Data processing method and related equipment

Abstract

The invention provides a data processing method and related equipment, the data processing method is applied to a first module, and the validity of vibration measurement data of a target moving part is evaluated through a motion measurement error corresponding to first motion measurement data of a vibration sensor and second motion measurement data of a reference sensor. Therefore, the unreliable vibration sensor can be quickly and accurately identified according to the evaluation result, the vibration monitoring operation can be prevented from continuously adopting the vibration measurement data of the unreliable vibration sensor in time, and the adverse effect of the reliability reduction of the vibration sensor on the vibration monitoring of the moving part is reduced. And the accuracy of the vibration monitoring condition of the moving part is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and in particular to a data processing method and related equipment. Background Art

[0002] Automated transport equipment is widely used in modern industrial systems. These systems consist of transport tracks and a mobile component deployed on them. These components carry items along the tracks, enabling transport, and can interact with operating equipment during this process.

[0003] During operation, moving parts generate vibrations. This vibration can be caused by internal factors within the automated transport equipment (such as mechanical wear and uneven driving force) or by external environmental factors (such as external forces applied to the moving parts by operating equipment or ground vibrations). If the moving parts are loaded with objects, the vibrations can be transmitted to the objects. Excessive vibration amplitude can easily damage the objects, so vibration sensors are needed to measure and monitor the vibration of the moving parts.

[0004] During the operation of the vibration sensor, due to the influence of the external environment or its own design defects, the reliability of the sensor is reduced, which in turn affects the vibration monitoring of the moving parts.

[0005] Therefore, how to reduce the adverse effects of reduced reliability of vibration sensors on vibration monitoring of moving parts has become one of the difficulties that technicians in this field are concerned about. Summary of the Invention

[0006] The object of the present invention is to provide a data processing method and related equipment to improve the above-mentioned problem.

[0007] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0008] In a first aspect, an embodiment of the present invention provides a data processing method, which is applied to a first module, wherein the first module is configured to process data generated by a mobile component, the mobile component moving along a transport track, the method comprising:

[0009] Acquiring first motion measurement data and second motion measurement data corresponding to a target moving component; wherein the target moving component is a moving component equipped with a reference sensor and a vibration sensor, the vibration sensor is used to acquire the first motion measurement data and the vibration measurement data of the target moving component, the reference sensor is used to acquire the second motion measurement data of the target moving component, and the accuracy of the second motion measurement data acquired by the reference sensor is not less than the accuracy of the first motion measurement data acquired by the vibration sensor;

[0010] determining a motion measurement error based on the first motion measurement data and the second motion measurement data;

[0011] The validity of the vibration measurement data of the target moving component is evaluated based on the motion measurement error.

[0012] In a second aspect, an embodiment of the present invention provides a data processing device, comprising a data processing module, at least one reference sensor, and at least one vibration sensor, wherein the reference sensor and the vibration sensor of the same group are mounted on the same moving component of an automatic transport device, the moving component being deployed on a transport track, and the data processing module is in communication with the reference sensor and the vibration sensor;

[0013] The data processing module is used to execute the above-mentioned data processing method.

[0014] In a third aspect, an embodiment of the present invention provides an automatic transport device, comprising a control module, a transport track, and a moving component deployed on the transport track, wherein the control module is connected to the transport track and / or the moving component, and is configured to control the moving component to move along the transport track;

[0015] The control module is used to execute the above data processing method.

[0016] In a fourth aspect, an embodiment of the present invention provides a host computer device, wherein the host computer device is connected to an automatic transport device, wherein the automatic transport device includes a transport track and a moving component deployed on the transport track;

[0017] The host computer device is used to execute the above-mentioned data processing method.

[0018] In a fifth aspect, an embodiment of the present invention provides an automatic transport system, comprising a data processing device, a transport track, a moving component deployed on the transport track, at least one reference sensor, and at least one vibration sensor;

[0019] The reference sensor and the vibration sensor of the same group are installed on the same moving component, and the moving component is deployed on the transport track;

[0020] The data processing device is communicatively connected with the reference sensor and the vibration sensor;

[0021] The data processing device is used to execute the above data processing method.

[0022] Compared with the prior art, the data processing method and related equipment provided by the embodiments of the present invention evaluate the validity of the vibration measurement data of the target moving part through the motion measurement error corresponding to the first motion measurement data of the vibration sensor and the second motion measurement data of the reference sensor, so that unreliable vibration sensors can be quickly and accurately identified based on the evaluation results, which is conducive to timely avoiding the vibration monitoring operation from continuing to use the vibration measurement data of the unreliable vibration sensor, thereby reducing the adverse effects of the reduced reliability of the vibration sensor on the vibration monitoring of the moving part, and ensuring the accuracy of the vibration monitoring of the moving part.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is one of the installation schematic diagrams of the reference sensor and vibration sensor of the same group provided by an embodiment of the present invention.

[0026] Figure 2 This is the second installation diagram of the reference sensor and vibration sensor in the same group provided by an embodiment of the present invention.

[0027] Figure 3 This is the third installation diagram of the reference sensor and vibration sensor of the same group provided by an embodiment of the present invention.

[0028] Figure 4 This is one of the connection diagrams of the measurement module provided in an embodiment of the present invention.

[0029] Figure 5 This is the second connection diagram of the measurement module provided in an embodiment of the present invention.

[0030] Figure 6 This is one of the communication connection block diagrams provided in an embodiment of the present invention.

[0031] Figure 7 This is the second communication connection block diagram provided by an embodiment of the present invention.

[0032] Figure 8 This is the third communication connection block diagram provided by an embodiment of the present invention.

[0033] Figure 9 This is a flow chart of a data processing method according to an embodiment of the present invention.

[0034] Figure 10 The second flowchart of the data processing method provided by the embodiment of the present invention.

[0035] Figure 11 This is one of the signaling flow diagrams provided in an embodiment of the present invention.

[0036] Figure 12 The second signaling flow diagram provided in the embodiment of the present invention.

[0037] Figure 13 The third flowchart of the data processing method provided by the embodiment of the present invention.

[0038] Figure 14 The third signaling flow diagram provided for an embodiment of the present invention.

[0039] Figure 15 The fourth signaling flow diagram provided for an embodiment of the present invention.

[0040] In the figure: 100-measurement module; 101-reference sensor; 102-vibration sensor; 103-base plate; 104-housing; 105-pillar; 106-first communication module; 107-power supply module; 108-data processing module; 300-automatic transport equipment; 301-control module; 302-transport track; 303-moving part; 400-host computer equipment; 401-display module; 402-processing module; 403-second communication module. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0043] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0044] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, or electrical connections; direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0045] To help those skilled in the art better understand the technical solutions of the present invention, the following examples illustrate the driving principles of the moving components and, in conjunction with the accompanying drawings, illustrate the sensor installation locations, sensor installation methods, and hardware connection relationships of some embodiments of the present invention. It is understood that the following embodiments and features therein may be combined with each other unless they conflict.

[0046] The automatic transport device may include: a control module, a transport track, and moving components deployed on the transport track. The transport track may include at least one track component, and the moving component may be driven by one or more energy conversions including magnetic energy, electrical energy, and mechanical energy, thereby moving along the transport track. It is understood that, depending on the different drive methods of the moving components, the automatic transport device may have different names, such as linear motor equipment, electric handling equipment, mechanical transmission equipment, etc., and accordingly, the components of the automatic transport device (such as moving components, transport track, etc.) may also have different names.

[0047] In the embodiment of the present invention, there are many possibilities for the positional relationship between the moving component and the transport track, such as the moving component being located above, to the side, or even below the transport track, which is not limited here.

[0048] Taking a linear motor device as an example, the linear motor device may include a controller (i.e., a control module), a stator line (i.e., a transport track), and multiple mover components (i.e., moving components). The stator line is usually composed of multiple stator components (i.e., track components) spliced ​​together, which can be spliced ​​into regular shapes such as straight lines, arcs, squares, circles, or other irregular shapes. One of the mover component and the stator component includes a magnetic element, and the other of the mover component and the stator component includes an excitation element. When energized, the excitation element can generate a changing magnetic field. The changing magnetic field interacts with the magnetic element to generate a force on the mover component, thereby driving the mover component to move along the stator line. The mover component can load items during the movement, thereby realizing the transportation of items. The controller can control the energization timing, current direction, and current magnitude of the excitation elements of different stator components, thereby controlling the moving direction, speed, and position of the mover component. Depending on the specific mechanical structure of the moving component and the transport track, items can be loaded above, to the side, or below the moving component.

[0049] A vibration sensor and a reference sensor may be mounted on the surface of a moving component. The reference sensor and the vibration sensor may be mounted simultaneously on the moving component, i.e., the reference sensor may be mounted at the same time as the vibration sensor. Alternatively, the reference sensor and the vibration sensor may be mounted on the moving component at different times, such as when the reference sensor is mounted after the vibration sensor. The embodiments of the present invention do not impose any specific restrictions on the timing of the reference sensor's installation, as long as the reference sensor is mounted on the moving component before the validity of the vibration measurement data from the vibration sensor is evaluated.

[0050] Depending on the specific mechanical structure of the moving component and transport track, as well as the location of the items relative to the moving component, a set of reference sensors and vibration sensors can be mounted on the surface of a mounting surface of the moving component, without interfering with the loading or unloading of items. This mounting surface can be a device for placing products. The specific mounting locations of the reference and vibration sensors are not limited in this embodiment of the present invention.

