CN113722848A - Method and device for determining motion state data, electronic equipment and storage medium - Google Patents
Method and device for determining motion state data, electronic equipment and storage medium Download PDFInfo
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- CN113722848A CN113722848A CN202110957034.XA CN202110957034A CN113722848A CN 113722848 A CN113722848 A CN 113722848A CN 202110957034 A CN202110957034 A CN 202110957034A CN 113722848 A CN113722848 A CN 113722848A
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- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G06—COMPUTING; CALCULATING OR COUNTING
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Abstract
The application provides a method and a device for determining motion state data, electronic equipment and a storage medium. The method comprises the following steps: acquiring reference data representing the motion state of a reference object on a transmission mechanism in a working mode; determining motion state data of a target object on the transmission mechanism in a working mode according to the reference data and the transmission function; the target object and the reference object have a linkage relationship; wherein the transmission function is determined based on the first detection data and the second detection data; the first detection data is used for representing the motion state of the target object in a detection mode; the second detection data is used for characterizing the motion state of the reference object in the detection mode. The transmission function can accurately reflect the corresponding relation between the motion state of the reference object and the motion state of the target object, so that the detection precision of the motion state of the target object can be improved by determining the motion state data of the target object according to the reference data and the transmission function.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a method and a device for determining motion state data, electronic equipment and a storage medium.
Background
With the development of mechanical technology, the precision requirement of various mechanical devices is higher and higher. And for the position which cannot be directly measured in the mechanical equipment, the measurement is carried out by an indirect measurement mode. However, the existing indirect measurement and determination positions are very inaccurate, and the problems of mechanical equipment failure or low machining precision and the like are easily caused by measurement deviation.
Disclosure of Invention
In view of this, embodiments of the present invention are directed to provide a method for accurately measuring a position that needs to be indirectly measured in a mechanical device, so as to solve the problem that the mechanical device has low measurement accuracy for a position that cannot be directly detected.
One aspect of the present invention provides a method for determining motion state data, including:
acquiring reference data, wherein the reference data is used for representing the motion state of a reference object on a transmission mechanism in a working mode; and
determining motion state data of a target object on the transmission mechanism in a working mode according to the reference data and the transmission function;
wherein the target object and the reference object have a linkage relationship;
wherein the transmission function is determined from the first detection data and the second detection data; the first detection data is used for representing the motion state of the target object in a detection mode; the second detection data is used for characterizing the motion state of the reference object in a detection mode.
In one embodiment, the transfer function is a piecewise function.
In one embodiment, the first detection data includes at least two first detection subdata corresponding to different detection intervals; the second detection data comprises at least two second detection subdata corresponding to different detection intervals; the transmission function comprises at least two transmission sub-functions corresponding to different detection intervals; the transmission sub-function is determined according to the first detection sub-data and the second detection sub-data of each detection interval;
wherein the detection interval is divided according to the motion time of the target object; or
The detection interval is divided according to the motion state of the target object.
In one embodiment, the reference data, the first detection data and the second detection data are acquired by one of a linear displacement sensor or an angular displacement sensor, respectively.
In one embodiment, the angular displacement sensor is a bearingless non-contact rotary encoder.
In one embodiment, the bearingless non-contact type rotary encoder transmits signals by adopting a differential signal transmission mode.
In one embodiment, the reference object is located at a direct measurement position of the actuator and the target object is located at an indirect measurement position of the actuator.
Another aspect of the present invention provides an apparatus for determining motion state data, including:
the data acquisition module is configured to acquire reference data, the reference data is used for representing the motion state of the reference object in a working mode, and the reference data is sent to the data processing module; and
the data processing module is in communication connection with the data acquisition module and is configured to receive the reference data and determine motion state data of the target object according to the reference data and the transmission function;
wherein the transmission function is determined from the first detection data and the second detection data; the first detection data is used for representing the motion state of the target object in a detection mode; the second detection data is used for characterizing the motion state of the reference object in a detection mode.
Yet another aspect of the present invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to implement the method of the above embodiment.
Yet another aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the above-described embodiments.
