A method of calibrating a vibration sensor and related apparatus

Abstract

The present application provides a kind of vibration sensor calibration method and related equipment, according to the first motion measurement data and the second motion measurement data corresponding to target moving component, it is judged whether vibration sensor satisfies calibration condition, in the case where calibration condition is satisfied, vibration sensor is calibrated, to improve the accuracy of vibration sensor, so that the vibration sensor after calibration can collect more accurate vibration measurement data, reduce the adverse effects of lower accuracy of vibration sensor on moving component vibration monitoring, guarantee the accuracy of moving component vibration monitoring condition.

Description

Technical Field

[0001] This invention relates to the field of industrial automation technology, and more specifically, to a vibration sensor calibration method and related equipment. Background Technology

[0002] Automated transport equipment is widely used in modern industrial systems. Automated transport equipment consists of transport tracks and moving components deployed along those tracks. These moving components carry goods along the transport tracks, thus achieving goods transport, and can interact and cooperate with operating equipment during the movement.

[0003] Vibration occurs during the operation of moving parts. This vibration may be caused by internal factors of the automated transport equipment (such as mechanical wear, uneven driving force, etc.) or by external environmental factors (such as external forces applied to the moving parts by the operating equipment, ground vibration, etc.). If the moving parts are loaded with goods, the vibration of the moving parts will be transmitted to the goods. Excessive vibration amplitude can easily damage the goods. Therefore, vibration sensors are needed to measure and monitor the vibration of the moving parts.

[0004] During operation, vibration sensors may become less accurate due to interference from the external environment or design flaws, affecting the monitoring of vibration in moving parts.

[0005] Therefore, how to reduce the adverse effects of low accuracy of vibration sensors on the vibration monitoring of moving parts has become one of the difficulties that have attracted the attention of those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a vibration sensor calibration method and related equipment to improve the above-mentioned problems.

[0007] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, embodiments of the present invention provide a vibration sensor calibration method, applied to a first module, the first module being used to calibrate a vibration sensor mounted on the moving component based on data generated by the moving component, the moving component moving along a transport track, the method comprising: Based on the first motion measurement data and the second motion measurement data corresponding to the target moving part, it is determined whether the vibration sensor meets the calibration conditions; wherein, the second motion measurement data is acquired by a reference sensor installed on the target moving part, and the accuracy of the reference sensor in acquiring the second motion measurement data is not lower than the accuracy of the vibration sensor in acquiring the first motion measurement data; If the vibration sensor is determined to meet the calibration conditions, then the vibration sensor is calibrated.

[0008] In a second aspect, embodiments of the present invention provide a data processing device, including a data processing module, at least one reference sensor and at least one vibration sensor, wherein the reference sensor and the vibration sensor in the same group are installed on the same moving part of an automated transport device, the moving part is deployed on the transport track of the automated transport device, and the data processing module is communicatively connected to the reference sensor and the vibration sensor. The data processing module is used to execute the above-mentioned vibration sensor calibration method.

[0009] Thirdly, embodiments of the present invention provide an automated transport device, the automated transport device including a control module, a transport track and a moving component deployed on the transport track, the control module being connected to the transport track and / or the moving component, the control module being used to control the moving component to move along the transport track; The control module is used to perform the vibration sensor calibration method described above.

[0010] Fourthly, embodiments of the present invention provide a host computer device, which is connected to an automated transport device, the automated transport device including a transport track and a moving component deployed on the transport track; The host computer device is used to execute the vibration sensor calibration method described above.

[0011] Fifthly, embodiments of the present invention provide an automated transportation system, the automated transportation system including 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, which belong to the same group, are mounted on the same moving component, which is deployed on the transport track; The data processing device is communicatively connected to the reference sensor and the vibration sensor. The data processing device is used to perform the vibration sensor calibration method described above.

[0012] Compared to existing technologies, the vibration sensor calibration method and related equipment provided in this invention determine whether the vibration sensor meets the calibration conditions based on 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 to improve its accuracy. This allows the calibrated vibration sensor to collect more accurate vibration measurement data, reducing the adverse effects of low vibration sensor accuracy on the vibration monitoring of moving parts and ensuring the accuracy of vibration monitoring of moving parts.

[0013] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is one of the installation diagrams of the reference sensor and vibration sensor of the same group provided in an embodiment of the present invention.

[0016] Figure 2 This is the second schematic diagram of the installation of the reference sensor and vibration sensor of the same group provided in the embodiments of the present invention.

[0017] Figure 3 This is the third schematic diagram of the installation of the reference sensor and vibration sensor of the same group provided in the embodiments of the present invention.

[0018] Figure 4 This is one of the connection diagrams of the measurement module provided in an embodiment of the present invention.

[0019] Figure 5 This is the second connection diagram of the measurement module provided in an embodiment of the present invention.

[0020] Figure 6 This is one of the communication connection block diagrams provided in the embodiments of the present invention.

[0021] Figure 7 This is a second communication connection block diagram provided in an embodiment of the present invention.

[0022] Figure 8 The third communication connection block diagram provided in the embodiment of the present invention.

[0023] Figure 9 This is one of the flowcharts illustrating the vibration sensor calibration method provided in this embodiment of the invention.

[0024] Figure 10 This is the second schematic flowchart of the vibration sensor calibration method provided in this embodiment of the invention.

[0025] Figure 11 This is a schematic diagram of a transportation track connection provided in an embodiment of the present invention.

[0026] Figure 12 The third schematic diagram of the vibration sensor calibration method provided in this embodiment of the invention.

[0027] Figure 13 This is one of the signaling flow diagrams provided in the embodiments of the present invention.

[0028] Figure 14 This is the second schematic diagram of signaling flow provided in an embodiment of the present invention.

[0029] In the diagram: 100-Measurement module; 101-Reference sensor; 102-Vibration sensor; 103-Base plate; 104-Housing; 105-Support column; 106-First communication module; 107-Power supply module; 108-Data processing module; 300-Automatic transport equipment; 301-Control module; 302-Transport track; 302A-Main path; 302B-Branch path; 302C-Connecting component; 302D-Spare component; 303-Moving component; 304-Moving component; 400-Host computer equipment; 401-Display module; 402-Processing module; 403-Second communication module. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0032] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0034] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0035] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0037] Automated transport equipment may include a control module, a transport track, and moving parts deployed on the transport track. The transport track may include at least one track component, and the moving parts may be driven by one or more energy conversions, such as magnetic energy, electrical energy, or mechanical energy, to move along the transport track. It is understood that automated transport equipment may have different names depending on the different driving methods of the moving parts, such as linear motor equipment, electric handling equipment, or mechanical transmission equipment. Correspondingly, the components of automated transport equipment (such as moving parts and transport tracks) may also have different names.

[0038] The transport track comprises multiple track components. Different deployment methods of these components result in the transport track extending along the direction of movement of the moving components, forming geometric shapes that include straight lines, curved lines, or a combination of both. Furthermore, the shape formed by the transport track extending along the direction of movement of the moving components can be a closed shape (such as a circle, racetrack shape, or squarish-oval shape) or an open shape (such as a straight line, C-shape, S-shape, or U-shape). Depending on the specific mechanical structure of the moving components and the transport track, items can be loaded above, to the side, or below the moving components. The positional relationship between the moving components and the transport track is versatile; for example, the moving components may be located above, to the side, or even below the transport track. This is not limited here.

[0039] Taking a linear motor as an example, a linear motor can include a controller (i.e., a control module), a stator line (i.e., a transport track), and multiple mover components (i.e., moving parts). The stator line is typically composed of multiple stator components (i.e., track components). One of the mover and stator components includes a magnetic element, and the other includes an excitation element. When energized, the excitation element generates a changing magnetic field. This changing magnetic field interacts with the magnetic element, exerting a force on the mover component, thereby driving it to move along the stator line. During this movement, the mover component can load items, thus achieving the transport of items. The controller can control the energizing timing, current direction, and current magnitude of the excitation elements of different stator components, thereby controlling the moving direction, speed, and position of the mover component.

[0040] After installing vibration sensors on moving parts, vibration monitoring can be performed on the moving devices based on the vibration measurement data. However, during the operation of vibration sensors, interference from the external environment or inherent design flaws can lead to low accuracy, affecting the vibration monitoring of moving parts. For example, as usage time increases, the measurement error of the vibration sensor increases, and the deviation between the vibration measurement data and the actual vibration becomes larger, easily causing misjudgments or omissions in the vibration status of moving parts. Alternatively, in scenarios with higher vibration monitoring requirements, more accurate vibration measurement data is often needed, but the accuracy of the vibration sensors currently installed on the moving parts may not meet these requirements.

[0041] Given the above, directly replacing the vibration sensor could easily damage the hardware and require a longer replacement cycle, increasing both time and hardware costs. Therefore, the vibration sensor can be calibrated to improve its accuracy while avoiding the time and hardware costs associated with replacement. Please refer to the following text for details.

[0042] A vibration sensor and a reference sensor can be mounted on the surface of the moving part. The reference sensor and vibration sensor can be mounted simultaneously on the moving part, meaning the reference sensor can be installed at the same time as the vibration sensor is installed; alternatively, the reference sensor and vibration sensor can not be mounted simultaneously, such as the reference sensor being installed later than the vibration sensor. As long as the reference sensor is installed on the moving part before the vibration sensor is calibrated, this embodiment of the invention does not impose specific restrictions on the timing of the reference sensor's installation.