[0051] Regarding the installation of the vibration sensor and the reference sensor, the embodiment of the present invention also provides an optional implementation method, please refer to Figure 1 , Figure 1 This is one of the installation diagrams of the reference sensor and the vibration sensor of the same group provided by the embodiment of the present invention. In order to further improve the consistency of the measurement area, the vibration sensor 102 and the reference sensor 101 are arranged on the same surface of the moving part 303.

[0052] Regarding the installation of the vibration sensor and the reference sensor, the embodiment of the present invention also provides an optional implementation method, please refer to Figure 2 , Figure 2This is the second installation diagram of the reference sensor and vibration sensor of the same group provided by the embodiment of the present invention. In order to facilitate installation and reduce the overall volume while ensuring the consistency of the measurement area, the vibration sensor 102 and the reference sensor 101 can be integrated into the same base plate 103, which can be but is not limited to a printed circuit board (PCB). Figure 2 As shown, the bottom plate 103 is installed on the surface of the moving part 303 without affecting the loading or unloading of objects by the moving part 303 .

[0053] Regarding how to further optimize the installation of the reference sensor and the vibration sensor in the same group, the embodiment of the present invention also provides an optional implementation method, please refer to Figure 3 , Figure 3 This is the third installation diagram of the reference sensor and vibration sensor of the same group provided by the embodiment of the present invention. In an optional embodiment, the vibration sensor 102 and the reference sensor 101 can be integrated on different surfaces of the same base plate 103, and the projection areas of the vibration sensor 102 and the reference sensor 101 after being projected in the same direction at least partially overlap. Figure 3 As shown, the base plate 103 and the housing 104 form a first cavity to accommodate the vibration sensor 102 and one of the reference sensors 101 ( Figure 3 A second cavity is formed between the bottom plate 103, the support 105 and the surface of the moving part 303 to accommodate the vibration sensor 102 and the other sensor ( Figure 3 is shown as accommodating a vibration sensor 102).

[0054] In an optional embodiment, continue to refer to Figure 3 The reference sensor 101 is detachably connected to the base plate 103, and the housing 104 is detachably connected to the base plate 103. If the reference sensor 101 is installed later than the vibration sensor 102 is installed on the moving part 303, the housing 104 can be removed, thereby achieving flexible installation and removal of the reference sensor 101.

[0055] It should be noted that in the embodiment of the present application, in order to facilitate the description of the connection relationship between multiple electronic devices installed on the same moving part, the multiple electronic devices installed on the same moving part are regarded as a combination and referred to as a measurement module. However, it should be understood that the measurement module does not limit the specific spatial positions of the multiple electronic devices installed on the same moving part on the moving part, that is, the multiple electronic devices installed on the same moving part may all be installed on the same surface of the moving part, or the multiple electronic devices installed on the same moving part may not all be installed on the same surface of the moving part. The measurement module provided in the embodiment of the present invention is arranged on the moving part 303 of the automatic transport equipment. In an optional embodiment, please refer to 4, Figure 4 This is one of the connection diagrams of the measurement module provided in an embodiment of the present invention. The measurement module 100 may include a first communication module 106, a vibration sensor 102, a reference sensor 101, and a power supply module 107. The first communication module 106, the vibration sensor 102, the reference sensor 101, and the power supply module 107 are all mounted on the mobile component 303. The first communication module 106 is communicatively connected to the vibration sensor 102 and the reference sensor 101, respectively. The power supply module 107 is electrically connected to the first communication module 106, the vibration sensor 102, and the reference sensor 101.

[0056] In some optional scenarios, the movable component 303 is a passive component (specifically, the movable component with magnetic elements described above), and the measurement module 100 may further include a power supply module 107. The power supply module 107 may be a module with a power storage function, such as, but not limited to, a mobile power supply module; alternatively, the power supply module 107 may be a module for converting external power, such as, but not limited to, a sliding contact power supply module or a wireless power supply module. The power supply module 107 is used to power electronic devices mounted on the movable component 303 (such as the reference sensor 101, the vibration sensor 102, etc.).

[0057] The vibration sensor 102 and the reference sensor 101 can exchange data with the data processing module located outside the mobile component 303 through the first communication module 106, and the data processing module can execute the data processing method described below. The data processing module can be understood as a functional module capable of executing the data processing method described below. In this embodiment, the data processing module can be implemented by any one of the following: (1) a control module of the automatic transport device, (2) a processing module of the host device, (3) a processing module set independently of the control module of the automatic transport device and the processing module of the host device (hereinafter referred to as an independent processing module); or, the data processing module can be implemented by at least two of the following: a control module of the automatic transport device, a processing module of the host device, and an independent processing module.

[0058] In some optional scenarios, multiple mobile parts 303 are provided in the automatic transport equipment, and the measurement module 100 needs to carry identity document (ID) information when sending data. The ID information may include the identification sub-information of the mobile part 303 or the identification sub-information corresponding to the mobile part 303 (such as the identification sub-information of the vibration sensor corresponding to the mobile part 303 and the identification sub-information of the reference sensor), so that the execution subject of the data processing method (such as the subsequent data processing device or processing module) can know which mobile part 303 the acquired sensor data corresponds to.

[0059] In an optional implementation provided by the embodiment of the present invention, please refer to Figure 5 , Figure 5 This is a second connection diagram of a measurement module provided in an embodiment of the present invention. The measurement module 100 may include a data processing module 108, a vibration sensor 102, a reference sensor 101, and a power supply module 107. The data processing module 108, the vibration sensor 102, the reference sensor 101, and the power supply module 107 are all mounted on a mobile component 303. The data processing module 108 is connected to the vibration sensor 102 and the reference sensor 101, respectively. The power supply module 107 is electrically connected to the data processing module 108, the vibration sensor 102, and the reference sensor 101, respectively. The data processing module 108 can execute the data processing method described below. Alternatively, the measurement module 100 may include a data processing module 108, a vibration sensor 102, a reference sensor 101, a first communication module 106, and a power supply module 107, wherein the data processing module 108 is electrically connected to the first communication module 106, the vibration sensor 102, and the reference sensor 101, and the power supply module 107 is electrically connected to the data processing module 108, the vibration sensor 102, the reference sensor 101, and the first communication module 106. The data processing module 108 establishes communication with at least one of the automatic transport device and the host device through the first communication module 106, so that the data processing module 108 and the automatic transport device, the data processing module 108 and the host device, or the data processing module 108 and the automatic transport device and the host device cooperate to perform the data processing method described below. In this embodiment, the data processing module 108 can be set independently of the automatic transport device control module and the host device processing module. Therefore, the data processing module 108 in this embodiment can be understood as an independent processing module.

[0060] It should be noted that, in actual applications, the data processing module 108 may include a memory and a processor. The memory is suitable for storing one or more computer instructions, and the processor executes the steps of the data processing method described below when executing the computer instructions. The processor may be implemented by a central processing unit (CPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), etc., or by an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0061] Optionally, the memory may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0062] In order to facilitate understanding and implementation of the embodiments provided by the present invention, the following examples illustrate the communication relationship in a scenario where an automatic transport device and / or a host device exist. Figure 6 、 Figure 7 、 Figure 8 , Figure 6 One of the communication connection block diagrams provided in an embodiment of the present invention, Figure 7 The second communication connection block diagram provided by the embodiment of the present invention is: Figure 8 This is the third communication connection block diagram provided by an embodiment of the present invention.

[0063] The host device 400 may include a second communication module 403, a processing module 402, and a display module 401, wherein the processing module 402 is respectively connected to the second communication module 403 and the display module 401. The automatic transport device 300 may include a control module 301, a transport track 302 connected to the control module 301, and a moving component 303 deployed on the transport track 302.

[0064] like Figure 6 As shown, the measurement module 100 deployed on the mobile component 303 communicates wirelessly with the host device 400, and the host device 400 is also connected to the automatic transport device 300 via wired or wireless communication. The measurement module 100 can send measurement data (including vibration measurement data, first motion measurement data, and second motion measurement data) to the host device 400.

[0065] like Figure 7As shown, the measurement module 100 deployed on the mobile component 303 communicates wirelessly with the automatic transport device 300, and the host device 400 is also connected to the automatic transport device 300 via wired or wireless communication. The measurement module 100 can send measurement data (including vibration measurement data, first motion measurement data, and second motion measurement data) to the automatic transport device 300.

[0066] like Figure 8 As shown, the measurement module 100 deployed on the mobile component 303 wirelessly communicates with the host device 400 and the automatic transport device 300. The measurement module 100 can send measurement data (including vibration measurement data, first motion measurement data, and second motion measurement data) to the automatic transport device 300 and / or the host device 400.

[0067] It should be noted that Figure 6 、 Figure 7 、 Figure 8 The measurement module in Figure 4 or Figure 5 Any of the ones shown.

[0068] An embodiment of the present invention provides a data processing method, which is applied to a first module. The first module is configured to process data generated by a mobile component that moves along a transport track. Specifically, referring to the above, the first module can be implemented by one or more combinations of the following: a control module for an automatic transport device, a processing module for a host device, and an independent processing module. It is understood that from a data processing perspective, the first module can also be considered a data processing module.

[0069] For the specific process of the data processing method provided by the embodiment of the present invention, please refer to Figure 9 The data processing method includes: S11, S14 and S15, which are described in detail as follows.

[0070] S11 , obtaining first motion measurement data and second motion measurement data corresponding to the target moving component.

[0071] The target moving component is a moving component equipped with a reference sensor and a vibration sensor. The vibration sensor is used to collect first motion measurement data and vibration measurement data of the target moving component, and the reference sensor is used to collect second motion measurement data of the target moving component. The first motion measurement data and the second motion measurement data are of the same type, and the accuracy of the second motion measurement data collected by the reference sensor is no less than the accuracy of the first motion measurement data collected by the vibration sensor.

