An angular displacement determination method, apparatus, electronic device, and storage medium

Abstract

This application discloses a method, apparatus, electronic device, and storage medium for determining angular displacement. Specifically, it includes: acquiring two voltage signals output by an angle meter mounted on a target object, and using them as a first signal and a second signal, respectively; wherein the first signal is output before the second signal; comparing a second voltage value corresponding to the second signal with a preset voltage threshold value; and determining the angular displacement occurring during the movement of the target object based on at least one of the comparison result, the second voltage value, the first voltage value corresponding to the first signal, and the calibration state of the angle meter. By distinguishing between high and low voltage outputs of the two voltage signals, the angular displacement of the loader's working device under different conditions is calculated separately, effectively improving calculation accuracy, obtaining continuous angular displacement calculation values, and avoiding step phenomena in the calculated angular displacement value at signal transition points caused by signal errors, which could affect measurement accuracy or even lead to control errors of the working device.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method, apparatus, electronic device and storage medium for determining angular displacement. Background Technology

[0002] With urbanization and modernization, heavy construction machinery is indispensable for improving construction efficiency. During construction, the precision of the work depends on the accuracy of the machinery's control; therefore, monitoring the parameters of the machinery during its use is crucial.

[0003] For example, during the operation of a loader, the angular displacement of the bucket is monitored for the lifting, lowering, and rotating movements of the loader's working device to ensure the normal operation of the loader. Currently, engineers install sensors inside the loader to detect whether the bucket's movements are normal. However, the sensor's measurement signals are prone to calculation errors, resulting in poor continuity of angular displacement detection and consequently, poor accuracy of angular displacement measurement. Summary of the Invention

[0004] This application provides a method, apparatus, electronic device, and storage medium for determining angular displacement, so as to improve the continuity of angular displacement measurement and the accuracy of angular displacement calculation in heavy engineering machinery.

[0005] According to one aspect of this application, a method for determining angular displacement is provided, the method comprising:

[0006] Two voltage signals output by an angle meter set on the target object are acquired and used as the first signal and the second signal, respectively; wherein the output sequence of the first signal is before the second signal.

[0007] The second voltage value corresponding to the second signal is compared with the preset voltage threshold value;

[0008] The angular displacement that occurs when the target object moves is determined based on at least one of the comparison results, the second voltage value, the first voltage value corresponding to the first signal, and the calibration status of the angle meter.

[0009] According to another aspect of this application, an angular displacement determining device is provided, the device comprising:

[0010] The signal acquisition module is used to acquire two voltage signals output by the angle meter set on the target object, and use them as the first signal and the second signal respectively; wherein the output sequence of the first signal is before the second signal.

[0011] The voltage comparison module is used to compare the second voltage value corresponding to the second signal with a preset voltage threshold value;

[0012] The angular displacement determination module is used to determine the angular displacement that occurs when the target object moves, based on at least one of the comparison result, the second voltage value, the first voltage value corresponding to the first signal, and the calibration state of the angle meter.

[0013] According to another aspect of this application, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the angular displacement determination method according to any embodiment of this application.

[0017] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the angular displacement determination method according to any embodiment of this application.

[0018] The technical solution of this application embodiment distinguishes between high and low voltage output dual voltage signals and calculates the angular displacement of the loader's working device under different conditions. This can effectively improve the calculation accuracy. Furthermore, by performing angular displacement calculation based on the alternating measurement of the two voltage signals, continuous angular displacement calculation values ​​can be obtained. This avoids the step phenomenon in the angular displacement calculation value caused by signal errors at the signal alternation point, which would affect the measurement accuracy or even lead to control errors of the working device.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1A This is a flowchart of a method for determining angular displacement according to Embodiment 1 of this application;

[0022] Figure 1BThis is a schematic diagram of an angle meter outputting two voltage signals according to Embodiment 1 of this application;

[0023] Figure 2 This is a flowchart of a method for determining angular displacement according to Embodiment 2 of this application;

[0024] Figure 3 This is a flowchart of a method for determining angular displacement according to Embodiment 3 of this application;

[0025] Figure 4 This is a schematic diagram of an angular displacement determining device according to Embodiment 4 of this application;

[0026] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the angular displacement determination method of the embodiments of this application. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1A This application provides a flowchart of an angular displacement determination method according to Embodiment 1. This embodiment is applicable to situations where angular displacement is measured for the working device of a loader. The method can be executed by an angular displacement determination device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1A As shown, the method includes:

[0031] S110. Acquire two voltage signals output by the angle meter set on the target object, and use them as the first signal and the second signal respectively; wherein the output sequence of the first signal is before the second signal.

