Vibration sensor calibration method and related equipment

Abstract

The invention provides a vibration sensor calibration method and related equipment, and the method comprises the steps: judging whether a vibration sensor meets a calibration condition or not according to the first motion measurement data and the second motion measurement data corresponding to a target moving part, and calibrating the vibration sensor under the condition that the calibration condition is met, so as to improve the accuracy of the vibration sensor. Therefore, the calibrated vibration sensor can acquire more accurate vibration measurement data, adverse effects on vibration monitoring of the moving part caused by low accuracy of the vibration sensor are reduced, and the accuracy of the vibration monitoring condition of the moving part is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation technology, and more particularly, to a vibration sensor calibration method and related devices. Background Art

[0002] In a modern industrial system, automatic transportation equipment is widely used. The automatic transportation equipment includes a transportation track and a moving component deployed on the transportation track. The moving component can carry items and move along the transportation track to achieve item transportation, and the moving component can interact and cooperate with operating equipment during the movement.

[0003] During the operation of the moving component, vibrations will occur. The vibrations may be caused by internal factors of the automatic transportation equipment (such as mechanical wear, uneven driving force, etc.) or external environmental factors (such as external forces applied by operating equipment to the moving component, ground vibrations, etc.). If the moving component is loaded with items, the vibrations of the moving component will be transmitted to the items, and excessive vibration amplitudes are likely to cause damage to the items. Therefore, a vibration sensor is needed to measure and monitor the vibration conditions of the moving component.

[0004] During the operation of the vibration sensor, due to interference from the external environment or due to its own design defects, the accuracy of the sensor is low, affecting the vibration monitoring of the moving component.

[0005] Therefore, how to reduce the adverse effects of the low accuracy of the vibration sensor on the vibration monitoring of the moving component has become one of the difficulties concerned by those skilled in the art. Summary of the Invention

[0006] The purpose of the present invention is to provide a vibration sensor calibration method and related devices to improve the above problems.

[0007] To achieve the above purpose, the technical solutions adopted in the embodiments of the present invention are as follows:

[0008] In a first aspect, an embodiment of the present invention provides a vibration sensor calibration method, which is applied to a first module. The first module is used to correct a vibration sensor installed on the moving component according to data generated by the moving component. The moving component moves along a transportation track. The method includes:

[0009] Judging whether the vibration sensor meets the calibration condition according to the first motion measurement data and the second motion measurement data corresponding to the target moving component; wherein, the second motion measurement data is collected by a reference sensor installed on the target moving component, and the accuracy of the reference sensor collecting the second motion measurement data is not lower than the accuracy of the vibration sensor collecting the first motion measurement data;

[0010] If it is determined that the vibration sensor meets the calibration conditions, the vibration sensor is calibrated.

[0011] In a second aspect, an embodiment of the present invention provides a data processing device, including a data processing module, at least one reference sensor, and at least one vibration sensor. The reference sensor and the vibration sensor in the same group are installed on the same moving part of the automatic transportation device. The moving part is deployed on the transportation track of the automatic transportation device. The data processing module is communicatively connected to the reference sensor and the vibration sensor;

[0012] The data processing module is configured to execute the vibration sensor calibration method described above.

[0013] In a third aspect, an embodiment of the present invention provides an automatic transportation device, which includes a control module, a transportation track, and a moving part deployed on the transportation track. The control module is connected to the transportation track and / or the moving part, and the control module is configured to control the moving part to move along the transportation track;

[0014] The control module is configured to execute the vibration sensor calibration method described above.

[0015] In a fourth aspect, an embodiment of the present invention provides a host device, which is connected to an automatic transportation device. The automatic transportation device includes a transportation track and a moving part deployed on the transportation track;

[0016] The host device is configured to execute the vibration sensor calibration method described above.

[0017] In a fifth aspect, an embodiment of the present invention provides an automatic transportation system, which includes a data processing device, a transportation track, a moving part deployed on the transportation track, at least one reference sensor, and at least one vibration sensor;

[0018] The reference sensor and the vibration sensor in the same group are installed on the same moving part, and the moving part is deployed on the transportation track;

[0019] The data processing device is communicatively connected to the reference sensor and the vibration sensor;

[0020] The data processing device is configured to execute the vibration sensor calibration method described above.

[0021] Compared with the prior art, a vibration sensor calibration method and related device provided by an embodiment of the present invention determine whether a vibration sensor meets the calibration condition according to first motion measurement data and second motion measurement data corresponding to a target moving component. When the calibration condition is met, the vibration sensor is calibrated to improve the accuracy of the vibration sensor, so that the calibrated vibration sensor can collect more accurate vibration measurement data, reduce the adverse impact of the low accuracy of the vibration sensor on the vibration monitoring of the moving component, and ensure the accuracy of the vibration monitoring situation of the moving component.

[0022] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0024] Figure 1 One of the installation schematic diagrams of the reference sensor and the vibration sensor provided in the same group for the embodiment of the present invention.

[0025] Figure 2 Another installation schematic diagram of the reference sensor and the vibration sensor provided in the same group for the embodiment of the present invention.

[0026] Figure 3 Another installation schematic diagram of the reference sensor and the vibration sensor provided in the same group for the embodiment of the present invention.

[0027] Figure 4 One of the connection schematic diagrams of the measurement module provided for the embodiment of the present invention.

[0028] Figure 5 Another connection schematic diagram of the measurement module provided for the embodiment of the present invention.

[0029] Figure 6 One of the communication connection block diagrams provided for the embodiment of the present invention.

[0030] Figure 7 Another communication connection block diagram provided for the embodiment of the present invention.

[0031] Figure 8 Another communication connection block diagram provided for the embodiment of the present invention.

[0032] Figure 9One of the flow diagrams of the vibration sensor calibration method provided by the embodiments of the present invention.

[0033] Figure 10 Another flow diagram of the vibration sensor calibration method provided by the embodiments of the present invention.

[0034] Figure 11 A schematic diagram of the connection of a transportation track provided by the embodiments of the present invention.

[0035] Figure 12 Another flow diagram of the vibration sensor calibration method provided by the embodiments of the present invention.

[0036] Figure 13 One of the signaling flow diagrams provided by the embodiments of the present invention.

[0037] Figure 14 Another signaling flow diagram provided by the embodiments of the present invention.

[0038] In the figure: 100 - measurement module; 101 - reference sensor; 102 - vibration sensor; 103 - bottom plate; 104 - housing; 105 - support pillar; 106 - first communication module; 107 - power supply module; 108 - data processing module; 300 - automatic transportation device; 301 - control module; 302 - transportation track; 302A - main path; 302B - branch path; 302C - connection component; 302D - spare component; 303 - moving component; 304 - moving component; 400 - host device; 401 - display module; 402 - processing module; 403 - second communication module. Detailed implementation manners

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0041] It should be noted that like reference numerals and letters denote like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0042] 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 terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0043] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0044] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "arrange" and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] The following will describe in detail some embodiments of the present invention with reference to the drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0046] An automatic transportation device may include: a control module, a transportation track, and a moving component deployed on the transportation track. The transportation track may include at least one track component, and the moving component can be driven by one or more of magnetic energy, electrical energy, and mechanical energy conversion to move along the transportation track. It can be understood that, according to different driving methods of the moving component, the automatic transportation device may have different names, such as linear motor device, electric handling device, mechanical transmission device, etc. Correspondingly, the components of the automatic transportation device (such as the moving component, transportation track, etc.) may also have different names.

[0047] The transportation track includes a plurality of track components. Through different deployment methods of the track components, the shape formed by the transportation track extending along the moving direction of the moving component includes a straight line shape, an arc shape, or a geometric shape formed by a combination of the two. In addition, the shape formed by the transportation track extending along the moving direction of the moving component can be a closed shape (such as a circle, a running track shape, a square circle, etc.), or an open shape (such as a straight line shape, a C shape, an S shape, a U shape, etc.). According to the specific mechanical structures of the moving component and the transportation track, the article can be loaded above, on the side, or below the moving component. There are various possible positional relationships between the moving component and the transportation track, such as the moving component being located above, on the side, or even below the transportation track, which are not limited here.

[0048] Taking the linear motor device as an example, the linear motor device may include a controller (i.e., the control module), a stator wire body (i.e., the transportation track), and a plurality of mover components (i.e., the moving component). The stator wire body is usually formed by deploying a plurality of stator components (i.e., the track components). One of the mover component and the stator component includes a magnetic part, and the other of the mover component and the stator component includes an exciting part. After the exciting part is energized, a changing magnetic field can be generated. The changing magnetic field interacts with the magnetic part to generate a force on the mover component, thereby driving the mover component to move along the stator wire body. The mover component can load articles during the movement, thereby realizing the transportation of articles. The controller can control the energization timing, current direction, current magnitude, etc. of the exciting parts of different stator components, thereby controlling the moving direction, moving speed, moving position, etc. of the mover component.

[0049] After a vibration sensor is installed on a moving part, vibration monitoring operations can be performed on the moving device based on the vibration measurement data of the vibration sensor. However, during the operation of the vibration sensor, due to external environmental interference or its own design defects, the accuracy of the vibration sensor is low, affecting the vibration monitoring of the moving part. For example, as the usage time increases, the measurement error of the vibration sensor increases, and the deviation between the vibration measurement data and the actual vibration amount becomes larger and larger, easily causing misjudgment or missed judgment of the vibration condition of the moving part. Or, when some scenarios have higher vibration monitoring requirements, the vibration sensor is usually required to provide more accurate vibration measurement data. However, the accuracy of the vibration sensor currently installed on the moving part may not meet such requirements.

[0050] Based on the above situation, if the vibration sensor is directly replaced, it is easy to cause hardware damage and requires a longer replacement cycle, resulting in an increase in time cost and hardware cost. Therefore, the vibration sensor can be calibrated to improve the accuracy of the vibration sensor, and at the same time avoid the time cost and hardware cost brought by replacing the vibration sensor. For details, please refer to the following text.

[0051] A vibration sensor and a reference sensor can be installed on the surface of the moving part. Among them, the reference sensor and the vibration sensor are installed on the moving part at the same time, that is, the reference sensor can be installed during the same period when the vibration sensor is installed on the moving part; or, the reference sensor and the vibration sensor are not installed on the moving part at the same time. For example, the reference sensor can be installed at a time later than when the vibration sensor is installed on the moving part. As long as it is ensured that the reference sensor is installed on the moving part before calibrating the vibration sensor, the present invention embodiment does not specifically limit the installation timing of the reference sensor.

