Device and method for measuring center of mass of steering column assembly, electronic equipment and storage medium

Abstract

According to the centroid measuring device and method for the control column assembly, the electronic equipment and the storage medium, through the fixing assemblies arranged at the first position point, the second position point and the third position point of the connecting part, the centroid of the target control column assembly can be measured after the connecting part is connected with the target control column assembly; when the first position point, the second position point and the third position point naturally droop, the first angle, the second angle and the third angle between the datum plane and the vertical plane are obtained by rotating the first position point by 90 degrees and 180 degrees respectively, and therefore the first angle, the second angle and the third angle are obtained by rotating the second position point by 90 degrees and the third position point by 180 degrees respectively. The position information of the mass center of the target control column assembly can be accurately determined through the first angle, the second angle and the third angle, the target control column assembly is connected with the rotating component through the connecting component, an irregular control column can be measured through a traditional mechanical gravity method, a large number of sensors are not needed, operation is convenient, and the measurement precision is high. And the accuracy and efficiency of mass center measurement of the steering column assembly are improved.

Description

Technical Field

[0001] The present application belongs to the field of measurement technology, and in particular relates to a centroid measurement device, method, electronic device and storage medium for a steering column assembly. Background Art

[0002] The joystick is a key component for pilots to control the aircraft, and its center of mass position plays a decisive role in the flight performance and safety of the aircraft. The pilot can control the attitude and direction of the aircraft through the aircraft joystick to complete the pitch and roll of the aircraft. The center of mass position of the joystick directly affects the pilot's feelings in terms of control force, control stability, control sensitivity, etc. Accurately measuring the center of mass position of the joystick can ensure the stability and controllability of the aircraft during operation.

[0003] In the related art, the center of mass position is usually determined through theoretical calculation and actual measurement data, and then it is determined whether the center of mass meets the requirements. When measuring, due to the irregular shape of the steering column, the measurement is difficult and complicated, resulting in the measurement method of the related art having the problems of low measurement accuracy and low measurement efficiency. Summary of the invention

[0004] Embodiments of the present application provide a center of mass measurement device, method, electronic device and storage medium for a steering column assembly, which can improve the accuracy and efficiency of the center of mass measurement of the steering column assembly.

[0005] In a first aspect, an embodiment of the present application provides a center of mass measurement device for a steering column assembly, comprising:

[0006] A profile support, a connecting component, an encoder, and a rotating component located on the side of the profile support facing away from the ground;

[0007] Wherein, the encoder is used to measure the rotation angle of the rotating component; the first side of the connecting component is used to connect the target steering column component to be measured, and the first position point, the second position point and the third position point on the second side of the connecting component are respectively provided with fixing components, and the fixing components are used to fix the connecting component and the rotating component so that the connecting component can rotate with the rotating component; the second position point is obtained by rotating 90 degrees with the first position point as the starting point and the center of the second side of the connecting component as the rotation center; the third position point is obtained by rotating 180 degrees with the first position point as the starting point and the center of the second side of the connecting component as the rotation center.

[0008] In a second aspect, an embodiment of the present application provides a method for measuring the centroid of a steering column assembly, the method being applied to a device for measuring the centroid of a steering column assembly, the device for measuring the centroid of the steering column assembly comprising a profile bracket, a connecting component, and a rotating component located on a side of the profile bracket facing away from the ground; a first side of the connecting component is used to connect a target steering column assembly to be measured, a second side of the connecting component is connected to the rotating component, and can rotate with the rotating component; the method comprises:

[0009] Obtaining a first angle between a reference plane and a vertical plane when the connecting component is naturally drooped along a first position point after being connected to the target steering column assembly; the first position point is located on the second side of the connecting portion, and the reference plane is parallel to the plane where the second side of the connecting component is located;

[0010] Obtaining a second angle between the reference plane and the vertical plane when the connecting component naturally droops along a second position point after the connecting component is connected to the target steering column assembly; the second position point is obtained by rotating 90 degrees with the first position point as the starting point and the center of the second side of the connecting component as the rotation center;

[0011] Obtaining a third angle between the reference plane and the vertical plane when the connecting component naturally droops along a third position point after the connecting component is connected to the target steering column assembly; the third position point is obtained by rotating 180 degrees with the first position point as the starting point and the center of the second side of the connecting component as the rotation center;

[0012] The position information of the center of mass of the target steering column assembly is determined based on the first angle, the second angle, and the third angle.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, the device comprising: a processor and a memory storing computer program instructions;

[0014] When the processor executes the computer program instructions, the center of mass measurement method of the steering column assembly as described in the second aspect is implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the center of mass measurement method of the steering column assembly as described in the second aspect is implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the method for measuring the center of mass of the steering column assembly as described in the second aspect.

