Gravity center position calculation method and device, electronic equipment and storage medium
By obtaining the torque current and platform angle when a heavy object is placed on the platform, and using the maximum and minimum values of the torque current to calculate the center of gravity, the problem of adding pressure sensors in the traditional method is solved, and more efficient center of gravity calculation is achieved.
Patent Information
- Application Number
- CN202510746368.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-05
- Publication Date
- 2025-09-23
AI Technical Summary
Traditional methods for calculating the center of gravity require adding multiple pressure sensors to the platform, which increases the difficulty of equipment structure design and system costs.
By obtaining the torque current and platform angle when a heavy object is placed on the platform, the current difference is determined using the maximum and minimum values of the torque current, and the center of gravity position of the heavy object is calculated in combination with the platform angle, avoiding dependence on multiple pressure sensors.
The accuracy and speed of center of gravity position calculation are improved, and the difficulty of equipment structure design and system cost are reduced.
Smart Images
Figure CN120685251A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of motion platforms, and in particular to a method and device for calculating the center of gravity, an electronic device, and a storage medium. Background Art
[0002] Conventional methods for calculating the center of gravity require adding multiple pressure sensors to the platform. The readings and positions of each pressure sensor are used to calculate the center of gravity of the object on the platform. Multiple pressure sensors require more hardware and wiring, increasing the complexity of device design and system costs.
[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the Invention
[0004] The main purpose of the embodiments of the present application is to propose a method and device for calculating the center of gravity position, an electronic device and a storage medium, aiming to obtain the center of gravity position of a heavy object on a platform by calculating the torque current and the platform angle, thereby reducing system costs.
[0005] To achieve the above objectives, an embodiment of the present application provides a method for calculating the center of gravity, the method comprising the following steps:
[0006] Acquire the torque current and the platform angle when a heavy object is placed on the platform, wherein the torque current and the platform angle are acquired at the same acquisition time, and the torque current corresponds to the platform angle;
[0007] Determining a current difference according to the maximum value of the torque current and the minimum value of the torque current, and determining a target platform angle corresponding to the maximum value of the torque current;
[0008] Calculating an edge torque current, and calculating the distance between the center of gravity of the weight and the center of the platform according to the current difference and the edge torque current, wherein the edge torque current is the torque current when the weight is at the edge of the platform;
[0009] The position of the center of gravity of the weight is obtained according to the distance between the center of gravity of the weight and the center of the platform and the angle of the target platform.
[0010] In some embodiments, the method further comprises:
[0011] Get the basic torque current when the platform is not loaded with any weight.
[0012] In some embodiments, the calculating of the edge torque current, and the calculating of the distance between the center of gravity of the weight and the center of the platform according to the current difference and the edge torque current, include:
[0013] Obtaining the mass of the weight and the amplitude of the platform rotation;
[0014] Get the preset amplitude coefficient, quality coefficient and offset;
[0015] Calculating the edge torque current according to the mass of the weight, the amplitude of the platform rotation, the amplitude coefficient, the mass coefficient and the offset;
[0016] The distance between the center of gravity of the weight and the center of the platform is calculated according to the current difference, the edge torque current and the basic torque current.
[0017] In some embodiments, the distance between the center of gravity of the weight and the center of the platform is expressed as follows:
[0018] The distance between the center of gravity of the weight and the center of the platform circle = (the current difference - the basic torque current) / (the edge torque current - the basic torque current) * 100%.
[0019] In some embodiments, obtaining the torque current and the platform angle when a heavy object is placed on the platform includes:
[0020] The acquisition time is determined by the Hall sensor installed at the bottom of the platform;
[0021] Reading the digital signal of the motor at the acquisition moment to obtain the torque current;
[0022] Read the encoder signal at the acquisition moment and calculate the platform angle;
[0023] The acquisition time, the torque current and the platform angle are saved, and the acquisition time, the torque current and the platform angle correspond to each other.
[0024] In some embodiments, obtaining the torque current and the platform angle when a heavy object is placed on the platform includes:
[0025] Obtain the target acquisition time when the platform rotates one circle;
[0026] Obtain the torque current and platform angle corresponding to the target acquisition moment.
[0027] In some embodiments, obtaining the position of the center of gravity of the weight according to the distance between the center of gravity of the weight and the center of the platform and the target platform angle includes:
[0028] Calculate the sine and cosine of the target platform angle;
[0029] Obtain the horizontal coordinate position of the center of gravity of the weight according to the distance between the center of gravity of the weight and the center of the platform and the sine value of the target platform angle;
[0030] The vertical coordinate position of the center of gravity of the weight is obtained according to the distance between the center of gravity of the weight and the center of the platform and the cosine value of the target platform angle.
