Balance adjustment method and device of equipment, balance adjustment equipment and storage medium

Abstract

The invention relates to a balance adjustment method and device of equipment, balance adjustment equipment and a storage medium, the method is used for controlling a balance adjustment module, the balance adjustment module comprises an equipment placement area, a balance state detection assembly and a plurality of symmetrically mounted bearing adjustment assemblies, the equipment placement area is used for placing target equipment, and the balance state detection assembly is used for detecting the balance state of the target equipment; a vibration detection assembly is installed at the top of target equipment, and the method comprises the steps that balance data, detected by a balance state detection assembly, of an equipment placement area are acquired, and vibration data, detected by the vibration detection assembly, of the target equipment are acquired; determining balance parameters of the target equipment according to the balance data and the vibration data; and under the condition that the target equipment is determined to be adjusted according to the balance parameters, adjusting parameters of the bearing adjusting assembly are determined according to the balance parameters, and the height of the bearing adjusting assembly is adjusted according to the adjusting parameters. Therefore, the balance state of the target equipment can be efficiently, accurately and automatically adjusted.

Description

Technical Field

[0001] This application relates to the field of equipment balancing technology, and in particular to a method, apparatus, balancing device and storage medium for equipment balancing. Background Technology

[0002] Currently, large-scale HVAC (Heating, Ventilation, and Air Conditioning) equipment (such as rooftop air conditioning units and modular air handling units) are prone to imbalance during long-term operation due to uneven installation foundations, ground settlement, uneven distribution of their own center of gravity, mechanical vibration during operation, or external environmental disturbances (such as wind loads and earthquakes). This imbalance can lead to increased overall vibration and significantly higher operating noise, affecting indoor comfort and potentially causing structural fatigue, loose connections, and pipe resonance, shortening equipment lifespan, and even posing safety hazards. Furthermore, the vibration and noise can disturb nearby residents and office workers.

[0003] In the existing technology, the conventional way to deal with the above-mentioned equipment balance problem generally relies on manual leveling operations, and static leveling is only achieved during the initial installation stage of the equipment by adjusting the height of the support legs or adding counterweights.

[0004] However, this adjustment method relies on human experience, is inefficient, and lacks precision. Furthermore, when the aforementioned equipment balance issues arise during use, manual adjustment is required, which is not only inefficient and wasteful of human resources but also lacks accuracy. Therefore, existing methods for manually adjusting equipment balance are inefficient and inaccurate, and pose safety hazards. Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for balancing equipment, in order to solve the technical problems of low efficiency and accuracy, and potential safety hazards, in existing methods for manually balancing equipment.

[0006] In a first aspect, this application provides a method for balancing a device, characterized in that the method is used to control a balance adjustment module, the balance adjustment module including a device placement area, a balance state detection component, and a plurality of symmetrically installed load-bearing adjustment components, the device placement area being used to place a target device, a vibration detection component being installed on the top of the target device, the balance state detection component being used to detect the balance state of the device placement area, and the load-bearing adjustment components being used to adjust the balance state of the device placement area, the method comprising: The balance data of the equipment placement area detected by the balance state detection component and the vibration data of the target equipment detected by the vibration detection component are obtained. Based on the balance data and the vibration data, determine the balance parameters of the target equipment; When adjusting the target device according to the balance parameters, the adjustment parameters for the load-bearing adjustment component are determined according to the balance parameters, and the height of the load-bearing adjustment component is adjusted according to the adjustment parameters.

[0007] Secondly, this application provides a device for balancing equipment. The device controls a balance adjustment module, which includes a device placement area, a balance state detection component, and multiple symmetrically installed load-bearing adjustment components. The device placement area is used to place a target device. A vibration detection component is installed on the top of the target device. The balance state detection component detects the balance state of the device placement area, and the load-bearing adjustment components adjust the balance state of the device placement area. The device includes: The data acquisition module is used to acquire the balance data of the equipment placement area detected by the balance state detection component, and to acquire the vibration data of the target equipment detected by the vibration detection component. The parameter determination module is used to determine the balance parameters of the target device based on the balance data and the vibration data. The component adjustment module is used to determine the adjustment parameters of the load-bearing adjustment component according to the balance parameters when the target device is to be adjusted according to the balance parameters, and to adjust the height of the load-bearing adjustment component according to the adjustment parameters.

[0008] Thirdly, this application provides a balance adjustment device, including: a balance adjustment module, a processor, a communication interface, a memory, and a communication bus; The balance adjustment module is used to place the target device so that the target device is in a balanced state. The processor, communication interface, and memory communicate with each other via a communication bus; the memory is used to store computer programs; the processor, when executing the computer program, implements the balance adjustment method of any one of the devices in the first aspect.

[0009] Fourthly, this application provides a storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the balance adjustment method of the device described in any one of the first aspects.

[0010] Compared with the prior art, the technical solution provided in this application has the following advantages: The method provided in this application can comprehensively and accurately reflect the actual balance state of the target equipment by synchronously acquiring the balance data of the equipment placement area and the vibration data of the target equipment, avoiding the limitation that single balance data detection is difficult to capture vibration-related imbalance problems; at the same time, when adjusting the balance adjustment module, the adjustment parameters of the load-bearing adjustment component are determined according to the balance parameters and the height is adjusted. Relying on the symmetrically installed load-bearing adjustment component, stable and uniform adjustment actions can be achieved, effectively avoiding new imbalances caused by local adjustment. Moreover, the whole process does not require manual intervention and can dynamically respond to balance changes during equipment operation, solving the problems of low efficiency and inability to cope with dynamic imbalances in traditional manual static leveling. Thus, efficient and accurate automatic adjustment of the balance state of the target equipment can be achieved. Attached Figure Description

[0011] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0014] Figure 1 This is a schematic diagram of the structure of a balance adjustment module provided in an embodiment of this application; Figure 2 This is a schematic diagram of another balance adjustment module provided in an embodiment of this application; Figure 3 A flowchart illustrating an embodiment of a device balance adjustment method provided in this application; Figure 4 A flowchart illustrating an embodiment of another device balance adjustment method provided in this application; Figure 5 A flowchart illustrating an embodiment of a device balance adjustment method provided in this application; Figure 6 This is a schematic diagram of the structure of another balance adjustment module provided in the embodiments of this application; Figure 7A flowchart illustrating an embodiment of a method for balancing a device provided in this application; Figure 8 A flowchart illustrating an embodiment of a device balance adjustment method provided in this application; Figure 9 This is a schematic diagram of another balance adjustment module provided in an embodiment of this application; Figure 10 A block diagram illustrating an embodiment of a balance adjustment device for an equipment provided in this application; Figure 11 This is a schematic diagram of the structure of a balance adjustment device provided in an embodiment of this application. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0017] To address the problems of existing methods that rely on manual equipment balancing, which are wasteful of human resources, inefficient, inaccurate, and pose safety hazards, this application provides a method, apparatus, device, and storage medium for equipment balancing. By simultaneously acquiring balance data from the equipment placement area and vibration data from the target equipment, it comprehensively and accurately reflects the actual balance state of the target equipment, avoiding the limitation of single-data-based detection failing to capture vibration-related imbalances. Furthermore, when adjusting the balancing module, the adjustment parameters of the load-bearing adjustment components are specifically determined based on the balance parameters, and the height is adjusted accordingly. The symmetrically installed load-bearing adjustment components enable stable and uniform adjustment, effectively preventing new imbalances caused by localized adjustments. The entire process requires no manual intervention and dynamically responds to balance changes during equipment operation, solving the problems of low efficiency and inability to handle dynamic imbalances in traditional manual static balancing. This allows for efficient and accurate automatic adjustment of the target equipment's balance.

[0018] To facilitate understanding of the balance adjustment method of the device provided in this application, the structure of the balance adjustment module used by this method will be described by way of example below.

[0019] See Figure 1 This is a schematic diagram of the structure of a balance adjustment module provided in an embodiment of this application. Figure 1 As shown, the balance adjustment module 10 may include: an equipment placement area 11, a balance state detection component 12, and a plurality of load adjustment components 13 symmetrically installed.

[0020] The aforementioned equipment placement area 11 can be the central area of ​​the balance adjustment module 10. This equipment placement area 11 can be used to place the target device. The size of the equipment placement area 11 can be dynamically changed according to the size of the target device, or it can be a pre-set fixed size. This embodiment of the application does not limit this. The aforementioned target device can be a device that requires real-time adjustment of its balance state, such as an HVAC device.

[0021] The aforementioned balance state detection component 12 refers to a component used to detect the balance state of the balance adjustment module 10. It can be a balance state detection component 121 or multiple balance state detection components 122. This application embodiment does not limit this.

[0022] The balance state detection component 121 can detect the balance state of the balance adjustment module 10 independently. It can be installed at the center of the balance adjustment module 10. The balance adjustment module 121 can be a tilt angle detection component, such as a tilt angle sensor.

[0023] The aforementioned balance state detection component 122 can be multiple, and can be installed in each load adjustment component 13 to detect the pressure value of each load adjustment component 13. Since multiple load adjustment components 13 are installed symmetrically, the pressure value of each load adjustment component 13 can be used to determine whether the balance adjustment module 10 is in a balanced state.

[0024] The aforementioned plurality of load-bearing adjustment components 13 can be symmetrically installed to support the balance adjustment module 10 in a stable state. The height of the load-bearing adjustment components 13 thereby adjusts the balance state of the balance adjustment module 10. Optionally, the plurality of load-bearing adjustment components may include four symmetrically installed load-bearing adjustment components: load-bearing adjustment component 131, load-bearing adjustment component 132, load-bearing adjustment component 133, and load-bearing adjustment component 134.