[0017] The centroid measurement device, method, electronic device and storage medium of the joystick assembly in the embodiments of the present application can respectively measure the first angle, second angle and third angle between the reference plane and the vertical plane when the connecting component is connected to the target joystick assembly and hangs naturally along the first position point, the second position point and the third position point through the fixing components respectively arranged at the first position point, the second position point and the third position point. Since the second position point and the third position point are obtained by rotating the first position point by 90 degrees and 180 degrees respectively, the position information of the centroid of the target joystick assembly can be accurately determined through the first angle, the second angle and the third angle. Moreover, in the centroid measurement device of the joystick assembly of the present application, the target joystick assembly is connected to the rotating component through the connecting component, so that an irregular joystick can be measured by the traditional mechanical gravity method, and a large number of sensors are not required, the operation is convenient, and the accuracy and efficiency of the centroid measurement of the joystick assembly are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0019] Figure 1 is a schematic structural diagram of a centroid measurement device for a joystick assembly provided by an embodiment of the present application;

[0020] Figure 2 is a schematic structural diagram of a connecting component provided by an embodiment of the present application;

[0021] Figure 3 is a schematic diagram for measuring the first angle provided by an embodiment of the present application;

[0022] Figure 4 is a schematic diagram for measuring the second angle provided by an embodiment of the present application;

[0023] Figure 5 is a schematic diagram for measuring the third angle provided by an embodiment of the present application;

[0024] Figure 6 is a schematic flowchart of a centroid measurement method for a joystick assembly provided by an embodiment of the present application;

[0025] Figure 7 is a schematic diagram for determining the first position information of the centroid after the connection component and the target joystick assembly are combined;

[0026] Figure 8 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed Implementation Modes

[0027] The features and exemplary embodiments of various aspects of the present application will be described in detail below. To make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than limiting the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0028] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "comprising..." do not exclude the existence of additional identical elements in the process, method, article or device comprising the said elements. "Connection" or "connected" and other similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly. In addition, in the description of the present application, unless otherwise specified, the term "a plurality of" means two or more. The term "and / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0029] As described in the background technology, when measuring the center of mass of the steering column assembly, due to the irregular shape of the steering column assembly, the measurement is difficult and complicated. In the current related art, the method for measuring the center of mass includes mechanical gravity method, static center of mass measurement method and dynamic center of mass measurement method. The mechanical gravity measurement method determines the center of mass position according to the vertical line of the suspension point of the measured object passing through the center of mass. It is simple to operate and convenient to calculate, but the steering column is difficult to suspend during actual measurement, data collection is difficult, and the accuracy is low. The static center of mass method uses moment balance measurement to calculate the center of mass position, and the measurement structure is complex and difficult to operate. The dynamic center of mass measurement method uses centrifugal force to determine the center of mass position by testing the bearing pressure. It is also complex in structure and difficult to operate.

[0030] In order to solve the problems of the prior art, the embodiments of the present application provide a centroid measurement device, method, electronic device, computer storage medium and computer program product of a steering column assembly. The fixed assembly provided by the present application at the first position point, the second position point and the third position point can measure the first angle, the second angle and the third angle of the reference plane and the vertical plane respectively when the connecting component is connected to the target steering column assembly and naturally droops along the first position point, the second position point and the third position point. Since the second position point and the third position are respectively obtained by rotating the first position point by 90 degrees and 180 degrees, the position information of the centroid of the target steering column assembly can be accurately determined by the first angle, the second angle and the third angle. At the same time, in the centroid measurement device of the steering column assembly, the target steering column assembly is connected to the rotating component by the connecting component, so that the irregular steering column can be measured by the mechanical gravity method, and the measurement accuracy is higher than the traditional mechanical gravity method. In addition, compared with the static centroid measurement method and the dynamic centroid measurement method, it does not need to consider the sensor, which greatly reduces the structural design cost and improves the measurement efficiency of the centroid. The following first introduces the center of mass measurement method of the steering column assembly provided in the embodiment of the present application.

[0031] refer to Figure 1 , the centroid measuring device of the steering column assembly provided in the embodiment of the present application comprises:

[0032] A profile support 4, a connecting component 2, an encoder 7, and a rotating component 3 located on the side of the profile support 4 facing away from the ground;

[0033] Among them, the encoder 7 is used to measure the rotation angle of the rotating member 3; the first side of the connecting member 2 is used to connect the target joystick assembly 1 to be measured, and fixing components are respectively arranged at the first position point, the second position point and the third position point on the second side of the connecting member. The fixing component is used to fixedly connect the connecting member 2 and the rotating member 3, so that the connecting member 2 can rotate with the rotating member 3; the second position point is obtained by rotating 90 degrees with the first position point as the starting point and the center of the second side of the connecting member 2 as the rotation center; the third position point is obtained by rotating 180 degrees with the first position point as the starting point and the center of the second side of the connecting member 2 as the rotation center.