[0031] To achieve the above-mentioned purpose, another aspect of the present application provides a device for calculating the center of gravity, the device comprising:
[0032] A data acquisition module, configured to acquire a torque current and a platform angle when a heavy object is placed on the platform, wherein the torque current and the platform angle are acquired at the same acquisition time, and the torque current and the platform angle correspond to each other;
[0033] a difference calculation module, configured to determine a current difference according to the maximum value of the torque current and the minimum value of the torque current, and determine a target platform angle corresponding to the maximum value of the torque current;
[0034] a distance calculation module, configured to calculate an edge torque current, and to calculate the distance between the center of gravity of the weight and the center of the platform according to the current difference and the edge torque current, wherein the edge torque current is the torque current when the weight is at the edge of the platform;
[0035] The position determination module is used to obtain the position of the center of gravity of the heavy object based on the distance between the center of gravity of the heavy object and the center of the platform and the angle of the target platform.
[0036] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned method when executing the computer program.
[0037] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above-mentioned method when executed by a processor.
[0038] The embodiments of the present application include at least the following beneficial effects: The present application provides a method and device for calculating the center of gravity position, an electronic device and a storage medium. The scheme obtains the torque current and the platform angle when a heavy object is placed on the platform; determines the current difference according to the maximum value of the torque current and the minimum value of the torque current, and determines the target platform angle corresponding to the maximum value of the torque current. The current difference is relatively stable and will not change with the running time of the equipment, which is beneficial to improving the accuracy of calculating the center of gravity position of the heavy object; calculates the edge torque current, and calculates the distance between the center of gravity of the heavy object and the center of the platform according to the current difference and the edge torque current, which is beneficial to improving the calculation speed and accuracy; obtains the center of gravity position of the heavy object according to the distance between the center of gravity of the heavy object and the center of the platform and the target platform angle, which can calculate the center of gravity position of the heavy object simply and quickly, and no longer needs to install multiple sets of pressure sensors on the platform, reducing the difficulty of equipment structure design and system cost. BRIEF DESCRIPTION OF THE DRAWINGS
[0039] Figure 1is a flow chart of a method for calculating the center of gravity provided in an embodiment of the present application;
[0040] Figure 2 yes Figure 1 Flowchart of step S101 in FIG.
[0041] Figure 3 yes Figure 1 Flowchart of step S103 in FIG.
[0042] Figure 4 is another flow chart of the method for calculating the center of gravity provided by an embodiment of the present application;
[0043] Figure 5 Schematic diagram of the structure of the three-dimensional composite motion platform provided in an embodiment of the present application;
[0044] Figure 6 This is a schematic diagram of a three-dimensional composite motion platform after a push rod pushes the platform provided in an embodiment of the present application;
[0045] Figure 7 This is a flow chart of a method for reading motor torque current provided in an embodiment of the present application;
[0046] Figure 8 This is a diagram of the torque and current of the motor when the motor drives the platform to tilt and rotate according to an embodiment of the present application;
[0047] Figure 9 This is a flow chart of a method for obtaining a platform rotation angle provided in an embodiment of the present application;
[0048] Figure 10 This is a schematic diagram of the relationship between the current rotation angle of the platform and time provided in an embodiment of the present application;
[0049] Figure 11 Schematic diagram of the relationship between torque current and platform rotation angle provided in an embodiment of the present application;
[0050] Figure 12 is a schematic diagram of the platform provided in an embodiment of the present application projected into a coordinate system;
[0051] Figure 13 is a structural diagram of a center of gravity position calculation device provided in an embodiment of the present application;
[0052] Figure 14 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0053] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.
[0054] It will be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".
[0055] The terms "at least one", "plurality", "each", "any", etc. used in this application include "at least one", "two" or more, "plurality" or "each", "any" or "any one", "each" or "any one" as used herein.
[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.
[0057] Before explaining the embodiments of the present application in detail, some of the nouns and terms involved in the embodiments of the present application are first explained. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.
[0058] 1) Torque Current refers to the current portion that generates torque during motor operation.
[0059] Conventional methods for calculating the center of gravity require adding multiple pressure sensors to the platform. The readings and positions of each pressure sensor are used to calculate the center of gravity of the object on the platform. Multiple pressure sensors require more hardware and wiring, increasing the complexity of device design and system costs.
[0060] In summary, the technical problems existing in the relevant technologies need to be improved.