[0043] Depending on the specific mechanical structure of the moving component and the transport track, and the installation position of the item relative to the moving component, a set of reference sensors and vibration sensors can be mounted on the surface of the storage component of the moving component without affecting the loading or unloading of the item. This storage component can be a device for placing the product. This embodiment of the invention does not limit the specific installation position of the reference sensors and vibration sensors.

[0044] Regarding the installation of the vibration sensor and the reference sensor, this embodiment of the invention also provides an optional implementation method, please refer to... Figure 1 , Figure 1 This is one of the installation diagrams of a reference sensor and a vibration sensor from the same group provided in an embodiment of the present invention. To further improve the consistency of the measurement area, the vibration sensor 102 and the reference sensor 101 are disposed on the same surface of the moving part 303.

[0045] Regarding the installation of the vibration sensor and the reference sensor, this embodiment of the invention also provides an optional implementation method, please refer to... Figure 2 , Figure 2 This is a second schematic diagram illustrating the installation of the reference sensor and vibration sensor in the same group provided in an embodiment of the present invention. To ensure consistency in the measurement area and to facilitate installation and reduce overall size, the vibration sensor 102 and the reference sensor 101 can be integrated onto the same base plate 103. This base plate 103 can be, but is not limited to, a printed circuit board (PCB). For example... Figure 2 As shown, the base plate 103 is mounted on the surface of the moving part 303 without affecting the loading or unloading of items by the moving part 303.

[0046] exist Figure 2 Based on this, regarding how to further optimize the installation of the same group of reference sensors and vibration sensors, this embodiment of the invention also provides an optional implementation method, please refer to... Figure 3 , Figure 3This is the third schematic diagram showing the installation of a reference sensor and a vibration sensor in the same group provided in an embodiment of the present invention. In an optional embodiment, the vibration sensor 102 and the reference sensor 101 can be integrated on different surfaces of the same base plate 103, and the projected areas of the vibration sensor 102 and the reference sensor 101 projected in the same direction at least partially overlap. Figure 3 As shown, the base 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 housing reference sensor 101) A second cavity is formed between the surfaces of the base plate 103, the support column 105, and the moving part 303 to accommodate another sensor from the vibration sensor 102 and the reference sensor 101. Figure 3 (As shown in the diagram, it houses the vibration sensor 102).

[0047] In one alternative implementation, continue to refer to Figure 3 The reference sensor 101 is detachably connected to the base plate 103, and the housing 104 is detachably connected to the base plate 103. If the reference sensor 101 is installed later than the vibration sensor 102 is installed on the moving part 303, the housing 104 can be removed, thereby enabling flexible installation and removal of the reference sensor 101.

[0048] It should be noted that, in the embodiments of this application, in order to facilitate the description of the connection relationship between multiple electronic devices installed on the same moving part, the multiple electronic devices installed on the same moving part are regarded as a combination and referred to as a measurement module. However, it should be understood that the measurement module does not limit the specific spatial position of the multiple electronic devices installed on the same moving part. That is, the multiple electronic devices installed on the same moving part may all be installed on the same surface of the moving part, or the multiple electronic devices installed on the same moving part may not all be installed on the same surface of the moving part.

[0049] The measuring module provided in this embodiment of the invention is disposed on the moving part 303 of the automated transport equipment. In an optional embodiment, please refer to 4. Figure 4 This is one of the connection diagrams of the measurement module provided in an embodiment 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 mounted on the moving part 303. The first communication module 106 is communicatively connected to the vibration sensor 102 and the reference sensor 101, respectively, and the power supply module 107 is electrically connected to the first communication module 106, the vibration sensor 102, and the reference sensor 101.

[0050] In some optional scenarios, the moving part 303 is a passive part (specifically, as described above, a moving part with a magnetic component), and the measurement module 100 may also include a power supply module 107. The power supply module 107 may be a module with power storage function, and 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, and may be, but is not limited to, a touch-sensitive power supply module or a wireless power supply module. The power supply module 107 is used to supply power to electronic devices (such as the reference sensor 101, vibration sensor 102, etc.) installed on the moving part 303.

[0051] Vibration sensor 102 and reference sensor 101 can interact with a data processing module located outside the moving part 303 via the first communication module 106. The data processing module can execute the vibration sensor calibration method described below. The data processing module can be understood as a functional module capable of executing the vibration sensor calibration method described below. In this embodiment, the data processing module can be implemented by any of the following: (1) the control module of the automated transport equipment, (2) the processing module of the host computer equipment, (3) a processing module independent of the control module of the automated transport equipment and the processing module of the host computer equipment (hereinafter referred to as an independent processing module); or, the data processing module can be implemented by at least two of the following: the control module of the automated transport equipment, the processing module of the host computer equipment, and the independent processing module.

[0052] In some optional scenarios, the automated transport equipment is equipped with multiple moving parts 303. When the measurement module 100 sends data, it needs to carry identity document (ID) information. The ID information may include the identification sub-information of the moving part 303 or the identification sub-information that corresponds to the moving part 303 (such as the identification sub-information of the vibration sensor that corresponds to the moving part 303, or the identification sub-information of the reference sensor, at least one of these). This allows the execution subject of the vibration sensor calibration method (such as the subsequent data processing equipment or processing module) to know which moving part 303 the acquired sensor data corresponds to.

[0053] In one optional implementation provided by the embodiments of the present invention, please refer to Figure 5 , Figure 5This is a second connection diagram of the measurement module provided in an embodiment 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, vibration sensor 102, reference sensor 101, and power supply module 107 are all mounted on the moving part 303. The data processing module 108 is connected to the vibration sensor 102 and the reference sensor 101, respectively, and the power supply module 107 is electrically connected to the data processing module 108, vibration sensor 102, and reference sensor 101, respectively. The data processing module 108 can perform 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 electrically connected to the first communication module 106, the vibration sensor 102, and the reference sensor 101, respectively, and the power supply module 107 is electrically connected to the data processing module 108, the vibration sensor 102, the reference sensor 101, and the first communication module 106, respectively. The data processing module 108 establishes communication with at least one of the automated transport equipment and the host computer equipment through the first communication module 106, so that the data processing module 108 cooperates with the automated transport equipment, the host computer equipment, or the automated transport equipment and the host computer equipment to perform the vibration sensor calibration method described below. In this embodiment, the data processing module 108 can be set independently of the automated transport equipment control module and the host computer equipment processing module. Therefore, the data processing module 108 in this embodiment can be understood as an independent processing module.

[0054] It should be noted that, in practical applications, the data processing module 108 may include a memory and a processor. The memory is adapted to store one or more computer instructions, and the processor executes the steps of the vibration sensor calibration method described below when running the computer instructions. The processor may be implemented using a central processing unit (CPU), a digital signal processor (DSP), or a field-programmable gate array (FPGA), or it may be implemented using an application-specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of the present invention.

[0055] Optionally, the memory may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device.

[0056] To facilitate understanding and implementation of the embodiments provided by this invention, the following examples illustrate the communication relationships in scenarios involving automated transport equipment and / or host computer equipment. Please refer to... Figure 6 , Figure 7 , Figure 8 , Figure 6 This is one of the communication connection block diagrams provided in the embodiments of the present invention. Figure 7 This is a second communication connection block diagram provided in an embodiment of the present invention. Figure 8 The third communication connection block diagram provided in the embodiment of the present invention.

[0057] The host computer device 400 may include a second communication module 403, a processing module 402, and a display module 401, wherein the processing module 402 is connected to the second communication module 403 and the display module 401 respectively. The automated transport device 300 may include a control module 301, a transport track 302 connected to the control module 301, and a moving component 303 deployed on the transport track 302.

[0058] like Figure 6 As shown, the measurement module 100 deployed on the moving part 303 communicates wirelessly with the host computer device 400, and the host computer device 400 is also connected to the automated transport device 300 via wired or wireless communication. The measurement module 100 can send measurement data (including vibration measurement data, first motion measurement data, and second motion measurement data) to the host computer device 400.

[0059] like Figure 7 As shown, the measurement module 100 deployed on the moving part 303 communicates wirelessly with the automated transport equipment 300, and the host computer equipment 400 is also connected to the automated transport equipment 300 via wired or wireless communication. The measurement module 100 can send measurement data (including vibration measurement data, first motion measurement data, and second motion measurement data) to the automated transport equipment 300.

[0060] like Figure 8 As shown, the measurement module 100 deployed on the moving part 303 communicates wirelessly with the host computer device 400 and the automated transport device 300. The measurement module 100 can send measurement data (including vibration measurement data, first motion measurement data, and second motion measurement data) to the automated transport device 300 and / or the host computer device 400.

[0061] It should be noted that, Figure 6, Figure 7 , Figure 8 The measurement module in the middle can adopt Figure 4 or Figure 5 Any of the ones shown.

[0062] This invention provides a vibration sensor calibration method applied to a first module. The first module processes data generated by a moving component that moves along a transport track. Specifically, the first module calibrates a vibration sensor mounted on the moving component based on the data generated by the moving component. Further, the data generated by the moving component is data generated during operation. Specifically, referring to the above, the first module can be implemented through one or more combinations of the following: a control module for an automated transport device, a processing module for a host computer device, or an independent processing module. It is understood that, from a data processing perspective, this first module can also be considered a data processing module.

