Force platform leveling control method and system, electronic device and storage medium

Abstract

The present application relates to the technical field of force measuring platform, and discloses a force measuring platform leveling control method, system, electronic equipment and storage medium, the method comprises the following steps: obtaining the force value of the adjustable foot pad of the force measuring platform body structure and the force value of the three fixed foot pads; obtaining the inclination angle value collected by the IMU sensor arranged at the geometric center of the force measuring platform and the height value of the adjustable foot pad collected by the grating ruler sensor; calculating the height adjustment value of the adjustable foot pad and performing leveling control; wherein the center area of the upper plate of the force measuring platform body structure is provided with a main hole area, a honeycomb array is arranged in the main hole area, and the honeycomb hole is filled with glass fiber. The present application can solve the problems of low efficiency, poor precision and high cost of traditional leveling. At the same time, the honeycomb array and glass fiber filling design of the force measuring platform not only realize weight reduction and facilitate carrying, but also reduce the attenuation of the Bluetooth signal, improve the transmission performance, and ensure the measurement accuracy and use flexibility in high-precision and dynamic scenarios.

Description

Technical Field

[0001] This invention relates to the field of force measuring platform technology, and in particular to a force measuring platform leveling control method, system, electronic device and storage medium. Background Technology

[0002] Force measurement platforms, as core equipment for mechanical measurement, play a vital role in fields such as sports biomechanics analysis and medical rehabilitation assessment. With the rapid development of IoT technology, traditional wired force measurement platforms, due to their complex wiring and poor deployment flexibility, are gradually being upgraded towards wireless and lightweight designs. However, existing technologies face multiple technical bottlenecks in practical applications, limiting their performance in high-precision, dynamic scenarios.

[0003] Current mainstream metal force measurement platforms typically lack weight-reduction holes, resulting in bulky and inconvenient-to-carry devices that are unsuitable for mobile applications. Furthermore, due to the electromagnetic shielding effect of metals, materials like aluminum alloys severely attenuate 2.4GHz Bluetooth signals, leading to reduced transmission distance and high data loss rates.

[0004] In addition, the leveling system of traditional force measuring platforms mostly relies on manual adjustment, which requires repeated measurement and adjustment, resulting in low efficiency and difficulty in achieving high-precision calibration. While the electric leveling mechanism used in a few high-end devices can improve efficiency, it is expensive due to its reliance on complex transmission systems and independent sensors. Furthermore, it has poor adaptability to asymmetrical loads and is prone to causing local stress concentration problems, which affects measurement accuracy.

[0005] Therefore, there is an urgent need to provide a technical solution to address the above problems. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a force measuring platform leveling control method, system, electronic device, and storage medium.

[0007] Firstly, the present invention provides a method for leveling and controlling a force measuring platform, the technical solution of which is as follows:

[0008] The first force value collected by the force sensor corresponding to the adjustable height foot pad of the force measuring platform body structure and the second force value collected by the force sensor corresponding to the three fixed foot pads are obtained; wherein, a foot pad mounting position is provided at each of the four corners of the bottom surface of the lower plate of the force measuring platform body structure, wherein three foot pad mounting positions are used for fixed foot pads and one foot pad mounting position is used for the adjustable height foot pad;

[0009] The X-axis tilt angle and Y-axis tilt angle values ​​are acquired by the IMU sensor located at the geometric center of the force measuring platform body structure, and the current height value of the adjustable height foot pad is acquired by the grating ruler sensor located at the geometric center.

[0010] Based on at least one of the following parameters: the first force value, each second force value, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, calculate the height adjustment value of the adjustable height foot pad, and perform leveling control on the adjustable height foot pad according to the height adjustment value;

[0011] The upper plate of the force measuring platform body structure has a main hole area in its central region, and the main hole area is provided with a honeycomb array with glass fiber filling the honeycomb holes.

[0012] The beneficial effects of the force measuring platform leveling control method of the present invention are as follows:

[0013] The method of this invention can solve the problems of low efficiency, poor accuracy, and high cost of traditional leveling methods. At the same time, the honeycomb array and glass fiber filling design of the force measuring platform body not only reduces weight for easy portability, but also reduces attenuation of Bluetooth signals, improves transmission performance, and ensures measurement accuracy and usage flexibility in high-precision and dynamic scenarios.