[0034] It should be noted that the target joystick assembly is the joystick assembly of the current centroid to be measured. The joystick assembly can be composed of a single joystick or a component composed of a joystick and other accessories that are often used in cooperation with the joystick. In one example, referring to Figure 2 , the joystick assembly includes a joystick 11 and a sensor adapter board 12.

[0035] It should be noted that the joystick assembly of the present application mainly refers to the joystick assembly applied to an aircraft. In some embodiments, the joystick assembly of the present application can also be a joystick assembly applied to other devices, which is not limited herein.

[0036] In some embodiments, the fixing component can be a bolt structure, a magnetic attraction structure, a clamping structure, etc.

[0037] In some embodiments, the fixing component and the rotating member can be connected by welding, magnetic attraction, strong glue, bolts, etc., which is not limited herein. In one example, the fixing component at the first position point of the connecting member is first connected to the rotating member. After measuring the first angle, the connection is disconnected, and the fixing component at the second position point of the connecting member is connected to the rotating member. Then, after measuring the second angle, the connection is disconnected, and the fixing component at the third position point of the connecting member is connected to the rotating member, and the third angle is measured.

[0038] In some embodiments, the first position point on the second side of the connecting component can be any position point on the second side of the connecting component. For the convenience of measurement, the first position point is generally a point close to the edge position of the second side of the connecting component. The second position point is obtained by rotating 90 degrees with the above-mentioned first position point as the starting point and the center of the second side of the connecting component as the rotation center. That is, after measuring the first angle, it is necessary to rotate the connecting component 90 degrees with the center of the second side of the connecting component as the rotation center, and then measure the second angle. The third position point is obtained by rotating 180 degrees with the first position point as the starting point and the center of the second side of the connecting component as the rotation center. That is, after measuring the second angle, it is necessary to continue to rotate the connecting component 90 degrees with the center of the second side of the connecting component as the rotation center, and the rotation direction is the same as the first rotation direction.

[0039] In some embodiments, the above-mentioned first angle, second angle, and third angle can be obtained by measuring the rotation angle of the above-mentioned rotating component. In one example, the rotation angle of the rotating component from the horizontal plane to when the joystick assembly hangs naturally can be measured, and then 90 degrees minus this rotation angle is the angle between the reference plane and the vertical plane. In order to accurately measure the rotation angle of the rotating component, in some embodiments, refer to Figure 1 , the above-mentioned encoder 7 is used to measure the rotation angle of the above-mentioned rotating component. In one example, the above-mentioned encoder 7 is fixed on the profile bracket through the encoder fixing bracket 6. The encoder 7 is connected to one end of the rotating component 3, and the rotation angle of the rotating component is measured by the rotation angle of the target part extending into the encoder by the rotating component.

[0040] In some embodiments, when obtaining the above-mentioned first angle, second angle, and third angle, after the rotating component rotates and hangs naturally in the whole formed by the connecting component and the joystick assembly, the angle between the reference plane and the vertical plane can be directly measured. Among them, the vertical plane is perpendicular to the horizontal plane and passes through the rotation axis of the whole formed by the connecting component and the joystick assembly. Refer to Figure 2 , the vertical plane is the plane formed by the X-axis and the Z-axis, and this plane passes through the rotation axis l1.

[0041] In some embodiments, when measuring the target joystick assembly through the centroid measuring device of the above-mentioned joystick assembly, the first position information of the centroid after the combination of the above-mentioned connecting component and the above-mentioned target joystick assembly can be determined first according to the above-mentioned first angle, the above-mentioned second angle, and the above-mentioned third angle. Then, the second position information of the centroid of the above-mentioned connecting component, the first mass of the above-mentioned connecting component, and the second mass of the above-mentioned target joystick assembly are obtained. Finally, the position information of the centroid of the above-mentioned target joystick assembly is determined according to the above-mentioned first position information, second position information, the above-mentioned first mass, and the above-mentioned second mass.

[0042] In some embodiments, referring to Figure 1 and Figure 2 , on the side of the profile bracket 4 facing away from the ground, there are two parallel support beams provided. The rotating member includes two pedestal bearings 32 and a rotating shaft 31; the two pedestal bearings 32 are respectively located on the two support beams, the rotating shaft 31 passes through the two pedestal bearings 32 and can rotate relative to the two pedestal bearings 32; at the first position point, the second position point and the third position point of the connecting member, there is respectively provided a fixing ring 22, that is, the fixing component is a fixing ring, and the fixing ring 22 is used to fixedly connect the connecting member with the rotating shaft. In one example, referring to Figure 3 , the fixing ring 22 includes upper and lower halves. The lower half is fixedly connected to the second side of the connecting member, and the upper half is connected to the lower half by bolts. When using the fixing ring 22, first separate the upper half from the lower half, then put it on the rotating shaft 31, and then fix the upper and lower halves by bolts, so that the connecting member is fixed to the rotating shaft 31 through the fixing ring.