[0063] For the detailed process of the vibration sensor calibration method provided in this embodiment of the invention, please refer to [link / reference]. Figure 9 The vibration sensor calibration method includes S12 and S13, which are described in detail below.

[0064] S12: Based on 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 conditions. If yes, proceed to S13; otherwise, skip the calibration of the vibration sensor.

[0065] The second motion measurement data is acquired by a reference sensor installed on the target moving part, and the accuracy of the reference sensor in acquiring the second motion measurement data is no less than the accuracy of the vibration sensor in acquiring the first motion measurement data.

[0066] The target moving part is a moving part equipped with a reference sensor and a vibration sensor. The vibration sensor is used to collect first motion measurement data and vibration measurement data of the target moving part, and the reference sensor is used to collect 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 in collecting the second motion measurement data is not lower than the accuracy of the vibration sensor in collecting the first motion measurement data.

[0067] Specifically, both the vibration sensor and the reference sensor can acquire the motion state of the target moving part. The vibration sensor and the reference sensor can acquire the same type of motion state of the target moving part, thus obtaining the same type of first motion measurement data and second motion measurement data. Furthermore, the vibration sensor can also acquire the vibration state of the target moving part, which can be deduced from the motion state of the target moving part.

[0068] Furthermore, the first motion measurement data and the second motion measurement data can be, but are not limited to, any one of acceleration measurement data, displacement measurement data, velocity measurement data, and angular velocity measurement data, with the first motion measurement data serving as the source data for generating the vibration measurement data. It should be understood that vibration measurement data can be obtained by calculation based on any one of the acceleration measurement data, displacement measurement data, velocity measurement data, and angular velocity measurement data. Specifically, the vibration measurement data can 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.

[0069] Optionally, the accuracy of the reference sensor is not lower than that of the vibration sensor, thereby ensuring that the accuracy of the reference sensor in acquiring the second motion measurement data is not lower than that of the vibration sensor in acquiring the first motion measurement data.

[0070] When the first module is a control module in an automated transport device or a processing module in a host computer device, it can receive first motion measurement data and second motion measurement data transmitted through the first communication module by the reference sensor and vibration sensor deployed in the measurement module of the target moving part.

[0071] It should be understood that vibration sensor data failure falls into two categories. The first is when the vibration sensor malfunctions to the point of being unable to output data (e.g., the electrical signals representing the first motion measurement data and vibration measurement data remain unchanged, causing the acquired first motion measurement data and vibration measurement data to always display zero). In this case, the vibration sensor cannot be calibrated and requires replacement. The second is when the data collected by the vibration sensor deviates too much from the true value, but the vibration sensor can still output data. In this case, the vibration sensor can be calibrated, and calibration conditions are set accordingly.

[0072] The specific process for determining whether the calibration conditions are met may include: Within a first preset time window, if first motion measurement data from the vibration sensor and second motion measurement data from the reference sensor are received, it indicates that the vibration sensor can output data, meaning the vibration sensor can be calibrated, and thus the vibration sensor meets the calibration conditions. Within the first preset time window, if the first motion measurement data from the vibration sensor is not received when the second motion measurement data from the reference sensor is received, then the resolution of the vibration sensor and the second motion measurement data are analyzed. When the value of the second motion measurement data exceeds the resolution of the vibration sensor, the motion state of the moving part should be detected by the vibration sensor. However, since the vibration sensor does not output the corresponding data, it indicates that the vibration sensor cannot be calibrated, thus determining that the vibration sensor does not meet the calibration conditions. When the value of the second motion measurement data does not exceed the resolution of the vibration sensor, the motion state of the moving part cannot be detected by the vibration sensor, thus it is impossible to determine whether the vibration sensor should be calibrated. By checking whether other second motion measurement data is received and whether the corresponding vibration sensor outputs data within the first preset time window, it is determined whether the vibration sensor should be calibrated. If it cannot be determined within the first preset time window that the vibration sensor can be calibrated, then the vibration sensor does not meet the calibration conditions.

[0073] The first preset time window refers to a time window of a first preset duration before the trigger time point for determining whether the vibration sensor meets the calibration conditions. This trigger time point for determining whether the vibration sensor meets the calibration conditions can be any time point after the reference sensor is installed on the target moving part and more than the first predicted time length has elapsed, or it can be the failure time point when the vibration measurement data collected by the vibration sensor is determined to be invalid. 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 part is greater than the first predicted time length.

[0074] S13, calibrate the vibration sensor.

[0075] In the vibration sensor calibration method provided in this embodiment of the invention, when the accuracy of the vibration sensor is low, it can be determined whether the vibration sensor meets the calibration conditions based on 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 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 part, and ensure the accuracy of the vibration monitoring of the moving part.

[0076] It should be noted that when the measurement error of the vibration sensor increases, since the accuracy of the second motion measurement data acquired by the reference sensor is no less than the accuracy of the first motion measurement data acquired by the vibration sensor, the vibration sensor can be calibrated using the second motion measurement data acquired by the reference sensor. This reduces the measurement error of the vibration sensor, improves its accuracy, and thus reduces the frequency of vibration sensor replacement, thereby reducing the time and hardware costs associated with replacing the vibration sensor.

[0077] It should be noted that when the vibration sensor cannot meet the higher vibration monitoring requirements, calibrating the vibration sensor by selecting a second motion measurement data collected by a reference sensor with higher accuracy can improve the accuracy of the vibration sensor, enabling it to meet the higher vibration monitoring requirements. This reduces the frequency of vibration sensor replacement and lowers the time and hardware costs associated with replacing the vibration sensor.

[0078] Optionally, if a vibration sensor does not meet the calibration conditions, the calibration of the vibration sensor can be skipped, and a fault indication can be given to help staff replace the vibration sensor that cannot be calibrated.

[0079] It should be understood that the reference sensor has higher accuracy than the vibration sensor, but its corresponding cost is also higher; furthermore, if both the reference sensor and the vibration sensor remain operational during the daily operation of the target moving part, it will consume more communication resources and energy. To reduce the consumption of communication resources and / or energy consumption while ensuring the calibration effect of the vibration sensor, this embodiment of the invention also provides an optional implementation method, please refer to... Figure 10 Before determining whether the vibration sensor meets the calibration conditions based on 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 described in detail below.

[0080] S11A, in response to a data calibration command, controls the target moving part indicated by the data calibration command to move from the main path to the transport track to a branch path of the transport track.

[0081] The data calibration command is generated according to a preset calibration cycle, or when the vibration sensor of the target moving part is determined to be faulty (the evaluation process of vibration sensor failure is described below); the branch path is used at least to install the reference sensor.

[0082] It should be understood that the transport track includes track components that can be deployed to form main paths and branch paths. Branch paths can be joined to main paths, or they can be discontinuously staggered with main paths. When branch paths and main paths are joined, there are track components with direction-switching functions at the junction, allowing moving components to move along the main path or along the branch path via these direction-switching components (which can be simply referred to as reversing components). The direction-switching function can be achieved by changing the guidance of the track components; specifically, for example, controlling the guide of the track component to switch towards the main path or towards the branch path; or, when the track component includes an excitation component, controlling the excitation component of the track component along the main path direction or controlling the excitation component of the track component along the branch path direction to be energized. When branch paths and main paths are set independently, there are connecting track components (which can be referred to as connecting components) between the branch paths and the main paths. The connecting track components move back and forth between the main paths and branch paths, allowing the moving components to move along the main paths or the branch paths.

[0083] The area corresponding to the main path is the working area, and the area corresponding to the branch paths is the debugging area. Moving parts equipped with vibration sensors can move on the transport track. When a moving part moves from the main path to a branch path, at least a reference sensor can be installed on the moving part. The moving part equipped with both the reference sensor and the vibration sensor can serve as the target moving part. After the reference sensor is installed on the moving part, the target moving part can be controlled to return to the main path and move along the main path to calibrate the vibration sensor mounted on it. Alternatively, the target moving part can be controlled to move along the branch path to calibrate the vibration sensor mounted on it.

[0084] When the target moving part returns to the main path and moves along the main path for calibration, after calibration is completed, the target moving part can be controlled to move again to the branch path of the transport track, and then the reference sensor can be removed from the target moving part.

[0085] When the target moving part is being calibrated while moving along the branch path, once calibration is complete, the reference sensor can be removed from the target moving part, and the target moving part can be controlled to leave the branch path and return to the main path for operation.

[0086] Because the moving parts only install and remove the reference sensors on branch paths, it does not affect the normal operation of other moving parts along the main path, thus ensuring the efficiency of the automated transport equipment. Furthermore, during the normal operation of the moving parts, the reference sensors do not consume communication resources or generate energy.

[0087] Please refer to Figure 11 , Figure 11 This is a schematic diagram of a transportation track connection provided in an embodiment of the present invention. Figure 11 Subgraphs (a) and (b) in the diagram represent the different positional states of the connecting component on the transport track. The transport track includes the main path 302A, the branch path 302B, and the connecting 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, as instructed by the control data calibration command, moves along the main path 302A to the connecting component 302C. Then, the connecting component 302C is controlled to move until it aligns with the branch path 302B. Subsequently, the moving component 303 is controlled to move to the branch path 302B for reference sensor installation. Similarly, when the moving component 303 on the branch path needs to return to the main path 302A, it can also be done through the connecting component 302C, which will not be elaborated here.