The application provides a method and a device for determining motion state data, electronic equipment and a storage medium. The method comprises the following steps: acquiring reference data, wherein the reference data is used for representing the motion state of a reference object in a working mode; determining motion state data of the target object in a working mode according to the reference data and the transmission function; wherein the transmission function is determined based on the first detection data and the second detection data; the first detection data is used for representing the motion state of the target object in a detection mode; the second detection data is used for characterizing the motion state of the reference object in a detection mode. The transmission function can accurately reflect the corresponding relation between the motion state of the reference object and the motion state of the target object, so that the detection precision of the motion state of the target object can be improved by determining the motion state data of the target object according to the reference data and the transmission function.
Drawings
Fig. 1 is a schematic flowchart illustrating a method for determining motion state data according to an embodiment of the present disclosure;
FIG. 2 is a flow chart illustrating a method for determining a transfer function according to an embodiment of the present application;
FIG. 3 is a schematic view of a bearingless non-contact rotary encoder according to an embodiment of the present application;
FIG. 4 is a flow chart illustrating a method for determining a transfer function according to another embodiment of the present application;
FIGS. 5-7 are schematic structural views of a transmission mechanism according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a device for determining motion state data according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In a mechanical device including a transmission mechanism, it is generally necessary to detect a motion state of a certain part or a certain position on the transmission mechanism, and by accurately detecting the part or the position, automatic control of the mechanical device can be achieved. Generally, the detection method is to directly detect the measured part or the measured position by using a sensor, which includes a linear displacement sensor or an angular velocity sensor, and the like. However, with the miniaturization of the mechanical equipment, the gaps between the parts are smaller and smaller, and due to the limitation of the installation space, for some parts or positions in the mechanical equipment, a sensor capable of directly measuring the parts cannot be installed in the mechanical equipment, or the sensor is shielded by other parts in a part of the movement range of the parts, and the data of the movement state of the parts cannot be directly acquired through the sensor.
For parts which cannot be directly measured, an indirect measurement method is adopted. In a comparative example, the motion state of a part to be measured is calculated by acquiring measurement data of the part related to the part to be measured and based on the measurement data of the related part and a constant proportionality coefficient. In the comparative example, the constant scale factor cannot fully reflect the reality of the point of interest. Information loss is easy to occur, so that the motion condition of a focused point cannot be really mastered, and the precision of mechanical equipment is influenced.
It should be understood that in the following embodiments, the transmission mechanism is described as a connecting rod, but in other alternative implementations, the transmission mechanism may also be a gear transmission mechanism, a chain transmission mechanism, a belt transmission mechanism, a worm gear transmission mechanism, a cam transmission mechanism, and the like. Further, the transmission mechanism can also be a composite transmission mechanism formed by combining any of the transmission mechanisms.
Fig. 1 is a schematic flowchart illustrating a method for determining motion state data according to an embodiment of the present disclosure. The determination method is performed by an electronic device (e.g., a measurement device). The method for determining the motion state data of the target object is used for determining the motion state of a component which cannot be directly detected in the transmission mechanism. As shown in fig. 1, the method for determining motion state data of the target object includes the following steps:
step S101: reference data is acquired. The reference data is used for representing the motion state of the reference object on the transmission mechanism in the working mode.
Specifically, motion state data of the mechanical equipment in the working mode is acquired through the sensor. The sensor may be a linear displacement sensor or an angular displacement sensor.
Step S102: and determining the motion state data of the target object on the transmission mechanism in the working mode according to the reference data and the transmission function.
In this embodiment, the target object and the reference object have a linkage relationship. The target object and the reference object may be components respectively located in the same mechanical transmission mechanism, and the target object and the reference object are directly or indirectly connected.
In this embodiment, the reference object is located at a direct measurement position of the actuator and the target object is located at an indirect measurement position of the actuator. In particular, the trajectory of the entire movement of the reference object in the transmission is the position in the transmission that can be measured directly by the sensor. In particular, at least part of the movement path of the target object in the transmission is located at a position in the transmission which cannot be directly measured by the sensor. The direct measurement position is a position which can be directly measured by a sensor in the working mode of the transmission mechanism. The indirect measurement position is a position which cannot be directly measured by the sensor in the working mode of the transmission mechanism.
