Force limiter calibration system

Abstract

The embodiment of the invention relates to the technical field of force limiters, in particular to a force limiter calibration system, which comprises a data acquisition device, a photosensitive distance measuring device and a force limiter host, and is characterized in that the data acquisition device is mounted on mechanical equipment and is used for acquiring original data of the mechanical equipment; the photosensitive distance measuring device is used for collecting the actual operation amplitude of mechanical equipment, the force limiter host is in communication connection with the data collecting device and the photosensitive distance measuring device, the force limiter host is used for receiving original data and the actual operation amplitude, simulation data are obtained through a simulation algorithm based on the original data, and the simulation data comprise the theoretical operation amplitude. Comparing and analyzing the theoretical operation amplitude and the actual operation amplitude to obtain a first error value, and adjusting the simulation algorithm to improve the precision of the force limiter host in response to the fact that the first error value is greater than a preset threshold value. The operation amplitude of mechanical equipment can be measured more accurately, and the precision and calibration efficiency of the force limiter are effectively improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of force limiters, and in particular, to a force limiter calibration system. Background Art

[0002] In recent years, with the increasing dependence of high-precision equipment such as cranes, wind turbines, and surgical robots on torque control, the force limiter, i.e., the torque limiter, as the core component of mechanical equipment overload protection, its accuracy directly determines the safety and reliability of the equipment. The importance of calibrating and testing the force limiter is self-evident. In addition, with the rapid iteration of mechanical equipment, the requirements for the calibration efficiency of the force limiter are also constantly increasing.

[0003] Currently, most calibration systems indirectly calculate the working range by measuring the boom angle, such as using a mechanical angle sensor or an ordinary laser rangefinder. However, these methods have obvious problems: mechanical sensors will cause errors due to gear clearance and structural deformation; while the laser rangefinder requires manual adjustment of the light angle, and if the installation effect is not good, the measurement result will deviate greatly. In addition, the existing technology relies on idealized formulas for simulating the suspended weight and does not consider factors such as the sway of the suspension rope and wind interference in the actual working conditions, resulting in large errors of the torque limiter after calibration in dynamic scenarios. At the same time, there is a lack of intelligent correction of sensor data during the calibration process, resulting in low calibration accuracy and efficiency. Summary of the Invention

[0004] An object of the embodiments of the present application is to provide a force limiter calibration system to solve the technical problems of low calibration accuracy and efficiency of the force limiter.

[0005] To solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0006] In a first aspect, the embodiments of the present application provide a force limiter calibration system, including:

[0007] A data acquisition device, which is installed on a mechanical device and is used to acquire the original data of the mechanical device;

[0008] A photosensitive ranging device, which is used to acquire the actual working range of the mechanical device;

[0009] A force limiter host, which is communicatively connected to the data acquisition device and the photosensitive ranging device. The force limiter host is used to receive the original data and the actual working range, obtain simulated data through a simulation algorithm based on the original data, the simulated data includes the theoretical working range, compare and analyze the theoretical working range with the actual working range to obtain a first error value, and in response to the first error value being greater than a preset threshold, adjust the simulation algorithm to improve the accuracy of the force limiter host.

[0010] In some embodiments, the photosensitive ranging device includes a light emitter and a photosensitive sensor. The light emitter is disposed on the mechanical equipment and is used to emit light. The photosensitive sensor is used to receive the light and generate a photosensitive signal to collect the actual working range of the mechanical equipment. The light emitter includes a transparent housing, a fluid material, a balancing device, and a light source device. The transparent housing is filled with the fluid material, and the balancing device and the light source device are disposed inside the transparent housing. The balancing device is used to balance the light source device so that the light source device emits light perpendicular to the photosensitive sensor.

[0011] In some embodiments, the system further includes a calibration weight, and the mechanical equipment hoists the calibration weight through a connecting device;

[0012] The data acquisition device includes a weight sensor, and the original data includes a calibrated lifting weight. The weight sensor is used to collect the weight of the calibration weight to obtain the calibrated lifting weight.

[0013] In some embodiments, the light generator is suspended below the calibration weight by a suspension rope.