[0088] It should be noted that when a moving component changes its movement path between the main path and branch paths via a connecting component, if the connecting component detaches from the main path (e.g., moving towards a branch path, already aligned with a branch path, or moving towards the main path but not yet aligned), a gap exists in the main path, resulting in a discontinuous shape of the main path. This means at least some moving components on the main path must wait in the gap to avoid falling. Therefore, the transport track can also include a spare track component (which can be simply referred to as a spare component). When a connecting component detaches from the main path, the spare component moves towards the main path to fill the gap, ensuring the main path remains continuous and reducing the adverse impact of the connecting component detaching from the main path on the normal operation of moving components along the main path. For example, as... Figure 11 In sub-diagram (b), spare component 302D fills the gap created by connecting component 302C after it leaves the main path 302A, so that the moving component (moving component 304 in the figure) on the main path 302A can still work normally, thereby reducing the adverse effects on the normal operation of the moving component moving along the main path when the connecting component leaves the main path.

[0089] In an alternative implementation, continue to refer to Figure 11 When the target moving part running along the main path 302A needs to remove the reference sensor, it can also be done through the connecting part 302C. For details, please refer to the installation section above.

[0090] It should be noted that, in Figure 11 The transport track shown allows one reference sensor to calibrate and adjust multiple vibration sensors, further reducing the procurement cost of the reference sensor.

[0091] To ensure the calibration effect of the vibration sensor, and in order to reduce the occupation of communication resources and / or reduce energy consumption, this embodiment of the invention also provides an optional implementation method, please refer to... Figure 12 Before determining whether the vibration sensor meets the calibration conditions based on 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 described in detail below.

[0092] S11B, in response to a data calibration command, acquires second motion measurement data of the target moving part indicated by the data calibration command.

[0093] It should be understood that a reference sensor and a vibration sensor are installed on the target moving part. During the operation of the automated transport equipment, the vibration sensor is always active. The reference sensor is typically inactive. When the first module receives a data calibration command, it sends a start command to the reference sensor to activate it and acquire the second motion measurement data collected by the reference sensor. This avoids the reference sensor consuming communication resources and reduces its energy consumption during non-calibration periods. Alternatively, the reference sensor may also always be active. When the first module receives a data calibration command, it still acquires the second motion measurement data collected by the reference sensor, thus avoiding the reference sensor consuming communication resources during non-calibration periods.

[0094] It should be understood that regardless of whether multiple vibration sensors are calibrated and debugged using a single reference sensor, if the vibration sensors installed on the moving parts are calibrated and debugged before the automatic transport equipment is put into operation, the transport track does not need to set branch path 302B; only the main path 302A needs to be set. The vibration sensors can be calibrated and debugged on the main path 302A.

[0095] In specific implementation, regarding the method of calibrating the vibration sensor, this embodiment of the invention also provides an optional implementation method, please refer to the following. S13, calibrating the vibration sensor, including S13A or S13B, is described in detail below.

[0096] S13A calibrates the motion measurement coefficients corresponding to at least one coordinate axis of the vibration sensor.

[0097] It should be understood that the first motion measurement data is the source data for generating 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.

[0098] S13B, a calibration request is sent to the second module to instruct the second module to calibrate the motion measurement coefficients corresponding to at least one coordinate axis of the vibration sensor.

[0099] The second module is set independently from the first module. For example, when the first module is the control module in the automated transport equipment, the second module is the processing module in the host computer equipment; when the first module is the processing module in the host computer equipment, the second module is the control module in the automated transport equipment; when the first module is the data processing module in the measurement module, the second module is either the control module in the automated transport equipment or the processing module in the host computer equipment.

[0100] By breaking down the steps in the vibration sensor calibration method and processing them using different devices, the overall processing efficiency can be improved.

[0101] In specific implementation, regarding the method of calibrating the vibration sensor, this embodiment of the invention also provides an optional implementation method, please refer to the following. S13, calibrating the vibration sensor, including S13C or S13D, is described in detail below.

[0102] S13C calibrates the motion measurement coefficients of the vibration sensor to obtain the first calibration result.

[0103] The first calibration result includes either successfully calibrated motion measurement coefficients or calibration failure information; the first calibration result is obtained by calibrating motion measurement coefficients based on offset, or the first calibration result is obtained by calibrating motion measurement coefficients based on second motion measurement data.

[0104] S13D, obtain the second calibration result sent by the second module.

[0105] The second calibration result includes either successfully calibrated motion measurement coefficients or calibration failure information; the second calibration result is obtained by calibrating motion measurement coefficients based on offset, or the second calibration result is obtained by calibrating motion measurement coefficients based on second motion measurement data.

[0106] Regarding obtaining a first calibration result or a second calibration result by calibrating motion measurement coefficients based on second motion measurement data, this embodiment of the invention also provides an optional implementation method. By monitoring any two of the maximum, average, and minimum values ​​of the second motion measurement data within a monitoring period, along with the number of measurements, the successfully calibrated motion measurement coefficients are determined. This ensures the efficiency of obtaining the first or second calibration result. The monitoring period is a second preset time window preceding the trigger time point for calibrating the motion measurement coefficients.

[0107] For example, the successfully calibrated motion measurement coefficient = (maximum value of the second motion measurement data - average value of the second motion measurement data) ÷ number of measurements within the monitoring period; or, the successfully calibrated motion measurement coefficient = (maximum value of the second motion measurement data - minimum value of the second motion measurement data) ÷ number of measurements within the monitoring period; or, the successfully calibrated motion measurement coefficient = (average value of the second motion measurement data - minimum value of the second motion measurement data) ÷ number of measurements within the monitoring period.

[0108] Regarding the acquisition of the first calibration result based on the offset calibration of the motion measurement coefficients, this embodiment of the invention also provides an optional implementation method to ensure the accuracy of the first calibration result, please refer to the following. The process of the first module acquiring the first calibration result includes: S13C-1, as detailed below.

[0109] S13C-1 calibrates the motion measurement coefficients of the vibration sensor based on the offset, obtains the first calibrated motion measurement data based on the motion measurement coefficients after each calibration, and determines whether to calibrate the motion measurement coefficients again based on the verification results of the first calibrated motion measurement data, until the calibration end condition is met.

[0110] Among them, the conditions for completing the calibration are: the number of calibrations exceeds the preset threshold, or the calibration is successful, that is, the verification result of the first motion measurement data after calibration is qualified, or the evaluation result of the validity of the first motion measurement data after calibration indicates that the vibration measurement data is valid.

[0111] In one optional implementation, when calibration is successful, the calibrated motion measurement coefficients can be sent to the vibration sensor on the target moving part, informing the vibration sensor that calibration was successful. The vibration sensor can then collect data according to the calibrated motion measurement coefficients. If calibration fails, a failure message is displayed to remind the user that the vibration sensor calibration was unsuccessful.

[0112] It should be understood that after successful calibration, monitoring of the target moving device can be resumed based on vibration measurement data from the vibration sensor.

[0113] Regarding the second calibration result obtained by calibrating the motion measurement coefficients based on the offset, this embodiment of the invention also provides an optional implementation method 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, as detailed below.

[0114] S13D-1, based on the motion measurement coefficients of the calibrated vibration sensor from the second module, acquires the first calibrated motion measurement data obtained based on the motion measurement coefficients after each calibration, and the verification result based on the first calibrated motion measurement data, and sends the verification result to the second module so that it can determine whether the calibration end condition is met.

[0115] Building upon the preceding text, this embodiment of the invention also provides an optional implementation method for obtaining the calibrated first motion measurement data based on the motion measurement coefficients after each calibration, as detailed below. Obtaining the calibrated first motion measurement data based on the motion measurement coefficients after each calibration includes: S133 or S135, specifically described below.

[0116] S133, the calibrated motion measurement coefficients are sent to the vibration sensor so that the vibration sensor can collect the first motion measurement data based on the calibrated motion measurement coefficients, that is, the calibrated first motion measurement data.

[0117] S135, calibrate the first motion measurement data based on the calibrated motion measurement coefficients to obtain calibrated first motion measurement data.

[0118] It should be understood that the calibrated motion measurement coefficients may not be sent to the vibration sensor before the calibration is confirmed to be successful. However, after the calibration is confirmed to be successful, the finally confirmed calibrated motion measurement coefficients may be sent to the vibration sensor, thereby reasonably reducing the number of communications with the vibration sensor.

[0119] To better understand how the first and second modules work together to execute the steps of the vibration sensor calibration method described above, please refer to [link / reference]. Figure 13 and Figure 14 , Figure 13 This is one of the signaling flow diagrams provided in the embodiments of the present invention. Figure 14 This is the second schematic diagram of signaling flow provided in an embodiment of the present invention. Figure 13 and Figure 14 This corresponds to a signaling flow diagram for calibration performed by the second module.

[0120] like Figure 13 As shown, after obtaining the motion measurement coefficients after each calibration, the second module can send them directly or indirectly to the vibration sensor. The vibration sensor can then collect data based on the calibrated motion measurement coefficients to obtain the first calibrated motion measurement data.

[0121] like 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 based on 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 calibrated first motion measurement data.

[0122] Figure 13 and 14 As shown, the verification result of the validity of the first motion measurement data after calibration is obtained by the first module and sent to the second module so that it can determine whether the calibration end condition is met.

[0123] Understandable Figure 13 and 14 This is for illustrative purposes only. The omitted processes can be found in the descriptions of the relevant sections above, and will not be repeated here.