[0072] Specifically, both the vibration sensor and the reference sensor can capture the motion state of the target moving component. The vibration sensor and the reference sensor can capture the same type of motion state of the target moving component, thereby obtaining the same type of first motion measurement data and second motion measurement data. Furthermore, the vibration sensor can also capture the vibration state of the target moving component, which can be inferred from the motion state of the target moving component.

[0073] Furthermore, the first motion measurement data and the second motion measurement data may be, but are not limited to, any one of acceleration measurement data, displacement measurement data, velocity measurement data, and angular velocity measurement data. The first motion measurement data is the source data for generating the vibration measurement data. It should be understood that the vibration measurement data can be obtained by extrapolating any one of the acceleration measurement data, displacement measurement data, velocity measurement data, and angular velocity measurement data. The vibration measurement data may specifically include at least one of the following: vibration acceleration data, vibration displacement data, vibration velocity data, vibration angular velocity data, vibration frequency data, and vibration amplitude data.

[0074] Optionally, the accuracy of the reference sensor is not lower than the accuracy of the vibration sensor, thereby ensuring that the accuracy of the second motion measurement data collected by the reference sensor is not lower than the accuracy of the first motion measurement data collected by the vibration sensor.

[0075] When the first module is a control module in an automatic transport device or a processing module in a host device, it can receive first motion measurement data and second motion measurement data transmitted by a reference sensor and a vibration sensor in a measurement module deployed in a target moving part through the first communication module.

[0076] S14 , determining a motion measurement error based on the first motion measurement data and the second motion measurement data.

[0077] The motion measurement error represents the difference between the first motion measurement data and the second motion measurement data or the absolute value of the difference between the two.

[0078] Since the accuracy of the second motion measurement data collected by the reference sensor is no lower than the accuracy of the first motion measurement data collected by the vibration sensor, the true value of the motion state of the moving part can be represented by the second motion measurement data with higher accuracy, so that the motion measurement error determined based on the first motion measurement data and the second motion measurement data can represent the degree of deviation between the first motion measurement data and the true value of the motion state of the moving part.

[0079] S15, evaluating the validity of the vibration measurement data of the target moving component based on the motion measurement error.

[0080] When the evaluation result indicates that the vibration measurement data of the target moving part is invalid, the monitoring operation based on the vibration measurement data of the target moving part can be stopped. When the evaluation result indicates that the vibration measurement data of the target moving part is valid, the monitoring operation based on the vibration measurement data of the target moving part can be maintained.

[0081] In the data processing method provided in the embodiment of the present invention, the validity of the vibration measurement data of the target moving part is evaluated through the motion measurement errors corresponding to the first motion measurement data of the vibration sensor and the second motion measurement data of the reference sensor, so that unreliable vibration sensors can be quickly and accurately identified based on the evaluation results, which is conducive to timely avoiding the vibration monitoring operation from continuing to use the vibration measurement data of the unreliable vibration sensor, thereby reducing the adverse effects of the reduced reliability of the vibration sensor on the vibration monitoring of the moving part, and ensuring the accuracy of the vibration monitoring of the moving part.

[0082] In some optional scenarios, due to the relationship between the sensor installation position and angle, the reference sensor coordinate system does not match the vibration sensor coordinate system. In this case, if the motion measurement error is determined directly based on the first motion measurement data and the second motion measurement data, the accuracy of the motion measurement error will be reduced due to the mismatch of the coordinate axes, thereby affecting the subsequent effectiveness evaluation and making the evaluation result unreliable. In order to improve this problem, the embodiment of the present invention also provides an optional implementation method, please refer to Figure 10 Before determining the motion measurement error based on the first motion measurement data and the second motion measurement data, the data processing method further includes: S12 and S13, which are specifically described as follows.

[0083] S12, determine whether the reference sensor coordinate system matches the vibration sensor coordinate system. If not, execute S13; if so, execute S14.

[0084] The number of coordinate axes in the reference sensor coordinate system is no less than the number of coordinate axes in the vibration sensor coordinate system. Based on the reference sensor's coordinate system configuration information, the orientation information of each coordinate axis in the reference sensor coordinate system can be determined; and based on the vibration sensor's coordinate system configuration information, the orientation information of each coordinate axis in the vibration sensor coordinate system can be determined. Furthermore, based on the orientation information of each coordinate axis in the reference sensor coordinate system and the orientation information of each coordinate axis in the vibration sensor coordinate system, it can be determined whether the reference sensor coordinate system matches the vibration sensor coordinate system.

[0085] S13 , performing coordinate transformation on the first motion measurement data and / or the second motion measurement data according to the coordinate axis transformation relationship, so that the two are in a unified coordinate system.

[0086] The unified coordinate system is any one of a reference sensor coordinate system, a vibration sensor coordinate system, or a preset global coordinate system.

[0087] It should be understood that S14 is executed after S13. The first motion measurement data and / or the second motion measurement data converted in S13 are used to determine a motion measurement error in S14, and then, based on the motion measurement error, to evaluate the validity of the vibration measurement data of the target moving component in S15. For a detailed description of S14 and S15, please refer to the relevant sections and will not be repeated here.

[0088] In a specific implementation, the present invention also provides an optional implementation for quickly determining whether the reference sensor coordinate system matches the vibration sensor coordinate system, thereby improving the efficiency of the effectiveness assessment. S12, determining whether the reference sensor coordinate system matches the vibration sensor coordinate system, may specifically include S121 or S122, as described below.

[0089] S121 , when the reference sensor coordinate system is parallel to the vibration sensor coordinate system, determining that the reference sensor coordinate system matches the vibration sensor coordinate system; otherwise, determining that the two do not match.

[0090] It should be understood that the vibration sensor coordinate system is used to represent the acquisition direction of the vibration sensor, and the vibration measurement data and first motion measurement data corresponding to each coordinate axis of the vibration sensor coordinate system are used to represent the magnitude of the vibration component and the magnitude of the motion component in the direction of that coordinate axis, respectively. Similarly, the reference sensor coordinate system is used to represent the acquisition direction of the reference sensor, and the second motion measurement data corresponding to each coordinate axis of the reference sensor coordinate system is used to represent the magnitude of the motion component in the direction of that coordinate axis.

[0091] Based on the vector characteristics of both the first motion measurement data and the second motion measurement data, when the vibration sensor coordinate system and the reference sensor coordinate system are parallel, even if the coordinate axes of the two coordinate systems do not completely overlap or there are differences in the coordinate axis definitions, the motion measurement error can be calculated through the coordinate axis matching relationship between the vibration sensor coordinate system and the reference sensor, without the need for coordinate conversion.

[0092] The following example illustrates the parallelism between the reference sensor coordinate system and the vibration sensor coordinate system. In an optional embodiment, assuming that the reference sensor coordinate system and the vibration sensor coordinate system are both three-dimensional coordinate systems, the three coordinate axes of the reference sensor coordinate system are represented as X1, Y1 and Z1 axes, and the three coordinate axes of the vibration sensor coordinate system are represented as X2, Y2 and Z2 axes, respectively. Any of the following parallel situations may exist: in the first parallel situation, the X1 axis is parallel to the X2 axis, the Y1 axis is parallel to the Y2 axis, and the Z1 axis is parallel to the Z2 axis; in the second parallel situation, the X1 axis is parallel to the Y2 axis, the Y1 axis is parallel to the Z2 axis, and the Z1 axis is parallel to the X2 axis; in the third parallel situation, the X1 axis is parallel to the Z2 axis, the Y1 axis is parallel to the X2 axis, and the Z1 axis is parallel to the Y2 axis; in the fourth parallel situation, the X1 axis is parallel to the Y2 axis, the Y1 axis is parallel to the X2 axis, and the Z1 axis is parallel to the Z2 axis; in the fifth parallel situation, the X1 axis is parallel to the Z2 axis, the Y1 axis is parallel to the Y2 axis, and the Z1 axis is parallel to the X2 axis.

[0093] From the second to the fifth parallel cases, it can be seen that when the reference sensor coordinate system and the vibration sensor coordinate system are parallel, there are differences in the definitions of their coordinate axes. However, there is a matching relationship between the coordinate axes of the vibration sensor coordinate system and the reference sensor. Based on the coordinate axis matching relationship, the first motion measurement data and second motion measurement data of the coordinate axis matching can be obtained to calculate the motion measurement error. Taking the second case as an example, the X1 axis matches the Y2 axis, the Y1 axis matches the Z2 axis, and the Z1 axis matches the X2 axis. Then, the second motion measurement data of the X1 axis and the first motion measurement data of the Y2 axis can be obtained to determine the motion measurement error, the second motion measurement data of the Y1 axis and the first motion measurement data of the X2 axis can be obtained to determine the motion measurement error, and the second motion measurement data of the Z1 axis and the first motion measurement data of the X2 axis can be obtained to determine the motion measurement error.

[0094] It should be noted that the parallelism between the reference sensor coordinate system and the vibration sensor coordinate system may exist in other forms, which can be deduced in the same way and are not listed here one by one.

[0095] S122 : When the coordinate axes of the reference sensor coordinate system are completely aligned with the coordinate axes of the vibration sensor coordinate system, it is determined that the reference sensor coordinate system and the vibration sensor coordinate system match; otherwise, it is determined that the two do not match.

[0096] It should be understood that by requiring that the coordinate axes of the reference sensor coordinate system be completely aligned with the coordinate axes of the vibration sensor coordinate system, the accuracy of the motion measurement error calculation results can be guaranteed, the acquisition standards can be unified, and the accuracy of subsequent effectiveness evaluation can be improved.