[0014] In some embodiments, the simulated data further includes a theoretical lifting weight. The main force limiter is further configured to compare and analyze the theoretical lifting weight with the calibrated lifting weight to obtain a second error value. In response to the second error value being greater than a preset threshold, the simulation algorithm is adjusted to improve the accuracy of the force limiter.

[0015] In some embodiments, the main force limiter is communicatively connected to the photosensitive sensor. The main force limiter is further configured to receive photosensitive signals sent by multiple photosensitive sensors and obtain the actual working range based on the multiple photosensitive signals through a calculation algorithm.

[0016] In some embodiments, the original data further includes an oil chamber pressure value, an angle value, an arm length value, and a cylinder length value. The main force limiter is configured to receive the oil chamber pressure value, the angle value, the arm length value, and the cylinder length value, and obtain the theoretical working range based on the oil chamber pressure value, the angle value, the arm length value, and the cylinder length value through a simulation algorithm.

[0017] In some embodiments, the data acquisition device further includes a pressure sensor, an angle sensor, a length measuring sensor, and a length sensor. The angle sensor and the length measuring sensor are disposed on the mechanical equipment, and the pressure sensor and the length sensor are disposed on the cylinder of the mechanical equipment;

[0018] The oil chamber pressure value is measured by the pressure sensor;

[0019] The angle value is measured by the angle sensor;

[0020] The arm length value is measured by the length measuring sensor;

[0021] The length value of the oil cylinder is measured by the length sensor.

[0022] In some embodiments, before obtaining the simulation data through the simulation algorithm based on the original data, the force limiter host is further configured to group and compare the original data, and determine that the original data is correct in response to the grouped data being between the front-segment data and the rear-segment data, and obtain the simulation data through the simulation algorithm based on the original data.

[0023] In some embodiments, the force limiter host is further configured to perform a secondary simulation after adjusting the simulation algorithm, and perform a real vehicle verification in response to the secondary simulation passing.

[0024] The embodiments of the present application can achieve the following technical effects: Different from the prior art, the force limiter calibration system provided by the embodiments of the present application collects the original data of the mechanical equipment through the data acquisition device, collects the actual working amplitude of the mechanical equipment through the photosensitive ranging device, receives the original data and the actual working amplitude through the force limiter host, obtains the simulation data through the simulation algorithm, compares and analyzes the theoretical working amplitude and the actual working amplitude in the simulation data, obtains the error value, and adjusts the simulation algorithm when the error value is greater than the threshold, improving the accuracy of the force limiter host, being able to measure the working amplitude more accurately, and effectively improving the accuracy and calibration efficiency of the force limiter. Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic diagram of the application environment of a force limiter calibration system provided by the embodiments of the present application;

[0027] Figure 2 It is a schematic diagram of the structure of a force limiter calibration system provided by the embodiments of the present application;

[0028] Figure 3 It is a schematic diagram of the structure of a photosensitive ranging device provided by the embodiments of the present application;

[0029] Figure 4 It is a schematic diagram of the structure of a light emitter provided by the embodiments of the present application;

[0030] Figure 5It is a schematic structural diagram of a force limiter host provided by an embodiment of the present application. Detailed implementation manners

[0031] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts fall within the protection scope of the present application.

[0032] It should be noted that if there is no conflict, the various features in the embodiments of the present application can be combined with each other, and all are within the protection scope of the present application. In addition, although functional module division is performed in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the flowchart. Furthermore, the terms "first", "second", "third", etc. used in the present application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0033] Figure 1 It is a schematic application environment diagram of a force limiter calibration system provided by an embodiment of the present invention. Please refer to Figure 1 , the application environment includes a force limiter calibration system 10 and a mechanical device 20 ( Figure 1 illustrated by one mechanical device for example), and the force limiter calibration system 10 is arranged in the environment where the mechanical device 20 is located.

[0034] The force limiter calibration system 10 is used to prevent the mechanical device 20 from being damaged or having an accident due to excessive torque or moment. The force limiter calibration system 10 obtains the relevant working data of the mechanical device 20, outputs simulated data based on the relevant working data through a simulation algorithm, compares and analyzes the simulated data with the actual data to determine the error, and adjusts the simulation algorithm to improve the accuracy of the force limiter calibration system, so as to better protect the working safety of the mechanical device 20.