[0124] When executing S13C-1 and S13D-1, it is necessary to obtain the verification result of the calibrated first motion measurement data. In specific implementation, this embodiment of the invention also provides an optional implementation method for obtaining the verification result of the calibrated first motion measurement data, please refer to the following. Obtaining the verification result of the calibrated first motion measurement data includes: S230 and S240, which are described in detail below.

[0125] S230, based on the calibrated first motion measurement data and second motion measurement data, determines the motion measurement error.

[0126] Among them, 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.

[0127] Since the accuracy of the second motion measurement data acquired by the reference sensor is no less than that of the first motion measurement data acquired by the vibration sensor, the true value of the motion state of the moving part can be characterized by the more accurate second motion measurement data. Thus, the motion measurement error determined based on the first motion measurement data and the second motion measurement data can characterize the degree of deviation between the first motion measurement data and the true value of the motion state of the moving part.

[0128] S240 verifies the vibration measurement data of the target moving part based on motion measurement error to obtain the verification result.

[0129] When the verification 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 verification 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. Based on the foregoing, regarding how to calibrate the motion measurement coefficients and ensure the accuracy and speed of the calibration results, this embodiment of the invention also provides an optional implementation method, please refer to the following. When it is determined that the current calibration does not meet the calibration termination conditions, i.e., it is necessary to recalibrate the motion measurement coefficients, the method further includes: S137, which is specifically described below.

[0130] S137, based on the motion measurement error after this calibration, determine whether to adjust the calibration direction and / or offset, and perform the next calibration of the motion measurement coefficient of the vibration sensor based on the judgment result.

[0131] In one alternative implementation, the process of determining the i-th calibration motion measurement coefficient is as follows, where i is a non-negative integer: When i=1, adjustments are made along the initial calibration direction (either increasing or decreasing) based on the original motion measurement coefficients. The adjustment amount is the initial offset, resulting in the motion measurement coefficients after the first calibration. The original motion measurement coefficients are those used to collect data before calibration. The first motion measurement data collected based on the motion measurement coefficients after the first calibration, combined with the second motion measurement data collected by the reference sensor, determines the motion measurement error after the first calibration. Details can be found in the above description and will not be repeated here.

[0132] When i ≥ 2, if the verification results after calibration indicate that the vibration measurement data is invalid and the calibration termination condition is not met, the motion measurement error after the (i-1)th calibration and the motion measurement error after the (i-2)th calibration are compared 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 in this (i.e., the i-th) calibration. For simplicity, the motion measurement error after the i-th calibration can be simplified to the i-th calibration error, and the 0th calibration error is the initial motion measurement error before calibration; the motion measurement coefficient to be calibrated in the i-th calibration 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.

[0133] 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 error of the first calibration is less than the initial motion measurement error before calibration, the direction of the second calibration is the same as the direction of the first calibration, the second offset is the initial offset, and the second basic coefficient can be the motion measurement coefficient after the first calibration. If the error of the first calibration is greater than the initial motion measurement error before calibration, then the direction of the second calibration is opposite to that of the first calibration, the second offset is the initial offset, and the second base coefficient can be the original motion measurement coefficient. If the first calibration error equals the initial motion measurement error before calibration, the second calibration direction can be the same as the first calibration direction. The second offset is the value after the initial offset is reduced according to a preset rule (reduced by a preset percentage or reduced by a preset value). The second base coefficient can be the original motion measurement coefficient. Alternatively, if the first calibration error equals the initial motion measurement error before calibration, the second calibration direction can be opposite to the first calibration direction. The second offset is the value after the initial offset is reduced according to a preset rule (reduced by a preset percentage or reduced by a preset value). The second base coefficient can be the motion measurement coefficient after the first calibration.

[0134] 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 calibration error of the (i-1)th calibration is less than the calibration error of the (i-2)th calibration, then the calibration direction of the i-th calibration is the same as the calibration direction of the (i-1)th calibration (the calibration direction of the (i-1)th calibration is the calibration direction during the (i-1)th calibration), the offset of the i-th calibration is the same as the offset of the (i-1)th calibration (the offset of the (i-1)th calibration is the offset during the (i-1)th calibration), and the basic coefficient of the i-th calibration is the motion measurement coefficient after the (i-1)th calibration.

[0135] If the (i-1)th calibration error is greater than or equal to the (i-2)th calibration error, then the direction of the i-th calibration can be the same as the direction of the (i-1)th calibration. The offset of the i-th calibration is the value after the offset of the (i-1)th calibration is reduced according to a preset rule (reduced by a preset percentage or reduced by a preset value), and the base coefficient of the i-th calibration is the motion measurement coefficient after the (i-2)th calibration. Alternatively, if the (i-1)th calibration error is greater than or equal to the (i-2)th calibration error, then the direction of the i-th calibration can be opposite to the direction of the (i-1)th calibration. The offset of the i-th calibration is the value after the offset of the (i-1)th calibration is reduced according to a preset rule (reduced by a preset percentage or reduced by a preset value), and the base coefficient of the i-th calibration is the motion measurement coefficient after the (i-1)th calibration.

[0136] In an alternative implementation, the target axis can be determined from the reference coordinate axes that meet the calibration conditions, and the above-mentioned coefficient calibration process can be performed based on the original motion measurement coefficients of the vibration sensor corresponding to the target axis, which will not be described in detail here.

[0137] The initial offset can be a preset fixed value or determined based on the second motion measurement data. In specific implementations, this embodiment of the invention also provides an optional implementation method for determining the initial offset, as detailed below.

[0138] The desired motion coefficient is determined by any two of the maximum, average, and minimum values ​​of the second motion measurement data within the monitoring period, along with the number of measurements. Based on the desired motion coefficient and the initial motion coefficient, the initial offset is determined, which is the deviation between the desired motion coefficient and the initial motion coefficient.

[0139] Wherein, the expected motion coefficient = (maximum value of the second motion measurement data - average value of the second motion measurement data) ÷ number of measurements within the monitoring period; or, the expected motion coefficient = (maximum value of the second motion measurement data - minimum value of the second motion measurement data) ÷ number of measurements within the monitoring period; or, the expected motion coefficient = (average value of the second motion measurement data - minimum value of the second motion measurement data) ÷ number of measurements within the monitoring period.

[0140] In an alternative implementation, before fine-tuning the motion measurement coefficients of the vibration sensor based on the offset, the target motion measurement coefficients are determined by monitoring any two of the maximum, average, and minimum values ​​of the second motion measurement data within the monitoring period, plus the number of measurements.

[0141] For example, the target motion measurement coefficient = (maximum value of the second motion measurement data - average value of the second motion measurement data) ÷ number of measurements within the monitoring period; or, the target motion measurement coefficient = (maximum value of the second motion measurement data - minimum value of the second motion measurement data) ÷ number of measurements within the monitoring period; or, the target motion measurement coefficient = (average value of the second motion measurement data - minimum value of the second motion measurement data) ÷ number of measurements within the monitoring period.

[0142] Obtain the motion measurement error corresponding to the target motion measurement coefficient. Based on the motion measurement error corresponding to the target motion measurement coefficient, verify the vibration measurement data of the target moving part. 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.

[0143] If the verification result corresponding to the target motion measurement coefficient indicates that the vibration measurement data of the target moving part is invalid, the target motion measurement coefficient is used as the original motion measurement coefficient, and the motion measurement error corresponding to the target motion measurement coefficient is used as the initial motion measurement error before calibration corresponding to the original motion measurement coefficient. Then, the motion measurement coefficient of the vibration sensor is fine-tuned based on the offset. For details, please refer to the relevant description section above, which will not be repeated here.

[0144] In some optional scenarios, the reference sensor coordinate system and the vibration sensor coordinate system do not match due to the sensor's installation position and angle. In this case, if the motion measurement error is determined directly 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 coordinate axis mismatch, thus affecting subsequent verification and leading to unreliable verification results. To improve this problem, this embodiment of the invention also provides an optional implementation method, as described below. In S230, before determining the motion measurement error based on the calibrated first motion measurement data and the second motion measurement data, the verification result of the calibrated first motion measurement data is obtained, which further includes S210 and S220, as specifically described below.

[0145] S210: Determine if the reference sensor coordinate system matches the vibration sensor coordinate system. If they do not match, proceed to S220; if they match, proceed directly to S230.

[0146] The reference sensor coordinate system has at least as many coordinate axes as the vibration sensor coordinate system. Based on the coordinate system configuration information of the reference sensor, the orientation of each coordinate axis can be determined; similarly, based on the coordinate system configuration information of the vibration sensor, the orientation of each coordinate axis can be determined. Furthermore, based on the orientation information of both the reference and vibration sensor coordinate systems, it can be determined whether the reference and vibration sensor coordinate systems match.

[0147] S220, perform coordinate transformation on the calibrated first motion measurement data and / or second motion measurement data according to the coordinate axis transformation relationship, so that the two are in a unified coordinate system.

[0148] The unified coordinate system can be any one of the reference sensor coordinate system, the vibration sensor coordinate system, or a pre-set global coordinate system.

[0149] It should be understood that S230 is executed after S220. The first motion measurement data and / or the second motion measurement data converted by S220 are used to determine the motion measurement error when executing S230, and then, based on the motion measurement error, to verify the vibration measurement data of the target moving part when executing S240, so as to obtain the verification result. For a detailed description of S230 and S240, please refer to the relevant sections, which will not be repeated here.

