CN115284207A - Method and device for identifying pressure maintaining torque of intelligent electric batch and storage medium - Google Patents
Method and device for identifying pressure maintaining torque of intelligent electric batch and storage medium Download PDFInfo
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- CN115284207A CN115284207A CN202211019985.3A CN202211019985A CN115284207A CN 115284207 A CN115284207 A CN 115284207A CN 202211019985 A CN202211019985 A CN 202211019985A CN 115284207 A CN115284207 A CN 115284207A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
- B25B23/147—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for electrically operated wrenches or screwdrivers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
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Abstract
The invention relates to an identification method, a device and a storage medium of pressure maintaining torque of an intelligent electric batch, which are characterized in that torque data of the intelligent electric batch in the working process are collected in real time, a sliding window with preset duration is established for newly added torque data, the sliding window is used as a first sliding window, historical torque data is used as a second sliding window, the change amplitude between a first change rate corresponding to the torque data in the first sliding window and a second change rate corresponding to the torque data in the second sliding window is continuously calculated, when the change amplitude reaches a preset range, the initial point of the first sliding window is used as an initial fitting point, and the initial fitting point is updated according to the torque data detected and updated in real time and the calculation result; the method can reduce the situation that the intelligent electric batch is mistakenly considered to reach the attaching torque due to the fact that torque mutation is caused by uncertain factors, improves the accuracy of identifying the attaching torque of the intelligent electric batch, further better determines the pressure maintaining torque, and improves the locking quality of the screw.
Description
Technical Field
The invention relates to the technical field of intelligent electric batch, in particular to a method and a device for identifying pressure maintaining torque of an intelligent electric batch and a storage medium.
Background
The intelligent electric screwdriver is a high-precision locking tool which takes a servo motor and torque force feedback as cores and is realized by applying an intelligent control algorithm. Compared with the traditional screwdriver, the screwdriver has the advantages of high torque force precision, accurate and controllable locking angle, real-time torque force feedback, multi-rotation-speed process realization and the like. Referring to fig. 1, in the working process of the intelligent electric screwdriver, the locked screw will go through 5 main stages: the method comprises the steps of screwing a screw into a thread screw hole, screwing the screw in the middle of high speed, pre-screwing the screw (namely screwing the screw to an adhesive surface to achieve adhesive torsion and prepare for next screw screwing), screwing the screw, and pressure maintaining control or angle control of the screw (pressure maintaining control means that after screwing, locking force needs to be kept for a period of time to reinforce).
Only when the accurate fitting torque is found in the specific operation, the purposes of accurately controlling the locking distance and calculating the locking torque can be achieved, the control process from pre-tightening to tightening is completed, and the locking quality of the intelligent electric screwdriver is directly determined by the process. Theoretically, the adhesion torque identification technology can be completed by detecting a slope abrupt change point of torque feedback, but in practice, due to factors such as torque feedback errors, scrap iron, thread machining precision and the like, the abrupt change point identification often has errors. In addition, although the recognition accuracy can be improved by improving the sensor accuracy, reducing the locking speed, or the like, this method causes problems such as an increase in product cost, a reduction in work efficiency, and the like.
Disclosure of Invention
The invention provides a method and a device for identifying pressure maintaining torque of an intelligent electric batch and a storage medium, and aims to improve the identification accuracy of the fitting torque of the intelligent electric batch, further better determine the pressure maintaining torque and improve the locking quality.
In a first aspect, the invention provides a method for identifying a pressure maintaining torque of an intelligent electric batch, which comprises the following steps:
acquiring torque data of the intelligent electronic batch in a working process in real time, establishing a sliding window with preset duration for newly added torque data, taking the sliding window as a first sliding window, and taking historical torque data as a second sliding window;
calculating a first rate of change corresponding to the torque data within the first sliding window and a second rate of change corresponding to the torque data within the second sliding window;
if the variation amplitude between the first variation rate and the second variation rate reaches a preset range, taking the starting point of the first sliding window at the moment as an initial fitting point, and taking the torque corresponding to the starting point as the initial fitting torque of the intelligent electric batch;
based on the first sliding window updated in real time, if the change amplitude between the first change rate corresponding to the new first sliding window and the second change rate corresponding to the new second sliding window reaches the preset range, updating the initial attaching point, and taking the initial point of the new first sliding window as the attaching point of the intelligent electronic batch;
and calculating the pressure maintaining torque of the intelligent electric batch according to the torque corresponding to the attaching point.
