Positioning calibration method and device for pneumatic control and medium

Abstract

The invention discloses a positioning calibration method and device for pneumatic control and a medium, and relates to the technical field of general control systems. The method comprises the following steps: generating a datum line for positioning the pneumatic control device according to a datum point on a positioning pin; obtaining the displacement deviation of the air bag relative to the datum line in the observation time period, and generating a deviation track of the air bag in the continuous observation time period according to the displacement deviation; obtaining a track drop point corresponding to the offset track, and determining a calibration type corresponding to the driving mechanism according to the distribution condition of the track drop point; wherein the calibration type comprises pre-calibration and direct calibration; on the basis of the calibration type, a control instruction for the driving mechanism is generated according to the space deviation relation between the deviation track and the datum line; and controlling a micro-motion platform arranged at the bottom of the driving mechanism through the control instruction, and carrying out displacement calibration on the driving mechanism, so that the calibrated driving mechanism is aligned with the air bag hole of the air bag.

Description

Technical Field

[0001] The present invention relates to the general technical field of control systems, and in particular to a positioning calibration method, equipment and medium for pneumatic control. Background Art

[0002] Pneumatic control devices, such as pumps and air compressors, are widely used in industrial automation, precision manufacturing and other fields. Pneumatic control devices use compressed air as their power source. During pneumatic control, the drive mechanism drives the airbag through compressed air. When the positioning between the drive mechanism and the airbag is inaccurate, the operating frequency of the pneumatic control device will become unstable, thereby affecting the liquid transfer efficiency. Traditional pneumatic control positioning and calibration methods usually achieve initial positioning based on mechanical limits or fixed reference points, followed by periodic calibration through manual intervention or simple feedback mechanisms. This method is prone to introducing systematic errors under complex working conditions, reducing calibration accuracy. Summary of the Invention

[0003] In order to solve the above problems, the present invention proposes a positioning calibration method for pneumatic control, which is applied to a preset pneumatic control device, wherein the pneumatic control device includes a driving mechanism, a positioning pin provided on a base of the driving mechanism, and an airbag, including:

[0004] generating a reference line for positioning the pneumatic control device according to the reference point on the positioning pin;

[0005] The laser displacement sensors provided on both sides of the driving mechanism are used to obtain the displacement deviation of the airbag relative to the reference line during an observation period, and to generate a displacement trajectory of the airbag during a continuous observation period based on the displacement deviation;

[0006] Obtaining trajectory landing points corresponding to the offset trajectory, and determining a calibration type corresponding to the drive mechanism according to a distribution of the trajectory landing points; wherein the calibration type includes pre-calibration and direct calibration;

[0007] generating, based on the calibration type, a control instruction for the drive mechanism according to a spatial offset relationship between the offset trajectory and the reference line;

[0008] The control instructions are used to control the micro-motion platform provided at the bottom of the driving mechanism to perform displacement calibration on the driving mechanism so that the calibrated driving mechanism and the airbag hole of the airbag remain aligned.

[0009] In one implementation of the present invention, determining the calibration type corresponding to the driving mechanism according to the distribution of the trajectory landing points specifically includes:

[0010] Determining the discreteness of the trajectory landing points according to the distribution of the trajectory landing points;

[0011] If the discrete degree is not greater than a preset discrete value, the calibration type corresponding to the driving mechanism is determined to be direct calibration; otherwise, the calibration type corresponding to the driving mechanism is determined to be pre-calibration.

[0012] In one implementation of the present invention, determining the discreteness corresponding to the trajectory landing points according to the distribution of the trajectory landing points specifically includes:

[0013] Obtaining an operating frequency corresponding to the pneumatic control device, and determining an allowable deviation area of ​​the airbag relative to the baseline based on the operating frequency; wherein the operating frequency is positively correlated with the range of the allowable deviation area;

[0014] Eliminate the trajectory landing points located in the allowable deviation area from the trajectory landing points to obtain the target trajectory landing points after elimination, and calculate the coordinate arithmetic mean of the coordinate values ​​corresponding to the target trajectory landing points;

[0015] Calculating the coordinate variance corresponding to the target trajectory landing point based on the coordinate value corresponding to the target trajectory landing point and the coordinate arithmetic mean;

[0016] The discrete degree corresponding to the trajectory landing point is determined according to the coordinate variance.

