Clock synchronization calibration method and related device, storage medium and computer program

Abstract

The invention provides a clock synchronization calibration method, a related device, a storage medium and a computer program, and the method comprises the steps: transmitting a target ultrasonic wave to a target object through a transmitter, and recording a first transmitting moment when the target ultrasonic wave is transmitted; determining a first time delay parameter according to the target equipment environment parameter; determining a second sending moment of the receiver according to the first sending moment and the first time delay parameter; the control receiver controls the target clock module to start timing with the first working parameter at the second sending moment; when the receiver receives the target ultrasonic wave reflected by the target object, recording the receiving time of receiving the target ultrasonic wave; determining a measurement distance between the part processing equipment and the target object according to the receiving moment and the second sending moment; the actual distance between the part machining equipment and the target object is obtained; and calibrating the first working parameter by using a first deviation degree between the measured distance and the actual distance to obtain a second working parameter.

Description

Technical Field

[0001] The present application mainly relates to the fields of automobile parts processing technology and intelligent manufacturing technology, and specifically to an ultrasonic-based clock synchronization calibration method and related devices, storage media, and computer programs. Background Art

[0002] In practical applications, ultrasound has strong directivity and slow energy consumption, and can propagate over long distances in a medium. Therefore, ultrasound is often used for distance measurement and positioning. At present, ultrasonic sensors include transmitters and receivers. Ultrasonic positioning is often inaccurate due to the clock asynchrony between the transmitter and the receiver. Especially in the processing of automotive parts, the yield rate of automotive parts is too low due to the inaccurate ultrasonic positioning. Therefore, how to overcome the clock asynchrony between the transmitter and the receiver and improve the accuracy of ultrasonic positioning needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide an ultrasonic-based clock synchronization calibration method and system, which can overcome the clock asynchrony between the transmitter and the receiver and improve the ultrasonic positioning accuracy.

[0004] In a first aspect, an embodiment of the present application provides an ultrasonic-based clock synchronization calibration method, which is applied to automobile parts processing equipment, wherein the automobile parts processing equipment includes an ultrasonic sensor, wherein the ultrasonic sensor includes a transmitter and a receiver, wherein the receiver includes a target clock module, and wherein the method includes:

[0005] Sending a target ultrasonic wave to a target object through the transmitter, and recording a first sending time of sending the target ultrasonic wave;

[0006] Acquire target equipment environment parameters of the automobile parts processing equipment;

[0007] Determining a first delay parameter according to the target device environment parameter;

[0008] Determine a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronize the second sending time to the receiver;

[0009] Controlling the receiver to control the target clock module to start timing with the first working parameter at the second sending time, so as to wait for receiving the target ultrasonic wave;

[0010] When the receiver receives the target ultrasonic wave reflected by the target object, recording the receiving time of the target ultrasonic wave;

[0011] Determine the measured distance between the automobile parts processing equipment and the target object according to the receiving time and the first sending time;

[0012] Acquiring the actual distance between the automobile parts processing equipment and the target object;

[0013] determining a first deviation between the measured distance and the actual distance;

[0014] The first operating parameter is calibrated according to the first deviation to obtain a second operating parameter.

[0015] In a second aspect, an embodiment of the present application provides an ultrasonic-based clock synchronization calibration system, which is applied to automobile parts processing equipment, wherein the automobile parts processing equipment includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, the receiver includes a target clock module, and the system includes: a recording unit, an acquisition unit, a determination unit, a timing unit, and a calibration unit, wherein:

[0016] The recording unit is used to send a target ultrasonic wave to a target object through the transmitter, and record a first sending time of sending the target ultrasonic wave;

[0017] The acquisition unit is used to acquire target equipment environment parameters of the automobile parts processing equipment;

[0018] The determining unit is configured to determine a first delay parameter according to the target device environment parameter; determine a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronize the second sending time to the receiver;

[0019] The timing unit is used to control the receiver to control the target clock module to start timing with the first working parameter at the second sending time, so as to wait for receiving the target ultrasonic wave;

[0020] The recording unit is further configured to record a receiving time of receiving the target ultrasonic wave when the receiver receives the target ultrasonic wave reflected by the target object;

[0021] The determining unit is further used to determine the measured distance between the automobile parts processing equipment and the target object according to the receiving time and the first sending time;

[0022] The acquisition unit is further used to acquire the actual distance between the automobile parts processing equipment and the target object;

[0023] The determining unit is further configured to determine a first deviation between the measured distance and the actual distance;

[0024] The calibration unit is further used to calibrate the first operating parameter according to the first deviation to obtain a second operating parameter.

[0025] In the third aspect, an embodiment of the present application provides an automobile parts processing equipment, including a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0026] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

[0027] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0028] The implementation of the embodiments of the present application has the following beneficial effects:

[0029] It can be seen that the ultrasonic-based clock synchronization calibration method and system described in the embodiments of the present application are applied to automobile parts processing equipment, which includes an ultrasonic sensor, which includes a transmitter and a receiver, and the receiver includes a target clock module. The target ultrasonic wave is sent to the target object through the transmitter, and the first sending time of sending the target ultrasonic wave is recorded, the target equipment environment parameters of the automobile parts processing equipment are obtained, and the first delay parameter is determined according to the target equipment environment parameters, and the second sending time of the receiver is determined according to the first sending time and the first delay parameter, and the second sending time is synchronized to the receiver, and the receiver is controlled to control the target clock module to start timing with the first working parameter at the second sending time to wait for receiving the target ultrasonic wave, and when the receiver receives the target ultrasonic wave reflected by the target object, the receiving time of the target ultrasonic wave is recorded, and the receiving time and the second sending time are synchronized according to the receiving time and the second sending time. The measured distance between the automobile parts processing equipment and the target object is determined, the actual distance between the automobile parts processing equipment and the target object is obtained, the first deviation between the measured distance and the actual distance is determined, and the first working parameter is calibrated according to the first deviation to obtain the second working parameter. When the transmitter sends an ultrasonic signal, its sending time can be recorded, and the sending time can be compensated based on the equipment environment to obtain a more accurate synchronous sending time. The receiver starts timing at this synchronous sending time, which can reduce its power consumption. In addition, the clock synchronization between the transmitter and the receiver is realized. Next, the working parameters of the receiver are calibrated with the deviation between the actual distance and the measured distance of the ultrasonic wave, so that the clock of the receiver is more accurate. In this way, not only can the clock asynchronism between the transmitter and the receiver be overcome, but also the ultrasonic positioning accuracy of the automobile parts processing equipment can be improved, thereby improving the yield rate of automobile parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 It is a flowchart of a clock synchronization calibration method based on ultrasound provided in an embodiment of the present application;

[0032] Figure 2 It is a structural schematic diagram of an automobile parts processing equipment provided in an embodiment of the present application;

[0033] Figure 3 This is a block diagram of the functional units of an ultrasonic-based clock synchronization calibration device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in a possible example also includes steps or units that are not listed, or in a possible example also includes other steps or units inherent to these processes, methods, products or devices.