[0052] According to the specific mechanical structure of the moving part and the transportation track and the installation position of the article relative to the moving part, without affecting the loading or unloading of the article by the moving part, the reference sensor and the vibration sensor of the same group can be installed on the surface of the object placement part of the moving part. The object placement part can be a device for placing products. The present invention embodiment does not limit the specific installation positions of the reference sensor and the vibration sensor.

[0053] Regarding the installation of the vibration sensor and the reference sensor, the present invention embodiment also provides an alternative implementation manner. Please refer to Figure 1 , Figure 1 is one of the installation schematic diagrams of the reference sensor and the vibration sensor of the same group provided by the present invention embodiment. To further improve the consistency of the measurement area, the vibration sensor 102 and the reference sensor 101 are arranged on the same surface of the moving part 303.

[0054] Regarding the installation of the vibration sensor and the reference sensor, an alternative implementation manner is further provided in the embodiments of the present invention. Please refer to Figure 2 , Figure 2 which is the second installation schematic diagram of the reference sensor and the vibration sensor in the same group provided by the embodiments of the present invention. In the case of ensuring the consistency of the measurement area, for the convenience of installation and reducing the overall volume, the vibration sensor 102 and the reference sensor 101 can be integrated on the same bottom plate 103, and the bottom plate 103 can be, but is not limited to, a printed circuit board (PCB for short). As Figure 2 shown, the bottom plate 103 is installed on the surface of the moving member 303 without affecting the loading or unloading of items by the moving member 303.

[0055] Based on Figure 2 , regarding how to further optimize the installation of the reference sensor and the vibration sensor in the same group, an alternative implementation manner is further provided in the embodiments of the present invention. Please refer to Figure 3 , Figure 3 which is the third installation schematic diagram of the reference sensor and the vibration sensor in the same group provided by the embodiments of the present invention. In an alternative implementation manner, the vibration sensor 102 and the reference sensor 101 can be integrated on different surfaces of the same bottom plate 103, and at least part of the projected areas of the vibration sensor 102 and the reference sensor 101 overlap after projection in the same direction. As Figure 3 shown, the bottom plate 103 and the housing 104 form a first cavity to accommodate one of the vibration sensor 102 and the reference sensor 101 ( Figure 3 shown as accommodating the reference sensor 101 in the figure), and a second cavity is formed between the bottom plate 103, the support pillar 105 and the surface of the moving member 303 to accommodate the other sensor of the vibration sensor 102 and the reference sensor 101 ( Figure 3 shown as accommodating the vibration sensor 102 in the figure).

[0056] In an alternative implementation manner, continue to refer to Figure 3 . The reference sensor 101 is detachably connected to the bottom plate 103, and the housing 104 is detachably connected to the bottom plate 103. In the case where the reference sensor 101 is installed on the moving member 303 at a time later than the vibration sensor 102, the housing 104 can be disassembled to achieve flexible installation and disassembly of the reference sensor 101.

[0057] It should be noted that in the embodiments of the present application, in order to facilitate the description of the connection relationship between multiple electronic devices installed on the same moving component, multiple electronic devices installed on the same moving component are regarded as a combination and are called a measurement module. However, it should be understood that the measurement module does not limit the specific spatial positions of the multiple electronic devices installed on the same moving component on the moving component. That is, the multiple electronic devices installed on the same moving component may all be installed on the same surface of the moving component, or not all of the multiple electronic devices installed on the same moving component are installed on the same surface of the moving component.

[0058] The measurement module provided by the embodiments of the present invention is arranged on the moving component 303 of the automatic transportation device. In an alternative embodiment, please refer to FIG. 4, Figure 4 which is one of the connection schematic diagrams of the measurement module provided by the embodiments of the present invention. The measurement module 100 may include a first communication module 106, a vibration sensor 102, a reference sensor 101, and a power supply module 107. The first communication module 106, the vibration sensor 102, the reference sensor 101, and the power supply module 107 are all installed on the moving component 303. The first communication module 106 is respectively communicatively connected to the vibration sensor 102 and the reference sensor 101, and the power supply module 107 is electrically connected to the first communication module 106, the vibration sensor 102, and the reference sensor 101.

[0059] In some alternative scenarios, the moving component 303 is a passive component (specifically, the mover component with a magnetic part as described above), and the measurement module 100 may further include a power supply module 107. The power supply module 107 may be a module with a power storage function, which may be, but is not limited to, a mobile power supply module; or the power supply module 107 may be a module for converting external power, which may be, but is not limited to, a sliding contact power supply module or a wireless power supply module. The power supply module 107 is used to supply power to the electronic devices (such as the reference sensor 101, the vibration sensor 102, etc.) installed on the moving component 303.

[0060] The vibration sensor 102 and the reference sensor 101 can interact with a data processing module located outside the moving part 303 through the first communication module 106, and the data processing module can execute the vibration sensor calibration method described below. Among them, the data processing module can be understood as a functional module with the ability to execute the vibration sensor calibration method described below. In this embodiment, the data processing module can be implemented by any one of the following: (1) the control module of the automatic transportation device, (2) the processing module of the host computer device, (3) a processing module set independently of the control module of the automatic transportation device and the processing module of the host computer device (hereinafter referred to as the independent processing module); alternatively, the data processing module can be implemented by the cooperation of at least two of the following: the control module of the automatic transportation device, the processing module of the host computer device, and the independent processing module.

[0061] In some alternative scenarios, there are multiple moving parts 303 provided in the automatic transportation device. When the measurement module 100 sends data, it needs to carry identity (Identity Document, abbreviated as ID) information, and the ID information can include the identification sub-information of the moving part 303 or the identification sub-information corresponding to the moving part 303 (such as at least one of the identification sub-information of the vibration sensor corresponding to the moving part 303 and the identification sub-information of the reference sensor), so that the execution entity of the vibration sensor calibration method (such as the subsequent data processing device or processing module) can know which moving part 303 the acquired sensor data corresponds to.

[0062] In an alternative implementation manner provided in the embodiment of the present invention, please refer to Figure 5 , Figure 5This is the second connection schematic diagram of the measurement module provided by the embodiments of the present invention. The measurement module 100 may include a data processing module 108, a vibration sensor 102, a reference sensor 101, and a power supply module 107. The data processing module 108, the vibration sensor 102, the reference sensor 101, and the power supply module 107 are all installed on the moving part 303. The data processing module 108 is respectively connected to the vibration sensor 102 and the reference sensor 101, and the power supply module 107 is respectively electrically connected to the data processing module 108, the vibration sensor 102, and the reference sensor 101. The data processing module 108 may execute the vibration sensor calibration method described below. Alternatively, the measurement module 100 may include a data processing module 108, a vibration sensor 102, a reference sensor 101, a first communication module 106, and a power supply module 107. The data processing module 108 is respectively connected to the first communication module 106, the vibration sensor 102, and the reference sensor 101. The power supply module 107 is respectively electrically connected to the data processing module 108, the vibration sensor 102, the reference sensor 101, and the first communication module 106. The data processing module 108 establishes communication with at least one of the automatic transportation device and the host device through the first communication module 106, so that the data processing module 108 and the automatic transportation device, the data processing module 108 and the host device, or the data processing module 108 and the automatic transportation device and the host device cooperate to execute the vibration sensor calibration method described below. In this embodiment, the data processing module 108 may be set independently of the automatic transportation device control module and the host device processing module. Therefore, the data processing module 108 in this embodiment may be understood as an independent processing module.

[0063] It should be noted that in practical applications, the data processing module 108 may include a memory and a processor. The memory is suitable for storing one or more computer instructions. When the processor runs the computer instructions, it executes the steps of the vibration sensor calibration method described below. The processor may be implemented by a central processing unit (CPU for short), a digital signal processor (DSP for short), a field programmable gate array (FPGA for short), etc., or may be implemented by an application specific integrated circuit (ASIC for short) or one or more integrated circuits configured to implement the embodiments of the present invention.

[0064] Optionally, the memory may include high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk memory.

[0065] To facilitate the understanding and implementation of the embodiments provided by the present invention, the following gives examples of the communication relationships existing in scenarios with automatic transportation devices and / or host devices. Please refer to Figure 6 、 Figure 7 、 Figure 8 , Figure 6 which is one of the communication connection block diagrams provided by the embodiments of the present invention, Figure 7 which is the second communication connection block diagram provided by the embodiments of the present invention, Figure 8 which is the third communication connection block diagram provided by the embodiments of the present invention.

[0066] The host device 400 may include a second communication module 403, a processing module 402, and a display module 401. Among them, the processing module 402 is respectively connected to the second communication module 403 and the display module 401. The automatic transportation device 300 may include a control module 301, a transportation track 302 connected to the control module 301, and a moving component 303 deployed on the transportation track 302.

[0067] As Figure 6 shown, the measurement module 100 deployed on the moving component 303 communicates wirelessly with the host device 400, and the host device 400 is also connected to the automatic transportation device 300 by wire or wirelessly. The measurement module 100 may send measurement data (including vibration measurement data, first motion measurement data, and second motion measurement data) to the host device 400.

[0068] As Figure 7 shown, the measurement module 100 deployed on the moving component 303 communicates wirelessly with the automatic transportation device 300, and the host device 400 is also connected to the automatic transportation device 300 by wire or wirelessly. The measurement module 100 may send measurement data (including vibration measurement data, first motion measurement data, and second motion measurement data) to the automatic transportation device 300.

[0069] As Figure 8 shown, the measurement module 100 deployed on the moving component 303 communicates wirelessly with the host device 400 and the automatic transportation device 300 respectively. The measurement module 100 may send measurement data (including vibration measurement data, first motion measurement data, and second motion measurement data) to the automatic transportation device 300 and / or the host device 400.

[0070] It should be noted that Figure 6, Figure 7 , Figure 8 The measurement module in Figure 4 or Figure 5 can adopt any one shown.

[0071] A vibration sensor calibration method provided by an embodiment of the present invention is applied to a first module. The first module is used to process data generated based on a moving part, and the moving part moves along a transportation track. Specifically, the first module is used to correct a vibration sensor installed on the moving part according to the data generated by the moving part. Further, the data generated by the moving part is the data generated by the moving part during the operation process. Specifically, referring to the above content, the first module can be implemented through one or more of the following combinations: the control module of the automatic transportation device, the processing module of the upper computer device, and the independent processing module. It can be understood that from the perspective of data processing, the first module can also be regarded as a data processing module.

[0072] For the specific process of the vibration sensor calibration method provided by the embodiment of the present invention, please refer to Figure 9 , and the vibration sensor calibration method includes: S12 and S13, which are specifically described as follows.