[0032] The target object can be an object capable of movement (rotation and / or translation) and whose angular displacement is to be measured. In the actual measurement scenario of engineering vehicles, the working device (i.e., the bucket) of a loader can be the target object. The embodiments of this application will be described using this as an example. Of course, it is not only applicable to engineering vehicles, but can also be used in other fields that require the measurement of angular displacement using the same principle. The angle gauge can be a system for measuring angle or angular displacement, and may include, for example, a control device and a sensor. The sensor can be set on the bucket or lever arm of the loader. When the bucket moves, the angle gauge records and outputs two voltage signals.

[0033] It should be noted that the output voltage changes along with the angular displacement of the bucket. Since the loader bucket rotates at a large angle during operation, multiple measurement signals are typically used to measure the rotation angle in succession to achieve high measurement accuracy. When multiple measurement signals are used to measure the rotation angle of the working device, data processing is required to obtain the rotation angle. If there is an error between the correlation between the multiple measurement signals from the angular displacement sensor and the theoretical correlation, the rotation angle obtained from processing the multiple signals can easily exhibit angle steps, leading to control errors. This application uses the output of two voltage signals as an example for illustration.

[0034] like Figure 1B As shown, since the two voltage signal outputs have a specific order, the signal that is input first is taken as the first signal, and the signal that is output later is taken as the second signal. Naturally, the first signal corresponds to the first voltage value, and the second signal corresponds to the second voltage value, which facilitates subsequent calculations.

[0035] S120. Compare the second voltage value corresponding to the second signal with the preset voltage threshold value.

[0036] The voltage threshold can be used as a threshold to determine the magnitude of the second voltage value. The determination of angular displacement differs depending on whether the second voltage value is less than or equal to the voltage threshold. Of course, the voltage threshold can be preset by relevant technical personnel based on actual conditions and / or human experience; this application does not limit this.

[0037] S130. Determine the angular displacement that occurs when the target object moves based on at least one of the comparison result, the second voltage value, the first voltage value corresponding to the first signal, and the calibration state of the angle meter.

[0038] Based on the comparison results of the second voltage value and the voltage threshold value in the aforementioned steps, and combined with data such as the first voltage value, the second voltage value, and the angle meter calibration status, the angular displacement that occurs when the working device of the loader moves can be calculated.

[0039] The technical solution of this application embodiment distinguishes between high and low voltage output dual voltage signals and calculates the angular displacement of the loader's working device under different conditions. This can effectively improve the calculation accuracy. Furthermore, by performing angular displacement calculation based on the alternating measurement of the two voltage signals, continuous angular displacement calculation values ​​can be obtained. This avoids the step phenomenon in the angular displacement calculation value caused by signal errors at the signal alternation point, which would affect the measurement accuracy or even lead to control errors of the working device.

[0040] Example 2

[0041] Figure 2 This is a flowchart of a method for determining angular displacement provided in Embodiment 2 of this application. This embodiment further refines the process of determining angular displacement based on the above embodiments. Figure 2 As shown, the method includes:

[0042] S210. Acquire two voltage signals output by the angle meter set on the target object, and use them as the first signal and the second signal respectively; wherein the output sequence of the first signal is before the second signal.

[0043] S220. Compare the second voltage value corresponding to the second signal with the preset voltage threshold value.

[0044] S230. If the angle meter is in an uncalibrated state when powered on, and the second voltage value is less than the voltage threshold value when powered on, then the angular displacement that occurs when the target object moves is determined based on the first voltage value and the unit angular displacement value corresponding to the unit voltage of the angle meter.