The transmission function is determined based on the first detected data and the second detected data. The first detection data is used for representing the motion state of the target object in the detection mode. The second detection data is used for characterizing the motion state of the reference object in a detection mode.
The motion state data includes, but is not limited to, a displacement-time function of the target object or a velocity-time function of the target object.
In an alternative implementation, the first detection data is a displacement-time function of the target object in the detection mode. The second detection data and the reference data are displacement-time functions of the reference object in the detection mode and the working mode, respectively.
In another alternative implementation, the first detection data is a speed-time function of the target object in the detection mode. The second detection data and the reference data are speed-time functions of the reference object in the detection mode and the working mode, respectively.
Because in the working mode, the target object can not directly acquire data through the sensor. Therefore, in the present embodiment, by acquiring the correspondence relationship (that is, the transmission function) of the first detection data and the second detection data of the target object and the reference object in the detection mode, the motion state of the target object is determined from the transmission function and the reference data.
In order to accurately acquire a transmission function representing the corresponding relation between first detection data of a target object and second detection data of a reference object, in a detection mode, parts of mechanical equipment which cause that the detection data of the target object cannot be directly acquired are removed, and a direct detection method is adopted to respectively acquire the first detection data and the second detection data.
Fig. 2 is a flowchart illustrating a method for determining a transmission function according to an embodiment of the present application. As shown in fig. 2, the method for determining the transmission function includes:
step S201: first detection data and second detection data are acquired.
Specifically, the first detection data may be acquired by using a linear displacement sensor or an angular displacement sensor.
Specifically, the second detection data and the reference data are acquired using the same sensor. In the operating mode and the detection mode, the position of the sensor determining the second detection data and the reference data is unchanged. Further, the second detection data and the reference data may be acquired by using a linear displacement sensor or an angular displacement sensor.
In an alternative implementation, the movement pattern of the target object is a linear movement, and the movement pattern of the reference object is a linear movement. The first detection data is acquired by a linear displacement sensor, and the second detection data and the reference data are acquired by the linear displacement sensor.
In another alternative implementation manner, the motion mode of the target object is a linear motion, and the reference object is a rotating shaft. The first detection data is acquired by a linear displacement sensor, and the second detection data and the reference data are acquired by an angular displacement sensor.
In yet another alternative implementation, the target object is a rotating shaft, and the motion mode of the reference object is a linear motion. The first detection data is acquired by an angular displacement sensor, and the second detection data and the reference data are acquired by a linear displacement sensor.
In yet another alternative implementation, the target object to be detected is a rotation axis, and the reference object is also a rotation axis. The first detection data is acquired by an angular displacement sensor, and the second detection data and the reference data are acquired by the angular displacement sensor.
The above implementation is merely an example, and different types of sensors may be used to acquire the detection data when the target object and the reference object move in different manners. In other alternative implementations, the detection mode and the detection device may be adapted according to different adaptations of the target object and the reference object.
When the angular displacement sensor is used for acquiring detection data, a bearing-free non-contact rotary encoder can be used for acquiring the detection data. Further, the bearingless non-contact type rotary encoder transmits signals in a differential signal transmission mode.
FIG. 3 is a schematic view of a bearingless non-contact rotary encoder according to an embodiment of the present application. As shown in FIG. 3, the encoder includes two parts, a magnetic head M2 and a magnetic ring M4, the magnetic ring M4 is fastened with a rotating shaft in the apparatus through a magnetic ring fixing bolt M5 and a magnetic ring mounting plate M3, and the magnetic head M2 is mounted on the magnetic ring M4 corresponding to the magnetic strip through a magnetic head mounting plate M1.