[0073] S12, according to the first motion measurement data and the second motion measurement data corresponding to the target moving part, determine whether the vibration sensor meets the calibration condition. If so, execute S13; if not, skip calibrating the vibration sensor.

[0074] Among them, the second motion measurement data is collected by a reference sensor installed on the target moving part, and the accuracy of the reference sensor collecting the second motion measurement data is not lower than the accuracy of the vibration sensor collecting the first motion measurement data.

[0075] The target moving part is a moving part installed with a reference sensor and a vibration sensor. The vibration sensor is used to collect the first motion measurement data and the vibration measurement data of the target moving part, and the reference sensor is used to collect the second motion measurement data of the target moving part. The first motion measurement data and the second motion measurement data are of the same type, and the accuracy of the reference sensor collecting the second motion measurement data is not lower than the accuracy of the vibration sensor collecting the first motion measurement data.

[0076] Specifically, both the vibration sensor and the reference sensor can collect the motion state of the target moving part. The vibration sensor and the reference sensor can collect the same type of motion state of the target moving part, so as to obtain the first motion measurement data and the second motion measurement data of the same type. In addition, the vibration sensor can also collect the vibration state of the target moving part, and the vibration state can be deduced from the motion state of the target moving part.

[0077] Furthermore, the first motion measurement data and the second motion measurement data may be, but are not limited to, any one of acceleration measurement data, displacement measurement data, velocity measurement data, and angular velocity measurement data. The first motion measurement data is the source data for generating the vibration measurement data. It should be understood that the vibration measurement data can be obtained by extrapolating any one of the acceleration measurement data, displacement measurement data, velocity measurement data, and angular velocity measurement data. The vibration measurement data may specifically include at least one of the following: vibration acceleration data, vibration displacement data, vibration velocity data, vibration angular velocity data, vibration frequency data, and vibration amplitude data.

[0078] Optionally, the accuracy of the reference sensor is not lower than the accuracy of the vibration sensor, thereby ensuring that the accuracy of the second motion measurement data collected by the reference sensor is not lower than the accuracy of the first motion measurement data collected by the vibration sensor.

[0079] When the first module is a control module in an automatic transport device or a processing module in a host device, it can receive first motion measurement data and second motion measurement data transmitted by a reference sensor and a vibration sensor in a measurement module deployed in a target moving part through the first communication module.

[0080] It should be understood that there are two types of vibration sensor data failure. The first is when the vibration sensor fails to output data (e.g., the electrical signal representing the first motion measurement data and the vibration measurement data remains unchanged, causing the acquired first motion measurement data and the vibration measurement data to be displayed as zero). In this case, the vibration sensor cannot be calibrated and needs to be replaced. The second is when the data collected by the vibration sensor deviates significantly from the actual value, but the vibration sensor is still able to output data. In this case, the vibration sensor can be calibrated, and calibration conditions are set based on this.

[0081] The specific process of determining whether the calibration condition is satisfied may include: within the first preset time window, if the first motion measurement data of the vibration sensor and the second motion measurement data of the reference sensor are received, indicating that the vibration sensor can output data, that is, the vibration sensor can be calibrated, then it is determined that the vibration sensor satisfies the calibration condition. Within the first preset time window, if the first motion measurement data of the vibration sensor is not received when the second motion measurement data of the reference sensor is received, then the resolution of the vibration sensor and the second motion measurement data are analyzed in combination. When the value of the second motion measurement data exceeds the resolution of the vibration sensor, the motion state of the current moving component should be detected by the vibration sensor. However, since the actual situation is that the vibration sensor does not output the corresponding data, it indicates that the vibration sensor cannot be calibrated, so it is determined that the vibration sensor does not satisfy the calibration condition. When the value of the second motion measurement data does not exceed the resolution of the vibration sensor, the motion state of the current moving component cannot be detected by the vibration sensor, so it is impossible to determine whether to calibrate the vibration sensor. By searching whether other second motion measurement data is received within the first preset time window and whether the corresponding vibration sensor outputs data, it is determined whether to calibrate the vibration sensor. If it cannot be determined within the first preset time window that the vibration sensor can be calibrated, it is determined that the vibration sensor does not satisfy the calibration condition.

[0082] Wherein, the first preset time window refers to the time window of the first preset duration before the trigger time point for determining whether the vibration sensor satisfies the calibration condition. The trigger time point for determining whether the vibration sensor satisfies the calibration condition may be any time point after the reference sensor is installed on the target moving component and exceeds the first prediction time length, or the failure time point for determining that the vibration measurement data collected by the vibration sensor fails. It should be understood that the interval between the failure time point and the time point when the reference sensor is installed on the target moving component is greater than the first prediction time length.

[0083] S13, calibrate the vibration sensor.

[0084] In the vibration sensor calibration method provided by the embodiments of the present invention, when the accuracy of the vibration sensor is low, it is possible to determine whether the vibration sensor satisfies the calibration condition according to the first motion measurement data and the second motion measurement data corresponding to the target moving component. When the calibration condition is satisfied, the vibration sensor is calibrated to improve the accuracy of the vibration sensor, so that the calibrated vibration sensor can collect more accurate vibration measurement data, reduce the adverse impact brought by the low accuracy of the vibration sensor on the vibration monitoring of the moving component, and ensure the accuracy of the vibration monitoring situation of the moving component.

[0085] It should be noted that when the measurement error of the vibration sensor increases, since the accuracy of the reference sensor for collecting the second motion measurement data is not lower than that of the vibration sensor for collecting the first motion measurement data, the vibration sensor is calibrated using the second motion measurement data collected by the reference sensor, thereby reducing the measurement error of the vibration sensor, improving the accuracy of the vibration sensor, reducing the replacement frequency of the vibration sensor, and reducing the time cost and hardware cost brought by replacing the vibration sensor.

[0086] It should be noted that when the vibration sensor cannot meet the higher vibration monitoring requirements, calibrating the vibration sensor with the second motion measurement data collected by a reference sensor with higher accuracy can improve the accuracy of the vibration sensor, enable the vibration sensor to meet the higher vibration monitoring requirements, thereby reducing the replacement frequency of the vibration sensor, and reducing the time cost and hardware cost brought by replacing the vibration sensor.

[0087] Optionally, when the vibration sensor does not meet the calibration conditions and the calibration of the vibration sensor is skipped, a fault prompt can be given to facilitate the replacement of the vibration sensor that cannot be calibrated by the staff.

[0088] It should be understood that the accuracy of the reference sensor is higher than that of the vibration sensor, and its corresponding cost is also higher; and when the reference sensor and the vibration sensor both remain in the working state during the daily operation of the target moving part, more communication resources will be occupied and the energy consumption will also be greater. To reduce the occupation of communication resources and / or reduce the energy consumption while ensuring the calibration effect of the vibration sensor, an optional implementation manner is also provided in the embodiments of the present invention. Please refer to Figure 10 , before determining whether the vibration sensor meets the calibration conditions according to the first motion measurement data and the second motion measurement data corresponding to the target moving part, the vibration sensor calibration method further includes: S11A, which is specifically described as follows.

[0089] S11A, in response to the data calibration instruction, control the target moving part indicated by the data calibration instruction to move from the main path of the transportation track to the branch path of the transportation track.

[0090] Wherein, the data calibration instruction is generated according to a preset calibration period, or the data calibration instruction is generated when it is determined that the vibration sensor of the target moving part fails (the evaluation process of the vibration sensor failure is described below); the branch path is at least used to install the reference sensor.

[0091] It should be understood that the track components included in the transportation track can be deployed to form a main path and a branch path. The branch path can be spliced with the main path, or the branch path can be arranged at intervals and misaligned with the main path. In the case where the branch path is spliced with the main path, there are track components with direction switching functions at the splicing point of the branch path and the main path, so that the moving component can move along the main path or along the branch path through the track component with the direction switching function (which can be simply referred to as the commutation component). Among them, the implementation method of the direction switching function can be achieved by changing the guiding of the track component; specifically, for example, controlling the guiding part of the track component to switch to the main path or to the branch path; another example is that when the track component includes an exciting part, controlling the exciting part of the track component along the main path direction to be energized or controlling the exciting part of the track component along the branch path direction to be energized. In the case where the branch path is independently arranged from the main path, there are track components with connection functions (which can be simply referred to as connection components) between the branch path and the main path, and reciprocating movement is carried out between the main path and the branch path through the track components with connection functions, so that the moving component can move along the main path or along the branch path.

[0092] The area corresponding to the main path is the working area, and the area corresponding to the branch path is the debugging area. The moving component installed with the vibration sensor can move on the transportation track. When the moving component moves from the main path to the branch path, at least a reference sensor can be installed on the moving component. The moving component installed with the reference sensor and the vibration sensor can be used as the target moving component. After the reference sensor is installed on the moving component, the target moving component can be controlled to return to the main path and move along the main path to calibrate the vibration sensor installed thereon, or the target moving component can be controlled to move along the branch path to calibrate the vibration sensor installed thereon.

[0093] In the case where the target moving component returns to the main path and moves along the main path for calibration, when the calibration is completed, the target moving component can be controlled to move to the branch path of the transportation track again, and then the reference sensor can be disassembled from the target moving component.

[0094] In the case where the target moving component moves along the branch path for calibration, when the calibration is completed, the reference sensor can be disassembled from the target moving component, and the target moving component can be controlled to leave the branch path and return to the main path for operation.

[0095] Because the moving components all stay on the branch path for the installation and disassembly of the reference sensor, it will not affect the normal working state of other moving components moving along the main path, thus ensuring the working efficiency of the automatic transportation equipment. And during the normal working process of the moving component, the reference sensor does not occupy communication resources and does not generate energy consumption.

[0096] Please refer to Figure 11 , Figure 11 which is a schematic diagram of the connection of a transportation track provided by an embodiment of the present invention. Figure 11 Sub - figure (a) and sub - figure (b) in it are used to represent different position states of the connection component on the transportation track. The transportation track includes a main path 302A, a branch path 302B, and a connection component 302C. The area corresponding to the main path 302A is the working area, and the area corresponding to the branch path 302B is the debugging area. The moving component 303 indicated by the control data calibration instruction moves along the main path 302A to the connection component 302C, then controls the connection component 302C to move to align with the branch path 302B, and then controls the moving component 303 to move to the branch path 302B for installing the reference sensor. Similarly, when the moving component 303 on the branch path needs to return to the main path 302A, it can also be completed through the connection component 302C, which will not be elaborated here.