[0045] It should be noted that the angle gauge can be used for measurement even without calibration. Since the change in voltage and angular displacement is proportional, only the error arising from the alternation of the two signals needs to be considered. The unit angular displacement value can be the unit change in angular displacement value corresponding to one unit change in the output voltage of the angle gauge. Therefore, when the angle gauge is uncalibrated and the loader is powered on (which also means the angle gauge is powered on), and the second voltage value is less than the voltage threshold, the angular displacement of the loader's working device can be calculated using the following formula:

[0046] D = S1 * V

[0047] Where S1 is the first voltage value corresponding to the first signal; V is the unit angular displacement value; and D is the angular displacement that needs to be calculated.

[0048] Furthermore, in an optional embodiment, the method may further include: if the second voltage value rises to a value greater than or equal to the voltage threshold after power-on, then determining the angular displacement that occurs when the target object moves based on the first voltage recorded value corresponding to the first signal, the second voltage recorded value corresponding to the second signal, and the second voltage value; wherein, the first voltage recorded value is the voltage value corresponding to the first signal recorded by the angle meter when the second voltage value is equal to the voltage threshold; and the second voltage recorded value is the voltage value corresponding to the second signal recorded by the angle meter when the second voltage value is equal to the voltage threshold.

[0049] Based on the above implementation method, if the second voltage value is less than the voltage threshold value after power-on, the angular displacement is calculated in the above manner. Since the output voltage value changes with the rotation and movement of the loader's working device, the second voltage value may increase during the rotation of the loader's working device. When the second voltage value rises to a level greater than or equal to the voltage threshold value, the angular displacement can be calculated in the following manner:

[0050] D=(S1′+S2-S2′)*V

[0051] Where S2 is the second voltage value, S1' is the actual voltage value of the first signal output recorded by the angle meter when the second voltage value equals the voltage threshold value, and S2' is the actual voltage value of the second signal output when the second voltage value equals the voltage threshold value. When inconsistent rotation directions and repeated angle changes occur during the use of the loader's working device, the above method allows for the calculation of angular displacement under different conditions, improving the rationality and accuracy of angular displacement determination.

[0052] The technical solution of this application embodiment refines the method for determining angular displacement, and provides a practical strategy for calculating angular displacement in the absence of calibration. Based on the output signals of two voltage channels, the possible errors are eliminated by adding or subtracting the corresponding voltage values ​​under different conditions, thereby improving the accuracy of angular displacement calculation.

[0053] Example 3

[0054] Figure 3 This is a flowchart of a method for determining angular displacement provided in Embodiment 2 of this application. This embodiment further refines the process of determining angular displacement based on the above embodiments. Figure 3 As shown, the method includes:

[0055] S310. Acquire two voltage signals output by the angle meter set on the target object, and use them as the first signal and the second signal respectively; wherein the output sequence of the first signal is before the second signal.

[0056] S320. Compare the second voltage value corresponding to the second signal with the preset voltage threshold value.

[0057] S330. If the angle meter is in an uncalibrated state when powered on, and the second voltage value is greater than or equal to the voltage threshold value when powered on, then the angular displacement that occurs when the target object moves is determined based on the second voltage value, the range voltage value of the angle meter, and the maximum and minimum voltage values ​​of the angle meter output signal.

[0058] Among them, the range voltage value of the angle meter can be the maximum voltage value corresponding to the angular displacement range of the angle meter; the maximum and minimum voltage values ​​of the output signal of the angle meter are actually the maximum and minimum voltage values ​​that the first and second signals can output, that is, the maximum and minimum voltage values ​​that the first and second voltage values ​​can reach.

[0059] Specifically, when the angle meter is not calibrated after power-on and the second voltage value is greater than or equal to the voltage threshold value, the angular displacement can be calculated using the following method:

[0060] D = (S - b1 + S2 + a1) * V

[0061] Where a1 is the minimum voltage value, and b1 is the maximum voltage value (e.g., ...). Figure 1B (as shown); S is the voltage value corresponding to the angular displacement range.

[0062] Furthermore, in an optional embodiment, the method may further include: if the second voltage value drops below the voltage threshold value after power-on, then determining the angular displacement that occurs when the target object moves based on the range voltage value, the maximum voltage value, the minimum voltage value, the first voltage value, the first voltage record value, and the second voltage record value.