In one embodiment, if the variation range between the first variation rate and the second variation rate reaches a preset range,
the ratio of the first rate of change to the second rate of change reaches a preset ratio range.
In one embodiment, the updating of the first sliding window includes, if a variation range between a first variation rate corresponding to a new first sliding window and a second variation rate corresponding to a new second sliding window reaches a preset range, using a starting point of the new first sliding window as an attachment point of the smart electronic batch,
and updating the first sliding window, and taking the starting point of the new first sliding window as the attaching point of the intelligent electric batch if the ratio of the first change rate corresponding to the new first sliding window to the second change rate corresponding to the new second sliding window fluctuates within the upper and lower preset ranges of the ratio of the first change rate to the second change rate at the initial attaching point.
In one embodiment, the updating of the first sliding window includes, if a variation range between a first variation rate corresponding to a new first sliding window and a second variation rate corresponding to a new second sliding window reaches a preset range, using a starting point of the new first sliding window as an attachment point of the smart electronic batch,
and updating the first sliding window, and if the ratio of the first change rate corresponding to the new first sliding window to the second change rate corresponding to the new second sliding window is larger than the ratio of the first change rate to the second change rate at the initial joint point, taking the starting point of the new first sliding window as the joint point of the intelligent electronic batch.
In one embodiment, after the taking the starting point of the new first sliding window as the attaching point of the smart batch, the method further includes,
and continuously updating the first sliding window, and if the change amplitude between the first change rate corresponding to the continuously updated first sliding window and the second change rate corresponding to the continuously updated second sliding window reaches the preset range and the moving time length of the first sliding window reaches the preset value, keeping the attachment point unchanged.
In one embodiment, said calculating a first rate of change for torque data within said first sliding window and a second rate of change for torque data within said second sliding window comprises,
and carrying out linear regression algorithm processing on the torque data in the first sliding window and the torque data in the second sliding window to obtain the first change rate and the second change rate.
In one embodiment, said calculating a first rate of change corresponding to torque data within said first sliding window and a second rate of change corresponding to torque data within said second sliding window comprises,
carrying out filtering processing on the torque data in the first sliding window and the torque data in the second sliding window;
and calculating to obtain the first change rate and the second change rate according to the difference value of the torque data at the two ends of the window of the first sliding window and the second sliding window and the window width.
In a second aspect, the present invention provides an apparatus for identifying a holding pressure torque of an intelligent electric batch, comprising:
the data acquisition unit is used for acquiring the torque data of the intelligent electronic batch in the working process in real time, establishing a sliding window with preset duration for the newly-added torque data, taking the sliding window as a first sliding window, and taking the historical torque data as a second sliding window;
the change rate calculation unit is used for calculating a first change rate corresponding to the torque data in the first sliding window and a second change rate corresponding to the torque data in the second sliding window;
the comparison unit is used for taking the starting point of the first sliding window at the moment as an initial fitting point and taking the torque corresponding to the starting point as the initial fitting torque of the intelligent electric batch if the change amplitude between the first change rate and the second change rate reaches a preset range;
the updating unit is used for updating the initial fitting point if the change amplitude between the first change rate corresponding to the new first sliding window and the second change rate corresponding to the new second sliding window reaches the preset range on the basis of the first sliding window updated in real time, and taking the initial point of the new first sliding window as the fitting point of the intelligent electric batch;
and the pressure maintaining torque calculation unit is used for calculating the pressure maintaining torque of the intelligent electric batch according to the torque corresponding to the attaching point.
In a third aspect, the present invention provides an intelligent electric batch, which includes an electric batch main body, a controller and a memory, wherein the memory stores a computer program, and the computer program is executed by the controller to implement the method for identifying the holding pressure torque of the intelligent electric batch according to any one of claims 1 to 7.
In a fourth aspect, the present invention provides a computer storage medium, wherein a computer program is stored, and when the computer program is executed, the computer program implements the method for identifying the holding pressure torque of the smart electric batch according to any one of claims 1 to 7.