[0061] In view of this, a method, device, equipment and medium for calculating the center of gravity position are provided in an embodiment of the present application. The scheme obtains the torque current and platform angle when a heavy object is placed on the platform; determines the current difference based on the maximum value of the torque current and the minimum value of the torque current, and determines the target platform angle corresponding to the maximum value of the torque current. The current difference is relatively stable and will not change with the running time of the equipment, which is beneficial to improving the accuracy of calculating the center of gravity position of the heavy object; calculates the edge torque current, and calculates the distance between the center of gravity of the heavy object and the center of the platform based on the current difference and the edge torque current, which is beneficial to improving the calculation speed and accuracy; obtains the center of gravity position of the heavy object based on the distance between the center of gravity of the heavy object and the center of the platform and the target platform angle, which can calculate the center of gravity position of the heavy object simply and quickly, and no longer needs to install multiple sets of pressure sensors on the platform, reducing the difficulty of equipment structure design and system cost.
[0062] The center of gravity position calculation method provided in the embodiment of the present application relates to the field of motion platform technology. The center of gravity position calculation method provided in the embodiment of the present application can be applied to a terminal, can also be applied to a server, and can also be software running in a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and a car terminal, etc., but is not limited to this; the server side can be configured as an independent physical server, or can be configured as a server cluster or distributed system composed of multiple physical servers, and can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network; the software can be an application that implements the center of gravity position calculation method, etc., but is not limited to the above forms.
[0063] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and the like. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments in which tasks are performed by remote processing devices connected via a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media, including storage devices.
[0064] It should be noted that in each specific embodiment of the present application, when it comes to the need to perform relevant processing based on data related to the user's identity or characteristics, such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of such data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.
[0065] Figure 1 This is an optional flowchart of the method for calculating the center of gravity provided in an embodiment of the present application. Figure 1 The method may include but is not limited to steps S101 to S104.
[0066] Step S101, obtaining the torque current and the platform angle when a heavy object is placed on the platform.
[0067] Specifically, the torque current and the platform angle are collected at the same collection time, and the torque current corresponds to the platform angle.
[0068] It can be understood that the torque current and the platform angle are collected at the same collection time, and the collection time, the torque current and the platform angle are correlated with each other.
[0069] When a heavy object is placed on the platform, the digital signal of the platform motor is read by the lower computer to obtain the torque current, and the lower computer obtains the current platform angle through the encoder.
[0070] Furthermore, the lower computer pushes the torque current and platform angle to the upper computer, which calculates the center of gravity position.
[0071] In some embodiments, the acquisition time is determined by a Hall sensor installed at the bottom of the platform; the digital signal of the motor is read at the acquisition time to obtain the torque current; the encoder signal is read at the acquisition time to calculate the platform angle; the acquisition time, torque current and platform angle are saved, and the acquisition time, torque current and platform angle correspond to each other.
[0072] Furthermore, the target acquisition moment when the platform rotates one circle is obtained; and the torque current and platform angle corresponding to each target acquisition moment are obtained.
[0073] In this embodiment, the torque current and platform angle when a heavy object is placed on the platform are obtained, which prepares for the subsequent calculation of the center of gravity position of the heavy object.
[0074] Step S102 , determining a current difference according to the maximum value of the torque current and the minimum value of the torque current, and determining a target platform angle corresponding to the maximum value of the torque current.
[0075] In some embodiments, the maximum value and the minimum value are determined in the acquired torque current, thereby obtaining a current difference (maximum value - minimum value).
[0076] Furthermore, according to the corresponding relationship between the platform angle and the torque current, the target platform angle corresponding to the maximum torque current is found.
[0077] It can be understood that, among the torque currents obtained when the platform rotates one circle, the maximum value of the torque current is determined.
[0078] In this embodiment, the current difference is determined based on the maximum value of the torque current and the minimum value of the torque current, and the target platform angle corresponding to the maximum value of the torque current is determined. The current difference is relatively stable and will not change with the running time of the equipment, which is conducive to improving the accuracy of calculating the center of gravity position of the heavy object.
[0079] Step S103, calculating the edge torque current, and calculating the distance between the center of gravity of the weight and the center of the platform according to the current difference and the edge torque current.
[0080] Specifically, the edge torque current is the torque current when the weight is at the edge of the platform.
[0081] It should be noted that the distance between the center of gravity of the heavy object and the center of the platform is the percentage of the center of gravity of the heavy object relative to the center of the platform. The actual distance between the center of gravity of the heavy object and the center of the platform can be calculated based on the radius of the platform.
[0082] In some embodiments, the mass of the weight and the amplitude of the platform rotation are obtained; a preset amplitude coefficient, mass coefficient and offset are obtained; the edge torque current is calculated based on the mass of the weight, the amplitude of the platform rotation, the amplitude coefficient, the mass coefficient and the offset, and the distance between the center of gravity of the weight and the center of the platform is calculated based on the current difference and the edge torque current.