[0097] It should be noted that when the connection component is used to realize the replacement of the moving path of the moving component between the main path and the branch path, when the connection component detaches from the main path (such as moving towards the branch path, already aligned with the branch path, or moving towards the main path but not yet aligned with the main path), there is a vacant position formed in the main path after the connection component detaches, that is, the main path is in a non - continuous shape, resulting in at least part of the moving components located on the main path needing to wait at the vacant position to avoid falling. Based on this, the transportation track can also include track components for backup (which can be simply referred to as backup components). When the connection component detaches from the main path, the backup component moves towards the main path to fill the vacant position, so that the main path remains in a continuous shape, reducing the adverse impact of the connection component detaching from the main path on the normal operation of the moving components moving along the main path. For example, as Figure 11 shown in sub - figure (b), after the connection component 302C detaches from the main path 302A, the backup component 302D fills the vacant position it generates, so that the moving component (such as the moving component 304 in the figure) on the main path 302A can still work normally, thereby reducing the adverse impact of the connection component detaching from the main path on the normal operation of the moving components moving along the main path.

[0098] In an alternative embodiment, continuing to refer to Figure 11 , when the target moving component running along the main path 302A needs to disassemble the reference sensor, it can also be completed through the connection component 302C. For the specific process, please refer to the above - described installation part and will not be elaborated here.

[0099] It should be noted that in the Figure 11 shown transportation track, one reference sensor can be used to calibrate and debug multiple vibration sensors, further reducing the procurement cost of the reference sensor.

[0100] Under the condition of ensuring the calibration effect of the vibration sensor, in order to reduce the occupation of communication resources and / or reduce energy consumption, an alternative implementation manner is further provided in an embodiment of the present invention. Please refer to Figure 12 , before determining whether the vibration sensor meets the calibration condition according to the first motion measurement data and the second motion measurement data corresponding to the target moving part, the vibration sensor calibration method further includes: S11B, which is specifically described as follows.

[0101] S11B, in response to the data calibration instruction, obtain the second motion measurement data of the target moving part indicated by the data calibration instruction.

[0102] It should be understood that a reference sensor and a vibration sensor are installed on the target moving part. When the automatic transportation device is working, the vibration sensor is always in the working state. The reference sensor is usually in the non-working state. When the first module obtains the data calibration instruction, it sends a start instruction to the reference sensor to start the reference sensor and obtain the second motion measurement data collected by the reference sensor, so as to avoid the reference sensor occupying communication resources and reducing its energy consumption during the non-calibration period. Alternatively, the reference sensor is also always in the working state. When the first module obtains the data calibration instruction, the first module still obtains the second motion measurement data collected by the reference sensor, so as to avoid the reference sensor occupying communication resources during the non-calibration period.

[0103] It should be understood that regardless of whether one reference sensor calibrates and debugs multiple vibration sensors, if the vibration sensors installed on the moving part are calibrated and debugged before the automatic transportation device officially works, the transportation track does not need to be provided with a branch path 302B, and only the main path 302A needs to be provided. The vibration sensors can be calibrated and debugged on the main path 302A.

[0104] In specific implementation, regarding the implementation manner of calibrating the vibration sensor, an alternative implementation manner is further provided in an embodiment of the present invention. Please refer to the following text. S13, calibrate the vibration sensor, including S13A or S13B, which is specifically described as follows.

[0105] S13A, calibrate the motion measurement coefficients corresponding to at least one coordinate axis of the vibration sensor.

[0106] It should be understood that the first motion measurement data is the source data for generating the vibration measurement data. Calibrating the motion measurement coefficients corresponding to at least one coordinate axis of the vibration sensor can achieve the purpose of calibrating the vibration sensor and improving the accuracy of the vibration measurement data collected by the vibration sensor.

[0107] S13B. Send a calibration request to the second module to indicate that the second module calibrates the motion measurement coefficients corresponding to at least one coordinate axis of the vibration sensor.

[0108] Among them, the second module is independently set from the first module. For example, when the first module is the control module in an automatic transportation device, the second module is the processing module in a host device; when the first module is the processing module in a host device, the second module is the control module in an automatic transportation device; when the first module is the data processing module in a measurement module, the second module is the control module in an automatic transportation device or the processing module in a host device.

[0109] By splitting the steps in the vibration sensor calibration method and using different devices for processing, the overall processing efficiency is improved.

[0110] In specific implementation, regarding the implementation manner of calibrating the vibration sensor, the embodiment of the present invention also provides an optional implementation manner. Please refer to the following. S13. Calibrate the vibration sensor, including S13C or S13D, which are specifically described as follows.

[0111] S13C. Calibrate the motion measurement coefficients of the vibration sensor to obtain a first calibration result.

[0112] Among them, the first calibration result includes the successfully calibrated motion measurement coefficients or calibration failure information; the first calibration result is obtained by calibrating the motion measurement coefficients based on the offset, and / or the first calibration result is obtained by calibrating the motion measurement coefficients based on the second motion measurement data.

[0113] S13D. Obtain the second calibration result sent by the second module.

[0114] Among them, the second calibration result includes the successfully calibrated motion measurement coefficients or calibration failure information; the second calibration result is obtained by calibrating the motion measurement coefficients based on the offset, and / or the second calibration result is obtained by calibrating the motion measurement coefficients based on the second motion measurement data.

[0115] Regarding obtaining the first calibration result or the second calibration result by calibrating the motion measurement coefficients based on the second motion measurement data, the embodiment of the present invention also provides an optional implementation manner. By determining any two of the maximum value, average value, and minimum value of the second motion measurement data and the number of measurements within the monitoring period, the successfully calibrated motion measurement coefficients are determined. Thus, the acquisition efficiency of the first calibration result or the second calibration result can be ensured. Among them, the monitoring period is a time window based on a second preset duration before the trigger time point for calibrating the motion measurement coefficients.

[0116] For example, the calibrated motion measurement coefficient = (the maximum value of the second motion measurement data - the average value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the calibrated motion measurement coefficient = (the maximum value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the calibrated motion measurement coefficient = (the average value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period.

[0117] Regarding calibrating the motion measurement coefficient based on the offset to obtain the first calibration result, an alternative implementation manner is further provided in the embodiments of the present invention to ensure the accuracy of the first calibration result. Please refer to the following. The process of the first module obtaining the first calibration result includes: S13C-1, specifically as follows.

[0118] S13C-1, calibrate the motion measurement coefficient of the vibration sensor based on the offset, and obtain the calibrated first motion measurement data obtained based on the motion measurement coefficient after each calibration, and determine whether to calibrate the motion measurement coefficient again according to the verification result of the calibrated first motion measurement data until the calibration end condition is met.

[0119] Among them, the situation where the calibration end condition is met means that the number of calibrations exceeds the preset number threshold, or the calibration is successful, that is, the verification result of the calibrated first motion measurement data is verified to be qualified, or the evaluation result of the validity of the calibrated first motion measurement data indicates that the vibration measurement data is valid.

[0120] In an alternative implementation manner, when the calibration is successful, the calibrated motion measurement coefficient can be sent to the vibration sensor on the target moving component, and the vibration sensor is informed that the calibration is successful. The vibration sensor can collect data according to the calibrated motion measurement coefficient. If the calibration is not successful, an unsuccessful prompt operation is performed to remind the user that the vibration sensor calibration is not successful.

[0121] It should be understood that after the calibration is successful, the monitoring operation of the target moving device can be restored according to the vibration measurement data of the vibration sensor.

[0122] Regarding calibrating the motion measurement coefficient based on the offset to obtain the second calibration result, an alternative implementation manner is further provided in the embodiments of the present invention to ensure the accuracy of the second calibration result. Please refer to the following. The process of the second module obtaining the second calibration result includes: S13D-1, specifically as follows.

[0123] S13D-1: Based on the calibrated motion measurement coefficients of the vibration sensor from the second module, obtain the calibrated first motion measurement data based on each calibrated motion measurement coefficient, and the verification result according to the calibrated first motion measurement data, and send the verification result to the second module to enable it to determine whether the calibration end condition is met.

[0124] Based on the above, regarding the process of obtaining the calibrated first motion measurement data based on each calibrated motion measurement coefficient, an optional implementation manner is further provided in an embodiment of the present invention. Please refer to the following. Obtaining the calibrated first motion measurement data based on each calibrated motion measurement coefficient includes: S133 or S135, which are specifically described as follows.

[0125] S133: Send the motion measurement coefficient after each calibration to the vibration sensor so that the vibration sensor collects the first motion measurement data based on the calibrated motion measurement coefficient, that is, the calibrated first motion measurement data is obtained.

[0126] S135: Calibrate the first motion measurement data based on the calibrated motion measurement coefficient to obtain the calibrated first motion measurement data.

[0127] It should be understood that before determining whether the calibration is successful, the calibrated motion measurement coefficient may not be sent to the vibration sensor, and after determining that the calibration is successful, the finally determined successful calibration motion measurement coefficient is sent to the vibration sensor, thereby reasonably reducing the communication times with the vibration sensor.

[0128] For ease of understanding how the first module and the second module cooperate to execute the steps of the above vibration sensor calibration method, please refer to Figure 13 and Figure 14 , Figure 13 which is one of the signaling flow diagrams provided by an embodiment of the present invention. Figure 14 which is the second signaling flow diagram provided by an embodiment of the present invention. Figure 13 and Figure 14 correspond to the signaling flow diagrams for calibration by the second module.

[0129] As Figure 13 shown, after the second module obtains the motion measurement coefficient after each calibration, it can directly or indirectly send it to the vibration sensor, and the vibration sensor can perform data collection according to the calibrated motion measurement coefficient, thereby obtaining the calibrated first motion measurement data.

[0130] As Figure 14As shown, after obtaining the motion measurement coefficients after each calibration, the second module can send them to the first module. The vibration sensor can collect data according to the original motion measurement coefficients and send the collected first motion measurement data to the first module. The first module calibrates the first motion measurement data based on the calibrated motion measurement coefficients to obtain the calibrated first motion measurement data.

[0131] Figure 13 and 14 As shown, the first module obtains the verification result of the validity of the calibrated first motion measurement data and sends the verification result to the second module so that it can judge whether the calibration end condition is met.

[0132] It can be understood that Figure 13 and 14 is only for illustrative purposes. The omitted processes can refer to the descriptions in the relevant parts above and will not be elaborated here.

[0133] When executing S13C-1 and S13D-1, the verification results of the calibrated first motion measurement data need to be obtained. In a specific implementation, regarding obtaining the verification results of the calibrated first motion measurement data, the embodiments of the present invention also provide an optional implementation manner. Please refer to the following. Obtaining the verification results of the calibrated first motion measurement data includes: S230 and S240, which are specifically described as follows.

[0134] S230, based on the calibrated first motion measurement data and the second motion measurement data, determine the motion measurement error.