The invention relates to a method, a device and a storage medium for identifying pressure maintaining torque of an intelligent electric batch, which are characterized in that a sliding window with preset duration is established for newly-added torque data by acquiring the torque data of the intelligent electric batch in a working process in real time, the sliding window is used as a first sliding window, historical torque data is used as a second sliding window, the variation amplitude between a first variation rate corresponding to the torque data in the first sliding window and a second variation rate corresponding to the torque data in the second sliding window is continuously calculated, when the variation amplitude reaches a preset range, the initial point of the first sliding window is used as an initial fitting point, and the initial fitting point is updated according to the torque data detected and updated in real time and a calculation result; the method can reduce the situation that the intelligent electric batch is mistakenly considered to reach the attaching torque due to the fact that the torque suddenly changes due to uncertain factors, improves the accuracy of identifying the attaching torque of the intelligent electric batch, further better determines the pressure maintaining torque, and improves the locking quality of the screw.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required in the embodiments are briefly described below, the drawings in the following description are only corresponding to some embodiments of the present invention, and it is obvious for those skilled in the art that drawings of other embodiments can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic torque diagram of a prior art smart screwdriver at 5 stages of screw attachment;
FIG. 2 is a flow chart of a method for identifying holding pressure torque of an intelligent electronic batch according to one embodiment of the present invention;
FIG. 3 is a schematic view of a first sliding window and a second sliding window in accordance with one embodiment of the present invention;
FIG. 4 is a flowchart of a method for identifying holding pressure torque of an intelligent electronic batch according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of torque variation with torque flare due to uncertainty in accordance with another embodiment of the present invention;
fig. 6 is a schematic structural diagram of an identification device for holding pressure torque of an intelligent electric batch according to an embodiment of the present invention.
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.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Referring to fig. 2, the present invention relates to a method for identifying holding pressure torque of an intelligent electric batch, which in one embodiment comprises:
and S01, acquiring torque data of the intelligent electronic batch in the working process in real time, establishing a sliding window with preset duration for the newly-added torque data, taking the sliding window as a first sliding window, and taking historical torque data as a second sliding window.
After the intelligent electric batch starts to work, the torque data of the intelligent electric batch is acquired in real time, specifically, the torque of the intelligent electric batch can be directly acquired through a torque sensor to obtain the torque data, or the torque is obtained through motor current feedback estimation.
Referring to fig. 3, in the method of the embodiment, two sliding windows are established for the torque data of the intelligent electric batch acquired in real time, a sliding window with a preset duration is established for the newly added torque data, the sliding window is used as a first sliding window, and the historical torque data is used as a second sliding window. It can be understood that, in the process of locking the screw of the intelligent electric screwdriver, as time goes on, the width of the first window is unchanged, the window width is continuously shifted to the right, the second window is continuously widened, and historical data corresponding to the first window is obtained in real time.
And S02, calculating a first change rate corresponding to the torque data in the first sliding window and a second change rate corresponding to the torque data in the second sliding window.
The rate of change is the rate of change in magnitude of the torque data over time within the sliding window.
And S03, if the variation amplitude between the first variation rate and the second variation rate reaches a preset range, taking the starting point of the first sliding window at the moment as an initial fitting point, and taking the torque corresponding to the starting point as the initial fitting torque of the intelligent electric batch.
In the process of acquiring the torque data of the intelligent electric batch in real time, updating the first window every other window width of the first window, correspondingly updating the second window once along with the change of historical data, and calculating a first change rate corresponding to the torque data in the first sliding window and a second change rate corresponding to the torque data in the second sliding window once every time the first window and the second window are updated.
When the screw locking process does not reach the attachment point, the torque of the intelligent electric screwdriver is in a state of changing at an approximately constant speed, the intelligent electric screwdriver is screwed in at a high speed, the difference of the change rate of the torque data in the first window corresponding to the newly added torque data and the change rate of the torque data in the second window corresponding to the historical data is very small, and when the screw locking process reaches the attachment point, the torque of the intelligent electric screwdriver can change greatly. The method of the embodiment utilizes the characteristic that the torque of the intelligent screwdriver changes in the screw locking process, and automatically finds the position where the torque changes greatly through the two sliding windows to serve as an initial fitting point of the intelligent screwdriver in the working process.