[0025] Furthermore, in order to comprehensively assess the vibration status of the target device, a vibration detection component can be installed on top of the target device when it is placed within the device placement area of ​​the balance adjustment module 10. See, for example... Figure 2This is a schematic diagram of another balance adjustment module provided in an embodiment of this application. Figure 2 As shown, in Figure 1 Based on the balance adjustment module 10 shown, Figure 2 The device placement area of ​​the balance adjustment module 10 shown can hold the target device 21, and the top of the target device 21 can be equipped with a vibration detection component 22.

[0026] The vibration detection component 22 described above can be used to detect the vibration state of the target device. For example, the vibration detection component 22 can be an acceleration detection component (e.g., an acceleration sensor). The acceleration detection component can detect the acceleration of the target device 21 in each direction of the X-axis, Y-axis, and Z-axis to determine the vibration state of the target device 21, thereby indirectly reflecting the balance state of the target device.

[0027] Based on the above Figure 1 and Figure 2 The present application provides a method for balancing a device, which can be used to control the aforementioned balance adjustment module to ensure that the target device is in a balanced state.

[0028] The balance adjustment method of the device provided in this application will be further explained below with reference to the accompanying drawings and specific embodiments. The embodiments do not constitute a limitation on the embodiments of this application.

[0029] See Figure 3 This is a flowchart illustrating an embodiment of a device balance adjustment method provided in this application. As one embodiment, Figure 3 The method shown can be used to control the balance adjustment module, for example... Figure 1 or Figure 2 The illustrated balance adjustment module includes a device placement area, a balance state detection component, and multiple symmetrically installed load-bearing adjustment components. The device placement area is used to place the target device. A vibration detection component can be installed on top of the target device. The balance state detection component is used to detect the balance state of the device placement area, and the load-bearing adjustment components are used to adjust the balance state of the device placement area. Figure 3 As shown, the process may include the following steps: Step 301: Obtain the balance data of the equipment placement area detected by the balance state detection component, and obtain the vibration data of the target equipment detected by the vibration detection component.

[0030] The aforementioned balance state detection component refers to a component capable of achieving a balanced state in the area where the detection equipment is placed. This balance state detection component may include, but is not limited to, tilt angle detection components, multiple pressure detection components, etc., for example... Figure 1 The equilibrium state detection components 121 and 122 are shown.

[0031] The tilt angle detection component can determine whether the balance adjustment module has tilted by detecting the tilt angle of the balance adjustment module.

[0032] The aforementioned pressure detection components can be used to detect the pressure values ​​at different locations of the balance adjustment module, thereby determining whether the balance adjustment module has tilted based on multiple pressure values. For example, when the balance adjustment module includes four load-bearing adjustment components, the aforementioned pressure detection components can be installed at each location of the balance adjustment module to detect the pressure value of each load-bearing adjustment component. Based on this, when the pressure values ​​among the four load-bearing adjustment components deviate significantly, it indicates that the balance adjustment module has tilted and its balance state has changed.

[0033] The aforementioned balance data refers to the data about the balance adjustment module detected by the balance state detection component, such as the pitch angle and roll angle detected by the tilt angle detection component, or the pressure value of the load adjustment component detected by the pressure detection component.

[0034] The aforementioned vibration detection component refers to a component capable of detecting the vibration state of a target device. It may be an acceleration detection component, which can determine the current vibration state of the target device by detecting the acceleration of the target device on different axes.

[0035] The aforementioned vibration data refers to the data related to the target device detected by the aforementioned vibration detection component, such as the acceleration of the target device detected by the accelerometer.

[0036] In this step, when the target device is placed in the device placement area of ​​the balance adjustment module for operation, in order to ensure that the target device can be in a balanced state, the execution subject of this application embodiment can obtain the balance data of the device placement area detected by the balance state detection component, and obtain the vibration data of the target device detected by the vibration detection component.

[0037] In one embodiment, the executing entity of this application embodiment can acquire balance data of the equipment placement area detected by the balance state detection component in real time or at regular intervals, and acquire vibration data of the target equipment detected by the vibration detection component.

[0038] In another embodiment, the target device may be equipped with a volume detection component. The executing entity of this application embodiment can acquire in real time the volume value of the device operation detected by the audio detection module, and, if it is determined that the volume value is greater than a preset volume threshold, acquire the balance data of the device placement area detected by the balance state detection component, and acquire the vibration data of the target device detected by the vibration detection component.

[0039] In another embodiment, the executing entity of this application embodiment can acquire vibration data detected by the vibration detection component in real time, and determine whether the current vibration frequency of the target device is greater than a preset frequency threshold based on the vibration data.

[0040] Optionally, if the vibration frequency is determined to be greater than the aforementioned frequency threshold, the balance data of the equipment placement area detected by the balance state detection component and the vibration data of the target equipment detected by the vibration detection component can be obtained.

[0041] Step 302: Determine the balance parameters of the target equipment based on the above balance data and vibration data.

[0042] The aforementioned balance parameters refer to parameters used to characterize whether the target equipment is in a balanced state, such as the tilt angle of the target equipment, which may include, but is not limited to, pitch angle and roll angle.

[0043] In this step, the executing entity of this application embodiment can determine the balance parameters of the target device based on the acquired balance data and vibration data.

[0044] In one embodiment, the vibration detection component may be an acceleration detection component, and the vibration data detected by the acceleration detection component may be the acceleration of the target device. Based on this, the execution subject of this application embodiment may determine the pitch angle (hereinafter referred to as "vibration pitch angle") and roll angle (hereinafter referred to as "vibration roll angle") of the target device according to the above acceleration.

[0045] Accordingly, in one embodiment, the aforementioned balance state detection component may include a tilt angle detection component. Based on this, the pitch angle and roll angle of the balance adjustment module detected by the tilt angle detection component can be obtained, and these pitch angle and roll angle can be determined as balance data.

[0046] Then, the above-mentioned vibration pitch angle and pitch angle can be weighted and fused to obtain the target pitch angle, and the above-mentioned vibration roll angle and roll angle can be weighted and fused to obtain the target roll angle.

[0047] The specific details of how the fusion is carried out will be explained below, and will not be elaborated here.

[0048] Finally, the target pitch angle and target roll angle can be determined as the balance parameters of the target equipment.

[0049] In another embodiment, the aforementioned balance state detection component may include multiple pressure detection components. Based on this, the pressure values ​​of the corresponding load-bearing adjustment components detected by the multiple pressure detection components can be obtained, and the multiple pressure values ​​can be determined as balance data.

[0050] Next, the total pressure value of multiple pressure values ​​can be determined, and the center position of the multiple pressure values ​​can be determined based on the ratio of each pressure value to the total pressure value. Then, the pitch angle and roll angle of the balance adjustment module can be determined based on this center position and the center point of the balance adjustment module.

[0051] Then, the above-mentioned pitch angle and roll angle can be weighted and fused to obtain the target pitch angle, and the above-mentioned roll angle and roll angle can be weighted and fused to obtain the target roll angle.

[0052] The specific details of how the fusion is carried out will be explained below, and will not be elaborated here.

[0053] Finally, the target pitch angle and target roll angle can be determined as the balance parameters of the target equipment.

[0054] In another embodiment, the aforementioned balance state detection component includes a tilt angle detection component and multiple pressure detection components. Based on this, a first pitch angle and a first roll angle detected by the tilt angle detection component can be obtained, as well as multiple pressure values ​​detected by the pressure detection components, and the first pitch angle, the first roll angle, and the multiple pressure values ​​can be determined as balance data.

[0055] Then, the second pitch angle and the second roll angle of the balance adjustment module can be determined based on multiple pressure values.

[0056] Then, the above-mentioned vibration pitch angle, first pitch angle, and second pitch angle can be weighted and fused to obtain the target pitch angle, and the above-mentioned vibration roll angle, first roll angle, and second roll angle can be weighted and fused to obtain the target roll angle.

[0057] Finally, the target pitch angle and target roll angle can be determined as the balance parameters of the target equipment.

[0058] Step 303: After determining the adjustment parameters for the target equipment based on the above balance parameters, determine the adjustment parameters for the load-bearing adjustment component based on the above balance parameters, and adjust the height of the load-bearing adjustment component according to the above adjustment parameters.

[0059] The aforementioned load-bearing adjustment component refers to the component used to support the balance adjustment module in maintaining a balanced state.

[0060] The aforementioned adjustment parameters refer to the adjustment parameters used to adjust the load-bearing adjustment component. The execution subject of this application embodiment can adjust the load-bearing adjustment component according to the aforementioned adjustment parameters, thereby ensuring the balance of the balance adjustment module.

[0061] In this step, after determining the balance parameters of the target device, the executing entity of this application embodiment can determine whether the target device is in an unbalanced state based on the balance parameters, thereby determining whether the target device needs to be adjusted.

[0062] In one embodiment, as described in step 302, the aforementioned balance parameters may include the target pitch angle and target roll angle of the target device. Based on this, it can be determined whether to adjust the target device according to the aforementioned target pitch angle and target roll angle.

[0063] As an optional implementation, it can be determined whether the target pitch angle is greater than or equal to a preset pitch angle threshold. Optionally, if it is determined that the target pitch angle is greater than the preset pitch angle threshold, it can be determined that the target device should be adjusted.

[0064] As an alternative implementation, it can be determined whether the target roll angle is greater than or equal to a preset roll angle threshold. Optionally, if it is determined that the target roll angle is greater than the preset roll angle threshold, it can be determined that the target device should be adjusted.

[0065] As another optional implementation, the pediatric department determines whether the target pitch angle is greater than a preset pitch angle threshold and whether the target roll angle is greater than a preset roll angle threshold. Optionally, if it is determined that the target pitch angle is greater than the pitch angle threshold and the target roll angle is greater than the roll angle threshold, it can be determined that the target device should be adjusted.

[0066] In this step, if it is determined that the target equipment needs to be adjusted, the adjustment parameters of the load-bearing adjustment component can be determined according to the above balance parameters, and the height of the load-bearing adjustment component can be adjusted according to the above adjustment parameters to ensure the balance of the target equipment.