[0017] In one implementation of the present invention, based on the calibration type and according to the spatial offset relationship between the offset trajectory and the reference line, generating a control instruction for the drive mechanism specifically includes:

[0018] When the calibration type is direct calibration, the trajectory landing point with the highest frequency is used as the fixed trajectory landing point in the offset trajectory;

[0019] generating a first control instruction for adjusting the driving mechanism from the fixed trajectory landing point to the baseline according to a spatial offset relationship between the fixed trajectory landing point and the baseline;

[0020] In the case where the calibration type is the pre-calibration, the next trajectory landing point of the airbag in the next observation time period is predicted based on the offset trajectory, and according to the spatial offset relationship between the next trajectory landing point and the baseline, a second control instruction is generated for adjusting the drive mechanism from the next trajectory landing point to the baseline.

[0021] In one implementation of the present invention, before generating the control instruction for the driving mechanism, the method further includes:

[0022] Obtaining the issuing time of the historical control instructions and the response time of the micro-motion platform after receiving the historical control instructions;

[0023] Determine the lag time corresponding to the micro-motion platform according to the time difference between the response time and the sending time;

[0024] A compensation instruction for the control instruction is generated according to the lag time, and the compensation instruction is superimposed on the control instruction to achieve lag compensation for the control instruction.

[0025] In one implementation of the present invention, the micro-motion platform provided at the bottom of the driving mechanism is controlled by the control instruction to perform displacement calibration on the driving mechanism, specifically including:

[0026] Through the control instructions, according to the spatial offset relationship, the designated displacement amounts corresponding to the micro-motion platforms provided on the driving mechanism in each displacement direction are determined, and the micro-motion platforms are controlled to perform displacement calibration on the driving mechanism according to the designated displacement amounts.

[0027] In one implementation of the present invention, after performing displacement calibration on the driving mechanism according to the specified displacement amount, the method further includes:

[0028] When the displacement deviation between the calibrated driving mechanism and the airbag is within the allowable deviation range, determining that the driving mechanism has completed the displacement calibration;

[0029] When the displacement deviation between the drive mechanism and the airbag after calibration is not within the allowable deviation area, the micro-motion platform is controlled to perform a secondary calibration on the drive mechanism according to the corresponding calibration accuracy; wherein the calibration accuracy corresponding to the secondary calibration is greater than the calibration accuracy corresponding to the displacement calibration.

[0030] In one implementation of the present invention, before manufacturing the micro-motion platform and performing displacement calibration on the driving mechanism according to the specified displacement, the method further includes:

[0031] collecting the real-time operating temperature of the drive mechanism by a temperature sensor provided on a base of the drive mechanism, and determining a temperature difference between the real-time operating temperature and an original operating temperature when the pneumatic control device is not in operation;

[0032] Determining a thermal expansion coefficient corresponding to the base, and calculating an expansion amount corresponding to the base based on the thermal expansion coefficient, the temperature change, and an original length of the base;

[0033] The designated displacement is corrected according to the expansion amount, so as to perform displacement calibration on the driving mechanism using the corrected designated displacement.

[0034] An embodiment of the present invention provides a positioning and calibration device for pneumatic control, the device comprising:

[0035] at least one processor;

[0036] and, a memory communicatively coupled to the at least one processor;

[0037] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a positioning calibration method for pneumatic control as described in any one of the above items.

[0038] An embodiment of the present invention provides a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to:

[0039] A positioning calibration method for pneumatic control as described in any of the above items.

[0040] The positioning calibration method for pneumatic control proposed by the present invention can bring the following beneficial effects:

[0041] By dynamically generating a reference line to replace the traditional fixed reference, using high-precision laser to monitor the airbag displacement and analyze the trajectory in real time, automatically determining the calibration type, and then driving the micro-motion platform for precise adjustment, the problem of inaccurate positioning caused by mechanical reference drift and manual calibration lag in traditional methods is solved. The drive mechanism and the airbag hole are quickly and accurately aligned, ensuring the stable operating frequency of the pneumatic device, and significantly improving the liquid transfer efficiency and system reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0043] Figure 1 A schematic flow chart of a positioning calibration method for pneumatic control provided by an embodiment of the present invention;

[0044] Figure 2 A schematic structural diagram of a positioning and calibration device for pneumatic control provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] The technical solutions provided by various embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0047] like Figure 1 As shown, an embodiment of the present invention provides a positioning calibration method for pneumatic control, which is applied to a preset pneumatic control device. The pneumatic control device includes a driving mechanism, a positioning pin and an airbag provided on a base of the driving mechanism, including:

[0048] S101: Generate a reference line for positioning the pneumatic control device according to the reference point on the positioning pin.