[0035] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] The automobile parts processing equipment involved in the embodiments of the present application may include but is not limited to: automobile parts processing equipment, or ultrasonic welding and drilling equipment, ultrasonic ranging equipment, etc., which are not limited here.

[0038] For example, taking an automobile parts processing machine tool as an example, in actual applications, ultrasonic technology is often required for positioning. For example, if a hole is to be drilled at a certain position, it is necessary to drill the hole accurately at that position. The drilling accuracy determines the processing accuracy of the automobile parts processing machine tool. In order to solve the defects in the related technology, the embodiment of the present application provides an ultrasonic-based clock synchronization calibration method, which is applied to automobile parts processing equipment. The automobile parts processing equipment includes an ultrasonic sensor, and the ultrasonic sensor includes a transmitter and a receiver. The receiver includes a target clock module. The method includes:

[0039] Sending a target ultrasonic wave to a target object through the transmitter, and recording a first sending time of sending the target ultrasonic wave;

[0040] Acquire target equipment environment parameters of the automobile parts processing equipment;

[0041] Determining a first delay parameter according to the target device environment parameter;

[0042] Determine a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronize the second sending time to the receiver;

[0043] Controlling the receiver to control the target clock module to start timing with the first working parameter at the second sending time, so as to wait for receiving the target ultrasonic wave;

[0044] When the receiver receives the target ultrasonic wave reflected by the target object, recording the receiving time of the target ultrasonic wave;

[0045] Determine the measured distance between the automobile parts processing equipment and the target object according to the receiving time and the first sending time;

[0046] Acquiring the actual distance between the automobile parts processing equipment and the target object;

[0047] determining a first deviation between the measured distance and the actual distance;

[0048] The first operating parameter is calibrated according to the first deviation to obtain a second operating parameter.

[0049] Through the above-mentioned embodiments of the present application, when the transmitter sends an ultrasonic signal, its sending time can be recorded, and the sending time can be compensated based on the equipment environment to obtain a more accurate synchronous sending time. The receiver starts timing at this synchronous sending time, which can reduce its power consumption. In addition, the clock synchronization between the transmitter and the receiver is achieved. Next, the working parameters of the receiver are calibrated based on the deviation between the actual distance and the measured distance of the ultrasonic wave, so that the receiver clock is more accurate. In this way, not only can the clock asynchronism between the transmitter and the receiver be overcome, but also the ultrasonic positioning accuracy of the automobile parts processing equipment can be improved, thereby improving the yield rate of automobile parts. For example, due to the improvement of ultrasonic positioning accuracy, accurate drilling can be achieved to ensure the yield rate of automobile parts.

[0050] See also Figure 1 , Figure 1 The flowchart of a clock synchronization calibration method based on ultrasonic waves provided in an embodiment of the present application is shown in the figure. As shown in the figure, the method is applied to automobile parts processing equipment. The automobile parts processing equipment includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, and the receiver includes a target clock module. The clock synchronization calibration method based on ultrasonic waves includes:

[0051] 101. Send a target ultrasonic wave to a target object through the transmitter, and record a first sending time of sending the target ultrasonic wave.

[0052] In the embodiment of the present application, the automobile parts processing equipment may include an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, and the receiver includes a target clock module. The transmitter is used to transmit ultrasonic waves, and the receiver is used to receive reflected ultrasonic waves.

[0053] The target object can be understood as an object to be measured. The preset position of the target object can be preset or set by the system. The preset position can be understood as a point or a coordinate.

[0054] In a specific implementation, a target ultrasonic wave can be sent to a preset position of a target object by a transmitter, and the first sending time of sending the target ultrasonic wave can be recorded. Since both the transmitter and the receiver include a clock, there is usually a certain error between the clocks of the two. In order to ensure the clock synchronization of ultrasonic ranging, the first sending time can be synchronized to the receiver, and the receiver starts timing with the first sending time, thereby overcoming the problem of clock asynchrony between the transmitter and the receiver.

[0055] 102. Obtain target equipment environment parameters of the automobile parts processing equipment.

[0056] In the embodiment of the present application, the target device environment parameter may include a target hardware environment parameter and / or a target software environment parameter, etc., which are not limited here. The target hardware environment parameter reflects the hardware configuration environment of the automobile parts processing equipment, and the target software environment parameter reflects the software configuration environment of the automobile parts processing equipment.

[0057] The target hardware environment parameters may include at least one of the following: processor processing capability parameters, memory size, etc., which are not limited here. The target software environment parameters may include at least one of the following: operating system type, software computing efficiency, disk usage, memory usage, etc., which are not limited here.

[0058] 103. Determine a first delay parameter according to the target device environment parameter.

[0059] In a specific implementation, the mapping relationship between the preset device environment parameters and the delay parameters can be pre-stored, and then, based on the mapping relationship, the first delay parameter corresponding to the target device environment parameter can be determined. In this way, the delay parameter corresponding to the actual device environment parameter can be obtained, which helps to improve the accuracy of ultrasonic clock synchronization.

[0060] Optionally, the target device environment parameters include: target hardware environment parameters and target software environment parameters; the above step 103, determining the first delay parameter according to the target device environment parameters, may include the following steps:

[0061] 31. Determine the target data transmission path length between the transmitter and the receiver;

[0062] 32. Determine a first data transmission rate corresponding to the target hardware environment parameter;

[0063] 33. Determine a second data transmission rate corresponding to the target software environment parameter;

[0064] 34. Determine a target data transmission rate according to the first data transmission rate and the second data transmission rate;

[0065] 35. Determine the first delay parameter according to the target data transmission path length and the target data transmission rate.