[0083] The expression for the distance between the center of gravity of the weight and the center of the platform is as follows:
[0084] The distance between the center of gravity of the weight and the center of the platform = current difference / edge torque current (i.e. torque current when the weight is at the edge of the platform)
[0085] It is understandable that even if no heavy objects are placed on the platform, basic torque current will still be generated during the rotation of the platform. This is because the platform itself has mass and the torque current generated by the motor driving the platform to rotate.
[0086] Furthermore, the basic torque current is obtained when no weight is placed on the platform, and the distance between the center of gravity of the weight and the center of the platform is calculated based on the current difference, the edge torque current and the basic torque current.
[0087] The expression for the distance between the center of gravity of the weight and the center of the platform is as follows:
[0088] The distance between the center of gravity of the weight and the center of the platform = (current difference - basic torque current) / (edge torque current - basic torque current) * 100%.
[0089] It can be understood that the formula for the basic torque current is the same as the formula for the torque current when the weight is at the edge of the platform. When the weight is at the edge of the platform, the expression for the torque current is as follows:
[0090] Y=aR+bQ+c
[0091] Where Y is the torque current when the weight is at the edge of the platform, R is the amplitude, Q is the mass, a is the amplitude coefficient, b is the mass coefficient, and c is the offset.
[0092] It should be noted that the platform needs to be calibrated at the exit stage. The calibration process will obtain a series of amplitude coefficients, mass coefficients and offset parameters, which are used to calculate the torque current of heavy objects with different speeds, amplitudes and masses at the edge of the platform.
[0093] In this embodiment, the edge torque current is calculated, and the distance between the center of gravity of the weight and the center of the platform is calculated based on the current difference and the edge torque current. This is conducive to quickly calculating the distance between the center of gravity of the weight and the center of the platform, and prepares for the subsequent calculation of the center of gravity position of the weight.
[0094] Step S104, obtaining the center of gravity position of the weight according to the distance between the center of gravity of the weight and the center of the platform and the angle of the target platform.
[0095] Specifically, the center-of-gravity position of the weight includes the abscissa position of the center-of-gravity of the weight and the ordinate position of the center-of-gravity of the weight.
[0096] It is understandable that, knowing the distance between the center of gravity of the weight and the center of the platform, and knowing the target platform angle, the position of the center of gravity of the weight on the platform can be calculated based on the distance between the center of gravity of the weight and the center of the platform.
[0097] In some embodiments, the sine value of the target platform angle and the cosine value of the target platform angle are calculated; the horizontal coordinate position of the center of gravity of the weight is obtained based on the distance between the center of gravity of the weight and the center of the platform circle and the sine value of the target platform angle; the vertical coordinate position of the center of gravity of the weight is obtained based on the distance between the center of gravity of the weight and the center of the platform circle and the cosine value of the target platform angle.
[0098] For example, if the center of gravity position (i.e., the distance between the center of gravity of the weight and the center of the platform) = 49.5 and the center of gravity angle = 178°, the center of gravity position of the weight is as follows:
[0099] Abscissa position x=Sin(center of gravity angle)*center of gravity position=Sin(178°)*49.5=1.72.
[0100] The vertical coordinate position y=Cos(center of gravity angle)*center of gravity position=Cos(178°)*49.5=-49.47.
[0101] Therefore, the coordinate values of the center of gravity point (x, y) are (1.72, -49.47).
[0102] In this embodiment, the center of gravity position of the heavy object is obtained based on the distance between the center of gravity of the heavy object and the center of the platform and the angle of the target platform. The center of gravity position of the heavy object can be calculated simply and quickly, and there is no need to install multiple sets of pressure sensors on the platform, reducing the difficulty of equipment structure design and system cost.
[0103] Steps S101 to S104 shown in the embodiment of the present application are performed by obtaining the torque current and the platform angle when a heavy object is placed on the platform; determining the current difference based on the maximum value of the torque current and the minimum value of the torque current, and determining the target platform angle corresponding to the maximum value of the torque current. The current difference is relatively stable and does not change with the running time of the equipment, which is beneficial to improving the accuracy of calculating the center of gravity position of the heavy object; calculating the edge torque current, and calculating the distance between the center of gravity of the heavy object and the center of the platform circle based on the current difference and the edge torque current, which is beneficial to improving the calculation speed and accuracy; obtaining the center of gravity position of the heavy object based on the distance between the center of gravity of the heavy object and the center of the platform circle and the target platform angle, the center of gravity position of the heavy object can be calculated simply and quickly, and there is no need to install multiple sets of pressure sensors on the platform, reducing the difficulty of equipment structure design and system cost.
[0104] See also Figure 2 In some embodiments, step S101 may include but is not limited to steps S201 to S206:
[0105] Step S201: determining the collection time by using a Hall sensor installed at the bottom of the platform.
