Method, apparatus, and computer readable storage medium for calibrating parameters of a pendulum shaft

Abstract

A method for calibrating the parameters of a pendulum axis, wherein the distance from the rotation center of the pendulum axis to its end is defined as the equivalent pendulum axis, the length of the equivalent pendulum axis is defined as the equivalent pendulum length, and the parameters include one or more of an initial angle and the equivalent pendulum length. The method includes: S1: setting the pendulum axis such that the equivalent pendulum axis is in a starting position; S2: rotating the pendulum axis such that the equivalent pendulum axis rotates from the starting position by a predetermined angle α, and measuring the perpendicular distance H1 between the end of the pendulum axis and a reference plane; S3: rotating the pendulum axis in the opposite direction such that the equivalent pendulum axis rotates from the starting position by an angle β. i Measure the vertical distance H between the end of the pendulum axis and the reference plane. 2i S4: Determine H1 and H 2i Does the calculation condition meet? If the calculation condition does not meet, proceed to S5: Set the rotation angle β. i+1 Then return to S3; if the calculation conditions are met, proceed to S6: determine the calibration rotation angle β. i0 ; and S7: based on a predetermined angle α and a calibration rotation angle β i To calibrate the parameters of the pendulum axis.

Description

Technical Field

[0001] This invention relates to the field of machine tools, and more particularly to methods, apparatus and computer-readable storage media for calibrating parameters of a swing shaft. Background Technology

[0002] Due to assembly deviations or wear, the actual pendulum length (i.e., the length from the center of rotation of the pendulum to its end) may deviate from its intended value. Furthermore, when the operator sets the pendulum to be perpendicular to the reference plane in the operating system, the line connecting the end of the pendulum to the center of rotation (i.e., the equivalent pendulum axis) may not be perpendicular to the reference plane, resulting in an angular deviation. Therefore, a method for calibrating the pendulum axis parameters is needed. The parameters of the pendulum axis can include the length of the equivalent pendulum axis (i.e., the equivalent pendulum length) and the initial angle of the equivalent pendulum axis, and a model can be built using the equivalent pendulum length and the initial angle to describe the pendulum axis.

[0003] Existing methods for describing the pendulum axis and calibrating the equivalent pendulum length and initial angle typically involve collecting data from multiple rotation angles to calculate the pendulum length and initial angle, and then taking the average. However, this approach requires collecting a large amount of data and is cumbersome. Furthermore, when the pendulum axis rotates at large angles, the greater the rotation angle, the more significant the change in height, and the smaller the interference from height. Taking the average will introduce the larger interference from smaller angles into the result.

[0004] Therefore, there is a need for an improved method for calibrating the parameters of the pendulum axis, which can reduce the influence of interference, is simple to operate, and can achieve more accurate calibration. Summary of the Invention

[0005] The present invention aims to overcome the above-mentioned and / or other problems in the prior art. Through the method, apparatus, and machine tool control system for laser cutting sheet metal to form workpieces provided by the present invention, workpieces can be formed more quickly and uniformly by changing the orientation of the laser beam during laser cutting of the sheet metal.

[0006] According to a first aspect of the present invention, a method for calibrating parameters of a pendulum axis is provided, wherein the distance from the rotation center of the pendulum axis to its end is defined as the equivalent pendulum axis, the length of the equivalent pendulum axis is defined as the equivalent pendulum length, and the parameters include one or more of an initial angle and the equivalent pendulum length. The method includes the following steps: S1: setting the pendulum axis such that the equivalent pendulum axis is in a starting position; S2: rotating the pendulum axis such that the equivalent pendulum axis rotates from the starting position by a predetermined angle α, and measuring the vertical distance H1 between the end of the pendulum axis and a reference plane; S3: rotating the pendulum axis in the opposite direction such that the equivalent pendulum axis rotates from the starting position by an angle β. i Measure the vertical distance H between the end of the pendulum axis and the reference plane.2i S4: Determine H1 and H2, where i represents the ordinal number of the measured H2 and i is a positive integer; 2i Does the calculation condition meet? If the calculation condition does not meet, proceed to S5: Set the rotation angle β. i+1 Then return to step S3; if the calculation conditions are met, proceed to S6: determine the calibration rotation angle β. i0 ; and S7: based on the predetermined angle α and the calibration rotation angle β i To calibrate the parameters of the pendulum axis.

