阅读说明：本技术 用于标定机械系统平衡位置的方法、装置及存储介质 (Method, device and storage medium for calibrating balance position of mechanical system ) 是由 陈相羽 来杰 王帅 杨思成 张正友 于 2019-11-05 设计创作，主要内容包括：本申请公开了一种用于标定机械系统平衡位置的方法、装置及存储介质。该方法包括：获取夹角测量装置当前时刻的当前测量值；当确定当前测量值在预设的初始平衡值的正常误差范围内且动量轮存在输出的转动速度时,基于转动速度调整初始平衡值；将调整后的初始平衡值与当前测量值求差,以改变动量轮输出的转动速度,返回获取夹角测量装置当前时刻的当前测量值的步骤得到新的测量值；当确定新的测量值在调整后的初始平衡值的正常误差范围内且动量轮处于静止状态时,标定调整后的初始平衡值为机械系统绝对平衡时对应的平衡值。根据本申请实施例提供的技术方案,该方法提高了机械系统的平衡位置标定的准确率。(The application discloses a method, a device and a storage medium for calibrating a balance position of a mechanical system. The method comprises the following steps: acquiring a current measurement value of the included angle measurement device at the current moment; when the current measured value is determined to be within the normal error range of the preset initial balance value and the momentum wheel has the output rotating speed, adjusting the initial balance value based on the rotating speed; the adjusted initial balance value and the current measured value are subtracted to change the rotating speed output by the momentum wheel, and the step of obtaining the current measured value of the included angle measuring device at the current moment is returned to obtain a new measured value; and when the new measured value is determined to be within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state, calibrating the adjusted initial balance value to be the corresponding balance value when the mechanical system is in absolute balance. According to the technical scheme provided by the embodiment of the application, the method improves the accuracy of the balance position calibration of the mechanical system.)

1. A method for calibrating an equilibrium position of a mechanical system, wherein the mechanical system comprises a mechanical device, an angle measurement device, and a momentum wheel, the angle measurement device and the momentum wheel being mounted on the mechanical device, the method comprising:

acquiring a current measurement value of the included angle measurement device at the current moment;

when the current measured value is determined to be within a normal error range of a preset initial balance value and the momentum wheel has an output rotating speed, adjusting the initial balance value based on the rotating speed;

calculating the difference between the adjusted initial balance value and the current measured value to change the rotating speed output by the momentum wheel, and returning to the step of obtaining the current measured value of the included angle measuring device at the current moment to obtain a new measured value;

and when the new measured value is determined to be within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state, calibrating the adjusted initial balance value as the balance value corresponding to the absolute balance of the mechanical system.

2. The method for calibrating the equilibrium position of a mechanical system according to claim 1, further comprising:

when the current measured value is determined to be within a normal error range of a preset initial balance value and the momentum wheel is in a flat static state, calibrating the initial balance value as a balance value when the mechanical system is in absolute balance.

3. The method for calibrating the equilibrium position of a mechanical system according to claim 1, wherein said mechanical system further comprises an encoder mounted on said momentum wheel, said encoder being configured to measure the rotational speed of said momentum wheel, such that the presence of an output rotational speed of said momentum wheel comprises:

acquiring the rotating speed of the momentum wheel read by the encoder;

integrating the rotating speed in a first window time to obtain a first integral value;

when the first integral value is not within a preset range, it is determined that there is an output rotation speed of the momentum wheel.

4. The method for calibrating the equilibrium position of a mechanical system according to claim 1, wherein adjusting said initial equilibrium value comprises the steps of:

integrating the rotating speed output by the momentum wheel within a second window time to obtain a second integral value;

calculating the product of the second integral value and a preset coefficient;

calculating the sum of the product and the initial balance value, and defining the sum as the adjusted initial balance value.

5. Method for calibrating a balance position of a mechanical system according to claim 3 or 4,

the integrating the rotating speed in a first window time to obtain a first integrated value comprises:

sampling the rotating speed in the first window time to obtain a plurality of first sampling values;

calculating the sum of the plurality of first sampling values to obtain a first integral value;

alternatively, the integrating the rotational speed output by the momentum wheel within a second window time to obtain a second integrated value includes:

sampling the rotating speed in the second window time to obtain a plurality of second sampling values;

and calculating the sum of the plurality of second sampling values to obtain a second integral value.

6. The method for calibrating the equilibrium position of a mechanical system according to claim 1, wherein when it is determined that the current measurement value is not within the normal error range of the preset initial equilibrium value, the initial equilibrium value is subtracted from the current measurement value to change the rotation speed output by the momentum wheel, and the step of obtaining the current measurement value of the angle measurement device at the current moment is returned to obtain a new measurement value.

7. The method for calibrating the equilibrium position of a mechanical system according to any one of claims 1 to 4 or 6, wherein the mechanical equipment is a single degree of freedom robot, and the mechanical system comprises the single degree of freedom robot, the included angle measuring device and the momentum wheel, and the momentum wheel is mounted on the single degree of freedom robot;

or, the mechanical equipment is a single-degree-of-freedom balance car, and the mechanical system comprises the single-degree-of-freedom balance car, the included angle measuring device and the momentum wheel, and the included angle measuring device and the momentum wheel are installed on the single-degree-of-freedom balance car.

8. A method for calibrating the equilibrium position of a mechanical system, said mechanical system comprising a mechanical device, an angle measurement device, a momentum wheel and a processor, said angle measurement device and said momentum wheel being mounted on said mechanical device, characterized in that said processor performs the following method steps:

acquiring a current measurement value of the included angle measurement device at the current moment;

when the current measured value is determined to be within a normal error range of a preset initial balance value and the momentum wheel has an output rotating speed, adjusting the initial balance value based on the rotating speed;

calculating the difference between the adjusted initial balance value and the current measured value to change the rotating speed output by the momentum wheel, and returning to the step of obtaining the current measured value of the included angle measuring device at the current moment to obtain a new measured value;

and when the new measured value is determined to be within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state, calibrating the adjusted initial balance value as the balance value corresponding to the absolute balance of the mechanical system.

9. The method of claim 8, wherein the mechanical system further comprises an encoder mounted on the momentum wheel, the encoder is configured to measure a rotational speed of the momentum wheel, and the determining the rotational speed of the momentum wheel comprises:

acquiring the rotating speed of the momentum wheel read by the encoder;

integrating the rotating speed in a first window time to obtain a first integral value;

when the first integral value is not within a preset range, it is determined that there is an output rotation speed of the momentum wheel.

