Calibration method, device and equipment of multi-way valve and storage medium

Abstract

The invention provides a multi-way valve calibration method, device and equipment and a storage medium, and relates to the technical field of computers.The method comprises the steps that firstly, a target multi-way valve used for calibration is determined, and then N calibration positions Nlt are selected from M design positions of the target multi-way valve; according to the method, the design positions M are not calibrated, part of the design positions are calibrated, fitting is carried out according to the calibrated part of the design positions, and calibration of all the design positions is obtained, so that compared with calibration of all the design positions, the calibration time is shortened, and the calibration efficiency is improved; moreover, in the calibration process of the target multi-way valve, the calibration equipment detects the position of the valve element of the target multi-way valve multiple times in sequence, and under the condition that the detection does not meet the condition, the motor is controlled again to drive the valve element to rotate, so that the calibration accuracy is further ensured. Therefore, the method can improve the calibration efficiency so as to quickly complete calibration.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular, to a calibration method, device, equipment, and storage medium for a multi-way valve. Background Art

[0002] Currently, most of the multi-way valves commonly used in vehicle thermal management are 3-way valves or 4-way valves, with only a small number of design positions. Therefore, the valve core rotates to the first design position and the second design position respectively to complete the position switching. With the complexity and improvement of the thermal management system, the multi-way valve channels required by the thermal management system are increasing, and thus the design positions are also increasing.

[0003] In the traditional calibration scheme, calibration is performed for each design position, and the calibration efficiency is poor, making it difficult to complete the calibration quickly. Summary of the Invention

[0004] This application provides a calibration method, device, equipment, and storage medium for a multi-way valve, which can improve the calibration efficiency and thus complete the calibration quickly.

[0005] To achieve the above object, this application adopts the following technical solutions: In a first aspect, this application provides a calibration method for a multi-way valve, and the method includes: Determine a target multi-way valve for calibration, where the target multi-way valve includes M design positions; determine N calibration positions from the M design positions, where N < M; When n > 1, determine the nth first angle between the center of the nth calibration position and the center of the ith calibration position among the N calibration positions; according to the nth first angle, determine the nth estimated Hall quantity of the tth round from the center of the ith calibration position to the center of the nth calibration position, where i < n ≤ N, and M, N, and n are all positive integers, and the ith calibration position is any position among the calibrated positions; When n = 1, determine the nth first angle between the center of the nth calibration position and the top dead center of the target multi-way valve, and according to the nth first angle, determine the nth estimated Hall quantity of the tth round from the top dead center of the target multi-way valve to the center of the nth calibration position; Control the motor to drive the valve core of the target multi-way valve to rotate towards the center of the nth calibration position according to the nth estimated Hall quantity of the tth round; Detect the valve core, valve body, and sealing ribs of the target multi-way valve through computerized tomography (CT) scanning to obtain the nth detection result of the tth round; If the nth detection result of the tth round indicates that the angles of the valve body and the valve core of the target multi-way valve match, and the valve core of the target multi-way valve is aligned with the center of the sealing rib, the nth upper boundary Hall value of the hth round and the nth lower boundary Hall value of the hth round at the nth calibration position are determined according to the angle width of the sealing rib of the target multi-way valve; According to the nth upper boundary Hall value of the hth round, the motor is controlled to drive the valve core of the target multi-way valve to rotate, and an upper boundary internal leakage test is performed to obtain the nth upper boundary test result of the hth round; according to the nth lower boundary Hall value of the hth round, the motor is controlled to drive the valve core of the target multi-way valve to rotate, and a lower boundary internal leakage test is performed to obtain the nth lower boundary test result of the hth round; If the nth upper boundary test result of the hth round and the nth lower boundary test result of the hth round both indicate that no internal leakage occurs, then the nth actual Hall quantity corresponding to the center of the nth calibration position is determined based on the nth estimated Hall quantity of the tth round; and the actual Hall quantities corresponding to the centers of the M design positions are fitted based on the N calibration positions.

[0006] Optionally, determining a target multi-way valve for calibration includes: determining candidate multi-port valves; Control the motor to drive the valve core of the candidate multi-way valve to rotate toward the top dead center of the candidate multi-way valve until the motor is blocked, maintain the blocked state for a first preset time, control the motor to stop driving the valve core of the candidate multi-way valve to rotate, and record the first rotation Hall value of the motor within a second preset time; Control the motor to drive the valve core of the candidate multi-way valve to rotate from the top dead center of the candidate multi-way valve to the bottom dead center of the candidate multi-way valve until the motor is blocked, maintain the blocked state for the first preset time, record the positive rotation Hall value of the motor, control the motor to stop driving the valve core of the candidate multi-way valve to rotate, and record the second rotation Hall value of the motor within the second preset time; Control the motor to drive the valve core of the candidate multi-way valve to rotate from the bottom dead center of the candidate multi-way valve to the top dead center of the candidate multi-way valve until the motor is blocked, maintain the blocked state for the first preset time, and record the reverse rotation Hall value of the motor; The sum of the first rotary Hall value and the forward rotation Hall value is used as the forward stroke of the candidate multi-way valve, and the sum of the second rotary Hall value and the reverse rotation Hall value is used as the reverse stroke of the candidate multi-way valve; If the stroke difference between the forward stroke and the reverse stroke of the candidate multi-way valve is smaller than the stroke difference threshold, the candidate multi-way valve is determined as the target multi-way valve for calibration.

[0007] Optionally, the method further includes: If the nth detection result of the tth round indicates that the angles of the valve body and the valve core of the target multi-way valve do not match, or the valve core and the sealing rib of the target multi-way valve are not centrally aligned, determine the nth relative position relationship of the tth round between the valve core and the sealing rib of the target multi-way valve, and control the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, maintain the blocked state for a first preset time, control the motor to stop driving the valve core of the target multi-way valve to rotate, and record the third rotation Hall value of the motor within a second preset time; When n>1, according to the third rotation Hall quantity and the i-th actual Hall quantity corresponding to the center of the i-th calibration position, control the motor to drive the valve core of the target multi-way valve to rotate to the center of the i-th calibration position; according to the n-th relative position relationship of the t-th wheel, adjust the n-th estimated Hall quantity of the t-th wheel to obtain the n-th estimated Hall quantity of the t+1-th wheel; When n=1, the nth estimated Hall value of the tth wheel is adjusted according to the nth relative position relationship of the tth wheel to obtain the nth estimated Hall value of the t+1th wheel; Using the nth estimated Hall value of the t+1th round, returning to the step of controlling the motor to drive the valve core of the target multi-way valve to rotate toward the center of the nth calibrated position according to the nth estimated Hall value of the tth round.

[0008] Optionally, adjusting the nth estimated Hall value of the tth round according to the nth relative position relationship of the tth round to obtain the nth estimated Hall value of the t+1th round includes: If the nth relative position relationship of the tth round indicates that the valve core of the target multi-way valve is in an over-rotation state, the nth estimated Hall value of the tth round is reduced to obtain the nth estimated Hall value of the t+1th round; If the nth relative position relationship of the tth round indicates that the valve core of the target multi-way valve is in a non-overrotated state, the nth estimated Hall value of the tth round is multiplied to obtain the nth estimated Hall value of the t+1th round.