[0007] Preferably, when step S3 is executed for the first time, i=1, and β1 is equal in size to α but opposite in sign.

[0008] Preferably, step S4 includes: S41: placing H1 and H 2i Compare; and in H 2i If the value is greater than H1, proceed to step S51: Set β i+1 =β i +0.5° and return to step S3 to measure H. 2(i+1) ; in H 2i If the value is less than H1, set β. i+1 =β i -0.5° and return to step S3 to measure H. 2(i+1) .

[0009] Preferably, H is confirmed in step S41. 2i If the value is greater than H1, step S4 further includes: step S42: setting H1 and H 2(i+1) Compare; and in H 2(i+1) If the value is greater than H1, proceed to step S5, which includes setting β. i+2 =β i+1 +0.5° and return to step S3 to measure H. 2(i+2) ; in H 2(i+1) If the value is less than H1, proceed to step S6, which includes determining the calibration rotation angle β. i0 =β i+1 +0.5° -0.5° .

[0010] Preferably, H is confirmed in step S41. 2i If H1 is less than H1, step S4 further includes: step S43: setting H1 and H 2(i+1) Compare; and in H 2(i+1) If the value is less than H1, proceed to step S5, which includes setting β. i+2 =β i+1-0.5° and return to step S3 to measure H. 2(i+2) ; in H 2(i+1) If the value is greater than H1, proceed to step S6, which includes determining the calibration rotation angle β. i0 =β i+1 -0.5° +0.5° .

[0011] Preferably, step S7 includes calibrating the initial angle as a coarsely calibrated initial angle. .

[0012] Preferably, step S7 further includes calibrating the equivalent pendulum length, wherein the initial angle is coarsely calibrated. Rotate the pendulum axis in the opposite direction so that the equivalent pendulum axis is rotated by an angle from the starting position. And measure the vertical distance between the end of the pendulum axis and the reference plane. The equivalent pendulum length is determined as the coarsely calibrated equivalent pendulum length. .

[0013] Preferably, the method further includes the following step: S8: setting the pendulum axis such that the equivalent pendulum axis is at the finely calibrated initial angle. Measure the vertical distance between the end of the pendulum axis and the reference plane. S9: Rotate the pendulum axis so that the equivalent pendulum axis moves from the finely calibrated initial angle. Rotate at a predetermined angle Measure the vertical distance between the end of the pendulum axis and the reference plane. S10: Rotate the pendulum axis in the opposite direction so that the equivalent pendulum axis moves from the initial calibrated angle. Rotation angle Measure the vertical distance between the end of the pendulum axis and the reference plane. ,set up ,and S11: The initial angle and the equivalent pendulum length are calibrated as follows: finely calibrated initial angle. Precision calibration of equivalent pendulum length .

[0014] According to a second aspect of the invention, a programmable logic controller is provided for calibrating parameters of a pendulum axis, wherein the distance from the rotation center of the pendulum axis to the end of the pendulum axis is defined as the equivalent pendulum axis, the length of the equivalent pendulum axis being an equivalent pendulum length, and the parameters including one or more of an initial angle and the equivalent pendulum length, the programmable logic controller being configured to perform the method described in any of the preceding claims.

[0015] According to a third aspect of the present invention, a pendulum device is provided, the pendulum device comprising: a pendulum shaft; and a programmable logic controller as described above.

[0016] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing instructions that, when executed by a processor, implement the method described in any of the preceding claims.

