg stress sensor to be a preset value under the condition that the difference value is smaller than a preset threshold value.
It should be understood that the calibration is performed on the supporting leg stress sensor and the supporting leg stress sensor is calibrated to be a preset value when the difference is smaller than the preset threshold, and the calibration is not performed when the difference is greater than or equal to the preset threshold, so that the mis-calibration of the supporting leg stress sensor caused by the mis-triggering of state switching is avoided.
In a specific implementation, the steps of the working mode determination and the difference determination are not in sequence. Switching information of the working mode of the leg type engineering machinery can be determined firstly; judging whether the switching information meets the calibration condition of the supporting leg stress sensor; under the condition that the switching information meets the calibration condition, the detection value of the supporting leg stress sensor is obtained; determining a difference value between the detection value and a preset value; comparing the difference value with a preset threshold value; and calibrating the supporting leg stress sensor to be a preset value under the condition that the difference value is smaller than a preset threshold value.
Of course, the detection value of the supporting leg stress sensor can also be obtained firstly; determining a difference value between the detection value and a preset value; comparing the difference value with a preset threshold value; determining switching information of the working mode of the leg type engineering machinery under the condition that the difference value is smaller than a preset threshold value; judging whether the switching information meets the calibration condition of the supporting leg stress sensor; and calibrating the supporting leg stress sensor to a preset value under the condition that the switching information meets the calibration condition.
The comparison result of the difference value and the judgment result of the switching information are jointly used as the condition for triggering the calibration of the stress sensor of the supporting leg, so that the sensor is ensured to be calibrated only when the supporting leg is in the release state and the supporting leg type engineering machinery is switched from the operation state to the running state or the supporting leg type engineering machinery is switched from the running state to the operation state, and the reliability of the calibration is improved.
According to the embodiment of the invention, the detection value of the supporting leg stress sensor is obtained; determining a difference value between the detection value and a preset value; comparing the difference value with a preset threshold value; and calibrating the supporting leg stress sensor to be a preset value under the condition that the difference value is smaller than a preset threshold value. The calibration accuracy is improved by calibrating the supporting leg stress sensor based on the preset value.
Embodiments of the present invention further provide an apparatus for calibration of a leg force sensor, where the apparatus includes a processor configured to: determining switching information of a working mode of the leg type engineering machinery; judging whether the switching information meets the calibration condition of the supporting leg stress sensor; and calibrating the supporting leg stress sensor under the condition that the switching information meets the calibration condition.
In one embodiment, the processor is further configured to: acquiring the switching state of a master switch of the leg type engineering machinery; and determining the switching information of the working mode of the leg type engineering machinery according to the switch state.
In one embodiment, the processor is further configured to: and calibrating the supporting leg stress sensor to a preset value.
In one embodiment, the processor is further configured to: acquiring a detection value of a supporting leg stress sensor; comparing the detection value with a preset threshold value; and calibrating the supporting leg stress sensor under the condition that the detection value is smaller than the preset threshold value.
In one embodiment, the processor is further configured to: acquiring a detection value of a supporting leg stress sensor; determining a difference value between the detection value and a preset value; comparing the difference value with a preset threshold value; and calibrating the supporting leg stress sensor to be a preset value under the condition that the difference value is smaller than a preset threshold value.
In one embodiment, the processor is further configured to: acquiring performance parameters of a supporting leg force sensor, wherein the performance parameters comprise at least one of measuring range, precision, minimum resolution or maximum design error; and determining a preset threshold according to the performance parameters.
The specific embodiment of the device for calibrating the leg force sensor is basically the same as that of each embodiment of the control method, and is not described herein again.
Fig. 4 is a functional block diagram of a leg type construction machine according to an embodiment of the present invention. Referring to fig. 4, in an embodiment of the present invention, a leg type engineering machine may include: the landing leg stress sensor 10 is arranged on a landing leg of the landing leg type engineering machinery; and the device 20 for pressure sensor calibration in the above embodiment.
It should be understood that the leg force sensor 10 is a sensor, which is mounted on the leg and detects the force applied to the leg, and may be a pressure sensor or other sensors, which is not limited in this embodiment of the present invention.
The specific embodiment of the device 20 for calibrating the leg force sensor is substantially the same as the embodiments of the control method, and is not described herein again.
The embodiment of the invention further provides a processor, wherein the processor is used for running the program, and the method for calibrating the supporting leg stress sensor in the above embodiment is executed when the program runs.
The embodiment of the invention provides computer equipment which comprises a device for calibrating a supporting leg stress sensor according to the embodiment. The device can be a single chip microcomputer, a computer, a mobile phone, a server and the like.
An embodiment of the present invention provides a machine-readable storage medium, which stores instructions that, when executed by a processor, cause the processor to execute the method for calibration of a leg force sensor according to the foregoing embodiment.
The present application also provides a computer program product adapted to execute a program initialized with the method for calibration of a leg force sensor of the above embodiments when executed on a data processing device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for calibrating a supporting leg stress sensor is applied to supporting leg type engineering machinery, and is characterized by comprising the following steps:
determining switching information of a working mode of the leg type engineering machinery;
judging whether the switching information meets the calibration condition of the supporting leg stress sensor;
and calibrating the supporting leg stress sensor under the condition that the switching information meets the calibration condition.
2. The method of claim 1, wherein the calibration conditions comprise:
the leg type engineering machinery is switched from an operation state to a running state; or
The leg type construction machine is switched from a traveling state to an operating state.
3. The method of claim 1, wherein the determining the switching information of the working mode of the leg type construction machine comprises:
acquiring the switching state of a master switch of the leg type engineering machinery;
and determining the switching information of the working mode of the leg type engineering machinery according to the switch state.
4. The method of claim 2, wherein calibrating the leg force sensor comprises:
and calibrating the supporting leg stress sensor to a preset value.
5. The method of claim 2, further comprising:
acquiring a detection value of the supporting leg stress sensor;
comparing the detection value with a preset threshold value;
and calibrating the supporting leg stress sensor under the condition that the detection value is smaller than the preset threshold value.
6. The method of claim 2, further comprising:
acquiring a detection value of the supporting leg stress sensor;
determining a difference value between the detection value and a preset value;
comparing the difference value with a preset threshold value;
and under the condition that the difference value is smaller than the preset threshold value, the supporting leg stress sensor is marked as the preset value.
7. The method of claim 5 or 6, further comprising:
acquiring performance parameters of the support leg force sensor, wherein the performance parameters comprise at least one of measuring range, precision, minimum resolution or maximum design error;
and determining the preset threshold according to the performance parameter.
8. A processor configured to perform a method for leg force sensor calibration according to any one of claims 1 to 7.
9. A device for calibrating a supporting leg stress sensor is characterized by comprising:
the processor of claim 8.
10. A leg type construction machine, comprising:
the supporting leg stress sensor is arranged on a supporting leg of the supporting leg type engineering machinery; and
apparatus for pressure sensor calibration according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110880475.4A CN113654718A (en) | 2021-08-02 | 2021-08-02 | Method and device for calibrating supporting leg stress sensor and supporting leg type engineering machinery |
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| CN202110880475.4A CN113654718A (en) | 2021-08-02 | 2021-08-02 | Method and device for calibrating supporting leg stress sensor and supporting leg type engineering machinery |
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| CN113654718A true CN113654718A (en) | 2021-11-16 |
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| CN202110880475.4A Pending CN113654718A (en) | 2021-08-02 | 2021-08-02 | Method and device for calibrating supporting leg stress sensor and supporting leg type engineering machinery |
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