[0009] Optionally, the method further includes: If the nth upper boundary test result of the hth round or the nth lower boundary test result of the hth round indicates that internal leakage occurs, the motor is controlled to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, and the blocked state is maintained for a first preset time, and the motor is controlled to stop driving the valve core of the target multi-way valve to rotate, and the fourth rotation Hall value of the motor within a second preset time is recorded; When n>1, according to the fourth rotation Hall value and the actual Hall value corresponding to the center of the i-th calibration position, control the motor to drive the valve core of the target multi-way valve to rotate to the center of the i-th calibration position; according to the boundary test result of the h-th round, adjust the n-th upper boundary Hall value of the h-th round and the n-th lower boundary Hall value of the h-th round to obtain the n-th upper boundary Hall value of the h+1-th round and the n-th lower boundary Hall value of the h+1-th round; When n=1, according to the boundary test result of the hth round, the nth upper boundary Hall value of the hth round and the nth lower boundary Hall value of the hth round are adjusted to obtain the nth upper boundary Hall value of the h+1th round and the nth lower boundary Hall value of the h+1th round; Using the nth upper boundary Hall quantity of the h+1th round and the lower boundary Hall quantity of the h+1th round, return to the steps of controlling the motor to drive the valve core of the target multi-way valve to rotate according to the nth upper boundary Hall quantity of the hth round to perform an upper boundary internal leakage test, and controlling the motor to drive the valve core of the target multi-way valve to rotate according to the nth lower boundary Hall quantity of the hth round to perform a lower boundary internal leakage test.

[0010] Optionally, adjusting the nth upper boundary Hall value of the hth round and the lower boundary Hall value of the hth round according to the boundary test result of the hth round to obtain the nth upper boundary Hall value of the h+1th round and the lower boundary Hall value of the h+1th round includes: If the nth upper boundary test result of the hth round indicates that an internal leakage occurs, the nth upper boundary Hall quantity of the hth round and the nth lower boundary Hall quantity of the hth round are reduced to obtain the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round; If the nth lower boundary test result of the hth round indicates the existence of internal leakage, the nth upper boundary Hall quantity of the hth round and the nth lower boundary Hall quantity of the hth round are increased to obtain the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round.

[0011] Optionally, determining the nth actual Hall value corresponding to the center of the nth calibration position according to the nth estimated Hall value of the tth round includes: When n>1, the sum of the n-th estimated Hall value of the t-th wheel and the i-th actual Hall value corresponding to the center of the i-th calibration position is taken as the n-th actual Hall value corresponding to the center of the n-th calibration position; When n=1, the nth estimated Hall value of the tth wheel is used as the nth actual Hall value corresponding to the center of the nth calibration position.

[0012] In a second aspect, the present application provides a calibration device for a multi-way valve, and the device includes: A multi-way valve determination module, configured to determine a target multi-way valve for calibration, where the target multi-way valve includes M design positions; and determine N calibration positions from the M design positions, where N < M; A Hall quantity determination module, configured to, when n > 1, determine a nth first angle between the center of the nth calibration position and the center of the ith calibration position among the N calibration positions; and determine a nth estimated Hall quantity of the tth round from the center of the ith calibration position to the center of the nth calibration position according to the nth first angle, where i < n ≤ N, and M, N, and n are all positive integers, and the ith calibration position is any position among the calibrated positions; when n = 1, determine a nth first angle between the center of the nth calibration position and the top dead center of the target multi-way valve, and determine a nth estimated Hall quantity of the tth round from the top dead center of the target multi-way valve to the center of the nth calibration position according to the nth first angle; A control module, configured to control a motor to drive the valve core of the target multi-way valve to rotate towards the center of the nth calibration position according to the nth estimated Hall quantity of the tth round; A first detection module, configured to detect the valve core, valve body, and sealing ribs of the target multi-way valve through computerized tomography (CT) scanning to obtain a nth detection result of the tth round; A second detection module, configured to, if the nth detection result of the tth round indicates that the angles of the valve body and the valve core of the target multi-way valve match, and the centers of the valve core and the sealing ribs of the target multi-way valve are aligned, determine a nth upper boundary Hall quantity and a nth lower boundary Hall quantity of the hth round of the nth calibration position according to the angular width of the sealing ribs of the target multi-way valve; control the motor to drive the valve core of the target multi-way valve to rotate according to the nth upper boundary Hall quantity of the hth round to perform an upper boundary internal leakage test to obtain a nth upper boundary test result of the hth round, and control the motor to drive the valve core of the target multi-way valve to rotate according to the nth lower boundary Hall quantity of the hth round to perform a lower boundary internal leakage test to obtain a nth lower boundary test result of the hth round; A calibration module, configured to, if both the nth upper boundary test result and the nth lower boundary test result of the hth round indicate no internal leakage, determine a nth actual Hall quantity corresponding to the center of the nth calibration position according to the nth estimated Hall quantity of the tth round; and fit to obtain the actual Hall quantities corresponding to the centers of the M design positions according to the N calibration positions.

[0013] In a third aspect, the present application provides a computing device, including a memory and a processor; Among them, one or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device is caused to execute the method described in any one of the first aspect.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program for executing the method described in any one of the first aspect.

[0015] From the above technical solutions, it can be seen that the present application has at least the following beneficial effects: The present application provides a calibration method for a multi-way valve. The method can be executed by a calibration device. The method includes that the calibration device first determines a target multi-way valve for calibration, and then selects N calibration positions from M design positions of the target multi-way valve, where N < M. Instead of calibrating all the design positions, only some of the design positions are calibrated, and then fitting is performed according to the calibrated partial design positions to obtain the calibration of all the design positions. In this way, compared with calibrating all the design positions, the calibration time is shortened and the calibration efficiency is improved. Moreover, during the calibration process of the target multi-way valve by the calibration device, the valve core position of the target multi-way valve is detected multiple times successively. In case the detection does not meet the conditions, the motor is re-controlled to drive the valve core to rotate, thereby further ensuring the calibration accuracy.

[0016] It should be understood that the description of technical features, technical solutions, beneficial effects or similar languages in the present application does not imply that all the features and advantages can be achieved in any single embodiment. On the contrary, it can be understood that the description of features or beneficial effects means that at least one embodiment includes specific technical features, technical solutions or beneficial effects. Therefore, the description of technical features, technical solutions or beneficial effects in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in this embodiment can be combined in any appropriate manner. Those skilled in the art will understand that an embodiment can be implemented without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in specific embodiments that do not embody all the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flowchart of a calibration method for a multi-way valve provided by an embodiment of the present application; Figure 2 It is a flowchart of another calibration method for a multi-way valve provided by an embodiment of the present application; Figure 3 It is a flowchart for calibrating K calibration positions provided by an embodiment of the present application. Figure 4 A flow chart for determining a target multi-way valve provided in an embodiment of the present application; Figure 5 A schematic diagram of a calibration device for a multi-way valve provided in an embodiment of the present application; Figure 6 A schematic diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The terms "first", "second", "third", etc. in the specification of this application and the accompanying drawings are used to distinguish different objects rather than to limit a specific order.

[0019] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0020] In the conventional calibration method, each design position corresponds to a valve core rotation angle range, and the corresponding Hall value is also a range. The central Hall value and the boundary of the Hall value range of each design position need to be calibrated. The calibration workload is large, and before calibration, the sample is randomly selected. However, the selected samples have large errors, which will cause large errors in the calibration results and poor calibration accuracy.

[0021] In view of this, an embodiment of the present application provides a calibration method for a multi-way valve, which can be performed by a calibration device, which can be a terminal, such as a computer for calibration, a field device, etc. In this method, the calibration device has different processes for calibrating the first calibration position and other calibration positions, which are described below.

[0022] When n=1, that is, the calibration device calibrates the first calibration position.

[0023] In order to make the technical solution of the present application clearer and easier to understand, the technical solution of the present application is introduced below in conjunction with the accompanying drawings. Figure 1 As shown, the figure is a flow chart of a calibration method of a multi-way valve provided in an embodiment of the present application, the method comprising: S101. A calibration device determines a target multi-way valve for calibration.

[0024] Before calibrating the multi-way valve, a target multi-way valve is first screened from a plurality of candidate multi-way valves, and the target multi-way valve includes M design positions, where M is a positive integer.

[0025] S102. The calibration device determines N calibration positions from M design positions.

