Liquid quantity estimation method and device for anti-recoil device

Abstract

The invention provides a liquid quantity estimation method and device of an anti-recoil device, and relates to the technical field of equipment detection.The method comprises the steps that in the liquid quantity detection process, a pressure data sequence of a preset step length is obtained, the pressure data sequence is preprocessed, and an observed quantity sequence of the pressure data sequence is obtained; the observed quantity sequence is input into an identification model, a final pressure value after a preset step length is obtained through prediction, and the liquid amount of the anti-recoil device is obtained through calculation according to the final pressure value. According to the liquid quantity estimation method of the anti-recoil device, the predicted pressure final value is used for replacing the actually stabilized pressure final value, the measurement time is shortened, large jumping of the actually measured value in a short time is avoided, and the liquid quantity estimation precision can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment detection, and in particular to a method and device for estimating the amount of liquid in a recoil device. Background Art

[0002] The recoil device of the gas-liquid hybrid recoil mechanism of artillery is used to reduce the impact of recoil on the gun mount and the spade during the firing process of modern artillery, and at the same time realize the recoil function. The gas-liquid hybrid recoil mechanism is a high-pressure container with mixed gas and liquid. Its liquid volume and gas pressure are the key factors that determine the recoil stroke and recoil force of the artillery, which are related to the firing safety and service life of the artillery. Therefore, accurate detection of the recoil liquid volume of the artillery recoil mechanism is an important part of artillery maintenance. The gas-liquid hybrid recoil mechanism has only one interface for gas and liquid injection, which is also the inspection port for obtaining gas pressure and liquid capacity.

[0003] In the prior art, to detect the liquid capacity, it can only be obtained indirectly by detecting the air pressure through the Pomar's law. According to the Pomar's law, for a certain amount of gas, when the temperature remains unchanged, its pressure and volume are inversely proportional. Due to the large friction of the equipment components, the deflation process in the detection process is an underdamped process, and its final pressure stabilization process takes a long time, which affects the measurement cycle; at the same time, the gas space distribution in the device is irregular, resulting in a large jump in the pressure sensor measurement value in a short period of time during the measurement process, which affects the measurement result.

[0004] How to improve the stability of measurement data and thus improve the accuracy of liquid volume is a technical problem that needs to be solved at present. Summary of the invention

[0005] The present invention provides a method and a device for estimating the amount of liquid in a recoil device, so as to solve the defects in the prior art.

[0006] The present invention provides a method for estimating the amount of liquid in a recoil device, comprising: In the process of liquid volume detection, a pressure data sequence of a preset step length is obtained, and the pressure data sequence is preprocessed to obtain an observation quantity sequence of the pressure data sequence; The observed quantity sequence is input into the identification model to predict the final pressure value after the preset step length, and the liquid volume of the recoil device is calculated according to the final pressure value.

[0007] According to a method for estimating the amount of liquid in a recoil device provided by the present invention, the step of inputting the observed quantity sequence into an identification model comprises: Acquire a predefined first matrix and a second matrix, and calculate a third matrix based on the observation sequence; The conversion relationship between the second matrix and the first matrix and the third matrix is ​​calculated by the least square method, and the identification model is obtained based on the conversion relationship.

[0008] According to a method for estimating the amount of liquid in a recoil device provided by the present invention, the conversion relationship between the second matrix and the first matrix and the third short matrix is ​​expressed by the following formula:

[0009] Where B represents the second matrix, ,

[0010] A represents the first matrix,

[0011] ,

[0012] Y represents the third matrix, .

[0013] According to a method for estimating the amount of liquid in a recoil device provided by the present invention, obtaining the identification model based on the conversion relationship comprises: The identification model is expressed by the following formula:

[0014] in, represents the final pressure value, m represents the mth moment, when m approaches ∞, the sensor converges stably to .

[0015] According to a method for estimating the amount of liquid in a recoil device provided by the present invention, in the process of detecting the amount of liquid, a pressure data sequence of a preset step length is obtained, and the pressure data sequence is preprocessed, including: During the liquid volume detection process, a pressure data sequence of a preset step length is obtained, a mean calculation process is performed on the pressure data sequence to obtain a first observation value, and a difference quotient process is performed on the pressure data sequence to obtain a second observation value.

[0016] According to a method for estimating the amount of liquid in a recoil device provided by the present invention, the obtaining of the observed quantity sequence of the pressure data sequence comprises: Based on the first observation value and the second observation value, an observation value sequence of the pressure data sequence is obtained.