[0106] In step S201 of some embodiments, after the platform rotates, the moment when the magnet at the bottom passes the Hall sensor is determined as the acquisition moment.
[0107] Step S202: Read the digital signal of the motor at the acquisition time to obtain the torque current.
[0108] In step S202 of some embodiments, the lower computer reads the digital signal of the motor to obtain the torque current.
[0109] Furthermore, the lower computer sends the torque current to the upper computer.
[0110] Step S203: read the encoder signal at the acquisition time and calculate the platform angle.
[0111] In step S203 of some embodiments, the lower computer records the value of the encoder at the acquisition time and calculates the platform rotation angle.
[0112] Furthermore, the lower computer sends the platform rotation angle to the upper computer.
[0113] Step S204: Save the acquisition time, torque current and platform angle.
[0114] Specifically, the acquisition time, torque current and platform angle correspond.
[0115] In step S204 of some embodiments, the host computer saves the torque current and platform angle collected at each collection moment.
[0116] It can be understood that the acquisition time, torque current and platform angle correspond to or are associated with each other.
[0117] Step S205: Obtain the target acquisition time when the platform rotates one circle.
[0118] Specifically, when the platform rotates one circle, the target collection time includes multiple collection time points.
[0119] In step S205 of some embodiments, all target acquisition moments during one rotation of the platform are acquired.
[0120] Step S206: Obtain the torque current and platform angle corresponding to the target acquisition time.
[0121] In step S206 of some embodiments, the upper computer receives in real time the torque current and the platform angle corresponding to the target acquisition moment transmitted by the lower computer.
[0122] Optionally, the torque current and platform angle corresponding to the pre-stored target acquisition moment may be obtained through the host computer.
[0123] See also Figure 3 In some embodiments, step S103 may include but is not limited to steps S301 to S304:
[0124] Step S301: Obtain the basic torque current when the platform does not place any heavy objects.
[0125] It should be noted that even if no heavy objects are placed on the platform, basic torque current will still be generated during the platform's rotation. This is because the platform itself has mass, and the torque current generated by the motor driving the platform to rotate.
[0126] In step S301 of some embodiments, the digital signal of the motor when no weight is placed on the platform is read by the lower computer to obtain the basic torque current.
[0127] Furthermore, the lower computer sends the basic torque current to the upper computer.
[0128] Step S302 , calculating the distance between the center of gravity of the weight and the center of the platform according to the current difference, the edge torque current and the basic torque current.
[0129] In step S302 of some embodiments, the distance between the center of gravity of the weight and the center of the platform is expressed as follows:
[0130] The distance between the center of gravity of the weight and the center of the platform = (current difference - basic torque current) / (edge torque current - basic torque current) * 100%.
[0131] Specifically, the expression of the marginal torque current is as follows:
[0132] Y=aR+bQ+c
[0133] Where Y is the edge torque current, R is the amplitude, Q is the mass, a is the amplitude coefficient, b is the mass coefficient, and c is the offset.
[0134] Figure 4 This is another optional flowchart of the method for calculating the center of gravity provided in an embodiment of the present application. Figure 1 The method may include but is not limited to the following steps.
[0135] Step 1: Obtain the torque current of the platform when it rotates one circle.
[0136] For example, the method of this embodiment is applied to a three-dimensional compound motion platform, the structural diagram of which is shown in FIG. Figure 5 As shown, the schematic diagram of the three-dimensional composite motion platform after the push rod pushes the platform is as follows Figure 6 As shown in the figure, 1 represents the push rod and 2 represents the platform.
[0137] In some embodiments, the platform is driven by a motor to rotate, and the push rod 1 pushes the platform to tilt it.
[0138] Furthermore, the platform rotates while tilting. When a weight is placed on a certain point on the platform, during the platform's rotation, the weight moves upward, and the motor needs to drive the weight upward. At this time, it needs to overcome the object's gravity to do work, so the motor's torque current is at its maximum. When the weight moves downward, due to the influence of the weight's own gravity, the motor does not need to output a large torque current to drive the weight downward, and the motor's torque current is at its minimum.
[0139] For example, the flow chart of the method for reading the motor torque current is as follows: Figure 7 When a heavy object is placed on the platform, the motor drives the platform to tilt and rotate, and the torque and current diagram of the motor is as shown in the figure below. Figure 8 As shown in the figure, the blue curve is the torque current. The red curve is the torque current after noise reduction. The X-axis is time, and the Y-axis is torque current.
[0140] For example, the flow chart of the method for obtaining the platform rotation angle is as follows: Figure 9 shown.
[0141] It is understood that during the platform's rotation, the lower computer can detect the moment each time the platform passes the Hall sensor through the Hall sensor installed at the bottom of the platform. Assuming the platform rotates at a constant speed, the lower computer can determine the current platform rotation angle. The real-time angle data is then transmitted to the upper computer.