[0150] In specific implementation, regarding how to quickly determine whether the reference sensor coordinate system and the vibration sensor coordinate system match, thereby improving the verification efficiency, this embodiment of the invention also provides an optional implementation method, please refer to the following. S210, determining whether the reference sensor coordinate system and the vibration sensor coordinate system match, may specifically include: S211 or S212, as detailed below.

[0151] S211, when the reference sensor coordinate system and the vibration sensor coordinate system are parallel, it is determined that the reference sensor coordinate system and the vibration sensor coordinate system are matched; otherwise, it is determined that the two are not matched.

[0152] It should be understood that the vibration sensor coordinate system is used to characterize the acquisition direction of the vibration sensor, and the vibration measurement data and the first motion measurement data corresponding to each coordinate axis of the vibration sensor coordinate system are used to characterize the magnitude of the vibration component and the magnitude of the motion component in that coordinate axis direction, respectively. 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 each coordinate axis of the reference sensor coordinate system are used to characterize the magnitude of the motion component in that coordinate axis direction.

[0153] Based on the vector characteristics of both the first and second motion measurement data, when 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 definition of the coordinate axes, the motion measurement error can be calculated through the coordinate axis matching relationship between the vibration sensor coordinate system and the reference sensor, instead of having to perform coordinate transformation.

[0154] The following example illustrates the parallelism between the reference sensor coordinate system and the vibration sensor coordinate system. In one optional 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 represented as the X1 axis, Y1 axis, and Z1 axis, respectively, and the three coordinate axes of the vibration sensor coordinate system are represented as the X2 axis, Y2 axis, and Z2 axis, respectively. Any of the following parallel cases may exist: First parallel case: X1 axis is parallel to X2 axis, Y1 axis is parallel to Y2 axis, and Z1 axis is parallel to Z2 axis; Second parallel case: X1 axis is parallel to Y2 axis, Y1 axis is parallel to Z2 axis, and Z1 axis is parallel to X2 axis; Third parallel case: X1 axis is parallel to Z2 axis, Y1 axis is parallel to X2 axis, and Z1 axis is parallel to Y2 axis; Fourth parallel case: X1 axis is parallel to Y2 axis, Y1 axis is parallel to X2 axis, and Z1 axis is parallel to Z2 axis; Fifth parallel case: X1 axis is parallel to Z2 axis, Y1 axis is parallel to Y2 axis, and Z1 axis is parallel to X2 axis.

[0155] As can be seen from the second to the fifth parallel scenarios, when the reference sensor coordinate system and the vibration sensor coordinate system are parallel, their coordinate axis definitions differ. However, there is a matching relationship between the coordinate axes of the vibration sensor coordinate system and the reference sensor coordinate system. Based on this matching relationship, the first and second motion measurement data of the matched coordinate axes can be obtained to calculate the motion measurement error. Taking the second scenario as an example, where the X1 axis is matched with the Y2 axis, the Y1 axis is matched with the Z2 axis, and the Z1 axis is matched with the X2 axis, 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, as can the second motion measurement data of the Y1 axis and the first motion measurement data of the X2 axis, and the second motion measurement data of the Z1 axis and the first motion measurement data of the X2 axis.

[0156] It should be noted that there may be other forms of parallelism between the reference sensor coordinate system and the vibration sensor coordinate system, which can be deduced by analogy, but are not listed here.

[0157] S212, when each coordinate axis of the reference sensor coordinate system is completely aligned with each coordinate axis of the vibration sensor coordinate system, the reference sensor coordinate system and the vibration sensor coordinate system are determined to be matched; otherwise, they are determined to be mismatched.

[0158] It should be understood that by requiring the coordinate axes of the reference sensor coordinate system to be completely aligned with the coordinate axes of the vibration sensor coordinate system, the accuracy of motion measurement error calculation results can be guaranteed, making the acquisition standard uniform and improving the accuracy of subsequent verification results.

[0159] When determining the matching between the reference sensor coordinate system and the vibration sensor coordinate system, if coordinate transformation is not performed on the first and second motion measurement data, the vibration sensor coordinate system can be used as the reference coordinate system. The coordinate axes of the vibration sensor coordinate system can be used as reference coordinate axes and matched with the coordinate axes of the reference sensor coordinate system to obtain the first and second motion measurement data with matched coordinate axes. This allows the motion measurement error to be determined. Then, based on the motion measurement error in the vibration sensor coordinate system, the vibration measurement data of the target moving part can be verified to obtain the verification result. Alternatively, the reference sensor coordinate system can be used as the reference coordinate system. The coordinate axes of the reference sensor coordinate system can be used as reference coordinate axes and matched with the coordinate axes of the vibration sensor coordinate system to obtain the first and second motion measurement data with matched coordinate axes. This allows the motion measurement error to be determined. Then, based on the motion measurement error in the reference sensor coordinate system, the vibration measurement data of the target moving part can be verified to obtain the verification result.

[0160] When it is determined that the reference sensor coordinate system and the vibration sensor coordinate system are mismatched, a coordinate transformation is performed on at least one of the first motion measurement data and the second motion measurement data, and the coordinate axis matching relationship after the coordinate transformation is determined. Specifically, a unified coordinate system is used as the reference coordinate system, and the coordinate axes of the unified coordinate system are used as the reference coordinate axes. The first motion measurement data and the second motion measurement data 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 coordinate axis matching. Thus, the coordinate axis matching relationship of the first motion measurement data and the second motion measurement data can be obtained, and the motion measurement error can be determined. Then, based on the motion measurement error under the unified coordinate system, the vibration measurement data of the target moving part is verified to obtain the verification result.

[0161] Furthermore, 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, the vibration measurement data of the target moving part is verified based on the motion measurement error under the unified coordinate system. That is, the vibration measurement data of the target moving part is verified based on the motion measurement error under the vibration sensor coordinate system. The verification result can be directly corresponding to the vibration sensor coordinate system.

[0162] Building upon the preceding text, in cases where coordinate transformation exists and the unified coordinate system is not the vibration sensor coordinate system, this invention provides an optional implementation method for obtaining the verification results of the vibration measurement data of the target moving part. This method is intended to help determine whether the vibration sensor axes have been successfully calibrated and whether the acquired data is usable during monitoring. Please refer to the following description. S240: Based on the motion measurement error, the vibration measurement data of the target moving part is verified to obtain the verification results. Specifically, this may include S241 or S242, as detailed below.

[0163] S241, In the case of coordinate transformation and the unified coordinate system is not the vibration sensor coordinate system, the vibration measurement data of the target moving part is verified based on the motion measurement error under the unified coordinate system to obtain the verification result under the unified coordinate system, and based on the verification result under the unified coordinate system, the verification result of the vibration measurement data of the target moving part under the vibration sensor coordinate system is determined.

[0164] Optionally, based on the verification results in the unified coordinate system, the verification results of the vibration measurement data of the target moving part in the vibration sensor coordinate system are determined, including: when the verification results in the unified coordinate system indicate that the vibration measurement data has failed, the verification results in the unified coordinate system are transformed to the vibration sensor coordinate system according to the coordinate axis transformation relationship to obtain the verification results in the vibration sensor coordinate system.

[0165] The verification results in the vibration sensor coordinate system can include indication information of the failure coordinate axis in the vibration sensor coordinate system.

[0166] It should be understood that if the verification results under the unified coordinate system indicate that all data under 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.

[0167] S242, when there is a coordinate transformation and the unified coordinate system is not the vibration sensor coordinate system, the motion measurement error under the unified coordinate system is transformed to the vibration sensor coordinate system according to the coordinate axis transformation relationship. Based on the motion measurement error under the vibration sensor coordinate system, the vibration measurement data of the target moving part is verified to obtain the verification result.

[0168] Among them, the verification result obtained by S242 is the verification result in the vibration sensor coordinate system.

[0169] Building upon the preceding text, regarding the accuracy of the motion measurement error acquisition results, this embodiment of the invention also provides an optional implementation method, please refer to the following. S230, based on the calibrated first motion measurement data and second motion measurement data, determine the motion measurement error, including: S231 and S232, as detailed below.

[0170] S231, based on the matching of acquisition time and coordinate system, acquire at least one set of first motion measurement data and second motion measurement data that are time-matched and coordinate axis-matched.

[0171] Specifically, a second preset time window is set according to the acquisition frequency of the reference sensor and the vibration sensor. Within this second preset time window, there are N acquisition time points. Based on the number of coordinate axes of the vibration sensor and the reference sensor, each acquisition time point corresponds to at least one first motion measurement data point and at least one second motion measurement data point. Based on the number of coordinate axes M in the vibration sensor coordinate system, M first motion measurement data points and M second motion measurement data points are obtained. Therefore, each acquisition time point contains M first motion measurement data points and M second motion measurement data points.

[0172] It should be understood that the coordinate system matching situation can be referred to the relevant description above, and will not be repeated here. Based on the coordinate axis matching relationship, N×M sets of first and second motion measurement data with time matching and coordinate axis matching are obtained, where N≥1, M≥1. (S1) nm S2 nm S1 represents the first and second motion measurement data of the coordinate axis matching at the nth acquisition time point in the mth group; nm This represents the first motion measurement data corresponding to the m-th coordinate axis at the n-th acquisition time point, obtained by the vibration sensor; S2 nmThis represents the second motion measurement data corresponding to the m-th matched coordinate axis at the n-th acquisition time point, which is obtained by the reference sensor, 1≤n≤N, 1≤m≤M.