10. An apparatus for calibrating a balance position of a mechanical system, wherein the mechanical system comprises a mechanical device, an angle measurement device and a momentum wheel, the angle measurement device and the momentum wheel are mounted on the mechanical device, the apparatus comprising:

the acquisition module is used for acquiring the current measurement value of the included angle measurement device at the current moment;

the adjusting module is used for adjusting the initial balance value based on the rotating speed when the current measured value is determined to be within the normal error range of the preset initial balance value and the output rotating speed of the momentum wheel exists;

the difference calculating module is used for calculating the difference between the adjusted initial balance value and the current measured value so as to change the rotating speed output by the momentum wheel and return to the step of obtaining the current measured value of the included angle measuring device at the current moment to obtain a new measured value;

and the first calibration module is used for calibrating the adjusted initial balance value as the corresponding balance value when the mechanical system is in absolute balance when the new measured value is determined to be in the normal error range of the adjusted initial balance value and the momentum wheel is in a static state.

11. An apparatus for calibrating an equilibrium position of a mechanical system as defined in claim 10, wherein said mechanical system further comprises an encoder mounted on said momentum wheel, said encoder configured to measure a rotational speed of said momentum wheel, said adjustment module further configured to:

acquiring the rotating speed of the momentum wheel read by the encoder;

integrating the rotating speed in a first window time to obtain a first integral value;

when the first integral value is not within a preset range, it is determined that there is an output rotation speed of the momentum wheel.

12. The utility model provides a device for demarcating mechanical system equilibrium position, its characterized in that, mechanical system includes mechanical equipment, contained angle measuring device, momentum wheel equipment, contained angle measuring device and momentum wheel equipment are all installed mechanical equipment is last, contained angle measuring device is used for the perception mechanical system's direction of gravity, momentum wheel equipment includes treater and momentum wheel, the device set up in the treater, wherein, the device includes:

the acquisition module is used for acquiring the current measurement value of the included angle measurement device at the current moment;

the adjusting module is used for adjusting the initial balance value based on the rotating speed when the current measured value is determined to be within the normal error range of the preset initial balance value and the output rotating speed of the momentum wheel exists;

the difference calculating module is used for calculating the difference between the adjusted initial balance value and the current measured value so as to change the rotating speed output by the momentum wheel and return to the step of obtaining the current measured value of the included angle measuring device at the current moment to obtain a new measured value;

and the first calibration module is used for calibrating the adjusted initial balance value as the corresponding balance value when the mechanical system is in absolute balance when the new measured value is determined to be in the normal error range of the adjusted initial balance value and the momentum wheel is in a static state.

13. An apparatus for calibrating an equilibrium position of a mechanical system as defined in claim 12, wherein said mechanical system further comprises an encoder mounted on said momentum wheel, said encoder configured to measure a rotational speed of said momentum wheel, said adjustment module further configured to:

acquiring the rotating speed of the momentum wheel read by the encoder;

integrating the rotating speed in a first window time to obtain a first integral value;

when the first integral value is not within a preset range, it is determined that there is an output rotation speed of the momentum wheel.

14. A computer-readable storage medium, having stored thereon a computer program for:

the computer program, when executed by a processor, implements the method of any of claims 1-9.

Technical Field

The present application relates generally to the field of data processing technologies, and more particularly, to a method, an apparatus, a device, and a storage medium for calibrating a balance position of a mechanical system.

Background

The existing calibration method for the balance position of the single-degree-of-freedom mechanical system is used as a standard for judging whether the mechanical system is balanced or not according to whether the measurement value of the inertial sensor is 0 or not, but the measurement value of the inertial sensor is different from the inclination of the mechanical system due to the fact that errors generally exist when the inertial sensor is installed. Thus, when the inertial sensor reads 0, the mechanical system is not actually in absolute equilibrium, but is still in a relative equilibrium position of oscillation, or topples over directly. Therefore, the existing calibration method for the balance position of the single-degree-of-freedom mechanical system has low accuracy, and the absolute balance position of the mechanical system cannot be calibrated.

Disclosure of Invention

In view of the problem of low accuracy of the mechanical system balance position calibration method in the prior art, the application provides a method, a device and a storage medium for calibrating a mechanical system balance position, which can improve the accuracy of the mechanical system balance position calibration.

In a first aspect, an embodiment of the present application provides a method for calibrating a balance position of a mechanical system, where the mechanical system includes a mechanical device, an included angle measurement device, and a momentum wheel, and the included angle measurement device and the momentum wheel are mounted on the mechanical device, and the method includes:

acquiring a current measurement value of the included angle measurement device at the current moment;

when the current measured value is determined to be within the normal error range of the preset initial balance value and the momentum wheel has the output rotating speed, adjusting the initial balance value based on the rotating speed;

the adjusted initial balance value and the current measured value are subtracted to change the rotating speed output by the momentum wheel, and the step of obtaining the current measured value of the included angle measuring device at the current moment is returned to obtain a new measured value;

and when the new measured value is determined to be within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state, calibrating the adjusted initial balance value to be the corresponding balance value when the mechanical system is in absolute balance.

In a second aspect, an embodiment of the present application provides a method for calibrating a balance position of a mechanical system, where the mechanical system includes an angle measurement device, a momentum wheel, and a processor, and the processor performs the following method steps:

acquiring a current measurement value of the included angle measurement device at the current moment;

when the current measured value is determined to be within the normal error range of the preset initial balance value and the momentum wheel has the output rotating speed, adjusting the initial balance value based on the rotating speed;

the adjusted initial balance value and the current measured value are subtracted to change the rotating speed output by the momentum wheel, and the step of obtaining the current measured value of the included angle measuring device at the current moment is returned to obtain a new measured value;

and when the new measured value is determined to be within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state, calibrating the adjusted initial balance value to be the corresponding balance value when the mechanical system is in absolute balance.

In a third aspect, an embodiment of the present application provides an apparatus for calibrating a balance position of a mechanical system, where the mechanical system includes a mechanical device, an included angle measuring device, and a momentum wheel, and the included angle measuring device and the momentum wheel are installed on the mechanical device, and the apparatus includes:

the acquisition module is used for acquiring the current measurement value of the included angle measurement device at the current moment;

the adjusting module is used for adjusting the initial balance value based on the rotating speed when the current measured value is determined to be within the normal error range of the preset initial balance value and the momentum wheel has the output rotating speed;

the difference calculating module is used for calculating the difference between the adjusted initial balance value and the current measured value so as to change the rotating speed output by the momentum wheel and return to the step of obtaining the current measured value of the included angle measuring device at the current moment to obtain a new measured value;

and the first calibration module is used for calibrating the adjusted initial balance value as the corresponding balance value when the mechanical system is in absolute balance when the new measured value is determined to be in the normal error range of the adjusted initial balance value and the momentum wheel is in a static state.