[0026] Among them, N < M. After the calibration device determines the target multi-way valve, it can determine N calibration positions from the M design positions of the target multi-way valve for subsequent calibration. Among them, N is greater than or equal to 2 and N is an integer. After the subsequent calibration device completes the calibration of the N calibration positions, fitting can be performed based on these N positions to obtain the calibration conditions of other calibration positions, so that it is not necessary to calibrate all the design positions of the target multi-way valve, improving the calibration efficiency.

[0027] S103. The calibration device determines the nth first angle between the center of the nth calibration position among the N calibration positions and the top dead center of the target multi-way valve, and determines the nth estimated Hall quantity of the tth round from the top dead center of the target multi-way valve to the center of the nth calibration position according to the nth first angle.

[0028] In the embodiment of the present application, n = 1. The calibration device determines the first angle between the center of the first calibration position among the N calibration positions and the top dead center of the target multi-way valve, and determines the first estimated Hall quantity of the tth round from the top dead center of the target multi-way valve to the center of the first calibration position according to the first angle.

[0029] It should be noted that it can be pre-calculated how much Hall quantity corresponds to each unit of angle. After determining the first angle between the center of the first calibration position and the top dead center of the target multi-way valve, the first estimated Hall quantity can be obtained by multiplying the first angle by the Hall quantity corresponding to the unit angle.

[0030] S104. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate towards the center of the nth calibration position according to the nth estimated Hall quantity of the tth round.

[0031] After the calibration device determines the nth estimated Hall quantity of the tth round, it controls the motor to drive the valve core of the target multi-way valve to rotate towards the center of the first calibration position to calibrate the first calibration position.

[0032] S105. The calibration device detects the valve core, valve body and sealing ribs of the target multi-way valve through computerized tomography (CT) scanning to obtain the nth detection result of the tth round.

[0033] After the calibration device controls the valve core of the target multi-way valve to rotate towards the center of the first calibration position, it waits for a period of time, or when it determines that the valve core of the target multi-way valve no longer rotates, it detects the valve core, valve body and sealing ribs of the target multi-way valve through CT scanning to obtain the first detection result of the tth round.

[0034] S106: The calibration device determines whether the nth test result of the tth round passes.

[0035] If the first detection result of the tth round indicates that the angles of the valve body and the valve core of the target multi-way valve match, and the valve core and the sealing rib of the target multi-way valve are aligned in center, then the first detection of the tth round is determined to be passed, and S107 is executed. If the first detection result of the tth round indicates that the angles of the valve body and the valve core of the target multi-way valve do not match, or the valve core and the sealing rib of the target multi-way valve are not aligned in center, then S111 is executed.

[0036] S107. The calibration device determines the nth upper boundary Hall value of the hth wheel and the nth lower boundary Hall value of the hth wheel at the nth calibration position according to the angle width of the sealing rib of the target multi-way valve.

[0037] After the calibration device determines that the CT test has passed, in order to ensure the accuracy of the calibration, a secondary test, i.e., an internal leakage test, is performed. In an embodiment of the present application, the calibration device can determine the first upper boundary Hall quantity of the hth wheel and the first lower boundary Hall quantity of the hth wheel at the first calibration position based on the angle width of the sealing rib of the target multi-way valve. Specifically, the calibration device can first calculate the product of the angle width of the sealing rib and the Hall quantity corresponding to the unit angle, and then, based on the first estimated Hall quantity, add and subtract half of the result of the above product, respectively, to obtain the first upper boundary Hall quantity (obtained by adding the first estimated Hall quantity and half of the result of the product) and the first lower boundary Hall quantity (obtained by subtracting the first estimated Hall quantity and half of the result of the product).

[0038] S108. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate according to the nth upper boundary Hall value of the hth round, performs an upper boundary internal leakage test, and obtains the nth upper boundary test result of the hth round. According to the nth lower boundary Hall value of the hth round, the calibration device controls the motor to drive the valve core of the target multi-way valve to rotate, performs a lower boundary internal leakage test, and obtains the nth lower boundary test result of the hth round.

[0039] After the calibration device determines the first upper boundary Hall quantity and the first lower boundary Hall quantity of the hth round, the motor can be controlled to drive the valve core of the target multi-way valve to rotate according to the first upper boundary Hall quantity of the hth round, and the upper boundary internal leakage test can be performed to obtain the first upper boundary test result of the hth round. At this time, if the first upper boundary test result of the hth round indicates that no internal leakage occurs, the calibration device rotates to the center of the first calibration position according to the first upper boundary Hall quantity of the hth round, or controls the motor to rotate to the top dead center of the target multi-way valve, and then controls the motor to drive the valve core of the target multi-way valve to rotate to the center of the first calibration position according to the first estimated Hall quantity of the tth round, and then controls the motor to drive the valve core of the target multi-way valve to rotate according to the first lower boundary Hall quantity of the hth round, and performs the lower boundary internal leakage test to obtain the first lower boundary test result of the hth round.

[0040] In other embodiments, if the first upper boundary test result of the hth round indicates that no internal leakage occurs, the calibration device controls the motor to rotate to the top dead center of the target multi-way valve until it is blocked, and then controls the motor to drive the valve core of the target multi-way valve to rotate according to the first lower boundary Hall value of the hth round, and performs a lower boundary internal leakage test to obtain the first lower boundary test result of the hth round. This internal leakage test method can avoid the influence of the gear gap between the forward and reverse rotation of the valve core, and further improve the accuracy of the calibration result.

[0041] In some embodiments, if the calibration device finds that the first upper boundary test result of the hth round indicates the existence of internal leakage, the lower boundary internal leakage test is no longer performed and S113 is directly executed, thereby reducing unnecessary time waste and improving calibration efficiency.

[0042] It should be noted that the above example is only introduced by taking the upper boundary leakage test as an example first and then the lower boundary leakage test. In other embodiments, the lower boundary leakage test may be performed first and then the upper boundary leakage test.

[0043] S109: The calibration device determines whether the nth upper boundary test result of the hth round and the nth lower boundary test result of the hth round both indicate that no internal leakage occurs.

[0044] If the first upper boundary test result of the hth round and the first lower boundary test result of the hth round both indicate that no internal leakage occurs, execute S110; if the first upper boundary test result of the hth round or the first lower boundary test result of the hth round indicates that internal leakage occurs, execute S113.

[0045] S110 , the calibration device determines the n th actual Hall value corresponding to the center of the n th calibration position according to the n th estimated Hall value of the t th round.

[0046] If both the CT test and the internal leakage test are passed, the calibration device can determine the first actual Hall value corresponding to the center of the first calibration position based on the first estimated Hall value of the tth round. Specifically, the calibration device uses the first estimated Hall value of the tth round as the first actual Hall value corresponding to the center of the first calibration position.

[0047] S111. The calibration device determines the nth relative position relationship between the valve core of the target multi-way valve and the sealing rib of the tth wheel, and controls the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, and maintains the blocked state for a first preset time, controls the motor to stop driving the valve core of the target multi-way valve to rotate, and records the third rotation Hall value of the motor within a second preset time.

[0048] If the first test result of the tth round fails, the calibration device can determine the first relative position relationship of the tth round between the valve core and the sealing rib of the target multi-way valve, and control the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, maintain the blocked state for the first preset time, and then control the motor to stop driving the valve core of the target multi-way valve to rotate, and record the third rotation Hall value of the motor within the second preset time.

[0049] When the CT test fails, the calibration device first controls the motor to drive the valve core of the target multi-way valve back to the top dead center, and resets the target multi-way valve, thereby reducing the calibration error and improving the accuracy of the calibration result.

[0050] S112. The calibration device adjusts the nth estimated Hall value of the tth round according to the nth relative position relationship of the tth round to obtain the nth estimated Hall value of the t+1th round.