[0049] In a pneumatic control device, a drive mechanism (such as a pneumatic valve or solenoid valve) regulates the expansion and contraction of an airbag by controlling the input and exhaust of compressed air. For a pneumatic control device like a pump, the drive mechanism is fixed to the pump body and connected to the airbag via piping or a connector. The airbag expands upon receiving compressed air, pushing liquid out, and contracts upon exhausting, drawing liquid in. The compressed airbag deforms and reciprocates, achieving liquid delivery. Locating pins, typically located on the base of the drive mechanism, secure the airbag in place. During the reciprocating motion of the airbag, the pins facilitate rapid alignment between the airbag and the drive mechanism. The pins have multiple datum points that serve as reference points for measurement or alignment, guiding subsequent alignment and positioning operations. The control system uses a laser displacement sensor to non-contactly measure the datum points on the pins, acquiring their three-dimensional coordinates. Once the datum points are determined, a baseline is generated from these datum points, used to position the pneumatic control device. If there are two datum points, the baseline is generated directly from the coordinates of the two points. If there are more than two datum points, a least-squares fit is used to minimize the impact of measurement errors. The baseline will later serve as a reference for calibrating the pneumatic control device. As long as the interface between the airbag and the drive mechanism is located on this baseline, the pneumatic control device's positioning requirements will be met. Typically, the positioning pin is a diamond-shaped structure, and the baseline is a crosshair formed by connecting the four corner points.

[0050] S102: Obtain the displacement deviation of the airbag relative to the baseline during the observation period through the laser displacement sensors provided on both sides of the driving mechanism, and generate the displacement trajectory of the airbag during the continuous observation period based on the displacement deviation.

[0051] Laser displacement sensors are installed on both sides of the driving mechanism, with their optical axes perpendicular to the baseline and covering the airbag's range of motion. During the observation period, such as 3s, 5s, 10s, etc., the displacement deviation of the airbag relative to the baseline is obtained. The displacement deviation here includes horizontal deviation and vertical deviation, where the horizontal deviation is the displacement deviation relative to the horizontal baseline and the vertical deviation is the displacement deviation relative to the vertical baseline. Based on the displacement deviation, the displacement deviations within the continuous observation period are arranged in chronological order to form the displacement trajectory sequence of the airbag {(t i ,Δx i ,Δy i )}, where t i represents the i-th observation period, Δx i Indicates the horizontal deviation, Δy i Indicates vertical deviation.

[0052] S103: Acquire trajectory landing points corresponding to the offset trajectory, and determine a calibration type corresponding to the driving mechanism according to the distribution of the trajectory landing points; wherein the calibration type includes pre-calibration and direct calibration.

[0053] The deviation trajectory reflects the actual accuracy of the relative motion between the drive mechanism and the airbag. The deviation trajectory consists of multiple trajectory points, each determined by the displacement deviation measured by the baseline laser displacement sensor. Depending on the distribution of the trajectory points, different calibration strategies can be selected to improve the motion accuracy between the drive mechanism and the airbag, thereby enhancing the operational stability of the pneumatic control device. Calibration types include pre-calibration and direct calibration. Pre-calibration occurs when the trajectory points are scattered or have large deviations. This makes it impossible to accurately calibrate the position based on historical trajectory points. Pre-calibration requires predicting the trajectory points for the next observation period and pre-calibrating the drive mechanism. In other words, pre-calibration is based on a predicted trajectory. When the trajectory points are more concentrated and have small deviations, this indicates that while there is some error in the relative position between the drive mechanism and the airbag, the airbag's trajectory points are relatively concentrated. In this case, the airbag's trajectory can be treated as a fixed trajectory, and positioning calibration can be performed directly based on this fixed trajectory.