[0142] For example, the relationship between the current rotation angle of the platform and time is shown in the following diagram: Figure 10 The X-axis is time, the Y-axis is the current rotation angle of the platform (angle value * 10, i.e. 3600 = 360°), the blue curve is the area where the platform is located (1-8), and the red curve is the angle of the platform at the current moment (0-360).
[0143] Furthermore, the platform real-time angle information and torque current are combined to obtain the current information when the platform rotates to a certain angle. For example, the relationship between torque current and platform rotation angle is shown in the figure below: Figure 11 The X-axis is the platform rotation angle (angle value * 10, i.e. 3600 = 360°), and the Y-axis is the torque current.
[0144] Step 2: Find the maximum value of the torque current and subtract the minimum value from the maximum value to get the value of the torque current.
[0145] It's important to note that physical force analysis shows that the heavier the weight, the greater the force required by the motor to move it upward. The torque current also increases proportionally. The closer the weight is to the edge of the platform, the greater the force required by the motor to move it upward. The greater the platform's inclination, the greater the force required by the motor to move the weight upward. Therefore, the torque current value is used to calculate the position of the platform where the weight's center lies.
[0146] As we can see above, the torque current is positively correlated with the motor's output torque. However, motor torque is also dependent on many factors, including the platform's rotation speed, the platform's rotation amplitude, the mass of the load, the load's position on the platform, and the presence of friction in the mechanical structure below the platform (increased friction or mechanical jamming).
[0147] For the above reasons, using torque current to calculate the center of gravity position can only get an approximate value, and there is no way to get an accurate value.
[0148] Further, after extensive experimentation, we discovered a problem: when all the aforementioned influencing factors remain constant, the maximum absolute value of the torque current fluctuates continuously over the device's operating time (sometimes higher, sometimes lower), resulting in an unstable calculated center of gravity position. However, the current difference (maximum minus minimum) is relatively stable and does not change over time. Therefore, we decided to use the current difference instead of the maximum value for calculations. (The torque current mentioned below refers to the current difference and will not be further explained.)
[0149] Step 3: Obtain the platform's rotation angle value when the torque current reaches its maximum value.
[0150] In some embodiments, when the torque current is at its maximum value, the corresponding platform angle value is the angle value of the platform corresponding to the center of gravity of the weight.
[0151] Step 4: Calculate the distance between the center of gravity of the weight and the center of the platform using the torque current value.
[0152] Among them, after a lot of experiments, the following conclusions were obtained:
[0153] 1) The amplitude is linearly related to the torque current.
[0154] 2) Mass size and torque current show a linear relationship.
[0155] 3) The distance from the position of the weight on the platform to the center of the platform is linearly related to the torque current.
[0156] 4) The effect of rotation speed on torque current is very small and can be ignored. Since the current sampling rate is 50, the increase in speed will reduce the data accuracy and cause the angle to swing more left and right.
[0157] 5) When the position of the weight remains unchanged, the torque current generated when the platform rotates clockwise and counterclockwise is different, and there will be some deviation.
[0158] Based on the above conclusions, we can get a formula. When the weight is at the edge of the platform, the corresponding output torque current expression is as follows:
[0159] Y=aR+bQ+c.
[0160] Where Y is the torque current when the weight is at the edge of the platform, R is the amplitude, Q is the mass, a is the amplitude coefficient, b is the mass coefficient, and c is the offset.
[0161] It can be understood that when a heavy object is placed on the platform, if the torque current at this time is less than Y, the position of the heavy object on the platform is obtained. Assuming that the edge of the platform is 1, the current position of the heavy object = current torque current / torque current when the heavy object is at the edge of the platform.
[0162] It's important to note that even without a weight on the platform, torque current (hereafter referred to as base torque current) is still generated during platform rotation. This is due to the platform's inherent mass, and the torque current generated by the motor driving the platform's rotation. Therefore, in the above process, the base torque current needs to be subtracted from both sides. The formula for the base torque current is the same as the torque current formula for when a weight is at the edge of the platform.
[0163] So the final calculation formula is:
[0164] The distance between the center of gravity of the weight and the center of the platform = (torque current - basic torque current) / (torque current when the weight is at the edge of the platform - basic torque current) * 100%.
[0165] The torque current (i.e., the current difference) can be obtained by reading the real-time state of the motor.
[0166] Basic torque current = basic mass coefficient * mass + basic amplitude coefficient * current amplitude + offset;
[0167] The torque current when the weight is at the edge of the platform = mass coefficient * mass + amplitude coefficient * current amplitude + offset.