In this embodiment, the magnetic head and the magnetic ring are in non-contact measurement, and the magnetic head M2 induces the magnetic ring M4 to rotate and outputs pulses. The service life of the sensor is ensured, and the influence of the sensor on the motion of the connecting rod mechanism is eliminated. Magnetic head M2 and magnetic ring M4 can accept a certain degree installation deviation and gather the signal and be not influenced, can guarantee to gather the signal when there is the deviation and installation angle to have the deviation in horizontal installation, have reduced the installation degree of difficulty, have promoted the encoder suitability, have reduced because the encoder life-span decline that the installation problem caused. The encoder adopts differential signal transmission, so that the applicability of the sensor in the environment with strong signal interference is greatly improved. The encoder has good dustproof and waterproof performance, can be applicable to various indoor and outdoor environment encoders and can collect signals of a high-speed rotating shaft most without distortion, and the application range can cover the speed measurement of a connecting rod mechanism rotating at high and low speeds such as a high-speed motor, a high-voltage circuit breaker, a machine tool and a centrifugal pump.
Therefore, the bearing-free non-contact rotary encoder is adopted in the embodiment of the application, and the problems that the installation requirement of a contact encoder is high, the service life is short, and the influence on a link mechanism is large are solved. The encoder has the characteristics of strong anti-interference capability, long service life, no influence on a link mechanism, wide application range and the like. Meanwhile, the encoder has high-speed sampling capability, strong signal transmission anti-interference capability and high dustproof and waterproof grade, and the overall adaptability is improved.
Step S202: a transmission function is determined based on the first detected data and the second detected data.
An embodiment of the present invention determines a drive function based on the first sensed data and the second sensed data. Specifically, a undetermined coefficient method is adopted to determine a transmission function. The transmission function can reflect the corresponding relation between the first detection data and the second detection data of the target object and the reference object more accurately compared with the coefficient in the comparative example, and the precision can be improved.
Fig. 4 is a flow chart illustrating a method for determining a transmission function according to another embodiment of the present application. In this embodiment, the transfer function is a piecewise function. As shown in fig. 4, the method for determining the transmission function includes:
step S401: the motion interval of the target object is divided into at least two detection intervals.
In this embodiment, the detection section may be divided according to the movement time of the target object. The detection interval may also be divided according to a motion state of the target object.
Specifically, dividing the detection interval according to the movement time may be to select a certain time point during the whole movement of the target object. For example, the target object takes 30 seconds from the start of the movement to the end of the movement, and the 5 th, 10 th, 15 th, 20 th and 25 th time points may be respectively used as the section points, so as to divide the movement process of the target object into 6 detection sections.
Dividing the detection section according to the motion state may be dividing the detection section according to a motion velocity or a motion acceleration of the target object. For example, the target object undergoes 3 motion states of acceleration, uniform velocity and deceleration all the way from the beginning to the end of the motion. The acceleration transition point may be taken as the interval point. The motion section is divided into 3 detection sections in which the acceleration is positive, the acceleration is 0, and the acceleration is negative.
In other alternative implementations, taking the link mechanism as an example, the division of the detection interval may be determined according to the motion state of the link and the states of other components in the device where the link is located, for example: when the link mechanism moves to a certain state, the switch of the accessory part is closed; when a certain part contacts the damping part in the motion process of the connecting rod mechanism, the mechanism starts to perform deceleration motion; the connecting rod mechanism contacts with an accelerating component in the motion process, and the mechanism realizes secondary acceleration; the link mechanism is changed from acceleration motion to approximately uniform motion; the link mechanism leaves the factory to define the starting point and the end point of the speed measuring interval.
Specifically, during the movement of one link mechanism, the movement starts for 60 seconds to the full movement end. The acceleration movement is always performed within 10s from the movement start time. The motion is uniform in the time period of 11s-15 s. After the 15 th s, the connecting rod triggers the acceleration component to accelerate in 16 th-30 th s. And the motion is uniform in the time period from 31s to 45 s. After 45s, the connecting rod contacts the damping part, and the movement is decelerated in 46-60s until the movement speed of the connecting rod mechanism is 0. When the link mechanism is divided into the detection sections, the whole motion process can be divided into 5 detection sections of 0s-10s, 11s-15s, 16s-30s, 31s-45s and 46s-60 s.
Step S402: and acquiring first detection subdata corresponding to each detection interval respectively and second detection subdata corresponding to each detection interval respectively.