[0035] In some embodiments, the mechanical device 20 can be a construction machine, such as a crane, an excavator, a concrete pump truck, etc. In some embodiments, the mechanical device 20 can be an industrial robot, such as an industrial robotic arm, a collaborative robot, etc. In some embodiments, the mechanical device 20 can be a special vehicle and an aerial work device, such as a fire truck ladder, an aerial work platform, etc. In some embodiments, the mechanical device 20 can be a medical device, such as a surgical robot, a rehabilitation exoskeleton, etc. It should be understood that the mechanical device 20 can also be any other device that requires a force limiter for torque control, and the embodiments of the present application do not make any limitation thereto.

[0036] The following provides a detailed description of the force limiter calibration system provided by the embodiments of the present application. Please refer to Figure 2 The force limiter calibration system 10 includes a data acquisition device 100, a photosensitive ranging device 200, and a force limiter host 300.

[0037] The data acquisition device 100 is installed on the mechanical equipment 20, and the data acquisition device 100 is communicatively connected to the force limiter host 300. The photosensitive ranging device 200 is communicatively connected to the force limiter host 300.

[0038] This communication connection can be a wired connection, such as: fiber optic cable, or a wireless communication connection, such as: WIFI connection, Bluetooth connection, 4G wireless communication connection, 5G wireless communication connection, etc.

[0039] The data acquisition device 100 is used to collect the original data of the mechanical equipment and send the collected original data to the force limiter host.

[0040] Among them, the original data refers to the unprocessed data directly collected by the data acquisition device.

[0041] In some embodiments, the original data includes the oil chamber pressure value.

[0042] In this embodiment, the oil chamber pressure value is the pressure value of the cavity in the oil cylinder of the mechanical equipment, such as the pressure value of the cavity in the oil cylinder of a crane. In some embodiments, the oil cylinder of the mechanical equipment is a luffing oil cylinder, and the oil chamber pressure value includes the large chamber pressure value and the small chamber pressure value. The large chamber pressure value and the small chamber pressure value are the pressure values of the two cavities of the large chamber and the small chamber in the luffing oil cylinder of the crane hydraulic system. Among them, the luffing oil cylinder is the core hydraulic actuator for controlling the luffing angle (luffing action) of the boom; the large chamber is the rodless chamber, located on the side where the piston rod does not extend, and the oil cylinder extends (the boom rises) when the oil pushes the piston; the small chamber is the rod chamber, located on the side where the piston rod extends, and the oil cylinder retracts (the boom lowers) when the oil pushes the piston.

[0043] In some embodiments, the data acquisition device includes a pressure sensor, and the oil chamber pressure value is measured by the pressure sensor.

[0044] In this embodiment, the pressure sensor is arranged on the oil cylinder of the mechanical equipment. The pressure value of the cavity in the oil cylinder of the mechanical equipment is measured by the pressure sensor to obtain the oil chamber pressure value. By way of example, the pressure sensor is a hydraulic cylinder pressure sensor. By way of example, the pressure sensor is a wire rope tension sensor.

[0045] In some embodiments, the original data includes the angle value.

[0046] In this embodiment, the angle value is the angle between the actuator of the mechanical equipment and the horizontal plane, such as the angle between the lifting arm of a crane and the horizontal plane, such as the angle between the boom of an industrial robot arm and the horizontal plane.

[0047] In some embodiments, the data acquisition device includes an angle sensor, and the angle value is measured by the angle sensor.

[0048] In this embodiment, an angle sensor is provided on a mechanical device. The angle sensor measures the angle between the mechanical device's actuator and a horizontal plane. For example, the mechanical device is a crane, and the angle sensor is provided on the mechanical device's boom, measuring the boom angle. For example, the angle sensor is a boom angle sensor built into the crane. For example, the angle sensor is a tilt sensor. For example, the angle sensor is a rotary encoder.

[0049] In some embodiments, the angle value includes a boom head angle and a boom tail angle.

[0050] In some embodiments, the raw data includes arm length values.