[0067] The specific details of how the adjustment parameters for the load-bearing adjustment component are determined based on the balance parameters, and how the height of the load-bearing adjustment component is adjusted according to these adjustment parameters, will be explained below and will not be detailed here.

[0068] In addition, in one embodiment, before adjusting the height of the load-bearing adjustment components according to the balance parameters, the height value of each load-bearing adjustment component can be obtained first, and it can be determined whether the height value of each load-bearing adjustment component is within a preset height range.

[0069] Optionally, for each load-bearing adjustment component, if the height value of the load-bearing adjustment component is determined to be within a preset height range, the height of the load-bearing adjustment component can be adjusted according to the adjustment parameters.

[0070] Optionally, for each load-bearing adjustment component, if it is determined that the height value of the load-bearing adjustment component is not within the preset height range, partial adjustment of the load-bearing adjustment component may be restricted.

[0071] As a limiting method, when the height of the load-bearing adjustment component is the minimum height value within a preset height range, the adjustment of lowering the height of the load-bearing adjustment component can be restricted.

[0072] As another limiting method, when the height of the load-bearing adjustment component is the maximum height value of the preset height range, the adjustment of raising the height of the load-bearing adjustment component can be restricted.

[0073] The technical solution provided in this application involves acquiring balance data of the equipment placement area detected by the balance state detection component and vibration data of the target equipment detected by the vibration detection component. Based on the balance data and the vibration data, balance parameters of the target equipment are determined. When the target equipment is adjusted according to the balance parameters, adjustment parameters of the load-bearing adjustment component are determined according to the balance parameters, and the height of the load-bearing adjustment component is adjusted according to the adjustment parameters. This technical solution, by simultaneously acquiring balance data from the equipment placement area and vibration data from the target equipment, can comprehensively and accurately reflect the actual balance state of the target equipment, avoiding the limitation of single balance data detection failing to capture vibration-related imbalances. Simultaneously, when adjusting the balance adjustment module, the adjustment parameters of the load-bearing adjustment components are specifically determined based on the balance parameters, and the height is adjusted accordingly. Relying on symmetrically installed load-bearing adjustment components, stable and uniform adjustment actions can be achieved, effectively avoiding new imbalances caused by localized adjustments. Furthermore, the entire process requires no manual intervention and can dynamically respond to balance changes during equipment operation. This solves the problems of low efficiency and inability to handle dynamic imbalances in traditional manual static leveling. Therefore, it can achieve efficient and accurate automatic adjustment of the target equipment's balance state, thereby improving the stability of the target equipment's operation, reducing vibration, noise, and component wear caused by imbalance, and extending the equipment's service life.

[0074] See Figure 4 This is a flowchart illustrating an embodiment of a device balance adjustment method provided in this application. Figure 4 The process shown is in Figure 3 Based on the illustrated process, this paper describes how the balance parameters of the target equipment are determined when the balance state detection component includes a tilt angle detection component and the vibration detection component includes an acceleration detection component. For example... Figure 4 As shown, the process may include the following steps: Step 401: Obtain the pitch angle and roll angle of the balance adjustment module detected by the tilt angle detection component, and determine the above pitch angle and roll angle as balance data.

[0075] Step 402: Obtain the acceleration of the target device detected by the vibration detection component, and determine the above acceleration as the vibration data of the target device.

[0076] For a detailed description of steps 401 and 402, please refer to the description in step 302, which will not be repeated here.

[0077] Step 403: Determine the vibration pitch angle and vibration roll angle of the target equipment based on the acceleration.

[0078] In this step, if it is determined that the vibration detection component installed on the top of the target device is an acceleration detection component, and the vibration data is the acceleration of the target device, the execution subject of this application embodiment can determine the vibration pitch angle and vibration roll angle of the target device based on the above acceleration.

[0079] As an optional implementation, the aforementioned acceleration may include a first acceleration of the target device in the X-axis direction, a second acceleration in the Y-axis direction, and a third acceleration in the Z-axis direction. Here, the X-axis is the detection axis of the target device in the first horizontal direction corresponding to the pitch angle (e.g., the forward / backward direction of the target device), the Y-axis is the detection axis of the target device in the second horizontal direction corresponding to the roll angle (e.g., the left / right direction of the target device), and the Z-axis is the detection axis of the target device in the vertical direction (e.g., the direction perpendicular to the horizontal plane of the target device).

[0080] Based on this, when determining the vibration pitch angle and vibration roll angle of the target equipment according to the acceleration, the first ratio of the first acceleration to the third acceleration and the second ratio of the second acceleration to the third acceleration can be determined respectively.

[0081] Subsequently, the arctangent function value of the first ratio can be determined as the vibration roll angle, and the arctangent function value of the second ratio can be determined as the vibration pitch angle.

[0082] For example, the vibration roll angle and vibration pitch angle can be determined by the following equations (I) and (II), respectively: Formula (1) in, For the vibration pitch angle, the above For the second acceleration, the above This is the third acceleration.

[0083] Formula (II) in, For the vibration pitch angle, the above For the first acceleration, the above This is the third acceleration.

[0084] Step 404: Determine the tilt angle weight value of the tilt angle detection component and the vibration weight value of the acceleration detection component.

[0085] The aforementioned tilt angle weight value refers to the weight value of the tilt angle detection component when determining the balance parameters.

[0086] The aforementioned vibration weight value refers to the weight value of the acceleration detection component when determining the balance parameters.

[0087] In this step, in order to balance the balance data detected by the tilt angle detection component and the vibration data detected by the acceleration detection component, the execution subject of this application embodiment can determine the tilt angle weight value of the tilt angle component and the vibration weight value of the acceleration detection component, respectively.

[0088] As an optional implementation, the aforementioned tilt angle weight value and vibration weight value can be weight values ​​determined in advance by the user, and the sum of the two can be a preset value, such as 1.

[0089] As another optional implementation, the execution entity of this application embodiment can determine the tilt variance of the balance data detected by the tilt detection component and the vibration variance of the vibration data detected by the acceleration detection component.

[0090] As an exemplary implementation, multiple equilibrium data points detected by the tilt detection component within a preset time period can be acquired. Then, the variance of these multiple equilibrium data points can be calculated to obtain the tilt variance of the tilt detection component.

[0091] As one implementation, when the balancing data includes pitch angle and roll angle, a first variance of multiple pitch angles and a second variance of multiple roll angles can be determined respectively. Then, the average variance of the first and second variances can be determined, and this average variance is defined as the roll angle variance of the roll angle detection component.

[0092] As an exemplary implementation, multiple accelerations detected by the acceleration detection component over a preset time period can be acquired, and the acceleration variance of the multiple accelerations can be determined. Subsequently, the acceleration variance can be determined as the vibration variance of the acceleration detection component.

[0093] In one embodiment, after determining the tilt variance of the tilt detection component and the vibration variance of the acceleration detection component, the reciprocal of the tilt variance can be determined as the initial tilt weight, and the reciprocal of the vibration variance can be determined as the initial vibration weight.

[0094] Subsequently, in order to normalize the initial tilt angle weight and the initial vibration weight, the total weight of the initial tilt angle weight and the initial vibration weight can be determined.

[0095] Finally, the ratio of the initial tilt angle weight to the total weight (first weight) can be determined as the tilt angle weight value, and the ratio of the initial vibration weight to the total weight (second weight) can be determined as the vibration weight value.

[0096] Step 405: Based on the above tilt angle weight value and the above vibration weight value, perform a weighted summation calculation on the pitch angle and the vibration pitch angle to obtain the target pitch angle.

[0097] Step 406: Based on the above tilt angle weight value and the above vibration weight value, perform a weighted summation of the roll angle and the vibration roll angle to obtain the target roll angle.

[0098] Step 407: Determine the target pitch angle and target roll angle as the balance parameters of the target equipment.

[0099] The following provides a unified explanation of steps 405 to 407: In this step, after determining the tilt angle weight value corresponding to the tilt angle detection component and the vibration weight value corresponding to the acceleration detection component, the pitch angle and vibration pitch angle can be weighted and summed based on the above tilt angle weight value and vibration weight value to obtain the target pitch angle.

[0100] As an optional implementation, the first pitch angle can be obtained by multiplying the pitch angle by the tilt angle weight value, and the second pitch angle can be obtained by multiplying the vibration pitch angle by the vibration weight value. Then, the first pitch angle and the second pitch angle can be added together to obtain the target pitch angle.

[0101] In this step, after determining the tilt angle weight value corresponding to the tilt angle detection component and the vibration weight value corresponding to the acceleration detection component, the roll angle and the vibration roll angle can be calculated by weighted summation based on the above tilt angle weight value and vibration weight value to obtain the target roll angle.

[0102] As an optional implementation, the first roll angle can be obtained by multiplying the roll angle by the tilt angle weight value, and the second roll angle can be obtained by multiplying the vibration roll angle by the vibration weight value. Then, the first roll angle and the second roll angle can be added together to obtain the target roll angle.

[0103] Based on the target pitch angle and target roll angle determined above, the execution subject of this application embodiment can determine the target pitch angle and target roll angle as the balance parameters of the target equipment.

[0104] The technical solution provided in this application integrates the pitch and roll angle data from the tilt detection component and the acceleration data from the vibration detection component. It then uses dynamically determined tilt and vibration weights to weight and fuse the static tilt angle and the dynamic angle derived from vibration. This approach simultaneously considers both the static tilt state and the attitude changes under dynamic vibration, avoiding the limitations of a single sensor in static or dynamic scenarios. Furthermore, through adaptive weight allocation, the weight ratio can be flexibly adjusted based on the reliability of sensor data under different operating conditions. This allows the final target pitch and roll angles to more accurately reflect the true balance state of the equipment, providing a more reliable basis for subsequent balance adjustments. Ultimately, this improves the accuracy and dynamic adaptability of equipment balance adjustments, effectively solving the equipment imbalance problem caused by static tilt or dynamic vibration, and ensuring the stability and service life of the equipment.