[0066] In an embodiment of the present application, the target data transmission path length between the transmitter and the receiver can be determined, the mapping relationship between the preset hardware environment parameters and the data transmission rate can be pre-stored, and then, the first data transmission rate corresponding to the target hardware environment parameters can be determined based on the mapping relationship, and the mapping relationship between the preset software environment parameters and the data transmission rate can be pre-stored, and then, the second data transmission rate corresponding to the target software environment parameters can be determined based on the mapping relationship, and then the target data transmission rate is determined according to the first data transmission rate and the second data transmission rate, that is, the first data transmission rate and the second data transmission rate can be weighted to obtain the target data transmission rate, and finally, the first delay parameter can be determined according to the target data transmission path length and the target data transmission rate, that is, the first delay parameter = target data transmission path length / target data transmission rate, so that not only the actual data transmission rate can be determined in combination with the actual hardware environment and software parameters, but also the data transmission path length between the transmitter and the receiver can be determined, and the actual delay can be estimated based on the two, so that the first sending moment is compensated to obtain an accurate synchronous sending moment, that is, the second sending moment, which helps to ensure the accuracy of the ultrasonic clock synchronization calibration.

[0067] 104. Determine a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronize the second sending time to the receiver.

[0068] In the specific implementation, the second sending time = the first sending time + the first delay parameter, and then the second sending time is synchronized to the receiver, thereby compensating the first sending time to obtain an accurate synchronized sending time, that is, the second sending time, which helps to ensure the accuracy of the ultrasonic clock synchronization calibration.

[0069] 105. Control the receiver to control the target clock module to start timing with the first working parameter at the second sending time, so as to wait for receiving the target ultrasonic wave.

[0070] In the embodiment of the present application, the receiver may be in a sleep state before receiving the second sending time, thereby reducing the power consumption of the device.

[0071] Among them, the first operating parameter may include at least one of the following: operating current, operating voltage, operating power, clock operating frequency, clock duty cycle, clock edge, clock stability, etc., which are not limited here.

[0072] In a specific implementation, the receiver can be controlled to control the target clock module to start timing with the first working parameters at the second sending time to wait for receiving the target ultrasonic wave. In this way, not only the power consumption of the device can be reduced, but also the accuracy of the ultrasonic clock synchronization calibration can be ensured.

[0073] 106. When the receiver receives the target ultrasonic wave reflected by the target object, record a receiving time of the target ultrasonic wave.

[0074] In a specific implementation, when the receiver receives the target ultrasonic wave reflected by the target object, the receiving time of the target ultrasonic wave can also be recorded.

[0075] 107. Determine a measured distance between the automobile parts processing equipment and the target object according to the receiving time and the first sending time.

[0076] In the embodiment of the present application, the measured distance = (receiving time - first sending time) * ultrasonic wave propagation speed / 2, so that the measured distance is obtained, and the accuracy of the measured distance depends only on the accuracy of the receiving time.

[0077] 108. Obtain an actual distance between the automobile parts processing equipment and the target object.

[0078] In the embodiment of the present application, the target object may be a calibration object, and the actual distance between the automobile parts processing equipment and the target object may be a known quantity. Thus, the actual distance between the automobile parts processing equipment and the target object may be directly obtained.

[0079] 109. Determine a first deviation between the measured distance and the actual distance.

[0080] Wherein, the first deviation degree = (measured distance - actual distance) / actual distance. The first deviation degree reflects not only the deviation direction, but also the deviation magnitude. The deviation direction can be understood as being too large or too small.

[0081] 110. Calibrate the first operating parameter according to the first deviation to obtain a second operating parameter.

[0082] In the embodiment of the present application, a mapping relationship between a preset deviation and an adjustment parameter can be pre-stored, and then a target adjustment parameter corresponding to the first deviation can be determined based on the mapping relationship, and then the first operating parameter is calibrated according to the target adjustment parameter to obtain the second operating parameter, as follows:

[0083] Second operating parameter = (1 + target adjustment parameter) * first operating parameter

[0084] That is, during specific distance measurement, the receiver can be controlled to control the target clock module to start timing with the second working parameter at the second sending time, so as to wait for receiving the ultrasonic wave.

[0085] In this way, the operating parameters of the target clock module of the receiver can be dynamically adjusted based on the degree of deviation, so that the adjusted operating parameters are closer to the actual situation, which helps to improve the accuracy of ultrasonic ranging.

[0086] Optionally, the above step 110, calibrating the first operating parameter according to the first deviation to obtain the second operating parameter, may include the following steps:

[0087] A1. Determine a first adjustment parameter corresponding to the first deviation;

[0088] A2. adjusting the first operating parameter according to the first adjustment parameter to obtain a reference operating parameter;

[0089] A3. Acquire multiple historical operating parameters of the target clock module, each historical operating parameter corresponding to a deviation;

[0090] A4. Obtaining the maximum and minimum values ​​of the multiple historical operating parameters;

[0091] A5. Perform fitting according to the plurality of historical operating parameters and the degree of deviation corresponding to each historical operating parameter to obtain a fitting straight line and a fitting curve;

[0092] A6. intercepting the fitting curve according to the maximum value and the minimum value to obtain a fitting curve segment;

[0093] A7. Determine the extreme value points of the fitting curve segment to obtain a plurality of extreme value points;

[0094] A8. Determine a target mean square error according to the multiple extreme value points;

[0095] A9. Obtaining a target slope corresponding to the fitting straight line;

[0096] A10, determining a first fine-tuning parameter corresponding to the target mean square error;

[0097] A11, determining a second fine-tuning parameter corresponding to the target slope;

[0098] A12. Fine-tune the reference operating parameter according to the first fine-tuning parameter and the second fine-tuning parameter to obtain the second operating parameter.

[0099] In the embodiment of the present application, the mapping relationship between the preset deviation degree and the adjustment parameter can be pre-stored, and then the first adjustment parameter corresponding to the first deviation degree can be determined based on the mapping relationship, and then the reference working parameter is adjusted according to the first adjustment parameter to obtain the reference working parameter, that is, the reference working parameter = (1 + first adjustment parameter) * first working parameter. That is, the first working parameter is preliminarily calibrated considering the actual deviation degree, and over-calibration or under-calibration may occur because the inherent properties of the target clock module are not considered.