[0051] In this embodiment, the arm length value is the arm length of the mechanical equipment, such as the lifting arm length of a crane, that is, the distance from the crane body to the end of the crane lifting arm.

[0052] In some embodiments, the data acquisition device includes a length measuring sensor, and the arm length value is measured by the length measuring sensor.

[0053] In this embodiment, a length measuring sensor is provided on the mechanical equipment. The arm length of the mechanical equipment is measured by the length measuring sensor. For example, the arm length value is measured by the length measuring sensor provided by the crane. For example, the length measuring sensor is a wire encoder.

[0054] In some embodiments, the raw data includes cylinder length values.

[0055] In this embodiment, the cylinder length value is the length of the cylinder of the mechanical equipment, such as the length of the cylinder of a crane, that is, the total length between the hinge points at both ends of the cylinder.

[0056] In some embodiments, the data acquisition device includes a length sensor, and the cylinder length value is measured by the length sensor.

[0057] In this embodiment, the length sensor is provided on the oil cylinder of the mechanical equipment, and the length of the oil cylinder of the mechanical equipment is measured by the length sensor. For example, the length sensor is a wire encoder.

[0058] In some embodiments, the raw data also includes arm segment combinations.

[0059] The photosensitive ranging device 200 is used to collect the actual working amplitude of the mechanical equipment and send the collected actual working amplitude to the force limiter host.

[0060] In this embodiment, the actual working amplitude is the amplitude of the mechanical equipment during actual operation. The actual working amplitude is collected by the photosensitive ranging device.

[0061] In some embodiments, refer to Figure 3 , the photosensitive ranging device 200 includes a light emitter 210 and a photosensitive sensor 220. The light emitter is arranged on the mechanical equipment and used to emit light. The photosensitive sensor is used to receive the light and generate a photosensitive signal to collect the actual working amplitude of the mechanical equipment.

[0062] In this embodiment, the light emitter is arranged on the mechanical equipment. The light emitter moves along with the work of the mechanical equipment, and the light emitted by the light emitter can indicate the working amplitude of the mechanical equipment.

[0063] In this embodiment, the photosensitive sensor is arranged near the light emitter and used to receive the light emitted by the light emitter and generate a photosensitive signal.

[0064] In some embodiments, the photosensitive ranging device includes a plurality of photosensitive sensors.

[0065] In some embodiments, the plurality of photosensitive sensors are arranged on the receiving scale.

[0066] In some embodiments, the photosensitive sensor is also used to send the photosensitive signal to the force limiter host.

[0067] In some embodiments, refer to Figure 4 , the dotted arrow in the figure represents the emitted light. The light emitter 210 includes a transparent housing 211, a fluid material 212, a balancing device 213 and a light source device 214. The transparent housing is filled with the fluid material. The balancing device and the light source device are arranged in the transparent inner housing. The balancing device is used to balance the light source device so that the light source device emits light perpendicular to the photosensitive sensor.

[0068] In this embodiment, the light emitter is composed of a transparent housing, a fluid material, a balancing device and a light source device. The transparent housing is filled with the fluid material inside. The balancing device and the light source device are arranged inside the transparent inner housing. The balancing device is connected to the light source device. The balancing device can perform relative movement when the light generator shakes or sways, driving to reduce the influence on the light source device, so that the light source device is generally kept balanced, and the light source device emits light as perpendicular to the photosensitive sensor as possible.

[0069] In this embodiment, the transparent housing is made of a high-transparency material to ensure low-loss light penetration. For example, optical-grade polycarbonate or quartz glass can be used. In some embodiments, the refractive index of the transparent housing material is close to that of the internal fluid material to reduce interface reflection losses. In some embodiments, the transparent housing material has good thermal stability to avoid deformation affecting the optical path collimation. For example, the temperature resistance range of the transparent housing is -40°C to 120°C.

[0070] In this embodiment, the fluid material is used to fill the inside of the transparent housing. It can utilize the fluid viscous resistance to absorb jitter energy and suppress the influence of mechanical vibration on the optical path. It also cancels the gravity of the balancing device and the light source device through Archimedes' principle, enabling it to automatically return to the horizontal state when tilted.

[0071] In this embodiment, the balancing device is used to balance the light source device. In some embodiments, the balancing device is a compass.