[0105] Furthermore, in one embodiment, when the balance state detection component includes multiple pressure detection components, after determining the pitch angle and roll angle of the balance adjustment module by the pressure values ​​detected by the multiple pressure detection components (refer to the description in step 302), the pressure weight value of the pressure detection component and the vibration weight value of the acceleration detection component can be obtained respectively.

[0106] As an optional implementation, the pressure variance of the pressure values ​​detected by the pressure detection component within a preset time period and the acceleration variance of the acceleration detection component can be determined.

[0107] Then, the reciprocal of the pressure variance can be determined as the initial pressure weight, and the reciprocal of the vibration variance can be determined as the initial vibration weight.

[0108] Next, in order to normalize the initial pressure weight and the initial vibration weight, the total weight of the initial pressure weight and the initial vibration weight can be determined.

[0109] Finally, the first weight ratio of the initial pressure weight to the total weight can be determined as the pressure weight value, and the second weight ratio of the initial vibration weight to the total weight can be determined as the vibration weight value.

[0110] Based on the determined pressure weight value of the pressure detection component and the vibration weight value of the acceleration detection component, the execution subject of this application embodiment can multiply the pitch angle by the pressure weight value to obtain a first pitch angle, and multiply the vibration pitch angle by the vibration weight value to obtain a second pitch angle. Then, the first pitch angle and the second pitch angle can be added together to obtain the target pitch angle.

[0111] Simultaneously, the roll angle can be multiplied by the pressure weight value to obtain the first roll angle, and the vibration roll angle can be multiplied by the vibration weight value to obtain the second roll angle. Then, the first roll angle and the second roll angle can be added together to obtain the target roll angle.

[0112] Based on the target pitch angle and target roll angle determined above, these target pitch angle and target roll angle are determined as the balance parameters of the target equipment.

[0113] Furthermore, in another embodiment, when the balance state detection component includes a tilt angle detection component and multiple pressure detection components, after the tilt angle detection component detects the pitch angle (hereinafter referred to as "tilt angle") and roll angle (hereinafter referred to as "tilt roll angle") of the balance adjustment module, and the pressure values ​​detected by the multiple pressure detection components determine the pitch angle (hereinafter referred to as "pressure pitch angle") and roll angle (hereinafter referred to as "pressure roll angle") of the balance adjustment module, the pressure weight value of the pressure detection component, the tilt angle weight value of the tilt angle detection component, and the vibration weight value of the acceleration detection component can be obtained respectively.

[0114] As an optional implementation, the pressure variance of the pressure value detected by the pressure detection component, the tilt variance of the tilt detection component, and the acceleration variance of the acceleration detection component can be determined within a preset time period.

[0115] Subsequently, the reciprocal of the aforementioned pressure variance can be determined as the initial pressure weight, the reciprocal of the tilt angle variance can be determined as the initial tilt angle weight, and the reciprocal of the vibration variance can be determined as the initial vibration weight.

[0116] Next, in order to normalize the initial pressure weight, initial tilt angle weight, and initial vibration weight, the total weight of the initial pressure weight, initial tilt angle weight, and initial vibration weight can be determined.

[0117] Finally, the first weight ratio of the initial pressure weight to the total weight can be determined as the pressure weight value, the second weight ratio of the initial tilt angle weight to the total weight can be determined as the tilt angle weight value, and the third weight ratio of the initial vibration weight to the total weight can be determined as the vibration weight value.

[0118] Based on the determined pressure weight value of the pressure detection component, the tilt weight value of the tilt detection component, and the vibration weight value of the acceleration detection component, the execution subject of this application embodiment can multiply the pressure pitch angle by the pressure weight value to obtain a first pitch angle, multiply the tilt pitch angle by the tilt weight value to obtain a second pitch angle, and multiply the vibration pitch angle by the vibration weight value to obtain a third pitch angle. Then, the first pitch angle, the second pitch angle, and the third pitch angle can be added together to obtain the target pitch angle.

[0119] Simultaneously, the pressure roll angle can be multiplied by the pressure weight value to obtain the first roll angle, the yaw roll angle can be multiplied by the yaw weight value to obtain the second roll angle, and the vibration roll angle can be multiplied by the vibration weight value to obtain the third roll angle. Then, the first, second, and third roll angles can be added together to obtain the target roll angle.

[0120] Based on the target pitch angle and target roll angle determined above, these target pitch angle and target roll angle are determined as the balance parameters of the target equipment.

[0121] See Figure 5 This is a flowchart illustrating an embodiment of a device balance adjustment method provided in this application. Figure 5 The process shown is in Figure 3 Based on the illustrated process, this paper describes how to determine the adjustment of the target equipment according to its balance parameters, and how to determine the adjustment parameters of the load-bearing adjustment components, when the target equipment's balance parameters include the target equipment's pitch angle (e.g., the target pitch angle determined above) and roll angle (e.g., the target roll angle determined above). Figure 5 As shown, the process may include the following steps: Step 501: Subtract the pitch angle from the preset standard pitch angle to obtain the pitch angle error, and subtract the roll angle from the preset standard roll angle to obtain the roll angle error.

[0122] The aforementioned standard pitch angle refers to the standard pitch angle corresponding to the target equipment being in a balanced state, such as 0°.

[0123] The aforementioned standard roll angle refers to the standard roll angle corresponding to the target equipment being in a balanced state, such as 0°.

[0124] In this step, given that the balance parameters include the pitch angle and roll angle of the target equipment, the pitch angle error can be obtained by subtracting the pitch angle from the preset standard pitch angle, and the roll angle error can be obtained by subtracting the roll angle from the preset standard roll angle. Here, the pitch angle can be the target pitch angle of the target equipment determined above, and the roll angle can be the target roll angle of the target equipment determined above.

[0125] Then, based on the pitch angle error and / or roll angle error mentioned above, it can be determined whether the target equipment needs to be adjusted.

[0126] Optionally, if it is determined that the pitch angle error is greater than a preset pitch angle error threshold, it can be determined that the target device should be adjusted.

[0127] Optionally, if it is determined that the roll angle error is greater than a preset roll angle error threshold, it can be determined that the target equipment should be adjusted.

[0128] Optionally, if it is determined that the pitch angle error is greater than a preset pitch angle error threshold and the roll angle error is greater than a preset roll angle error threshold, it can be determined that the target equipment should be adjusted.

[0129] Step 502: If the target equipment is to be adjusted based on the above pitch angle error and / or roll angle error, obtain the most recently determined historical pitch angle error and historical roll angle error.

[0130] Step 503: Based on the above historical pitch angle error and pitch angle error, determine the first set of parameter values ​​for the preset adjustment formula, and based on the above historical roll angle error and roll angle error, determine the second set of parameter values ​​for the preset adjustment formula.

[0131] The following provides a unified explanation of steps 502 and 503: The aforementioned historical pitch angle error set refers to the set of multiple pitch angle errors of the target device determined by the executing entity of this application embodiment within a historical time period.

[0132] The aforementioned historical roll angle error set refers to the set of multiple roll angle errors of the target device determined by the executing entity of this application embodiment within a historical time period.

[0133] The aforementioned preset adjustment formula refers to a pre-set formula used to determine the adjustment parameters. Optionally, the preset adjustment formula can be a PID (Proportional Integral Derivative) control formula.

[0134] In this step, after determining the pitch angle error and roll angle error of the target equipment each time, the executing entity of this application embodiment can store the obtained pitch angle error and roll angle error into their respective corresponding sets in chronological order. Based on this, when adjusting the balance state of the target equipment, the executing entity of this application embodiment can select the most recently determined historical pitch angle error and historical roll angle error from the aforementioned pitch angle error set and roll angle error set, respectively.

[0135] In this embodiment of the application, in order to determine the adjustment parameters of the load-bearing adjustment component, the execution subject of this embodiment of the application can use a preset adjustment formula to determine the adjustment signals corresponding to the pitch angle error and the roll angle error respectively.

[0136] As an optional implementation, the above-mentioned preset adjustment formula can be a PID control formula, and the derivative coefficient in the PID control formula can be determined based on the historical values ​​of the parameters. Therefore, the execution subject of this application embodiment can determine the first set of parameter values ​​of the preset adjustment formula based on the historical pitch angle error and pitch angle error, and determine the second set of parameter values ​​of the preset adjustment formula based on the historical roll angle error and roll angle error.

[0137] The aforementioned preset adjustment formula can be represented by the following equation (III): Formula (3) in, To adjust the parameters, the above The above is a proportionality coefficient. For pitch angle error or roll angle error, the above For the integral coefficient, the above is the differential coefficient.

[0138] Furthermore, the aforementioned proportionality coefficient can be determined by the following formula (iv): Formula (IV) Among them, the above The above is a proportionality coefficient. For the pre-calibrated initial proportional gain, the above The above refers to the preset dynamic adjustment range. For pitch angle error or roll angle error, the above This is a pre-set maximum error threshold.

[0139] The above integral coefficients can be determined by the following formula (V): Formula (5) Among them, the above For the integral coefficient, the above For the pre-calibrated initial integral, the above For pitch angle error or roll angle error, the above This is a pre-set maximum error threshold.

[0140] The aforementioned differential coefficients can be determined by the following formula (vi): Formula (VI) Among them, the above The above are differential coefficients. For the pre-calibrated initial differential, the above For pitch angle error or roll angle error, the above This is a pre-set maximum error threshold.