Fourth aspect this application embodiment provides a device for demarcating mechanical system equilibrium position, mechanical system includes mechanical equipment, contained angle measuring device, momentum wheel equipment, and contained angle measuring device and momentum wheel equipment are all installed on mechanical equipment, and contained angle measuring device is used for perception mechanical system's direction of gravity, and momentum wheel equipment includes treater and momentum wheel, and wherein, treater and momentum wheel electricity are connected, and the device sets up in the treater, and the device includes:

the acquisition module is used for acquiring the current measurement value of the included angle measurement device at the current moment;

the adjusting module is used for adjusting the initial balance value based on the rotating speed when the current measured value is determined to be within the normal error range of the preset initial balance value and the momentum wheel has the output rotating speed;

the difference calculating module is used for calculating the difference between the adjusted initial balance value and the current measured value so as to change the rotating speed output by the momentum wheel and return to the step of obtaining the current measured value of the included angle measuring device at the current moment to obtain a new measured value;

and the first calibration module is used for calibrating the adjusted initial balance value as the corresponding balance value when the mechanical system is in absolute balance when the new measured value is determined to be in the normal error range of the adjusted initial balance value and the momentum wheel is in a static state.

Fifth aspect an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored thereon, and the computer program is configured to:

the computer program, when executed by a processor, implements any of the methods included in the first and second aspects described above.

According to the method for calibrating the balance position of the mechanical system, whether the mechanical system is in the balance position or not is judged by judging whether the output rotating speed of the momentum wheel exists or not, the initial balance value is adjusted when the mechanical system is not in the balance position, and whether the mechanical system is in the balance position is judged again until the mechanical system is in balance, and the initial balance value at the moment is calibrated to be the absolute balance value of the mechanical system. Compared with the prior art that the measured value of the inertial sensor is directly used as the absolute balance value of the mechanical system and is used for judging whether the mechanical system is in the balance position, the accuracy of the balance position calibration of the mechanical system is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments or the prior art are briefly introduced below, and it is apparent that the drawings are only for the purpose of illustrating a preferred implementation method and are not to be considered as limiting the present application. It should be further noted that, for the convenience of description, only the relevant portions of the present application, not all of them, are shown in the drawings.

FIG. 1 is a diagram illustrating an implementation environment architecture for a method for calibrating a balance position of a mechanical system according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating an angle measurement device installed substantially coincident with the direction of gravity according to an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating an angle measurement device installed in a non-aligned orientation with respect to gravity according to an embodiment of the present application;

FIG. 4 is a diagram illustrating an environment for another method for calibrating a balance position of a mechanical system according to an embodiment of the present disclosure;

FIG. 5 is a flow chart illustrating a method for calibrating a balance position of a mechanical system according to an embodiment of the present disclosure;

FIG. 6 is another flow chart illustrating a method for calibrating a balance position of a mechanical system according to an embodiment of the present disclosure;

FIG. 7 is a flow chart illustrating a method of determining whether there is an output rotational speed of a momentum wheel according to an embodiment of the present application;

FIG. 8 is a flow chart illustrating a method for adjusting an initial balance value based on a rotational speed according to an embodiment of the present disclosure;

FIG. 9 is a flow chart illustrating a method for calibrating a balance position of a mechanical system according to an embodiment of the present application;

FIG. 10 is a block diagram illustrating an apparatus for calibrating a balance position of a mechanical system according to an embodiment of the present disclosure;

FIG. 11 is a block diagram illustrating another apparatus for calibrating a balance position of a mechanical system according to an embodiment of the present disclosure;

FIG. 12 is a block diagram of yet another apparatus for calibrating a balance position of a mechanical system according to an embodiment of the present disclosure;

FIG. 13 is a block diagram of another apparatus for calibrating a balance position of a mechanical system according to an embodiment of the present application

FIG. 14 is a block diagram of yet another apparatus for calibrating a balance position of a mechanical system according to an embodiment of the present disclosure;

FIG. 15 is a block diagram illustrating yet another apparatus for calibrating an equilibrium position of a mechanical system according to an embodiment of the present disclosure;

FIG. 16 is a single degree of freedom balancing motorcycle according to an embodiment of the present application;

fig. 17 is a schematic structural diagram of a computer system according to an embodiment of the present application.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant disclosure and are not limiting of the disclosure. It should be noted that, for the convenience of description, only the portions relevant to the application are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

FIG. 1 is a diagram illustrating an exemplary environment for a method for calibrating a balance position of a mechanical system according to an embodiment of the present disclosure. As shown in fig. 1, the implementation environment architecture includes: a terminal 101 and a mechanical system 102.

Wherein the machine system 102 comprises a machine device 1021, a momentum wheel device 1022 and an angle measurement 1023. Further, the momentum wheel device 1022 and the angle measuring device 1023 are both fixedly mounted on the mechanical device 1021. Further, the machine 1021 is a single degree of freedom machine, which means that the machine is supported on the ground in a straight line and can only tilt along one axis with a degree of freedom of 1. For example, the mechanical device 1021 may be a single degree of freedom robot, a single degree of freedom balance car, and exemplarily, the single degree of freedom robot may be a two-wheel robot, a two-wheel robot for short, and the single degree of freedom balance car may be a two-wheel balance car, a balance bicycle, a balance motorcycle (as shown in fig. 16), and the like.

The included angle measuring device 1023 is used for measuring the included angle between itself and the gravity direction so as to sense the gravity direction of the mechanical system or the mechanical equipment. Optionally, angle measurement device 1023 includes an inertial sensor, a level, a tilt sensor, and the like.

The momentum wheel device 1022 includes, among other things, a motor, a momentum wheel, and a numbering device. The motor is connected with the momentum wheel and used for driving the momentum wheel to rotate when the motor rotates. The encoder is mounted on the momentum wheel and is used for measuring the rotating speed of the momentum wheel. In addition, the encoder can also be installed on the motor and used for measuring the rotating speed of the motor, and the motor drives the momentum wheel to rotate, so that the encoder also indirectly measures the rotating speed of the momentum wheel.