[0072] In some embodiments, the balancing device is a non-magnetic material-based compass. Among them, the non-magnetic material-based compass is an orientation device based on the principle of gravity or inertia (rather than the geomagnetic field), and provides a horizontal or direction reference through mechanical or hydrodynamic design. For example, the balancing device is a suspended pointer. In this embodiment, the non-magnetic material-based compass achieves self-balancing through density difference, and uses the resultant force of gravity and buoyancy to point in the vertical direction to keep the light source device balanced.

[0073] In this embodiment, the light source device is used to emit light. For example, the light source device can be a laser diode.

[0074] In this embodiment, the photosensitive ranging device includes a light emitter and a photosensitive sensor. The light emitter includes a transparent housing, a fluid material, a balancing device, and a light source device. Through this light emitter, it can be ensured that even when the emitter is unstable and jitters or sways, the emission direction of the emitted light can be kept as perpendicular to the photosensitive sensor as possible, so as to more accurately measure the actual working amplitude of the mechanical equipment.

[0075] In some embodiments, the force limiter calibration system further includes a calibration weight, and the mechanical equipment hoists the calibration weight through a connecting device.

[0076] In this embodiment, the calibration weight plays the role of replacing a heavy object during the calibration process, and the working process is simulated by hoisting the calibration weight by the mechanical equipment. The mechanical equipment hoists the calibration weight through a connecting device. For example, the connecting device is a cable.

[0077] In some embodiments, the data acquisition device includes a weight sensor, and the original data includes the calibrated lifting weight. The weight sensor is used to collect the weight of the calibration weight to obtain the calibrated lifting weight.

[0078] In this embodiment, the weight of the calibration weight is collected by a weight sensor to obtain the calibrated lifting weight, i.e., the actual lifting weight.

[0079] In some embodiments, refer to Figure 3 , the light generator 210 is suspended below the calibration weight 400 by a suspension rope.

[0080] In this embodiment, the light generator is suspended below the calibration weight by a suspension rope. During the calibration process, the light emitter moves with the calibration weight to detect the actual operation range of the mechanical equipment.

[0081] The force limiter host 300 is communicatively connected to the data acquisition device and the photosensitive ranging device. The force limiter host is configured to receive the raw data and the actual operation range, obtain the simulated data based on the raw data through a simulation algorithm, the simulated data includes the theoretical operation range, compare the theoretical operation range with the actual operation range for analysis, obtain the first error value, and in response to the first error value being greater than a preset threshold, adjust the simulation algorithm to improve the accuracy of the force limiter host.

[0082] In this embodiment, the force limiter host receives the raw data sent by the data acquisition device and the actual operation range sent by the photosensitive ranging device, calculates the theoretical operation range based on the raw data through a simulation algorithm, compares the theoretical operation range with the actual operation range. If the difference between the two is large and exceeds the allowable range, the simulation algorithm is adjusted to improve the accuracy of the force limiter host.

[0083] In this embodiment, the simulated data refers to the mechanical equipment data output by the force limiter host through simulation calculation. The simulated data includes the theoretical operation range

[0084] In this embodiment, the simulation algorithm refers to the algorithm used by the force limiter host to calculate the simulated data based on the raw data.

[0085] In this embodiment, the theoretical operation range refers to the operation range of the mechanical equipment output by the force limiter host through simulation calculation. Specifically, the force limiter host obtains the raw data sent by the data acquisition device and calculates the theoretical operation range through the simulation algorithm.

[0086] In this embodiment, the first error value refers to the error value between the theoretical operation range and the actual operation range collected by the photosensitive ranging device.

[0087] In this embodiment, the preset threshold is a pre-set error threshold. By way of example, the preset threshold is an error range. If the first error value is within this error range, it is considered to meet the requirements; if the first error value is outside this error range, it is considered not to meet the requirements.