In an optional implementation manner, the motion interval is specifically divided into a plurality of detection intervals, and a plurality of groups of first detected sub-data are determined according to the detection intervals, where the first detected sub-data are displacement-time functions of the target object and are respectively denoted as Sa1(t) and Sa2(t) … san (t). And determining multiple groups of second detector sub-data according to the detection intervals, wherein the second detector sub-data are displacement-time functions of the reference object and are respectively marked as Sb1(t) and Sb2(t) … Sbn (t).
Step S403: and determining a transmission subfunction according to the first detection subdata and the second detection subdata corresponding to each detection interval. The transmission subfunction represents the corresponding relation between the first detection subdata and the second detection subdata of the target object and the reference object in each detection interval.
In an alternative implementation manner, a plurality of propagation subfunctions f1(t), f2(t) … fn (t) are determined according to the first detected data Sa1(t), Sa2(t) … san (t) and the second detected data Sb1(t), Sb2(t) … sbn (t).
Step S404: a drive function is determined from each drive sub-function.
Specifically, in step S404, at least two transfer subfunctions determined in step S403 are combined into one piece function. The piecewise function is the transfer function.
In an alternative implementation, the transfer function is as follows:
in this embodiment, the first detection data includes at least two first detection subdata corresponding to different detection intervals; the second detection data comprises at least two second detection subdata corresponding to different detection intervals; the transmission function comprises at least two transmission sub-functions corresponding to different detection intervals; and the transmission sub-function is determined according to the first detection sub-data and the second detection sub-data of each detection interval. According to the embodiment of the invention, the detection interval is divided, so that the transmission function representing the corresponding relation of the motion state functions of the target object and the reference object is closer to reality, and the motion state of the target object determined according to the transmission function and the reference data is more accurate.
Fig. 5-7 are schematic structural views of a transmission mechanism according to another embodiment of the present application. The following description will discuss an application of the method for determining a transmission function according to the embodiment of the present application to a link mechanism as an example. The four-bar linkage shown in fig. 5-7 consists of four links L1, L2, L3 and L4. The part A and the part B respectively reciprocate on the plane where the part A and the part B are located, and the fixed rotating shaft C rotates anticlockwise or clockwise. Fig. 5-7 show a movement process of the link mechanism, from fig. 5-7, the fixed rotating shaft C of the link mechanism rotates in a counterclockwise manner, the part a moves from top to bottom, and the part B moves from right to left.
In an alternative implementation, the part a is the target object and the part B is the reference object. And respectively adopting a linear displacement sensor to obtain direct detection data of the part A and the part B.
Firstly, the motion process of the part A is divided into two detection sections. Specifically, the process of the link mechanism from fig. 5 to 6 is taken as one detection section, and the process of the link mechanism from fig. 6 to 7 is taken as the other detection section. Specifically, the detection interval is divided according to the difference between the movement speeds of the target object in the detection interval of fig. 5 to 6 and the detection interval of fig. 6 to 7.
Secondly, two first detection subdata corresponding to the two detection intervals are obtained in the detection mode. The two first detection sub-data are displacement-time functions of the part a in each detection interval, and are respectively Sa1(t) and Sa2 (t). And under the detection mode, acquiring two second detection subdata corresponding to the two detection intervals. The two second detection subdata are displacement-time functions of the part B in each detection interval, and are Sb1(t) and Sb2 (t).
Then, a pending coefficient method is used to obtain corresponding functions f1(t) of Sa1(t) and Sb1(t), and a pending coefficient method is used to obtain corresponding functions f2(t) of Sa2(t) and Sb2 (t). For example, Sa1(t) is t3-4t2+2t+1；Sb1(t)＝t2-3 t-1. After Sa1(t) is factorized, Sa1(t) ═ t-1 (t)2-3 t-1); sa1(t) is f1(t) Sb1(t), and thus f1(t) is t-1. f2(t) is also determined in a similar manner and will not be described in detail herein.
Then, a transmission function f (t) is determined from f1(t) and f2 (t). In the present embodiment, the transmission function f (t) is specifically as follows:
then, a displacement-time function Sb' (t) of the operating state of the part B is obtained.