[0173] S232, calculate at least one motion measurement error based on at least one set of first motion measurement data and second motion measurement data.

[0174] It should be understood that a corresponding motion measurement error can be calculated from a set of first and second motion measurement data that are time-matched and coordinate-axis-matched. Each obtained motion measurement error corresponds to a reference coordinate axis.

[0175] To ensure the accuracy of the verification results and further reduce the complexity of verifying the vibration measurement data of the target moving part, this embodiment of the invention provides an optional implementation method, as detailed below. Following S232, S230, based on the calibrated first and second motion measurement data, determines the motion measurement error, and further includes S233, as detailed below.

[0176] S233, when there are multiple motion measurement errors corresponding to the same reference coordinate axis, determine the motion measurement error to be used for verification based on the multiple motion measurement errors corresponding to the same reference coordinate axis.

[0177] It should be understood that multiple motion measurement errors are at least two motion measurement errors. According to the relevant description of coordinate axis matching above, the reference coordinate axis can be the coordinate axis of the unified coordinate system that serves as the matching reference, or the coordinate axis of the vibration sensor coordinate system that serves as the matching reference, or the coordinate axis of the reference sensor that serves as the matching reference.

[0178] The method for determining motion measurement error for verification can include any of the following: (1) using coefficient weights to perform weighted calculations on multiple motion measurement errors matched on the coordinate axes to obtain the motion measurement error for verification, wherein the coefficient weights can be related to time, such as the closer to the current time, the higher the coefficient weights; (2) taking the average value of multiple motion measurement errors matched on the coordinate axes to obtain the motion measurement error for verification; (3) taking the motion measurement error with the median order from multiple motion measurement errors matched on the coordinate axes for verification; (4) taking the motion measurement error with the largest value from multiple motion measurement errors matched on the coordinate axes for verification.

[0179] It should be understood that, in this case, multiple sets of first motion measurement data and second motion measurement data existing on the same reference coordinate axis correspond to a motion measurement error, and this motion measurement error has a corresponding relationship with a reference coordinate axis.

[0180] In one optional implementation, the motion measurement errors corresponding to multiple sets of matched coordinate axes can be fused using coordinate axis weights to obtain a fused motion measurement error. The coordinate axis weights can correspond to the motion direction of the target moving part. For example, a larger weight value is assigned to the coordinate axis parallel to the motion direction, while a smaller weight value is assigned to the coordinate axis not parallel to the motion direction. The weight values ​​are non-negative.

[0181] It should be understood that, in this case, the first and second motion measurement data existing across multiple reference coordinate axes correspond to a single motion measurement error. This motion measurement error does not correspond to a specific reference coordinate axis, but rather to multiple reference coordinate axes.

[0182] Building upon the preceding text, when at least one motion measurement error is obtained, this embodiment of the invention provides an optional implementation method to ensure the accuracy of the verification results of the vibration measurement data of the target moving part, as detailed below. S240, Based on the motion measurement error, the vibration measurement data of the target moving part is verified to obtain the verification result. Specifically, this may include: S243, which is described in detail below.

[0183] S243, if at least one motion measurement error is obtained and a corresponding reference coordinate axis exists, generate a verification result related to the vibration measurement data of the corresponding coordinate axis of the vibration sensor.

[0184] It should be understood that, for ease of observation, analysis, and calibration, verification results related to vibration measurement data corresponding to the coordinate axes of the vibration sensor can be generated. Furthermore, these verification results are expressed based on the vibration sensor coordinate system, which facilitates intuitive understanding by the user. Therefore, even after verification in a transformed unified coordinate system, the results in the unified coordinate system can be transformed back to the vibration sensor coordinate system to obtain the verification results in the vibration sensor coordinate system. At this point, when the verification results indicate that the vibration measurement data for one or more vibration sensor coordinate axes is invalid, the monitoring operation on the target moving part based on the vibration measurement data of the corresponding coordinate axes of the vibration sensor can be stopped.

[0185] In a specific implementation, regarding the content of S243, this embodiment of the invention also provides an optional implementation method, please refer to the following. S243, when at least one motion measurement error is obtained and a corresponding reference coordinate axis exists, a verification result related to the vibration measurement data of the corresponding coordinate axis of the vibration sensor is generated, including at least one of the following.

[0186] S243-1, when there is at least one motion measurement error, obtain the verification conditions corresponding to the relevant coordinate axes based on the relevant coordinate axes determined based on each motion measurement error, and generate a verification result by combining the judgment of each motion measurement error and the corresponding verification conditions.

[0187] In one optional implementation, during the process of obtaining verification results related to vibration measurement data corresponding to the coordinate axes of the vibration sensor, if the reference coordinate system is not the vibration sensor coordinate system, when the motion measurement error is obtained, a coordinate system transformation can be performed first to obtain the motion measurement error in the vibration sensor coordinate system. Then, based on each motion measurement error, the relevant coordinate axes in the vibration sensor coordinate system are determined, the verification conditions corresponding to the relevant coordinate axes are obtained, and the verification results are generated by combining the judgment of each motion measurement error with the corresponding verification conditions. Alternatively, the relevant coordinate axes of the motion measurement error in the reference coordinate system can be determined first, and the verification conditions corresponding to the relevant coordinate axes can be obtained. Then, the judgment of each motion measurement error with the corresponding verification conditions is transformed from the reference coordinate system to the vibration sensor coordinate system to generate the verification results.

[0188] In another optional implementation, 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 of each motion measurement error and the corresponding verification conditions.

[0189] S243-2, when there are multiple motion measurement errors, determine the relevant coordinate axes based on each motion measurement error, preprocess the motion measurement errors with the same relevant coordinate axes, obtain the verification conditions corresponding to the relevant coordinate axes, and generate the verification results by combining the preprocessing results and the judgment of the verification conditions.

[0190] The preprocessing can include, but is not limited to, taking the maximum value of 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, or using coefficient weights to assign weighted values ​​to the motion measurement errors corresponding to the relevant coordinate axes, such as giving higher weights to coefficients closer to the current time. The validation conditions are generated based on error thresholds or error ranges.

[0191] After preprocessing, if only one motion measurement error exists for verification (e.g., the maximum value or average value of the motion measurement errors corresponding to the relevant coordinate axes), then the relevant coordinate axis corresponding to this single motion measurement error is further determined, the verification conditions corresponding to the relevant coordinate axis are obtained, and the verification result is generated by combining the preprocessing results and the judgment of the verification conditions. The relevant coordinate axis corresponding to the motion measurement error may be a coordinate axis in a unified coordinate system, a coordinate axis in the vibration sensor coordinate system, or a coordinate axis in the reference sensor coordinate system.

[0192] After preprocessing, if there are multiple motion measurement errors, these errors may correspond to one or more relevant coordinate axes. This allows us to obtain the verification conditions corresponding to one or more relevant coordinate axes. After judging the motion measurement errors and verification conditions corresponding to the relevant coordinate axes, we combine the multiple judgment results to generate the verification results with the vibration measurement data.

[0193] It should be understood that the verification results obtained in S243-2 are the verification results related to the vibration measurement data of the relevant coordinate axes under the vibration sensor coordinate system. The specific process can be referred to the description of the relevant parts above, and will not be repeated here.

[0194] In one optional implementation, before calibrating the vibration sensor, the validity of the vibration measurement data collected by the vibration sensor can be evaluated. If the evaluation result indicates that the vibration measurement data collected by the vibration sensor is invalid or that the vibration measurement data of some coordinate axes is invalid, it is determined whether the vibration sensor meets the calibration conditions based on 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 system quickly returns to its working state, ensuring the transportation efficiency of the automated transport equipment.

[0195] Regarding how to evaluate the validity of vibration measurement data collected by vibration sensors, this embodiment of the invention also provides an optional implementation method. Please refer to the following: The vibration measurement data validity evaluation process may include the following steps: SA1 acquires the first motion measurement data and the second motion measurement data corresponding to the target moving part.

[0196] SA2, based on the first motion measurement data and the second motion measurement data, determines the motion measurement error; 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.

[0197] SA3 evaluates the validity of vibration measurement data for a target moving part based on motion measurement error.

[0198] When the evaluation results indicate 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 results indicate 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.

[0199] It should be noted that the process of evaluating the validity of the vibration measurement data collected by the vibration sensor can be found in the relevant section above on obtaining the verification results of the first motion measurement data after calibration, and will not be repeated here.

[0200] It should also be noted that when the evaluation results of the vibration measurement data collected by the vibration sensor indicate that the vibration measurement data of the target moving part is invalid, a data calibration command can be generated.

[0201] This invention also 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 vibration sensor in the same group are installed on the same moving part of the automated transport equipment. The moving part is deployed on the transport track of the automated transport equipment. The data processing module is communicatively connected to the reference sensor and the vibration sensor. The data processing module is used to execute the vibration sensor calibration method of any of the above embodiments.

[0202] The data processing module may be, but is not limited to, any one or more of the processing modules in the above-mentioned measurement module, host computer equipment, and automated transport equipment.

[0203] This invention also provides an automated transport device, which includes a control module, a transport track, and a moving component deployed on the transport track. The control module is connected to the transport track and / or the moving component, and is used to control the moving component to move along the transport track. The control module is used to execute the vibration sensor calibration method of any of the above embodiments.

