Intelligent rotating shuttle pincer type inner diameter dynamic calibration method

Abstract

The application discloses a smart shuttle pincer type inner diameter dynamic calibration method, relates to the technical field of artificial intelligence automatic control, and solves the problems that current shuttle inner diameter detection relies on optical equipment or a pincer type probe, a detection method is single, and detection is inaccurate, and the method is as follows: a zero point deviation value of the optical equipment is obtained according to basic experimental data, and actual optical shuttle inner diameter values of the shuttle are obtained based on the basic experimental data and the zero point deviation value; the inner diameter of the shuttle is analyzed based on strain gauge data and the basic experimental data, first real inner diameter values of the shuttle are obtained through analysis, second real inner diameter values of the shuttle are obtained by calculating the probe detection data; the first real inner diameter values and the second real inner diameter values of the shuttle are used to analyze the inner diameter values of the shuttle, and whether the inner diameter of the shuttle is calibrated and qualified is determined according to the inner diameter values of the shuttle, and the application realizes high-precision calibration of the shuttle under dynamic rotation.

Description

Technical Field

[0001] This invention belongs to the field of artificial intelligence automatic control technology, specifically a method for dynamic calibration of the inner diameter of an intelligent rotary hook clamp. Background Technology

[0002] A rotary hook is a hollow cylindrical part used in rotating machinery or textile equipment. Its outer shell is made of high-strength alloy, and its internal precision cavity is used to guide yarn, fluid or tools. The rotary hook transports motion or materials from one end to the other by rotating at high speed concentrically with the drive shaft. At the same time, it requires extremely high concentricity and surface finish to resist deformation caused by centrifugal force, vibration and thermal expansion, and to ensure the transmission stability and processing accuracy of the entire system.

[0003] In the existing technology, the inner diameter detection of rotary hooks often relies on optical equipment or clamp probes. The detection method is relatively simple, and when any equipment produces an error, it is difficult to calibrate the inner diameter of the rotary hook. At the same time, when the center of weight and the center of rotation of the rotary hook are not the same point, the rotary hook generates periodic radial amplitude when rotating. When calibrating the inner diameter, the periodic radial amplitude will be regarded as normal change, resulting in calibration failure.

[0004] Therefore, this invention proposes an intelligent rotary hook clamp-type dynamic calibration method for inner diameter. Summary of the Invention

[0005] The purpose of this invention is to propose an intelligent rotary hook clamp-type dynamic calibration method for inner diameter, so as to solve the problems mentioned in the background art.

[0006] The technical problem to be solved by this invention is:

[0007] How to achieve high-precision calibration of the rotary shuttle under dynamic rotation.

[0008] The objective of this invention can be achieved through the following technical solutions:

[0009] A method for dynamic calibration of the inner diameter using an intelligent rotary hook clamp, comprising:

[0010] Step S100: Obtain basic experimental data of the rotary hook, obtain the zero-point deviation value of the optical device based on the basic experimental data, and analyze the actual optical rotary hook inner diameter value based on the basic experimental data and the zero-point deviation value.

[0011] Step S200: Obtain strain gauge data of the rotary hook; analyze the inner diameter of the rotary hook based on the strain gauge data and basic experimental data; and obtain the first true inner diameter value of the rotary hook.

[0012] Step S300: Obtain probe detection data of the rotary hook, and calculate the second true inner diameter value of the rotary hook based on the probe detection data;

[0013] Step S400: Based on the first and second true inner diameter values ​​of the rotary hook, the inner diameter value of the rotary hook is analyzed and obtained, and the inner diameter value of the rotary hook is used to determine whether the inner diameter of the rotary hook is calibrated and qualified.

[0014] Furthermore, the basic experimental data include the standard inner diameter value of the rotary hook, the initial optical inner diameter value of the rotary hook, the actual inner diameter value, and the optical deviation value of the optical equipment when the rotary hook is tested at all test positions.

[0015] Further, step S100 includes the following sub-steps:

[0016] Step S101: Set the test gear a for the rotary hook to be tested, and obtain the angular velocity Va of the rotary hook when it rotates in all test gears, where a = 1, 2, ..., n, and n is the maximum value of the test gear.

[0017] Step S102: Obtain the standard inner diameter value BJZ of the rotary hook, and the actual inner diameter value SJZ (Va) of the rotary hook when testing in all test gears.