[0017] Other features and aspects will become clear from the following detailed description, drawings, and claims. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0019] Figure 1 An exemplary structure of a pendulum shaft according to an exemplary embodiment of the present invention is shown;

[0020] Figure 2 A flowchart illustrating the process of coarsely calibrating the parameters of the pendulum axis according to an exemplary embodiment of the present invention is shown;

[0021] Figure 3 A schematic diagram of the pendulum axis during the various steps of coarse calibration according to an exemplary embodiment of the present invention is shown;

[0022] Figure 4 An exemplary embodiment of the present invention is shown. Figure 2 Flowchart of steps S4-S6 in the process;

[0023] Figure 5 An exemplary embodiment of the present invention is shown. Figure 2 The flowchart of step S7 in the process;

[0024] Figure 6 A flowchart illustrating the process of finely calibrating the pendulum axis according to an exemplary embodiment of the present invention is shown;

[0025] Figure 7 A schematic diagram of the pendulum axis during the various steps of fine calibration according to an exemplary embodiment of the present invention is shown; and

[0026] Figure 8 A schematic block diagram of a pendulum device according to an exemplary embodiment of the present invention is shown. Detailed Implementation

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0029] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0030] The following describes specific embodiments of the present invention. It should be noted that, in order to provide a concise description, this specification cannot exhaustively describe all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, just as in any engineering or design project, various specific decisions are often made to achieve the developer's specific goals and to meet system-related or business-related constraints, and this can change from one embodiment to another. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this invention, some design, manufacturing, or production modifications based on the technical content disclosed herein are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0031] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the patent application description and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the element or object preceding "comprising" or "including" encompasses the element or object listed following "comprising" or "including" and its equivalents, and do not exclude other elements or objects. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0032] Unless otherwise specified, all embodiments and preferred embodiments mentioned herein can be combined to form new technical solutions. Similarly, unless otherwise specified, all technical features and preferred features mentioned herein can be combined to form new technical solutions.

[0033] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0034] Figure 1 An exemplary structure of a pendulum shaft according to an exemplary embodiment of the present invention is shown. The pendulum shaft 100 may have a rigid structure and may have a straight pendulum arm or a pendulum arm bent in various shapes. Figure 1 As shown, the pendulum axis 100 has a starting end 101 and an ending end 102. The starting end 101 is fixed to the center of rotation. The line connecting the center of rotation R of the pendulum axis 100 to the ending end 102 of the pendulum axis 100 is defined as the equivalent pendulum axis 110 of the pendulum axis 100, and the length of the equivalent pendulum axis 110 is defined as the equivalent pendulum length L. Those skilled in the art should understand that, although... Figure 1 The diagram shows one structure of the balance shaft 100, but the balance shaft 100 can have other structures, and although Figure 1 The diagram shows that the starting end 101 of the pendulum axis 100 is fixed to the center of rotation, but the pendulum axis 100 can also be fixed to the center of rotation at other positions.

[0035] coarse calibration

[0036] Figure 2A flowchart of a process 200 for coarsely calibrating the parameters of a pendulum axis according to an exemplary embodiment of the present invention is shown. Figure 3 A schematic diagram of the pendulum axis during the various steps of coarse calibration according to an exemplary embodiment of the present invention is shown.

[0037] like Figure 2 As shown, the coarse calibration process may include steps S1 to S7 as described below.

[0038] exist Figure 3 The equivalent pendulum axis 110 in each coarsely calibrated step is shown, and for clarity, the pendulum axis 100 and other components unnecessary for explaining the process are omitted. In step S1, the pendulum axis 100 is set such that the equivalent pendulum axis 110 is in a starting position 301, at which an initial angle exists between the equivalent pendulum axis 110 and the 0° position. The starting position 301 can be a position where the equivalent pendulum axis 110 is at any rotation angle. As an example, the starting position 301 can be a position where the pendulum axis 100 is set such that a portion of the pendulum arm at the end 102 is substantially perpendicular to the reference plane P (e.g., a horizontal plane). Alternatively, the starting position 301 can also be a position where the equivalent pendulum axis 110 is substantially perpendicular to the reference plane P.