[0051] If the CT test fails, it means that the first estimated Hall quantity of the tth round calculated is inaccurate, so the first estimated Hall quantity of the tth round needs to be adjusted. Specifically, the calibration device adjusts the first estimated Hall quantity of the tth round according to the first relative position relationship of the tth round to obtain the first estimated Hall quantity of the t+1th round. Then, the first estimated Hall quantity of the t+1th round is used to return to S104 and enter the next round of CT test cycle.

[0052] In some embodiments, if the first relative position relationship of the tth round indicates that the valve core of the target multi-way valve is in an over-rotation state, the first estimated Hall quantity of the tth round is reduced to obtain the first estimated Hall quantity of the t+1th round; if the first relative position relationship of the tth round indicates that the valve core of the target multi-way valve is not in an over-rotation state, the first estimated Hall quantity of the tth round is increased to obtain the first estimated Hall quantity of the t+1th round.

[0053] Since the target multi-way valve has been reset in S111, it is possible to directly return to S104 with the first estimated Hall value in the t+1th round to enter the next round of CT detection cycle.

[0054] S113, the calibration device controls the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, maintains the blocked state for a first preset time, controls the motor to stop driving the valve core of the target multi-way valve to rotate, and records the fourth rotation Hall value of the motor within a second preset time.

[0055] If the internal leakage test fails, the calibration device first controls the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, maintains the blocked state for the first preset time, controls the motor to stop driving the valve core of the target multi-way valve to rotate, and records the fourth rotation Hall value of the motor within the second preset time, thereby resetting the target multi-way valve.

[0056] S114. The calibration device adjusts the nth upper boundary Hall value of the hth round and the nth lower boundary Hall value of the hth round according to the boundary test result of the hth round to obtain the nth upper boundary Hall value of the h+1th round and the nth lower boundary Hall value of the h+1th round.

[0057] Although the CT test passed, the internal leakage test failed, indicating that the first upper boundary Hall quantity of the hth round or the first lower boundary Hall quantity of the hth round determined based on the first estimated Hall quantity of the tth round is inaccurate, so it is necessary to adjust the first upper boundary Hall quantity of the hth round and the first lower boundary Hall quantity of the hth round. Specifically, if the first upper boundary test result of the hth round indicates that internal leakage occurs, the first upper boundary Hall quantity of the hth round and the lower boundary Hall quantity of the hth round are reduced to obtain the first upper boundary Hall quantity of the h+1th round and the first lower boundary Hall quantity of the h+1th round; if the first lower boundary test result of the hth round indicates that internal leakage occurs, the first upper boundary Hall quantity of the hth round and the first lower boundary Hall quantity of the hth round are increased to obtain the first upper boundary Hall quantity of the h+1th round and the first lower boundary Hall quantity of the h+1th round.

[0058] Since the target multi-way valve has been reset in S113, it is possible to directly return to S108 with the first upper boundary Hall value of the h+1th round and the first lower boundary Hall value of the h+1th round.

[0059] In the embodiment of the present application, after the calibration device completes the calibration of the first calibration position, the calibration of the subsequent positions can be continued. The following describes the case where n>1, such as Figure 2 As shown, this figure is a flow chart of another multi-way valve calibration method provided in an embodiment of the present application. The method includes: S201. The calibration device determines the target multi-way valve for calibration.

[0060] S202. The calibration device determines N calibration positions from M design positions.

[0061] S203. The calibration device determines the n-th first angle between the center of the n-th calibration position and the center of the i-th calibration position among the N calibration positions. According to the n-th first angle, the n-th estimated Hall quantity of the t-th round from the center of the i-th calibration position to the center of the n-th calibration position is determined.

[0062] Wherein, the i-th calibration position is any position among the calibrated positions. For example, when i = 1, the i-th calibration position is the first calibrated calibration position.

[0063] After the calibration device completes the calibration of the i-th calibration position, it can determine the n-th estimated Hall quantity of the t-th round from the center of the i-th calibration position to the center of the n-th calibration position based on the n-th first angle between the center of the i-th calibration position and the center of the n-th calibration position. Wherein, i < n ≤ N, M, N, and n are all positive integers, and the i-th calibration position is any position among the calibrated positions. Specifically, it can be pre-calculated how much Hall quantity corresponds to each unit of angle. After determining the n-th first angle between the center of the i-th calibration position and the n-th calibration position, the n-th estimated Hall quantity can be obtained by multiplying the n-th first angle by the Hall quantity corresponding to the unit angle.

[0064] S204. The calibration device controls the valve core of the target multi-way valve to rotate towards the center of the n-th calibration position according to the n-th estimated Hall quantity of the t-th round.

[0065] S205. The calibration device detects the valve core, valve body, and sealing ribs of the target multi-way valve through computerized tomography (CT) scanning to obtain the n-th detection result of the t-th round.

[0066] S206. The calibration device determines whether the n-th detection result of the t-th round passes.

[0067] If the n-th detection result of the t-th round indicates that the angles of the valve body and valve core of the target multi-way valve match, and the centers of the valve core and sealing ribs of the target multi-way valve are aligned, it is determined that the n-th detection of the t-th round passes, and thus S207 is executed. If the n-th detection result of the t-th round indicates that the angles of the valve body and valve core of the target multi-way valve do not match, or the centers of the valve core and sealing ribs of the target multi-way valve are not aligned, S211 is executed.

[0068] S207. The calibration device determines the nth upper boundary Hall value of the hth wheel and the nth lower boundary Hall value of the hth wheel at the nth calibration position according to the angle width of the sealing rib of the target multi-way valve.

[0069] S208. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate according to the nth upper boundary Hall value of the hth round, performs an upper boundary internal leakage test, and obtains the nth upper boundary test result of the hth round. According to the nth lower boundary Hall value of the hth round, the calibration device controls the motor to drive the valve core of the target multi-way valve to rotate, performs a lower boundary internal leakage test, and obtains the nth lower boundary test result of the hth round.

[0070] S209: The calibration device determines whether the nth upper boundary test result of the hth round and the nth lower boundary test result of the hth round both indicate that no internal leakage occurs.

[0071] S210, the calibration device uses the sum of the nth estimated Hall value of the tth round and the i-th actual Hall value corresponding to the center of the i-th calibration position as the n-th actual Hall value corresponding to the center of the n-th calibration position.

[0072] If both the CT test and the internal leakage test are passed, the calibration device can determine the nth actual Hall value corresponding to the center of the nth calibration position based on the nth estimated Hall value of the tth round. Specifically, the calibration device uses the sum of the nth estimated Hall value of the tth round and the i-th actual Hall value corresponding to the center of the i-th calibration position as the nth actual Hall value corresponding to the center of the n-th calibration position.

[0073] S211. The calibration device determines the nth relative position relationship between the valve core of the target multi-way valve and the sealing rib of the tth wheel, and controls the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, and maintains the blocked state for a first preset time, controls the motor to stop driving the valve core of the target multi-way valve to rotate, and records the third rotation Hall value of the motor within a second preset time.

[0074] S212. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate to the center of the ith calibration position according to the third rotation Hall quantity and the ith actual Hall quantity corresponding to the center of the ith calibration position; according to the nth relative position relationship of the tth wheel, the nth estimated Hall quantity of the tth wheel is adjusted to obtain the nth estimated Hall quantity of the t+1th wheel.

[0075] If the CT test fails, it means that the calculated nth estimated Hall quantity of the tth round is inaccurate, so the nth estimated Hall quantity of the tth round needs to be adjusted. Before adjustment, the calibration device needs to first control the motor to drive the valve core of the target multi-way valve to rotate to the center of the i-th calibration position according to the third rotation Hall quantity and the i-th actual Hall quantity corresponding to the center of the i-th calibration position, so as to reset the multi-way valve to the center of the i-th calibration position, and then adjust the nth estimated Hall quantity of the tth round based on the nth relative position relationship of the tth round to obtain the nth estimated Hall quantity of the t+1th round. Then, return to S204 with the nth estimated Hall quantity of the t+1th round to enter the next round of CT detection cycle.