[0018] Step S103: Obtain the optical deviation value GPZ (Va) of the optical device when testing at all test positions, and calculate the zero-point deviation value LDP (Va) of the optical device using the formula LDPa=SJZ (Va)-[BJZ+GPZ (Va)].

[0019] Step S104: Set monitoring points at fixed angle intervals inside the shuttle, and obtain the angle θ between all monitoring points. Then, obtain the initial optical inner diameter value of the shuttle corresponding to all monitoring points.

[0020] Step S105: Subtract all initial rotary hook optical inner diameter values ​​from the zero-point deviation value of the optical equipment, sum the subtraction results and take the average value to calculate the actual calibration value of the optical equipment, calibrate the optical equipment according to the actual calibration value, and then obtain the actual optical rotary hook inner diameter value SGZ(θ) after calibration.

[0021] Furthermore, the strain gauge data consists of strain values ​​detected by all strain gauges inside the rotary shuttle.

[0022] Further, step S200 includes the following sub-steps:

[0023] Step S201: Subtract the actual inner diameter value of the rotary hook from the standard inner diameter value to obtain the actual inner diameter deviation value SNC (Va) of the rotary hook.

[0024] Step S202: Obtain the strain value YBZa(θ) of all strain gauges when the rotary hook is in any test position, add the strain values ​​together and take the average value to obtain the average strain value PYC(Va) of the strain gauges.

[0025] Step S203: Establish a linear relationship between the actual inner diameter deviation and the average strain value, and calculate the bending compensation coefficient WBX of the rotary hook using the following formula:

[0026] ;

[0027] Step S204: Based on the actual optical inner diameter value of the rotary hook SGZ(θ), the bending compensation coefficient WBX, and the strain value of the strain gauge YBZa(θ), the first true inner diameter value YZN(θ,V) of the rotary hook is calculated using the formula YZN(θ,V)=SGZ(θ)-WBX×YBZa(θ).

[0028] Furthermore, the probe detection data is as follows: when the rotary hook rotates through any test gear, the inner diameter value of the rotary hook probe corresponding to all monitoring points inside the rotary hook is obtained by the clamp probe, and all the inner diameter values ​​of the rotary hook probe are merged to obtain the probe detection data of the rotary hook.

[0029] The clamp probe consists of two measuring claws, which are placed on both sides of the outside of the rotary hook corresponding to the monitoring point. When the initial monitoring point passes the first measuring claw, the first measuring claw obtains the corresponding inner diameter value of the first rotary hook probe. When the initial monitoring point passes the second measuring claw, the second measuring claw obtains the corresponding inner diameter value of the second rotary hook probe.

[0030] Further, step S300 includes the following sub-steps:

[0031] Step S301: Fix the test gear to the initial test gear and obtain the first rotary hook probe inner diameter value LJZ1(θ) and the second rotary hook probe inner diameter value LJZ2(θ) of all monitoring points inside the rotary hook.

[0032] Step S302: Divide the inside of the rotary shuttle into a fixed number of segments N. The angular width of each segment is Δθ = 2π / N. After the division, N-1 angle points are generated inside the rotary shuttle. The angle points inside the rotary shuttle are denoted as θk, where θk = k × Δθ, k = 0, 1, ..., N-1.

[0033] Step S303: The clamp probe and the rotary encoder are synchronized with the timestamp, and then the original time series of the rotary hook is obtained. The original time series is as follows:

[0034] {ti, θ(ti), LJZ1(ti), LJZ2(ti)}, where i is the sequence number of the original time series, i=1,2,...,m, and m is a positive integer; where ti is the sampling point when the sequence number is i, and θ(ti) is the difference between the angle that the rotary shuttle has rotated and the reference angle when the time node is ti;

[0035] Step S304: Count all sampling points ti that satisfy the condition that θ(ti) belongs to [θk-(△θ / 2), θk+(△θ / 2)], and obtain the inner diameter values ​​of the first rotary probe LJZ1(θk) and the second rotary probe LJZ2(θk) corresponding to all sampling points.

[0036] Furthermore, step S300 also includes the following sub-steps:

[0037] Step S305: Remove high-frequency jitter from the inner diameter values ​​of the first and second rotary hook probes;

[0038] Step S306: Calculate the average inner diameter PNZ of the rotary hook using the following formula:

[0039] ;

[0040] Step S307: Subtract the inner diameter value of the first rotary hook probe from the inner diameter value of the second rotary hook probe to obtain the differential value CDZ of the rotary hook. Then, calculate the same-direction projection value TTZ and orthogonal projection value ZTZ of the rotary hook using the following formulas:

[0041] ;

[0042] ;

[0043] Step S308: Calculate the eccentric disturbance amplitude value PRZ of the rotary hook using the following formula:

[0044] .