[0097] When determining whether the reference sensor coordinate system matches the vibration sensor coordinate system, the first motion measurement data and the second motion measurement data are not subjected to coordinate transformation. The vibration sensor coordinate system can be used as the reference coordinate system, and the coordinate axes of the vibration sensor coordinate system can be used as the reference coordinate axes to match the coordinate axes of the reference sensor coordinate system, thereby obtaining the first motion measurement data and the second motion measurement data with matched coordinate axes, and then determining the motion measurement error. Then, the validity of the vibration measurement data of the target moving component can be evaluated based on the motion measurement error in the vibration sensor coordinate system to obtain an evaluation result. Alternatively, the reference sensor coordinate system can be used as the reference coordinate system, and the coordinate axes of the reference sensor coordinate system can be used as the reference coordinate axes to match the coordinate axes of the vibration sensor coordinate system, thereby obtaining the first motion measurement data and the second motion measurement data with matched coordinate axes, and then determining the motion measurement error. Then, the validity of the vibration measurement data of the target moving component can be evaluated based on the motion measurement error in the reference sensor coordinate system to obtain an evaluation result.

[0098] When it is determined that the reference sensor coordinate system and the vibration sensor coordinate system do not match, coordinate transformation is performed on at least one of the first motion measurement data and the second motion measurement data, and a coordinate axis matching relationship after the coordinate transformation is determined. Specifically, using the unified coordinate system as the reference coordinate system and the coordinate axes of the unified coordinate system as the reference coordinate axes, the first motion measurement data and the second motion measurement data transformed to the same coordinate axes in the unified coordinate system are determined as the first motion measurement data and the second motion measurement data with matched coordinate axes, thereby obtaining a coordinate axis matching relationship between the first motion measurement data and the second motion measurement data, thereby determining a motion measurement error, and then evaluating the validity of the vibration measurement data of the target moving component based on the motion measurement error in the unified coordinate system to obtain an evaluation result.

[0099] Furthermore, when there is a coordinate transformation and the unified coordinate system is the vibration sensor coordinate system, the obtained motion measurement error corresponds to the vibration sensor coordinate system. At this time, the validity of the vibration measurement data of the target moving part is evaluated based on the motion measurement error in the unified coordinate system, that is, the validity of the vibration measurement data of the target moving part is evaluated based on the motion measurement error in the vibration sensor coordinate system, and the obtained evaluation result can directly correspond to the vibration sensor coordinate system.

[0100] Based on the foregoing, when coordinate transformation occurs and the unified coordinate system is not the vibration sensor coordinate system, this embodiment of the present invention further provides an optional implementation for obtaining an evaluation result in the vibration sensor coordinate system to facilitate determining the usability of the vibration sensor axis data during monitoring. S15, evaluating the validity of the vibration measurement data of the target moving component based on the motion measurement error, may specifically include S15A or S15B, as described below.

[0101] S15A, when there is a coordinate transformation and the unified coordinate system is not the vibration sensor coordinate system, evaluate the validity of the vibration measurement data of the target moving part based on the motion measurement error in the unified coordinate system, determine the validity of the vibration measurement data of the target moving part based on the evaluation situation in the unified coordinate system, and determine the evaluation result of the validity of the vibration measurement data of the target moving part in the vibration sensor coordinate system based on the evaluation result in the unified coordinate system.

[0102] Optionally, based on the evaluation results in the unified coordinate system, determining the evaluation results of the validity of the vibration measurement data of the target moving component in the vibration sensor coordinate system, including: when at least the evaluation results in the unified coordinate system indicate that the vibration measurement data is invalid, according to the coordinate axis conversion relationship, converting the evaluation results in the unified coordinate system to the vibration sensor coordinate system to obtain the evaluation results in the vibration sensor coordinate system.

[0103] The evaluation result in the vibration sensor coordinate system may include indication information of a failed coordinate axis in the vibration sensor coordinate system.

[0104] It should be understood that when the evaluation result in the unified coordinate system indicates that all data in the unified coordinate system are valid, it means that the data measured by the vibration sensor is valid as a whole and does not need to be converted.

[0105] S15B, when there is a coordinate conversion and the unified coordinate system is not the vibration sensor coordinate system, the motion measurement error in the unified coordinate system is converted to the vibration sensor coordinate system according to the coordinate axis conversion relationship, and the validity of the vibration measurement data of the target moving part is evaluated based on the motion measurement error in the vibration sensor coordinate system to obtain an evaluation result.

[0106] The evaluation result obtained in S15B is an evaluation result in the vibration sensor coordinate system.

[0107] Based on the foregoing, regarding the accuracy of the motion measurement error acquisition result, the present invention also provides an optional implementation method, which is described below. S14, determining the motion measurement error based on the first motion measurement data and the second motion measurement data, includes: S141 and S142, as follows.

[0108] S141 , acquiring at least one set of first motion measurement data and second motion measurement data with matching time and matching coordinate axes according to matching conditions of acquisition time and coordinate system.

[0109] A first preset time window is set based on the acquisition frequencies of the reference sensor and the vibration sensor. There are N acquisition time points within the first preset time window. Based on the number of coordinate axes of the vibration sensor and the number of coordinate axes of the reference sensor, each acquisition time point corresponds to at least one first motion measurement data and at least one second motion measurement data. Based on the number M of coordinate axes of the vibration sensor coordinate system, M first motion measurement data and M second motion measurement data are obtained. Thus, each acquisition time point contains M first motion measurement data and M second motion measurement data.

[0110] It should be understood that the matching of the coordinate system can refer to the relevant description above and will not be repeated here. According to the coordinate axis matching relationship, N×M groups of first motion measurement data and second motion measurement data with time matching and coordinate axis matching are obtained, N≥1, M≥1. (S1 nm , S2 nm ) represents the first motion measurement data and the second motion measurement data of the mth group of coordinate axis matching at the nth acquisition time point; S1 nm S2 represents the first motion measurement data corresponding to the mth group of coordinate axes at the nth acquisition time point, measured by the vibration sensor; nm Indicates the second motion measurement data corresponding to the mth group of matched coordinate axes at the nth acquisition time point, measured by the reference sensor, 1≤n≤N, 1≤m≤M.

[0111] S142: Calculate and obtain at least one motion measurement error based on at least one set of first motion measurement data and second motion measurement data.

[0112] It should be understood that a corresponding motion measurement error can be calculated based on a set of first motion measurement data and second motion measurement data that match in time and coordinate axes. Each obtained motion measurement error has a corresponding relationship with a reference coordinate axis.

[0113] To further reduce the complexity of effectiveness evaluation while ensuring accuracy, the present invention provides an optional implementation, which is described below. Following S142 , S14 determines a motion measurement error based on the first motion measurement data and the second motion measurement data, and further includes S143 , as follows.

[0114] S143 : When there are multiple motion measurement errors corresponding to the same reference coordinate axis, determine the motion measurement error for effectiveness evaluation according to the multiple motion measurement errors corresponding to the same reference coordinate axis.

[0115] It should be understood that multiple motion measurement errors are at least 2 motion measurement errors. According to the relevant description of the above coordinate axis matching, the reference coordinate axis can be the coordinate axis of the unified coordinate system serving as the matching reference, or the coordinate axis of the vibration sensor coordinate system serving as the matching reference, or the coordinate axis of the reference sensor serving as the matching reference.

[0116] Methods for determining motion measurement errors for effectiveness evaluation may include any of the following: (1) performing a weighted operation on multiple motion measurement errors of coordinate axis matching using coefficient weights to obtain motion measurement errors for effectiveness evaluation, wherein the coefficient weights may be related to time, such as the closer to the current time, the higher the coefficient weight; (2) averaging multiple motion measurement errors of coordinate axis matching to obtain motion measurement errors for effectiveness evaluation; (3) taking the motion measurement error ranked as the median among multiple motion measurement errors of coordinate axis matching for effectiveness evaluation; (4) taking the motion measurement error with the largest value among multiple motion measurement errors of coordinate axis matching for effectiveness evaluation.

[0117] It should be understood that in this case, multiple groups of first motion measurement data and second motion measurement data existing in the same reference coordinate axis correspond to a motion measurement error, and the motion measurement error has a corresponding relationship with a reference coordinate axis.

[0118] In an optional embodiment, the motion measurement errors corresponding to multiple sets of matching coordinate axes can be fused using coordinate axis weights to obtain a fused motion measurement error, wherein the coordinate axis weights can correspond to the motion direction of the target moving part, such as assigning a larger weight value to the coordinate axis parallel to the motion direction, and assigning a smaller weight value to the coordinate axis not parallel to the motion direction, and the weight value is a non-negative number.

[0119] It should be understood that in this case, the first motion measurement data and the second motion measurement data existing in multiple reference coordinate axes correspond to a motion measurement error. This motion measurement error does not correspond to a specific reference coordinate axis, but corresponds to multiple reference coordinate axes.

[0120] Based on the foregoing, when at least one motion measurement error is obtained, the present invention further provides an optional implementation for accurately evaluating the validity of the vibration measurement data of the target moving component. S15, evaluating the validity of the vibration measurement data of the target moving component based on the motion measurement error, may specifically include S151 or S152, as described below.

[0121] S151 : When at least one motion measurement error is obtained, generate a first evaluation result associated with the entire vibration measurement data.

[0122] As previously described, when there is only one motion measurement error for evaluation, depending on how the motion measurement error is acquired, the motion measurement error may correspond to one or more reference coordinate axes, and this is not a limitation in the present embodiment. When there are multiple motion measurement errors for evaluation, the evaluation results corresponding to the multiple motion measurement errors may be combined to generate a first evaluation result.