[0076] S213, the calibration device controls the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, maintains the blocked state for a first preset time, controls the motor to stop driving the valve core of the target multi-way valve to rotate, and records the fourth rotation Hall value of the motor within a second preset time.

[0077] S214. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate to the center of the ith calibration position according to the fourth rotation Hall quantity and the actual Hall quantity corresponding to the center of the ith calibration position; according to the boundary test result of the hth round, the nth upper boundary Hall quantity of the hth round and the nth lower boundary Hall quantity of the hth round are adjusted to obtain the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round.

[0078] Since the target multi-way valve has been reset in S213, the calibration device first controls the motor to drive the valve core of the target multi-way valve to rotate to the center of the i-th calibration position, and then directly returns to S208 with the n-th upper boundary Hall value of the h+1-th round and the n-th lower boundary Hall value of the h+1-th round.

[0079] S215. The calibration device obtains the actual Hall value corresponding to the center of the M designed positions during the forward rotation process by fitting according to the N calibration positions.

[0080] After obtaining N calibration positions, the calibration device can perform fitting (such as interpolation method) based on the calibration conditions of these N calibration positions, and then obtain the actual Hall value corresponding to the center of the M design positions, thereby reducing the calibration time and calibration workload and improving the calibration efficiency.

[0081] It should be noted that Figure 2 The embodiment shown is Figure 1 The same or similar parts in the illustrated embodiments may be referenced to each other, and repeated contents will not be described in detail.

[0082] In some embodiments, after calibrating N calibration positions, the calibration device may further select K calibration positions from M design positions, where K < N, and then start calibrating the K calibration positions from the Nth calibration position of the target multi-way valve. The calibration method is similar to that of the above embodiments.

[0083] The following describes the process of the calibration device calibrating the K calibration positions.

[0084] As Figure 3 shown, this figure is a flowchart for calibrating K calibration positions provided by an embodiment of the present application. In this scenario, the valve core of the target multi-way valve is at the Nth calibration position. The method includes: S501. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate towards the top dead center of the target multi-way valve until the motor stalls, maintains the stalled state for a third preset duration, controls the motor to stop driving the valve core of the target multi-way valve to rotate, and records the fifth rotation Hall quantity of the motor within a fourth preset duration.

[0085] S502. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate towards the center of the Nth calibration position of the target multi-way valve.

[0086] S503. The calibration device determines the kth second angle between the center of the kth calibration position among the K calibration positions and the Nth calibration position of the target multi-way valve, and determines the kth estimated Hall quantity of the pth round from the center of the Nth calibration position of the target multi-way valve to the center of the kth calibration position according to the kth second angle.

[0087] In the embodiment of the present application, k is less than or equal to K, the initial value of k is K, the minimum value of k is 2, the kth calibration position is the Kth calibration position, where the Nth calibration position is the last calibration position among the N calibration positions. In this embodiment, the way for the calibration device to determine the kth estimated Hall quantity of the pth round from the center of the Nth calibration position of the target multi-way valve to the center of the kth calibration position is different from that of the above embodiments. First, based on the kth second angle, the Hall quantity difference between the center of the Nth calibration position of the target multi-way valve and the center of the kth calibration position is obtained, and then the gap adjustment Hall quantity is superimposed to obtain the kth estimated Hall quantity of the pth round.

[0088] S504. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate towards the center of the kth calibration position according to the kth estimated Hall quantity of the pth round.

[0089] S505. The calibration device performs detection on the valve core, valve body, and sealing ribs of the target multi-way valve through computerized tomography (CT) scanning to obtain the kth detection result of the pth round.

[0090] S506: The calibration device determines whether the kth test result of the pth round passes.

[0091] If yes, execute S507, if no, execute S511.

[0092] S507. The calibration device determines the kth upper boundary Hall value of the qth wheel and the kth lower boundary Hall value of the qth wheel at the kth calibration position according to the angle width of the sealing rib of the target multi-way valve.

[0093] S508. The calibration device controls the motor to drive the valve core rotation of the target multi-way valve according to the kth upper boundary Hall value of the qth round, performs an upper boundary internal leakage test, and obtains the kth upper boundary test result of the qth round. According to the kth lower boundary Hall value of the qth round, the calibration device controls the motor to drive the valve core rotation of the target multi-way valve, performs a lower boundary internal leakage test, and obtains the kth lower boundary test result of the qth round.

[0094] S509: The calibration device determines whether the k-th upper boundary test result of the q-th round and the k-th lower boundary test result of the q-th round both indicate that no internal leakage occurs.

[0095] If yes, execute S510, if no, execute S513.

[0096] S510. The calibration device uses the sum of the kth estimated Hall value of the pth wheel and the Nth actual Hall value corresponding to the center of the Nth calibration position as the kth actual Hall value corresponding to the center of the kth calibration position.

[0097] S511. The calibration device determines the kth relative position relationship between the valve core of the target multi-way valve and the sealing rib of the pth wheel, and controls the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, and maintains the blocked state for the third preset time, controls the motor to stop driving the valve core of the target multi-way valve to rotate, and records the sixth rotation Hall value of the motor within the second preset time.

[0098] S512. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate to the center of the Nth calibration position based on the sixth rotational Hall quantity and the Nth actual Hall quantity corresponding to the center of the Nth calibration position; adjusts the kth estimated Hall quantity of the pth wheel according to the kth relative position relationship of the pth wheel to obtain the kth estimated Hall quantity of the p+1th wheel.

[0099] Then, the process returns to S504 based on the kth estimated Hall value in the p+1th round, and enters the next round of CT detection cycle.

[0100] S513, the calibration device controls the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, maintains the blocked state for the third preset time, controls the motor to stop driving the valve core of the target multi-way valve to rotate, and records the seventh rotation Hall value of the motor within the second preset time.

[0101] S514. The calibration device controls the motor to drive the valve core of the target multi-way valve to rotate to the center of the Nth calibration position according to the actual Hall value corresponding to the seventh rotation Hall value and the center of the Nth calibration position; according to the boundary test results of the qth round, the kth upper boundary Hall value of the qth round and the kth lower boundary Hall value of the qth round are adjusted to obtain the kth upper boundary Hall value of the q+1th round and the kth lower boundary Hall value of the q+1th round.

[0102] Then, the process directly returns to S508 using the kth upper boundary Hall value of the q+1th round and the kth lower boundary Hall value of the q+1th round.

[0103] S515. The calibration device obtains actual Hall values ​​corresponding to the centers of the M designed positions during the reversal process by fitting according to the K calibration positions.

[0104] It should be noted that Figure 3 The embodiment shown is Figure 2 The embodiments shown are similar, and the same or similar parts can be referenced to each other and will not be described in detail here.

[0105] The following describes how to determine the target multi-port valve for calibration. Figure 4 As shown, this figure is a flow chart of determining a target multi-way valve provided in an embodiment of the present application, and the determination process includes: S301, the calibration device determines a candidate multi-way valve.

[0106] S302, the calibration device controls the motor to drive the valve core of the candidate multi-way valve to rotate toward the top dead center of the candidate multi-way valve until the motor is blocked, maintains the blocked state for a first preset time, controls the motor to stop driving the valve core of the candidate multi-way valve to rotate, and records the first rotation Hall value of the motor within a second preset time.

[0107] The first-revolution Hall value refers to the Hall value of the motor's rotation after the motor control stops.

[0108] S303, the calibration device controls the motor to drive the valve core of the candidate multi-way valve to rotate from the top dead center of the candidate multi-way valve to the bottom dead center of the candidate multi-way valve until the motor is blocked, maintains the blocked state for a first preset time, records the forward rotation Hall value of the motor, controls the motor to stop driving the valve core of the candidate multi-way valve to rotate, and records the second rotation Hall value of the motor within a second preset time.