[0017] The present invention also provides a liquid amount estimation device for a recoil device, comprising: An acquisition module, used for acquiring a pressure data sequence of a preset step length during the liquid volume detection process, and preprocessing the pressure data sequence to obtain an observation quantity sequence of the pressure data sequence; The prediction module is used to input the observed quantity sequence into the identification model, predict the final pressure value after the preset step length, and calculate the liquid volume of the anti-recoil device according to the final pressure value.

[0018] According to a device for estimating the amount of liquid in a recoil device provided by the present invention, the device further comprises a conversion module, which is specifically used for: Acquire a predefined first matrix and a second matrix, and calculate a third matrix based on the observation sequence; The conversion relationship between the second matrix and the first matrix and the third matrix is ​​calculated by the least square method, and the identification model is obtained based on the conversion relationship.

[0019] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a method for estimating the amount of liquid in a recoil device as described above is implemented.

[0020] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for estimating the amount of liquid in the anti-recoil device as described in any one of the above is implemented.

[0021] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for estimating the amount of liquid in the anti-recoil device as described in any one of the above is implemented.

[0022] The present invention provides a method and device for estimating the liquid volume of an anti-recoil device, which obtains a pressure data sequence of a preset step length during the liquid volume detection process, and pre-processes the pressure data sequence to obtain an observation sequence of the pressure data sequence; the observation sequence is input into an identification model to predict the final pressure value after the preset step length, and the liquid volume of the anti-recoil device is calculated based on the final pressure value. It can be seen that the present invention performs model identification of the pressure change process based on the real-time pressure data of the slowly changing over-damped pressure change process, and then predicts the final pressure value of the container after a certain period of time, and replaces the actual stable final pressure value with the predicted final pressure value, thereby shortening the measurement time, avoiding large jumps of the actual measured value in a short period of time, and improving the accuracy of liquid volume estimation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is one of the flow charts of the method for estimating the amount of liquid in the recoil device provided by the present invention.

[0025] Figure 2 It is a schematic diagram of the effect of the method for estimating the amount of liquid in the recoil device provided by the present invention.

[0026] Figure 3 It is a structural schematic diagram of the liquid amount estimating device of the recoil device provided by the present invention.

[0027] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Combine the following Figure 1-Figure 4 The present invention describes a method and device for estimating the amount of fluid in a recoil device.

[0030] It should be noted that the recoil device of the artillery gas-liquid hybrid recoil mechanism is used to reduce the impact of recoil on the artillery mount and the spade during the firing process of modern artillery, while realizing the recoil function. The gas-liquid hybrid recoil mechanism is a high-pressure container containing a mixture of gas and liquid. The liquid volume and gas pressure are the key factors that determine the recoil stroke and recoil force of the artillery, which are related to the firing safety and service life of the artillery. Therefore, accurate detection of the recoil liquid volume of the artillery recoil mechanism is an important part of artillery maintenance. The gas-liquid hybrid recoil mechanism has only one interface for gas and liquid injection, which is also the inspection port for obtaining gas pressure and liquid capacity.

[0031] In the prior art, the liquid capacity can only be detected by detecting the gas pressure and then indirectly obtaining it through the Bomar's law. According to the Bomar's law, for a certain amount of gas, when the temperature remains unchanged, its pressure and volume are inversely proportional, which can be expressed as: . It is the first-state gas pressure (initial pressure), which can be directly read by a pressure sensor; is the volume of the first-state gas, ; is the total volume of the recoil engine, which is a known design value. is the liquid capacity; It is the second-state gas pressure (final pressure), which can be directly read by a pressure sensor; is the volume of the second-state gas, usually The gas volume is allowed to occur under the condition The change of . Hence:

[0032] When detecting the recoil fluid of an artillery gun, the measurement accuracy of the initial pressure and the final pressure directly affects the accuracy of the liquid volume. Due to the large friction of the equipment components, the deflation process in the detection process is an underdamped process, and the final pressure stabilization process takes a long time, which affects the measurement cycle; at the same time, the gas space distribution in the device is irregular, resulting in a large jump in the sensor acquisition result of the pressure sensor during the measurement process in a short period of time, which affects the measurement result. Based on this, the present invention provides a method for estimating the liquid volume of a recoil device to solve at least one of the above problems.

