CN114378816A - Equipment motion track deviation rectifying method, control device and storage medium - Google Patents

Abstract

The present disclosure provides a deviation rectifying method, a control device and a storage medium for equipment motion trail, wherein the method comprises the following steps: collecting equipment motion trail data; determining whether the collected equipment motion trail data are within a preset compliance range or not, and recording the number of the motion trail data within the compliance range as a first number; calculating a compensation value candidate under the condition that the equipment motion track data is determined to be out of the compliance range in the diagnosis step; compensating all the collected motion track data by using the compensation value candidate items to obtain virtual deviation rectifying track data, determining whether each virtual deviation rectifying track data is within a preset compliance range, and recording the number of the virtual deviation rectifying track data within the compliance range as a second number; comparing whether the second number is greater than the first number; and under the condition that the second number is larger than the first number, setting the compensation value candidate as a compensation value to perform deviation rectification compensation on the equipment.

Description

Deviation correction method, control device and storage medium for equipment motion trajectory

technical field

The embodiments of the present disclosure relate to the fields of computer technology, control technology, algorithm technology, and communication and network technology, and more particularly, to a deviation correction method, a control device, and a storage medium for a movement trajectory of equipment.

Background technique

In the prior art, the movement trajectory of the equipment is manually corrected and compensated, that is, the running trajectory data of the equipment is derived, manually analyzed on the computer, the trajectory deviation is manually calculated, and then the deviation compensation value is set on the equipment. There are the following problems in the prior art: 1. Every time the equipment is manually corrected and compensated, the equipment needs to be shut down and production is stopped, which affects the production capacity; 2. The manual correction and compensation often cannot accurately calculate the running trajectory of the equipment, resulting in frequent corrections and equipment operation. The trajectory jumps, which affects the stability of the equipment; 3. Manual deviation correction is time-consuming and laborious, and it often takes a long time to analyze the running trend of the equipment, calculate the correction compensation value, and then configure the equipment. The long-term analysis leads to the long-term deviation of the equipment. operation, affecting the improvement of product yield.

Due to the long-term mechanical movement of the equipment, there are slight deviations in the running track of the equipment due to mechanical wear, untimely maintenance, unstable electrical signals, and unstable air pressure. These slight deviations are generated by the cooperation between mechanical structural parts. The inertia makes the deviation larger and larger, and it needs to be adjusted manually to return to the normal motion trajectory in time. When the equipment is relatively new, the number of occurrences is relatively small, and the manual correction and compensation can also make the equipment return to the normal motion trajectory, and the production quality is relatively guaranteed. With the aging of the equipment, the movement trajectory of the equipment is also frequently skewed. At this time, the manual deviation correction seems to be unresponsive and unstable, which makes it difficult to maintain the previous level of production quality.

SUMMARY OF THE INVENTION

An object of the present disclosure is to provide a new technical solution for rectifying the movement trajectory of equipment.

According to a first aspect of the embodiments of the present disclosure, there is provided a deviation correction method for a movement trajectory of equipment, including:

The data collection step is to collect the equipment movement trajectory data;

The diagnosis step is to determine whether the collected equipment motion track data is within the preset compliance range, and record the number of motion track data within the compliance range as the first number;

The first calculation step, when it is determined in the diagnosis step that the equipment motion trajectory data is outside the compliance range, calculate a compensation value candidate;

The first virtual deviation correction step is to use the compensation value candidates to compensate all the collected motion trajectory data, obtain virtual deviation correction trajectory data, and determine whether each of the virtual deviation correction trajectory data is within the preset compliance range. within the scope of compliance, record the number of virtual deviation correction trajectory data within the scope of compliance as the second number;

a first comparing step, comparing whether the second quantity is greater than the first quantity;

In the first control step, when the second quantity is greater than the first quantity, the compensation value candidate is set as a compensation value to perform deviation correction compensation for the equipment.

Optionally, when the second number is not greater than the first number, the first control step is not performed.