[0054] Setting different calibration strategies to calibrate the drive mechanism can effectively deal with different types of positioning deviation problems, including systematic deviation and random deviation, improve the adaptability of the pneumatic control device to various working conditions, and enhance the stability and reliability of pneumatic work.

[0055] In one embodiment, the degree of discreteness of the trajectory landing points is analyzed based on the distribution of the trajectory landing points. The obtained discreteness is compared with the preset discrete value. If the discreteness is not greater than the preset discrete value, it means that the trajectory landing points are relatively concentrated. The reason for the positioning deviation of the airbag and the drive mechanism may be a systemic problem (such as mechanical wear). At this time, the drive mechanism needs to be directly calibrated, that is, the drive mechanism is calibrated directly according to the distribution of the historical trajectory landing points. If the discreteness is greater than the preset discrete value, it means that the trajectory landing points are relatively scattered. At this time, it may be caused by deformation and leakage of the airbag, and more random noise (such as instantaneous impact, etc.). These scattered trajectory landing points cannot reflect the objective movement law of the airbag. At this time, in order to improve the calibration accuracy of the drive mechanism, the drive mechanism needs to be pre-calibrated, that is, the drive mechanism is adjusted by predicting the trajectory landing point position of the next observation time period.

[0056] It should be noted that the airbag may be affected by environmental factors, mechanical wear or measurement errors during its reciprocating motion. Therefore, the airbag hole is allowed to deviate from the baseline by a certain distance, which is called the allowable deviation area. The allowable deviation area refers to the maximum acceptable deviation range of the airbag relative to the baseline during the movement of the pneumatic control device. The size of the allowable deviation area is positively correlated with the operating frequency of the pneumatic control device, that is, the higher the operating frequency, the more instantaneous deviations may be caused, and the larger the range of the allowable deviation area. Therefore, during the operation of the pneumatic control device, its corresponding operating frequency is obtained, and then the allowable deviation area of ​​the current airbag relative to the baseline is determined based on the operating frequency. The allowable deviation area can be a circular area with the intersection of the baseline as the origin, or it can be set as a rectangular area according to actual needs. The present invention does not impose any restrictions on this.

[0057] After determining the allowable deviation area, the trajectory points that fall within the allowable deviation area are removed from the trajectory points to obtain the proposed target trajectory points. The removed trajectory points are within the allowable error range. Removing them from the trajectory points can reduce the sample size of trajectory points, reduce unnecessary calibration operations, and focus subsequent calibration operations on error points that fall outside the error range, thereby improving calibration efficiency.

[0058] For each target trajectory point, the coordinate mean of the corresponding coordinate values ​​is calculated. This coordinate mean represents the central tendency of the airbag's motion. Based on this coordinate mean and the coordinate values ​​of each target trajectory point, the coordinate variance of the target trajectory point can be calculated. This variance represents the degree of dispersion of the trajectory points. A greater degree of dispersion indicates a more dispersed trajectory point, potentially impairing the positioning accuracy between the airbag and the drive mechanism.

[0059] S104: Based on the calibration type, and according to the spatial offset relationship between the offset trajectory and the reference line, a control instruction for the drive mechanism is generated.

[0060] After detecting that the drive mechanism and airbag require displacement calibration, a micro-motion platform located at the bottom of the drive mechanism controls the drive mechanism to adjust its position, posture, or motion to align it with the baseline. The micro-motion platform is moved by control commands generated based on the spatial offset relationship between the offset trajectory and the baseline.

[0061] In one embodiment, when the degree of discreteness is low, the offset trajectory has a high degree of concentration. At this time, the main reason for the positioning deviation is the systematic offset, such as the fixed direction deviation caused by mechanical wear and installation errors. Therefore, when the calibration type is direct calibration, the deviation trajectory of the airbag is approximately regarded as a fixed path, and the frequency of occurrence of all trajectory landing points needs to be counted, and the point with the highest frequency is selected as the fixed trajectory landing point. Then, the spatial offset relationship between the fixed trajectory landing point and the baseline is determined. The spatial offset relationship here refers to the offset relative to the horizontal baseline and the vertical baseline, which can be specifically characterized by the offset value. In this case, it is necessary to generate a first control instruction for adjusting the drive mechanism from the fixed trajectory landing point to the baseline based on the spatial offset relationship between the fixed trajectory landing point and the baseline. The first control instruction will drive the micro-motion platform to reversely compensate for the error.