[0168] It should be noted that the platform needs to be calibrated at the exit stage. The calibration process will obtain a series of parameters such as amplitude coefficient, mass coefficient and offset, which are used to calculate the torque current of heavy objects with different speeds, amplitudes and masses at the edge of the platform.
[0169] It is understandable that different torque currents require the application of different preset amplitude coefficients, quality coefficients, offset parameters and the like.
[0170] Step 5: The position of the center of gravity of the weight on the platform is obtained by combining the distance between the center of gravity of the weight and the center of the platform and the angle of rotation of the platform when the torque current is maximum.
[0171] In some embodiments, after obtaining the distance between the center of gravity of the weight and the center of the platform and the angle at which the center of gravity of the weight is located at the center of the platform, the position of the center of gravity of the weight on the platform can be calculated through trigonometric functions.
[0172] For example, when the center of gravity position = 49.5 and the center of gravity angle = 178°, the center of gravity point (x, y) is as follows:
[0173] x = Sin (center of gravity angle) * center of gravity position = Sin (178°) * 49.5 = 1.72.
[0174] y = Cos (center of gravity angle) * center of gravity position = Cos (178°) * 49.5 = -49.47.
[0175] This gives the coordinates of the center of gravity (1.72, -49.47).
[0176] For example, Figure 12 This diagram shows the platform projected onto the coordinate system. The platform's center is at the origin of the coordinate system. The vertical green line and horizontal lines represent the X and Y axes of the coordinate system. The blue circle represents the outer edge of the platform, and the yellow circle represents the distance 50% from the outer edge to the center of the platform. The red dot indicates the position of the center of gravity of the weight projected onto the platform when the center of gravity position = 49.5 and the center of gravity angle = 178°.
[0177] It can be understood that, in the case of an existing mechanical structure, the present application can calculate the position of the heavy object on the platform without installing a pressure sensor on the platform, which is conducive to reducing costs and reducing the difficulty of structural design.
[0178] The embodiment of the present application obtains the torque current and platform angle when a heavy object is placed on the platform; determines the current difference based on the maximum value of the torque current and the minimum value of the torque current, and determines the target platform angle corresponding to the maximum value of the torque current. The current difference is relatively stable and does not change with the running time of the equipment, which is beneficial to improving the accuracy of calculating the center of gravity position of the heavy object; calculates the edge torque current, and calculates the distance between the center of gravity of the heavy object and the center of the platform circle based on the current difference and the edge torque current, which is beneficial to improving the calculation speed and accuracy; obtains the center of gravity position of the heavy object based on the distance between the center of gravity of the heavy object and the center of the platform circle and the target platform angle, which can simply and quickly calculate the center of gravity position of the heavy object, and no longer needs to install multiple sets of pressure sensors on the platform, reducing the difficulty of equipment structure design and system cost.
[0179] See also Figure 13 The present application also provides a center of gravity position calculation device that can implement the above center of gravity position calculation method. The device includes:
[0180] The data acquisition module 1301 is used to acquire the torque current and platform angle when a heavy object is placed on the platform. The torque current and platform angle are acquired at the same acquisition time, and the torque current and platform angle correspond to each other.
[0181] a difference calculation module 1302 for determining a current difference based on a maximum value of the torque current and a minimum value of the torque current, and determining a target platform angle corresponding to the maximum value of the torque current;
[0182] The distance calculation module 1303 is used to calculate the edge torque current. The distance between the center of gravity of the weight and the center of the platform is calculated based on the current difference and the edge torque current. The edge torque current is the torque current when the weight is at the edge of the platform.
[0183] The position determination module 1304 is used to obtain the position of the center of gravity of the heavy object based on the distance between the center of gravity of the heavy object and the center of the platform and the target platform angle.
[0184] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.
[0185] The present application also provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned center of gravity position calculation method when executing the computer program. The electronic device can be any smart terminal including a tablet computer, an in-vehicle computer, or the like.
[0186] It can be understood that the contents of the above method embodiments are applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.
[0187] See also Figure 14 , Figure 14 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:
[0188] The processor 1401 can be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.
[0189] The memory 1402 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1402 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1402 and is called by the processor 1401 to execute the center of gravity position calculation method of the embodiments of this application;
[0190] Input / output interface 1403, used to implement information input and output;
[0191] Communication interface 1404, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);
[0192] Bus 1405 , which transmits information between various components of the device (e.g., processor 1401 , memory 1402 , input / output interface 1403 , and communication interface 1404 );
[0193] The processor 1401 , the memory 1402 , the input / output interface 1403 and the communication interface 1404 are connected to each other in communication within the device via a bus 1405 .
[0194] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned center of gravity position calculation method is implemented.
[0195] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.