[0100] Of course, multiple historical working parameters of the target clock module can also be obtained, each of which corresponds to a deviation, wherein the historical working parameters may include at least one of the following: working current, working voltage, working power, clock working frequency, clock duty cycle, clock edge, clock stability, etc., which are not limited here. The historical working parameters reflect the properties of the target clock module itself, and further, the maximum and minimum values ​​of the multiple historical working parameters can be obtained, and fitting can be performed based on the multiple historical working parameters and the deviation corresponding to each historical working parameter to obtain a fitting line and a fitting curve, wherein the horizontal axis of the fitting line and the fitting curve are both working parameters, and the vertical axis are both deviations.

[0101] Furthermore, the fitting curve can be intercepted according to the maximum and minimum values ​​to obtain a fitting curve segment, and then the extreme points of the fitting curve segment can be determined to obtain multiple extreme points. The extreme points reflect the degree of deviation of the target clock module. The target mean square error is determined based on the multiple extreme points. The target mean square error reflects the working stability of the target clock module. The target slope corresponding to the fitting straight line can also be obtained, and the slope reflects the attenuation trend of the target clock module.

[0102] In a specific implementation, a mapping relationship between a preset mean square error and a fine-tuning parameter can be pre-stored, and then, a first fine-tuning parameter corresponding to a target mean square error can be determined based on the mapping relationship. A mapping relationship between a preset slope and a fine-tuning parameter can also be pre-stored, and then, a second fine-tuning parameter corresponding to a target slope can be determined based on the mapping relationship. Then, the reference working parameter is fine-tuned according to the first fine-tuning parameter and the second fine-tuning parameter to obtain a second working parameter, that is, the second working parameter=reference working parameter*(1+first fine-tuning parameter)*(1+second fine-tuning parameter). That is, on the one hand, a corresponding fitting curve segment is generated based on the historical working condition of the target clock module, the working stability of the target clock module is evaluated based on the fitting curve segment, and its working parameters are dynamically compensated based on the working stability. On the other hand, a corresponding fitting straight line is generated based on the historical working condition of the target clock module, so as to determine the attenuation of the target clock module based on the fitting straight line, and make corresponding compensation based on the attenuation, so that the working condition of the target clock module is closer to the ideal condition, and the adjusted working parameters are closer to the actual condition, which is helpful to improve the accuracy of ultrasonic ranging.

[0103] Optionally, the above step A1, determining a first adjustment parameter corresponding to the first deviation, may include the following steps:

[0104] A11. Determine a reference adjustment parameter corresponding to the first deviation;

[0105] A12. Obtain a first position and a first signal strength of a target interference source;

[0106] A13. Acquire the second position of the target object, and the third position and transmission power of the transmitter;

[0107] A14. construct a first vector according to the first position, the first signal strength, and the second position;

[0108] A15. construct a second vector according to the third position, the transmit power and the second position;

[0109] A16. Obtain a first modulus value of the second vector;

[0110] A17. Determine a resultant vector between the first vector and the second vector;

[0111] A18. Obtain a second modulus value of the resultant vector;

[0112] A19, determining a target ratio between the second modulus value and the first modulus value;

[0113] A20, determining a target compensation parameter corresponding to the target ratio;

[0114] A21. Compensate the reference adjustment parameter according to the target compensation parameter to obtain the first adjustment parameter.

[0115] In the embodiment of the present application, a mapping relationship between a preset deviation degree and an adjustment parameter may be pre-stored, and then a reference adjustment parameter corresponding to the first deviation degree may be determined based on the mapping relationship.

[0116] In a specific implementation, when there is an interference source in the environment, the first position and first signal strength of the target interference source can be obtained, the interference source in the environment can be known in advance, and its corresponding parameters can also be measured. Then, the second position of the target object, as well as the third position and transmission power of the transmitter can be obtained.

[0117] Next, a first vector can be constructed according to the first position, the first signal strength, and the second position, the vector direction of the first vector is from the first position to the second position, and the modulus of the first vector is the first signal strength / the distance between the first position and the second position. A second vector can also be constructed according to the third position, the transmission power, and the second position. Specifically, the second signal strength corresponding to the transmission power can be determined, the vector direction of the second vector is from the third position to the second position, and the modulus of the second vector = the second signal strength / actual distance.

[0118] Furthermore, the first modulus of the second vector can be obtained, and the resultant vector between the first vector and the second vector can be determined, the second modulus of the resultant vector can be obtained, and the target ratio between the second modulus and the first modulus can be determined. The ratio reflects the degree of influence of the interference source on the ultrasonic measurement. Different compensation parameters can be set for different degrees of influence. Furthermore, the mapping relationship between the preset ratio and the compensation parameter can be pre-stored, and then the target compensation parameter corresponding to the target ratio can be determined based on the mapping relationship, and then the reference adjustment parameter can be compensated according to the target compensation parameter to obtain the first adjustment parameter, that is, the first adjustment parameter = (1 + target compensation parameter) * reference adjustment parameter. In this way, in the presence of an interference source, the influence of the interference source can be accurately evaluated, especially in the actual measurement process, when the interference source cannot be eliminated, accurate compensation can be performed based on the degree of influence of the interference source, which helps to make the working condition of the target clock module closer to the ideal condition, makes the adjusted working parameters closer to the actual situation, and also helps to improve the accuracy of ultrasonic ranging.

[0119] Of course, when there are multiple interference sources in the environment, similar strategies can also be used for compensation, which can help make the working condition of the target clock module closer to the ideal condition, make the adjusted working parameters closer to the actual situation, and help improve the accuracy of ultrasonic ranging.

[0120] Optionally, the following steps may also be included:

[0121] B1. Obtaining target working environment parameters of the receiver;

[0122] B2. Determine the first working parameter corresponding to the target working environment parameter.

[0123] In the embodiment of the present application, the target working environment parameters may include at least one of the following: working temperature, working current, working voltage, working power, etc., which are not limited here.

[0124] In a specific implementation, the target working environment parameters of the receiver can be obtained, and the mapping relationship between the preset working environment parameters and the working parameters of the target clock module can be pre-stored. Then, the first working parameters corresponding to the target working environment parameters can be determined based on the mapping relationship. In this way, a deep adaptation between the working environment parameters of the receiver and the working parameters of the target clock module can be obtained, which helps to ensure the clock accuracy of the receiver.