[0014] Based on the above scheme, the force measuring platform leveling control method of the present invention can be further improved as follows.

[0015] In one alternative approach, the step of calculating the height adjustment value of the adjustable height footpad based on at least one of the following parameters: the first force measurement value, each of the second force measurement values, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, includes:

[0016] Based on the single-point leveling optimization algorithm, and combining the first force measurement value, each second force measurement value, the X-axis tilt angle value, and the Y-axis tilt angle value, the height adjustment value of the adjustable height pad is calculated; the expression of the single-point leveling optimization algorithm is: ΔH=((F4-F avg )×K F )+(θ x ×L x +θ y ×L y )×K θ Where ΔH represents the height adjustment value, F4 represents the first force measurement value, and F avg K represents the average of all second force values. F θ represents the load compensation coefficient. x The X-axis tilt angle value, θ yL represents the Y-axis tilt angle value. x L represents the distance in the X direction from the adjustable height foot pad to the center of the force measuring platform structure. y K represents the Y-direction distance from the adjustable height foot pad to the center of the force measuring platform structure. θ This represents the angle compensation coefficient.

[0017] In one alternative approach, the step of calculating the height adjustment value of the adjustable height footpad based on at least one of the following parameters: the first force measurement value, each of the second force measurement values, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, includes:

[0018] Based on the three-dimensional virtual fulcrum model algorithm, and combined with the X-axis tilt angle value, the Y-axis tilt angle value and the current height value, the height adjustment value of the adjustable height foot pad is calculated;

[0019] The expression for the three-dimensional virtual pivot model algorithm is: ΔH = H 目标 -H 当前 ; where H 目标 =z′+ΔH 倾斜补偿 ΔH 倾斜补偿 =L x tanθ x +L y tanθ y , H 当前 The current height value is represented by A, B, C, and D, which are target plane parameters. These target plane parameters are plane parameters fitted based on the geometric position coordinates of the three fixed foot pads.

[0020] In one alternative approach, the step of leveling the adjustable height footpad according to the height adjustment value includes:

[0021] The adjustable height foot pads are leveled according to the height adjustment value and through the leveling structure installed on the bottom surface of the lower plate of the force measuring platform body structure.

[0022] In one alternative approach, the cellular array is a hexagonal cellular array.

[0023] Secondly, the present invention provides a force measuring platform leveling control system, the technical solution of which is as follows:

[0024] It includes: a first acquisition module, a second acquisition module, and a leveling control module;

[0025] The first acquisition module is used to: acquire the first force value collected by the force sensor corresponding to the adjustable height foot pad of the force measuring platform body structure and the second force value collected by the force sensor corresponding to the three fixed foot pads respectively; wherein, a foot pad mounting position is provided at each of the four corners of the bottom surface of the lower plate of the force measuring platform body structure, wherein three foot pad mounting positions are used for fixed foot pads and one foot pad mounting position is used for the adjustable height foot pad;

[0026] The second acquisition module is used to: acquire the X-axis tilt angle value and Y-axis tilt angle value collected by the IMU sensor installed at the geometric center of the force measuring platform body structure, and the current height value of the adjustable height foot pad collected by the grating ruler sensor installed at the geometric center;

[0027] The leveling control module is used to: calculate the height adjustment value of the adjustable height pad based on at least one of the following parameters: the first force measurement value, each second force measurement value, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, so as to perform leveling control on the adjustable height pad according to the height adjustment value;

[0028] The upper plate of the force measuring platform body structure has a main hole area in its central region, and the main hole area is provided with a honeycomb array with glass fiber filling the honeycomb holes.

[0029] The beneficial effects of the force measuring platform leveling control system of the present invention are as follows:

[0030] The system of this invention can solve the problems of low efficiency, poor accuracy, and high cost of traditional leveling systems. At the same time, the honeycomb array and glass fiber filling design of the force measuring platform body not only reduces weight for easy portability but also reduces Bluetooth signal attenuation, improves transmission performance, and ensures measurement accuracy and flexibility in high-precision and dynamic scenarios.