[0135] Wherein, the motion measurement error represents the difference between the first motion measurement data and the second motion measurement data or the absolute value of the difference between the two.

[0136] Since the accuracy of the reference sensor in collecting the second motion measurement data is not lower than that of the vibration sensor in collecting the first motion measurement data, the true value of the motion state of the moving component can be characterized by the second motion measurement data with higher accuracy. Thus, the motion measurement error determined based on the first motion measurement data and the second motion measurement data can characterize the deviation degree between the first motion measurement data and the true value of the motion state of the moving component.

[0137] S240, based on the motion measurement error, verify the vibration measurement data of the target moving component to obtain the verification result.

[0138] When the verification result indicates that the vibration measurement data of the target moving component is invalid, the monitoring operation based on the vibration measurement data of the target moving component can be stopped. When the verification result indicates that the vibration measurement data of the target moving component is valid, the monitoring operation based on the vibration measurement data of the target moving component can be maintained. Based on the foregoing, regarding how to calibrate the motion measurement coefficient and ensure the accuracy and calibration speed of the calibration result, an optional implementation manner is further provided in an embodiment of the present invention. Please refer to the following text. When it is determined that the current calibration does not meet the calibration end condition, that is, when the motion measurement coefficient needs to be calibrated again, it further includes: S137, which is specifically described as follows.

[0139] S137, determine whether to adjust the calibration direction and / or offset according to the motion measurement error after this calibration, and perform the next calibration of the motion measurement coefficient of the vibration sensor according to the determination result.

[0140] In an optional implementation manner, the process of determining the motion measurement coefficient for the i-th calibration is as follows, where i is a non-negative integer:

[0141] When i = 1, on the basis of the original motion measurement coefficient, adjust along the initial calibration direction (increasing direction or decreasing direction), and the adjustment amplitude is the initial offset, so as to obtain the motion measurement coefficient after the first calibration. The original motion measurement coefficient is the motion measurement coefficient used for data acquisition before calibration. Based on the first motion measurement data collected by the motion measurement coefficient after the first calibration, and then combined with the second motion measurement data collected by the reference sensor, determine the motion measurement error after the first calibration. For specific reference, please refer to the above relevant content and will not be elaborated here.

[0142] When i ≥ 2, if the verification result based on the calibration indicates that the vibration measurement data is invalid and does not meet the calibration end condition, compare the motion measurement error after the (i - 1)-th calibration with the motion measurement error after the (i - 2)-th calibration, so as to determine the current calibration direction (i.e., the i-th calibration direction), the current offset (i.e., the i-th offset), and the motion measurement coefficient to be calibrated for this time (i.e., the i-th time). In order to simplify the description below, the motion measurement error after the i-th calibration can be simplified to the i-th calibration error, and the 0-th calibration error is the initial motion measurement error before calibration; the motion measurement coefficient to be calibrated for the i-th time is called the i-th basic coefficient; the i-th calibration direction may be the initial calibration direction or the adjusted calibration direction; the i-th offset may be the initial offset or the adjusted offset.

[0143] Taking i = 2 as an example, the verification result after the first calibration indicates that the vibration measurement data is invalid and does not meet the calibration end condition. If the first calibration error is less than the initial motion measurement error before calibration, the second calibration direction is the same as the first calibration direction, the second offset is the initial offset, and the second base coefficient can be the motion measurement coefficient after the first calibration.

[0144] If the first calibration error is greater than the initial motion measurement error before calibration, the second calibration direction is opposite to the first calibration direction, the second offset is the initial offset, and the second base coefficient can be the original motion measurement coefficient.

[0145] If the first calibration error is equal to the initial motion measurement error before calibration, the second calibration direction can be the same as the first calibration direction, and the second offset is the value obtained by reducing the initial offset according to a preset rule (reducing by a preset percentage or reducing a preset value), and the second base coefficient can be the original motion measurement coefficient. Or, if the first calibration error is equal to the initial motion measurement error before calibration, the second calibration direction can be opposite to the first calibration direction, and the second offset is the value obtained by reducing the initial offset according to a preset rule (reducing by a preset percentage or reducing a preset value), and the second base coefficient can be the motion measurement coefficient after the first calibration.

[0146] When i ≥ 3, the vibration measurement data after the (i - 1)-th calibration is still invalid and does not meet the calibration end condition. If the (i - 1)-th calibration error is less than the (i - 2)-th calibration error, the i-th calibration direction is the same as the (i - 1)-th calibration direction (the (i - 1)-th calibration direction is the calibration direction during the (i - 1)-th calibration), the i-th offset is the same as the (i - 1)-th offset (the (i - 1)-th offset is the offset during the (i - 1)-th calibration), and the i-th base coefficient is the motion measurement coefficient after the (i - 1)-th calibration.

[0147] If the (i - 1)-th calibration error is greater than or equal to the (i - 2)-th calibration error, the i-th calibration direction can be the same as the (i - 1)-th calibration direction, the i-th offset is the value obtained by reducing the (i - 1)-th offset according to a preset rule (reducing by a preset percentage or reducing a preset value), and the i-th base coefficient is the motion measurement coefficient after the (i - 2)-th calibration. Or, if the (i - 1)-th calibration error is greater than or equal to the (i - 2)-th calibration error, the i-th calibration direction can be opposite to the (i - 1)-th calibration direction, the i-th offset is the value obtained by reducing the (i - 1)-th offset according to a preset rule (reducing by a preset percentage or reducing a preset value), and the i-th base coefficient is the motion measurement coefficient after the (i - 1)-th calibration.

[0148] In an alternative embodiment, a target axis can be determined from the reference coordinate axes that meet the calibration conditions, and then the above coefficient calibration process can be performed according to the original motion measurement coefficient of the vibration sensor corresponding to the target axis, which will not be elaborated here.

[0149] The initial offset can be a preset fixed value or determined according to the second motion measurement data. In a specific implementation, the embodiments of the present invention also provide an alternative embodiment on how to determine the initial offset. Please refer to the following text.

[0150] Determine the expected motion coefficient based on any two of the maximum value, average value, and minimum value of the second motion measurement data within the monitoring period and the number of measurements; determine the initial offset according to the expected motion coefficient and the initial motion coefficient, and the initial offset is the deviation value between the expected motion coefficient and the initial motion coefficient.

[0151] Among them, the expected motion coefficient = (the maximum value of the second motion measurement data - the average value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the expected motion coefficient = (the maximum value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the expected motion coefficient = (the average value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period. [[ID=X]]

[0152] In an alternative embodiment, before finely tuning the motion measurement coefficient of the vibration sensor based on the offset, determine the target motion measurement coefficient based on any two of the maximum value, average value, and minimum value of the second motion measurement data within the monitoring period and the number of measurements.

[0153] For example, the target motion measurement coefficient = (the maximum value of the second motion measurement data - the average value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the target motion measurement coefficient = (the maximum value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the target motion measurement coefficient = (the average value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period.

[0154] Obtain the motion measurement error corresponding to the target motion measurement coefficient, and verify the vibration measurement data of the target moving part based on the motion measurement error corresponding to the target motion measurement coefficient. If the verification result corresponding to the target motion measurement coefficient indicates that the vibration measurement data of the target moving part is valid, the target motion measurement coefficient can be written into the vibration sensor to complete the calibration.

[0155] If the verification result corresponding to the target motion measurement coefficient indicates that the vibration measurement data of the target moving part is invalid, use the target motion measurement coefficient as the original motion measurement coefficient, and use the motion measurement error corresponding to the target motion measurement coefficient as the initial motion measurement error before calibration corresponding to the original motion measurement coefficient. Then, start to finely adjust the motion measurement coefficient of the vibration sensor based on the offset. For specific details, please refer to the relevant description part in the above text and will not be elaborated here.

[0156] In some optional scenarios, due to the relationship between the sensor installation position and angle, the reference sensor coordinate system does not match the vibration sensor coordinate system. In this case, if the motion measurement error is directly determined based on the first motion measurement data and the second motion measurement data, the accuracy of the motion measurement error will be reduced due to the non - matching coordinate axes, thus affecting the subsequent verification and resulting in an untrustworthy verification result. To improve this problem, an optional implementation manner is also provided in an embodiment of the present invention. Please refer to the following text. Before determining the motion measurement error based on the calibrated first motion measurement data and the second motion measurement data in S230, obtaining the verification result of the calibrated first motion measurement data further includes: S210 and S220, which are specifically described as follows.

[0157] S210, determine whether the reference sensor coordinate system matches the vibration sensor coordinate system. If not, execute S220; if so, directly execute S230.

[0158] Among them, the number of coordinate axes of the reference sensor coordinate system is not less than that of the vibration sensor coordinate system. According to the coordinate system configuration information of the reference sensor, the pointing information of each coordinate axis of the reference sensor coordinate system can be determined; according to the coordinate system configuration information of the vibration sensor, the pointing information of each coordinate axis of the vibration sensor coordinate system can be determined. Then, it is possible to determine whether the reference sensor coordinate system matches the vibration sensor coordinate system according to the pointing information of each coordinate axis of the reference sensor coordinate system and the pointing information of each coordinate axis of the vibration sensor coordinate system.

[0159] S220, perform coordinate transformation on the calibrated first motion measurement data and / or the second motion measurement data according to the coordinate axis transformation relationship to make them in a unified coordinate system.

[0160] The unified coordinate system is any one of the reference sensor coordinate system, the vibration sensor coordinate system, or a pre - set global coordinate system.

[0161] It should be understood that S230 is executed after S220. The first motion measurement data and / or the second motion measurement data converted after the execution of S220 are used to determine the motion measurement error when S230 is executed, and then based on the motion measurement error when S240 is executed, the vibration measurement data of the target moving component is verified to obtain a verification result. The descriptions of S230 and S240 can be specifically referred to the relevant parts, which will not be elaborated here.

[0162] In a specific implementation, regarding how to quickly determine whether the reference sensor coordinate system and the vibration sensor coordinate system match, so as to improve the verification efficiency, the embodiment of the present invention also provides an optional implementation manner. Please refer to the following. S210, determine whether the reference sensor coordinate system and the vibration sensor coordinate system match, which may specifically include: S211 or S212, which will be elaborated as follows.

[0163] S211, when the reference sensor coordinate system is parallel to the vibration sensor coordinate system, determine that the reference sensor coordinate system and the vibration sensor coordinate system match, otherwise determine that the two do not match.