[0033] Figure 1 FIG. 1 is one of the flow charts of the method for estimating the amount of liquid in the recoil device provided in this embodiment. Figure 1 As shown, the method for estimating the amount of liquid in the recoil device provided in this embodiment includes: Step 100: During the liquid volume detection process, a pressure data sequence of a preset step length is obtained, and the pressure data sequence is preprocessed to obtain an observation value sequence of the pressure data sequence.

[0034] It should be noted that, since the pressure change process inside the recoil engine is an over-damped process, the nonlinear function of formula (1) is used to perform real-time identification of the pressure change process with a preset step length.

[0035] (1)

[0036] in, represents the final pressure value, m represents the mth moment, when m approaches ∞, the sensor converges stably to .

[0037] Specifically, firstly, the pressure data in the measurement process is collected in real time, and the sampling frequency can be 10Hz, and the sampled pressure data is preprocessed. The pressure data is preprocessed by taking the average value to obtain , reduce the random noise of test data, As The observed value of can be found in formula (2).

[0038] (2)

[0039] Furthermore, the pressure data is processed by difference quotient as the derivative of pressure change, which represents the trend of pressure change, see formula (3).

[0040] (3)

[0041] for The observed value of is, see formula (4).

[0042] (4)

[0043] Step 200: Input the observed quantity sequence into the identification model, predict the final pressure value after the preset step length, and calculate the liquid volume of the anti-recoil device according to the final pressure value.

[0044] Specifically, , Combine to obtain the observation sequence p, .

[0045] make ,

[0046] ,

[0047] ,

[0048] The least squares method is used to obtain formula (5).

[0049] (5)

[0050] Thus, the identification model of the pressure transformation process is obtained, see formula (1).

[0051] The above is a description of the steps of the method for estimating the liquid volume of the anti-recoil device provided by the present embodiment. It can be seen from the description of the above steps that according to the method for estimating the liquid volume of the anti-recoil device provided by the present embodiment, in the process of liquid volume detection, a pressure data sequence of a preset step length is obtained, and the pressure data sequence is preprocessed to obtain an observation sequence of the pressure data sequence; the observation sequence is input into the identification model, and the final pressure value after the preset step length is predicted, and the liquid volume of the anti-recoil device is calculated according to the final pressure value. It can be seen that the present invention performs model identification of the pressure change process based on the real-time pressure data of the slowly changing over-damped pressure change process, and then predicts the final pressure value of the container after a certain period of time, and replaces the actual final pressure value after stabilization with the predicted final pressure value, thereby shortening the measurement time, avoiding large jumps of the actual measured value in a short time, and improving the accuracy of liquid volume estimation.

[0052] Based on the above embodiment, in this embodiment, inputting the observation sequence into the identification model includes: Acquire a predefined first matrix and a second matrix, and calculate a third matrix based on the observation sequence; The conversion relationship between the second matrix and the first matrix and the third matrix is ​​calculated by the least square method, and the identification model is obtained based on the conversion relationship.

[0053] It should be noted that the first matrix can refer to the matrix A in the above embodiment, the second matrix can refer to the matrix B in the above embodiment, and the third matrix is ​​calculated based on the observation sequence, such as the matrix Y in the above embodiment.

[0054] Specifically, the measurement process of the equipment pressure sensor is regarded as a step response process, and the identification model is used Identification. Matrix A is an adjoint matrix composed of the signal response step numbers, and is a process matrix composed of coefficients related to the pressure change and the inverse of the pressure change, which is used to inversely solve the model; Matrix B is the coefficient matrix of the pressure prediction nonlinear model. In Matrix A, x is the index value of the signal sequence, representing the weight, x(1)=1, x(1)=2, corresponding to the corresponding positions of the 10 signal sequences collected, and does not represent physical quantities. That is, ) is the sensor output data sample sequence acquired in real time, which is regarded as the response sequence data after the step result is discretized, and the matrix is ​​the sensor response data sequence.

[0055] The method for estimating the liquid volume of the recoil device provided in the present embodiment performs model identification of the pressure change process based on the real-time pressure data and pressure change trend of the slowly changing over-damped pressure change process, and then predicts the final value of the container pressure after a certain period of time, and replaces the actual final value of the pressure after stabilization with the predicted final value of the pressure, thereby shortening the measurement time, avoiding large jumps in the actual measured value in a short period of time, and improving the accuracy of liquid volume estimation.

[0056] Based on the above embodiment, in this embodiment, in the process of liquid volume detection, obtaining a pressure data sequence with a preset step length and preprocessing the pressure data sequence include: During the liquid volume detection process, a pressure data sequence of a preset step length is obtained, a mean calculation process is performed on the pressure data sequence to obtain a first observation value, and a difference quotient process is performed on the pressure data sequence to obtain a second observation value.