[0123] Since the first evaluation result is used to indicate whether the vibration measurement data as a whole is valid or invalid, and the vibration measurement data is not evaluated according to the coordinate axes of the vibration sensor, when the first evaluation result indicates that the vibration measurement data as a whole is invalid, it is necessary to stop the monitoring operation based on the vibration measurement data of all coordinate axes of the vibration sensor.

[0124] S152 : When at least one motion measurement error is obtained and a corresponding reference coordinate axis exists, generate a second evaluation result related to the vibration measurement data of the vibration sensor corresponding to the coordinate axis.

[0125] It should be understood that, to facilitate observation, analysis, and correction, a second evaluation result related to the vibration measurement data for the corresponding coordinate axes of the vibration sensor can be generated. Furthermore, the second evaluation result is expressed based on the vibration sensor coordinate system, thereby facilitating intuitive understanding by the user. Therefore, even after the evaluation is performed in the converted unified coordinate system, the evaluation result in the unified coordinate system can be converted back to the vibration sensor coordinate system to obtain the second evaluation result in the vibration sensor coordinate system. In this case, if the second evaluation result indicates that the vibration measurement data for one or more vibration sensor coordinate axes is invalid, the monitoring operation of the target moving component based on the vibration measurement data for the corresponding coordinate axes of the vibration sensor can be stopped.

[0126] Based on the foregoing, an embodiment of the present invention further provides an optional implementation for quickly and accurately obtaining a first evaluation result, which is described below. S151: Upon obtaining at least one motion measurement error, generate a first evaluation result associated with the entire vibration measurement data, including at least one of the following.

[0127] S151-1, when the number of motion measurement errors is one, generate a first evaluation result by combining the obtained motion measurement error and the judgment of the evaluation condition, where the evaluation condition is a condition generated based on the error threshold or the error range.

[0128] When the absolute value of the motion measurement error exceeds the error threshold in the evaluation condition, or when the motion measurement error exceeds the error range in the evaluation condition, a first evaluation result indicating that the vibration measurement data is invalid is generated; otherwise, a first evaluation result indicating that the vibration measurement data is valid is generated.

[0129] S151-2. When there are multiple motion measurement errors, perform a first preprocessing on the multiple motion measurement errors obtained, and obtain evaluation conditions corresponding to the relevant coordinate axes based on the relevant coordinate axes determined based on the first preprocessing results, and generate a first evaluation result by combining the first preprocessing results and the judgment of the evaluation conditions.

[0130] The first preprocessing may include, but is not limited to, taking the maximum value of the motion measurement errors corresponding to all reference coordinate axes, taking the maximum value of the motion measurement errors corresponding to each reference coordinate axis, taking the average of the motion measurement errors corresponding to each reference coordinate axis, taking a weighted value of the motion measurement errors corresponding to each reference coordinate axis, etc., where the weight coefficient may be related to the motion direction of the target moving component. The evaluation condition is a condition generated based on an error threshold or an error range.

[0131] After the first preprocessing, if there is only one motion measurement error for effectiveness evaluation (e.g., the maximum value among the motion measurement errors corresponding to all reference coordinate axes, or only one motion measurement error corresponding to a reference coordinate axis, etc.), the relevant coordinate axis corresponding to the motion measurement error is further determined, the evaluation condition corresponding to the relevant coordinate axis is obtained, and the first evaluation result is generated by combining the first preprocessing result and the judgment of the evaluation condition. The relevant coordinate axis corresponding to the motion measurement error may be a coordinate axis corresponding to the unified coordinate system, a coordinate axis corresponding to the vibration sensor coordinate system, or a coordinate axis corresponding to the reference sensor coordinate system.

[0132] After the first preprocessing, if there are multiple motion measurement errors, the multiple motion measurement errors may correspond to one related coordinate axis or multiple related coordinate axes, so that an evaluation condition corresponding to one related coordinate axis or multiple related coordinate axes can be obtained. After judging the motion measurement errors and evaluation conditions corresponding to the related coordinate axes, the first evaluation result related to the vibration measurement data as a whole is generated by combining the multiple judgment results.

[0133] S151-3. When there are multiple motion measurement errors, obtain the evaluation conditions corresponding to the relevant coordinate axes according to the relevant coordinate axes determined based on each motion measurement error, and generate a first evaluation result by combining the judgment of each motion measurement error with the corresponding evaluation conditions.

[0134] It should be understood that a correspondence is established between the motion measurement error and the evaluation condition through the relevant coordinate axis. Based on the motion measurement error corresponding to the relevant coordinate axis and the evaluation condition corresponding to the relevant coordinate axis, each motion measurement error is judged, and the judgment results of each motion measurement error are fused to generate a first evaluation result related to the vibration measurement data as a whole.

[0135] For example, when a motion measurement error is determined to exceed an error threshold or error range in the evaluation condition, a first evaluation result is generated indicating that the vibration measurement data is invalid; otherwise, a first evaluation result is generated indicating that the vibration measurement data is valid. For another example, when all motion measurement errors are determined to exceed an error threshold or error range in the evaluation condition, a first evaluation result is generated indicating that the vibration measurement data is invalid; otherwise, a first evaluation result is generated indicating that the vibration measurement data is valid.

[0136] Based on the foregoing, embodiments of the present invention further provide an optional implementation for quickly and accurately obtaining a second evaluation result, which is described below. S152: When at least one motion measurement error is obtained and a corresponding reference coordinate axis exists, generating a second evaluation result associated with the vibration measurement data of the corresponding coordinate axis of the vibration sensor, including at least one of the following.

[0137] S152-1, when the number of motion measurement errors is at least one, obtain the evaluation conditions corresponding to the relevant coordinate axes according to the relevant coordinate axes determined based on each motion measurement error, and generate a second evaluation result by combining the judgment of each motion measurement error with the corresponding evaluation conditions.

[0138] It should be noted that the difference between the second evaluation result and the first evaluation result is that the second evaluation result is an evaluation result related to the vibration measurement data of the corresponding coordinate axis of the vibration sensor, while the first evaluation result is an evaluation result related to the entire vibration measurement data.

[0139] In an optional embodiment, in the process of obtaining the first evaluation result, if there is a one-to-one correspondence between the motion measurement error and the reference coordinate axis, the first evaluation result obtained based on the motion measurement error may include not only information indicating the result, but also information indicating the coordinate axis. Based on this, the relevant coordinate axis can be determined through the first evaluation result obtained previously to obtain a second evaluation result related to the vibration measurement data of the corresponding coordinate axis of the vibration sensor.

[0140] In another optional embodiment, if the reference coordinate system is not the vibration sensor coordinate system, when the motion measurement error is obtained, the coordinate system conversion can be performed first to obtain the motion measurement error in the vibration sensor coordinate system, and then the relevant coordinate axes in the vibration sensor coordinate system are determined based on each motion measurement error, and the evaluation conditions corresponding to the relevant coordinate axes are obtained, and the judgment of each motion measurement error and the corresponding evaluation conditions are combined to generate a second evaluation result; or, the relevant coordinate axes of the motion measurement error in the reference coordinate system can be determined first, and then the evaluation conditions corresponding to the relevant coordinate axes are obtained, and then, the judgment of each motion measurement error and the corresponding evaluation conditions are converted from the reference coordinate system to the vibration sensor coordinate system to generate a second evaluation result.

[0141] In another optional embodiment, if the reference coordinate system is a vibration sensor coordinate system, when the motion measurement error is obtained, the relevant coordinate axes in the vibration sensor coordinate system are determined based on each motion measurement error, the evaluation conditions corresponding to the relevant coordinate axes are obtained, and the second evaluation result is generated by combining the judgment of each motion measurement error and the corresponding evaluation conditions.

[0142] S152-2. When there are multiple motion measurement errors, determine the relevant coordinate axes based on each motion measurement error, perform a second preprocessing on the motion measurement errors with the same relevant coordinate axes, obtain the evaluation conditions corresponding to the relevant coordinate axes, and generate a second evaluation result by combining the second preprocessing result and the judgment of the evaluation conditions.

[0143] The second preprocessing may include, but is not limited to, taking the maximum value of the motion measurement errors corresponding to the relevant coordinate axes, taking the average value of the motion measurement errors corresponding to the relevant coordinate axes, or weighting the motion measurement errors corresponding to the relevant coordinate axes using a coefficient weight, such as a higher coefficient weight for a closer time. The evaluation condition is a condition generated based on an error threshold or an error range.

[0144] It should be understood that the second evaluation result is an evaluation result related to the vibration measurement data of the relevant coordinate axis under the vibration sensor coordinates. The process of generating the second evaluation result in S152-2 can refer to the description of the relevant parts above and will not be repeated here.

[0145] Please refer to Figure 11 and Figure 12 , Figure 11 This is one of the signaling flow diagrams provided in an embodiment of the present invention. Figure 12 The second signaling flow diagram provided by the embodiment of the present invention. When the first module is a control module in an automatic transport device, the signaling flow diagram is Figure 11 When the first module is a processing module in the host device, the signaling flow diagram is as follows: Figure 12As shown, the host device can send the evaluation result to the automatic transport device, and the automatic transport device determines whether to stop the monitoring operation of the target moving part according to the vibration measurement data based on the evaluation result.

[0146] It is understandable that Figure 11 and Figure 12 It is only used for illustrative description. The omitted processes can be referred to the description of the relevant parts above and will not be repeated here.

[0147] Based on the foregoing, when the evaluation result determined based on the motion measurement error indicates failure, the vibration sensor can be corrected so that it can collect more accurate vibration measurement data, ensuring that the vibration measurement data of the reliable vibration sensor can be used to monitor the vibration of the moving parts, thereby ensuring the accuracy of the vibration monitoring of the moving parts.