[0031] Based on the above scheme, the force measuring platform leveling control system of the present invention can be further improved as follows.

[0032] In one alternative approach, the leveling control module is specifically used for:

[0033] Based on the single-point leveling optimization algorithm, and combining the first force measurement value, each second force measurement value, the X-axis tilt angle value, and the Y-axis tilt angle value, the height adjustment value of the adjustable height pad is calculated; the expression of the single-point leveling optimization algorithm is: ΔH=((F4-F avg )×K F )+(θ x ×L x +θ y ×L y )×K θWhere ΔH represents the height adjustment value, F4 represents the first force measurement value, and F avg K represents the average of all second force values. F θ represents the load compensation coefficient. x The X-axis tilt angle value, θ y L represents the Y-axis tilt angle value. x L represents the distance in the X direction from the adjustable height foot pad to the center of the force measuring platform structure. y K represents the Y-direction distance from the adjustable height foot pad to the center of the force measuring platform structure. θ This represents the angle compensation coefficient.

[0034] In one alternative approach, the leveling control module is specifically used for:

[0035] Based on the three-dimensional virtual fulcrum model algorithm, and combined with the X-axis tilt angle value, the Y-axis tilt angle value and the current height value, the height adjustment value of the adjustable height foot pad is calculated;

[0036] The expression for the three-dimensional virtual pivot model algorithm is: ΔH = H 目标 -H 当前 ; where H 目标 =z′+ΔH 倾斜补偿 ΔH 倾斜补偿 =L x tanθ x +L y tanθ y , H 当前 The current height value is represented by A, B, C, and D, which are target plane parameters. These target plane parameters are plane parameters fitted based on the geometric position coordinates of the three fixed foot pads.

[0037] Thirdly, the technical solution of an electronic device according to the present invention is as follows:

[0038] It includes a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor executes the program to implement the steps of the force platform leveling control method of the present invention.

[0039] Fourthly, the technical solution of a computer-readable storage medium provided by the present invention is as follows:

[0040] The computer-readable storage medium stores instructions that, when read, cause the computer-readable storage medium to perform the steps of the force platform leveling control method of the present invention.

[0041] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0042] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0043] Figure 1 This is a flowchart illustrating an embodiment of a force-measuring platform leveling control method according to the present invention;

[0044] Figure 2 This is a schematic diagram of the main structure of the force measuring platform;

[0045] Figure 3 This is a schematic diagram of an embodiment of a force-measuring platform leveling control system according to the present invention;

[0046] Figure 4 This is a schematic diagram of an embodiment of an electronic device according to the present invention. Detailed Implementation

[0047] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0048] Figure 1 This diagram illustrates a flowchart of an embodiment of a force-measuring platform leveling control method provided by the present invention. This method can be executed by electronic devices such as terminal devices or servers. The terminal device can be any fixed or mobile terminal, such as user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, vehicle-mounted device, or wearable device. The server can be a single server or a server cluster consisting of multiple servers. Any electronic device can implement the force-measuring platform leveling control method by having its processor call computer-readable instructions stored in its memory. Figure 1 As shown, it includes the following steps:

[0049] S1. Obtain the first force value collected by the force sensor corresponding to the adjustable height foot pad of the force measuring platform body structure, and the second force value collected by the force sensor corresponding to the three fixed foot pads respectively.

[0050] The force measuring platform body structure has four corner mounting positions for foot pads. Three of these positions are for fixed foot pads, and one position is for an adjustable height foot pad. The adjustable height foot pad is installed at one corner of the lower plate of the force measuring platform body structure. Its height is adjustable (0-20mm stroke) via a leveling structure to compensate for platform tilt and load imbalance. The fixed foot pad is installed at the other three corners of the lower plate and provides stable support for the platform. The force sensor is a DYZ-101-1-200KG type force sensor, symmetrically embedded in the four corner mounting holes of the force measuring platform body structure, coaxially arranged with the foot pads, and used to collect the load values ​​at the four corners in real time. The first force value refers to the load data collected by the force sensor corresponding to the adjustable height foot pad, and the second force value refers to the load data collected by the force sensor corresponding to the three fixed foot pads.