[0062] When the degree of dispersion is high, the offset trajectory exhibits a complex distribution, such as due to noise superposition or dynamic disturbances. In this case, pre-calibration is used, predicting the future trajectory for preemptive compensation. To predict the future trajectory landing point, the offset trajectory sequence is input into the LSTM model, which then outputs the next trajectory landing point for the airbag during the next observation period. Based on the spatial offset between the next trajectory landing point and the baseline, a second control instruction is generated to adjust the drive mechanism from the next trajectory landing point to the baseline.

[0063] It should be noted that due to the lag time when the micro-motion platform executes its movements, this lag time can prevent the micro-motion platform from responding precisely at the time specified by the control command, resulting in positioning deviation. Therefore, it is necessary to determine the lag time and generate compensation commands to pre-adjust the execution timing of the control command to ensure that the micro-motion platform responds accurately at the expected time, reduce positioning deviation, and improve the accuracy of the drive mechanism's adjustment to the baseline.

[0064] Specifically, the issuance time of the historical control instructions and the response time of the micro-motion platform after receiving the historical control instructions are obtained. The issuance time refers to the time point when the control instruction is issued from the control system, and the response time refers to the time point when the micro-motion platform starts to execute the action after receiving the control instruction. According to the time difference between the issuance time and the response time, the lag time of the micro-motion platform can be determined. In order to eliminate the operation lag of the micro-motion platform, it is necessary to generate corresponding compensation instructions according to the lag time, and superimpose the compensation instructions on the control instructions, aiming to add an advance time amount to the control instructions to offset the lag effect brought by the micro-motion platform. The addition of compensation instructions is equivalent to starting some control actions in advance, so that the micro-motion platform can reach the target position faster within the expected response time of the control instruction, thereby optimizing the response speed of the entire control system and enabling the micro-motion platform to adjust the drive mechanism more timely.

[0065] S105: controlling the micro-motion platform provided at the bottom of the driving mechanism through control instructions to perform displacement calibration on the driving mechanism so that the calibrated driving mechanism and the airbag hole of the airbag remain aligned.

[0066] The micro-motion platform is a precision adjustment device mounted at the base of the drive mechanism. It typically has multiple degrees of freedom, enabling multi-directional displacement adjustment. The micro-motion platform receives control commands from the control system, which specify the direction and distance the drive mechanism needs to move. These commands are used to calibrate the drive mechanism's displacement, aligning the drive mechanism with the airbag's airbag aperture. Only when the drive mechanism and airbag aperture are precisely aligned can the pneumatic control device function properly, minimizing problems and malfunctions caused by misalignment, such as reduced air pressure transmission efficiency and airbag leakage.

[0067] The control system can calculate the specific distance the drive mechanism needs to move in each displacement direction, i.e., the specified displacement, through control instructions based on the spatial offset relationship. For example, if the drive mechanism is offset by 0.5mm in the X direction and 0.3mm in the Y direction, then the specified displacement is 0.5mm in the X direction and 0.3mm in the Y direction. The control instructions are then sent to the micro-motion stage, which controls the micro-motion stage to move according to the specified displacement in each displacement direction, thereby adjusting the position of the drive mechanism.

[0068] It should be noted that the micro-motion stage is mounted on a metal base. During extended operation or when the ambient temperature fluctuates significantly, the base will thermally expand due to temperature fluctuations, increasing its length. If this thermal expansion is not considered before displacement calibration, and calibration is performed directly according to the original specified displacement, the actual position of the drive mechanism will deviate due to collisions with the base. This deviation is highly random and disruptive. Therefore, the effect of temperature on the material must also be considered when calibrating the drive mechanism.

[0069] Specifically, a temperature sensor is provided on the base of the drive mechanism to collect the real-time operating temperature of the base, and the temperature difference between the real-time operating temperature and the original operating temperature when the pneumatic control device is not in operation is determined. Then, the corresponding thermal expansion coefficient is determined based on the material of the base, which can be obtained from the standard manual. Based on the thermal expansion coefficient, the temperature difference and the original length of the base, the corresponding expansion of the base is calculated. In this way, the specified displacement can be corrected according to the expansion amount, that is, the corresponding expansion amount is subtracted from the original specified displacement. Through the corrected specified displacement, the drive mechanism can be accurately calibrated to ensure that the drive mechanism can be aligned with the airbag hole of the airbag.