[0148] In this case, the embodiment of the present invention also provides an optional implementation method, please refer to Figure 13 When the evaluation result determined based on the motion measurement error indicates failure, the data processing method further includes: S21, S22 and S23, which are specifically described as follows.

[0149] S21, based on the first motion measurement data of the vibration sensor and the second motion measurement data of the reference sensor, determining whether the vibration sensor meets the correction condition. If it is determined that the vibration sensor meets the correction condition, executing S22, if not, executing S23.

[0150] It should be understood that there are two types of vibration sensor data failure. The first is when the vibration sensor fails to output data (e.g., the electrical signal representing the first motion measurement data and the vibration measurement data remains unchanged, causing the acquired first motion measurement data and the vibration measurement data to be displayed as zero). In this case, the vibration sensor cannot be corrected and needs to be replaced. The second is when the data collected by the vibration sensor deviates significantly from the actual value, but the vibration sensor is still able to output data. In this case, the vibration sensor can be corrected, and correction conditions are set based on this.

[0151] The specific process of determining whether the correction condition is satisfied may include: if, within a second preset time window, first motion measurement data from the vibration sensor and second motion measurement data from the reference sensor are received, indicating that the vibration sensor is capable of outputting data, i.e., the vibration sensor can be corrected, then determining that the vibration sensor satisfies the correction condition. If, within the second preset time window, the first motion measurement data from the vibration sensor is not received when the second motion measurement data from the reference sensor is received, then analyzing the second motion measurement data in combination with the resolution of the vibration sensor. When the value of the second motion measurement data exceeds the resolution of the vibration sensor, the motion state of the moving component should be detected by the vibration sensor. However, due to the actual situation that the vibration sensor does not output corresponding data, it is impossible to correct the vibration sensor, thereby determining that the vibration sensor does not meet the correction condition. When the value of the second motion measurement data does not exceed the resolution of the vibration sensor, the motion state of the moving component cannot be detected by the vibration sensor, and thus it is impossible to determine whether to correct the vibration sensor. Whether to correct the vibration sensor is determined by checking whether other second motion measurement data is received within the second preset time window and whether the corresponding vibration sensor outputs data. If it is not determined that the vibration sensor can be corrected within the second preset time window, then determining that the vibration sensor does not meet the correction condition.

[0152] The second preset time window refers to a time window formed based on a first preset duration before the time point at which the vibration measurement data is determined to be invalid, or the second preset time window refers to a time window formed based on a second preset duration after the time point at which the vibration measurement data is determined to be invalid. The first preset duration and the second preset duration may be the same or different.

[0153] S22, calibrate the vibration sensor.

[0154] S23, giving a fault prompt.

[0155] In specific implementation, regarding the implementation method of correcting the vibration sensor, the embodiment of the present invention also provides an optional implementation method, please refer to the following: S22, correcting the vibration sensor, including S22A or S22B, which is specifically described as follows.

[0156] S22A: Based on the evaluation result, correct the motion measurement coefficient corresponding to at least one coordinate axis of the vibration sensor.

[0157] It should be understood that the first motion measurement data is source data for generating vibration measurement data, and correcting the motion measurement coefficient corresponding to at least one coordinate axis of the vibration sensor can achieve the purpose of correcting the vibration measurement data.

[0158] S22B: Based on the evaluation result, a correction request is sent to the second module to instruct the second module to correct the motion measurement coefficient corresponding to at least one coordinate axis of the vibration sensor.

[0159] The second module is independently configured from the first module. For example, when the first module is a control module in an automatic transport device, the second module is a processing module in a host device; when the first module is a processing module in a host device, the second module is a control module in the automatic transport device; when the first module is a data processing module in a measurement module, the second module is a control module in the automatic transport device or a processing module in a host device.

[0160] By splitting the effectiveness evaluation and correction processes and using different equipment for processing, the overall processing efficiency is improved.

[0161] exist Figure 13 On the basis of the above, regarding the implementation of the vibration sensor correction, the embodiment of the present invention further provides an optional implementation method, please refer to the following. S22, correcting the vibration sensor, includes S22C or S22D, which is specifically described as follows.

[0162] S22C, correcting the motion measurement coefficient of the vibration sensor to obtain a first correction result.

[0163] The first correction result includes a successfully corrected motion measurement coefficient or correction failure information; the first correction result is obtained by correcting the motion measurement coefficient based on the offset, and / or the first correction result is obtained by correcting the motion measurement coefficient based on the second motion measurement data.

[0164] S22D: Obtain a second correction result sent by the second module.

[0165] The second correction result includes a successfully corrected motion measurement coefficient or correction failure information; the second correction result is obtained by correcting the motion measurement coefficient based on the offset, and / or the second correction result is obtained by correcting the motion measurement coefficient based on the second motion measurement data.

[0166] Regarding obtaining the first or second corrected result by correcting the motion measurement coefficient based on the second motion measurement data, an embodiment of the present invention further provides an optional implementation method for determining a successfully corrected motion measurement coefficient by monitoring any two of the maximum, average, and minimum values ​​of the second motion measurement data within a monitoring period and the number of measurements, thereby ensuring efficient acquisition of the first or second corrected result. The monitoring period is a time window of a third predetermined duration preceding a triggering time point for correcting the motion measurement coefficient.

[0167] For example, the successfully corrected motion measurement coefficient = (the maximum value of the second motion measurement data - the average value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the successfully corrected motion measurement coefficient = (the maximum value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the successfully corrected motion measurement coefficient = (the average value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period.

[0168] Regarding correcting the motion measurement coefficient based on the offset to obtain the first correction result, the embodiment of the present invention also provides an optional implementation to ensure the accuracy of the first correction result, please refer to the following. The process of the first module obtaining the first correction result includes: S22C-1, which is as follows.

[0169] S22C-1, correct the motion measurement coefficient of the vibration sensor based on the offset, obtain the corrected first motion measurement data based on the motion measurement coefficient after each correction, and determine whether to correct the motion measurement coefficient again based on the evaluation result of the validity of the corrected first motion measurement data, until the correction end condition is met.

[0170] The condition for ending the correction is that the number of corrections exceeds a preset threshold, or the correction is successful, that is, the evaluation result of the validity of the first motion measurement data after correction indicates that the vibration measurement data is valid. It should be noted that the step of obtaining the evaluation result of the validity of the first motion measurement data after correction can refer to Figure 9 and Figure 10 The description of the related steps will not be repeated here.

[0171] In an optional embodiment, when the correction is successful, the corrected motion measurement coefficients can be sent to the vibration sensor on the target moving component, notifying the vibration sensor of the successful correction. The vibration sensor can then collect data based on the corrected motion measurement coefficients. If the correction is unsuccessful, an unsuccessful prompt is provided to alert the user that the vibration sensor correction was unsuccessful.

[0172] It should be understood that after the correction is successful, the monitoring operation of the target mobile device based on the vibration measurement data of the vibration sensor can be restored.

[0173] Regarding correcting the motion measurement coefficient based on the offset to obtain the second correction result, the embodiment of the present invention also provides an optional implementation to ensure the accuracy of the second correction result, please refer to the following. The process of the second module obtaining the second correction result includes: S22D-1, which is as follows.

[0174] S22D-1, based on the motion measurement coefficient of the corrected vibration sensor from the second module, obtain the corrected first motion measurement data obtained based on each corrected motion measurement coefficient, and the evaluation result of the validity of the corrected first motion measurement data, and send the evaluation result to the second module to enable it to evaluate whether the correction end condition is met.

[0175] Based on the foregoing, an embodiment of the present invention further provides an optional implementation for obtaining the corrected first motion measurement data based on each corrected motion measurement coefficient, as described below. Obtaining the corrected first motion measurement data based on each corrected motion measurement coefficient includes S223 or S225, as described in detail below.

[0176] S223 : Sending each corrected motion measurement coefficient to the vibration sensor, so that the vibration sensor collects first motion measurement data based on the corrected motion measurement coefficient, that is, obtaining the corrected first motion measurement data.

[0177] S225 , correcting the first motion measurement data based on the corrected motion measurement coefficient to obtain corrected first motion measurement data.

[0178] It should be understood that before determining whether the correction is successful, the corrected motion measurement coefficient may not be sent to the vibration sensor. After determining that the correction is successful, the final corrected motion measurement coefficient is sent to the vibration sensor, thereby reasonably reducing the number of communications with the vibration sensor.

[0179] To understand how the first module and the second module cooperate to perform the steps of the above data processing method, please refer to Figure 14 and Figure 15 , Figure 14 The third signaling flow diagram provided by the embodiment of the present invention is: Figure 15 The fourth signaling flow diagram provided for an embodiment of the present invention. Figure 14 and Figure 15 This corresponds to a schematic diagram of the signaling flow modified by the second module.

[0180] like Figure 14 As shown, after obtaining each corrected motion measurement coefficient, the second module may send it directly or indirectly to the vibration sensor, and the vibration sensor may collect data according to the corrected motion measurement coefficient, thereby obtaining corrected first motion measurement data.

[0181] like Figure 15As shown, after obtaining the motion measurement coefficient after each correction, the second module can send it to the first module. The vibration sensor can collect data according to the original motion measurement coefficient and send the collected first motion measurement data to the first module. The first module corrects the first motion measurement data based on the corrected motion measurement coefficient to obtain the corrected first motion measurement data.

[0182] Figure 14 and 15 As shown, the evaluation result of the validity of the corrected first motion measurement data is obtained by the first module, and the evaluation result is sent to the second module so that it can evaluate whether it meets the correction end condition.