Finally, a displacement-time function Sa '(t) of the working mode of the part A is determined from the transfer functions F (t) and Sb' (t).
After the displacement-time function Sa '(t) of the working mode of the part A is determined, the speed-time function of the part A can be determined according to the displacement-time function Sa' (t), and whether the running condition of the part A in each detection section meets the equipment requirement or not can be analyzed according to the movement state data such as the displacement-time function, the displacement-speed function and the like. For example, it may be detected whether the displacement of the part a reaches a predetermined position. Whether the motion speed of each connecting rod in the connecting rod mechanism meets the requirement, whether the damping motion in the connecting rod mechanism meets the requirement, and the like. The consistency of curves can be compared by adopting a Pearson correlation coefficient method; taking difference by adopting the average slope, and comparing the stage speeds; and (4) carrying out secondary derivation on the displacement-time function, and carrying out stress condition analysis and work condition analysis on the link mechanism by adopting an extreme method in combination with the segmentation position.
The stress and the work doing condition of the part A can be further analyzed, for example, the overall operation condition of the mechanism can be evaluated by a parameter verification method.
Further, when the difference between the motion state data of the part A and the preset value of the equipment is larger than a preset threshold value, error reporting information is sent to prompt the equipment to be overhauled.
In another alternative implementation, as shown in fig. 5-7, the part a is the target object and the rotation axis C is the reference object. And a linear displacement sensor is adopted to obtain the direct detection data of the part A, and a bearingless non-contact rotary encoder W is adopted to obtain the direct detection data of the rotating shaft C. Wherein, the non-contact rotary encoder W without bearing is sleeved on the fixed rotating shaft. For details, reference may be made to the previous implementation, which is not described herein again.
The motion state data method of the present application can be applied to various devices, such as circuit breakers, buffers, and the like. It is also applicable to various machining apparatuses such as various machine tools and robots. After the motion state of the target object is determined, the motion state data can be displayed through a display device in the equipment, and the equipment state and the like can also be analyzed by using the detection result.
The embodiment of the application provides a method for determining motion state data. The method comprises the following steps: acquiring reference data, wherein the reference data is used for representing the motion state of a reference object in a working mode; determining motion state data of the target object in a working mode according to the reference data and the transmission function; wherein the transmission function is determined based on the first detection data and the second detection data; the first detection data is used for representing the motion state of the target object in a detection mode; the second detection data is used for characterizing the motion state of the reference object in a detection mode. The transmission function can accurately reflect the corresponding relation between the motion state of the reference object and the motion state of the target object, so that the detection precision of the motion state of the target object can be improved by determining the motion state data of the target object according to the reference data and the transmission function.
Fig. 8 is a schematic structural diagram of a device for determining motion state data according to another embodiment of the present application. As shown in fig. 8, the determination device for exercise status data provided by the present application includes:
the data acquisition module 801 is configured to acquire reference data, wherein the reference data is used for representing the motion state of a reference object on the transmission mechanism in the working mode, and send the reference data to the data processing module.
And a data processing module 802, communicatively connected to the data acquisition module, configured to receive the reference data and determine motion state data of the target object on the transmission mechanism according to the reference data and the transmission function.
Wherein the target object and the reference object have a linkage relationship.
Wherein the transmission function is determined from the first detection data and the second detection data; the first detection data is used for representing the motion state of the target object in a detection mode; the second detection data is used for characterizing the motion state of the reference object in a detection mode.
In one embodiment, the transfer function is a piecewise function.
In one embodiment, the first detection data includes a plurality of first detection subdata corresponding to different detection intervals; the second detection data comprise a plurality of second detection subdata corresponding to different detection intervals; the transmission function comprises a plurality of transmission sub-functions corresponding to different detection intervals; and the transmission sub-function is determined according to the first detection sub-data and the second detection sub-data of each detection interval.
The detection interval is divided according to the motion time of the target object, or the detection interval is divided according to the motion state of the target object.
In one embodiment, the data acquisition module includes a sensor and a signal transmission circuit. Specifically, the reference data, the first detection data, and the second detection data are acquired by one of a linear displacement sensor and an angular displacement sensor, respectively.