[0125] Optionally, in the above step 110, after calibrating the first operating parameter according to the first deviation to obtain the second operating parameter, the following steps may also be included:

[0126] C1. Acquire a first signal-to-noise ratio and a first energy value of the target ultrasonic wave;

[0127] C2. determining a second signal-to-noise ratio and a second energy value of the target ultrasonic wave received by the receiver;

[0128] C3. Determine a second deviation between the second energy value and the first energy value;

[0129] C4. determining a third deviation between the second signal-to-noise ratio and the first signal-to-noise ratio;

[0130] C5. When the second deviation is less than the first preset threshold and the third deviation is less than the second preset threshold, maintaining the second operating parameter;

[0131] C6. When the second deviation is greater than or equal to a first preset threshold, or the third deviation is greater than or equal to a second preset threshold, determine a target mean of the second deviation and the third deviation, determine a first optimization parameter corresponding to the target mean, and optimize the second operating parameter according to the first optimization parameter to obtain a third operating parameter;

[0132] C7. When the second deviation is greater than or equal to the first preset threshold and the third deviation is greater than or equal to the second preset threshold, determine the target maximum value of the second deviation and the third deviation, determine the second optimization parameter corresponding to the target maximum value, optimize the second operating parameter according to the second optimization parameter, and obtain the fourth operating parameter.

[0133] In the embodiment of the present application, due to the reflection, absorption and other phenomena of ultrasound, there are some differences in the signal-to-noise ratio and energy of the transmitted and received ultrasound. The difference between the two reflects the influence of environmental noise and the surrounding environment to a certain extent.

[0134] Specifically, the first signal-to-noise ratio and the first energy value of the target ultrasonic wave can be obtained, and the second signal-to-noise ratio and the second energy value of the target ultrasonic wave received by the receiver can be determined, and then the second deviation between the second energy value and the first energy value can be determined, the second deviation = (first energy value - second energy value) / first energy value, and the second deviation reflects the degree of influence of the environment absorbing the ultrasonic wave. Then the third deviation between the second signal-to-noise ratio and the first signal-to-noise ratio can be determined, the third deviation = (first signal-to-noise ratio - second signal-to-noise ratio) / second signal-to-noise ratio, and the third deviation reflects the influence of environmental noise.

[0135] Among them, the first preset threshold and the second preset threshold can be preset or set by system default.

[0136] In a specific implementation, when the second deviation is less than the first preset threshold and the third deviation is less than the second preset threshold, it indicates the influence of environmental noise and the surrounding environment, and the second working parameters can be maintained, that is, the working parameters of the target clock module of the receiver can be dynamically adjusted only based on the degree of deviation, and no other optimization is performed, so that the adjusted working parameters can be closer to the actual situation, which helps to improve the accuracy of ultrasonic ranging.

[0137] In addition, when the second deviation is greater than or equal to the first preset threshold, or the third deviation is greater than or equal to the second preset threshold, it means that the influence of environmental noise and the surrounding environment is relatively large, and the target mean in the second deviation and the third deviation can be determined, and then according to the mapping relationship between the preset mean and the optimization parameter, the first optimization parameter corresponding to the target mean is determined based on the mapping relationship, and the second working parameter is optimized according to the first optimization parameter to obtain the third working parameter, that is, the third working parameter = (1 + first optimization parameter) * second working parameter. Since the influence of environmental noise and the surrounding environment is relatively large, the influence of environmental noise and the surrounding environment can be comprehensively considered to dynamically adjust the working parameters of the target clock module of the receiver again, so that the adjusted working parameters are further closer to the actual situation, which helps to improve the accuracy of ultrasonic ranging.

[0138] Also, when the second deviation is greater than or equal to the first preset threshold, and the third deviation is greater than or equal to the second preset threshold, it means that the influence of environmental noise and the surrounding environment is more serious, and the target maximum value of the second deviation and the third deviation can be determined, and then according to the mapping relationship between the preset maximum value and the optimization parameter, the second optimization parameter corresponding to the target maximum value is determined based on the mapping relationship, and then the second working parameter is optimized according to the second optimization parameter to obtain the fourth working parameter, that is, the fourth working parameter = (1 + second optimization parameter) * second working parameter. Since the influence of environmental noise and the surrounding environment is more serious, the maximum influence of environmental noise and the surrounding environment can be comprehensively considered to dynamically adjust the working parameters of the target clock module of the receiver again, so that the adjusted working parameters are further closer to the actual situation, which helps to improve the accuracy of ultrasonic ranging.

[0139] It can be seen that the ultrasonic-based clock synchronization calibration method described in the embodiment of the present application is applied to automobile parts processing equipment, which includes an ultrasonic sensor, which includes a transmitter and a receiver, and the receiver includes a target clock module. The target ultrasonic wave is sent to the target object through the transmitter, and the first sending time of sending the target ultrasonic wave is recorded, the target equipment environment parameters of the automobile parts processing equipment are obtained, and the first delay parameter is determined according to the target equipment environment parameters, and the second sending time of the receiver is determined according to the first sending time and the first delay parameter, and the second sending time is synchronized to the receiver, and the receiver is controlled to control the target clock module to start timing with the first working parameter at the second sending time to wait for receiving the target ultrasonic wave. When the receiver receives the target ultrasonic wave reflected by the target object, the receiving time of the target ultrasonic wave is recorded, and the receiving time is determined according to the receiving time and the second sending time. Determine the measured distance between the automobile parts processing equipment and the target object, obtain the actual distance between the automobile parts processing equipment and the target object, determine the first deviation between the measured distance and the actual distance, calibrate the first working parameter according to the first deviation, and obtain the second working parameter. When the transmitter sends an ultrasonic signal, its sending time can be recorded, and the sending time can be compensated based on the equipment environment to obtain a more accurate synchronous sending time. The receiver starts timing with this synchronous sending time, which can reduce its power consumption. In addition, the clock synchronization between the transmitter and the receiver is realized. Next, the working parameters of the receiver are calibrated with the deviation between the actual distance and the measured distance of the ultrasonic wave, so that the clock of the receiver is more accurate. In this way, not only can the clock asynchronism between the transmitter and the receiver be overcome, but also the ultrasonic positioning accuracy of the automobile parts processing equipment can be improved, thereby improving the yield rate of automobile parts.