[0051] It should be noted that, as Figure 2 As shown, the force measuring platform adopts a rectangular frame design. The upper and lower plates are 485*300mm in length and width, 10mm thick, and 40mm above the ground. They are made of 7075 aluminum alloy. The upper and lower plates are supported by copper columns, and sensor mounting holes are provided at the four corners.

[0052] S2. Obtain the X-axis tilt angle value and Y-axis tilt angle value collected by the IMU sensor installed at the geometric center of the force measuring platform body structure, and the current height value of the adjustable height foot pad collected by the grating ruler sensor installed at the geometric center.

[0053] The IMU sensor refers to an inertial measurement unit deployed at the geometric center of the platform, used to collect the platform's tilt angles around the X-axis (X-axis tilt angle value) and Y-axis (Y-axis tilt angle value). The grating ruler sensor is a displacement measuring device with a resolution of 0.001 mm and a measuring range of 25 mm, deployed at the geometric center, used to provide real-time feedback on the extension and retraction height of the adjustable foot pads. The current height value refers to the amount of displacement of the adjustable foot pads measured in real-time by the grating ruler sensor.

[0054] Based on at least one of the following parameters: the first force measurement value, each second force measurement value, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, the height adjustment value of the adjustable height pad is calculated, and the adjustable height pad is leveled according to the height adjustment value.

[0055] The upper plate of the force measuring platform structure has a main aperture area in its central region. This main aperture area contains a honeycomb array with glass fiber filling the honeycomb cells. Specifically, the main aperture area refers to the weight-reduction structure in the 200mm × 300mm central region of the upper plate, employing a hexagonal honeycomb array (8mm aperture, 12mm spacing) with glass fiber filling the cells to enhance signal transmission. The honeycomb array, specifically the hexagonal aperture topology of the main aperture area, is equivalent to a waveguide with a cutoff frequency of 11.3GHz, used to reduce the attenuation of the 2.4GHz Bluetooth signal.

[0056] It should be noted that the hexagonal honeycomb array in the main aperture region is equivalent to a cutoff waveguide, and the cutoff frequency is calculated using the following formula: Where c is the speed of light, a represents the equivalent width of the aperture array, ∈ r This represents the relative permittivity of the filling material. The calculated cutoff frequency is significantly higher than 2.4 GHz, ensuring signal transmission. Furthermore, a continuous copper strip, 5 mm wide and 0.2 mm thick, is placed along the edge of the upper plate to form a closed loop. The reflective ring is spaced 15 mm from the honeycomb array, guiding electromagnetic waves towards the aperture area. A ceramic resonator is embedded within each honeycomb aperture to improve signal transmission. Further, three trapezoidal reinforcing ribs, made of the same material as the substrate, are placed along the long side of the plate. The thickness of the sensor mounting areas at the four corners is increased to 12 mm, and M8 countersunk screws are used for the bolt holes to ensure the reliability of the structural load-bearing capacity.

[0057] In one alternative approach, the step of calculating the height adjustment value of the adjustable height footpad based on at least one of the following parameters: the first force measurement value, each of the second force measurement values, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, includes:

[0058] Based on the single-point leveling optimization algorithm, and combined with the first force measurement value, each second force measurement value, the X-axis tilt angle value, and the Y-axis tilt angle value, the height adjustment value of the adjustable height foot pad is calculated.

[0059] The expression for the single-point leveling optimization algorithm is: ΔH=((F4-F avg )×K F )+(θ x ×L x +θ y ×L y )×K θ ΔH represents the height adjustment value, F4 represents the first force measurement value, and F avg K represents the average of all second force values. F θ represents the load compensation coefficient. x The X-axis tilt angle value, θ y L represents the Y-axis tilt angle value. xL represents the distance in the X direction from the adjustable height foot pad to the center of the force measuring platform structure. y K represents the Y-direction distance from the adjustable height foot pad to the center of the force measuring platform structure. θ This represents the angle compensation coefficient.