[0164] It should be understood that the vibration sensor coordinate system is used to characterize the acquisition direction of the vibration sensor. The vibration measurement data and the first motion measurement data corresponding to the respective coordinate axes of the vibration sensor coordinate system are respectively used to characterize the vibration component magnitude and the motion component magnitude in the direction of the coordinate axis. Similarly, the reference sensor coordinate system is used to characterize the acquisition direction of the reference sensor, and the second motion measurement data corresponding to the respective coordinate axes of the reference sensor coordinate system is used to characterize the motion component magnitude in the direction of the coordinate axis.

[0165] Based on the vector characteristics of both the first motion measurement data and the second motion measurement data, in the case where the vibration sensor coordinate system and the reference sensor coordinate system are parallel, even if the coordinate axes of the two coordinate systems do not completely overlap or there are differences in the coordinate axis definitions, the motion measurement error can be calculated through the coordinate axis matching relationship between the vibration sensor coordinate system and the reference sensor, rather than necessarily performing coordinate transformation.

[0166] The parallel situation between the reference sensor coordinate system and the vibration sensor coordinate system will be illustrated by examples below. In an alternative embodiment, it is assumed that both the reference sensor coordinate system and the vibration sensor coordinate system are three-dimensional coordinate systems. The three coordinate axes of the reference sensor coordinate system are respectively denoted as the X1 axis, the Y1 axis, and the Z1 axis, and the three coordinate axes of the vibration sensor coordinate system are respectively denoted as the X2 axis, the Y2 axis, and the Z2 axis. Any of the following parallel situations may exist: The first parallel situation is that the X1 axis is parallel to the X2 axis, the Y1 axis is parallel to the Y2 axis, and the Z1 axis is parallel to the Z2 axis; the second parallel situation is that the X1 axis is parallel to the Y2 axis, the Y1 axis is parallel to the Z2 axis, and the Z1 axis is parallel to the X2 axis; the third parallel situation is that the X1 axis is parallel to the Z2 axis, the Y1 axis is parallel to the X2 axis, and the Z1 axis is parallel to the Y2 axis; the fourth parallel situation is that the X1 axis is parallel to the Y2 axis, the Y1 axis is parallel to the X2 axis, and the Z1 axis is parallel to the Z2 axis; the fifth parallel situation is that the X1 axis is parallel to the Z2 axis, the Y1 axis is parallel to the Y2 axis, and the Z1 axis is parallel to the X2 axis.

[0167] It can be seen from the second to the fifth parallel situations that when the reference sensor coordinate system and the vibration sensor coordinate system are parallel, there are differences in the definitions of their coordinate axes. However, there is a matching relationship between the coordinate axes of the vibration sensor coordinate system and the reference sensor. Based on the coordinate axis matching relationship, the first motion measurement data and the second motion measurement data with axis matching can be obtained for calculating the motion measurement error. Taking the second situation as an example, the X1 axis matches the Y2 axis, the Y1 axis matches the Z2 axis, and the Z1 axis matches the X2 axis. Then, the second motion measurement data of the X1 axis and the first motion measurement data of the Y2 axis can be obtained to determine the motion measurement error, the second motion measurement data of the Y1 axis and the first motion measurement data of the X2 axis can be obtained to determine the motion measurement error, and the second motion measurement data of the Z1 axis and the first motion measurement data of the X2 axis can be obtained to determine the motion measurement error.

[0168] It should be noted that there may be other forms of the parallel situation between the reference sensor coordinate system and the vibration sensor coordinate system, which can be deduced by analogy and are not listed one by one here.

[0169] S212, when each coordinate axis of the reference sensor coordinate system is completely aligned with each coordinate axis of the vibration sensor coordinate system, it is determined that the reference sensor coordinate system matches the vibration sensor coordinate system; otherwise, it is determined that they do not match.

[0170] It should be understood that by requiring each coordinate axis of the reference sensor coordinate system to be completely aligned with each coordinate axis of the vibration sensor coordinate system, the accuracy of the motion measurement error calculation result can be guaranteed, making the acquisition standard unified, which is beneficial to improving the accuracy of the subsequent verification result.

[0171] When determining the matching between the reference sensor coordinate system and the vibration sensor coordinate system, no coordinate transformation is performed on the first motion measurement data and the second motion measurement data. The vibration sensor coordinate system can be used as the reference coordinate system, and the coordinate axes of the vibration sensor coordinate system can be used as the reference coordinate axes to match with the coordinate axes of the reference sensor coordinate system, so as to obtain the first motion measurement data and the second motion measurement data with axis matching, and then determine the motion measurement error. Then, according to the motion measurement error in the vibration sensor coordinate system, the vibration measurement data of the target moving part is verified to obtain the verification result. Alternatively, the reference sensor coordinate system can be used as the reference coordinate system, and the coordinate axes of the reference sensor coordinate system can be used as the reference coordinate axes to match with the coordinate axes of the vibration sensor coordinate system, so as to obtain the first motion measurement data and the second motion measurement data with axis matching, and then determine the motion measurement error. Then, according to the motion measurement error in the reference sensor coordinate system, the vibration measurement data of the target moving part is verified to obtain the verification result.

[0172] When determining that the reference sensor coordinate system does not match the vibration sensor coordinate system, at least one of the first motion measurement data and the second motion measurement data is subjected to coordinate transformation, and the axis matching relationship after the coordinate transformation is determined. Specifically, taking the unified coordinate system as the reference coordinate system, and using the coordinate axes of the unified coordinate system as the reference coordinate axes, the first motion measurement data and the second motion measurement data that are transformed to the same coordinate axes in the unified coordinate system are determined as the first motion measurement data and the second motion measurement data with axis matching, so that the axis matching relationship between the first motion measurement data and the second motion measurement data can be obtained, and then the motion measurement error is determined. Then, according to the motion measurement error in the unified coordinate system, the vibration measurement data of the target moving part is verified to obtain the verification result.

[0173] Further, when there is a coordinate transformation and the unified coordinate system is the vibration sensor coordinate system, the obtained motion measurement error corresponds to the vibration sensor coordinate system. At this time, verifying the vibration measurement data of the target moving part according to the motion measurement error in the unified coordinate system is to verify the vibration measurement data of the target moving part according to the motion measurement error in the vibration sensor coordinate system, and the obtained verification result can directly correspond to the vibration sensor coordinate system.

[0174] Based on the foregoing, in the case where there is coordinate transformation and the unified coordinate system is not the coordinate system of the vibration sensor, with regard to how to obtain the verification result of the vibration measurement data of the target moving component, so as to facilitate distinguishing whether each axis of the vibration sensor is successfully calibrated and whether the collected data is available during the monitoring process, the embodiments of the present invention further provide an alternative implementation manner. Please refer to the following. S240. Verify the vibration measurement data of the target moving component based on the motion measurement error to obtain a verification result, which may specifically include: S241 or S242, which are specifically described as follows.

[0175] S241. In the case where there is coordinate transformation and the unified coordinate system is not the coordinate system of the vibration sensor, verify the vibration measurement data of the target moving component according to the motion measurement error in the unified coordinate system to obtain a verification result in the unified coordinate system, and determine the verification result of the vibration measurement data of the target moving component in the coordinate system of the vibration sensor according to the verification result in the unified coordinate system.

[0176] Optionally, determining the verification result of the vibration measurement data of the target moving component in the coordinate system of the vibration sensor according to the verification result in the unified coordinate system includes: at least when the verification result in the unified coordinate system indicates that the vibration measurement data has a failure condition, convert the verification result in the unified coordinate system to the coordinate system of the vibration sensor according to the coordinate axis transformation relationship to obtain the verification result in the coordinate system of the vibration sensor.

[0177] The verification result in the coordinate system of the vibration sensor may include the indication information of the failed coordinate axis in the coordinate system of the vibration sensor.

[0178] It should be understood that when the verification result in the unified coordinate system indicates that all data in the unified coordinate system are valid, it means that the data measured by the vibration sensor is valid as a whole and no conversion is required.

[0179] S242. In the case where there is coordinate transformation and the unified coordinate system is not the coordinate system of the vibration sensor, convert the motion measurement error in the unified coordinate system to the coordinate system of the vibration sensor according to the coordinate axis transformation relationship, and verify the vibration measurement data of the target moving component according to the motion measurement error in the coordinate system of the vibration sensor to obtain a verification result.

[0180] Among them, the verification result obtained by S242 is the verification result in the coordinate system of the vibration sensor.

[0181] Based on the foregoing, with regard to the accuracy of the obtained result of the motion measurement error, the embodiments of the present invention further provide an alternative implementation manner. Please refer to the following. S230. Determine the motion measurement error based on the calibrated first motion measurement data and second motion measurement data, including: S231 and S232, which are specifically as follows.

[0182] S231. Obtain at least one set of first motion measurement data and second motion measurement data that are time-matched and axis-matched according to the matching situation between the acquisition time and the coordinate system.

[0183] Among them, a second preset time window is set according to the acquisition frequencies of the reference sensor and the vibration sensor. There are N acquisition time points within the second preset time window. And according to the number of axes of the vibration sensor coordinate system and the number of axes of the reference sensor coordinate system, each acquisition time point corresponds to at least one first motion measurement data and at least one second motion measurement data. According to the number of axes M of the vibration sensor coordinate system, M first motion measurement data and M second motion measurement data are obtained. Thus, there are M first motion measurement data and M second motion measurement data at each acquisition time point.

[0184] It should be understood that the matching situation of the coordinate system can refer to the relevant descriptions in the above text and will not be elaborated here. According to the axis matching relationship, N×M sets of first motion measurement data and second motion measurement data that are time-matched and axis-matched are obtained, where N≥1 and M≥1. (S1 nm , S2 nm ) represents the first motion measurement data and the second motion measurement data with axis matching for the mth group of axes at the nth acquisition time point; S1 nm represents the first motion measurement data corresponding to the mth group of axes at the nth acquisition time point, which is measured by the vibration sensor; S2 nm represents the second motion measurement data corresponding to the mth group of matched axes at the nth acquisition time point, which is measured by the reference sensor, where 1≤n≤N and 1≤m≤M.

[0185] S232. Calculate at least one motion measurement error according to at least one set of first motion measurement data and second motion measurement data.

[0186] It should be understood that one motion measurement error can be calculated according to one set of first motion measurement data and second motion measurement data that are time-matched and axis-matched. Each obtained motion measurement error has a corresponding relationship with a reference axis.

[0187] On the premise of ensuring the accuracy of the verification result, in order to further reduce the complexity of verifying the vibration measurement data of the target moving part, an optional implementation manner is provided in the embodiment of the present invention. Please refer to the following text. After S232, S230. Based on the calibrated first motion measurement data and second motion measurement data, determine the motion measurement error, and further includes: S233, specifically as follows.