[0039] In step S2, the pendulum axis 100 is rotated such that the equivalent pendulum axis 110 is rotated from the starting position 301 by an angle α in one direction to the second position 302. At this time, the vertical distance H1 between the end of the pendulum axis 102 and the reference plane P is measured.

[0040] In step S3, the pendulum axis 100 is rotated in the opposite direction to that in step S2, such that the equivalent pendulum axis 110 is rotated by an angle β from the starting position 301. i Move to the third position 303 and measure the vertical distance H between the end 102 of the pendulum axis and the reference plane P. 2i Here, i represents the ordinal number of the measured H2, and i is a positive integer. That is, in the first measurement, the rotation angle is β1 and the measured vertical distance between the end of the pendulum axis 102 and the reference plane P is H. 21 In the second measurement, the rotation angle was β2, and the measured vertical distance between the end of the pendulum axis 102 and the reference plane P was H. 22 During the i-th measurement, the rotation angle is β. i Furthermore, the measured vertical distance H between the end of the pendulum axis 102 and the reference plane P is... 2i During the (i+1)th measurement, the rotation angle is β. i+1 Furthermore, the measured vertical distance H between the end of the pendulum axis 102 and the reference plane P is... 2(i+1)And so on. In the first measurement, the rotation angle β1 is equal in magnitude to the rotation angle α in step S2, and as mentioned above, the rotation directions are opposite. Furthermore, it should be understood that when comparing different measurement results, i, i+1, and i+2 are intended to explain the order of several measurements, and not to indicate a specific measurement.

[0041] Next, in step S4, the vertical distance H1 and the vertical distance H are determined. 2i Does the calculation condition meet?

[0042] If the calculation conditions are not met, proceed to step S5 and set the rotation angle β. i Then return to step S3; if the calculation conditions are met, proceed to step S6 to calculate the calibration rotation angle β. i0 .

[0043] The following is for reference. Figure 4 The present invention describes an exemplary embodiment of the present invention. Figure 2 The flowchart for steps S4-S6 in the process.

[0044] References above Figure 2 In the description, in step S4, the vertical distance H1 and the vertical distance H are determined. 2i Does the calculation condition meet? Specifically, step S4 may include calculating the vertical distance H. 2i Step S41, comparing with the vertical distance H1.

[0045] In step S41, the comparison yields H1 = H 2i In this case, the set rotation angle β i That is, the calibration rotation angle β i0 (In other words, there is no need to calculate the calibration rotation angle).

[0046] In step S41, H is obtained through comparison. 2i In the case of H1, proceed to step S51 to set β. i+1 =β i +0.5°, then return to step S3 and rotate the pendulum axis 100 in the opposite direction to step S2 so that the equivalent pendulum axis 110 rotates from the starting position by an angle β. i+1 And measure the vertical distance H 2(i+1) Here, it should be understood that although step S3 describes measuring the vertical distance H... 2i But H here 2i It is the general formula for H2, which includes measuring the vertical distance H. 21 H 22 ... H 2(i+1) H 2(i+2)Wait a minute. Next, return to step S4, and this time execute step S42, taking the measured vertical distance H. 2(i+1) Compare with the vertical distance H1. If H... 2(i+1) If it is still greater than H1, then proceed to step S51 to set β. i+2 =β i+1 +0.5°, then return to step S3 and rotate the pendulum axis 100 in the opposite direction to step S2 so that the equivalent pendulum axis 110 rotates from the starting position by an angle β. i+2 And measure the vertical distance H 2(i+2) Repeat this process until H is obtained in step S42. 2i H1, then proceed to step S6, where the calibration rotation angle β will be determined. i0 =β i+1 +0.5° -0.5° .