[0060] It should be noted that the load compensation coefficient K F This indicates the height adjustment required per unit load difference. If the first force measurement value is greater than the average of the second force measurement values, it indicates that the load-bearing capacity at that point is too high, and the height needs to be lowered; conversely, it needs to be raised. Angle compensation coefficient K θ This indicates the height that needs to be adjusted per unit tilt angle; when the force measuring platform is tilted, the overall levelness is corrected by adjusting the height of the foot pads using the lever principle.

[0061] In one alternative approach, the step of calculating the height adjustment value of the adjustable height footpad based on at least one of the following parameters: the first force measurement value, each of the second force measurement values, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, includes:

[0062] Based on the three-dimensional virtual fulcrum model algorithm, and combined with the X-axis tilt angle value, the Y-axis tilt angle value and the current height value, the height adjustment value of the adjustable height foot pad is calculated.

[0063] The expression for the three-dimensional virtual pivot model algorithm is: ΔH = H 目标 -H 当前 H 目标 =z′+ΔH 倾斜补偿 ΔH 倾斜补偿 =L x tanθ x +L y tanθ y , H 当前 The current height value is represented by A, B, C, and D, which are target plane parameters. These target plane parameters are plane parameters fitted based on the geometric position coordinates of the three fixed foot pads.

[0064] It should be noted that, using the geometric positions P1, P2, and P3 of the three fixed foot pads as a reference, with corresponding coordinates (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3), an ideal virtual fulcrum plane is fitted using the least squares method: Ax + By + Cz + D = 0; the coordinates P4 (x4, y4, z4) of the adjustable height foot pad are projected onto the reference plane, and the height of the projection point P′4 is:

[0065] In one alternative approach, the step of leveling the adjustable height footpad according to the height adjustment value includes:

[0066] The adjustable height foot pads are leveled according to the height adjustment value and through the leveling structure installed on the bottom surface of the lower plate of the force measuring platform body structure.

[0067] The leveling structure is fixed to the bottom of the force measuring table via a flange and includes three adjustment units: ① The coarse adjustment module uses a T-shaped threaded adjustment rod with a Tr20×4 thread, an adjustment stroke of 0-20mm, and a rotating handle with a locking nut, with an adjustment amount of 4mm per turn. ② The fine adjustment module uses a differential threaded fine-tuning mechanism with an external thread lead of 1.25mm, an internal thread lead of 1mm, a theoretical single-turn adjustment amount of 0.25mm, a digital scale ring with a main scale of 0.25mm / division and a secondary scale of 0.01mm / division, and a hysteresis damper to maintain the stability of the adjustment position. ③ The self-locking mechanism uses an electromagnetically driven wedge-shaped locking block with an adjustable locking force of 0-30N·m and an integrated vibration sensor. This ensures high stability and anti-interference capability after adjustment.

[0068] Regarding the leveling control process, it should be noted that:

[0069] 1) Establish a baseline and fix the foot pads in contact with the ground. After powering on, perform a self-test initialization: load the force sensor for 10 seconds of no-load data and take the average value for zero-position calibration; collect 1000 points from the IMU sensor in a static state and take the average value for offset compensation; retract the adjustable height foot pads to the initial position to zero the grating ruler sensor.

[0070] 2) The IMU sensor acquires the initial X-axis tilt angle θ of the force measurement platform's main structure. x0 and the Y-axis tilt angle value θ y0 The four corner force sensors collect the reference load values ​​F1, F2, F3, and F4, and calculate:

[0071] 3) Calculate the target height value based on the current height value and the height adjustment value, and decompose the adjustment amount to calculate the coarse adjustment amount and the fine adjustment amount.

[0072] 4) Adjust the height using the guidance on the external display screen. The grating ruler sensor collects the current height value, and the buzzer sounds after adjusting to the target height value.