[0063] Based on the above implementation method, if the second voltage value after power-on is greater than or equal to the voltage threshold value, the angular displacement is calculated in the above manner. Since the output voltage value changes with the rotation and movement of the loader's working device, the second voltage value may decrease during the rotation of the loader's working device. When the second voltage value drops to less than the voltage threshold value, the angular displacement can be calculated in the following manner:

[0064] D=(S-b1+S2′-S1′+S1+a1)*V

[0065] In this embodiment, the method for determining angular displacement is refined, providing another practical strategy for calculating angular displacement in the absence of calibration. Based on the output signals of the two voltage channels, the possible errors are eliminated by adding or subtracting the corresponding voltage values ​​under different conditions, thereby improving the accuracy of angular displacement calculation.

[0066] It should be further explained that the above-mentioned Embodiments 2 and 3 refine the method for calculating angular displacement when the second voltage value is less than the voltage threshold and the second voltage value is greater than or equal to the voltage threshold in the uncalibrated case. Therefore, it can solve the problem of angle step that is easy to occur when calculating angular displacement from two voltage signals, thereby helping to make the output of angular displacement calculation results smoother. This can help the loader control the working device more smoothly, reduce control errors, improve the stability of the loader's operation, and ensure the working efficiency of the loader.

[0067] In another alternative embodiment, the method may further include: if the angle meter is calibrated when powered on, then determining the angular displacement that occurs when the target object moves based on the first voltage record value and the second voltage record value after calibration.

[0068] In practical applications of loaders, the calibration of the angle gauge is actually performed on the aforementioned S1' and S2' (i.e., S1' and S2' are determined and stored for future use). After S1' and S2' are calibrated, the angle gauge controller records and stores the values ​​in an internal memory that is not easily lost when power is off. Each time the vehicle is powered on, the angle gauge controller reads the values ​​of S1' and S2' from the internal memory for angular displacement calculation.

[0069] Of course, the calibration process of the angle meter is actually the same as that of Embodiments 2 and 3. For example, if the second voltage value output by the second signal is less than the voltage threshold value when the angle meter is powered on, the calibration is performed in the manner of Embodiment 2; similarly, if the second voltage value output by the second signal is greater than or equal to the voltage threshold value when the angle meter is powered on, the calibration is performed in the manner of Embodiment 3.

[0070] Example 4

[0071] Figure 4 This is a schematic diagram of an angular displacement determining device provided in Embodiment 3 of this application. Figure 4 As shown, the device includes:

[0072] The signal acquisition module 410 is used to acquire two voltage signals output by the angle meter set on the target object, and use them as the first signal and the second signal respectively; wherein the output sequence of the first signal is before the second signal.

[0073] The voltage comparison module 420 is used to compare the second voltage value corresponding to the second signal with a preset voltage threshold value;

[0074] The angular displacement determination module 430 is used to determine the angular displacement that occurs when the target object moves based on at least one of the comparison result, the second voltage value, the first voltage value corresponding to the first signal, and the calibration state of the angle meter.

[0075] The technical solution of this application embodiment distinguishes between high and low voltage output dual voltage signals and calculates the angular displacement of the loader's working device under different conditions. This can effectively improve the calculation accuracy. Furthermore, by performing angular displacement calculation based on the alternating measurement of the two voltage signals, continuous angular displacement calculation values ​​can be obtained. This avoids the step phenomenon in the angular displacement calculation value caused by signal errors at the signal alternation point, which would affect the measurement accuracy or even lead to control errors of the working device.

[0076] Optionally, the angular displacement determination module 430 can be specifically used for:

[0077] If the angle meter is in an uncalibrated state when powered on, and the second voltage value is less than the voltage threshold value when powered on, then the angular displacement that occurs when the target object moves is determined based on the first voltage value and the unit angular displacement value corresponding to the unit voltage of the angle meter.

[0078] Furthermore, the device 400 may also include:

[0079] The boost adjustment module is used to determine the angular displacement of the target object when it moves, based on the first voltage record value corresponding to the first signal, the second voltage record value corresponding to the second signal, and the second voltage value, if the second voltage value rises to a value greater than or equal to the voltage threshold value after power-on. The first voltage record value is the voltage value corresponding to the first signal recorded by the angle meter when the second voltage value equals the voltage threshold value; the second voltage record value is the voltage value corresponding to the second signal recorded by the angle meter when the second voltage value equals the voltage threshold value.