Specifically, the preset range of the variation amplitude between the first variation rate and the second variation rate may be determined according to an actual empirical value.
And S04, based on the first sliding window updated in real time, if the change amplitude between the first change rate corresponding to the new first sliding window and the second change rate corresponding to the new second sliding window reaches the preset range, updating the initial fitting point, and taking the starting point of the new first sliding window as the fitting point of the intelligent electric batch.
In the actual work of intelligence electricity batch, intelligence electricity batch probably meets unexpected factors such as iron fillings pile up and lead to the condition of moment of torsion sudden change before reaching the laminating point, though the moment of torsion variation range of intelligence electricity batch is bigger but it does not reach the laminating point, if the moment detected moment of torsion as laminating moment of torsion calculate the pressurize moment of torsion will be inaccurate, influence the lock and attach the effect.
After the initial fitting point is preliminarily determined, the method of the embodiment continuously acquires the torque data and moves the first window, continuously calculates the variation amplitude of the torque data of the first window and the second window, updates the initial fitting point when the variation amplitude reaches a preset range, takes the starting point of a new first window as the fitting point of the intelligent electronic batch, and takes the torque corresponding to the starting point as the new fitting torque.
And S05, calculating the pressure maintaining torque of the intelligent electric batch according to the torque corresponding to the attaching point.
The pressure maintaining torque and the attaching torque have a certain corresponding relation, after the attaching torque is determined, the pressure maintaining torque can be further determined according to a preset formula, and the calculation formula can be used for adding a numerical value on the basis of the attaching torque to be used as the pressure maintaining torque or multiplying the numerical value by a certain proportionality coefficient to obtain the pressure maintaining torque.
The intelligent electric screwdriver can continuously increase the torque in the working process, and the intelligent electric screwdriver is controlled to stop working after the torque is increased to the pressure maintaining torque for a period of time so as to prevent the torque of the intelligent electric screwdriver from being increased all the time and the situation of wire slipping is avoided.
According to the method for identifying the pressure maintaining torque of the intelligent electric screwdriver, two sliding windows are established for the torque data acquired in real time, the two sliding windows respectively correspond to newly added torque data and historical torque data, the variation range of the torque variation rate of the two sliding windows is calculated every preset time, if the variation range reaches a preset range, the starting point of the sliding window with the newly added data is used as an attaching point, and the attaching point is updated according to the sliding window which is continuously updated, so that the attaching point identification error caused by torque mutation due to iron chips, torque feedback errors, thread machining precision and other accidents is reduced, the accuracy of attaching point identification is improved, the rationality of determining the pressure maintaining torque is improved, and the locking quality is improved.
Referring to fig. 4, in another embodiment, the method for identifying the holding pressure torque of the smart electric batch according to the present invention includes:
and S11, acquiring torque data of the intelligent electric batch in the working process in real time.
And S12, establishing a sliding window with preset duration for the newly added torque data, taking the sliding window as a first sliding window, and taking the historical torque data as a second sliding window.
And S13, updating the first sliding window and the second sliding window.
And S14, calculating a first change rate corresponding to the torque data in the first sliding window and a second change rate corresponding to the torque data in the second sliding window.
In one embodiment, the first rate of change and the second rate of change are obtained by performing a linear regression algorithm on the torque data in the first sliding window and the torque data in the second sliding window.
Specifically, the linear regression algorithm may choose to use least squares or LMS least mean square method according to the processor performance. The estimator of the simplified unary linear regression model parameters can be obtained by adopting a real-time least square method.
In another embodiment, the torque data in the first sliding window and the torque data in the second sliding window are filtered;
and calculating to obtain the first change rate and the second change rate according to the difference value of the torque data at the two ends of the window of the first sliding window and the second sliding window and the window width.
Specifically, filtering is realized by adopting a first-order low-pass filter in an IIR mode, and a typical expression of the filtering is as follows:
out(n)＝α*in(n)+(1-α)*out(n-1)；
in the formula: alpha is the filter coefficient of the first-order low-pass filtering, in (n) is the sampling value of the period, out (n-1) is the output of the filter of the previous period, and out (n) is the output of the filter of the period. The period refers to a sampling period of the smart electric batch torque data.
Through the processing, the accurate change rate of the torque data in the first window and the second window can be obtained.