[0043] In order to more accurately calibrate the value of the encoder at the initial position, that is, when the reference plane is parallel to the horizontal plane, the value of the encoder. In some embodiments, referring to Figure 1 , the centroid measuring device of the joystick assembly further includes an auxiliary positioning member 5 parallel to the rotating member 3; the auxiliary positioning member 5 is located on the side of the profile bracket 4 facing away from the ground, and the plane where the auxiliary positioning member 5 and the rotating member 3 are located is parallel to the plane where the two support beams are located; at the fourth position point of the connecting member, there is provided the fixing ring, and the fourth position point is located on the second side of the connecting member and is symmetrical to the second position point. In one example, when measuring the first angle, the fixing ring at the first position point can be used to fix the first position point of the connecting member to the rotating member. At the same time, the fixing ring at the third fixing point is used to connect the third position point of the connecting member to the auxiliary positioning member, and then the encoder is zeroed, so as to ensure that the initial position of the reference plane is parallel to the horizontal plane. Similarly, when measuring the second angle, the fixing ring at the second position point can be used to fix the second position point of the connecting member to the rotating member. At the same time, the fixing ring at the fourth fixing point is used to connect the fourth position point of the connecting member to the auxiliary positioning member.

[0044] In some embodiments, referring to Figure 1 , the auxiliary positioning member 5 is a member the same as the connecting member, that is, the auxiliary positioning member 5 also includes two pedestal bearings and a rotating shaft, so as to ensure that the plane where the auxiliary positioning member and the rotating member are located is parallel to the plane where the two support beams are located.

[0045] In some embodiments, the centroid measurement device of the above-mentioned joystick assembly further includes a controller; the controller is configured to:

[0046] Obtain the first angle between the reference plane and the vertical plane when the connecting component is connected to the target joystick assembly and hangs naturally along the first position point; the reference plane is parallel to the plane where the second side of the connecting component is located.

[0047] Obtain the second angle between the reference plane and the vertical plane when the connecting component is connected to the target joystick assembly and hangs naturally along the second position point.

[0048] Obtain the third angle between the reference plane and the vertical plane when the connecting component is connected to the target joystick assembly and hangs naturally along the third position point.

[0049] Determine the position information of the centroid of the target joystick assembly based on the first angle, the second angle, and the third angle.

[0050] In the centroid measurement device of the joystick assembly according to the embodiments of the present application, through the fixing components respectively arranged at the first position point, the second position point, and the third position point of the connecting component, the first angle, the second angle, and the third angle between the reference plane and the vertical plane can be respectively measured when the connecting component is connected to the target joystick assembly and hangs naturally along the first position point, the second position point, and the third position point. Since the second position point and the third position point are obtained by rotating the first position point by 90 degrees and 180 degrees respectively, the position information of the centroid of the target joystick assembly can be accurately determined through the first angle, the second angle, and the third angle. Moreover, in the centroid measurement device of the joystick assembly of the present application, the target joystick assembly is connected to the rotating component through the connecting component, so that the irregular joystick can be measured by the traditional mechanical gravity method, and a large number of sensors are not required, the operation is convenient, and the accuracy and efficiency of the centroid measurement of the joystick assembly are improved.

[0051] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application further provides a method for measuring the centroid of a joystick assembly. Figure 6 The flowchart of a method for measuring the centroid of a joystick assembly provided by an embodiment of the present application is shown. This method is applied to the centroid measurement device of the joystick assembly shown in any of the above embodiments. The method includes the following steps:

[0052] S101, obtain the first angle between the reference plane and the vertical plane when the connecting component is connected to the target joystick assembly and hangs naturally along the first position point; the reference plane is parallel to the plane where the second side of the connecting component is located.

[0053] S102, obtain the second angle between the reference plane and the vertical plane when the connecting component is connected to the target joystick assembly and hangs naturally along the second position point.

[0054] S103. Obtain the third angle between the reference plane and the vertical plane when the connecting component is connected to the target joystick assembly and naturally droops along the third position point.

[0055] S104. Determine the position information of the centroid of the target joystick assembly based on the first angle, the second angle, and the third angle.