[0073] 5) After adjustment, activate the self-locking mechanism, energize the coil, and gradually increase the locking force. Re-collect data and calculate indicators for secondary verification: The force sensor collects the four corner load values ​​(force values) F1, F2, F3, and F4 at a sampling rate of 1kHz for 5 seconds, and takes the average value to eliminate instantaneous disturbances. The IMU sensor collects the current X-axis tilt angle θ of the force platform's main structure.x and the Y-axis tilt angle value θ y Noise reduction is achieved through Kalman filtering. The grating ruler sensor reads the actual adjustable height value H of the adjustable height footpad. 实际 With the target height value H 目标 contrast.

[0074] 6) Calculate the load range at the four corners: ΔF 极差 =max(F1, F2, F3, F4)-min(F1, F2, F3, F4); satisfies: ΔF 极差 ≤1.5% × FS (full scale), Satisfying θ 总 ≤0.02°. Calculate the height error: θH 误差 =|H 实际 -H 目标 |; Satisfies ΔH 误差 If the level is ≤0.05mm, the leveling is considered successful. If any condition is not met, the buzzer will sound a long beep, triggering a maximum of three iterations for correction. If the level is still not met after more than three iterations, the adjustment mechanism will be locked, and the display screen will show the message "Leveling failed, please contact maintenance personnel".

[0075] The technical solution in this embodiment can solve the problems of low efficiency, poor accuracy, and high cost of traditional leveling methods. At the same time, the honeycomb array and glass fiber filling design of the force measuring platform body not only reduces weight for easy portability but also reduces Bluetooth signal attenuation, improves transmission performance, and ensures measurement accuracy and flexibility in high-precision and dynamic scenarios.

[0076] Figure 3 A schematic diagram of an embodiment of a force-measuring platform leveling control system 200 provided by the present invention is shown. Figure 3 As shown, the system 200 includes: a first acquisition module 210, a second acquisition module 220, and a leveling control module 230;

[0077] The first acquisition module 210 is used to: acquire the first force value collected by the force sensor corresponding to the adjustable height foot pad of the force measuring platform body structure and the second force value collected by the force sensor corresponding to the three fixed foot pads respectively; wherein, a foot pad mounting position is provided at each of the four corners of the bottom surface of the lower plate of the force measuring platform body structure, wherein three foot pad mounting positions are used for fixed foot pads and one foot pad mounting position is used for the adjustable height foot pad;

[0078] The second acquisition module 220 is used to: acquire the X-axis tilt angle value and Y-axis tilt angle value collected by the IMU sensor installed at the geometric center of the force measuring platform body structure, and the current height value of the adjustable height foot pad collected by the grating ruler sensor installed at the geometric center;

[0079] The leveling control module 230 is used to: calculate the height adjustment value of the adjustable height pad based on at least one of the first force measurement value, each second force measurement value, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, so as to perform leveling control on the adjustable height pad according to the height adjustment value;

[0080] The upper plate of the force measuring platform body structure has a main hole area in its central region, and the main hole area is provided with a honeycomb array with glass fiber filling the honeycomb holes.

[0081] In one alternative embodiment, the leveling control module 230 is specifically used for:

[0082] Based on the single-point leveling optimization algorithm, and combining the first force measurement value, each second force measurement value, the X-axis tilt angle value, and the Y-axis tilt angle value, the height adjustment value of the adjustable height pad is calculated; the expression of the single-point leveling optimization algorithm is: ΔH=((F4-F avg )×K F )+(θ x ×L x +θ y ×L y )×K θ Where ΔH represents the height adjustment value, F4 represents the first force measurement value, and F avg K represents the average of all second force values. F θ represents the load compensation coefficient. x The X-axis tilt angle value, θ y L represents the Y-axis tilt angle value. x L represents the distance in the X direction from the adjustable height foot pad to the center of the force measuring platform structure. y K represents the Y-direction distance from the adjustable height foot pad to the center of the force measuring platform structure. θ This represents the angle compensation coefficient.