[0141] Based on this, in one embodiment, the pitch angle error can be calculated using equations (iv) and (v) respectively to obtain the pitch angle proportional coefficient and the pitch angle integral coefficient. Then, by subtracting the historical pitch angle error from the pitch angle error, the error difference is obtained. Dividing the error difference by the pitch angle error yields the pitch angle error change rate, which is also the result in equation (vi). The values ​​are then calculated. Finally, the pitch angle error and the rate of change of pitch angle error can be input into equation (VI) above to obtain the differential coefficients of the pitch angle.

[0142] Therefore, the pitch angle proportional coefficient, pitch angle integral coefficient, and pitch angle differential coefficient determined above can be classified into the first parameter value set.

[0143] In one embodiment, the roll angle error can be calculated using equations (iv) and (v) above to obtain the roll angle proportionality coefficient and the roll angle integral coefficient. Then, by subtracting the historical roll angle error from the roll angle error, the error difference is obtained. Finally, by dividing the error difference by the roll angle error, the roll angle error change rate is obtained, which is also the result in equation (vi). The value of is then obtained. Finally, the roll angle error and the rate of change of roll angle error can be input into equation (vi) above to obtain the differential coefficient of roll angle.

[0144] Therefore, the roll angle proportional coefficient, roll angle integral coefficient, and roll angle differential coefficient determined above can be included in the second parameter value set.

[0145] Step 504: Based on the preset adjustment formula and the set of first parameter values, process the pitch angle error to obtain the pitch angle pulse signal.

[0146] The aforementioned pitch angle pulse signal refers to the PWM (Pulse Width Modulation) signal used to adjust the load-bearing adjustment components based on the pitch angle error.

[0147] In this step, after determining the first set of parameter values ​​used to handle pitch angle error in the preset adjustment formula, the pitch angle error can be processed according to the preset adjustment formula and the first set of parameter values ​​to obtain a pitch angle pulse signal.

[0148] As an optional implementation, the pitch angle error can be processed using the following equation (VII) to obtain the pitch angle pulse signal: Formula (VII) in, The above is a pitch angle pulse signal. The above is the pitch angle scaling factor. For pitch angle error, the above The above are the integral coefficients for the pitch angle. is the differential coefficient of the pitch angle.

[0149] Step 505: Based on the above-mentioned preset adjustment formula and the above-mentioned second parameter value set, process the above-mentioned roll angle error to obtain the roll angle pulse signal.

[0150] The aforementioned roll angle pulse signal refers to the PWM (Pulse Width Modulation) signal used to adjust the load-bearing adjustment component based on the roll angle error.

[0151] In this step, after determining the set of second parameter values ​​used to handle pitch angle error in the preset adjustment formula, the roll error can be processed according to the preset adjustment formula and the set of second parameter values ​​to obtain a roll angle pulse signal.

[0152] As an optional implementation, the roll angle error can be processed using the following formula (viii) to obtain the roll angle pulse signal: Formula (8) in, The above is a roll angle pulse signal. The above is the roll angle proportionality factor. For roll angle error, the above The integral coefficient for the roll angle is as described above. The differential coefficient for the roll angle.

[0153] In one embodiment, in order to adjust the load adjustment component according to the roll angle pulse signal and pitch angle pulse signal, the execution subject of this application embodiment can normalize the roll angle pulse signal and pitch angle pulse signal after obtaining the roll angle pulse signal and pitch angle pulse signal, so as to convert the PWM signal into a PWM duty cycle, thereby obtaining a new roll angle pulse signal and a new pitch angle pulse signal.

[0154] As an optional implementation, the obtained pitch angle pulse signal and roll angle pulse signal can be converted using the following equation (ix): Formula (9) Among them, the above For a new pitch angle pulse signal or a new roll angle pulse signal, the above The above refers to either a pitch angle pulse signal or a roll angle pulse signal. The maximum pulse signal threshold is preset.

[0155] Step 506: Determine the pitch angle pulse signal and / or the roll angle pulse signal as the adjustment parameters for the load-bearing adjustment component.

[0156] In this step, after determining the pitch angle pulse signal and roll angle pulse signal, the pitch angle pulse signal and / or roll angle pulse signal can be determined as the adjustment parameters for the load-bearing adjustment component.

[0157] In one embodiment, the pitch angle pulse signal can be determined as the adjustment parameter for the load-bearing adjustment component.

[0158] In another embodiment, the aforementioned roll angle pulse signal can be determined as the adjustment parameter for the load-bearing adjustment component.

[0159] In another embodiment, the pitch angle pulse signal and the roll angle pulse signal can be determined as adjustment parameters for the load-bearing adjustment component.

[0160] Step 507: Adjust the height of the load-bearing adjustment component according to the pitch angle pulse signal and / or roll angle pulse signal.

[0161] In this step, after determining the pitch angle pulse signal and / or roll angle pulse signal as the adjustment parameters for the load-bearing adjustment component, the height of the load-bearing adjustment component can be adjusted according to the pitch angle pulse signal and / or roll angle pulse signal.

[0162] In one embodiment, when it is determined that the pitch angle error is greater than a preset pitch angle error threshold, and thus it is determined that the load-bearing adjustment component should be adjusted, the pitch angle error can be compared with a preset first pitch angle error threshold, a second pitch angle error threshold, a third pitch angle error threshold, and a fourth pitch angle error threshold, respectively, and the height of the load-bearing adjustment component can be adjusted according to the comparison results. As an optional implementation, if the pitch angle error is determined to be greater than the first pitch angle error threshold, it indicates that the target device has a large pitch angle deviation (e.g., a large forward tilt angle). Therefore, the load adjustment component on the first side can be raised, and the load adjustment component on the second side can be lowered, based on the pitch angle pulse signal. The first and second sides can be sides used to adjust the pitch angle; optionally, the first side is in front of the balance adjustment module, for example... Figure 1 The side where the load-bearing adjustment components 131 and 132 are located is the second side, which is the rear of the balance adjustment module, for example. Figure 1 The side where the load adjustment components 133 and 134 are shown.

[0163] As another optional implementation, if the pitch angle error is greater than the second pitch angle error threshold and less than the first pitch angle error threshold, it indicates that the pitch angle deviation of the target device is small (e.g., the forward tilt angle is small). Therefore, the load adjustment component on the first side can be raised according to the pitch angle pulse signal. The second pitch angle error threshold is less than the first pitch angle error threshold, and the second pitch angle error threshold is a positive number or 0.

[0164] As another optional implementation, when the pitch angle error is determined to be less than the third pitch angle error threshold and greater than the fourth pitch angle error threshold, the load adjustment component on the second side is controlled to rise based on the pitch angle pulse signal; wherein, the third pitch angle error threshold can be negative or 0. Based on this, when the pitch angle error is less than the third pitch angle error threshold and greater than the fourth pitch angle error threshold, it indicates that the target equipment's reverse deviation is small (e.g., a small backward pitch angle), and therefore the load adjustment component on the second side can be controlled to rise.

[0165] As another optional implementation, if the pitch angle error is determined to be less than the fourth pitch angle error threshold, it indicates that the target device has a large deviation in the opposite direction of the pitch angle (e.g., a large backward pitch angle). In this case, the load adjustment component on the first side can be lowered and the load adjustment component on the second side can be raised based on the pitch angle pulse signal. The fourth pitch angle error threshold is less than the third pitch angle error threshold, and the third pitch angle error threshold is negative or 0.

[0166] In another embodiment, when it is determined that the roll angle error is greater than a preset roll angle error threshold, and thus it is determined that the load-bearing adjustment component should be adjusted, the roll angle error can be compared with a preset first roll angle error threshold, a second roll angle error threshold, a third roll angle error threshold, and a fourth roll angle error threshold, respectively, and the height of the load-bearing adjustment component can be adjusted according to the comparison results. As an optional implementation, if the roll angle error is greater than the first roll angle error threshold, it indicates that the roll angle deviation of the target equipment is large (e.g., a large leftward tilt angle). Therefore, the load-bearing adjustment component on the third side can be raised, and the load-bearing adjustment component on the fourth side can be lowered, based on the roll angle pulse signal. The aforementioned third and fourth sides can be sides used to adjust the roll angle. Optionally, the third side can be the left side of the balance adjustment module, for example... Figure 1 The fourth side, where the load-bearing adjustment components 131 and 133 are located, is the side of the balance adjustment module, for example... Figure 1 The side where the load adjustment components 132 and 134 are shown.

[0167] As another optional implementation, if the roll angle error is greater than the second roll angle error threshold and less than the first roll angle error threshold, it indicates that the roll angle deviation of the target device is small (e.g., the left tilt angle is small). Therefore, the load adjustment component on the third side can be raised according to the roll angle pulse signal. The second roll angle error threshold is less than the first roll angle error threshold, and the second roll angle error threshold is a positive number or 0.

[0168] As another optional implementation, if the roll angle error is determined to be less than the third roll angle error threshold and greater than the fourth roll angle error threshold, the load-bearing adjustment component on the fourth side is raised according to the roll angle pulse signal; wherein, the third roll angle error threshold can be negative or 0. Based on this, when the roll angle error is less than the third roll angle error threshold and greater than the fourth roll angle error threshold, it indicates that the target equipment's reverse deviation is small (e.g., a small rightward tilt angle), and therefore the load-bearing adjustment component on the fourth side can be raised.

[0169] As another optional implementation, if the roll angle error is determined to be less than the fourth roll angle error threshold, it indicates that the target equipment deviates significantly in the opposite direction of the roll angle (e.g., a large rightward tilt). In this case, the load-bearing adjustment component on the third side can be lowered and the load-bearing adjustment component on the fourth side can be raised based on the roll angle pulse signal. The fourth roll angle error threshold is less than the third roll angle error threshold, and the third roll angle error threshold is negative or 0.