[0109] The second rotational Hall quantity refers to the Hall quantity of the motor rotation after the motor control is stopped.

[0110] S304. The calibration device controls the motor to drive the valve core of the candidate multi-way valve to rotate from the lower dead center of the candidate multi-way valve to the upper dead center of the candidate multi-way valve until the motor is stalled, maintains the stalled state for a first preset duration, and records the reverse rotational Hall quantity of the motor.

[0111] S305. The calibration device takes the sum of the first rotational Hall quantity and the forward rotational Hall quantity as the forward stroke of the candidate multi-way valve, and takes the sum of the second rotational Hall quantity and the reverse rotational Hall quantity as the reverse stroke of the candidate multi-way valve.

[0112] S306. The calibration device determines whether the stroke difference between the forward stroke and the reverse stroke of the candidate multi-way valve is less than the stroke difference threshold.

[0113] If the stroke difference between the forward stroke and the reverse stroke of the candidate multi-way valve is less than the stroke difference threshold, then S307 is executed. If the stroke difference between the forward stroke and the reverse stroke of the candidate multi-way valve is greater than or equal to the stroke difference threshold, then S308 is executed.

[0114] S307. The calibration device determines the candidate multi-way valve as the target multi-way valve for calibration.

[0115] S308. The calibration device prompts that there is an abnormality in the candidate multi-way valve.

[0116] In some embodiments, for the same candidate multi-way valve, multiple screenings can be performed to obtain multiple stroke differences. If the multiple formed differences are less than the stroke difference threshold, then the candidate multi-way valve is determined as the target multi-way valve. If the multiple formed differences are greater than or equal to the stroke difference threshold, then it is reminded that there is an abnormality in the candidate multi-way valve.

[0117] Based on the above description, the embodiments of the present application provide a calibration method for a multi-way valve. This method can be executed by a calibration device. The method includes that the calibration device first determines the target multi-way valve for calibration, then selects N calibration positions from M design positions of the target multi-way valve, N < M. Instead of calibrating all design positions, only partial design positions are calibrated, and then fitting is performed according to the calibrated partial design positions to obtain the calibration of all design positions. In this way, compared with calibrating all design positions, the calibration time is shortened and the calibration efficiency is improved; moreover, during the calibration process of the target multi-way valve by the calibration device, the valve core position of the target multi-way valve is detected multiple times. In the case of non-compliance, the motor is re-controlled to drive the valve core to rotate, thereby further ensuring the calibration accuracy.

[0118] As described above in conjunction with Figures 1 to 3A detailed introduction to the calibration method of the multi-way valve provided by the embodiments of the present application will be given below. The devices and equipment provided by the embodiments of the present application will be introduced in conjunction with the accompanying drawings.

[0119] As Figure 5 shown, this figure is a schematic diagram of a calibration device for a multi-way valve provided by an embodiment of the present application. The device includes: A multi-way valve determination module 401, configured to determine a target multi-way valve for calibration. The target multi-way valve includes M design positions; N calibration positions are determined from the M design positions, where N < M; A Hall quantity determination module 402, configured to, when n > 1, determine a nth first angle between the center of the nth calibration position and the center of the ith calibration position among the N calibration positions; according to the nth first angle, determine a nth estimated Hall quantity of the tth round from the center of the ith calibration position to the center of the nth calibration position, where i < n ≤ N, and M, N, and n are all positive integers, and the ith calibration position is any position among the calibrated positions; when n = 1, determine a nth first angle between the center of the nth calibration position and the top dead center of the target multi-way valve, and according to the nth first angle, determine a nth estimated Hall quantity of the tth round from the top dead center of the target multi-way valve to the center of the nth calibration position; A control module 403, configured to control the motor to drive the valve core of the target multi-way valve to rotate towards the center of the nth calibration position according to the nth estimated Hall quantity of the tth round; A first detection module 404, configured to detect the valve core, valve body, and sealing ribs of the target multi-way valve through computerized tomography (CT) scanning to obtain a nth detection result of the tth round; A second detection module 405, configured to, if the nth detection result of the tth round indicates that the angles of the valve body and the valve core of the target multi-way valve match, and the centers of the valve core and the sealing ribs of the target multi-way valve are aligned, determine a nth upper boundary Hall quantity and a nth lower boundary Hall quantity of the hth round of the nth calibration position according to the angular width of the sealing ribs of the target multi-way valve; control the motor to drive the valve core of the target multi-way valve to rotate according to the nth upper boundary Hall quantity of the hth round to perform an upper boundary internal leakage test, and obtain a nth upper boundary test result of the hth round. Control the motor to drive the valve core of the target multi-way valve to rotate according to the nth lower boundary Hall quantity of the hth round to perform a lower boundary internal leakage test, and obtain a nth lower boundary test result of the hth round; The calibration module 406 is used to determine the nth actual Hall quantity corresponding to the center of the nth calibration position according to the nth estimated Hall quantity of the tth round if the nth upper boundary test result of the hth round and the nth lower boundary test result of the hth round both indicate that no internal leakage occurs; and to fit the actual Hall quantities corresponding to the centers of the M design positions according to the N calibration positions.

[0120] Optionally, a multi-way valve determination module 401 is specifically used to determine a candidate multi-way valve; control the motor to drive the valve core of the candidate multi-way valve to rotate toward the top dead center of the candidate multi-way valve until the motor is blocked, maintain the blocked state for a first preset time, control the motor to stop driving the valve core of the candidate multi-way valve to rotate, and record the first rotation Hall value of the motor within a second preset time; control the motor to drive the valve core of the candidate multi-way valve to rotate from the top dead center of the candidate multi-way valve to the bottom dead center of the candidate multi-way valve until the motor is blocked, maintain the blocked state for the first preset time, record the forward rotation Hall value of the motor, control the motor to stop driving the valve core of the candidate multi-way valve to rotate, and record it in The second rotation Hall quantity of the motor within the second preset time period; controlling the motor to drive the valve core of the candidate multi-way valve to rotate from the bottom dead center of the candidate multi-way valve to the top dead center of the candidate multi-way valve until the motor is blocked, and maintaining the blocked state for the first preset time period, recording the reverse rotation Hall quantity of the motor; taking the sum of the first rotation Hall quantity and the forward rotation Hall quantity as the forward stroke of the candidate multi-way valve, and taking the sum of the second rotation Hall quantity and the reverse rotation Hall quantity as the reverse stroke of the candidate multi-way valve; if the stroke difference between the forward stroke and the reverse stroke of the candidate multi-way valve is less than the stroke difference threshold, the candidate multi-way valve is determined as the target multi-way valve for calibration.

[0121] Optionally, the control module 403 is also used to determine the nth relative position relationship of the tth round between the valve core and the sealing rib of the target multi-way valve if the nth detection result of the tth round indicates that the angles of the valve body and the valve core of the target multi-way valve do not match, or the valve core and the sealing rib of the target multi-way valve are not centrally aligned, and control the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked and maintains the blocked state for a first preset time, control the motor to stop driving the valve core of the target multi-way valve to rotate, and record the third rotation Hall value of the motor within a second preset time; when n>1, based on the third rotation Hall value and the i-th reference position According to the i-th actual Hall quantity corresponding to the center of the i-th calibrated position, the motor is controlled to drive the valve core of the target multi-way valve to rotate to the center of the i-th calibrated position; according to the n-th relative position relationship of the t-th wheel, the n-th estimated Hall quantity of the t-th wheel is adjusted to obtain the n-th estimated Hall quantity of the t+1-th wheel; when n=1, according to the n-th relative position relationship of the t-th wheel, the n-th estimated Hall quantity of the t-th wheel is adjusted to obtain the n-th estimated Hall quantity of the t+1-th wheel; with the n-th estimated Hall quantity of the t+1-th wheel, the step of controlling the motor to drive the valve core of the target multi-way valve to rotate toward the center of the n-th calibrated position according to the n-th estimated Hall quantity of the t-th wheel is returned.