Among other things, the terminal 101 includes a processor 1011. Processor 1011 is connected, either by wire or wirelessly, to angle measurement device 1023 for obtaining measurements from angle measurement device 1023 (measurements or current measurements referred to hereinafter are measurements from the angle measurement device). The processor 1011 is also connected to the encoder for obtaining the rotational speed measured by the encoder. The processor 1011 is also connected to the motor for controlling the rotation of the motor based on the measured values, the rotational speed and other data. The motor rotates to drive the momentum wheel to rotate, and at this time, the mechanical device 1021 and the included angle measuring device 1023 both rotate in the direction opposite to the momentum wheel, so as to adjust the inclination degree of the mechanical system (including the mechanical device 1021, the momentum wheel device 1022 and the included angle measuring device 1023).

In addition, it should be noted that the mechanical system balance calibration method provided by the embodiment of the present application is applicable to a single degree of freedom mechanical system. When a single-degree-of-freedom mechanical system is placed, a balance position is difficult to find by the single-degree-of-freedom mechanical system, so that balance cannot be kept, and the situation of falling over on one side can occur. For example, a bicycle used in daily life is difficult to balance and falls down without a stand. The method for calibrating the balance position of the mechanical system provided by the embodiment of the application aims to find the balance position of the single-degree-of-freedom mechanical system, so that the balance position can be still kept without the action of external force and without the rotation of momentum wheels.

According to the mechanical system balance calibration method provided by the embodiment of the application, the included angle measuring device and the momentum wheel equipment are required to be installed on the mechanical equipment, so that the balance position of the mechanical system is found through the mutual matching of the included angle measuring device and the momentum wheel equipment, and the mechanical system is kept balanced. Further, referring to fig. 2, assuming that the included angle measuring device is completely consistent with the gravity direction when the included angle measuring device is installed, at this time, when the measured value of the included angle measuring device is 0 degree, the mechanical system is balanced. However, in actual installation, it is difficult to install the angle measuring device to be exactly the same as the direction of gravity, but to have an angle with the direction of gravity, as shown in fig. 3. Thus, when the mechanical system is balanced, the measurement value of the angle measuring device is not 0 degrees, but is another value other than 0, that is, the value other than 0 is the measurement value when the mechanical system is in the balanced position, and is called as an absolute balance value.

It should be noted that the embodiments of the present application are calibrated for the equilibrium position of the mechanical system 102, i.e., the equilibrium position of the system including the mechanical device 1021, the momentum wheel device 1022 and the angle measuring device 1023 as a whole. It should be further understood that the calibration of the equilibrium position of the mechanical system 102 is an error value of the installation position of the angle measuring device reflected when the mechanical apparatus 1021 is in the approximate absolute static state.

In addition, it should be noted that the absolute equilibrium position of the mechanical system (in a state of not just tipping over, and stationary in a certain position without any oscillation) is difficult to achieve. In the actual calibration process, if the error between the equilibrium position and the absolute equilibrium position is within a small acceptable range, the equilibrium position is considered to be equivalent to the absolute equilibrium position.

FIG. 4 is a diagram illustrating an environment for implementing another method for calibrating a balance position of a mechanical system according to an embodiment of the present application. As shown in fig. 4, the implementation environment architecture includes a mechanical system 103. Further, the mechanical system 103 comprises: mechanical device 1031, momentum wheel device 1032 and angle measurement device 1033.

Among other things, machine system 103 differs from machine system 102 shown in FIG. 1 in that machine system 103 includes a processor, whereas machine system 102 does not include a processor, which is shown in FIG. 2 as being housed within terminal 101.

In addition, the connection relationship, the action and the operation principle between each device, apparatus and component in the implementation environment architecture shown in fig. 4 and each device, apparatus and component in the implementation environment architecture shown in fig. 1 are the same, and are not described herein again.

FIG. 5 is a flow chart illustrating a method for calibrating an equilibrium position of a mechanical system according to an embodiment of the present application. The method shown in fig. 5 may be performed by the terminal 101 in fig. 1, and further may be performed by the processor 1011 included in the terminal 101, as shown in fig. 5 in conjunction with fig. 6, the method comprising the steps of:

step 301, obtaining a current measurement value of the included angle measurement device at the current moment.

First, the implementation background of the embodiments of the present application is briefly described: assuming that the mechanical system is kept not to topple by external force currently and is made to approach to its own equilibrium position as much as possible (if the mechanical system is far away from the own equilibrium position, the inclination angle of the mechanical system is too large and exceeds its own adjusting capability, and the mechanical system will topple instantaneously when the external force is removed), the external force is removed, and then the mechanical system is made to search its own absolute equilibrium position. Therefore, the method provided by the embodiment of the application is performed when the external force is removed.

Alternatively, the current measurement value may be acquired once every preset time. The preset time may be any time set as needed, for example, 1 second, 2 seconds, etc.

When the mechanical system is kept in a non-toppling position by means of external force, the measured value of the included angle measuring device is a fixed value, and when the external force is removed, if the mechanical system is not in a balance position, toppling can occur, so that the measured value can be changed. Therefore, it can be judged that the external force is removed when the measured value is changed.

Optionally, the terminal monitors the measurement value of the included angle measurement device in real time, determines whether the external force of the mechanical system is removed, and when it is determined that the external force is removed, the terminal obtains the current measurement value of the included angle measurement device at the current moment from the included angle measurement device. The terminal starts to acquire the current measurement value when the external force is removed, so that when the external force is removed, if the mechanical system is not in the balance position, the position of the mechanical system can be adjusted as soon as possible to avoid toppling.

Illustratively, referring to fig. 16, when the mechanical apparatus is a balancing motorcycle, the angle measuring device is mounted on the two-wheeled robot and measures an angle between itself and the direction of gravity to sense the direction of gravity of the balancing motorcycle. Then step 301 may be that after a preset time interval, the processor obtains the current measurement value from the angle measurement device to sense the gravity direction of the balancing motorcycle.

Here, the balance motorcycle is taken as an example, and the present embodiment is not limited thereto, and the mechanical device may be a two-wheeled robot, for example.

In addition, fig. 16 is a schematic view, and the installation position of the included angle measuring device is not limited, and the included angle measuring device can also be installed at other positions of the balance motorcycle.

And 302, when the current measured value is determined to be within the normal error range of the preset initial balance value and the output rotation speed of the momentum wheel exists, adjusting the initial balance value based on the rotation speed.

The preset initial balance value is manually set in advance and is a measured value of the included angle measuring device when the mechanical system is assumed to be balanced. For example, the preset initial balance value is 0 degree.