[0045] Furthermore, step S300 also includes the following sub-steps:

[0046] Step S309: Calculate the eccentric phase value ϕ of the rotary hook using the following formula:

[0047] ϕ = arctan2(ZTZ, TTZ);

[0048] Step S310: Calculate the calibrated inner diameter value EZS(θk) of the rotary hook using the following formula:

[0049] EZS(θk)={[LJZ1(θk)+LJZ2(θk)] / 2}-[PRZ×cos(θk-ϕ)];

[0050] Step S311: Repeat steps S301 to S306 to obtain the inner diameter values ​​of the first and second rotary hook probes corresponding to any subsequent sampling point. Calculate the average inner diameter value of the rotary hook and subtract the calibrated inner diameter value from the average inner diameter value to obtain the inner diameter difference NJC.

[0051] Step S312: Calculate the residual perturbation amplitude value SRF of the rotary shuttle using the Discrete Fourier Expansion formula, as follows:

[0052] ;

[0053] Step S313: If the remaining disturbance amplitude value is less than or equal to the amplitude threshold, the inner diameter value of the rotary hook is determined to be successfully calibrated, and the calibrated inner diameter value is used as the second true inner diameter value of the rotary hook.

[0054] If the remaining disturbance amplitude value is greater than the amplitude threshold, the rotary hook inner diameter value calibration is determined to have failed. Steps S301 to S312 are repeated until the remaining disturbance amplitude value is less than or equal to the amplitude threshold.

[0055] Further, step S400 includes the following sub-steps:

[0056] Step S401: Add the first and second true inner diameter values ​​of the rotary hook together and take the average value to obtain the actual average inner diameter value of the rotary hook SNZ.

[0057] Step S402: Obtain the standard inner diameter value BJZ of the rotary hook, and calculate the calibration qualification value JHZ of the rotary hook using the formula as follows:

[0058] JHZ = |SNZ - BNZ| / BNZ;

[0059] Step S403: If the calibration pass value of the rotary hook is less than or equal to the pass threshold, the inner diameter of the rotary hook is determined to be calibrated as qualified.

[0060] Step S404: If the calibration pass value of the rotary hook is greater than the pass threshold, the inner diameter calibration of the rotary hook is determined to be unqualified. The inner diameter of the rotary hook is recalibrated until the calibration pass value of the rotary hook is less than or equal to the pass threshold.

[0061] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0062] 1. This invention obtains the zero-point deviation value of the optical device based on basic experimental data, and then obtains the actual optical shuttle inner diameter value of the rotary hook by combining the basic experimental data with the zero-point deviation value, thereby realizing the accurate calculation of the actual optical shuttle inner diameter value of the rotary hook.

[0063] 2. This invention analyzes the inner diameter of the rotary hook based on strain gauge data and basic experimental data to obtain the first true inner diameter value of the rotary hook. Then, it calculates the second true inner diameter value of the rotary hook based on the probe detection data. Based on the first and second true inner diameter values ​​of the rotary hook, the inner diameter value of the rotary hook is obtained, and the inner diameter value of the rotary hook is determined to determine whether the inner diameter of the rotary hook is calibrated to be qualified, thereby realizing high-precision calibration of the rotary hook under dynamic rotation. Attached Figure Description

[0064] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0065] Figure 1 This is a flowchart of the method of the present invention;

[0066] Figure 2 This is a structural example diagram of the rotary shuttle in this invention;

[0067] Figure 3 This is an example diagram illustrating the expansion and contraction of the rotary shuttle in this invention;

[0068] Figure 4 This is a front view of the rotary hook and clamp probe in this invention;

[0069] Figure 5 This is a top view of the rotary hook and clamp probe in this invention;

[0070] Figure 6 This is a schematic diagram of the computer device in this invention. Detailed Implementation

[0071] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0072] Example 1, please refer to Figures 1-5 As shown, the technical solution provided by this invention is: an intelligent rotary hook clamp-type dynamic calibration method for inner diameter. This method is used to calibrate the inner diameter of a rotary hook using optical equipment, a clamp probe, and strain gauges. It also eliminates the expansion and contraction phenomenon caused by the rotary hook's center of weight and center of rotation not being at the same point. The successful calibration step is input into an artificial intelligence system, which then automatically calibrates the rotary hook's inner diameter. The specific method is as follows:

[0073] Step S100: Obtain basic experimental data of the rotary hook, obtain the zero-point deviation value of the optical device based on the basic experimental data, and analyze the actual optical rotary hook inner diameter value based on the basic experimental data and the zero-point deviation value.