[0183] It is understandable that Figure 14 and 15 It is only used for illustrative purposes. The omitted processes can be referred to the description of the relevant parts above and will not be repeated here.

[0184] Based on the above, regarding how to correct the motion measurement coefficient to ensure the accuracy and speed of the correction result, the embodiment of the present invention also provides an optional implementation method, which is referred to below. When it is determined that the current correction does not meet the correction end condition, that is, the motion measurement coefficient needs to be corrected again, it also includes: S227, which is described in detail below.

[0185] S227 , judging whether to adjust the correction direction and / or offset according to the corrected motion measurement error, and performing the next motion measurement coefficient correction of the vibration sensor according to the judgment result.

[0186] In an optional embodiment, the process of determining the i-th modified motion measurement coefficient is as follows, where i is a non-negative integer:

[0187] When i=1, based on the original motion measurement coefficient, an adjustment is made along the initial correction direction (increasing direction or decreasing direction), and the adjustment amplitude is the initial offset to obtain the motion measurement coefficient after the first correction, wherein the original motion measurement coefficient is the motion measurement coefficient used to collect data before correction. Based on the first motion measurement data collected by the motion measurement coefficient after the first correction, and then combined with the second motion measurement data collected by the reference sensor, the motion measurement error after the first correction is determined. For details, please refer to the above-mentioned relevant content description, which will not be repeated here. When i≥2, if the correction evaluation result indicates that the vibration measurement data is invalid and does not meet the correction end condition, the motion measurement error after the i-1th correction and the motion measurement error after the i-2th correction are compared to determine the current correction direction (i.e., the i-th correction direction), the current offset (i.e., the i-th offset), and the motion measurement coefficient to be corrected this time (i.e., the i-th time). To simplify the description below, the motion measurement error after the i-th correction can be simplified as the i-th correction error, and the 0th correction error is the initial motion measurement error before correction; the i-th motion measurement coefficient to be corrected is called the i-th basic coefficient; the i-th correction direction may be the initial correction direction or the adjusted correction direction; the i-th offset may be the initial offset or the adjusted offset.

[0188] Taking i=2 as an example, the evaluation result after the first correction indicates that the vibration measurement data is invalid and does not meet the correction end condition. If the first correction error is less than the initial motion measurement error before correction, then the second correction direction is the same as the first correction direction, the second offset is the initial offset, and the second base coefficient can be the motion measurement coefficient after the first correction;

[0189] If the first correction error is greater than the initial motion measurement error before correction, the second correction direction is opposite to the first correction direction, the second offset is the initial offset, and the second base coefficient can be the original motion measurement coefficient;

[0190] If the first correction error is equal to the initial motion measurement error before correction, the second correction direction can be the same as the first correction direction, the second offset is the value of the initial offset reduced according to a preset rule (reduced by a preset percentage or by a preset value), and the second base coefficient can be the original motion measurement coefficient. Alternatively, if the first correction error is equal to the initial motion measurement error before correction, the second correction direction can be opposite to the first correction direction, the second offset is the value of the initial offset reduced according to a preset rule (reduced by a preset percentage or by a preset value), and the second base coefficient can be the motion measurement coefficient after the first correction.

[0191] When i ≥ 3, the vibration measurement data after the i-1th correction is still invalid and does not meet the correction end conditions. If the i-1th correction error is less than the i-2th correction error, the i-th correction direction is the same as the i-1th correction direction (the i-1th correction direction is the correction direction at the i-1th correction), the i-th offset is the same as the i-1th offset (the i-1th offset is the offset at the i-1th correction), and the i-th basic coefficient is the motion measurement coefficient after the i-1th correction.

[0192] If the (i-1)th correction error is greater than or equal to the (i-2)th correction error, then the (i-1)th correction direction may be the same as the (i-1)th correction direction, the (i-1)th offset is the value of the (i-1)th offset reduced according to a preset rule (reduced by a preset percentage or by a preset value), and the (i-2)th base coefficient is the motion measurement coefficient after the (i-2)th correction. Alternatively, if the (i-1)th correction error is greater than or equal to the (i-2)th correction error, then the (i-1)th correction direction may be opposite to the (i-1)th correction direction, the (i-1)th offset is the value of the (i-1)th offset reduced according to a preset rule (reduced by a preset percentage or by a preset value), and the (i-1)th base coefficient is the motion measurement coefficient after the (i-1)th correction.

[0193] In an optional implementation, the target axis may be determined from the reference coordinate axes that meet the correction conditions, and the above coefficient correction process may be performed based on the original motion measurement coefficients of the vibration sensor corresponding to the target axis, which will not be described in detail here.

[0194] In an optional embodiment, before fine-tuning the motion measurement coefficient of the vibration sensor based on the offset, the target motion measurement coefficient is determined by monitoring any two of the maximum value, average value, and minimum value of the second motion measurement data within the period and the number of measurements.

[0195] For example, the target motion measurement coefficient = (the maximum value of the second motion measurement data - the average value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the target motion measurement coefficient = (the maximum value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period; or, the target motion measurement coefficient = (the average value of the second motion measurement data - the minimum value of the second motion measurement data) ÷ the number of measurements within the monitoring period.

[0196] A motion measurement error corresponding to the target motion measurement coefficient is obtained, and based on the motion measurement error corresponding to the target motion measurement coefficient, the validity of the vibration measurement data of the target moving part is evaluated. If the evaluation result corresponding to the target motion measurement coefficient indicates that the vibration measurement data of the target moving part is valid, the target motion measurement coefficient can be written into the vibration sensor to complete the correction.

[0197] If the evaluation result corresponding to the target motion measurement coefficient indicates that the vibration measurement data of the target moving part is invalid, the target motion measurement coefficient is used as the original motion measurement coefficient, and the motion measurement error corresponding to the target motion measurement coefficient is used as the initial motion measurement error before correction corresponding to the original motion measurement coefficient, and then the motion measurement coefficient of the vibration sensor is fine-tuned based on the offset. For details, please refer to the relevant description part above, which will not be repeated here.

[0198] In an optional embodiment, the device to which the first module belongs (one of the host device and the automatic transport device) is further provided with a first display unit, and / or the device to which the second module belongs (the other of the host device and the automatic transport device) is further provided with a second display unit (e.g., a display module in the host device). To facilitate user observation, the data processing method further includes S31 and / or S32, which are described in detail below.

[0199] S31, controlling the first display unit to display data, wherein the data displayed by the first display unit includes any one or more of the effectiveness evaluation result, the first correction result, relevant data of the vibration sensor, and relevant data of the reference sensor.

[0200] S32, transmitting the data to be displayed to the second module so that it displays the data through the second display unit, wherein the data displayed by the second display unit includes any one or more of the validity evaluation result, the second correction result, the relevant data of the vibration sensor, and the relevant data of the reference sensor.

[0201] The relevant data of the vibration sensor may include any one or more of: a first motion measurement coefficient before correction, a vibration sensor before correction, an original motion measurement coefficient, a corrected motion measurement coefficient, a corrected first motion measurement coefficient, a corrected vibration sensor, a successfully corrected motion measurement coefficient, a successfully corrected first motion measurement coefficient, and a successfully corrected vibration sensor. The relevant data of the reference sensor may include any one or more of: second motion measurement data and a second motion measurement coefficient.

[0202] An embodiment of the present invention further provides a data processing device comprising a data processing module, at least one reference sensor, and at least one vibration sensor. The reference sensor and vibration sensor of the same group are mounted on the same moving component of an automatic transport device, which is deployed on a transport track of the automatic transport device. The data processing module is in communication with the reference sensor and the vibration sensor. The reference sensor and vibration sensor of the same group are equivalent to the reference sensor and vibration sensor of the same measurement module.

[0203] The data processing module is used to execute the data processing method of any of the above embodiments.

[0204] The data processing module may be, but is not limited to, any one or more of the processing module in the aforementioned measurement module, the host computer device, and the automatic transport device.

[0205] An embodiment of the present invention also provides an automatic transport device, which includes a control module, a transport track, and a moving part deployed on the transport track. The control module is connected to the transport track and / or the moving part, and the control module is used to control the moving part to move along the transport track.

[0206] The control module is used in the data processing method of any of the above embodiments.

[0207] The embodiment of the present invention further provides a host computer device, the host computer device is connected to the automatic transport device, and the automatic transport device includes a transport track and a moving component deployed on the transport track;

[0208] The host computer device is used to execute the data processing method of any of the above embodiments.

[0209] An embodiment of the present invention further provides an automatic transport system, comprising a data processing device, a transport track, a moving component deployed on the transport track, at least one reference sensor, and at least one vibration sensor. The data processing device includes a control module and / or a host computer device in the automatic transport device.

[0210] The same set of reference sensors and vibration sensors are installed on the same moving part, which is deployed on the transport track.

[0211] The data processing device is communicatively connected with the reference sensor and the vibration sensor.

[0212] The data processing device is used to execute the data processing method of any of the above embodiments.

[0213] Optionally, the reference sensor and the vibration sensor of the same group are mounted on the same surface of the moving part.

[0214] In summary, the data processing method and related equipment provided by the embodiments of the present invention evaluate the validity of the vibration measurement data of the target moving part through the motion measurement error corresponding to the first motion measurement data of the vibration sensor and the second motion measurement data of the reference sensor, so that unreliable vibration sensors can be quickly and accurately identified based on the evaluation results, which is conducive to timely avoiding the vibration monitoring operation from continuing to use the vibration measurement data of the unreliable vibration sensor, thereby reducing the adverse effects of the reduced reliability of the vibration sensor on the vibration monitoring of the moving part, and ensuring the accuracy of the vibration monitoring of the moving part.