[0056] In specific implementation, the centroid measurement method of the joystick assembly of the present application is applied to the centroid measurement device of the joystick assembly. The centroid measurement device of the joystick assembly includes a profile bracket, a connecting component, and a rotating component. The target joystick assembly to be measured is connected to the connecting component and can rotate with the connecting component along with the rotating component, so that the target joystick assembly can naturally droop along a certain position point. In order to more accurately determine the centroid of the target joystick assembly, in the embodiments of the present application, first connect the target joystick assembly and the connecting component together to form an integral body, and make the integral body naturally droop along the first position point, the second position point, and the third position point respectively, and measure the angle between the reference plane and the vertical plane each time it naturally droops to obtain the first angle, the second angle, and the third angle. Among them, the first position point is located on the second side of the connecting part. In one example, the first position point can be any position point on the second side of the connecting component. For the convenience of measurement, the first position point is generally a point close to the edge position of the second side of the connecting component. The second position point is obtained by rotating 90 degrees with the center of the second side of the connecting component as the rotation center starting from the first position point, that is, after measuring the first angle, the connecting component needs to be rotated 90 degrees with the center of the second side of the connecting component as the rotation center, and then the second angle is measured. The third position point is obtained by rotating 180 degrees with the center of the second side of the connecting component as the rotation center starting from the first position point, that is, after measuring the second angle, the connecting component needs to continue to be rotated 90 degrees with the center of the second side of the connecting component as the rotation center, and the rotation direction is the same as the first rotation direction.

[0057] In order to accurately determine the position information of the centroid of the target joystick assembly, in some embodiments, determining the position information of the centroid of the target joystick assembly based on the first angle, the second angle, and the third angle includes:

[0058] Determine the first position information of the centroid after the combination of the connecting component and the target joystick assembly based on the first angle, the second angle, and the third angle;

[0059] Obtain the second position information of the centroid of the connecting component and the first mass of the connecting component;

[0060] Obtain the second mass of the target joystick assembly;

[0061] Determine the position information of the centroid of the target joystick assembly based on the above-mentioned first position information, second position information, the above-mentioned first mass, and the above-mentioned second mass.

[0062] In specific implementation, first, determine the first position information of the centroid of the combined connection component and the target joystick assembly according to the above-mentioned first angle, second angle, and third angle. Then, obtain the second position information of the centroid of the connection component, the first mass of the connection component, and the second mass of the target joystick assembly. Finally, determine the position information of the centroid of the target joystick assembly based on the above-mentioned first position information, second position information, the above-mentioned first mass, and the above-mentioned second mass. In some embodiments, the position information of the centroid of the target joystick assembly can be determined by the following formula:

[0063]

[0064] Among them, the first position information of the centroid of the combined connection component and the target joystick assembly is represented as (x, y, z), the second position information of the centroid of the connection component is represented as (x1, y1, z1), and the position information of the centroid of the target joystick assembly is represented as (x2, y2, z2); m1 represents the mass of the connection component, and m2 represents the mass of the joystick assembly.

[0065] In order to reduce the calculation steps, in some embodiments, the masses of the connection component and the target joystick assembly are equal; determining the position information of the centroid of the target joystick assembly based on the above-mentioned first angle, second angle, and third angle includes:

[0066] Determine the first position information of the centroid of the combined connection component and the target joystick assembly based on the above-mentioned first angle, second angle, and third angle;

[0067] Obtain the second position information of the centroid of the connection component;

[0068] Determine the position information of the centroid of the target joystick assembly based on the above-mentioned first position information and the second position information.

[0069] In specific implementation, in the embodiments of the present application, in order to simplify the operation amount of the processor, the masses of the connection component and the target joystick assembly can be made equal, so that the formula for calculating the position information of the centroid of the target joystick assembly can be directly simplified to:

[0070]

[0071] Among them, the first position information of the centroid after the combination of the above-mentioned connecting component and the above-mentioned target joystick assembly is expressed as (x, y, z), the second position information of the centroid of the above-mentioned connecting component is expressed as (x1, y1, z1), and the position information of the centroid of the target joystick assembly is expressed as (x2, y2, z2).

[0072] In order to accurately obtain the second position information of the centroid of the connecting component, in some embodiments, obtaining the second position information of the centroid of the above-mentioned connecting component includes:

[0073] Obtaining a fourth angle between the above-mentioned reference plane and the vertical plane when the above-mentioned connecting component naturally hangs down along the above-mentioned first position point

[0074] Obtaining a fifth angle between the above-mentioned reference plane and the vertical plane when the above-mentioned connecting component naturally hangs down along the above-mentioned second position point;

[0075] Obtaining a sixth angle between the above-mentioned reference plane and the vertical plane when the above-mentioned connecting component naturally hangs down along the above-mentioned third position point;

[0076] Determining the second position information of the centroid of the above-mentioned connecting component based on the above-mentioned fourth angle, the above-mentioned fifth angle and the above-mentioned sixth angle.