[0140] In accordance with the above embodiment, please refer to Figure 2 , Figure 2: is a structural schematic diagram of an automobile parts processing equipment provided by an embodiment of the present application. As shown in the figure, the equipment includes a processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor. In the embodiment of the present application, the automobile parts processing equipment also includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, the receiver includes a target clock module, and the program includes instructions for executing the following steps:

[0141] Sending a target ultrasonic wave to a target object through the transmitter, and recording a first sending time of sending the target ultrasonic wave;

[0142] Acquire target equipment environment parameters of the automobile parts processing equipment;

[0143] Determining a first delay parameter according to the target device environment parameter;

[0144] Determine a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronize the second sending time to the receiver;

[0145] Controlling the receiver to control the target clock module at the second sending time to start timing with the first working parameter to wait for receiving the target ultrasonic wave;

[0146] When the receiver receives the target ultrasonic wave reflected by the target object, recording the receiving time of the target ultrasonic wave;

[0147] Determine the measured distance between the automobile parts processing equipment and the target object according to the receiving time and the first sending time;

[0148] Acquiring the actual distance between the automobile parts processing equipment and the target object;

[0149] determining a first deviation between the measured distance and the actual distance;

[0150] The first operating parameter is calibrated according to the first deviation to obtain a second operating parameter.

[0151] Optionally, the target device environment parameter includes: a target hardware environment parameter and a target software environment parameter; in determining the first delay parameter according to the target device environment parameter, the program includes instructions for executing the following steps:

[0152] determining a target data transmission path length between the transmitter and the receiver;

[0153] Determining a first data transmission rate corresponding to the target hardware environment parameter;

[0154] Determining a second data transmission rate corresponding to the target software environment parameter;

[0155] determining a target data transmission rate according to the first data transmission rate and the second data transmission rate;

[0156] The first delay parameter is determined according to the target data transmission path length and the target data transmission rate.

[0157] Optionally, in the aspect of calibrating the first operating parameter according to the first deviation to obtain the second operating parameter, the program includes instructions for executing the following steps:

[0158] determining a first adjustment parameter corresponding to the first deviation;

[0159] Adjust the first operating parameter according to the first adjustment parameter to obtain a reference operating parameter;

[0160] Acquire multiple historical operating parameters of the target clock module, each historical operating parameter corresponding to a deviation;

[0161] Obtaining maximum and minimum values ​​of the plurality of historical operating parameters;

[0162] Perform fitting according to the plurality of historical operating parameters and the degree of deviation corresponding to each historical operating parameter to obtain a fitting straight line and a fitting curve;

[0163] The fitting curve is intercepted according to the maximum value and the minimum value to obtain a fitting curve segment;

[0164] Determine the extreme value points of the fitting curve segment to obtain multiple extreme value points;

[0165] Determine a target mean square error according to the multiple extreme value points;

[0166] Obtaining a target slope corresponding to the fitting straight line;

[0167] Determining a first fine-tuning parameter corresponding to the target mean square error;

[0168] determining a second fine-tuning parameter corresponding to the target slope;

[0169] The reference operating parameter is fine-tuned according to the first fine-tuning parameter and the second fine-tuning parameter to obtain the second operating parameter.

[0170] Optionally, in the aspect of determining the first adjustment parameter corresponding to the first deviation, the program includes instructions for executing the following steps:

[0171] determining a reference adjustment parameter corresponding to the first deviation;

[0172] Obtaining a first position and a first signal strength of a target interference source;

[0173] Acquire a second position of the target object, and a third position and transmission power of the transmitter;

[0174] constructing a first vector according to the first position, the first signal strength, and the second position;

[0175] constructing a second vector according to the third position, the transmit power and the second position;

[0176] Obtaining a first modulus value of the second vector;

[0177] determining a resultant vector between the first vector and the second vector;

[0178] Obtaining a second modulus value of the resultant vector;

[0179] determining a target ratio between the second modulus value and the first modulus value;

[0180] determining a target compensation parameter corresponding to the target ratio;

[0181] The reference adjustment parameter is compensated according to the target compensation parameter to obtain the first adjustment parameter.

[0182] Optionally, the program further includes instructions for executing the following steps:

[0183] Acquiring target working environment parameters of the receiver;

[0184] The first operating parameter corresponding to the target operating environment parameter is determined.

[0185] It can be seen that the automobile parts processing equipment described in the embodiment of the present application includes an ultrasonic sensor, which includes a transmitter and a receiver. The receiver includes a target clock module, which sends a target ultrasonic wave to the target object through the transmitter, and records the first sending time of sending the target ultrasonic wave, obtains the target equipment environment parameters of the automobile parts processing equipment, determines the first delay parameter according to the target equipment environment parameters, determines the second sending time of the receiver according to the first sending time and the first delay parameter, synchronizes the second sending time to the receiver, controls the receiver to control the target clock module to start timing with the first working parameter at the second sending time, and waits for receiving the target ultrasonic wave. When the receiver receives the target ultrasonic wave reflected by the target object, the receiving time of the target ultrasonic wave is recorded, and the automobile parts processing is determined according to the receiving time and the second sending time. The measured distance between the device and the target object is used to obtain the actual distance between the automotive parts processing equipment and the target object, and the first deviation between the measured distance and the actual distance is determined. The first working parameter is calibrated according to the first deviation to obtain the second working parameter. When the transmitter sends an ultrasonic signal, its sending time can be recorded, and the sending time can be compensated based on the device environment to obtain a more accurate synchronous sending time. The receiver starts timing at this synchronous sending time, which can reduce its power consumption. In addition, the clock synchronization between the transmitter and the receiver is realized. Next, the working parameters of the receiver are calibrated with the deviation between the actual distance and the measured distance of the ultrasonic wave, so that the clock of the receiver is more accurate. In this way, not only can the clock asynchronism between the transmitter and the receiver be overcome, but also the ultrasonic positioning accuracy of the automotive parts processing equipment can be improved, thereby improving the yield rate of automotive parts.