[0074] The basic experimental data specifically include the standard inner diameter value of the rotary hook, the initial optical inner diameter value of the rotary hook, the actual inner diameter value, and the optical deviation value of the optical equipment when the rotary hook is tested at all test gears; the optical deviation value is specifically the measurement error value of the optical equipment, which is a known value and changes according to the test gear of the rotary hook.

[0075] Specifically, the actual inner diameter of the rotary hook can be obtained by using a clamp probe; the initial optical inner diameter of the rotary hook can be obtained by using an optical device. In practice, the optical device can be a laser displacement sensor or a confocal sensor, etc. In this embodiment, a laser displacement sensor is preferred as the optical device.

[0076] In this embodiment, step S100 includes the following sub-steps:

[0077] Step S101: Set the test gear a for the rotary hook to be tested, where a = 1, 2, ..., n, and n is the maximum value of the test gear. Obtain the angular velocity Va of the rotary hook when it rotates in all test gears.

[0078] In practice, the angular velocity of the rotary hook as it rotates in all test gears can be obtained using a rotary encoder, Hall sensor, or gyroscope.

[0079] Step S102: Obtain the standard inner diameter value BJZ of the rotary hook, and the actual inner diameter value SJZ (Va) of the rotary hook when testing in all test gears.

[0080] Step S103: Obtain the optical deviation value GPZ (Va) of the optical device when testing at all test positions, and calculate the zero-point deviation value LDP (Va) of the optical device using the following formula:

[0081] LDPa=SJZ(Va)-[BJZ+GPZ(Va)];

[0082] Step S104, as follows Figure 2 As shown, monitoring points are set at fixed angles inside the rotary shuttle, and the angle θ between all monitoring points is obtained. Then, the initial optical inner diameter value of the rotary shuttle corresponding to all monitoring points is obtained.

[0083] The range of the angle of the monitoring point is [0, 2π].

[0084] In practice, the initial monitoring point is taken as the reference angle of 0°, the monitoring point angle of the second monitoring point is 90°, the monitoring point angle of the third monitoring point is 180°, and the monitoring point angle of the fourth monitoring point is 270°.

[0085] Step S105: Subtract all initial rotary hook optical inner diameter values ​​from the zero-point deviation value of the optical equipment, sum the subtraction results and take the average value to calculate the actual calibration value of the optical equipment, calibrate the optical equipment according to the actual calibration value, and then obtain the actual optical rotary hook inner diameter value SGZ(θ) after calibration.

[0086] Step S200: Obtain strain gauge data of the rotary hook; analyze the inner diameter of the rotary hook based on the strain gauge data and basic experimental data; and obtain the first true inner diameter value of the rotary hook.

[0087] Specifically, the strain gauge data refers to the strain values ​​detected by all strain gauges inside the rotary shuttle;

[0088] Specifically, the strain gauge is a sensor that is attached to the inside of the rotary shuttle, at the same location as the monitoring point, and is used to sense the bending deformation of the rotary shuttle caused by centrifugal force during rotation in real time; the strain value is the bending deformation value of the rotary shuttle, in millimeters.

[0089] In this embodiment, step S200 includes the following sub-steps:

[0090] Step S201: Subtract the actual inner diameter value of the rotary hook from the standard inner diameter value to obtain the actual inner diameter deviation value SNC (Va) of the rotary hook.

[0091] Step S202: Obtain the strain value YBZa(θ) of all strain gauges when the rotary hook is in any test position, add the strain values ​​together and take the average value to obtain the average strain value PYC(Va) of the strain gauges.

[0092] Step S203: Establish a linear relationship between the actual inner diameter deviation and the average strain value, and calculate the bending compensation coefficient WBX of the rotary hook using the following formula:

[0093] ;

[0094] The slope of the straight line constructed by the actual inner diameter deviation and the average strain value can be calculated by the least squares method, and the slope is the bending compensation coefficient.