After the current measurement value is obtained, the current measurement value is compared with a preset initial balance value, and whether the current measurement value is within a normal error range of the preset initial balance value or not is judged. The current measurement value is within a normal error range of a preset initial balance value, at least indicates that the current time measurement value is close to the initial balance value and changes around the initial balance value. That is, if the measurement values are acquired a plurality of times, the variation range thereof is within a fixed range which is larger or smaller than the initial equilibrium value.

Illustratively, the preset initial balance value is 0 degree, and the normal error range is 3 degrees, and if the obtained current measurement value is 0 degree-3 degrees, it indicates that the current measurement value is within the normal error range of the preset initial balance value. For example, when the current measurement value is 2 degrees, it indicates that the current measurement value is within the normal error range of the preset initial balance value.

Further, the normal error range may be an empirical value. For example, it may be 3 degrees.

Further, when it is determined that the current measurement value is not within the normal error range of the preset initial balance value, the initial balance value and the current measurement value are subtracted to change the rotation speed output by the momentum wheel, and the process returns to step 301 to obtain a new measurement value.

It should be noted that, when it is determined that the current measurement value is not within the normal error range of the preset initial balance value, it indicates that the current measurement value is not close to the initial balance value, the initial balance value and the current measurement value need to be subtracted, so that the terminal calculates the rotation speed of the momentum wheel according to the difference, and controls the rotation of the momentum wheel according to the calculated rotation speed to change the rotation speed output by the momentum wheel, so that the measurement value of the angle measurement device changes, and thus the current measurement value of the angle measurement device at the current moment is obtained again, and the measurement value at this moment is closer to the initial balance value than the measurement value obtained last time, and it is determined again whether the measurement value is within the normal error range of the preset initial balance value, and the above steps are repeated until the measurement value is within the normal error range of the preset initial balance value.

In addition, because the difference between the measured value and the initial balance value is generally larger when the external force is just removed, the probability that the current measured value is not within the normal error range of the preset initial balance value is also larger. Therefore, whether the measured value is within the normal error range of the preset initial balance value can be judged after the preset time of the external force is removed, in this way, the rotating speed of the momentum wheel is changed only according to the difference value of the measured value and the initial balance value within the preset time, the measured value is made to be close to the initial balance value, the measured value is obtained for multiple times, and when the measured value obtained for multiple times is fixed within a certain range, the current measured value is directly determined to be within the normal error range of the preset initial balance value. Therefore, the repeated execution times of the step of judging whether the measured value is within the normal error range of the preset initial balance value are reduced, and the calibration rate of the balance position of the mechanical system is improved.

Illustratively, 5 measurement values, which are 1 degree, 3 degrees, 1 degree, 0 degree, 1 degree and 3 degrees respectively, are acquired within a preset time, the size of the measurement value is fixed within a range of 0 degree to 3 degrees, and if the initial balance value is 0 degree, it is directly determined that the current measurement value is within a normal error range of the preset initial balance value, and the normal error range is 3 degrees.

Further, when it is determined that the current measurement value is within the normal error range of the preset initial balance value, it indicates that the measurement value is close to the initial balance value, but it cannot be considered that the mechanical system is in the balance position, and therefore it is necessary to determine whether the mechanical system is balanced next.

Further, the momentum wheel does not have an output rotational speed when the mechanical system is in the equilibrium position, and the momentum wheel does have an output rotational speed if the mechanical system is not in the equilibrium position. Thus, alternatively, it may be determined whether the mechanical system is balanced by determining whether there is a rotational speed of the output of the momentum wheel.

Further, an encoder may be mounted on the momentum wheel for measuring the rotational speed of the momentum wheel, and optionally, referring to fig. 7, it may be determined whether there is an output rotational speed of the momentum wheel by:

step 3021, acquiring the rotation speed of the momentum wheel read by the encoder;

step 3022, integrating the rotation speed in a first window time to obtain a first integral value;

step 3023, when the first integral value is not within the preset range, determining that the output rotation speed of the momentum wheel exists; when the first integrated value is within a preset range, it is determined that there is no output rotational speed of the momentum wheel.

Wherein, the first window time is any value set according to actual conditions. For example, set to 5-10 seconds.

When the first integrated value is within a preset range, which indicates that the momentum wheel does not rotate substantially at this time, it is determined that there is no rotational speed of the output of the momentum wheel. Further, the balance position is processed by the mechanical system, and the calibrated initial balance value is the balance value when the mechanical system is absolutely balanced.

When the first integral value is not in the preset range, the momentum wheel is still rotating at the moment, and the output rotating speed of the momentum wheel is determined; further, it is necessary to adjust the initial balance value according to the rotation speed to obtain a new balance value, and step 302 is executed.

The preset range may be a value set according to an actual situation, for example, the preset range is 0.5 circles.

In addition, when the mechanical system is in the absolute equilibrium position, the rotational speed of the momentum wheel is 0, but since the mechanical system cannot be in absolute equilibrium, the rotational speed of the momentum wheel cannot be 0 but can be close to 0. Therefore, a preset range may be set to represent the proximity of the first integrated value to 0. Therefore, in actually making the determination, it is whether the first integrated value is within the preset range, not whether it is 0.

For example, when the preset range is 0.5 revolutions, the first integrated value is 4, and thus the first integrated value is not within the preset range, it is determined that the momentum wheel exists the output rotational speed.

Optionally, integrating the rotation speed over a first window time to obtain a first integrated value, comprising:

step one, sampling the rotation speed in a first window time to obtain a plurality of first sampling values.

Optionally, in the first step, the rotating speed of the momentum wheel is sampled at the same time interval within the first window time, and a plurality of first sample values are obtained.

Illustratively, the first window time is 5 seconds, the same time interval is 30 milliseconds, and the resulting first sample values include 1 cycle, 2 cycles, -1 cycle, -3 cycles, 4 cycles, -1 cycle, 3 cycles, -2 cycles, 4 cycles, -2 cycles, and 1 cycle.

Here, the rotational speed of the momentum wheel also has positive and negative values, and when the rotational speed in one direction is assumed to be positive, the rotational speed in the other direction is assumed to be negative.

In addition, it should be noted that the interval of 30 ms is for convenience of description, the actual interval time is short, and the obtained first sample value is also many.

And step two, calculating the sum of a plurality of first sampling values to obtain a first integral value.

Illustratively, still taking the above example as an example, the sum of the calculated first sampling values is 4 circles, i.e. the first integrated value is 4 circles.