[0186] Figure 3 It is a functional unit composition block diagram of a clock synchronization calibration system 300 based on ultrasound involved in an embodiment of the present application, which is applied to automobile parts processing equipment. The automobile parts processing equipment includes an ultrasonic sensor, and the ultrasonic sensor includes a transmitter and a receiver. The receiver includes a target clock module. The clock synchronization calibration system 300 based on ultrasound includes: a recording unit 301, an acquisition unit 302, a determination unit 303, a timing unit 304, and a calibration unit 305, wherein:

[0187] The recording unit 301 is used to send a target ultrasonic wave to a target object through the transmitter, and record a first sending time of sending the target ultrasonic wave;

[0188] The acquisition unit 302 is used to acquire target equipment environment parameters of the automobile parts processing equipment;

[0189] The determining unit 303 is configured to determine a first delay parameter according to the target device environment parameter; determine a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronize the second sending time to the receiver;

[0190] The timing unit 304 is used to control the receiver to control the target clock module to start timing with the first working parameter at the second sending time, so as to wait for receiving the target ultrasonic wave;

[0191] The recording unit 301 is further configured to record a receiving time of receiving the target ultrasonic wave when the receiver receives the target ultrasonic wave reflected by the target object;

[0192] The determining unit 303 is further used to determine the measured distance between the automobile parts processing equipment and the target object according to the receiving time and the first sending time;

[0193] The acquisition unit 302 is further used to acquire the actual distance between the automobile parts processing equipment and the target object;

[0194] The determining unit 303 is further configured to determine a first deviation between the measured distance and the actual distance;

[0195] The calibration unit 305 is further configured to calibrate the first operating parameter according to the first deviation to obtain a second operating parameter.

[0196] Optionally, the target device environment parameter includes: a target hardware environment parameter and a target software environment parameter; in determining the first delay parameter according to the target device environment parameter, the determining unit 303 is specifically used to:

[0197] determining a target data transmission path length between the transmitter and the receiver;

[0198] Determining a first data transmission rate corresponding to the target hardware environment parameter;

[0199] Determining a second data transmission rate corresponding to the target software environment parameter;

[0200] determining a target data transmission rate according to the first data transmission rate and the second data transmission rate;

[0201] The first delay parameter is determined according to the target data transmission path length and the target data transmission rate.

[0202] Optionally, in the aspect of calibrating the first operating parameter according to the first deviation to obtain the second operating parameter, the calibration unit 305 is specifically configured to:

[0203] determining a first adjustment parameter corresponding to the first deviation;

[0204] Adjust the first operating parameter according to the first adjustment parameter to obtain a reference operating parameter;

[0205] Acquire multiple historical operating parameters of the target clock module, each historical operating parameter corresponding to a deviation;

[0206] Obtaining maximum and minimum values ​​of the plurality of historical operating parameters;

[0207] Perform fitting according to the plurality of historical operating parameters and the degree of deviation corresponding to each historical operating parameter to obtain a fitting straight line and a fitting curve;

[0208] The fitting curve is intercepted according to the maximum value and the minimum value to obtain a fitting curve segment;

[0209] Determine the extreme value points of the fitting curve segment to obtain multiple extreme value points;

[0210] Determine a target mean square error according to the multiple extreme value points;

[0211] Obtaining a target slope corresponding to the fitting straight line;

[0212] Determining a first fine-tuning parameter corresponding to the target mean square error;

[0213] determining a second fine-tuning parameter corresponding to the target slope;

[0214] The reference operating parameter is fine-tuned according to the first fine-tuning parameter and the second fine-tuning parameter to obtain the second operating parameter.

[0215] Optionally, in determining the first adjustment parameter corresponding to the first deviation, the calibration unit 305 is specifically configured to:

[0216] determining a reference adjustment parameter corresponding to the first deviation;

[0217] Obtaining a first position and a first signal strength of a target interference source;

[0218] Acquire a second position of the target object, and a third position and transmission power of the transmitter;

[0219] constructing a first vector according to the first position, the first signal strength, and the second position;

[0220] constructing a second vector according to the third position, the transmit power and the second position;

[0221] Obtaining a first modulus value of the second vector;

[0222] determining a resultant vector between the first vector and the second vector;

[0223] Obtaining a second modulus value of the resultant vector;

[0224] determining a target ratio between the second modulus value and the first modulus value;

[0225] determining a target compensation parameter corresponding to the target ratio;

[0226] The reference adjustment parameter is compensated according to the target compensation parameter to obtain the first adjustment parameter.

[0227] Optionally, the ultrasonic-based clock synchronization calibration system 300 is further specifically used for:

[0228] Acquiring target working environment parameters of the receiver;

[0229] The first operating parameter corresponding to the target operating environment parameter is determined.

[0230] It can be seen that the ultrasonic-based clock synchronization and calibration system described in the embodiment of the present application is applied to automobile parts processing equipment, and the automobile parts processing equipment includes an ultrasonic sensor, and the ultrasonic sensor includes a transmitter and a receiver. The receiver includes a target clock module, and sends a target ultrasonic wave to the target object through the transmitter, and records the first sending time of sending the target ultrasonic wave, obtains the target equipment environment parameters of the automobile parts processing equipment, determines the first delay parameter according to the target equipment environment parameters, determines the second sending time of the receiver according to the first sending time and the first delay parameter, synchronizes the second sending time to the receiver, controls the receiver to control the target clock module to start timing with the first working parameter at the second sending time, and waits for receiving the target ultrasonic wave, and when the receiver receives the target ultrasonic wave reflected by the target object, records the receiving time of receiving the target ultrasonic wave, and determines the receiving time according to the receiving time and the second sending time. Determine the measured distance between the automobile parts processing equipment and the target object, obtain the actual distance between the automobile parts processing equipment and the target object, determine the first deviation between the measured distance and the actual distance, calibrate the first working parameter according to the first deviation, and obtain the second working parameter. When the transmitter sends an ultrasonic signal, its sending time can be recorded, and the sending time can be compensated based on the equipment environment to obtain a more accurate synchronous sending time. The receiver starts timing with this synchronous sending time, which can reduce its power consumption. In addition, the clock synchronization between the transmitter and the receiver is realized. Next, the working parameters of the receiver are calibrated with the deviation between the actual distance and the measured distance of the ultrasonic wave, so that the clock of the receiver is more accurate. In this way, not only can the clock asynchronism between the transmitter and the receiver be overcome, but also the ultrasonic positioning accuracy of the automobile parts processing equipment can be improved, thereby improving the yield rate of automobile parts.

[0231] It can be understood that the functions of each program module of the ultrasonic-based clock synchronization calibration system of this embodiment can be specifically implemented according to the method in the above method embodiment, and its specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0232] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments, and the above computer includes automobile parts processing equipment.

[0233] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes an automotive parts processing device.