And S15, if the ratio of the first change rate to the second change rate reaches a preset range, taking the starting point of the first sliding window at the moment as an initial laminating point, and taking the torque corresponding to the starting point as the initial laminating torque of the intelligent electronic batch.
The predetermined range of the ratio may be determined based on actual empirical values.
And S16, based on the first sliding window updated in real time, if the ratio of the first change rate corresponding to the new first sliding window to the second change rate corresponding to the new second sliding window is greater than the ratio of the first change rate corresponding to the new second sliding window to the initial fitting point, updating the initial fitting point, and taking the initial point of the new first sliding window as the fitting point of the intelligent electronic batch.
In one embodiment, if a ratio of a first change rate corresponding to a new first sliding window to a second change rate corresponding to a new second sliding window fluctuates within an upper and lower preset range of the ratio of the first change rate to the second change rate at the initial attachment point, the starting point of the new first sliding window may be used as the attachment point of the smart electronic batch.
The preset range may be ± 10%, and is not limited to the range, which indicates that the torque data in the new first window also changes to a larger extent, and at this time, the initial fitting point is updated, and the starting point of the new first sliding window is used as the fitting point of the smart electronic batch.
And S17, continuously updating the first sliding window, and if the change range between the first change rate corresponding to the continuously updated first sliding window and the second change rate corresponding to the continuously updated second sliding window reaches the preset range and the moving time of the first sliding window reaches the preset value, keeping the attachment point unchanged.
In one embodiment, if the continuously updated change rate of the first window remains unchanged and the moving time duration of the first sliding window reaches a preset value, the fitting point is kept unchanged.
In the process of work of intelligent electric batch, the time that the unexpected condition that takes place the moment of torsion sudden change often lasts is than shorter, for example iron fillings are piled up and can be let intelligent electric batch have the range surge of short time, but can not last for a long time, and reach after the laminating point, the moment of torsion change rate of intelligent electric batch can maintain at relatively stable state. Based on the characteristic, if the variation amplitude between the first variation rate corresponding to the continuously updated first sliding window and the second variation rate corresponding to the continuously updated second sliding window reaches the preset range, and the moving time length of the first sliding window reaches the preset value, the fitting point is kept unchanged.
Referring to fig. 5, after the torque data is obviously increased at point B, the amplitude of the change drops back to point C, which indicates that point B is not the fitting point of the smart electronic batch and may be an unexpected disturbance, and when the torque data keeps continuously and stably increasing for a long time after the torque data is obviously increased again at point D, it indicates that point D is more accurate as the fitting point of the smart electronic batch.
The final attaching point can be better determined through the setting, and the accuracy of attaching point identification is improved.
And S18, calculating the pressure maintaining torque of the intelligent electric batch according to the torque corresponding to the attaching point.
The intelligent electric screwdriver pressure maintaining torque identification method comprises the steps of establishing two sliding windows for torque data acquired in real time, respectively corresponding to newly-added torque data and historical torque data, calculating the ratio of the torque change rates of the two sliding windows every preset time, updating an attachment point by taking the starting point of the sliding window of the newly-added data as the attachment point according to the continuously-updated sliding window if the ratio reaches a preset range, determining the attachment point as a final attachment point after the torque change rate of the attachment point is stabilized, reducing attachment point identification errors caused by torque mutation due to iron chips, torque feedback errors, thread machining precision and other accidents, improving the identification accuracy of the attachment point, further improving the rationality of determining the pressure maintaining torque, and improving the locking quality.
The embodiment of the present application further provides an identification apparatus for pressure maintaining torque of an intelligent electric screwdriver, refer to fig. 6, including:
the data acquisition unit 10 is configured to acquire torque data of the intelligent electronic batch in a working process in real time, establish a sliding window with a preset duration for newly-added torque data, use the sliding window as a first sliding window, and use historical torque data as a second sliding window.
And the change rate calculation unit 20 is used for calculating a first change rate corresponding to the torque data in the first sliding window and a second change rate corresponding to the torque data in the second sliding window.
And if the variation amplitude between the first variation rate and the second variation rate reaches a preset range, the comparison unit 30 takes the starting point of the first sliding window at the moment as an initial fitting point, and takes the torque corresponding to the starting point as the initial fitting torque of the intelligent electric batch.