In addition, since the measurement value changes when there is output rotation of the momentum wheel, the changed measurement value can also be used to determine whether there is output rotation of the momentum wheel and thus whether the mechanical system is balanced. The determination of whether there is rotation of the output of the momentum wheel using the measured value may specifically include the following processes, similar to the above-described determination of whether there is rotation of the output using the rotational speed:

firstly, obtaining a measured value measured by an included angle measuring device;

secondly, integrating the rotating speed in a third window time to obtain a third integral value;

thirdly, when the third integral value is not in the preset range, determining that the output rotating speed of the momentum wheel exists; when the third integrated value is within the preset range, it is determined that there is no output rotational speed of the momentum wheel.

Further, when it is determined that the current measurement value is within the normal error range of the preset initial balance value and the momentum wheel has the output rotation speed, it is determined that the mechanical system is not in the balance position, that is, the current initial balance value is not an absolute balance value, and the initial balance value needs to be adjusted to find the absolute balance value.

Alternatively, referring to fig. 8, the initial balance value may be adjusted based on the rotation speed, and the specific steps are as follows:

and step 3024, integrating the rotation speed output by the momentum wheel within a second window time to obtain a second integral value.

Step 3025, calculating a product of the second integrated value and a preset coefficient.

Step 3026, the sum of the product and the initial balance value is calculated, and the sum is defined as the adjusted initial balance value.

The preset coefficient is set by people according to experience. And may be any value set as needed, for example, 0.0001.

Illustratively, still taking the above example as an example, if the calculated second integrated value is 4 turns, the preset coefficient is 0.0001, and the initial equilibrium value is 0 degree, the adjusted initial equilibrium value is 4 × 0.0001+0 — 0.0004, that is, the adjusted initial equilibrium value is 0.0004 degree.

Optionally, integrating the rotational speed output by the momentum wheel within a second window time to obtain a second integrated value, comprising:

step one, sampling the rotation speed in a second window time to obtain a plurality of second sampling values;

and step two, calculating the sum of a plurality of second sampling values to obtain a second integral value.

Optionally, the measured value may be used to adjust the initial balance value, and then adjusting the initial balance value includes the following steps:

in a first step, the changed measured values are integrated over a fourth window time to obtain a fourth integrated value.

And secondly, calculating the product of the fourth integral value and a preset coefficient.

And thirdly, calculating the sum of the product and the initial balance value, and defining the sum as the adjusted initial balance value.

For step 302, still taking the balance motorcycle in step 301 as an example, the momentum wheel is mounted on the balance motorcycle to adjust the tilting direction of the balance motorcycle by the rotation speed of the momentum wheel. Then step 302 may be: it is determined whether the current measured value obtained in step 301 is within a normal error range of the preset initial balance value and there is an output rotation speed of the momentum wheel, if so, it is determined that the mechanical system is in an unbalanced position, i.e., the mechanical system is in a non-stationary state, and the balancing motorcycle is also in a non-stationary state, and the initial balance value is adjusted based on the rotation speed to find a new balanceable value.

Here, the balance motorcycle is taken as an example, and the present embodiment is not limited thereto, and the mechanical device may be a two-wheeled robot, for example.

In addition, fig. 16 is a schematic view, and the installation position of the momentum wheel is not limited, and the momentum wheel can be installed at other positions of the balance motorcycle.

In summary, step 302 actually determines whether the initial balance value can balance the mechanical system, if so, the mechanical system is determined to be balanced, the initial balance value at this time is calibrated to be an absolute balance value, and the subsequent steps are not executed; if not, the initial balance value is adjusted.

And 303, calculating the difference between the adjusted initial balance value and the current measured value to change the rotating speed output by the momentum wheel, and returning to the step of obtaining the current measured value of the included angle measuring device at the current moment to obtain a new measured value.

And 304, calibrating the adjusted initial balance value as the corresponding balance value when the mechanical system is absolutely balanced when the new measured value is determined to be within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state.

When the new measured value is determined to be within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state, the mechanical system is indicated to be in a balance position, and the adjusted initial balance value can be calibrated to be a corresponding balance value when the mechanical system is in absolute balance.

After the absolute balance value of the mechanical system is calibrated, when the mechanical system needs to be balanced again, the calibrated balance value is informed to the processor, so that the processor can adjust the included angle measuring device according to the balance value to enable the measured value of the included angle measuring device to be kept as the calibrated balance value, and the mechanical system is balanced.

Illustratively, still taking the above balanced motorcycle as an example, when it is determined that the new measurement value is within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state, it is determined that the mechanical system is in a balanced position, that is, in the static state, the balanced motorcycle is also in the static state, and then the adjusted initial balance value is calibrated to be the corresponding balance value when the mechanical system is in absolute balance.

Here, the balance motorcycle is taken as an example, and the present embodiment is not limited thereto, and the mechanical device may be a two-wheeled robot, for example.

In summary, the method for calibrating the balance position of the mechanical system provided in the embodiment of the present application determines whether the mechanical system is in the balance position by determining whether the momentum wheel has the output rotation speed, adjusts the initial balance value when the mechanical system is not in the balance position, and determines whether the mechanical system is in the balance position again until the mechanical system is in the balance position, and calibrates the initial balance value at this time to be the absolute balance value of the mechanical system. Compared with the prior art that the measured value of the inertial sensor is directly used as the absolute balance value of the mechanical system and is used for judging whether the mechanical system is in the balance position, the accuracy of the balance position calibration of the mechanical system is improved.

FIG. 9 is a flow chart illustrating a method for calibrating an equilibrium position of a mechanical system according to an embodiment of the present application. The method shown in fig. 9 may be executed by the processor in fig. 4, and as shown in fig. 9, the method includes the following steps:

step 801, obtaining a current measurement value of the included angle measurement device at the current moment;

step 802, when the current measured value is determined to be within the normal error range of the preset initial balance value and the momentum wheel has the output rotating speed, adjusting the initial balance value based on the rotating speed;

step 803, calculating the difference between the adjusted initial balance value and the current measurement value to change the rotation speed output by the momentum wheel, and returning to the step of obtaining the current measurement value of the included angle measurement device at the current moment to obtain a new measurement value;

and step 804, when it is determined that the new measured value is within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state, calibrating the adjusted initial balance value as a corresponding balance value when the mechanical system is in absolute balance.

Optionally, the method further comprises:

when the current measured value is determined to be within the normal error range of the preset initial balance value and the momentum wheel is in the flat static state, the initial balance value is calibrated to be the balance value when the mechanical system is in absolute balance.