[0196] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
[0197] The center of gravity position calculation method, center of gravity position calculation device, electronic device and storage medium provided in the embodiments of the present application obtain the torque current and platform angle when a heavy object is placed on the platform; determine the current difference based on the maximum value of the torque current and the minimum value of the torque current, and determine the target platform angle corresponding to the maximum value of the torque current. The current difference is relatively stable and will not change with the running time of the equipment, which is beneficial to improving the accuracy of calculating the center of gravity position of the heavy object; calculate the edge torque current, and calculate the distance between the center of gravity of the heavy object and the center of the platform circle based on the current difference and the edge torque current, which is beneficial to improving the calculation speed and accuracy; obtain the center of gravity position of the heavy object based on the distance between the center of gravity of the heavy object and the center of the platform circle and the target platform angle, which can calculate the center of gravity position of the heavy object simply and quickly, and no longer needs to install multiple sets of pressure sensors on the platform, reducing the difficulty of equipment structure design and system cost.
[0198] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.
[0199] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.
[0200] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.
[0201] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.
[0202] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0203] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.
[0204] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0205] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0206] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.
[0207] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
[0208] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.
Claims
1. A method for calculating the center of gravity, characterized in that: The method comprises the following steps: Acquire the torque current and the platform angle when a heavy object is placed on the platform, wherein the torque current and the platform angle are acquired at the same acquisition time, and the torque current corresponds to the platform angle; Determining a current difference according to the maximum value of the torque current and the minimum value of the torque current, and determining a target platform angle corresponding to the maximum value of the torque current; Calculating an edge torque current, and calculating the distance between the center of gravity of the weight and the center of the platform according to the current difference and the edge torque current, wherein the edge torque current is the torque current when the weight is at the edge of the platform; The position of the center of gravity of the weight is obtained according to the distance between the center of gravity of the weight and the center of the platform and the angle of the target platform.
2. The method according to claim 1, characterized in that The method further comprises: Get the basic torque current when the platform is not loaded with any weight.
3. The method according to claim 2, characterized in that The calculating of the edge torque current and the distance between the center of gravity of the weight and the center of the platform according to the current difference and the edge torque current include: Obtaining the mass of the weight and the amplitude of the platform rotation; Get the preset amplitude coefficient, quality coefficient and offset; Calculating the edge torque current according to the mass of the weight, the amplitude of the platform rotation, the amplitude coefficient, the mass coefficient and the offset; The distance between the center of gravity of the weight and the center of the platform is calculated according to the current difference, the edge torque current and the basic torque current.
4. The method according to claim 3, characterized in that The distance between the center of gravity of the weight and the center of the platform is expressed as follows: The distance between the center of gravity of the weight and the center of the platform circle = (the current difference - the basic torque current) / (the edge torque current - the basic torque current) * 100%.
5. The method according to claim 1, wherein The step of obtaining the torque current and the platform angle when the platform places a heavy object includes: The acquisition time is determined by the Hall sensor installed at the bottom of the platform; Reading the digital signal of the motor at the acquisition moment to obtain the torque current; Read the encoder signal at the acquisition moment and calculate the platform angle; The acquisition time, the torque current and the platform angle are saved, and the acquisition time, the torque current and the platform angle correspond to each other.
6. The method according to claim 1, characterized in that The step of obtaining the torque current and the platform angle when the platform places a heavy object includes: Obtain the target acquisition time when the platform rotates one circle; Obtain the torque current and platform angle corresponding to the target acquisition moment.
7. The method according to claim 1, characterized in that The method of obtaining the center of gravity of the weight according to the distance between the center of gravity of the weight and the center of the platform and the angle of the target platform includes: Calculate the sine and cosine of the target platform angle; Obtain the horizontal coordinate position of the center of gravity of the weight according to the distance between the center of gravity of the weight and the center of the platform and the sine value of the target platform angle; The vertical coordinate position of the center of gravity of the weight is obtained according to the distance between the center of gravity of the weight and the center of the platform and the cosine value of the target platform angle.
8. A center of gravity position calculation device, characterized in that: The device comprises: A data acquisition module, configured to acquire a torque current and a platform angle when a heavy object is placed on the platform, wherein the torque current and the platform angle are acquired at the same acquisition time, and the torque current and the platform angle correspond to each other; a difference calculation module, configured to determine a current difference according to the maximum value of the torque current and the minimum value of the torque current, and determine a target platform angle corresponding to the maximum value of the torque current; a distance calculation module, configured to calculate an edge torque current, and to calculate the distance between the center of gravity of the weight and the center of the platform according to the current difference and the edge torque current, wherein the edge torque current is the torque current when the weight is at the edge of the platform; The position determination module is used to obtain the position of the center of gravity of the heavy object based on the distance between the center of gravity of the heavy object and the center of the platform and the angle of the target platform.
9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.