[0088] In this embodiment, the force limiter calibration system provided by the embodiments of the present application collects the original data of the mechanical equipment through a data acquisition device, collects the actual operation range of the mechanical equipment through a photosensitive ranging device, and the force limiter host receives the original data and the actual operation range and obtains simulated data through a simulation algorithm. The theoretical operation range in the simulated data is compared and analyzed with the actual operation range to obtain an error value. When the error value is greater than the threshold, the simulation algorithm is adjusted to improve the accuracy of the force limiter host, so that the operation range can be measured more accurately, and the accuracy and calibration efficiency of the force limiter can be effectively improved.

[0089] In some embodiments, the simulated data further includes the theoretical lifting weight, and the force limiter host is further configured to compare and analyze the theoretical lifting weight with the calibrated lifting weight to obtain a second error value. In response to the second error value being greater than a preset threshold, the simulation algorithm is adjusted to improve the accuracy of the force limiter.

[0090] In this embodiment, the theoretical lifting weight refers to the lifting weight of the mechanical equipment output by the force limiter host through simulation calculation. Specifically, the force limiter host obtains the original data sent by the data acquisition device and calculates the theoretical lifting weight through a simulation algorithm.

[0091] In this embodiment, the calibrated lifting weight refers to the actual lifting weight of the mechanical equipment, that is, the lifting weight during the operation of the mechanical equipment. In some embodiments, the force limiter calibration system further includes calibrated weights. The mechanical equipment hoists the calibrated weights during the calibration process, and the weight of the calibrated weights is the calibrated lifting weight. In some embodiments, the data acquisition device includes a weight sensor, and the calibrated lifting weight is obtained by collecting the weight of the calibrated weights through the weight sensor.

[0092] In this embodiment, the second error value refers to the error value between the theoretical lifting weight and the calibrated lifting weight.

[0093] In this embodiment, the force limiter host receives the original data sent by the data acquisition device and the actual operation range sent by the photosensitive ranging device, calculates the theoretical lifting weight through a simulation algorithm based on the original data, compares the theoretical lifting weight with the calibrated lifting weight. If the difference between the two is large and exceeds the allowable range, the simulation algorithm is adjusted to improve the accuracy of the force limiter host.

[0094] In some embodiments, the photosensitive ranging device includes a photosensitive sensor. The force limiter host is communicatively connected to the photosensitive sensor and is configured to receive photosensitive signals sent by a plurality of photosensitive sensors, and obtain the actual operation range based on the photosensitive signals through a calculation algorithm.

[0095] In this embodiment, the force limiter host collects the return values of a plurality of photosensitive sensors and obtains the real-time range of the mechanical equipment as the actual operation range through an algorithm. In some embodiments, the average value of the ranges obtained through the algorithm is used as the actual operation range.

[0096] In some embodiments, the original data further includes oil chamber pressure values, angle values, arm length values, and cylinder length values. The load limiter host is configured to receive the oil chamber pressure values, angle values, arm length values, and cylinder length values, and obtain a theoretical working range through a simulation algorithm based on the oil chamber pressure values, angle values, arm length values, and cylinder length values.

[0097] In some embodiments, adjusting the simulation algorithm includes adjusting the magnification or the difference value to reduce the error value.

[0098] In some embodiments, before obtaining simulation data through a simulation algorithm based on the original data, the load limiter host is further configured to group and compare the original data. In response to the grouped data being between the previous segment data and the subsequent segment data, it is determined that the original data is correct, and simulation data is obtained through a simulation algorithm based on the original data.

[0099] In this embodiment, before performing simulation calculations on the original data, a simple verification is first performed on the original data to exclude some obviously incorrect data, reducing the impact on the accuracy of the simulation calculations.

[0100] In this embodiment, the previous segment data is the previous group of data of the current data, and the subsequent segment data is the subsequent group of data of the current data. By way of example, taking three adjacent groups of data after grouping as an example, the second group of data is the current data, the first group of data is the previous segment data, and the third group of data is the subsequent segment data.

[0101] In some embodiments, if the current data is the first group of data, only a comparison with the subsequent segment data is required. Similarly, if the current data is the last group of data, only a comparison with the previous segment data is required.

[0102] In this embodiment, the original data is grouped and compared. By way of example, the original data is divided into six groups, respectively marked with serial numbers 1, 2, 3, 4, 5, and 6, and each group of data is compared in turn, that is, the first comparison is between groups 1, 2, and 3, the second comparison is between groups 2, 3, and 4, the third comparison is between groups 3, 4, and 5, and the fourth comparison is between groups 4, 5, and 6.