[0083] In one alternative embodiment, the leveling control module 230 is specifically used for:

[0084] Based on the three-dimensional virtual fulcrum model algorithm, and combined with the X-axis tilt angle value, the Y-axis tilt angle value and the current height value, the height adjustment value of the adjustable height foot pad is calculated;

[0085] The expression for the three-dimensional virtual pivot model algorithm is: ΔH = H 目标 -H 当前 ; where H 目标 =z′+ΔH 倾斜补偿 ΔH 倾斜补偿 =Lx tanθ x +L y tanθ y , H 当前 The current height value is represented by A, B, C, and D, which are target plane parameters. These target plane parameters are plane parameters fitted based on the geometric position coordinates of the three fixed foot pads.

[0086] In one alternative embodiment, the leveling control module 230 is specifically used for:

[0087] The adjustable height foot pads are leveled according to the height adjustment value and through the leveling structure installed on the bottom surface of the lower plate of the force measuring platform body structure.

[0088] In one alternative approach, the cellular array is a hexagonal cellular array.

[0089] It should be noted that the beneficial effects of the force measuring platform leveling control system 200 provided in the above embodiments are the same as those of the force measuring platform leveling control method described above, and will not be repeated here. Furthermore, the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0090] The force-measuring platform leveling control system 200 of the present invention can be a computer program (including program code) running on a computer device. For example, the force-measuring platform leveling control system of the present invention is an application software that can be used to execute the corresponding steps in the force-measuring platform leveling control method of the present invention.

[0091] In some embodiments, the force platform leveling control system 200 of the present invention can be implemented in a combination of hardware and software. As an example, the force platform leveling control system of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the force platform leveling control method of the present invention. For example, the processor in the form of a hardware decoding processor can be one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0092] The modules described in the embodiments of this invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0093] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned force-measuring platform leveling control methods. That is, an electronic device according to an embodiment of the present invention may include, but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the force-measuring platform leveling control method shown in any embodiment of the present invention by calling the computer program.

[0094] In one alternative embodiment, an electronic device is provided, such as Figure 4 As shown, Figure 4 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0095] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0096] Bus 4002 may include a path for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The bus 4002 is represented by only one thick line, but this does not mean that there is only one bus or one type of bus.

[0097] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0098] The memory 4003 stores the application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0099] Among them, electronic devices can also be terminal devices. A terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart TVs, and smart in-vehicle devices.

[0100] It should be noted that, Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0101] An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described force-measuring platform leveling control methods.

[0102] Alternatively, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0103] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. The processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the aforementioned force-measuring platform leveling control method.

[0104] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0105] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0106] The computer-readable storage medium provided in this invention can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0107] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0108] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0109] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and represent a limitation on a specific order or sequence. Where appropriate, the order of use for similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0110] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this invention can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0111] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for leveling and controlling a force measuring platform, characterized in that, include: The first force value collected by the force sensor corresponding to the adjustable height foot pad of the force measuring platform body structure and the second force value collected by the force sensor corresponding to the three fixed foot pads are obtained; wherein, a foot pad mounting position is provided at each of the four corners of the bottom surface of the lower plate of the force measuring platform body structure, wherein three foot pad mounting positions are used for fixed foot pads and one foot pad mounting position is used for the adjustable height foot pad; The X-axis tilt angle and Y-axis tilt angle values ​​are acquired by the IMU sensor located at the geometric center of the force measuring platform body structure, and the current height value of the adjustable height foot pad is acquired by the grating ruler sensor located at the geometric center. Based on at least one of the following parameters: the first force value, each second force value, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, calculate the height adjustment value of the adjustable height foot pad, and perform leveling control on the adjustable height foot pad according to the height adjustment value; The upper plate of the force measuring platform body structure is provided with a main hole area in the central region, and a honeycomb array is provided in the main hole area and the honeycomb holes are filled with glass fiber. The step of calculating the height adjustment value of the adjustable height footpad based on at least one of the following parameters: the first force measurement value, each second force measurement value, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, includes: Based on the single-point leveling optimization algorithm, and combining the first force measurement value, each second force measurement value, the X-axis tilt angle value, and the Y-axis tilt angle value, the height adjustment value of the adjustable height foot pad is calculated; the expression of the single-point leveling optimization algorithm is: ;in, This indicates the height adjustment value. This represents the first measured force value. This represents the average of all second force values. Indicates the load compensation coefficient. This represents the X-axis tilt angle value. This indicates the Y-axis tilt angle value. This represents the X-direction distance from the adjustable height foot pad to the center of the force measuring platform structure. This represents the Y-direction distance from the adjustable height foot pad to the center of the force measuring platform structure. Indicates the angle compensation coefficient; Alternatively, based on a three-dimensional virtual fulcrum model algorithm, and combining the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, the height adjustment value of the adjustable height footpad can be calculated; the expression for the three-dimensional virtual fulcrum model algorithm is: ;in, , , ; This indicates the current height value. The target plane parameters are plane parameters fitted based on the geometric position coordinates of the three fixed foot pads. This indicates the x-axis of the adjustable height foot pad. The vertical coordinate represents the height-adjustable footpad.