[0234] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0235] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0236] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0237] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0238] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0239] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0240] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0241] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A clock synchronization calibration method based on ultrasound, characterized in that: Applied to a parts processing device, the parts processing device includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, the receiver includes a target clock module, and the method includes: Sending a target ultrasonic wave to a target object through the transmitter, and recording a first sending time of sending the target ultrasonic wave; Acquire target equipment environment parameters of the parts processing equipment; Determining a first delay parameter according to the target device environment parameter; Determine a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronize the second sending time to the receiver; Controlling the receiver to control the target clock module to start timing with the first working parameter at the second sending time, so as to wait for receiving the target ultrasonic wave; When the receiver receives the target ultrasonic wave reflected by the target object, recording the receiving time of the target ultrasonic wave; Determine the measured distance between the component processing equipment and the target object according to the receiving time and the first sending time; Acquire the actual distance between the component processing equipment and the target object; determine a first deviation between the measured distance and the actual distance; and calibrate the first operating parameter according to the first deviation to obtain a second operating parameter.

2. The method according to claim 1, characterized in that The target device environment parameters include: target hardware environment parameters and target software environment parameters; and determining the first delay parameter according to the target device environment parameters includes: determining a target data transmission path length between the transmitter and the receiver; Determining a first data transmission rate corresponding to the target hardware environment parameter; Determining a second data transmission rate corresponding to the target software environment parameter; determining a target data transmission rate according to the first data transmission rate and the second data transmission rate; The first delay parameter is determined according to the target data transmission path length and the target data transmission rate.

3. The method according to claim 1 or 2, characterized in that: The step of calibrating the first operating parameter according to the first deviation to obtain a second operating parameter includes: determining a first adjustment parameter corresponding to the first deviation; Adjust the first operating parameter according to the first adjustment parameter to obtain a reference operating parameter; Acquire multiple historical operating parameters of the target clock module, each historical operating parameter corresponding to a deviation; Obtaining maximum and minimum values ​​of the plurality of historical operating parameters; Perform fitting according to the plurality of historical operating parameters and the degree of deviation corresponding to each historical operating parameter to obtain a fitting straight line and a fitting curve; The fitting curve is intercepted according to the maximum value and the minimum value to obtain a fitting curve segment; Determine the extreme value points of the fitting curve segment to obtain multiple extreme value points; Determine a target mean square error according to the multiple extreme value points; Obtaining a target slope corresponding to the fitting straight line; Determining a first fine-tuning parameter corresponding to the target mean square error; determining a second fine-tuning parameter corresponding to the target slope; The reference operating parameter is fine-tuned according to the first fine-tuning parameter and the second fine-tuning parameter to obtain the second operating parameter.

4. The method according to claim 3, characterized in that The determining a first adjustment parameter corresponding to the first deviation comprises: determining a reference adjustment parameter corresponding to the first deviation; Obtaining a first position and a first signal strength of a target interference source; Acquire a second position of the target object, and a third position and transmission power of the transmitter; constructing a first vector according to the first position, the first signal strength, and the second position; constructing a second vector according to the third position, the transmit power and the second position; Obtaining a first modulus value of the second vector; determining a resultant vector between the first vector and the second vector; Obtaining a second modulus value of the resultant vector; determining a target ratio between the second modulus value and the first modulus value; determining a target compensation parameter corresponding to the target ratio; The reference adjustment parameter is compensated according to the target compensation parameter to obtain the first adjustment parameter.

5. A clock synchronization calibration system based on ultrasound, characterized in that: Applied to parts processing equipment, the parts processing equipment includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, the receiver includes a target clock module, the system includes: a recording unit, an acquisition unit, a determination unit, a timing unit, and a calibration unit, wherein: The recording unit is used to send a target ultrasonic wave to a target object through the transmitter, and record a first sending time of sending the target ultrasonic wave; The acquisition unit is used to acquire the target equipment environment parameters of the parts processing equipment; The determining unit is configured to determine a first delay parameter according to the target device environment parameter; determine a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronize the second sending time to the receiver; The timing unit is used to control the receiver to control the target clock module to start timing with the first working parameter at the second sending time, so as to wait for receiving the target ultrasonic wave; The recording unit is further configured to record a receiving time of receiving the target ultrasonic wave when the receiver receives the target ultrasonic wave reflected by the target object; The determining unit is further used to determine the measured distance between the component processing equipment and the target object according to the receiving time and the first sending time; The acquisition unit is further used to acquire the actual distance between the component processing equipment and the target object; The determining unit is further configured to determine a first deviation between the measured distance and the actual distance; The calibration unit is further configured to calibrate the first operating parameter according to the first deviation to obtain a second operating parameter.

6. The system according to claim 5, characterized in that The target device environment parameters include: target hardware environment parameters and target software environment parameters; in determining the first delay parameter according to the target device environment parameters, the determining unit is specifically used to: determining a target data transmission path length between the transmitter and the receiver; Determining a first data transmission rate corresponding to the target hardware environment parameter; Determining a second data transmission rate corresponding to the target software environment parameter; determining a target data transmission rate according to the first data transmission rate and the second data transmission rate; The first delay parameter is determined according to the target data transmission path length and the target data transmission rate.

7. The system according to claim 5 or 6, characterized in that: In the aspect of calibrating the first operating parameter according to the first deviation to obtain the second operating parameter, the calibration unit is specifically used for: determining a first adjustment parameter corresponding to the first deviation; Adjust the first operating parameter according to the first adjustment parameter to obtain a reference operating parameter; Acquire multiple historical operating parameters of the target clock module, each historical operating parameter corresponding to a deviation; Obtaining maximum and minimum values ​​of the plurality of historical operating parameters; Perform fitting according to the plurality of historical operating parameters and the degree of deviation corresponding to each historical operating parameter to obtain a fitting straight line and a fitting curve; The fitting curve is intercepted according to the maximum value and the minimum value to obtain a fitting curve segment; Determine the extreme value points of the fitting curve segment to obtain multiple extreme value points; Determine a target mean square error according to the multiple extreme value points; Obtaining a target slope corresponding to the fitting straight line; Determining a first fine-tuning parameter corresponding to the target mean square error; determining a second fine-tuning parameter corresponding to the target slope; The reference operating parameter is fine-tuned according to the first fine-tuning parameter and the second fine-tuning parameter to obtain the second operating parameter.

8. A parts processing equipment, characterized in that: include: A processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the method described in any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute the method according to any one of claims 1 to 4.

10. A computer program product, characterized in that The computer program product comprises a non-transitory computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 4.

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