[0188] S233. When there are multiple motion measurement errors corresponding to the same reference coordinate axis, determine the motion measurement error for verification according to the multiple motion measurement errors corresponding to the same reference coordinate axis.

[0189] It should be understood that the multiple motion measurement errors are at least 2 motion measurement errors. According to the relevant descriptions of the above coordinate axis matching, the reference coordinate axis can be the coordinate axis of the unified coordinate system used as the matching reference, or the coordinate axis of the vibration sensor coordinate system used as the matching reference, or the coordinate axis of the reference sensor used as the matching reference.

[0190] The determination method of the motion measurement error for verification can include any one of the following: (1) perform a weighted operation on the multiple motion measurement errors of the coordinate axis matching by using coefficient weights to obtain the motion measurement error for verification, where the coefficient weights can be related to time, such as the closer to the current time, the higher the coefficient weights; (2) take the average value of the multiple motion measurement errors of the coordinate axis matching to obtain the motion measurement error for verification; (3) take the motion measurement error with the median order among the multiple motion measurement errors of the coordinate axis matching for verification; (4) take the motion measurement error with the largest value among the multiple motion measurement errors of the coordinate axis matching for verification.

[0191] It should be understood that in this case, multiple sets of first motion measurement data and second motion measurement data corresponding to the same reference coordinate axis correspond to one motion measurement error, and this motion measurement error has a corresponding relationship with one reference coordinate axis.

[0192] In an alternative embodiment, the motion measurement errors corresponding to multiple sets of matched coordinate axes can be fused by using coordinate axis weights to obtain a fused motion measurement error, where the coordinate axis weights can correspond to the motion direction of the target moving part, such as assigning a larger weight value to the coordinate axis parallel to the motion direction, and assigning a smaller weight value to the coordinate axis not parallel to the motion direction, and the weight value is a non - negative number.

[0193] It should be understood that in this case, the first motion measurement data and the second motion measurement data corresponding to multiple reference coordinate axes correspond to one motion measurement error. This motion measurement error does not have a corresponding relationship with a specific reference coordinate axis, but has a corresponding relationship with multiple reference coordinate axes.

[0194] On the basis of the above, when obtaining at least one motion measurement error, regarding how to ensure the accuracy of the verification result of the vibration measurement data of the target moving part, the embodiment of the present invention also provides an alternative embodiment. Please refer to the following. S240. Verify the vibration measurement data of the target moving part based on the motion measurement error to obtain a verification result, which can specifically include: S243. The specific description is as follows.

[0195] S243. When at least one motion measurement error is obtained and there is a corresponding reference coordinate axis, generate a verification result related to the vibration measurement data of the coordinate axis corresponding to the vibration sensor.

[0196] It should be understood that for the convenience of observation, analysis and calibration, a verification result related to the vibration measurement data of the coordinate axis corresponding to the vibration sensor can be generated, and the verification result is expressed based on the vibration sensor coordinate system, which is conducive to the user's intuitive understanding. Therefore, even after verification in the converted unified coordinate system, the verification result in the unified coordinate system can be converted back to the vibration sensor coordinate system to obtain the verification result in the vibration sensor coordinate system. At this time, when the verification result indicates that the vibration measurement data of one or more coordinate axes of the vibration sensor is invalid, the monitoring operation of the target moving component based on the vibration measurement data of the coordinate axis corresponding to the vibration sensor can be stopped.

[0197] In a specific implementation, regarding the content in S243, the embodiment of the present invention also provides an optional implementation manner. Please refer to the following. S243. When at least one motion measurement error is obtained and there is a corresponding reference coordinate axis, generate a verification result related to the vibration measurement data of the coordinate axis corresponding to the vibration sensor, including at least one of the following.

[0198] S243-1. When the number of motion measurement errors is at least one, obtain the verification conditions corresponding to the relevant coordinate axes according to the relevant coordinate axes determined based on each motion measurement error, and generate a verification result by combining the judgment situations of each motion measurement error and the corresponding verification conditions.

[0199] In an optional implementation manner, during the process of obtaining the verification result related to the vibration measurement data of the coordinate axis corresponding to the vibration sensor, if the reference coordinate system is not the vibration sensor coordinate system, when a motion measurement error is obtained, the coordinate system can be first converted to obtain the motion measurement error in the vibration sensor coordinate system, and then the relevant coordinate axes in the vibration sensor coordinate system are determined based on each motion measurement error, the verification conditions corresponding to the relevant coordinate axes are obtained, and a verification result is generated by combining the judgment situations of each motion measurement error and the corresponding verification conditions; or, the relevant coordinate axes of the motion measurement error in the reference coordinate system can be first determined, and then the verification conditions corresponding to the relevant coordinate axes are obtained, and then the judgment situations of each motion measurement error and the corresponding verification conditions are subjected to a coordinate system conversion from the reference coordinate system to the vibration sensor coordinate system to generate a verification result.

[0200] In another alternative embodiment, if the reference coordinate system is the vibration sensor coordinate system, when the motion measurement error is obtained, the relevant coordinate axes in the vibration sensor coordinate system are determined based on each motion measurement error, the verification conditions corresponding to the relevant coordinate axes are obtained, and the verification result is generated by combining the judgment situations of each motion measurement error and the corresponding verification conditions.

[0201] S243-2. When the number of motion measurement errors is multiple, the relevant coordinate axes are determined based on each motion measurement error. After preprocessing the motion measurement errors with the same relevant coordinate axes, the verification conditions corresponding to the relevant coordinate axes are obtained, and the verification result is generated by combining the preprocessing result and the judgment situation of the verification conditions.

[0202] Among them, the preprocessing can be, but is not limited to: taking the maximum value among the motion measurement errors corresponding to the relevant coordinate axes, taking the average value of the motion measurement errors corresponding to the relevant coordinate axes, taking the weighted value of the motion measurement errors corresponding to the relevant coordinate axes by using a coefficient weight, such as the coefficient weight is higher when it is closer to the current time. The verification condition is the condition generated based on the error threshold or error range.

[0203] After preprocessing, if there is only one motion measurement error for verification (such as taking the maximum value among the motion measurement errors corresponding to the relevant coordinate axes, taking the average value of the motion measurement errors corresponding to the relevant coordinate axes), then the relevant coordinate axis corresponding to this one motion measurement error is further determined, the verification condition corresponding to the relevant coordinate axis is obtained, and the verification result is generated by combining the preprocessing result and the judgment situation of the verification condition. Among them, the relevant coordinate axis corresponding to the motion measurement error may be an axis corresponding to the unified coordinate system, an axis corresponding to the vibration sensor coordinate system, or an axis corresponding to the reference sensor coordinate system.

[0204] After preprocessing, if there are multiple motion measurement errors, the multiple motion measurement errors may correspond to one relevant coordinate axis or multiple relevant coordinate axes, so that the verification conditions corresponding to one relevant coordinate axis or the verification conditions corresponding to multiple relevant coordinate axes can be obtained. After judging the motion measurement errors corresponding to the relevant coordinate axes and the verification conditions, the verification result related to the vibration measurement data is generated by combining multiple judgment results.

[0205] It should be understood that the verification result obtained by S243-2 is the verification result related to the vibration measurement data of the relevant coordinate axes in the vibration sensor coordinates. The specific process can refer to the description of the relevant part above and will not be elaborated here.

[0206] In an alternative embodiment, before calibrating the vibration sensor, it is also possible to evaluate the validity of the vibration measurement data collected by the vibration sensor. When the evaluation result indicates that the vibration measurement data collected by the vibration sensor is invalid or the vibration measurement data of some of its coordinate axes is invalid, the vibration sensor is determined whether it meets the calibration conditions according to the first motion measurement data and the second motion measurement data corresponding to the target moving part. If the calibration conditions are met, the vibration sensor is calibrated. If the evaluation result indicates that the vibration measurement data collected by the vibration sensor is valid, the calibration of the vibration sensor is skipped and the working state is quickly restored to ensure the transportation efficiency of the automatic transportation equipment.

[0207] Regarding how to evaluate the validity of the vibration measurement data collected by the vibration sensor, an alternative embodiment of the present invention also provides an alternative implementation. Please refer to the following text. The vibration measurement data validity evaluation process may include the following steps:

[0208] SA1, obtain the first motion measurement data and the second motion measurement data corresponding to the target moving part.

[0209] SA2, based on the first motion measurement data and the second motion measurement data, determine the motion measurement error; where the motion measurement error represents the difference between the first motion measurement data and the second motion measurement data or the absolute value of the difference between the two.

[0210] SA3, based on the motion measurement error, evaluate the validity of the vibration measurement data of the target moving part.

[0211] When the evaluation result indicates that the vibration measurement data of the target moving part is invalid, the monitoring operation based on the vibration measurement data of the target moving part can be stopped. When the evaluation result indicates that the vibration measurement data of the target moving part is valid, the monitoring operation based on the vibration measurement data of the target moving part can be maintained.

[0212] It should be noted that the process of evaluating the validity of the vibration measurement data collected by the vibration sensor can refer to the relevant part of obtaining the verification result of the first motion measurement data after calibration in the above text, and will not be elaborated here.

[0213] It should also be noted that when the evaluation result of the vibration measurement data collected by the vibration sensor indicates that the vibration measurement data of the target moving part is invalid, a data calibration instruction can be generated.

[0214] An embodiment of the present invention further provides a data processing device, which includes a data processing module, at least one reference sensor, and at least one vibration sensor. The reference sensor and the vibration sensor in the same group are installed on the same moving part of the automatic transportation device. The moving part is deployed on the transportation track of the automatic transportation device. The data processing module is communicatively connected to the reference sensor and the vibration sensor;

[0215] The data processing module is configured to execute the vibration sensor calibration method of any of the above embodiments.

[0216] The data processing module may, but is not limited to, be any one or more of the processing module in the above measurement module, the host computer device, and the automatic transportation device.

[0217] An embodiment of the present invention further provides an automatic transportation device, which includes a control module, a transportation track, and a moving part deployed on the transportation track. The control module is connected to the transportation track and / or the moving part, and the control module is configured to control the moving part to move along the transportation track;

[0218] The control module is configured to execute the vibration sensor calibration method of any of the above embodiments.

[0219] An embodiment of the present invention further provides a host computer device, which is connected to the automatic transportation device. The automatic transportation device includes a transportation track and a moving part deployed on the transportation track;

[0220] The host computer device is configured to execute the vibration sensor calibration method of any of the above embodiments.

[0221] An embodiment of the present invention further provides an automatic transportation system, which includes a data processing device, a transportation track, a moving part deployed on the transportation track, at least one reference sensor, and at least one vibration sensor.