2. The force measuring platform leveling control method according to claim 1, characterized in that, The steps of leveling the adjustable height foot pad according to the height adjustment value include: The adjustable height foot pads are leveled according to the height adjustment value and through the leveling structure installed on the bottom surface of the lower plate of the force measuring platform body structure.

3. The force measuring platform leveling control method according to claim 1 or 2, characterized in that, The cellular array is a hexagonal cellular array.

4. A force-measuring platform leveling control system, characterized in that, include: The module comprises a first acquisition module, a second acquisition module, and a leveling control module. The first acquisition module is used to: acquire the first force value collected by the force sensor corresponding to the adjustable height foot pad of the force measuring platform body structure and the second force value collected by the force sensor corresponding to the three fixed foot pads respectively; wherein, a foot pad mounting position is provided at each of the four corners of the bottom surface of the lower plate of the force measuring platform body structure, wherein three foot pad mounting positions are used for fixed foot pads and one foot pad mounting position is used for the adjustable height foot pad; The second acquisition module is used to: acquire the X-axis tilt angle value and Y-axis tilt angle value collected by the IMU sensor installed at the geometric center of the force measuring platform body structure, and the current height value of the adjustable height foot pad collected by the grating ruler sensor installed at the geometric center; The leveling control module is used to: calculate the height adjustment value of the adjustable height pad based on at least one of the following parameters: the first force measurement value, each second force measurement value, the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, so as to perform leveling control on the adjustable height pad according to the height adjustment value; The upper plate of the force measuring platform body structure is provided with a main hole area in the central region, and a honeycomb array is provided in the main hole area and the honeycomb holes are filled with glass fiber. The leveling control module is specifically used for: Based on the single-point leveling optimization algorithm, and combining the first force measurement value, each second force measurement value, the X-axis tilt angle value, and the Y-axis tilt angle value, the height adjustment value of the adjustable height foot pad is calculated; the expression of the single-point leveling optimization algorithm is: ;in, This indicates the height adjustment value. This represents the first measured force value. This represents the average of all second force values. Indicates the load compensation coefficient. This represents the X-axis tilt angle value. This indicates the Y-axis tilt angle value. This represents the X-direction distance from the adjustable height foot pad to the center of the force measuring platform structure. This represents the Y-direction distance from the adjustable height foot pad to the center of the force measuring platform structure. Indicates the angle compensation coefficient; Alternatively, based on a three-dimensional virtual fulcrum model algorithm, and combining the X-axis tilt angle value, the Y-axis tilt angle value, and the current height value, the height adjustment value of the adjustable height footpad can be calculated; the expression for the three-dimensional virtual fulcrum model algorithm is: ;in, , , ; This indicates the current height value. The target plane parameters are plane parameters fitted based on the geometric position coordinates of the three fixed foot pads. This indicates the x-axis of the adjustable height foot pad. The vertical coordinate represents the height-adjustable footpad.

5. An electronic device, characterized in that, The electronic device includes a processor coupled to a memory, the memory storing at least one computer program, which is loaded and executed by the processor to enable the electronic device to implement the force platform leveling control method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer-readable storage medium to implement the force measuring platform leveling control method as described in any one of claims 1 to 3.

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