[0095] Step S204: Based on the actual optical inner diameter value SGZ(θ) of the rotary hook, the bending compensation coefficient WBX, and the strain value YBZa(θ) of the strain gauge, the first true inner diameter value YZN(θ, V) of the rotary hook is calculated using the following formula:

[0096] YZN(θ,V)=SGZ(θ)-WBX×YBZa(θ).

[0097] Step S300: Obtain probe detection data of the rotary hook, and calculate the second true inner diameter value of the rotary hook based on the probe detection data;

[0098] Specifically, the probe detection data is obtained by using a clamp probe to detect the inner diameter value of the probe corresponding to all monitoring points inside the rotary hook when the rotary hook rotates through any test gear. All the inner diameter values ​​of the rotary hook probe are then combined to obtain the probe detection data of the rotary hook.

[0099] It should be specifically noted that the clamp probe consists of two measuring claws. The measuring claws are placed on both sides of the outside of the rotary hook corresponding to the monitoring point. When the initial monitoring point passes the first measuring claw, the first measuring claw obtains the corresponding inner diameter value of the first rotary hook probe. When the initial monitoring point passes the second measuring claw, the second measuring claw obtains the corresponding inner diameter value of the second rotary hook probe.

[0100] In this embodiment, step S300 includes the following sub-steps:

[0101] Step S301: Fix the test gear to the initial test gear and obtain the first rotary hook probe inner diameter value LJZ1(θ) and the second rotary hook probe inner diameter value LJZ2(θ) of all monitoring points inside the rotary hook.

[0102] Step S302: Divide the inside of the rotary shuttle into a fixed number of segments N. The angular width of each segment is Δθ = 2π / N. After the division, N-1 angle points are generated inside the rotary shuttle. The angle points inside the rotary shuttle are denoted as θk, where θk = k × Δθ, k = 0, 1, ..., N-1.

[0103] In practice, N=360;

[0104] Step S303: The clamp probe and the rotary encoder are synchronized with the timestamp, and then the original time series of the rotary hook is obtained. The original time series is as follows:

[0105] {ti, θ(ti), LJZ1(ti), LJZ2(ti)}, where i is the sequence number of the original time series, i=1,2,...,m, and m is a positive integer;

[0106] Where ti specifically refers to the sampling point when the sequence number is i, and θ(ti) specifically refers to the difference between the angle that the shuttle has rotated and the reference angle when the time node is ti;

[0107] It should be specifically noted that a rotary encoder is a sensor that converts mechanical angular displacement or rotational speed into an electrical signal output, used to measure the rotation angle, rotational speed, and rotational direction of a rotary hook;

[0108] Step S304: Count all sampling points ti that satisfy the condition that θ(ti) belongs to [θk-(△θ / 2), θk+(△θ / 2)], and obtain the inner diameter values ​​of the first rotary probe LJZ1(θk) and the second rotary probe LJZ2(θk) corresponding to all sampling points.

[0109] Step S305: High-frequency jitter in the inner diameter values ​​of the first and second rotary hook probes is removed by low-pass filtering technology.

[0110] Among them, low-pass filtering technology is an existing technology for removing high-frequency jitter. Low-pass filtering technology is a signal processing method used to smooth the original data, weaken or remove values ​​above the cutoff frequency, and retain the slowly changing values ​​at low frequencies.

[0111] Specifically, high-frequency jitter refers to random or periodic jitter in the inner diameter values ​​of the first and second rotary probes.

[0112] Step S306: Calculate the average inner diameter PNZ of the rotary hook using the following formula:

[0113] ;

[0114] Step S307: Subtract the inner diameter value of the first rotary hook probe from the inner diameter value of the second rotary hook probe to obtain the differential value CDZ of the rotary hook. Then, calculate the same-direction projection value TTZ and orthogonal projection value ZTZ of the rotary hook using the following formulas:

[0115] ;

[0116] ;

[0117] Among them, the differential value is used to reflect the first harmonic caused by the center of weight and the center of rotation not being at the same point when the rotary hook rotates;

[0118] Step S308: Calculate the eccentric disturbance amplitude value PRZ of the rotary hook using the following formula:

[0119] ;

[0120] Among them, the eccentric disturbance amplitude value is specifically half of the maximum radial disturbance that occurs in the rotation measurement of the rotary hook due to the center of weight of the rotary hook deviating from the center of rotation. It is used to reflect the maximum influence of the degree of eccentricity on the measurement of the inner diameter of the rotary hook.