And the updating unit 40 is used for updating the initial attachment point if the change range between the first change rate corresponding to the new first sliding window and the second change rate corresponding to the new second sliding window reaches the preset range based on the first sliding window updated in real time, and taking the starting point of the new first sliding window as the attachment point of the intelligent electronic batch.
And the pressure maintaining torque calculation unit 50 is used for calculating the pressure maintaining torque of the intelligent electric batch according to the torque corresponding to the attaching point.
In one embodiment, if the variation range between the first variation rate and the second variation rate reaches a predetermined range,
the ratio of the first rate of change to the second rate of change reaches a preset ratio range.
In one embodiment, the comparing unit 30 is specifically configured to update the first sliding window, and if a ratio of a first change rate corresponding to a new first sliding window to a second change rate corresponding to a new second sliding window fluctuates within an upper and lower preset range of the ratio of the first change rate to the second change rate at the initial attachment point, use a starting point of the new first sliding window as an attachment point of the smart batch.
In another embodiment, the comparing unit 30 is specifically configured to update the first sliding window, and if a ratio of a first change rate corresponding to the new first sliding window to a second change rate corresponding to the new second sliding window is greater than a ratio of a first change rate corresponding to the initial attachment point to the second change rate, take a starting point of the new first sliding window as the attachment point of the smart batch.
In one embodiment, the apparatus further comprises a hold determination unit,
and continuously updating the first sliding window, and if the change amplitude between the first change rate corresponding to the continuously updated first sliding window and the second change rate corresponding to the continuously updated second sliding window reaches the preset range and the moving time length of the first sliding window reaches the preset value, keeping the attachment point unchanged.
In one embodiment, the change rate calculating unit 20 is specifically configured to perform a linear regression algorithm on the torque data in the first sliding window and the torque data in the second sliding window to obtain the first change rate and the second change rate.
In another embodiment, the change rate calculating unit 20 is specifically configured to perform filtering processing on the torque data in the first sliding window and the torque data in the second sliding window;
and calculating to obtain the first change rate and the second change rate according to the difference value of the torque data at the two ends of the window of the first sliding window and the second sliding window and the window width.
The specific processes of the units for executing the corresponding steps have been described in detail in the above method embodiments, and are not described herein again for brevity.
The embodiment of the present invention further provides an intelligent electric batch, which includes an electric batch main body, a controller and a memory, wherein a computer program is stored in the memory, and when the computer program is loaded and executed by the controller, the method steps described in any of the above method embodiments are implemented.
The embodiment of the present invention further provides a computer storage medium, where a computer program is stored, and when the computer program is executed, the method steps described in any one of the foregoing method embodiments are implemented.
In the above embodiments provided by the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium.
Based on such understanding, the technical solution of the present application may be substantially or partially embodied or embodied in a software product stored in a storage medium, and includes several instructions for causing a computer device (which may be a mobile terminal, a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In summary, although the present invention has been disclosed in terms of the preferred embodiments, the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention within the scope of the present invention.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
Claims (10)
1. The method for identifying the pressure maintaining torque of the intelligent electric screwdriver is characterized by comprising the following steps of:
acquiring torque data of the intelligent electronic batch in a working process in real time, establishing a sliding window with preset duration for newly added torque data, taking the sliding window as a first sliding window, and taking historical torque data as a second sliding window;
calculating a first rate of change corresponding to the torque data within the first sliding window and a second rate of change corresponding to the torque data within the second sliding window;
if the variation amplitude between the first variation rate and the second variation rate reaches a preset range, taking the starting point of the first sliding window at the moment as an initial fitting point, and taking the torque corresponding to the starting point as the initial fitting torque of the intelligent electric batch;
based on the first sliding window updated in real time, if the change amplitude between the first change rate corresponding to the new first sliding window and the second change rate corresponding to the new second sliding window reaches the preset range, updating the initial attachment point, and taking the initial point of the new first sliding window as the attachment point of the intelligent electronic batch;
and calculating the pressure maintaining torque of the intelligent electric batch according to the torque corresponding to the attaching point.
2. The method for identifying holding pressure torque of an intelligent electric batch according to claim 1, wherein if the variation range between the first variation rate and the second variation rate reaches a preset range,
the ratio of the first rate of change to the second rate of change reaches a preset ratio range.