[0077] In specific implementation, in order to accurately obtain the second position information of the centroid of the connecting component, the same method as the above-mentioned measurement of the first angle, the second angle and the third angle can be used to determine the second position information of the centroid of the connecting component. That is, when the connecting component is not connected to the target joystick assembly, the centroid measurement device of the above-mentioned joystick assembly is used to first measure the second position information of the centroid of the connecting component. This can not only improve the accuracy of the second position information of the centroid of the connecting component, but also reduce the limitation on the shape of the connecting component.

[0078] In some embodiments, when the shape of the connecting component is a regular shape, the second position information of the centroid of the connecting component can also be determined by a geometric algorithm. For example, in one example, when the connecting component is a ring, the geometric center of the ring can be determined as the centroid of the connecting component.

[0079] In some embodiments, determining the first position information of the centroid after the combination of the above-mentioned connecting component and the above-mentioned target joystick assembly based on the above-mentioned first angle, the above-mentioned second angle and the above-mentioned third angle includes:

[0080] Based on the above-mentioned first angle, determining the position information of the first plane where the above-mentioned reference plane is located when the above-mentioned connecting component is connected to the above-mentioned target joystick assembly and naturally hangs down along the first position point;

[0081] After determining the above-mentioned connecting component is connected to the above-mentioned target joystick assembly, based on the above-mentioned second angle, when it naturally hangs down along the second position point, the position information of the second plane where the above-mentioned reference plane is located;

[0082] Based on the position information of the above-mentioned first plane and the position information of the above-mentioned second plane, determine the position information of the target straight line where the above-mentioned first plane intersects the above-mentioned second plane;

[0083] After determining the above-mentioned connecting component is connected to the above-mentioned target joystick assembly, based on the above-mentioned third angle, when it naturally hangs down along the third position point, the position information of the third plane where the above-mentioned reference plane is located;

[0084] Based on the position information of the above-mentioned target straight line and the position information of the above-mentioned third plane, determine the position information of the target intersection point of the above-mentioned target straight line and the above-mentioned third plane, and based on the position information of the above-mentioned target intersection point, determine the above-mentioned first position information.

[0085] During specific implementation, refer to Figure 7 , when determining the above-mentioned first position information, first, according to the above-mentioned first angle θ1, after determining the above-mentioned connecting component is connected to the above-mentioned target joystick assembly, when it naturally hangs down along the first position point, the position information of the first plane OAMB where the above-mentioned reference plane is located can be determined. Then, according to the above-mentioned second angle θ2, after determining the above-mentioned connecting component is connected to the above-mentioned target joystick assembly, when it naturally hangs down along the second position point, the position information of the second plane EAMC where the above-mentioned reference plane is located can be determined. Next, determine the target straight line AM where the first plane OAMB intersects the second plane EAMC, and according to the above-mentioned third angle θ3, after determining the above-mentioned connecting component is connected to the above-mentioned target joystick assembly, when it naturally hangs down along the third position point, the position information of the third plane OEFD where the above-mentioned reference plane is located can be determined. Finally, determine the target intersection point M of the third plane OEFD and the target straight line AM, and determine the target intersection point M as the centroid of the combined connecting component and target joystick assembly.

[0086] In some embodiments, when measuring the centroid of the target joystick assembly by the centroid measurement method of the joystick assembly in the embodiments of the present application, first establish a coordinate system O-XYZ, as Figure 1 shown, where the X-axis and Y-axis directions are respectively along the axes l1 and l3 of the holes of two adjacent fixing rings of the connecting component, the intersection point of l1 and l3 is the center O, and the Z-axis is determined by the right-hand rule. The perpendicular distance a between the two rotating axes l1 and l2 on the connecting component is measured. Secondly, angle measurement is performed, as Figure 3 , Figure 4 and Figure 5As shown in the figure. With l1 as the rotation axis, the overall component is suspended and allowed to hang naturally, and the angle θ1 between the reference plane and the vertical plane is measured. Similarly, with l2 as the rotation axis, the overall component is suspended and allowed to hang naturally, and the angle θ2 between the reference plane and the vertical plane is measured. Then, with l3 as the rotation axis, the overall component is suspended and allowed to hang naturally, and the angle θ3 between the reference plane and the vertical plane is measured. Then, according to the established coordinate system, the position of the centroid is obtained, as Figure 7 shown in the figure. Among them, the reference plane starts from the vertical plane and rotates by θ1 and θ2 around l1 and l2 respectively, and the two formed planes intersect at the straight line AM. The centroid must be on the straight line AM. The plane formed by rotating the reference plane by θ3 around l3 intersects the straight line AM at a point M, and M(x, y, z) is the centroid of the overall component. Finally, the centroid of the overall component has been determined. The centroid of the connecting component can be directly calculated by software or obtained by the mechanical gravity method. According to the centroid calculation formula, the centroid position of the joystick component can be obtained.