[0222] The reference sensor and the vibration sensor in the same group are installed on the same moving part, and the moving part is deployed on the transportation track.

[0223] The data processing device is communicatively connected to the reference sensor and the vibration sensor;

[0224] The data processing device is configured to execute the vibration sensor calibration method of any of the above embodiments.

[0225] Optionally, the reference sensor and the vibration sensor in the same group are installed on the same surface of the moving part.

[0226] In summary, a vibration sensor calibration method and related devices provided by embodiments of the present invention determine whether a vibration sensor meets calibration conditions according to first motion measurement data and second motion measurement data corresponding to a target moving component. When the calibration conditions are met, the vibration sensor is calibrated to improve the accuracy of the vibration sensor, so that the calibrated vibration sensor can collect more accurate vibration measurement data, reduce the adverse effects of the low accuracy of the vibration sensor on the vibration monitoring of the moving component, and ensure the accuracy of the vibration monitoring situation of the moving component.

[0227] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0228] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes falling within the meaning and scope of the equivalent elements of the claims in the present invention. Any reference signs in the claims should not be construed as limiting the claimed invention.

Claims

1. A vibration sensor calibration method, characterized in that, Applied to a first module, the first module is used to correct a vibration sensor installed on the moving component according to data generated by the moving component. The moving component moves along a transport track. The method includes: Judging whether the vibration sensor meets the calibration condition according to first motion measurement data and second motion measurement data corresponding to a target moving component; wherein, the second motion measurement data is collected by a reference sensor installed on the target moving component, and the accuracy of the reference sensor collecting the second motion measurement data is not lower than the accuracy of the vibration sensor collecting the first motion measurement data; If it is determined that the vibration sensor meets the calibration condition, calibrate the vibration sensor.

2. The vibration sensor calibration method according to claim 1, wherein Before judging whether the vibration sensor meets the calibration condition according to first motion measurement data and second motion measurement data corresponding to a target moving component, the method further includes at least one of the following: In response to a data calibration instruction, controlling the target moving component indicated by the data calibration instruction to move from the main path of the transport track to the branch path of the transport track; wherein, the data calibration instruction is generated according to a preset calibration period, or the data calibration instruction is generated when it is determined that the vibration sensor of the target moving component fails; the branch path is at least used to install the reference sensor; In response to a data calibration instruction, obtaining second motion measurement data of the target moving component indicated by the data calibration instruction.

3. The vibration sensor calibration method according to claim 1, characterized in that The calibrating the vibration sensor includes at least one of the following: Calibrating the motion measurement coefficients corresponding to at least one coordinate axis of the vibration sensor; Sending a calibration request to a second module to instruct the second module to calibrate the motion measurement coefficients corresponding to at least one coordinate axis of the vibration sensor, wherein the second module is independently arranged from the first module.

4. The vibration sensor calibration method according to claim 1, wherein The calibrating the vibration sensor includes at least one of the following: Calibrating the motion measurement coefficients of the vibration sensor to obtain a first calibration result; wherein, the first calibration result includes the successfully calibrated motion measurement coefficients or calibration failure information; the first calibration result is obtained by calibrating the motion measurement coefficients based on an offset, and / or the first calibration result is obtained by calibrating the motion measurement coefficients based on the second motion measurement data; Obtaining a second calibration result sent by the second module; wherein, the second calibration result includes the successfully calibrated motion measurement coefficients or calibration failure information; the second calibration result is obtained by calibrating the motion measurement coefficients based on an offset, and / or the second calibration result is obtained by calibrating the motion measurement coefficients based on the second motion measurement data.

5. The vibration sensor calibration method according to claim 4, wherein The process of obtaining the first calibration result includes: Calibrating the motion measurement coefficients of the vibration sensor based on an offset, obtaining calibrated first motion measurement data obtained based on the motion measurement coefficients after each calibration, and judging whether to calibrate the motion measurement coefficients again according to the verification result of the calibrated first motion measurement data until the calibration end condition is met; The process for the second module to obtain the second calibration result includes: Based on the calibrated motion measurement coefficients of the vibration sensor from the second module, obtain the calibrated first motion measurement data obtained based on the calibrated motion measurement coefficients each time, and the verification result according to the calibrated first motion measurement data, and send the verification result to the second module to enable it to determine whether the calibration end condition is met.

6. The vibration sensor calibration method according to claim 5, wherein The obtaining of the calibrated first motion measurement data obtained based on the calibrated motion measurement coefficients each time includes any one of the following: Send the calibrated motion measurement coefficients each time to the vibration sensor so that the vibration sensor collects the first motion measurement data based on the calibrated motion measurement coefficients; Calibrate the first motion measurement data based on the calibrated motion measurement coefficients to obtain the calibrated first motion measurement data.

7. The vibration sensor calibration method according to claim 5, characterized in that Obtaining the verification result of the calibrated first motion measurement data includes: Determine the motion measurement error based on the calibrated first motion measurement data and the second motion measurement data; Verify the vibration measurement data of the target moving component based on the motion measurement error to obtain the verification result.

8. The vibration sensor calibration method according to claim 7, characterized in that When it is determined that the current calibration does not meet the calibration end condition, it further includes: Judge whether to adjust the calibration direction and / or offset according to the motion measurement error after the current calibration, and perform the next calibration of the motion measurement coefficients of the vibration sensor according to the judgment result.

9. The vibration sensor calibration method according to claim 7, characterized in that, Before determining the motion measurement error based on the calibrated first motion measurement data and the second motion measurement data, the method further includes: Judge whether the reference sensor coordinate system matches the vibration sensor coordinate system; If not, perform coordinate transformation on the calibrated first motion measurement data and / or the second motion measurement data according to the coordinate axis transformation relationship so that the two are in a unified coordinate system; the unified coordinate system is any one of the reference sensor coordinate system, the vibration sensor coordinate system or the global coordinate system.

10. The vibration sensor calibration method according to claim 9, wherein, The judging whether the reference sensor coordinate system matches the vibration sensor coordinate system includes: When the reference sensor coordinate system is parallel to the vibration sensor coordinate system, determine that the reference sensor coordinate system matches the vibration sensor coordinate system, otherwise determine that the two do not match; When each coordinate axis of the reference sensor coordinate system is completely aligned with each coordinate axis of the vibration sensor coordinate system, determine that the reference sensor coordinate system matches the vibration sensor coordinate system, otherwise determine that the two do not match.

11. The vibration sensor calibration method according to any one of claims 8-10, characterized in that, The verifying the vibration measurement data of the target moving component based on the motion measurement error to obtain the verification result includes at least one of the following: In the case where there is coordinate transformation and the unified coordinate system is not the vibration sensor coordinate system, verify the vibration measurement data of the target moving component according to the motion measurement error in the unified coordinate system to obtain the verification result in the unified coordinate system, and determine the verification result of the vibration measurement data of the target moving component in the vibration sensor coordinate system according to the verification result in the unified coordinate system; When there is coordinate transformation and the unified coordinate system is not the coordinate system of the vibration sensor, according to the coordinate axis transformation relationship, the motion measurement error in the unified coordinate system is transformed into the coordinate system of the vibration sensor, and based on the motion measurement error in the coordinate system of the vibration sensor, the vibration measurement data of the target moving component is verified to obtain a verification result.

12. The vibration sensor calibration method according to claim 8, wherein, The determining of the motion measurement error based on the calibrated first motion measurement data and the second motion measurement data includes: According to the matching situation of the acquisition time and the coordinate system, at least one set of first motion measurement data and second motion measurement data with time matching and coordinate axis matching are obtained; Based on at least one set of first motion measurement data and second motion measurement data, at least one motion measurement error is calculated.

13. The vibration sensor calibration method according to claim 12, wherein The determining of the motion measurement error based on the calibrated first motion measurement data and the second motion measurement data further includes: When there are multiple motion measurement errors corresponding to the same reference coordinate axis, based on the multiple motion measurement errors corresponding to the same reference coordinate axis, the motion measurement error for verification is determined.

14. The vibration sensor calibration method according to claim 12 or 13, characterized in that, The verifying of the vibration measurement data of the target moving component based on the motion measurement error to obtain the verification result includes: When at least one motion measurement error is obtained and there is a corresponding reference coordinate axis, a verification result related to the vibration measurement data of the coordinate axis corresponding to the vibration sensor is generated.

15. The vibration sensor calibration method according to claim 14, characterized in that, The generating of the verification result related to the vibration measurement data of the coordinate axis corresponding to the vibration sensor when at least one motion measurement error is obtained and there is a corresponding reference coordinate axis includes at least one of the following: When the number of the motion measurement errors is at least one, according to the relevant coordinate axes determined based on each motion measurement error, the verification conditions corresponding to the relevant coordinate axes are obtained, and in combination with the judgment situations of each motion measurement error and the corresponding verification conditions, the verification result is generated; When the number of the motion measurement errors is multiple, based on each motion measurement error, the relevant coordinate axes are determined, after preprocessing the motion measurement errors with the same relevant coordinate axes, the verification conditions corresponding to the relevant coordinate axes are obtained, and in combination with the preprocessing result and the judgment situation of the verification conditions, the verification result is generated.

16. A data processing device, characterized in that, It includes a data processing module, at least one reference sensor, and at least one vibration sensor. The reference sensor and the vibration sensor in the same group are installed on the same moving component of the automatic transportation device. The moving component is deployed on the transportation track of the automatic transportation device. The data processing module is communicatively connected with the reference sensor and the vibration sensor; The data processing module is used to execute the vibration sensor calibration method according to any one of claims 1 - 15.

17. An automatic transportation device, characterized in that, The automatic transportation device includes a control module, a transportation track, and a moving component deployed on the transportation track. The control module is connected to the transportation track and / or the moving component. The control module is used to control the moving component to move along the transportation track; The control module is used to execute the vibration sensor calibration method described in any one of claims 1-15.

18. An upper computer device, characterized in that, The host device is connected to the automatic transportation device, and the automatic transportation device includes a transportation track and a moving component deployed on the transportation track; The host device is used to execute the vibration sensor calibration method described in any one of claims 1-15.

19. An automatic transportation system, characterized in that, The automatic transportation system includes a data processing device, a transportation track, a moving component deployed on the transportation track, at least one reference sensor, and at least one vibration sensor; The reference sensor and the vibration sensor in the same group are installed on the same moving component, and the moving component is deployed on the transportation track; The data processing device is communicatively connected to the reference sensor and the vibration sensor; The data processing device is used to execute the vibration sensor calibration method described in any one of claims 1-15.

20. The automatic transportation system according to claim 19, wherein, The reference sensor and the vibration sensor in the same group are installed on the same surface of the moving component.

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