[0215] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0216] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A data processing method, characterized in that: Applied to a first module, the first module is used to process data generated by a mobile component, the mobile component moving along a transport track, the method comprising: Acquiring first motion measurement data and second motion measurement data corresponding to a target moving component; wherein the target moving component is a moving component equipped with a reference sensor and a vibration sensor, the vibration sensor is used to acquire the first motion measurement data and the vibration measurement data of the target moving component, the reference sensor is used to acquire the second motion measurement data of the target moving component, and the accuracy of the second motion measurement data acquired by the reference sensor is not less than the accuracy of the first motion measurement data acquired by the vibration sensor; determining a motion measurement error based on the first motion measurement data and the second motion measurement data; The validity of the vibration measurement data of the target moving component is evaluated based on the motion measurement error.

2. The data processing method according to claim 1, wherein: Before determining the motion measurement error based on the first motion measurement data and the second motion measurement data, the method further includes: Determine whether the reference sensor coordinate system matches the vibration sensor coordinate system; If there is no match, the first motion measurement data and / or the second motion measurement data are subjected to coordinate transformation according to the coordinate axis transformation relationship so that the two are in a unified coordinate system; the unified coordinate system is any one of the reference sensor coordinate system, the vibration sensor coordinate system or the global coordinate system.

3. The data processing method according to claim 2, wherein: The determining whether the reference sensor coordinate system matches the vibration sensor coordinate system includes any one of the following: When the reference sensor coordinate system is parallel to the vibration sensor coordinate system, determining that the reference sensor coordinate system matches the vibration sensor coordinate system; otherwise, determining that the reference sensor coordinate system does not match the vibration sensor coordinate system; When each coordinate axis of the reference sensor coordinate system is completely aligned with each coordinate axis of the vibration sensor coordinate system, it is determined that the reference sensor coordinate system and the vibration sensor coordinate system match; otherwise, it is determined that the two do not match.

4. The data processing method according to any one of claims 1 to 3, characterized in that: The evaluating the validity of the vibration measurement data of the target moving component based on the motion measurement error includes at least one of the following: When coordinate transformation occurs and the unified coordinate system is not the vibration sensor coordinate system, evaluating the validity of the vibration measurement data of the target moving component based on the motion measurement error in the unified coordinate system, determining the validity of the vibration measurement data of the target moving component based on the evaluation in the unified coordinate system, and determining an evaluation result of the validity of the vibration measurement data of the target moving component in the vibration sensor coordinate system based on the evaluation result in the unified coordinate system; When there is a coordinate transformation and the unified coordinate system is not the vibration sensor coordinate system, the motion measurement error in the unified coordinate system is transformed into the vibration sensor coordinate system according to the coordinate axis transformation relationship, and the validity of the vibration measurement data of the target moving part is evaluated based on the motion measurement error in the vibration sensor coordinate system to obtain an evaluation result.

5. The data processing method according to claim 1, wherein: The determining of a motion measurement error based on the first motion measurement data and the second motion measurement data includes: Acquire at least one set of first motion measurement data and second motion measurement data with matching time and coordinate axes according to the matching of acquisition time and coordinate system; At least one motion measurement error is calculated based on at least one set of first motion measurement data and second motion measurement data.

6. The data processing method according to claim 5, wherein: The determining of a motion measurement error based on the first motion measurement data and the second motion measurement data further includes: When there are multiple motion measurement errors corresponding to the same reference coordinate axis, the motion measurement error used for effectiveness evaluation is determined based on the multiple motion measurement errors corresponding to the same reference coordinate axis.

7. The data processing method according to claim 5 or 6, characterized in that: The evaluating the validity of the vibration measurement data of the target moving component based on the motion measurement error includes at least one of the following: generating a first evaluation result associated with the entirety of the vibration measurement data in the event that at least one motion measurement error is obtained; When at least one motion measurement error is obtained and a corresponding reference coordinate axis exists, a second evaluation result associated with the vibration measurement data of the vibration sensor corresponding to the coordinate axis is generated.

8. The data processing method according to claim 7, wherein: The generating of a first evaluation result related to the entire vibration measurement data upon obtaining at least one motion measurement error comprises at least one of the following: When the number of the motion measurement error is one, generating the first evaluation result by combining the obtained motion measurement error and a judgment of an evaluation condition, wherein the evaluation condition is a condition generated based on an error threshold or an error range; In a case where there are multiple motion measurement errors, performing first preprocessing on the multiple motion measurement errors obtained, obtaining evaluation conditions corresponding to the relevant coordinate axes based on relevant coordinate axes determined based on the first preprocessing result, and generating the first evaluation result by combining the first preprocessing result and the judgment of the evaluation conditions; In the case where there are multiple motion measurement errors, evaluation conditions corresponding to the relevant coordinate axes are obtained based on the relevant coordinate axes determined based on each motion measurement error, and the first evaluation result is generated by combining the judgment of each motion measurement error with the corresponding evaluation condition.

9. The data processing method according to claim 7, wherein: The step of generating a second evaluation result related to vibration measurement data of the vibration sensor corresponding to the coordinate axis when at least one motion measurement error is obtained and a corresponding reference coordinate axis exists includes at least one of the following: When there is at least one motion measurement error, obtaining, according to the relevant coordinate axes determined based on the respective motion measurement errors, evaluation conditions corresponding to the relevant coordinate axes, and generating the second evaluation result by combining determinations of the respective motion measurement errors with the corresponding evaluation conditions; In the case where there are multiple motion measurement errors, relevant coordinate axes are determined based on each motion measurement error, and after performing a second preprocessing on the motion measurement errors with the same relevant coordinate axes, evaluation conditions corresponding to the relevant coordinate axes are obtained, and the second evaluation result is generated by combining the second preprocessing result and the judgment of the evaluation conditions.

10. The data processing method according to claim 1, wherein: When the evaluation result determined based on the motion measurement error indicates a failure, the method further includes: determining whether the vibration sensor satisfies a correction condition based on the first motion measurement data of the vibration sensor and the second motion measurement data of the reference sensor; If it is determined that the vibration sensor meets the correction condition, the vibration sensor is corrected.

11. The data processing method according to claim 10, wherein: The correcting of the vibration sensor includes at least one of the following: Based on the evaluation result, correcting a motion measurement coefficient corresponding to at least one coordinate axis of the vibration sensor; Based on the evaluation result, a correction request is sent to a second module to instruct the second module to correct the motion measurement coefficient corresponding to at least one coordinate axis of the vibration sensor, wherein the second module is set independently from the first module.

12. The data processing method according to claim 10, wherein: The correcting of the vibration sensor includes at least one of the following: Correcting the motion measurement coefficient of the vibration sensor to obtain a first correction result; wherein the first correction result includes a successfully corrected motion measurement coefficient or correction failure information; the first correction result is obtained by correcting the motion measurement coefficient based on the offset, and / or the first correction result is obtained by correcting the motion measurement coefficient based on the second motion measurement data; Obtain a second correction result sent by the second module; wherein the second correction result includes a motion measurement coefficient of successful correction or correction failure information; the second correction result is obtained based on the offset correction of the motion measurement coefficient, and / or the second correction result is obtained based on the second motion measurement data correction of the motion measurement coefficient.

13. The data processing method according to claim 12, wherein: The process of obtaining the first correction result includes: Correcting the motion measurement coefficient of the vibration sensor based on the offset, obtaining corrected first motion measurement data based on the corrected motion measurement coefficient each time, and determining whether to correct the motion measurement coefficient again based on an evaluation result of the validity of the corrected first motion measurement data, until a correction end condition is met; The process of the second module obtaining the second correction result includes: Based on the corrected motion measurement coefficient of the vibration sensor from the second module, the corrected first motion measurement data obtained based on each corrected motion measurement coefficient and the evaluation result of the validity of the corrected first motion measurement data are obtained, and the evaluation result is sent to the second module so that it can evaluate whether the correction end condition is met.

14. The data processing method according to claim 13, wherein: The acquiring of the corrected first motion measurement data based on each corrected motion measurement coefficient includes any one of the following: sending each corrected motion measurement coefficient to the vibration sensor, so that the vibration sensor collects first motion measurement data based on the corrected motion measurement coefficient; The first motion measurement data is corrected based on the corrected motion measurement coefficient to obtain corrected first motion measurement data.

15. The data processing method according to claim 13, wherein: When it is determined that the current revision does not meet the revision termination conditions, it also includes: It is determined whether to adjust the correction direction and / or offset according to the corrected motion measurement error, and the motion measurement coefficient of the vibration sensor is corrected next time according to the judgment result.

16. A data processing device, characterized in that: The system comprises a data processing module, at least one reference sensor, and at least one vibration sensor, wherein the reference sensor and the vibration sensor of the same group are mounted on the same moving component of an automatic transport device, and the moving component is deployed on a transport track of the automatic transport device, and the data processing module is in communication with the reference sensor and the vibration sensor; The data processing module is used to execute the data processing method according to any one of claims 1 to 15.

17. An automatic transport device, characterized in that: The automatic transport device includes a control module, a transport track, and a moving component deployed on the transport track, wherein the control module is connected to the transport track and / or the moving component, and is used to control the moving component to move along the transport track; The control module is used to execute the data processing method according to any one of claims 1 to 15.

18. A host computer device, characterized in that: The host device is connected to an automatic transport device, and the automatic transport device includes a transport track and a moving component deployed on the transport track; The host computer device is used to execute the data processing method according to any one of claims 1 to 15.

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

20. The automatic transport system according to claim 19, wherein: The reference sensor and the vibration sensor of the same group are mounted on the same surface of the moving part.

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