[0057] The method for estimating the liquid volume of the recoil device provided in the present embodiment performs model identification of the pressure change process based on the real-time pressure data and pressure change trend of the slowly changing over-damped pressure change process, and then predicts the final value of the container pressure after a certain period of time, and replaces the actual final value of the pressure after stabilization with the predicted final value of the pressure, thereby shortening the measurement time, avoiding large jumps in the actual measured value in a short period of time, and improving the accuracy of liquid volume estimation.

[0058] Based on the above embodiment, in this embodiment, obtaining the observation sequence of the pressure data sequence includes: Based on the first observation value and the second observation value, an observation value sequence of the pressure data sequence is obtained.

[0059] Specifically, Figure 2 FIG. 1 is a schematic diagram showing the effect of the method for estimating the amount of liquid in the recoil device provided in this embodiment. Figure 2 As shown, there is a small error between the real-time predicted data of the identification model and the actual data, and the measurement accuracy is high.

[0060] The method for estimating the liquid volume of the recoil device provided in the present embodiment performs model identification of the pressure change process based on the real-time pressure data and pressure change trend of the slowly changing over-damped pressure change process, and then predicts the final value of the container pressure after a certain period of time, and replaces the actual final value of the pressure after stabilization with the predicted final value of the pressure, thereby shortening the measurement time, avoiding large jumps in the actual measured value in a short period of time, and improving the accuracy of liquid volume estimation.

[0061] The following is a description of a liquid quantity estimation device for an anti-recoil device provided by the present invention. The liquid quantity estimation device for an anti-recoil device described below and the liquid quantity estimation method for an anti-recoil device described above can be referred to each other.

[0062] Figure 3 FIG. 1 is a schematic diagram of the structure of the liquid volume estimation device of the recoil device provided in this embodiment. Figure 3 As shown, the liquid amount estimation device of the recoil device provided in this embodiment includes: An acquisition module 301 is used to acquire a pressure data sequence of a preset step length during a liquid volume detection process, and preprocess the pressure data sequence to obtain an observation value sequence of the pressure data sequence; The prediction module 302 is used to input the observed quantity sequence into the identification model, predict the final pressure value after a preset step length, and calculate the liquid volume of the anti-recoil device according to the final pressure value.

[0063] The liquid volume estimation device of the anti-recoil device provided in the present embodiment obtains a pressure data sequence of a preset step length during the liquid volume detection process, and pre-processes the pressure data sequence to obtain an observation sequence of the pressure data sequence; the observation sequence is input into the identification model to predict the final pressure value after the preset step length, and the liquid volume of the anti-recoil device is calculated according to the final pressure value. It can be seen that the present invention performs model identification of the pressure change process based on the real-time pressure data of the slowly changing over-damped pressure change process, and then predicts the final pressure value of the container after a certain period of time, and replaces the actual stable final pressure value with the predicted final pressure value, thereby shortening the measurement time, avoiding large jumps of the actual measured value in a short time, and improving the accuracy of liquid volume estimation.

[0064] Based on the above embodiment, in this embodiment, the device further includes a conversion module, which is specifically used to: Acquire a predefined first matrix and a second matrix, and calculate a third matrix based on the observation sequence; The conversion relationship between the second matrix and the first matrix and the third matrix is ​​calculated by the least square method, and the identification model is obtained based on the conversion relationship.

[0065] Based on the above embodiment, in this embodiment, the conversion relationship between the second matrix, the first matrix and the third short matrix is ​​expressed by the following formula:

[0066] Where B represents the second matrix, ,

[0067] A represents the first matrix,

[0068] ,

[0069] Y represents the third matrix, .

[0070] Based on the above embodiment, in this embodiment, the device further includes a first generating module, which is specifically used to: The identification model is expressed by the following formula:

[0071] in, represents the final pressure value, m represents the mth moment, when m approaches ∞, the sensor converges stably to .

[0072] Based on the above embodiment, in this embodiment, the device further includes a preprocessing module, which is specifically used for: During the liquid volume detection process, a pressure data sequence of a preset step length is obtained, a mean calculation process is performed on the pressure data sequence to obtain a first observation value, and a difference quotient process is performed on the pressure data sequence to obtain a second observation value.