[0121] Step S309: Calculate the eccentric phase value ϕ of the rotary hook using the following formula:

[0122] ϕ = arctan2(ZTZ, TTZ);

[0123] Step S310: Calculate the calibrated inner diameter value EZS(θk) of the rotary hook using the following formula:

[0124] EZS(θk)={[LJZ1(θk)+LJZ2(θk)] / 2}-[PRZ×cos(θk-ϕ)];

[0125] Step S311: Repeat steps S301 to S306 to obtain the inner diameter values ​​of the first and second rotary hook probes corresponding to any subsequent sampling point. Calculate the average inner diameter value of the rotary hook and subtract the calibrated inner diameter value from the average inner diameter value to obtain the inner diameter difference NJC.

[0126] Step S312: Calculate the residual perturbation amplitude value SRF of the rotary shuttle using the Discrete Fourier Expansion formula, as follows:

[0127] ;

[0128] Step S313: If the remaining disturbance amplitude value is less than or equal to the amplitude threshold, the inner diameter value of the rotary hook is determined to be successfully calibrated, and the calibrated inner diameter value is used as the second true inner diameter value of the rotary hook.

[0129] If the remaining disturbance amplitude value is greater than the amplitude threshold, the rotary hook inner diameter value calibration is determined to have failed. Steps S301 to S312 are repeated until the remaining disturbance amplitude value is less than or equal to the amplitude threshold.

[0130] Step S400: Based on the first and second true inner diameter values ​​of the rotary hook, analyze and obtain the inner diameter value of the rotary hook, and determine whether the inner diameter of the rotary hook is calibrated according to the inner diameter value.

[0131] In this embodiment, step S400 includes the following sub-steps:

[0132] Step S401: Add the first and second true inner diameter values ​​of the rotary hook together and take the average value to obtain the actual average inner diameter value of the rotary hook SNZ.

[0133] Step S402: Obtain the standard inner diameter value BJZ of the rotary hook, and calculate the calibration qualification value JHZ of the rotary hook using the formula as follows:

[0134] JHZ = |SNZ - BNZ| / BNZ;

[0135] Step S403: If the calibration pass value of the rotary hook is less than or equal to the pass threshold, the inner diameter of the rotary hook is determined to be calibrated as qualified, and the calibration steps of the inner diameter of the rotary hook are input into the artificial intelligence system.

[0136] In the artificial intelligence system, the data perception layer is used to receive data from clamp probes, optical devices, strain gauges, and rotary encoders.

[0137] The dynamic analysis layer is used to automatically identify the type of fluctuation in the inner diameter and determine whether the inner diameter of the rotary hook needs to enter the calibration process.

[0138] The intelligent decision layer is used to calculate the first true inner diameter value and the second true inner diameter value based on the data obtained from the data perception layer, and to fit the data to determine whether the inner diameter of the rotary hook is calibrated.

[0139] Step S404: If the calibration pass value of the rotary hook is greater than the pass threshold, the inner diameter calibration of the rotary hook is determined to be unqualified. The inner diameter of the rotary hook is recalibrated through the artificial intelligence system until the calibration pass value of the rotary hook is less than or equal to the pass threshold.

[0140] Example 2: This embodiment of the invention also provides a computer device for running the aforementioned intelligent rotary hook clamp type internal diameter dynamic calibration method; see [link to example]. Figure 6 The schematic diagram of a computer device provided by an embodiment of the present invention is shown. The computer device includes a memory and a processor. The memory is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor to realize the above-mentioned intelligent rotary hook clamp type inner diameter dynamic calibration method.

[0141] Furthermore, Figure 6 The computer device shown also includes a communication bus and a communication interface, with the processor, communication interface, and memory connected via the communication bus;

[0142] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device. Communication between this system network element and at least one other network element is achieved through at least one communication interface (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc. The communication bus can be an ISA bus, PCI bus, or EISA bus, etc. The communication bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The symbol is represented by only one double-headed arrow, but this does not mean that there is only one communication bus or one type of communication bus.

[0143] The processor may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above methods can be completed by integrated logic circuits in the processor's hardware or by software instructions. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this invention. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this invention can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the method described in the foregoing embodiments.

[0144] In embodiment three, this invention also provides a computer storage medium storing computer-executable instructions. When these computer-executable instructions are called and executed by a processor, they cause the processor to implement the above-described intelligent rotary hook clamp type inner diameter dynamic calibration method. For specific implementation details, please refer to the method embodiment, which will not be repeated here.