Optionally, the mechanical system further comprises an encoder, the encoder being mounted on the momentum wheel, the encoder being configured to measure a rotational speed of the momentum wheel, the rotational speed at which the momentum wheel has an output comprising:

acquiring the rotating speed of the momentum wheel read by the encoder;

integrating the rotating speed in a first window time to obtain a first integral value;

when the first integrated value is not within the preset range, it is determined that the momentum wheel has the output rotation speed.

Optionally, adjusting the initial balance value comprises the steps of:

integrating the rotating speed output by the momentum wheel within a second window time to obtain a second integral value;

calculating the product of the second integral value and a preset coefficient;

the sum of the product and the initial balance value is calculated, and the sum is defined as the adjusted initial balance value.

Optionally, integrating the rotation speed over a first window time to obtain a first integrated value, comprising:

sampling the rotation speed in a first window time to obtain a plurality of first sampling values;

calculating the sum of a plurality of first sampling values to obtain a first integral value;

or, integrating the rotational speed output by the momentum wheel in a second window time to obtain a second integral value, comprising:

sampling the rotation speed in a second window time to obtain a plurality of second sampling values;

and calculating the sum of a plurality of second sampling values to obtain a second integral value.

Optionally, when it is determined that the current measurement value is not within the normal error range of the preset initial balance value, the initial balance value and the current measurement value are subtracted to change the rotation speed output by the momentum wheel, and the step of obtaining the current measurement value of the included angle measurement device at the current moment is returned to obtain a new measurement value.

In addition, please refer to the previous method embodiment and fig. 5-7 for related contents in this embodiment, which are not described herein again.

In summary, the method for calibrating the balance position of the mechanical system provided in the embodiment of the present application determines whether the mechanical system is in the balance position by determining whether the momentum wheel has the output rotation speed, adjusts the initial balance value when the mechanical system is not in the balance position, and determines whether the mechanical system is in the balance position again until the mechanical system is in the balance position, and calibrates the initial balance value at this time to be the absolute balance value of the mechanical system. Compared with the prior art that the measured value of the inertial sensor is directly used as the absolute balance value of the mechanical system and is used for judging whether the mechanical system is in the balance position, the accuracy of the balance position calibration of the mechanical system is improved.

The embodiments in this specification are described in a progressive manner, and similar parts between the various embodiments are referred to each other. The examples below each step focus on the specific method below that step. The above-described embodiments are merely illustrative, and the specific examples are only illustrative of the present application, and those skilled in the art can make several improvements and modifications without departing from the principle described in the examples of the present application, and these improvements should be construed as the scope of the present application.

FIG. 10 is a block diagram illustrating an apparatus for calibrating a balance position of a mechanical system according to an embodiment of the present application. The apparatus may be provided in the terminal 101 shown in fig. 1, as shown in fig. 10, the apparatus including:

an obtaining module 901, configured to obtain a current measurement value of the angle measurement apparatus at a current moment;

an adjusting module 902, configured to adjust an initial balance value based on a rotation speed when it is determined that a current measurement value is within a normal error range of a preset initial balance value and the momentum wheel has an output rotation speed;

a difference calculating module 903, configured to calculate a difference between the adjusted initial balance value and a current measured value, so as to change a rotation speed output by the momentum wheel, and return to the step of obtaining the current measured value of the included angle measuring apparatus at the current moment to obtain a new measured value;

a first calibration module 904, configured to calibrate the adjusted initial balance value as a corresponding balance value when the mechanical system is absolutely balanced when it is determined that the new measurement value is within a normal error range of the adjusted initial balance value and the momentum wheel is in a static state.

Optionally, referring to fig. 11, the apparatus further includes a second calibration module 905 configured to calibrate the initial balance value to be the balance value of the mechanical system in absolute balance when it is determined that the current measurement value is within the normal error range of the preset initial balance value and the momentum wheel is in a flat static state.

Optionally, the mechanical system further comprises an encoder mounted on the momentum wheel, the encoder being configured to measure a rotational speed of the momentum wheel, and the adjusting module 902 is further configured to:

acquiring the rotating speed of the momentum wheel read by the encoder;

integrating the rotating speed in a first window time to obtain a first integral value;

when the first integrated value is not within the preset range, it is determined that the momentum wheel has the output rotation speed.

Optionally, the adjusting module 902 is further configured to:

integrating the rotating speed output by the momentum wheel within a second window time to obtain a second integral value;

calculating the product of the second integral value and a preset coefficient;

the sum of the product and the initial balance value is calculated, and the sum is defined as the adjusted initial balance value.

Optionally, integrating the rotation speed over a first window time to obtain a first integrated value, comprising:

sampling the rotation speed in a first window time to obtain a plurality of first sampling values;

calculating the sum of a plurality of first sampling values to obtain a first integral value;

or, integrating the rotational speed output by the momentum wheel in a second window time to obtain a second integral value, comprising:

sampling the rotation speed in a second window time to obtain a plurality of second sampling values;

and calculating the sum of a plurality of second sampling values to obtain a second integral value.

Optionally, referring to fig. 12, the apparatus further includes a difference returning module 906, configured to, when it is determined that the current measured value is not within the normal error range of the preset initial balance value, perform a difference between the initial balance value and the current measured value to change the rotation speed output by the momentum wheel, and return to the step of obtaining the current measured value of the angle measuring apparatus at the current moment to obtain a new measured value.

In addition, please refer to the method embodiment for related contents in the device embodiment, which are not described herein again.

In summary, the device for calibrating the balance position of the mechanical system provided by the embodiment of the present application determines whether the mechanical system is in the balance position by determining whether the momentum wheel has the output rotation speed, adjusts the initial balance value when the momentum wheel is not in the balance position, and determines whether the mechanical system is in the balance position again until the mechanical system is in balance, and calibrates the initial balance value at this time to be the absolute balance value of the mechanical system. Compared with the prior art that the measured value of the inertial sensor is directly used as the absolute balance value of the mechanical system and is used for judging whether the mechanical system is in the balance position, the accuracy of the balance position calibration of the mechanical system is improved.