[0103] In this embodiment, it should be understood that since the changing trend of the original data is certain, the data can be initially confirmed as normal by comparing it with the previous and subsequent segment data. If the grouped data is between the previous segment data and the subsequent segment data, it is determined that the original data is correct. By way of example, the oil chamber pressure values are grouped and compared. Since in the data acquisition of this embodiment, the oil chamber pressure values should gradually increase, the oil chamber pressure values are compared with the previous segment data and the subsequent segment data. If the oil chamber pressure value is between the previous segment data and the subsequent segment data, it is determined that the oil chamber pressure value is correct, and the oil chamber pressure value is used for simulating and calculating simulation data.

[0104] In some embodiments, after the force limiter host adjusts the simulation algorithm, it uses the next set of data for verification and fits the adjustment coefficient or adjustment difference between the two sets of data according to the differences between the two sets of data. It should be understood that the actual data of the entire mechanical equipment is a complete curve, while the data collected in this application are many points. Therefore, the curve output by the program is actually composed of multiple broken lines, and each broken line is connected by the two adjacent points. Therefore, according to the differences between each set of data and the actual data, the comparison rule is carried out to obtain the specific adjustment coefficient between the two points. The adjustment coefficient can be a multiple adjustment or a difference adjustment, so that the output curve is as smooth as possible and as close as possible to the actual curve, that is, the accuracy of the force limiter host is improved.

[0105] In some embodiments, the force limiter host is further configured to perform a secondary simulation after adjusting the simulation algorithm, and perform a vehicle test verification in response to the secondary simulation passing.

[0106] In this embodiment, after the simulation algorithm adjustment is completed, a secondary simulation is performed. The original data of the mechanical equipment is collected by the data acquisition device, the actual working range of the mechanical equipment is collected by the photosensitive ranging device, the force limiter host receives the original data and the actual working range, and obtains the simulation data through the simulation algorithm. The theoretical working range in the simulation data is compared with the actual working range for analysis to obtain an error value. If the error value is within the allowable range, the secondary simulation passes and the vehicle test verification is performed. If the error exceeds the allowable range, the secondary simulation fails, the calibration is performed again, the simulation algorithm is adjusted again, and the simulation is performed again until the secondary simulation passes, and then the vehicle test verification is performed.

[0107] In summary, the force limiter calibration system provided by the embodiments of this application collects the original data of the mechanical equipment through the data acquisition device, collects the actual working range of the mechanical equipment through the photosensitive ranging device, the force limiter host receives the original data and the actual working range, obtains the simulation data through the simulation algorithm, compares and analyzes the theoretical working range in the simulation data with the actual working range to obtain an error value, adjusts the simulation algorithm when the error value is greater than the threshold, improves the accuracy of the force limiter host, can measure the working range more accurately, and effectively improves the accuracy and calibration efficiency of the force limiter.

[0108] It should be noted that in the above various embodiments, there is not necessarily a certain sequence between the above steps. Those of ordinary skill in the art can understand according to the description of the embodiments of this application that in different embodiments, the above steps can have different execution sequences, that is, they can be executed in parallel, or they can be exchanged and executed, etc.

[0109] See Figure 5 , Figure 5It is a schematic structural diagram of a force limiter host provided by an embodiment of the present application. The computer device includes one or more processors and a memory. The memory is connected to one or more processors, for example, connected to the processor through a bus.

[0110] The processor is configured to support the force limiter host to execute the corresponding functions in the above embodiments. The processor can be a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof. The above hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0111] The memory is used to store program codes, etc. The memory can include volatile memory (VM), such as random access memory (RAM); the memory can also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD); the memory can also include a combination of the above types of memory.

[0112] The memory can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions / modules in the embodiments of the present application. The processor executes various functional applications and data processing of the force limiter host by running the non-volatile software programs, instructions, and modules stored in the memory, that is, realizes the functions of each module or unit of the force limiter host provided in the above method embodiments.