[0170] In one embodiment, the balance adjustment module may further include a drive component, and the load-bearing adjustment component may include a base and a height adjustment component. See, for example, [link to relevant documentation]. Figure 6 This is a schematic diagram of another balance adjustment module provided in an embodiment of this application. Figure 6 As shown, each load-bearing adjustment component in this balance adjustment module may include a base and a height adjustment component. Each load-bearing adjustment component can be used to support the balance beam, and a tilt sensor may also be installed at the center of the balance beam. The base may be a support foot, and the height adjustment component may be an electric actuator.

[0171] Based on this, when adjusting the height of the load-bearing adjustment component, a determined pulse signal and control signal can be sent to the drive component so that the drive component supplies power to the height adjustment component in the load-bearing adjustment component to be adjusted according to the pulse signal and control signal. The pulse signal may include a roll angle pulse signal and / or a pitch angle pulse signal, and the control signal is used to control the load-bearing adjustment component to be adjusted to rise or fall.

[0172] Upon receiving the aforementioned pulse signal and control signal, the drive component can determine the target load adjustment component to be adjusted and the adjustment target (raising or lowering) of the target load adjustment component based on the control signal.

[0173] Optionally, when it is determined that the target load adjustment component is to be raised, the drive component may provide a current in the first current direction to the height adjustment component in the target load adjustment component according to the pulse signal mentioned above. At this time, the power module (e.g., motor) in the height adjustment component may rotate forward, thereby driving the height adjustment component to be raised.

[0174] Optionally, when it is determined that the target load adjustment component is lowered, the drive component can provide a current in the second current direction to the height adjustment component in the target load adjustment component according to the pulse signal mentioned above. At this time, the power module (e.g., motor) in the height adjustment component can reverse, thereby driving the height adjustment component to lower.

[0175] In one embodiment, the execution subject of this application can adjust the height of the above-mentioned load-bearing adjustment component once each time according to the above-mentioned pitch angle pulse signal and / or roll angle pulse signal, and after each adjustment, readjust according to... Figure 3 The process shown determines a new pitch angle pulse signal and a new roll angle pulse signal, and then readjusts the load adjustment component based on the new pitch angle pulse signal and the new roll angle pulse signal until the re-determined pitch angle error is less than the preset pitch angle error threshold and the roll angle error is less than the preset roll angle error threshold.

[0176] The technical solution provided in this application obtains the pitch / roll angle error by subtracting it from a preset standard angle, providing a precise basis for adjustment and avoiding inaccurate adjustment due to ambiguous error judgment. Secondly, it introduces the most recent historical error, breaking the limitation of relying solely on the current error, and can predict the error change trend by combining past adjustment states, reducing the problem of repeated or over-adjustment. Furthermore, it dynamically determines the parameter set of the adjustment formula based on historical and current errors, making the formula adaptable to different error scenarios and improving the adaptability and flexibility of adjustment. At the same time, it processes the error into a pulse signal as an adjustment parameter. The pulse signal can precisely control the movement amplitude of the adjustment component, making it easier to achieve millimeter-level or even higher precision adjustment compared to traditional analog signals, effectively reducing adjustment deviation. Finally, it independently adjusts the pitch / roll direction, which can specifically solve the imbalance problem of the equipment in different directions, ultimately significantly improving the balance accuracy of the target equipment (such as large HVAC equipment), reducing vibration, noise and component wear caused by imbalance, extending the service life of the equipment, and requiring no manual intervention throughout the process, thus improving the automation efficiency and stability of balance adjustment.

[0177] See Figure 7This is a flowchart illustrating another embodiment of the device balance adjustment method provided in this application. Figure 7 The process shown is in Figure 3 and Figure 4 Based on the illustrated process, this paper describes the situation where the balance state detection component also includes a pressure detection component corresponding to each load adjustment component, during the execution of... Figure 3 Before proceeding with the process shown, the load-bearing adjustment component of the balance adjustment module can be initially adjusted. For example... Figure 7 As shown, the process may include the following steps: Step 701: Obtain the pressure value of the load adjustment component detected by each pressure detection component.

[0178] In this step, the balance adjustment module can be pre-installed with multiple pressure detection components, each corresponding to a load-bearing adjustment component to detect the pressure value of that load-bearing adjustment component, for example... Figure 1 The equilibrium state detection component 122 shown, or Figure 6 The pressure sensor shown is located between the base and the height adjustment assembly.

[0179] Based on this, the execution subject of this application embodiment can obtain the pressure value of the corresponding load-bearing adjustment component detected by each pressure detection module as described above, and adjust the balance state of the balance adjustment module according to the pressure value.

[0180] In one embodiment, the executing entity of this application embodiment can periodically acquire the pressure value of the load adjustment component detected by each pressure detection component.

[0181] In another embodiment, the execution entity of this application embodiment can execute... Figure 3 , Figure 4 or Figure 5 Before the process shown, the pressure value of the load adjustment component detected by each pressure detection component is obtained.

[0182] In yet another embodiment, the execution entity of this application embodiment can execute... Figure 3 , Figure 4 ,or Figure 5 Following the process shown, the pressure value of the load adjustment component detected by each pressure detection component is obtained to determine whether the adjusted balance adjustment module is in a balanced state.

[0183] Step 702: For each load adjustment component, determine whether the pressure value corresponding to the load adjustment component is within the preset pressure range.

[0184] Step 703: If it is determined that the pressure value is not within the pressure range, adjust the height of the load adjustment component to bring the pressure value within the pressure range.

[0185] The following provides a unified explanation of steps 702 and 703: In this step, a pressure range can be preset for each load adjustment component. When the pressure value of each load adjustment component is within this pressure range, it indicates that the target equipment is currently in a balanced state.

[0186] Based on this, the executing entity of this application embodiment can determine whether the pressure value corresponding to each load adjustment component is within the pressure range.

[0187] Optionally, if the pressure value corresponding to each load-bearing adjustment component is within the pressure range, then the target equipment is determined to be in a balanced state, or it is preliminarily determined that the target equipment is in a balanced state, and further steps can be taken. Figure 3 As shown, Figure 4 or Figure 5 The process shown further determines the balance state of the target equipment.

[0188] Optionally, if it is determined that the pressure value of any load-bearing adjustment component is not within the aforementioned pressure range, the height value of the load-bearing adjustment component may be adjusted to bring the pressure value within the aforementioned pressure range.

[0189] As one adjustment method, it can be determined whether the pressure value of the load-bearing adjustment component is greater than the aforementioned pressure range. If so, a current in a first direction is provided to the power module of the load-bearing adjustment component according to a preset adjustment signal (e.g., a PWM signal), so that the power module rotates forward to raise the height of the load-bearing adjustment component. If the pressure value is less than the aforementioned pressure range, a current in a second direction is provided to the power module of the load-bearing adjustment component according to a preset adjustment signal, so that the power module rotates in reverse to lower the height of the load-bearing adjustment component.

[0190] The technical solution provided in this application embodiment obtains the pressure value of the load adjustment component detected by each pressure detection component, determines whether the pressure value corresponding to each load adjustment component is within a preset pressure range, and adjusts the height value of the load adjustment component so that the pressure value is within the preset pressure range when it is determined that the pressure value is not within the preset pressure range. This technical solution, by strictly controlling the pressure of each load-bearing component within a preset range, avoids the risk of equipment tilting caused by mechanical wear (such as push rod deformation, support structure fatigue) due to overload (excessive pressure) or underload (excessive pressure) of a single component, significantly extending the service life of the load-bearing components. Simultaneously, the balanced pressure distribution effectively reduces vibration, noise, and center of gravity shift caused by uneven stress on the overall equipment, improving operational stability, especially suitable for large equipment such as HVAC systems that require stable operation. Furthermore, the automated pressure monitoring and height adjustment mechanism requires no manual intervention and can respond in real time to load changes (such as weight distribution fluctuations during equipment operation), improving adjustment efficiency and avoiding the lag and errors of manual judgment. Finally, the preset pressure range can be flexibly set according to equipment type and load-bearing requirements, adapting to different scenarios (such as equipment of different weights and support structures of different strengths), possessing strong versatility and scalability. This enables precise and balanced control of the load, further improving the balance of the target equipment.

[0191] See Figure 8 The following is a flowchart illustrating an embodiment of a device balance adjustment method provided in this application. As one embodiment, Figure 8 The process shown can be applied to Figure 9 The balance adjustment module shown.

[0192] See Figure 9 This is a schematic diagram of another balance adjustment module provided in an embodiment of this application. Figure 9 As shown, the balance adjustment module can be composed of a balance beam, support legs, and an electric actuator. The support legs are named as follows: Figure 9 LF: Front Left, RF: Front Right, LB: Rear Left, RB: Rear Right; The electric actuator moves up and down via the forward and reverse rotation of the motor, allowing for real-time adjustment based on the equipment's balance. This balance adjustment module is equipped with limit switches and overload protection devices to prevent the actuator from exceeding its travel or being overloaded. Furthermore, the balance adjustment module also includes an accelerometer, mounted on the top of the equipment, for detecting vertical vibrations, such as... Figure 2 The tilt sensor, mounted on the balance beam, is used to detect the tilt angle of the balance adjustment device, such as... Figure 9 A pressure sensor, installed between the electric actuator and the support legs, is used to detect the pressure distribution on each support leg, such as... Figure 9In addition, the balance adjustment module may also include a control module and a drive module. The control module may include: a data acquisition card for acquiring data from various sensors; signal processing for data processing; and a control algorithm to generate corresponding control decisions based on the processed data and the control algorithm. The drive module can drive the electric actuator to move up and down according to the signal output from the control module. The direction and distance of movement are determined by the forward and reverse rotation of the motor and the number of rotations.

[0193] like Figure 8 As shown, the process may include the following: Initialization phase: 1. System self-test: Check the connection status of the tilt sensor, acceleration sensor, and pressure sensor to ensure normal data acquisition; test the response of the electric actuator to ensure the drive module is working properly; ensure that all modules communicate normally and the system is in standby mode.