[0047] In step S41, H is obtained through comparison. 2i In the case of H1, proceed to step S52 to set β. i+1 =β i -0.5°, then return to step S3 and rotate the pendulum axis 100 in the opposite direction to step S2 so that the equivalent pendulum axis 110 rotates from the starting position by an angle β. i+1 And measure the vertical distance H 2(i+1) Next, return to step S4, and this time execute step S43 to measure the vertical distance H. 2(i+1) Compare with the vertical distance H1. If H... 2(i+1) If it is still less than H1, then proceed to step S5 to set β. i+2 =β i+1 -0.5°, then return to step S3 and rotate the pendulum axis 100 in the opposite direction to step S2 so that the equivalent pendulum axis 110 rotates from the starting position by an angle β. i+2 And measure the vertical distance H 2(i+2) Repeat this process until H is obtained in step S43. 2i H1, then proceed to step S6, where the calibration rotation angle β will be determined. i0 =β i+1 -0.5° +0.5° .

[0048] In step S6, the calibration rotation angle β is determined. i0 Then, proceed to step S7, based on the predetermined angle α and the calibration rotation angle β. i0 To calibrate the parameters of the pendulum axis 100. Figure 5An exemplary embodiment of the present invention is shown. Figure 2 The flowchart for step S7 in the process.

[0049] According to one embodiment of the present invention, the parameters of the pendulum axis 100 may include the initial angle of the pendulum axis 100. .

[0050] In step S41, the comparison yields H1 = H 2i In the case described above, the set rotation angle β i That is, the calibration rotation angle β i0 Furthermore, the initial angle can be calibrated as a coarse initial angle in step S71. And specifically, in the case of i=1, that is, when H1= H 21 In this case, the initial angle can be coarsely calibrated. =0.

[0051] In step S41, H is obtained through comparison. 2i H1 or H 2i In the case of H1, the calibration rotation angle β determined in step S6 can be used as a basis. i0 In step S71, the initial angle is calibrated as a coarse initial angle. .

[0052] Additionally or alternatively, according to one embodiment of the invention, the parameters of the pendulum axis 100 may further include the equivalent pendulum length L of the pendulum axis.

[0053] In this embodiment, step S7 may further include step S72: adjusting the initial angle with the coarse calibration. Rotating the pendulum axis 100 in the opposite direction causes the equivalent pendulum axis 110 to rotate from its initial position by an angle. And measure the vertical distance between the end of the pendulum axis 102 and the reference plane P. Then proceed to step S73, where the equivalent pendulum length is determined as the coarsely calibrated equivalent pendulum length. .

[0054] Precision calibration

[0055] Even after the coarse calibration process described above, the calibrated balance axis parameters may still have deviations, or the user may require more precise balance axis parameters. Therefore, according to an embodiment of the present invention, the method for calibrating the balance axis parameters may further include a fine calibration process. Figure 6 A flowchart of a process 600 for fine calibration of a pendulum axis according to an exemplary embodiment of the present invention is shown. Figure 7A schematic diagram of the pendulum axis during the various steps of fine calibration according to an exemplary embodiment of the present invention is shown.

[0056] like Figure 6 As shown, the fine calibration process may include steps S8 to S11 as described below. Figure 7 The equivalent pendulum axis 110 in each step of the fine calibration is shown, and for clarity, the pendulum axis 100 and other components unnecessary for explaining the process are omitted. In step S8, the pendulum axis 100 is set such that the equivalent pendulum axis 110 is at the initial angle of fine calibration. At the location, the vertical distance between the end 102 of the pendulum axis 100 and the reference plane P is measured. According to one embodiment, when fine calibration is performed after the coarse calibration described above, the initial angle of the fine calibration is... The initial angle of coarse calibration can be determined through the coarse calibration process. There is still a deviation between the initial angle and the actual initial angle, meaning that the initial angle obtained in the above coarse calibration process is still different. Furthermore, rotating the pendulum axis 100 causes the equivalent pendulum axis 110 to rotate from the starting position 301 by an angle. The position is such that, after overcoming the initial angle, the angle between the pendulum and the direction perpendicular to the reference plane still exists. And thus, the equivalent pendulum length is determined through the coarse calibration process. Equivalent pendulum length There are also discrepancies between them. Alternatively, the coarse calibration process described above can be skipped and the fine calibration process can be performed directly. In this case, the initial angle of the fine calibration will be... It could also be the initial angle that actually exists between the equivalent pendulum axis 110 and the 0° position when, for example, the user (e.g., through a user interface) sets the rotation angle of the pendulum axis 100 (i.e., the rotation angle of the equivalent pendulum axis 110) to 0°.