[0122] Optionally, the control module 403 is specifically used to reduce the nth estimated Hall quantity of the tth round to obtain the nth estimated Hall quantity of the t+1th round if the nth relative position relationship of the tth round indicates that the valve core of the target multi-way valve is in an over-rotation state; if the nth relative position relationship of the tth round indicates that the valve core of the target multi-way valve is in a non-over-rotation state, then increase the nth estimated Hall quantity of the tth round to obtain the nth estimated Hall quantity of the t+1th round.

[0123] Optionally, the control module 403 is also used to control the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve if the nth upper boundary test result of the hth round or the nth lower boundary test result of the hth round indicates the existence of internal leakage, until the motor is blocked, and the blocked state is maintained for a first preset time period, and the motor is controlled to stop driving the valve core of the target multi-way valve to rotate, and record the fourth rotation Hall value of the motor within a second preset time period; when n>1, according to the fourth rotation Hall value and the actual Hall value corresponding to the center of the i-th calibrated position, control the motor to drive the valve core of the target multi-way valve to rotate to the center of the i-th calibrated position; according to the boundary test result of the hth round, the nth upper boundary Hall value of the hth round and the nth lower boundary Hall value of the hth round are adjusted. The method comprises the following steps: adjusting the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round according to the boundary test result of the hth round, so as to obtain the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round; when n=1, adjusting the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round according to the boundary test result of the hth round, so as to obtain the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round; using the nth upper boundary Hall quantity of the h+1th round and the lower boundary Hall quantity of the h+1th round, returning to the steps of controlling the motor to drive the valve core of the target multi-way valve to rotate according to the nth upper boundary Hall quantity of the hth round, and performing an upper boundary internal leakage test, and controlling the motor to drive the valve core of the target multi-way valve to rotate according to the nth lower boundary Hall quantity of the hth round, and performing a lower boundary internal leakage test.

[0124] Optionally, the control module 403 is specifically used to reduce the nth upper boundary Hall quantity of the hth round and the nth lower boundary Hall quantity of the hth round if the nth upper boundary test result of the hth round indicates the existence of internal leakage, so as to obtain the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round; if the nth lower boundary test result of the hth round indicates the existence of internal leakage, then increase the nth upper boundary Hall quantity of the hth round and the nth lower boundary Hall quantity of the hth round to obtain the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round.

[0125] Optionally, the calibration module 406 is specifically used to, when n>1, use the sum of the nth estimated Hall quantity of the tth wheel and the i-th actual Hall quantity corresponding to the center of the i-th calibration position as the n-th actual Hall quantity corresponding to the center of the n-th calibration position; when n=1, use the n-th estimated Hall quantity of the tth wheel as the n-th actual Hall quantity corresponding to the center of the n-th calibration position.

[0126] The calibration device of the multi-way valve according to the embodiment of the present application may correspond to the method described in the embodiment of the present application, and the above-mentioned other operations and / or functions of each module / unit of the calibration device of the multi-way valve are respectively to realize Figure 1-3 For the sake of brevity, the corresponding processes of each method in the illustrated embodiment are not described in detail here.

[0127] The embodiment of the present application further provides a computing device. The computing device may be a calibration device.

[0128] like Figure 6 As shown, the figure is a schematic diagram of a computing device provided in an embodiment of the present application, and the computing device 500 includes a bus 501, a processor 502, a communication interface 503 and a memory 504. The processor 502, the memory 504 and the communication interface 503 communicate with each other through the bus 501.

[0129] The bus 501 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0130] The processor 502 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0131] The communication interface 503 is used for communicating with the outside.

[0132] The memory 504 may include a volatile memory, such as a random access memory (RAM). The memory 504 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0133] The memory 504 stores executable codes, and the processor 502 executes the executable codes to perform the aforementioned calibration method for the multi-way valve.

[0134] Specifically, in implementing Figure 5 In the case of the embodiment shown, and Figure 5 When each module or unit of the calibration device for the multi-way valve described in the embodiment is implemented by software, the execution Figure 5 The software or program code required for the functions of each module / unit in the multi-way valve may be partially or completely stored in the memory 504. The processor 502 executes the program code corresponding to each unit stored in the memory 504 to perform the calibration method of the multi-way valve.

[0135] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that can be stored by a computing device or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state hard disk). The computer-readable storage medium includes instructions that instruct the computing device to execute the calibration method of the multi-way valve.

[0136] The embodiment of the present application further provides a computer program product, which includes one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part.

[0137] The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer or data center to another website, computer or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0138] When the computer program product is executed by a computer, the computer executes any of the aforementioned methods for calibrating a multi-way valve. The computer program product may be a software installation package, and when any of the aforementioned methods for calibrating a multi-way valve is required, the computer program product may be downloaded and executed on a computer.

[0139] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0140] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A calibration method for a multi-way valve, characterized in that: The method includes: Determine a target multi-way valve for calibration, where the target multi-way valve includes M designed positions; determine N calibration positions from the M designed positions, and N < M; When n > 1, determine the nth first angle between the center of the nth calibration position and the center of the ith calibration position among the N calibration positions; according to the nth first angle, determine the nth estimated Hall quantity of the tth round from the center of the ith calibration position to the center of the nth calibration position, where i < n ≤ N, and M, N, and n are all positive integers, and the ith calibration position is any position among the calibrated positions; When n = 1, determine the nth first angle between the center of the nth calibration position and the top dead center of the target multi-way valve, and according to the nth first angle, determine the nth estimated Hall quantity of the tth round from the top dead center of the target multi-way valve to the center of the nth calibration position; According to the nth estimated Hall quantity of the tth round, control the motor to drive the valve core of the target multi-way valve to rotate towards the center of the nth calibration position; Detect the valve core, valve body, and sealing ribs of the target multi-way valve through computerized tomography (CT) scanning to obtain the nth detection result of the tth round; If the nth detection result of the tth round indicates that the angles of the valve body and valve core of the target multi-way valve match, and the center of the valve core and the sealing ribs of the target multi-way valve are aligned, determine the nth upper boundary Hall quantity and the nth lower boundary Hall quantity of the hth round of the nth calibration position according to the angular width of the sealing ribs of the target multi-way valve; According to the nth upper boundary Hall quantity of the hth round, control the motor to drive the valve core of the target multi-way valve to rotate for an upper boundary internal leakage test to obtain the nth upper boundary test result of the hth round, and according to the nth lower boundary Hall quantity of the hth round, control the motor to drive the valve core of the target multi-way valve to rotate for a lower boundary internal leakage test to obtain the nth lower boundary test result of the hth round; If both the nth upper boundary test result and the nth lower boundary test result of the hth round indicate no internal leakage, determine the nth actual Hall quantity corresponding to the center of the nth calibration position according to the nth estimated Hall quantity of the tth round; fit to obtain the actual Hall quantities corresponding to the centers of the M designed positions according to the N calibration positions.

2. The method according to claim 1, characterized in that The determination of the target multi-way valve for calibration includes: Determine a candidate multi-way valve; Control the motor to drive the valve core of the candidate multi-way valve to rotate towards the top dead center of the candidate multi-way valve until the motor stalls, maintain the stalled state for a first preset duration, control the motor to stop driving the valve core of the candidate multi-way valve to rotate, and record the first rotational Hall quantity of the motor within a second preset duration; Control the motor to drive the valve core of the candidate multi-way valve to rotate from the top dead center of the candidate multi-way valve to the bottom dead center of the candidate multi-way valve until the motor is blocked, maintain the blocked state for the first preset time, record the positive rotation Hall value of the motor, control the motor to stop driving the valve core of the candidate multi-way valve to rotate, and record the second rotation Hall value of the motor within the second preset time; Control the motor to drive the valve core of the candidate multi-way valve to rotate from the bottom dead center of the candidate multi-way valve to the top dead center of the candidate multi-way valve until the motor is blocked, maintain the blocked state for the first preset time, and record the reverse rotation Hall value of the motor; The sum of the first rotary Hall value and the forward rotation Hall value is used as the forward stroke of the candidate multi-way valve, and the sum of the second rotary Hall value and the reverse rotation Hall value is used as the reverse stroke of the candidate multi-way valve; If the stroke difference between the forward stroke and the reverse stroke of the candidate multi-way valve is smaller than the stroke difference threshold, the candidate multi-way valve is determined as the target multi-way valve for calibration.