[0087] In the centroid measurement method of the joystick component in the embodiment of the present application, after the connecting component is connected to the target joystick component, the first angle, the second angle, and the third angle between the reference plane and the vertical plane are respectively measured when the overall component hangs naturally along the first position point, the second position point, and the third position point through the centroid measurement device of the joystick component. Since the second position point and the third position point are obtained by rotating the first position point by 90 degrees and 180 degrees respectively, the position information of the centroid of the target joystick component can be accurately determined through the first angle, the second angle, and the third angle. Moreover, in the centroid measurement method of the joystick component of the present application, the target joystick component is connected to the rotating component through the connecting component, so that an irregular joystick can be measured by the traditional mechanical gravity method, and a large number of sensors are not required, the operation is convenient, and the accuracy and efficiency of the centroid measurement of the joystick component are improved.

[0088] Figure 8 The figure shows a schematic hardware structure diagram of an electronic device provided in an embodiment of the present application.

[0089] In some embodiments, the electronic device may include a processor 801 and a memory 802 storing computer program instructions.

[0090] Specifically, the above-mentioned processor 801 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0091] The memory 802 may include a mass storage for data or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 802 may include removable or non-removable (or fixed) media. Where appropriate, the memory 802 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, the memory 802 is a non-volatile solid-state memory.

[0092] In a particular embodiment, the memory 802 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 802 may store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 802 and are called and executed by the processor 801. The processor 801 reads and executes the computer program instructions stored in the memory 802 to implement any one of the centroid measurement methods of the joystick assembly in the above embodiments.

[0093] In one example, the electronic device may further include a communication interface 803 and a bus 810. Among them, as Figure 6 shown, the processor 801, the memory 802, and the communication interface 803 are connected through the bus 810 and complete communication with each other.

[0094] The communication interface 803 is mainly used to implement communication between the various modules, devices, units, and / or devices in the embodiments of the present application.

[0095] The bus 810 includes hardware, software, or both, and couples the components of the online data flow meter charging device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 810 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0096] The electronic device of the above embodiment is used to implement the centroid measurement method of the corresponding joystick assembly in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here.

[0097] In addition, in combination with the centroid measurement method of the joystick assembly in the above embodiment, the embodiment of the present application can provide a computer storage medium to implement. Computer program instructions are stored on the computer storage medium; when the computer program instructions are executed by a processor, any one of the centroid measurement methods of the joystick assembly in the above embodiment is implemented.

[0098] The computer-readable medium of the present embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, Phase Change Memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory, or other memory technologies, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), or other optical storage, magnetic cassette tapes, magnetic disk storage, or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0099] The computer instructions stored in the storage medium of the above embodiment are used to cause the computer to execute the centroid measurement method of the joystick assembly as described in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be described in detail here.

[0100] The embodiments of the present application also provide a computer program product, including a computer program, which when executed by a processor implements the centroid measurement method of any one of the joystick assemblies in the above embodiments.

[0101] In some embodiments, the computer program instructions can be executed by one or more processors of a computer so that the computer and / or the processor execute the centroid measurement method of the joystick assembly described in the above embodiments. Corresponding to the execution subjects of the respective steps in the centroid measurement of the joystick assembly, the processors that execute the corresponding steps can belong to the corresponding execution subjects.

[0102] The computer program product of the above embodiments is used to cause the computer and / or the processor to execute the centroid measurement method of the joystick assembly as described in any one of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0103] It should be clear that the present application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0104] It should also be noted that the functional blocks shown in the above structural block diagrams can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and so on. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted via a data signal carried in a carrier wave on a transmission medium or a communication link. A "machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet or an intranet.

[0105] It also needs to be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps can be executed in the order mentioned in the embodiments, or different from the order in the embodiments, or several steps can be executed simultaneously.

[0106] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowchart and / or block diagram, and the combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / operations specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It should also be understood that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, can also be implemented by dedicated hardware that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0107] As described above, the foregoing are only specific embodiments of the present application. Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and these modifications or substitutions should all be covered by the protection scope of the present application.