[0057] Then, in step S9, the pendulum axis 100 is rotated so that the equivalent pendulum axis 110 is rotated from the finely calibrated initial angle. Rotate at a predetermined angle And measure the vertical distance between the end of the pendulum axis 102 and the reference plane P. .

[0058] In step S10, the pendulum axis 100 is rotated in the opposite direction to that in step S9 so that the equivalent pendulum axis 110 is rotated from the initial calibrated angle. Rotation angle And measure the vertical distance between the end of the pendulum axis 102 and the reference plane P. .

[0059] set up ,and .

[0060] Then there is ;

[0061] ;

[0062] ;

[0063] ;

[0064] ;

[0065] Then in step S11, the initial angle can be calibrated as a fine-calibration initial angle. Furthermore, the equivalent pendulum length was precisely calibrated. .

[0066] According to one embodiment of the present invention, a programmable logic controller (PLC) is also provided, which can be used as described in reference... Figure 1 The described swing shaft. The aforementioned programmable logic controller (PLC) can implement the functionality described in the previous reference. Figure 2 , Figures 4-6 The method for calibrating the parameters of the pendulum axis described above. Many design concepts and details applicable to the method for calibrating the parameters of the pendulum axis of this invention are also applicable to the programmable logic controller (PLC) described above, and can achieve the same beneficial technical effects, which will not be repeated here. In addition, the use of a PLC can further facilitate the real-time calculation and real-time updating of the pendulum axis parameters.

[0067] According to one embodiment of the present invention, such as Figure 8 The diagram shows a schematic block diagram of a balance shaft device 800. The balance shaft device 800 may include... Figure 1 The diagram shows the swing shaft 100 and the programmable logic controller 810 as described above. The programmable logic controller 810 can be communicatively connected to the driver of the swing shaft 100.

[0068] Furthermore, the method for calibrating the parameters of the balance axis and the balance axis device 800 described above can be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, the functions can be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Computer-readable media includes both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one location to another. Storage media can be any available medium accessible to a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also legitimately referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then those coaxial cables, fiber optic cables, twisted pairs, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of media. As used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while discs reproduce data optically using lasers. Combinations of these should also be included within the scope of computer-readable media.

[0069] This concludes the description of the method, apparatus, and control system for calibrating the pendulum axis parameters. Existing methods, which involve collecting data from multiple rotation angles to calculate the pendulum length and initial angle, and then averaging the results, require extensive data collection, are complex, and introduce significant interference at small angles during averaging. The fine and / or coarse calibration methods provided in this paper allow calibration to be performed only at large angles. When the pendulum axis rotates at large angles, the height change is more pronounced, resulting in less height-related interference. Therefore, this invention reduces height-related interference and achieves higher calibration accuracy. Furthermore, this invention requires less angle data, simplifying the operation.

[0070] Exemplary embodiments have been described above. However, it should be understood that various modifications can be made to the above exemplary embodiments without departing from the spirit and scope of the invention. For example, if suitable results can be achieved if the described techniques are performed in a different order and / or if components in the described system, architecture, device, or circuit are combined in different ways and / or replaced or supplemented by other components or their equivalents, then correspondingly, these other modified embodiments also fall within the scope of protection of the claims.