[0080] Optionally, the angular displacement determination module 430 can be specifically used for:

[0081] If the angle meter is in an uncalibrated state when powered on, and the second voltage value is greater than or equal to the voltage threshold value when powered on, then the angular displacement that occurs when the target object moves can be determined based on the second voltage value, the range voltage value of the angle meter, and the maximum and minimum voltage values ​​of the angle meter's output signal.

[0082] Furthermore, the device 400 may also include:

[0083] The step-down adjustment module is used to determine the angular displacement of the target object when it moves, based on the range voltage value, maximum voltage value, minimum voltage value, first voltage value, first voltage record value, and second voltage record value, if the second voltage value drops below the voltage threshold value after power-on.

[0084] In one alternative embodiment, the device 400 may further include:

[0085] The calibration measurement module is used to determine the angular displacement of the target object when it moves, based on the first and second voltage records after calibration, if the angle meter is calibrated when it is powered on.

[0086] The angular displacement determination device provided in this application embodiment can execute the angular displacement determination method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects for executing each angular displacement determination method.

[0087] Example 5

[0088] Figure 5 A schematic diagram of an electronic device 10, which can be used to implement embodiments of this application, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

[0089] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0090] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0091] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the angular displacement determination method.

[0092] In some embodiments, the angular displacement determination method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the angular displacement determination method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the angular displacement determination method by any other suitable means (e.g., by means of firmware).

[0093] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] Computer programs used to implement the methods of this application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0095] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0096] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0097] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0098] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0099] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.

[0100] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for determining angular displacement, characterized in that, The method includes: Two voltage signals output by an angle meter set on the target object are acquired and used as the first signal and the second signal, respectively; wherein the output order of the first signal is before the second signal. The second voltage value corresponding to the second signal is compared with a preset voltage threshold value; If the angle meter is in an uncalibrated state when powered on, and the second voltage value is less than the voltage threshold value when powered on, then the angular displacement that occurs when the target object moves is determined based on the first voltage value corresponding to the first signal and the unit angular displacement value corresponding to the unit voltage of the angle meter.

2. The method according to claim 1, characterized in that, The method further includes: If the second voltage value rises to a level greater than or equal to the voltage threshold after power-on, the angular displacement of the target object during its movement is determined based on the first voltage record value corresponding to the first signal, the second voltage record value corresponding to the second signal, and the second voltage value. The first voltage record value is the voltage value corresponding to the first signal recorded by the angle meter when the second voltage value equals the voltage threshold; the second voltage record value is the voltage value corresponding to the second signal recorded by the angle meter when the second voltage value equals the voltage threshold.

3. The method according to claim 2, characterized in that, Determining the angular displacement of the target object during its movement based on at least one of the comparison result, the second voltage value, the first voltage value corresponding to the first signal, and the calibration state of the angle meter includes: If the angle meter is in an uncalibrated state when powered on, and the second voltage value is greater than or equal to the voltage threshold value when powered on, then the angular displacement that occurs when the target object moves is determined based on the second voltage value, the range voltage value of the angle meter, and the maximum and minimum voltage values ​​of the angle meter's output signal.

4. The method according to claim 3, characterized in that, The method further includes: If the second voltage value drops below the voltage threshold after power-on, the angular displacement of the target object during its movement is determined based on the range voltage value, the maximum voltage value, the minimum voltage value, the first voltage value, the first voltage record value, and the second voltage record value.

5. The method according to any one of claims 2-4, characterized in that, The method further includes: If the angle meter is calibrated when powered on, the angular displacement that occurs when the target object moves is determined based on the first voltage record value and the second voltage record value after calibration.

6. An angular displacement determining device, characterized in that, The device includes: The signal acquisition module is used to acquire two voltage signals output by the angle meter set on the target object, and use them as the first signal and the second signal respectively; wherein the output order of the first signal is before the second signal. A voltage comparison module is used to compare the second voltage value corresponding to the second signal with a preset voltage threshold value; An angular displacement determination module is used to determine the angular displacement that occurs when the target object moves, based on the first voltage value corresponding to the first signal and the unit angular displacement value corresponding to the unit voltage of the angle meter, if the angle meter is in an uncalibrated state when it is powered on and the second voltage value is less than the voltage threshold value when it is powered on.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the angular displacement determination method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the angular displacement determination method according to any one of claims 1-5.

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