Claims

1. A centroid measurement device for a joystick assembly, characterized in that, include: A profile support, a connecting component, an encoder, and a rotating component located on the side of the profile support facing away from the ground; Wherein, the encoder is used to measure the rotation angle of the rotating component; the first side of the connecting component is used to connect the target steering column component to be measured, and the first position point, the second position point and the third position point on the second side of the connecting component are respectively provided with fixing components, and the fixing components are used to fix the connecting component and the rotating component so that the connecting component can rotate with the rotating component; the second position point is obtained by rotating 90 degrees with the first position point as the starting point and the center of the second side of the connecting component as the rotation center; the third position point is obtained by rotating 180 degrees with the first position point as the starting point and the center of the second side of the connecting component as the rotation center.

2. The device according to claim 1, characterized in that, Two parallel support beams are arranged on the side of the profile bracket facing away from the ground, and the rotating component includes two seat bearings and a rotating shaft; the two seat bearings are respectively located on the two support beams, and the rotating shaft passes through the two seat bearings and can rotate relative to the two seat bearings; the fixing component is a fixing ring, and the fixing ring is used to fix the connecting component to the rotating shaft.

3. The device according to claim 2, wherein The center of mass measuring device of the steering column assembly also includes an auxiliary positioning component parallel to the rotating component; the auxiliary positioning component is located on the side of the profile bracket facing away from the ground, and the plane where the auxiliary positioning component and the rotating component are located is parallel to the plane where the two support beams are located; the fourth position point of the connecting component is provided with the fixing ring, and the fourth position point is located on the second side of the connecting component and is symmetrical to the second position point.

4. A method for measuring the centroid of a control column assembly, characterized in that, The method is applied to the center of mass measurement device of the steering column assembly according to any one of claims 1 to 3; the method comprises: Obtaining a first angle between a reference plane and a vertical plane when the connecting component is naturally drooped along the first position point after being connected to the target steering column assembly; the reference plane is parallel to a plane where the second side of the connecting component is located; Acquire a second angle between the reference plane and the vertical plane when the connecting component naturally droops along the second position point after being connected to the target steering column assembly; Acquire a third angle between the reference plane and the vertical plane when the connecting component is naturally drooped along the third position point after being connected to the target steering column assembly; The position information of the center of mass of the target steering column assembly is determined based on the first angle, the second angle, and the third angle.

5. The method according to claim 4, wherein Determining position information of the center of mass of the target steering column assembly based on the first angle, the second angle, and the third angle includes: Determine first position information of the center of mass of the connection component and the target steering column assembly after being combined based on the first angle, the second angle, and the third angle; Acquire second position information of the center of mass of the connecting component and a first mass of the connecting component; Acquiring a second mass of the target control column assembly; Determine the position information of the centroid of the target joystick assembly based on the first position information, the second position information, the first mass, and the second mass.

6. The method according to claim 4, wherein The mass of the connecting component is equal to that of the target joystick assembly; determining the position information of the centroid of the target joystick assembly based on the first angle, the second angle, and the third angle includes: Determine the first position information of the centroid after the combination of the connecting component and the target joystick assembly based on the first angle, the second angle, and the third angle; Obtain the second position information of the centroid of the connecting component; Determine the position information of the centroid of the target joystick assembly based on the first position information and the second position information.

7. The method according to claim 5 or 6, characterized in that, Obtaining the second position information of the centroid of the connecting component includes: Obtain the fourth angle between the reference plane and the vertical plane when the connecting component naturally hangs down along the first position point; Obtain the fifth angle between the reference plane and the vertical plane when the connecting component naturally hangs down along the second position point; Obtain the sixth angle between the reference plane and the vertical plane when the connecting component naturally hangs down along the third position point; Determine the second position information of the centroid of the connecting component based on the fourth angle, the fifth angle, and the sixth angle.

8. The method according to claim 5 or 6, characterized in that Determining the first position information of the centroid after the combination of the connecting component and the target joystick assembly based on the first angle, the second angle, and the third angle includes: Determine the position information of the first plane where the reference plane is located when the connecting component is connected to the target joystick assembly and naturally hangs down along the first position point based on the first angle; Determine the position information of the second plane where the reference plane is located when the connecting component is connected to the target joystick assembly and naturally hangs down along the second position point based on the second angle; Determine the position information of the target straight line where the first plane intersects the second plane based on the position information of the first plane and the position information of the second plane; Determine the position information of the third plane where the reference plane is located when the connecting component is connected to the target joystick assembly and naturally hangs down along the third position point based on the third angle; Determine the position information of the target intersection point where the target straight line intersects the third plane based on the position information of the target straight line and the position information of the third plane, and determine the first position information based on the position information of the target intersection point.

9. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the method for measuring the centroid of the joystick assembly according to any one of claims 4-8.

10. A computer-readable storage medium, characterized in that, Computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by the processor, it implements the method for measuring the centroid of the joystick assembly according to any one of claims 4-8.

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