3. The method for identifying holding pressure torque of an intelligent electric batch according to claim 2, wherein the updating the first sliding window includes taking a starting point of a new first sliding window as an abutting point of the intelligent electric batch if a variation range between a first variation rate corresponding to the new first sliding window and a second variation rate corresponding to a new second sliding window reaches a preset range,
and updating the first sliding window, and taking the starting point of the new first sliding window as the attaching point of the intelligent electronic batch if the ratio of the first change rate corresponding to the new first sliding window to the second change rate corresponding to the new second sliding window fluctuates within the upper and lower preset ranges of the ratio of the first change rate to the second change rate at the initial attaching point.
4. The method for identifying holding pressure torque of an intelligent electric batch according to claim 2, wherein the updating the first sliding window includes taking a starting point of a new first sliding window as an abutting point of the intelligent electric batch if a variation range between a first variation rate corresponding to the new first sliding window and a second variation rate corresponding to a new second sliding window reaches a preset range,
and updating the first sliding window, and if the ratio of the first change rate corresponding to the new first sliding window to the second change rate corresponding to the new second sliding window is larger than the ratio of the first change rate to the second change rate at the initial joint point, taking the starting point of the new first sliding window as the joint point of the intelligent electronic batch.
5. The method for identifying packing torque of an intelligent electric batch according to claim 1, wherein the step of taking the starting point of the new first sliding window as the fitting point of the intelligent electric batch further comprises,
and continuously updating the first sliding window, and if the change amplitude between the first change rate corresponding to the continuously updated first sliding window and the second change rate corresponding to the continuously updated second sliding window reaches the preset range and the moving time length of the first sliding window reaches the preset value, keeping the attachment point unchanged.
6. The method of claim 1, wherein the calculating a first rate of change corresponding to the torque data within the first sliding window and a second rate of change corresponding to the torque data within the second sliding window comprises,
and carrying out linear regression algorithm processing on the torque data in the first sliding window and the torque data in the second sliding window to obtain the first change rate and the second change rate.
7. The method of claim 1, wherein the calculating a first rate of change corresponding to the torque data within the first sliding window and a second rate of change corresponding to the torque data within the second sliding window comprises,
filtering the torque data in the first sliding window and the torque data in the second sliding window;
and calculating to obtain the first change rate and the second change rate according to the difference value of the torque data at the two ends of the window of the first sliding window and the second sliding window and the window width.
8. The utility model provides an identification means of pressurize moment of torsion of intelligence electricity batch which characterized in that includes:
the data acquisition unit is used for acquiring the torque data of the intelligent electronic batch in the working process in real time, establishing a sliding window with preset duration for the newly-added torque data, taking the sliding window as a first sliding window, and taking the historical torque data as a second sliding window;
the change rate calculation unit is used for calculating a first change rate corresponding to the torque data in the first sliding window and a second change rate corresponding to the torque data in the second sliding window;
a comparison unit, which takes the starting point of the first sliding window at the moment as an initial fitting point and takes the torque corresponding to the starting point as the initial fitting torque of the intelligent cable batch if the variation amplitude between the first variation rate and the second variation rate reaches a preset range;
the updating unit is used for updating the initial attaching point if the change amplitude between the first change rate corresponding to the new first sliding window and the second change rate corresponding to the new second sliding window reaches the preset range on the basis of the first sliding window updated in real time, and taking the starting point of the new first sliding window as the attaching point of the intelligent electronic batch;
and the pressure maintaining torque calculation unit is used for calculating the pressure maintaining torque of the intelligent electric batch according to the torque corresponding to the attaching point.
9. An intelligent electric batch, characterized in that, it comprises an electric batch main body, a controller and a memory, wherein the memory stores a computer program, the computer program is executed by the controller to realize the method of identifying the holding pressure torque of the intelligent electric batch according to any one of the above claims 1 to 7.
10. A computer storage medium, characterized in that a computer program is stored in the computer storage medium, which when executed implements the method of identifying holding pressure torque of an intelligent electric batch according to any one of claims 1 to 7.
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| CN117546887B (en) * | 2024-01-12 | 2024-03-29 | 武汉市巽皇食品有限公司 | Automatic dough kneading control method and system based on Internet of things |
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