[0204] This invention also provides a host computer device that is connected to an automated transport device, the automated transport device including a transport track and a moving component deployed on the transport track; The host computer device is used to execute the vibration sensor calibration method of any of the above embodiments.

[0205] The present invention also provides an automated transportation system including a data processing device, a transport track, a moving component deployed on the transport track, at least one reference sensor, and at least one vibration sensor.

[0206] The reference sensor and vibration sensor of the same group are mounted on the same moving part, which is deployed on the transport track.

[0207] The data processing equipment is communicatively connected to the reference sensor and vibration sensor. The data processing device is used to perform the vibration sensor calibration method of any of the above embodiments.

[0208] Optionally, the reference sensor and vibration sensor of the same group are mounted on the same surface of the moving part.

[0209] In summary, the vibration sensor calibration method and related equipment provided by the embodiments of the present invention determine whether the vibration sensor meets the calibration conditions based on 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 to improve the accuracy of the vibration sensor. This enables the calibrated vibration sensor to collect more accurate vibration measurement data, reduces the adverse effects of low vibration sensor accuracy on the vibration monitoring of moving parts, and ensures the accuracy of vibration monitoring of moving parts.

[0210] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0211] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A vibration sensor calibration method, characterized in that, The method is applied to a first module, which is used to calibrate a vibration sensor mounted on the moving component based on data generated by the moving component, the moving component moving along a transport track, the method comprising: Based on the first motion measurement data and the second motion measurement data corresponding to the target moving part, it is determined whether the vibration sensor meets the calibration conditions; wherein, the second motion measurement data is acquired by a reference sensor installed on the target moving part, and the accuracy of the reference sensor in acquiring the second motion measurement data is not lower than the accuracy of the vibration sensor in acquiring the first motion measurement data; If the vibration sensor is determined to meet the calibration conditions, then the vibration sensor is calibrated; the calibration of the vibration sensor includes at least one of the following: The motion measurement coefficients of the vibration sensor are calibrated to obtain a first calibration result; wherein, the first calibration result includes 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, or the first calibration result is obtained by calibrating the motion measurement coefficients based on second motion measurement data; 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 based on the motion measurement coefficients after each calibration, and determining whether to calibrate the motion measurement coefficients again based on the verification result of the calibrated first motion measurement data, until the calibration end condition is met; The second calibration result sent by the second module is obtained; wherein the second calibration result includes the motion measurement coefficient of successful calibration or the calibration failure information; the second calibration result is obtained by calibrating the motion measurement coefficient based on the offset, or the second calibration result is obtained by calibrating the motion measurement coefficient based on the second motion measurement data; the process of the second module obtaining the second calibration result includes: based on the motion measurement coefficient of the calibrated vibration sensor from the second module, obtaining the first calibrated motion measurement data obtained based on the motion measurement coefficient after each calibration, and the verification result based on the first calibrated motion measurement data, and sending the verification result to the second module so that it can determine whether the calibration end condition is met; The acquisition of calibrated first motion measurement data based on the motion measurement coefficients after each calibration includes any one of the following: sending the calibrated motion measurement coefficients to the vibration sensor so that the vibration sensor can collect the first motion measurement data based on the calibrated motion measurement coefficients; calibrating the first motion measurement data based on the calibrated motion measurement coefficients to obtain calibrated first motion measurement data.

2. The vibration sensor calibration method as described in claim 1, characterized in that, Before determining whether the vibration sensor meets the calibration conditions based on the first motion measurement data and the second motion measurement data corresponding to the target moving part, the method further includes at least one of the following: In response to a data calibration command, the target moving part indicated by the data calibration command is controlled to move from the main path to the transport track to a branch path of the transport track; wherein the data calibration command is generated according to a preset calibration cycle, or the data calibration command is generated when it is determined that the vibration sensor of the target moving part has failed; the branch path is at least used to install the reference sensor; In response to a data calibration command, second motion measurement data of the target moving part indicated by the data calibration command is acquired.

3. The vibration sensor calibration method as described in claim 1, characterized in that, The calibration of the vibration sensor includes at least one of the following: The motion measurement coefficients corresponding to at least one coordinate axis of the vibration sensor are calibrated. A calibration request is sent to the 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 set independently of the first module.

4. The vibration sensor calibration method as described in claim 1, characterized in that, The verification results of obtaining the first motion measurement data after calibration include: Based on the calibrated first motion measurement data and second motion measurement data, determine the motion measurement error; Based on the motion measurement error, the vibration measurement data of the target moving part is verified to obtain the verification result.

5. The vibration sensor calibration method as described in claim 4, characterized in that, Once it is determined that the calibration does not meet the calibration termination criteria, the following steps are also included: Based on the motion measurement error after this calibration, determine whether to adjust the calibration direction and / or offset, and perform the next calibration of the motion measurement coefficient of the vibration sensor based on the determination result.

6. The vibration sensor calibration method as described in claim 4, 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: Determine whether the reference sensor coordinate system matches the vibration sensor coordinate system; If they do not match, the calibrated first motion measurement data and / or the second motion measurement data are transformed according to the coordinate axis transformation relationship so that they 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.

7. The vibration sensor calibration method as described in claim 6, characterized in that, The determination of 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, it is determined that the reference sensor coordinate system and the vibration sensor coordinate system are matched; otherwise, it is determined that the two are not matched. When each coordinate axis of the reference sensor coordinate system is perfectly aligned with each coordinate axis of the vibration sensor coordinate system, the reference sensor coordinate system is determined to be matched with the vibration sensor coordinate system; otherwise, they are determined to be mismatched.

8. The vibration sensor calibration method according to any one of claims 5-7, characterized in that, The verification of 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 coordinate transformation exists and the unified coordinate system is not the vibration sensor coordinate system, the vibration measurement data of the target moving part is verified based on the motion measurement error under the unified coordinate system to obtain the verification result under the unified coordinate system, and based on the verification result under the unified coordinate system, the verification result of the vibration measurement data of the target moving part under the vibration sensor coordinate system is determined. In cases where coordinate transformation exists and the unified coordinate system is not the vibration sensor coordinate system, the motion measurement error under the unified coordinate system is transformed to the vibration sensor coordinate system according to the coordinate axis transformation relationship. Based on the motion measurement error under the vibration sensor coordinate system, the vibration measurement data of the target moving part is verified to obtain the verification result.

9. The vibration sensor calibration method as described in claim 5, characterized in that, The determination of motion measurement error based on the calibrated first motion measurement data and the second motion measurement data includes: Based on the matching of acquisition time and coordinate system, at least one set of first motion measurement data and second motion measurement data that are time-matched and coordinate axis-matched are obtained; At least one motion measurement error is calculated based on at least one set of first motion measurement data and second motion measurement data.

10. The vibration sensor calibration method as described in claim 9, characterized in that, The step of determining the motion measurement error based on the calibrated first motion measurement data and the second motion measurement data further includes: When multiple motion measurement errors correspond to the same reference coordinate axis, the motion measurement error used for verification is determined based on the multiple motion measurement errors corresponding to the same reference coordinate axis.

11. The vibration sensor calibration method as described in claim 9 or 10, characterized in that, The verification of vibration measurement data of the target moving component based on the motion measurement error to obtain the verification result includes: Given at least one motion measurement error and a corresponding reference coordinate axis, a verification result is generated that relates to the vibration measurement data of the corresponding coordinate axis of the vibration sensor.

12. The vibration sensor calibration method as described in claim 11, characterized in that, The step of generating a verification result related to the vibration measurement data of the corresponding coordinate axis of the vibration sensor, given at least one motion measurement error and the existence of a corresponding reference coordinate axis, includes at least one of the following: When the number of motion measurement errors is at least one, the verification conditions corresponding to the relevant coordinate axes are obtained based on the relevant coordinate axes determined based on each motion measurement error, and the verification result is generated by combining the judgment of each motion measurement error with the corresponding verification conditions. When there are multiple motion measurement errors, 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. Finally, the verification result is generated by combining the preprocessing results and the judgment of the verification conditions.

13. A data processing device, characterized in that, It includes a data processing module, at least one reference sensor and at least one vibration sensor, wherein the reference sensor and the vibration sensor in the same group are installed on the same moving part of the automated transport equipment, the moving part is deployed on the transport track of the automated transport equipment, and the data processing module is communicatively connected to 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 1-12.

14. An automated transport device, characterized in that, The automated transport equipment includes a control module, a transport track, and a moving component deployed on the transport track. The control module is connected to the transport track and / or the moving component, and is used to control the moving component to move along the transport track. The control module is used to execute the vibration sensor calibration method according to any one of claims 1-12.

15. A host computer device, characterized in that, The host computer device is connected to the automated transport device, which includes a transport track and moving parts deployed on the transport track. The host computer device is used to execute the vibration sensor calibration method according to any one of claims 1-12.

16. An automated transportation system, characterized in that, The automated transport system includes a data processing device, a transport track, a moving component deployed on the transport track, at least one reference sensor, and at least one vibration sensor; The reference sensor and the vibration sensor, which belong to the same group, are mounted on the same moving component, which is deployed on the transport track; The data processing device is communicatively connected to the reference sensor and the vibration sensor. The data processing device is used to perform the vibration sensor calibration method according to any one of claims 1-12.

17. The automated transport system as described in claim 16, characterized in that, The reference sensor and the vibration sensor, which belong to the same group, are mounted on the same surface of the moving part.

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