Claims

1. A method for calibrating the parameters of a pendulum axis, wherein, The effective pendulum axis is defined as the distance from the rotation center of the pendulum axis to its end, and the length of the effective pendulum axis is the equivalent pendulum length. The parameters include one or more of the initial angle and the equivalent pendulum length. The method includes the following steps: S1: Set the pendulum axis so that the equivalent pendulum axis is in the starting position; S2: Rotate the pendulum axis so that the equivalent pendulum axis rotates from the starting position by a predetermined angle α, and measure the vertical distance H1 between the end of the pendulum axis and the reference plane; S3: Rotate the pendulum axis in the opposite direction so that the equivalent pendulum axis rotates from the starting position by an angle β. i Measure the vertical distance H between the end of the pendulum axis and the reference plane. 2i , where i represents the ordinal number of the measured H2, and i is a positive integer; S4: Determine H1 and H 2i Does the calculation condition meet? If the calculation conditions are not met, proceed to S5: Set the rotation angle β. i+1 Then return to step S3; If the calculation conditions are met, proceed to S6: Determine the calibration rotation angle β. i0 ;as well as S7: Based on the predetermined angle α and the calibration rotation angle β i0 To calibrate the parameters of the pendulum axis. Step S4 includes: S41: Connect H1 and H 2i Compare; and In H 2i If H1 is less than H1, set β. i+1 =β i -0.5° and return to step S3 to measure H. 2(i+1) ; In H 2i If the value is greater than H1, proceed to step S51: Set β i+1 =β i +0.5° and return to step S3 to measure H. 2(i+1) ; Step S42: Place H1 and H 2(i+1) Compare; And in H 2(i+1) If the value is greater than H1, proceed to step S5, which includes setting β. i+2 =β i+1 +0.5° and return to step S3 to measure H. 2(i+2) ; In H 2(i+1) If the value is less than H1, proceed to step S6, which includes determining the calibration rotation angle β. i0 =β i+1 +0.5° -0.5° .

2. The method as described in claim 1, characterized in that, When step S3 is executed for the first time, i=1, β1 and α are equal in magnitude but opposite in sign, where α is positive and β1 is negative.

3. The method as described in claim 1, characterized in that, In step S41, H is confirmed 2i When it is less than H1, Step S4 further includes: Step S43: Place H1 and H 2(i+1) Compare; And in H 2(i+1) If the value is less than H1, proceed to step S5, which includes setting β. i+2 =β i+1 -0.5° and return to step S3 to measure H. 2(i+2) ; In H 2(i+1) If the value is greater than H1, proceed to step S6, which includes determining the calibration rotation angle β. i0 =β i+1 -0.5° +0.5° .

4. The method as described in claim 1, characterized in that, Step S7 includes calibrating the initial angle as a coarsely calibrated initial angle. .

5. The method as described in claim 4, characterized in that, Step S7 further includes calibrating the equivalent pendulum length, wherein the initial angle is coarsely calibrated. Rotate the pendulum axis in the opposite direction so that the equivalent pendulum axis is rotated by an angle from the starting position. And measure the vertical distance between the end of the pendulum axis and the reference plane. ; The equivalent pendulum length is determined as the coarsely calibrated equivalent pendulum length. .

6. The method as described in claim 1, characterized in that, The method further includes the following steps: S8: Set the pendulum axis so that the equivalent pendulum axis is at the initial angle of fine calibration. Measure the vertical distance between the end of the pendulum axis and the reference plane. ; S9: Rotate the pendulum axis so that the equivalent pendulum axis moves from the initial angle of the fine calibration. Rotate at a predetermined angle Measure the vertical distance between the end of the pendulum axis and the reference plane. ; S10: Rotate the pendulum axis in the opposite direction so that the equivalent pendulum axis moves from the initial calibration angle. Rotation angle Measure the vertical distance between the end of the pendulum axis and the reference plane. , set up ,and ; S11: The initial angle and the equivalent pendulum length are calibrated as follows: Precisely calibrate the initial angle ,and Precisely calibrated equivalent pendulum length .

7. A programmable logic controller for calibrating parameters of a pendulum axis, wherein the distance from the rotation center of the pendulum axis to the end of the pendulum axis is defined as the equivalent pendulum axis, the length of the equivalent pendulum axis being an equivalent pendulum length, the parameters including one or more of an initial angle and the equivalent pendulum length, the programmable logic controller being configured to perform the method as described in any one of claims 1-6.

8. A pendulum axis device, the pendulum axis device comprising: The pendulum axis; as well as The programmable logic controller as described in claim 7.

9. A computer-readable storage medium storing instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 6.

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