[0194] 2. Zero-point calibration: With the equipment in a horizontal, stationary state, 1024 sets of accelerometer data are continuously collected, with each set sampled at a 10ms interval to ensure sufficient statistical representativeness. To improve data quality, a two-stage filtering strategy is employed during the calibration process: First, a moving average filter (with a moving window size of 16) is used to initially smooth the original data, effectively suppressing high-frequency noise (such as power supply ripple and electromagnetic interference). Subsequently, median filtering (window size 8) is performed. By sorting and taking the median value, pulse interference caused by instantaneous vibration or sensor abnormality is effectively eliminated, significantly enhancing data robustness.

[0195] After filtering, the arithmetic mean of the processed effective dataset is calculated to obtain the average output value for each axis. Based on the physical characteristics of the accelerometer: when the device is in a horizontal, stationary state, the Z-axis should sense gravitational acceleration (+1g), while the X and Y axes should be close to 0g. Therefore, subtracting the theoretically expected value from the average output value of each axis yields the zero-point offset. Formula (10) in, The zero-point offset of the X-axis, as described above. The zero-point offset of the Y-axis, as described above. The zero-point offset of the Z-axis, as described above. The above represents the average output value of the X-axis after filtering. The above represents the average output value on the Y-axis after filtering. This is the average output value of the Z-axis after filtering.

[0196] Finally, the calculated zero-point offset value ( , , It is stored in memory for real-time access during subsequent operation phases.

[0197] 3. Data filtering: Preprocess the sensor data by using low-pass or median filters to eliminate noise interference and ensure data accuracy.

[0198] Operation phase: 1. Data Acquisition: The tilt sensor acquires the pitch and roll angles of the balance adjustment device, and the acceleration sensor acquires the accelerations of the X, Y, and Z axes of the device. , , The pressure sensor collects the pressure at the support feet LF, RF, LB, and RB in real time. , , , .

[0199] 2. Data fusion processing: (1) Tilt sensor: outputs pitch angle Roll angle ; (2) Accelerometer: Output data , , ; Using attitude calculation: Pitch angle: .

[0200] Roll angle: .

[0201] (3) Multi-sensor data fusion: ① Determine the variance of each sensor: Obtain the variances of the tilt sensor and acceleration sensor through experimental calibration, and record them as follows: , .

[0202] ② Calculate the weights: The weight of each sensor is the reciprocal of its variance. The weights are as follows: , Formula (XI) Among them, the above For the weight of the tilt sensor, The weights for the accelerometer.

[0203] ③ Normalized weights: Normalize the weights so that their sum is 1: , Formula (12) ④ Calculate the fused tilt angle using weighted average: Calculate the fused pitch angle using normalized weights. and roll angle .

[0204] Forward and backward offset (pitch angle): .

[0205] Left and right offset (roll angle): .

[0206] 3. Adaptive PID control algorithm: (1) Error calculation: Pitch direction error: .

[0207] Tumble direction error: .

[0208] Among them, the above For the preset pitch angle threshold, the above The preset roll angle threshold is used to keep the target device level. and Both can be 0°.

[0209] (2) Adaptive PID control law It employs dual-channel PID control (controlling pitch and roll directions separately) and introduces a dynamic parameter adjustment mechanism.

[0210] ①PID control formula: Regarding the pitch direction:

[0211] in, The above is a pitch angle pulse signal. The above is the pitch angle scaling factor. For pitch angle error, the above The above are the integral coefficients for the pitch angle. is the differential coefficient of the pitch angle.

[0212] Similarly, the direction of roll:

[0213] in, The above is a roll angle pulse signal. The above is the roll angle proportionality factor. For roll angle error, the above The integral coefficient for the roll angle is as described above. The differential coefficient for the roll angle.

[0214] ② Adaptive parameter adjustment rules Dynamically adjust based on system status , , The rules are as follows: Scale factor:

[0215] Among them, the above The above is a proportionality coefficient. For the pre-calibrated initial proportional gain, the above The above refers to the preset dynamic adjustment range. For pitch angle error or roll angle error, the above This is a pre-set maximum error threshold.

[0216] Function: The larger the error, the faster the deviation is suppressed.

[0217] Integral coefficient:

[0218] Among them, the above For the integral coefficient, the above For the pre-calibrated initial integral, the above For pitch angle error or roll angle error, the above This is a pre-set maximum error threshold.

[0219] Purpose: The larger the integral term, the smaller the value, to avoid integral saturation.

[0220] Differential coefficients:

[0221] Among them, the above The above are differential coefficients. For the pre-calibrated initial differential, the above For pitch angle error or roll angle error, the above This is a pre-set maximum error threshold.

[0222] Function: The greater the rate of change of error, the greater the effect, and the more it suppresses overshoot.

[0223] ③ Integral separation and anti-saturation: Integral separation: when When, turn off the points item ( =0).

[0224] Anti-saturation: Limits the upper limit of integral terms .

[0225] Error threshold for integral separation.

[0226] 4. PWM signal generation and support pin control: (1) Control variable normalization Will , Converted to the PWM duty cycle of the support foot motor:

[0227] in This is the maximum control quantity.

[0228] (2) Logic for adjusting the height of the support legs: ① First, read the height H of the electric actuator at each of the four support feet. LF H RF H LB H RB ; h represents the maximum adjustable height of the electric actuator; Determine if the height of the electric linear actuator has reached the limit. Electric linear actuators can only increase height; if The electric actuator can only reduce the height.

[0229] ② Determine if the pressure at the four support feet is abnormal: , The minimum pressure threshold for the support foot. This is the maximum load-bearing threshold. If the support foot LF pressure or If necessary, adjust the height of the LF foot electric push rod to restore it to normal. If the support foot RF pressure or If necessary, adjust the height of the RF foot electric push rod to restore it to normal. If the support foot LB pressure or If necessary, adjust the height of the LB foot electric push rod to restore it to normal. If the support foot RB pressure or If necessary, adjust the height of the RB foot electric push rod to restore it to normal.

[0230] ③ Adjust the balance: Tilt angle threshold If the tilt angle exceeds the limit, the height of the electric push rods of the four support feet needs to be adjusted simultaneously.

[0231] Pitch direction: like The balance device is tilted forward, increasing the height of the front support foot LF and RF electric push rods, while decreasing the height of the rear support foot LB and RB electric push rods; like The balance device is tilted forward, increasing the height of the front support foot LF and RF electric push rod; like The balancing device is tilted back, increasing the height of the rear support feet LB and RB electric push rods; like The balance device tilts backward, increasing the height of the rear support feet LB and RB electric push rods, while decreasing the height of the front support feet LF and RF electric push rods; Tumble direction: like The balancing device tilts to the left, increasing the height of the electric actuators of the left support foot LF and LB, while decreasing the height of the electric actuators of the right support foot RF and RB. like The balancing device tilts to the left, increasing the height of the left support leg LF and LB electric push rods; like The balancing device tilts to the right, increasing the height of the right support foot RF and RB electric push rod; like The balancing device tilts to the right, increasing the height of the electric actuators RF and RB on the right support foot, while decreasing the height of the electric actuators LF and LB on the left support foot.

[0232] 5. Drive execution: The control module uses an adaptive PID control algorithm to generate a corresponding PWM signal, which is sent to the drive module. The drive module then powers the electric push rod motor, causing the electric push rod to move up and down, thereby adjusting the height of the support foot.

[0233] Long-term monitoring: By collecting vibration data over a long period of time, we can analyze the changing trends of equipment vibration parameters (such as amplitude and frequency) to determine whether the equipment is gradually deteriorating.

[0234] The technical solutions provided in this application can achieve the following beneficial effects: 1. High-precision balance adjustment: Through multi-sensor fusion technology, the balance status of the equipment is detected in real time, and high-precision automatic adjustment is achieved.

[0235] 2. High efficiency and automation: No manual intervention is required. It can automatically adjust the balance of the equipment in different environments, which significantly improves the operating efficiency of the equipment.

[0236] 3. Reduce vibration and noise: By quickly responding to changes in equipment imbalance, it significantly reduces vibration and noise during equipment operation.

[0237] 4. Extend equipment life: Reduce equipment damage caused by imbalance and extend equipment life.

[0238] See Figure 10This is a block diagram illustrating an embodiment of a device balance adjustment apparatus provided in this application. As one embodiment, this apparatus can be used to control a balance adjustment module, which includes a device placement area, a balance state detection component, and multiple symmetrically installed load-bearing adjustment components. The device placement area is used to place a target device, and a vibration detection component is installed on the top of the target device. Figure 10 As shown, the device may include: The data acquisition module 1001 is used to acquire the balance data of the equipment placement area detected by the balance state detection component, and to acquire the vibration data of the target equipment detected by the vibration detection component. The parameter determination module 1002 is used to determine the balance parameters of the target device based on the balance data and the vibration data. The component adjustment module 1003 is used to determine the adjustment parameters of the load-bearing adjustment component according to the balance parameters when the target device is to be adjusted according to the balance parameters, and to adjust the height of the load-bearing adjustment component according to the adjustment parameters.

[0239] like Figure 11 The diagram shown is a structural schematic of a balance adjustment device provided in an embodiment of this application. It includes a processor 111, a communication interface 112, a memory 113, a communication bus 114, and a balance adjustment module 115. The processor 111, communication interface 112, and memory 113 communicate with each other via the communication bus 114. Memory 113 is used to store computer programs; The balance adjustment module 115 is used to place the target device so that the target device is in a balanced state.

[0240] In one embodiment of this application, when the processor 111 executes a program stored in the memory 113, it implements the balance adjustment method of the device provided in any of the foregoing method embodiments, including: The balance data of the equipment placement area detected by the balance state detection component and the vibration data of the target equipment detected by the vibration detection component are obtained. Based on the balance data and the vibration data, determine the balance parameters of the target equipment; When adjusting the target device according to the balance parameters, the adjustment parameters for the load-bearing adjustment component are determined according to the balance parameters, and the height of the load-bearing adjustment component is adjusted according to the adjustment parameters.