[0145] The computer program product of the intelligent rotary hook clamp type inner diameter dynamic calibration method provided in the embodiments of the present invention includes a computer storage medium storing program code. The instructions included in the program code can be used to execute the methods in the preceding method embodiments. For specific implementation, please refer to the method embodiments, which will not be repeated here.

[0146] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system and / or device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0147] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0148] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for dynamic calibration of inner diameter using an intelligent rotary hook clamp, characterized in that, The methods include: Step S100: Obtain basic experimental data of the rotary hook, obtain the zero-point deviation value of the optical device based on the basic experimental data, and analyze the actual optical rotary hook inner diameter value based on the basic experimental data and the zero-point deviation value. Step S200: Obtain strain gauge data of the rotary hook; analyze the inner diameter of the rotary hook based on the strain gauge data and basic experimental data; and obtain the first true inner diameter value of the rotary hook. Step S300: Obtain probe detection data of the rotary hook, and calculate the second true inner diameter value of the rotary hook based on the probe detection data; Step S300 includes the following sub-steps: Step S301: Fix the test gear to the initial test gear and obtain the first rotary hook probe inner diameter value LJZ1(θ) and the second rotary hook probe inner diameter value LJZ2(θ) of all monitoring points inside the rotary hook. Step S302: Divide the inside of the rotary shuttle into a fixed number of segments N. The angular width of each segment is Δθ = 2π / N. After the division, N-1 angle points are generated inside the rotary shuttle. The angle points inside the rotary shuttle are denoted as θk, where θk = k × Δθ, k = 0, 1, ..., N-1. Step S303: The clamp probe and the rotary encoder are synchronized with the timestamp, and then the original time series of the rotary hook is obtained. The original time series is as follows: {ti, θ(ti), LJZ1(ti), LJZ2(ti)}, where i is the sequence number of the original time series, i=1,2,...,m, and m is a positive integer; where ti is the sampling point when the sequence number is i, and θ(ti) is the difference between the angle that the rotary shuttle has rotated and the reference angle when the time node is ti; Step S304: Count all sampling points ti that satisfy the condition that θ(ti) belongs to [θk-(△θ / 2), θk+(△θ / 2)], and obtain the inner diameter values ​​of the first rotary probe LJZ1(θk) and the second rotary probe LJZ2(θk) corresponding to all sampling points. Step S305: Remove high-frequency jitter from the inner diameter values ​​of the first and second rotary hook probes; Step S306: Calculate the average inner diameter PNZ of the rotary hook using the following formula: ； Step S307: Subtract the inner diameter value of the first rotary hook probe from the inner diameter value of the second rotary hook probe to obtain the differential value CDZ of the rotary hook. Then, calculate the same-direction projection value TTZ and orthogonal projection value ZTZ of the rotary hook using the following formulas: ； ； Step S308: Calculate the eccentric disturbance amplitude value PRZ of the rotary hook using the following formula: ； Step S309: Calculate the eccentric phase value of the rotary hook using the formula. The formula is as follows: =arctan2(ZTZ,TTZ); Step S310: Calculate the calibrated inner diameter value EZS(θk) of the rotary hook using the following formula: EZS(θk)={[LJZ1(θk)+LJZ2(θk)] / 2}-[PRZ×cos(θk- )]; Step S311: Repeat steps S301 to S306 to obtain the inner diameter values ​​of the first and second rotary hook probes corresponding to any subsequent sampling point. Calculate the average inner diameter value of the rotary hook and subtract the calibrated inner diameter value from the average inner diameter value to obtain the inner diameter difference NJC. Step S312: Calculate the residual perturbation amplitude value SRF of the rotary shuttle using the Discrete Fourier Expansion formula, as follows: ； Step S313: If the remaining disturbance amplitude value is less than or equal to the amplitude threshold, the inner diameter value of the rotary hook is determined to be successfully calibrated, and the calibrated inner diameter value is used as the second true inner diameter value of the rotary hook. If the remaining disturbance amplitude value is greater than the amplitude threshold, the calibration of the rotary hook inner diameter value is determined to be unsuccessful. Steps S301 to S312 are repeated until the remaining disturbance amplitude value is less than or equal to the amplitude threshold. Step S400: Based on the first and second true inner diameter values ​​of the rotary hook, the inner diameter value of the rotary hook is analyzed and obtained, and the inner diameter value of the rotary hook is used to determine whether the inner diameter of the rotary hook is calibrated and qualified.