[0113] The memory may include a program storage area and a data storage area. Among them, the program storage area can store the operating system and application programs required for at least one function. The data storage area can store data created according to the use of the force limiter host, etc. In some embodiments, the memory may optionally include memories remotely arranged relative to the processor, and these remote memories can be connected to the force limiter host through a network. Examples of the above-mentioned network include but are not limited to the Internet, intranet, local area network, mobile communication network, and their combinations.

[0114] The one or more modules are stored in the memory and, when executed by the one or more processors, perform the functions in any of the above method embodiments. For example, they execute the method steps described in the above method embodiments to implement the functions of the modules described in the above device embodiments.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

[0116] The above-disclosed are only the preferred embodiments of the present application. Of course, the scope of the rights of the present application cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A force limiter calibration system, characterized in that, Including: A data acquisition device installed on a mechanical device for acquiring the original data of the mechanical device; A photosensitive ranging device for acquiring the actual working range of the mechanical device; A force limiter host, communicatively connected to the data acquisition device and the photosensitive ranging device. The force limiter host is configured to receive the original data and the actual working range, obtain simulated data through a simulation algorithm based on the original data. The simulated data includes a theoretical working range. The theoretical working range is compared and analyzed with the actual working range to obtain a first error value. In response to the first error value being greater than a preset threshold, the simulation algorithm is adjusted to improve the accuracy of the force limiter host.

2. The system according to claim 1, wherein The photosensitive ranging device includes a light emitter and a photosensitive sensor. The light emitter is disposed on the mechanical device for emitting light. The photosensitive sensor is used for receiving the light and generating a photosensitive signal to acquire the actual working range of the mechanical device. The light emitter includes a transparent housing, a fluid material, a balancing device, and a light source device. The transparent housing is filled with the fluid material. The balancing device and the light source device are disposed inside the transparent inner housing. The balancing device is used for balancing the light source device to make the light source device emit light perpendicular to the photosensitive sensor.

3. The system according to claim 2, wherein The system further includes a calibration weight, and the mechanical device hoists the calibration weight through a connecting device; The data acquisition device includes a weight sensor, and the original data includes a calibrated lifting weight. The weight sensor is used for acquiring the weight of the calibration weight to obtain the calibrated lifting weight.

4. The system according to claim 3, wherein, The light generator is suspended below the calibration weight by a lifting rope.

5. The system according to claim 3, wherein The simulated data further includes a theoretical lifting weight. The force limiter host is further configured to compare and analyze the theoretical lifting weight with the calibrated lifting weight to obtain a second error value. In response to the second error value being greater than a preset threshold, the simulation algorithm is adjusted to improve the accuracy of the force limiter.

6. The system according to claim 2, wherein The force limiter host is communicatively connected to the photosensitive sensor. The force limiter host is further configured to receive the photosensitive signals sent by multiple photosensitive sensors and obtain the actual working range based on the multiple photosensitive signals through a calculation algorithm.

7. The system according to claim 1, wherein The original data further includes an oil chamber pressure value, an angle value, an arm length value, and a cylinder length value. The force limiter host is configured to receive the oil chamber pressure value, the angle value, the arm length value, and the cylinder length value, and obtain the theoretical working range through a simulation algorithm based on the oil chamber pressure value, the angle value, the arm length value, and the cylinder length value.

8. The system according to claim 7, characterized in that, The data acquisition device further includes a pressure sensor, an angle sensor, a length measuring sensor, and a length sensor. The angle sensor and the length measuring sensor are disposed on the mechanical device. The pressure sensor and the length sensor are disposed on the cylinder of the mechanical device; The oil chamber pressure value is measured by the pressure sensor; The angle value is measured by the angle sensor; The arm length value is measured by the length measuring sensor; The cylinder length value is measured by the length sensor.

9. The system according to claim 1, wherein Before obtaining the simulation data through the simulation algorithm based on the original data, the force limiter host is further configured to group and compare the original data, and determine that the original data is correct in response to the grouped data being between the front-segment data and the rear-segment data, and obtain the simulation data through the simulation algorithm based on the original data.

10. The system according to claim 1, wherein, The force limiter host is further configured to perform a secondary simulation after adjusting the simulation algorithm, and perform a real vehicle verification in response to the secondary simulation passing.

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