[0073] Based on the above embodiment, in this embodiment, the device further includes a second generating module, which is specifically used to: Based on the first observation value and the second observation value, an observation value sequence of the pressure data sequence is obtained.

[0074] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other via the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the method for estimating the amount of liquid in the anti-recoil device, and the method includes: In the process of liquid volume detection, a pressure data sequence of a preset step length is obtained, and the pressure data sequence is preprocessed to obtain an observation quantity sequence of the pressure data sequence; The observed quantity sequence is input into the identification model to predict the final pressure value after the preset step length, and the liquid volume of the recoil device is calculated according to the final pressure value.

[0075] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0076] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program can be stored in a non-transitory computer-readable storage medium, when the computer program is executed by a processor, the computer can execute the method for estimating the amount of liquid in a recoil device provided by the above methods, the method comprising: In the process of liquid volume detection, a pressure data sequence of a preset step length is obtained, and the pressure data sequence is preprocessed to obtain an observation quantity sequence of the pressure data sequence; The observed quantity sequence is input into the identification model to predict the final pressure value after the preset step length, and the liquid volume of the recoil device is calculated according to the final pressure value.

[0077] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for estimating the amount of liquid in a recoil device provided by the above methods is implemented, and the method comprises: In the process of liquid volume detection, a pressure data sequence of a preset step length is obtained, and the pressure data sequence is preprocessed to obtain an observation quantity sequence of the pressure data sequence; The observed quantity sequence is input into the identification model to predict the final pressure value after the preset step length, and the liquid volume of the recoil device is calculated according to the final pressure value.

[0078] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0079] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for estimating the amount of fluid in a recoil device, characterized in that: include: In the process of liquid volume detection, a pressure data sequence of a preset step length is obtained, and the pressure data sequence is preprocessed to obtain an observation quantity sequence of the pressure data sequence; The observed quantity sequence is input into the identification model to predict the final pressure value after the preset step length, and the liquid volume of the recoil device is calculated according to the final pressure value.

2. The method for estimating the amount of fluid in a recoil device according to claim 1, characterized in that: The step of inputting the observation sequence into the identification model comprises: Acquire a predefined first matrix and a second matrix, and calculate a third matrix based on the observation sequence; The conversion relationship between the second matrix and the first matrix and the third matrix is ​​calculated by the least square method, and the identification model is obtained based on the conversion relationship.

3. The method for estimating the amount of fluid in a recoil device according to claim 2, characterized in that: The conversion relationship between the second matrix, the first matrix and the third short matrix is ​​expressed by the following formula: Where B represents the second matrix, , A represents the first matrix, ， Y represents the third matrix, .

4. The method for estimating the amount of fluid in a recoil device according to claim 3, characterized in that: The obtaining of the identification model based on the conversion relationship comprises: The identification model is expressed by the following formula: in, represents the final pressure value, m represents the mth moment, when m approaches ∞, the sensor converges stably to .

5. The method for estimating the amount of fluid in a recoil device according to claim 1, characterized in that: In the liquid volume detection process, obtaining a pressure data sequence of a preset step length and preprocessing the pressure data sequence include: During the liquid volume detection process, a pressure data sequence of a preset step length is obtained, a mean calculation process is performed on the pressure data sequence to obtain a first observation value, and a difference quotient process is performed on the pressure data sequence to obtain a second observation value.

6. The method for estimating the amount of fluid in a recoil device according to claim 5, characterized in that: The step of obtaining the observation sequence of the pressure data sequence comprises: Based on the first observation value and the second observation value, an observation value sequence of the pressure data sequence is obtained.

7. A fluid volume estimation device for a recoil device, characterized in that: include: An acquisition module, used for acquiring a pressure data sequence of a preset step length during the liquid volume detection process, and preprocessing the pressure data sequence to obtain an observation quantity sequence of the pressure data sequence; The prediction module is used to input the observed quantity sequence into the identification model, predict the final pressure value after the preset step length, and calculate the liquid volume of the anti-recoil device according to the final pressure value.

8. The recoil device fluid quantity estimation device according to claim 7, characterized in that: The device also includes a conversion module, which is specifically used for: Acquire a predefined first matrix and a second matrix, and calculate a third matrix based on the observation sequence; The conversion relationship between the second matrix and the first matrix and the third matrix is ​​calculated by the least square method, and the identification model is obtained based on the conversion relationship.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the method for estimating the amount of fluid in the recoil device according to any one of claims 1 to 6 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for estimating the amount of fluid in a recoil device according to any one of claims 1 to 6 is implemented.

Images