3. The method according to claim 1, characterized in that The method further comprises: If the nth detection result of the tth round indicates that the angles of the valve body and the valve core of the target multi-way valve do not match, or the valve core and the sealing rib of the target multi-way valve are not centrally aligned, determine the nth relative position relationship of the tth round between the valve core and the sealing rib of the target multi-way valve, and control the motor to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, maintain the blocked state for a first preset time, control the motor to stop driving the valve core of the target multi-way valve to rotate, and record the third rotation Hall value of the motor within a second preset time; When n>1, according to the third rotation Hall quantity and the i-th actual Hall quantity corresponding to the center of the i-th calibration position, control the motor to drive the valve core of the target multi-way valve to rotate to the center of the i-th calibration position; according to the n-th relative position relationship of the t-th wheel, adjust the n-th estimated Hall quantity of the t-th wheel to obtain the n-th estimated Hall quantity of the t+1-th wheel; When n=1, the nth estimated Hall value of the tth wheel is adjusted according to the nth relative position relationship of the tth wheel to obtain the nth estimated Hall value of the t+1th wheel; Using the nth estimated Hall value of the t+1th round, returning to the step of controlling the motor to drive the valve core of the target multi-way valve to rotate toward the center of the nth calibrated position according to the nth estimated Hall value of the tth round.

4. The method according to claim 3, characterized in that The adjusting the nth estimated Hall quantity of the tth round according to the nth relative position relationship of the tth round to obtain the nth estimated Hall quantity of the t+1th round includes: If the nth relative position relationship of the tth round indicates that the valve core of the target multi-way valve is in an over-rotation state, the nth estimated Hall value of the tth round is reduced to obtain the nth estimated Hall value of the t+1th round; If the nth relative position relationship of the tth round indicates that the valve core of the target multi-way valve is in a non-overrotated state, the nth estimated Hall value of the tth round is multiplied to obtain the nth estimated Hall value of the t+1th round.

5. The method according to claim 1, characterized in that The method further comprises: If the nth upper boundary test result of the hth round or the nth lower boundary test result of the hth round indicates that internal leakage occurs, the motor is controlled to drive the valve core of the target multi-way valve to rotate toward the top dead center of the target multi-way valve until the motor is blocked, and the blocked state is maintained for a first preset time, and the motor is controlled to stop driving the valve core of the target multi-way valve to rotate, and the fourth rotation Hall value of the motor within a second preset time is recorded; When n>1, according to the fourth rotation Hall value and the actual Hall value corresponding to the center of the i-th calibration position, control the motor to drive the valve core of the target multi-way valve to rotate to the center of the i-th calibration position; according to the boundary test result of the h-th round, adjust the n-th upper boundary Hall value of the h-th round and the n-th lower boundary Hall value of the h-th round to obtain the n-th upper boundary Hall value of the h+1-th round and the n-th lower boundary Hall value of the h+1-th round; When n=1, according to the boundary test result of the hth round, the nth upper boundary Hall value of the hth round and the nth lower boundary Hall value of the hth round are adjusted to obtain the nth upper boundary Hall value of the h+1th round and the nth lower boundary Hall value of the h+1th round; Using the nth upper boundary Hall quantity of the h+1th round and the lower boundary Hall quantity of the h+1th round, return to the steps of controlling the motor to drive the valve core of the target multi-way valve to rotate according to the nth upper boundary Hall quantity of the hth round to perform an upper boundary internal leakage test, and controlling the motor to drive the valve core of the target multi-way valve to rotate according to the nth lower boundary Hall quantity of the hth round to perform a lower boundary internal leakage test.

6. The method according to claim 5, characterized in that The step of adjusting the nth upper boundary Hall value of the hth round and the lower boundary Hall value of the hth round according to the boundary test result of the hth round to obtain the nth upper boundary Hall value of the h+1th round and the lower boundary Hall value of the h+1th round includes: If the nth upper boundary test result of the hth round indicates that an internal leakage occurs, the nth upper boundary Hall quantity of the hth round and the nth lower boundary Hall quantity of the hth round are reduced to obtain the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round; If the nth lower boundary test result of the hth round indicates the existence of internal leakage, the nth upper boundary Hall quantity of the hth round and the nth lower boundary Hall quantity of the hth round are increased to obtain the nth upper boundary Hall quantity of the h+1th round and the nth lower boundary Hall quantity of the h+1th round.

7. The method according to claim 1, characterized in that The determining, according to the nth estimated Hall value of the tth round, the nth actual Hall value corresponding to the center of the nth calibration position comprises: When n > 1, the sum of the nth estimated Hall quantity of the tth round and the ith actual Hall quantity corresponding to the center of the ith calibrated position is used as the nth actual Hall quantity corresponding to the center of the nth calibrated position; When n = 1, the nth estimated Hall quantity of the tth round is used as the nth actual Hall quantity corresponding to the center of the nth calibrated position.

8. A calibration device for a multi-way valve, characterized in that: The device includes: A multi-way valve determination module for determining a target multi-way valve for calibration, the target multi-way valve including M designed positions; determining N calibrated positions from the M designed positions, where N < M; A Hall quantity determination module for, when n > 1, determining the nth first angle between the center of the nth calibrated position and the center of the ith calibrated position among the N calibrated positions; according to the nth first angle, determining the nth estimated Hall quantity of the tth round from the center of the ith calibrated position to the center of the nth calibrated position, where i < n ≤ N, and M, N, and n are all positive integers, and the ith calibrated position is any position among the calibrated positions; when n = 1, determining the nth first angle between the center of the nth calibrated position and the top dead center of the target multi-way valve, and according to the nth first angle, determining the nth estimated Hall quantity of the tth round from the top dead center of the target multi-way valve to the center of the nth calibrated position; A control module for controlling the motor to drive the valve core of the target multi-way valve to rotate towards the center of the nth calibrated position according to the nth estimated Hall quantity of the tth round; A first detection module for detecting the valve core, valve body, and sealing rib of the target multi-way valve through computerized tomography (CT) scanning to obtain the nth detection result of the tth round; A second detection module for, if the nth detection result of the tth round indicates that the angles of the valve body and valve core of the target multi-way valve match, and the center of the valve core and the sealing rib of the target multi-way valve are aligned, determining the nth upper boundary Hall quantity and the nth lower boundary Hall quantity of the hth round of the nth calibrated position according to the angular width of the sealing rib of the target multi-way valve; controlling the motor to drive the valve core of the target multi-way valve to rotate for an upper boundary internal leakage test according to the nth upper boundary Hall quantity of the hth round to obtain the nth upper boundary test result of the hth round, and controlling the motor to drive the valve core of the target multi-way valve to rotate for a lower boundary internal leakage test according to the nth lower boundary Hall quantity of the hth round to obtain the nth lower boundary test result of the hth round; A calibration module for, if both the nth upper boundary test result and the nth lower boundary test result of the hth round indicate no internal leakage, determining the nth actual Hall quantity corresponding to the center of the nth calibrated position according to the nth estimated Hall quantity of the tth round; fitting to obtain the actual Hall quantities corresponding to the centers of the M designed positions according to the N calibrated positions.

9. A computing device, characterized in that Including a memory and a processor; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

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