[0070] In one embodiment, after completing the displacement calibration, check whether the displacement deviation between the calibrated drive mechanism and the airbag is within the allowable deviation area. If the calibrated displacement deviation is within the allowable deviation area, it means that the calibration result meets the requirements, and it can be determined that the drive mechanism has completed the displacement calibration. If the calibrated displacement deviation is not within the allowable deviation area, it means that the airbag hole is still not aligned with the drive mechanism at this time, and the drive mechanism needs to be further adjusted. The calibration accuracy of the secondary calibration is higher than the calibration accuracy of the initial calibration. The purpose is to more accurately adjust the position of the drive mechanism so that it is aligned with the airbag hole of the airbag. The calibration process is carried out in stages. The initial calibration can quickly adjust the approximate position of the drive mechanism, and the secondary calibration performs fine adjustments, which optimizes the calibration process and improves the execution efficiency of the calibration task.

[0071] In addition, in multiple calibrations, historical offset data will be effectively used to optimize control parameters and reduce the accumulation of repetitive errors. When the drive mechanism performs positioning calibration at a high frequency, and the direction and displacement of each calibration are not much different, it can be considered that the fixed error is caused by mechanical installation errors. By checking whether there are any problems with the assembly of the device, such positioning problems can be effectively solved. Alternatively, if the displacement of each calibration is increasing, it is considered that the positioning problem is caused by mechanical loss of mechanical components. As the number of times the pneumatic control device is operated increases, the increased mechanical loss will inevitably affect the positioning accuracy between the airbag and the drive mechanism. At this time, the airbag and base can be checked for damage, and the operating frequency of the pneumatic control device can be ensured to be stable by timely replacement of parts.

[0072] The above are embodiments of the method proposed by the present invention. Based on the same idea, some embodiments of the present invention also provide devices and non-volatile computer storage media corresponding to the above methods.

[0073] Figure 2 The present invention provides a schematic diagram of a positioning and calibration device for pneumatic control. Figure 2 As shown, including:

[0074] at least one processor; and,

[0075] at least one processor communicatively connected to a memory; wherein,

[0076] The memory stores instructions that can be executed by at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform a positioning calibration method for pneumatic control as described in any one of the above items.

[0077] An embodiment of the present invention provides a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as follows:

[0078] A positioning calibration method for pneumatic control as described in any of the above items.

[0079] The various embodiments of the present invention are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device and medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simplified. For relevant portions, refer to the descriptions of the method embodiments.

[0080] The devices and media provided in the embodiments of the present invention correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects to their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0081] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0083] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0084] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0085] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0086] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0087] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0088] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0089] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A positioning calibration method for pneumatic control, characterized in that: Applied to a preset pneumatic control device, the pneumatic control device includes a drive mechanism, a positioning pin provided on a base of the drive mechanism, and an airbag, the method includes: generating a reference line for positioning the pneumatic control device according to the reference point on the positioning pin; The laser displacement sensors provided on both sides of the driving mechanism are used to obtain the displacement deviation of the airbag relative to the reference line during an observation period, and to generate a displacement trajectory of the airbag during a continuous observation period based on the displacement deviation; Obtaining trajectory landing points corresponding to the offset trajectory, and determining a calibration type corresponding to the drive mechanism according to a distribution of the trajectory landing points; wherein the calibration type includes pre-calibration and direct calibration; generating, based on the calibration type, a control instruction for the drive mechanism according to a spatial offset relationship between the offset trajectory and the reference line; The control instructions are used to control the micro-motion platform provided at the bottom of the driving mechanism to perform displacement calibration on the driving mechanism so that the calibrated driving mechanism and the airbag hole of the airbag remain aligned.

2. A positioning calibration method for pneumatic control according to claim 1, characterized in that: Determining the calibration type corresponding to the drive mechanism based on the distribution of the trajectory landing points includes: Determining the discreteness of the trajectory landing points according to the distribution of the trajectory landing points; If the discrete degree is not greater than a preset discrete value, the calibration type corresponding to the driving mechanism is determined to be direct calibration; otherwise, the calibration type corresponding to the driving mechanism is determined to be pre-calibration.