In one embodiment, the reference data and the second detection data are respectively acquired by a bearingless non-contact rotary encoder.
In one embodiment, the bearingless non-contact type rotary encoder transmits signals by adopting a differential signal transmission mode.
In one embodiment, the reference object is located at a direct measurement position of the actuator and the target object is located at an indirect measurement position of the actuator.
It should be understood that the operations and functions of the data acquisition module 801 and the data processing module 802 may refer to the determination method of the motion state data provided in fig. 1 to 7, and are not described herein again to avoid redundancy.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application. An electronic device according to an embodiment of the present application is described below with reference to fig. 9.
As shown in fig. 9, the electronic device 90 includes one or more processors 901 and memory 902.
The processor 901 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.
Memory 902 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium, and executed by the processor 901 to implement the alignment method of the embodiments of the present application described above or other desired functions. Various content such as hoisting parameters may also be stored in the computer readable storage medium.
In one embodiment, the electronic device 90 may further include: an input device 903 and an output device 904, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 903 may include, for example, a keyboard, a mouse, and the like.
The output device 904 may output various information including the determined exercise data and the like to the outside. The output 904 may include, for example, a display, a communication network, a remote output device connected thereto, and so forth.
Of course, for simplicity, only some of the components of the electronic device 90 relevant to the present application are shown in fig. 9, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 90 may include any other suitable components, depending on the particular application.
In addition to the above methods and apparatuses, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the alignment method according to various embodiments of the present application described in the present specification.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, cause the processor to perform the steps in the alignment method according to various embodiments of the present application.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that advantages, effects, etc. mentioned in the present application are only embodiments and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is merely for purposes of example and not for purposes of limitation, and the present disclosure is not limited to the specific details set forth herein as they may suggest or render expedient.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to". It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention are included in the present invention.
Claims (10)
1. A method for determining motion state data, comprising:
acquiring reference data, wherein the reference data is used for representing the motion state of a reference object on a transmission mechanism in a working mode; and
determining motion state data of a target object on the transmission mechanism in a working mode according to the reference data and the transmission function;
wherein the target object and the reference object have a linkage relationship;
wherein the transmission function is determined from the first detection data and the second detection data; the first detection data is used for representing the motion state of the target object in a detection mode; the second detection data is used for characterizing the motion state of the reference object in a detection mode.
2. The method of determining kinematic state data of claim 1, characterized in that the transmission function is a piecewise function.
3. The method of claim 2, wherein the first detection data includes at least two first detection subdata corresponding to different detection intervals; the second detection data comprises at least two second detection subdata corresponding to different detection intervals; the transmission function comprises at least two transmission sub-functions corresponding to different detection intervals; the transmission sub-function is determined according to the first detection sub-data and the second detection sub-data of each detection interval;
wherein the detection interval is divided according to the motion time of the target object; or the detection interval is divided according to the motion state of the target object.
4. The method for determining motion state data according to any one of claims 1 to 3, wherein the reference data, the first detection data and the second detection data are respectively acquired by one of a linear displacement sensor or an angular displacement sensor.
5. The method of claim 4, wherein the angular displacement sensor is a bearingless non-contact rotary encoder.
6. The method for determining motion state data according to claim 5, wherein the bearingless non-contact type rotary encoder transmits signals by means of differential signal transmission.
7. A method for determining motion state data according to any of claims 1-3, wherein the reference object is located at a directly measured position of the actuator and the target object is located at an indirectly measured position of the actuator.
8. An apparatus for determining motion state data, comprising:
the data acquisition module is configured to acquire reference data, the reference data are used for representing the motion state of a reference object on the transmission mechanism in a working mode, and the reference data are sent to the data processing module; and
the data processing module is in communication connection with the data acquisition module and is configured to receive the reference data and determine motion state data of a target object on the transmission mechanism according to the reference data and the transmission function;
wherein the target object and the reference object have a linkage relationship;
wherein the transmission function is determined from the first detection data and the second detection data; the first detection data is used for representing the motion state of the target object in a detection mode; the second detection data is used for characterizing the motion state of the reference object in a detection mode.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to implement the steps of the method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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