2. The intelligent rotary hook clamp type internal diameter dynamic calibration method according to claim 1, characterized in that, The basic experimental data include the standard inner diameter of the rotary hook, the initial optical inner diameter of the rotary hook, the actual inner diameter, and the optical deviation of the optical equipment when the rotary hook is tested at all test positions.

3. The intelligent rotary clamp-type dynamic inner diameter calibration method according to claim 2, characterized in that, Step S100 includes the following sub-steps: Step S101: Set the test gear a for the rotary hook to be tested, and obtain the angular velocity Va of the rotary hook when it rotates in all test gears, where a = 1, 2, ..., n, and n is the maximum value of the test gear. Step S102: Obtain the standard inner diameter value BJZ of the rotary hook, and the actual inner diameter value SJZ (Va) of the rotary hook when testing in all test positions. Step S103: Obtain the optical deviation value GPZ (Va) of the optical device when testing at all test positions, and calculate the zero-point deviation value LDP (Va) of the optical device using the formula LDPa=SJZ (Va)-[BJZ+GPZ (Va)]. Step S104: Set monitoring points at fixed angle intervals inside the shuttle, and obtain the angle θ between all monitoring points. Then, obtain the initial optical inner diameter value of the shuttle corresponding to all monitoring points. Step S105: Subtract all initial rotary hook optical inner diameter values ​​from the zero-point deviation value of the optical equipment, sum the subtraction results and take the average value to calculate the actual calibration value of the optical equipment, calibrate the optical equipment according to the actual calibration value, and then obtain the actual optical rotary hook inner diameter value SGZ(θ) after calibration.

4. The intelligent rotary hook clamp type internal diameter dynamic calibration method according to claim 3, characterized in that, The strain gauge data consists of strain values ​​obtained from all strain gauges inside the rotary shuttle.

5. The intelligent rotary hook clamp type internal diameter dynamic calibration method according to claim 4, characterized in that, Step S200 includes the following sub-steps: Step S201: Subtract the actual inner diameter value of the rotary hook from the standard inner diameter value to obtain the actual inner diameter deviation value SNC (Va) of the rotary hook. Step S202: Obtain the strain value YBZa(θ) of all strain gauges when the rotary hook is in any test position, add the strain values ​​together and take the average value to obtain the average strain value PYC(Va) of the strain gauges. Step S203: Establish a linear relationship between the actual inner diameter deviation and the average strain value, and calculate the bending compensation coefficient WBX of the rotary hook using the following formula: ； Step S204: Based on the actual optical inner diameter value of the rotary hook SGZ(θ), the bending compensation coefficient WBX, and the strain value of the strain gauge YBZa(θ), the first true inner diameter value YZN(θ,V) of the rotary hook is calculated using the formula YZN(θ,V)=SGZ(θ)-WBX×YBZa(θ).

6. The intelligent rotary hook clamp type internal diameter dynamic calibration method according to claim 5, characterized in that, The probe detection data is as follows: when the rotary hook rotates through any test gear, the inner diameter value of the rotary hook probe corresponding to all monitoring points inside the rotary hook is obtained by clamp probe detection, and all the inner diameter values ​​of the rotary hook probe are merged to obtain the probe detection data of the rotary hook. The clamp probe consists of two measuring claws, which are placed on both sides of the outside of the rotary hook corresponding to the monitoring point. When the initial monitoring point passes the first measuring claw, the first measuring claw obtains the corresponding inner diameter value of the first rotary hook probe. When the initial monitoring point passes the second measuring claw, the second measuring claw obtains the corresponding inner diameter value of the second rotary hook probe.

7. The intelligent rotary hook clamp type internal diameter dynamic calibration method according to claim 1, characterized in that, Step S400 includes the following sub-steps: Step S401: Add the first and second true inner diameter values ​​of the rotary hook together and take the average value to obtain the actual average inner diameter value of the rotary hook SNZ. Step S402: Obtain the standard inner diameter value BJZ of the rotary hook, and calculate the calibration qualification value JHZ of the rotary hook using the formula as follows: JHZ = |SNZ - BNZ| / BNZ; Step S403: If the calibration pass value of the rotary hook is less than or equal to the pass threshold, the inner diameter of the rotary hook is determined to be calibrated as qualified. Step S404: If the calibration pass value of the rotary hook is greater than the pass threshold, the inner diameter calibration of the rotary hook is determined to be unqualified. The inner diameter of the rotary hook is recalibrated until the calibration pass value of the rotary hook is less than or equal to the pass threshold.

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