FIG. 13 is a block diagram illustrating an apparatus for calibrating a balance position of a mechanical system according to an embodiment of the present application. The apparatus may be provided in a processor of the machine system of fig. 4, as shown in fig. 13, the apparatus comprising:

an obtaining module 1201, configured to obtain a current measurement value of the angle measurement apparatus at a current moment;

an adjusting module 1202, configured to adjust the initial balance value based on a rotation speed when it is determined that the current measurement value is within a normal error range of a preset initial balance value and the momentum wheel has an output rotation speed;

a difference module 1203, configured to perform a difference between the adjusted initial balance value and the current measured value to change a rotation speed output by the momentum wheel, and return to the step of obtaining the current measured value of the included angle measuring apparatus at the current moment to obtain a new measured value;

a first calibration module 1204, configured to calibrate the adjusted initial balance value to a corresponding balance value when the mechanical system is absolutely balanced when it is determined that the new measurement value is within a normal error range of the adjusted initial balance value and the momentum wheel is in a static state.

Optionally, referring to fig. 14, the apparatus further includes a second calibration module 1205 for calibrating the initial balance value as the balance value of the mechanical system in absolute balance when it is determined that the current measurement value is within the normal error range of the preset initial balance value and the momentum wheel is in the flat static state.

Optionally, the mechanical system further comprises an encoder mounted on the momentum wheel, the encoder being configured to measure a rotational speed of the momentum wheel, and the adjusting module 902 is further configured to:

acquiring the rotating speed of the momentum wheel read by the encoder;

integrating the rotating speed in a first window time to obtain a first integral value;

when the first integrated value is not within the preset range, it is determined that the momentum wheel has the output rotation speed.

Optionally, the adjusting module 1202 is further configured to:

integrating the rotating speed output by the momentum wheel within a second window time to obtain a second integral value;

calculating the product of the second integral value and a preset coefficient;

the sum of the product and the initial balance value is calculated, and the sum is defined as the adjusted initial balance value.

Optionally, integrating the rotation speed over a first window time to obtain a first integrated value, comprising:

sampling the rotation speed in a first window time to obtain a plurality of first sampling values;

calculating the sum of a plurality of first sampling values to obtain a first integral value;

or, integrating the rotational speed output by the momentum wheel in a second window time to obtain a second integral value, comprising:

sampling the rotation speed in a second window time to obtain a plurality of second sampling values;

and calculating the sum of a plurality of second sampling values to obtain a second integral value.

Optionally, referring to fig. 15, the apparatus further includes a difference returning module 1206, configured to, when it is determined that the current measured value is not within the normal error range of the preset initial balance value, perform a difference between the initial balance value and the current measured value to change the rotation speed output by the momentum wheel, and return to the step of obtaining the current measured value of the angle measuring apparatus at the current moment to obtain a new measured value.

In addition, please refer to the method embodiment for related contents in the device embodiment, which are not described herein again.

In summary, the device for calibrating the balance position of the mechanical system provided by the embodiment of the present application determines whether the mechanical system is in the balance position by determining whether the momentum wheel has the output rotation speed, adjusts the initial balance value when the momentum wheel is not in the balance position, and determines whether the mechanical system is in the balance position again until the mechanical system is in balance, and calibrates the initial balance value at this time to be the absolute balance value of the mechanical system. Compared with the prior art that the measured value of the inertial sensor is directly used as the absolute balance value of the mechanical system and is used for judging whether the mechanical system is in the balance position, the accuracy of the balance position calibration of the mechanical system is improved.

Fig. 17 is a schematic structural diagram of a computer system 1500 according to an embodiment of the present application, which includes a Central Processing Unit (CPU)1501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)1502 or a program loaded from a storage portion into a Random Access Memory (RAM) 1503. In the RAM1503, various programs and data necessary for system operation are also stored. The CPU1501, the ROM1502, and the RAM1503 are connected to each other by a bus 1504. An input/output (I/O) interface 1505 is also connected to bus 1504.

The following components are connected to the I/O interface 1505: an input portion 1506 including a keyboard, a mouse, and the like; an output section including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 1508 including a hard disk and the like; and a communication section 1509 including a network interface card such as a LAN card, a modem, or the like. The communication section 1509 performs communication processing via a network such as the internet. The drives are also connected to the I/O interface 1505 as needed. A removable medium 1511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1510 as necessary, so that a computer program read out therefrom is mounted into the storage section 1508 as necessary.

In particular, the processes described by the flowcharts according to the embodiments of the present application may be implemented as computer software programs. For example, method embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section, and/or installed from a removable medium. The above-described functions defined in the system of the present application are executed when the computer program is executed by the Central Processing Unit (CPU) 1501.

It should be noted that the computer readable medium shown in the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves. The described units or modules may also be provided in a processor, and may be described as: a processor comprises an acquisition module, an adjustment module, a difference module and a first calibration module. Wherein the designation of a unit or module does not in some way constitute a limitation of the unit or module itself.

As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to implement the method for calibrating the equilibrium position of a mechanical system as described in the above embodiments.

For example, the electronic device may implement the following as shown in fig. 5: step 301, obtaining a current measurement value of the included angle measurement device at the current moment; step 302, when the current measured value is determined to be within the normal error range of the preset initial balance value and the momentum wheel has the output rotating speed, adjusting the initial balance value based on the rotating speed; step 303, calculating a difference between the adjusted initial balance value and the current measurement value to change the rotation speed output by the momentum wheel, and returning to the step of obtaining the current measurement value of the included angle measurement device at the current moment to obtain a new measurement value; and 304, calibrating the adjusted initial balance value as the corresponding balance value when the mechanical system is absolutely balanced when the new measured value is determined to be within the normal error range of the adjusted initial balance value and the momentum wheel is in a static state. As another example, the electronic device may implement the various steps shown in fig. 5 and 9.

It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

Moreover, although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware.

In summary, embodiments of the present application provide a computer system or a computer-readable medium for calibrating a balance position of a mechanical system. Judging whether the mechanical system is in a balance position or not by judging whether the momentum wheel has the output rotating speed or not, adjusting an initial balance value when the mechanical system is not in the balance position, judging whether the mechanical system is in the balance position again, and calibrating the initial balance value at the moment as an absolute balance value of the mechanical system until the mechanical system is in balance. Compared with the prior art that the measured value of the inertial sensor is directly used as the absolute balance value of the mechanical system and is used for judging whether the mechanical system is in the balance position, the accuracy of the balance position calibration of the mechanical system is improved.

The foregoing is considered as illustrative only of the preferred embodiments of the invention and illustrative only of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the application referred to in the present application is not limited to the embodiments with a particular combination of the above-mentioned features, but also encompasses other embodiments with any combination of the above-mentioned features or their equivalents without departing from the scope of the application. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.