3. A positioning calibration method for pneumatic control according to claim 1, characterized in that: Determining the discreteness of the trajectory landing points according to the distribution of the trajectory landing points includes: Obtaining an operating frequency corresponding to the pneumatic control device, and determining an allowable deviation area of ​​the airbag relative to the baseline based on the operating frequency; wherein the operating frequency is positively correlated with the range of the allowable deviation area; Eliminate the trajectory landing points located in the allowable deviation area from the trajectory landing points to obtain the target trajectory landing points after elimination, and calculate the coordinate arithmetic mean of the coordinate values ​​corresponding to the target trajectory landing points; Calculating the coordinate variance corresponding to the target trajectory landing point based on the coordinate value corresponding to the target trajectory landing point and the coordinate arithmetic mean; The discrete degree corresponding to the trajectory landing point is determined according to the coordinate variance.

4. A positioning calibration method for pneumatic control according to claim 1, characterized in that: Based on the calibration type, and according to the spatial offset relationship between the offset trajectory and the reference line, generating a control instruction for the drive mechanism, specifically comprising: When the calibration type is direct calibration, the trajectory landing point with the highest frequency is used as the fixed trajectory landing point in the offset trajectory; generating a first control instruction for adjusting the driving mechanism from the fixed trajectory landing point to the baseline according to a spatial offset relationship between the fixed trajectory landing point and the baseline; In the case where the calibration type is the pre-calibration, the next trajectory landing point of the airbag in the next observation time period is predicted based on the offset trajectory, and according to the spatial offset relationship between the next trajectory landing point and the baseline, a second control instruction is generated for adjusting the drive mechanism from the next trajectory landing point to the baseline.

5. A positioning calibration method for pneumatic control according to claim 4, characterized in that: Before generating the control instruction for the driving mechanism, the method further includes: Obtaining the issuing time of the historical control instructions and the response time of the micro-motion platform after receiving the historical control instructions; Determine the lag time corresponding to the micro-motion platform according to the time difference between the response time and the sending time; A compensation instruction for the control instruction is generated according to the lag time, and the compensation instruction is superimposed on the control instruction to achieve lag compensation for the control instruction.

6. A positioning calibration method for pneumatic control according to claim 1, characterized in that: The micro-motion platform provided at the bottom of the driving mechanism is controlled by the control instruction to perform displacement calibration on the driving mechanism, specifically including: Through the control instructions, according to the spatial offset relationship, the designated displacement amounts corresponding to the micro-motion platforms provided on the driving mechanism in each displacement direction are determined, and the micro-motion platforms are controlled to perform displacement calibration on the driving mechanism according to the designated displacement amounts.

7. A positioning calibration method for pneumatic control according to claim 6, characterized in that: After performing displacement calibration on the driving mechanism according to the specified displacement amount, the method further includes: When the displacement deviation between the calibrated driving mechanism and the airbag is within the allowable deviation range, determining that the driving mechanism has completed the displacement calibration; When the displacement deviation between the drive mechanism and the airbag after calibration is not within the allowable deviation area, the micro-motion platform is controlled to perform a secondary calibration on the drive mechanism according to the corresponding calibration accuracy; wherein the calibration accuracy corresponding to the secondary calibration is greater than the calibration accuracy corresponding to the displacement calibration.

8. A positioning calibration method for pneumatic control according to claim 6, characterized in that: Before controlling the micro-motion platform to perform displacement calibration on the driving mechanism according to the specified displacement amount, the method further includes: collecting the real-time operating temperature of the drive mechanism by a temperature sensor provided on a base of the drive mechanism, and determining a temperature difference between the real-time operating temperature and an original operating temperature when the pneumatic control device is not in operation; Determining a thermal expansion coefficient corresponding to the base, and calculating an expansion amount corresponding to the base based on the thermal expansion coefficient, the temperature change, and an original length of the base; The designated displacement is corrected according to the expansion amount, so as to perform displacement calibration on the driving mechanism using the corrected designated displacement.

9. A positioning and calibration device for pneumatic control, characterized in that: The device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a positioning calibration method for pneumatic control as described in any one of claims 1-8.

10. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to: A positioning calibration method for pneumatic control according to any one of claims 1 to 8.

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