[0241] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the balance adjustment method for the device as provided in any of the foregoing method embodiments.

[0242] The device embodiments described above are merely illustrative. The components described as separate parts may or may not be physically separate. The components shown as components may or may not be physical components; that is, they may be located in one place or distributed across multiple network components. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0243] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0244] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0245] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for balancing equipment, characterized in that, The method is used to control a balance adjustment module, which includes a device placement area, a balance state detection component, and multiple symmetrically installed load-bearing adjustment components. The device placement area is used to place a target device, and a vibration detection component is installed on the top of the target device. The balance state detection component is used to detect the balance state of the device placement area, and the load-bearing adjustment components are used to adjust the balance state of the device placement area. The method includes: The balance data of the equipment placement area detected by the balance state detection component and the vibration data of the target equipment detected by the vibration detection component are obtained. Based on the balance data and the vibration data, determine the balance parameters of the target equipment; When adjusting the target device according to the balance parameters, the adjustment parameters for the load-bearing adjustment component are determined according to the balance parameters, and the height of the load-bearing adjustment component is adjusted according to the adjustment parameters.

2. The method according to claim 1, characterized in that, The equilibrium state detection component includes a tilt angle detection component; The step of acquiring the balance data of the device placement area detected by the balance state detection component includes: The pitch and roll angles of the balance adjustment module detected by the tilt detection component are obtained. The pitch angle and the roll angle are determined as the balance data.

3. The method according to claim 2, characterized in that, The vibration detection component includes an acceleration detection component; The step of acquiring the vibration data of the target device detected by the vibration detection component includes: The acceleration of the target device detected by the vibration detection component is obtained; The acceleration is determined as the vibration data of the target device.

4. The method according to claim 3, characterized in that, Determining the balance parameters of the target equipment based on the balance data and the vibration data includes: Based on the acceleration, determine the vibration pitch angle and vibration roll angle of the target equipment; Determine the tilt angle weight value of the tilt angle detection component and the vibration weight value of the acceleration detection component; The target pitch angle is obtained by weighting and summing the pitch angle and the vibration pitch angle based on the tilt angle weight value and the vibration weight value. The target roll angle is obtained by weighting and summing the roll angle and the vibration roll angle based on the tilt angle weight value and the vibration weight value. The target pitch angle and the target roll angle are determined as the balance parameters of the target equipment.

5. The method according to claim 4, characterized in that, The acceleration includes a first acceleration of the target device in the X-axis direction, a second acceleration in the Y-axis direction, and a third acceleration in the Z-axis direction; wherein, the X-axis is the detection axis of the target device in the first horizontal direction corresponding to the pitch angle, the Y-axis is the detection axis of the target device in the second horizontal direction corresponding to the roll angle, and the Z-axis is the detection axis of the target device in the vertical direction; Determining the vibration pitch angle and vibration roll angle of the target equipment based on the acceleration includes: A first ratio of the first acceleration to the third acceleration, and a second ratio of the second acceleration to the third acceleration are determined respectively; The arctangent function value of the first ratio is determined as the vibration roll angle, and the arctangent function value of the second ratio is determined as the vibration pitch angle.

6. The method according to claim 4, characterized in that, Determining the tilt angle weight value of the tilt angle detection component and the vibration weight value of the acceleration detection component includes: Determine the tilt variance of the equilibrium data detected by the tilt detection component, and the vibration variance of the vibration data detected by the acceleration detection component; The reciprocal of the tilt angle variance is determined as the initial tilt angle weight, and the reciprocal of the vibration variance is determined as the initial vibration weight; Determine the total weight of the initial tilt angle weight and the initial vibration weight; The first weight ratio of the initial tilt angle weight to the total weight is determined as the tilt angle weight value, and the second weight ratio of the initial vibration weight to the total weight is determined as the vibration weight value.

7. The method according to claim 1, characterized in that, The balance parameters include the pitch angle and roll angle of the target equipment; The step of determining the adjustment of the target device based on the balance parameters includes: The pitch angle error is obtained by subtracting the pitch angle from the preset standard pitch angle, and the roll angle error is obtained by subtracting the roll angle from the preset standard roll angle. If the pitch angle error is determined to be greater than a preset pitch angle error threshold, it is determined that the target device should be adjusted. And / or, If the roll angle error is determined to be greater than a preset roll angle error threshold, it is determined that the target device should be adjusted.

8. The method according to claim 7, characterized in that, Determining the adjustment parameters for the load-bearing adjustment component based on the balance parameters includes: Obtain the most recently determined historical pitch angle error and historical roll angle error; Based on the historical pitch angle error and the pitch angle error, a first set of parameter values ​​for the preset adjustment formula is determined, and based on the historical roll angle error and the roll angle error, a second set of parameter values ​​for the preset adjustment formula is determined. Based on the preset adjustment formula and the first set of parameter values, the pitch angle error is processed to obtain a pitch angle pulse signal; Based on the preset adjustment formula and the second set of parameter values, the roll angle error is processed to obtain a roll angle pulse signal; The pitch angle pulse signal and / or the roll angle pulse signal are determined as adjustment parameters for the load-bearing adjustment component.

9. The method according to claim 8, characterized in that, When it is determined that the pitch angle error is greater than a preset pitch angle error threshold, adjusting the height of the load-bearing adjustment component according to the adjustment parameters includes: If the pitch angle error is determined to be greater than the first pitch angle error threshold, the load adjustment component on the first side is controlled to rise and the load adjustment component on the second side is controlled to fall according to the pitch angle pulse signal. If it is determined that the pitch angle error is greater than the second pitch angle error threshold and less than the first pitch angle error threshold, the load adjustment component on the first side is controlled to rise according to the pitch angle pulse signal; the second pitch angle error threshold is less than the first pitch angle error threshold and the second pitch angle error threshold is a positive number; If it is determined that the pitch angle error is less than the third pitch angle error threshold and greater than the fourth pitch angle error threshold, the load adjustment component on the second side is controlled to rise according to the pitch angle pulse signal; If the pitch angle error is determined to be less than the fourth pitch angle error threshold, the load adjustment component on the first side is controlled to be lowered and the load adjustment component on the second side is controlled to be raised according to the pitch angle pulse signal; the fourth pitch angle error threshold is less than the third pitch angle error threshold, and the third pitch angle error threshold is negative.

10. The method according to claim 8, characterized in that, When it is determined that the roll angle error is greater than a preset roll angle error threshold, adjusting the height of the load-bearing adjustment component according to the adjustment parameters includes: If the roll angle error is determined to be greater than the first roll angle error threshold, the load adjustment component on the third side is controlled to rise and the load adjustment component on the fourth side is controlled to fall according to the roll angle pulse signal. If it is determined that the roll angle error is greater than the second roll angle error threshold and less than the first roll angle error threshold, the load adjustment component on the third side is controlled to rise according to the roll angle pulse signal; the second roll angle error is less than the first roll angle error, and the second roll angle error is a positive number; If the roll angle error is determined to be less than the third roll angle error threshold and greater than the fourth roll angle error threshold, the load adjustment component on the fourth side is controlled to rise according to the roll angle pulse signal. If the roll angle error is determined to be less than the fourth roll angle error threshold, the load adjustment component on the third side is controlled to lower and the load adjustment component on the fourth side is controlled to raise according to the roll angle pulse signal; the fourth roll angle error threshold is less than the third roll angle error threshold, and the third roll angle error threshold is a negative number.

11. The method according to claim 9 or 10, characterized in that, The balance adjustment module also includes a drive component, and the load adjustment component includes a base and a height adjustment component; The height of the load-bearing adjustment component can be adjusted in the following ways: The determined pulse signal and control signal are sent to the drive component so that the drive component supplies power to the height adjustment component in the load adjustment component to be adjusted according to the pulse signal and the control signal; the pulse signal includes a roll angle pulse signal and / or a pitch angle pulse signal, and the control signal is used to control the load adjustment component to be adjusted to rise or fall.

12. The method according to claim 2, characterized in that, The balance state detection component also includes: a pressure detection component corresponding to each load adjustment component; Before acquiring the balance data of the device placement area detected by the balance state detection component, the method further includes: Obtain the pressure value of the load-bearing adjustment component detected by each of the pressure detection components; For each of the load-bearing adjustment components, determine whether the pressure value corresponding to the load-bearing adjustment component is within a preset pressure range; If it is determined that the pressure value is not within the pressure range, the height of the load-bearing adjustment component is adjusted so that the pressure value is within the pressure range.

13. A balance adjustment device for equipment, characterized in that, The device is used to control a balance adjustment module, which includes a device placement area, a balance state detection component, and multiple symmetrically installed load-bearing adjustment components. The device placement area is used to place the target device, and a vibration detection component is installed on the top of the target device. The device includes: The data acquisition module is used to acquire the balance data of the equipment placement area detected by the balance state detection component, and to acquire the vibration data of the target equipment detected by the vibration detection component. The parameter determination module is used to determine the balance parameters of the target device based on the balance data and the vibration data. The component adjustment module is used to determine the adjustment parameters of the load-bearing adjustment component according to the balance parameters when the target device is to be adjusted according to the balance parameters, and to adjust the height of the load-bearing adjustment component according to the adjustment parameters.

14. A balancing device, characterized in that, include: Balance adjustment module, processor, communication interface, memory and communication bus; The balance adjustment module is used to place the target device so that the target device is in a balanced state. The processor, communication interface, and memory communicate with each other via a communication bus; the memory is used to store computer programs; the processor is used to implement the balance adjustment method of the device according to any one of claims 1-12 when executing the computer program.

15. A storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the balance adjustment method of the device according to any one of claims 1-12.

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