Optionally, when the first control step is not performed, the method further includes:

In the second calculation step, when it is determined in the diagnosing step that the equipment motion trajectory data is outside the compliance range, the compensation value candidates are calculated for all previous motion trajectory data outside the compliance range, and the result is obtained A collection of compensation value candidates;

The second virtual deviation correction step is to use each compensation value candidate in the set of compensation value candidates to compensate all motion trajectory data to obtain a second number of sets;

a second comparison step, selecting a maximum value from the set of the second number, and comparing the maximum value with the first number;

In the second control step, in the case that the maximum value is greater than the first number, the compensation value candidate corresponding to the maximum value is set as the compensation value to correct the deviation of the equipment, and when the maximum value is not greater than the maximum value In the case of the above-mentioned first number, no deviation correction compensation is performed.

Optionally, after each deviation correction and compensation, the collected equipment motion trajectory data is cleared.

Optionally, the collected equipment movement track data is the coordinates of the end position of the equipment movement at the time of collection.

Optionally, the compensation value candidate is the vertical distance from the end position of the movement of the equipment outside the compliance range to the boundary of the compliance range.

Optionally, an early warning range is set, and the early warning range is within the compliance range, and the diagnosis step further includes an early warning diagnosis step. In the early warning diagnosis step, it is determined whether the collected equipment motion trajectory data is within Within the set early warning range, record the number of motion trajectory data within the early warning range as the third quantity;

When it is determined in the early warning diagnosis step that the equipment motion trajectory data is within the compliance range and outside the early warning range, perform the following steps:

The first early warning calculation step is to calculate early warning compensation value candidates;

The first early warning virtual deviation correction step is to use the early warning compensation value candidates to compensate all motion trajectory data collected within the compliance range, obtain early warning virtual deviation correction trajectory data, and determine whether each of the early warning virtual deviation correction trajectory data is. Within the early warning range, record the quantity of the early warning virtual deviation correction trajectory data within the early warning range as the fourth quantity;

a first warning comparison step, comparing whether the fourth quantity is greater than the third quantity;

In the first early warning control step, when the fourth quantity is greater than the third quantity, the early warning compensation value candidate is set as the compensation value to correct the deviation of the equipment, when the fourth quantity is not greater than the third quantity. In the case of the third number mentioned above, no deviation correction compensation is performed.

Optionally, when the fourth number is not greater than the third number and no deviation correction compensation is performed, the method further includes:

In the second early warning calculation step, when it is determined in the early warning diagnosis step that the equipment motion trajectory data is within the compliance range and outside the early warning range, Calculate the early warning compensation value candidates for all the previous motion trajectory data, and obtain a set of early warning compensation value candidates;

The second early-warning virtual deviation correction step is to use each early-warning compensation value candidate in the set of early-warning compensation value candidates to compensate all motion trajectory data within the compliance range, and obtain a fourth number of sets;

In the second early warning comparison step, the maximum value is selected from the set of the fourth quantity, and the maximum value is compared with the third quantity;

In the second early warning control step, in the case that the maximum value is greater than the third number, the early warning compensation value candidate corresponding to the maximum value is set as the compensation value to correct the deviation of the equipment, and when the maximum value is not When the number is greater than the third number, no deviation correction compensation is performed.

According to a second aspect of the present disclosure, there is provided a control device for equipment, comprising:

The data acquisition module is used to collect the equipment movement trajectory data;

a diagnosis module, configured to determine whether the collected equipment motion trajectory data is within a preset compliance range, and record the number of motion trajectory data within the compliance range as the first number;

A calculation module, when the diagnosis module determines that the equipment motion trajectory data is outside the compliance range, calculates a compensation value candidate;

A virtual deviation correction module, used for compensating all the collected motion trajectory data with the compensation value candidates, obtaining virtual deviation correction trajectory data, and determining whether each of the virtual deviation correction trajectory data is within the preset compliance range within the scope of compliance, record the number of virtual deviation correction trajectory data within the scope of compliance as the second number;

a comparison module, configured to compare whether the second quantity is greater than the first quantity;

The control module is configured to set the compensation value candidate as a compensation value to perform deviation correction compensation for equipment when the second quantity is greater than the first quantity.

According to a third aspect of the present disclosure, there is provided a readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method as described in the first aspect above.

The beneficial effects of the embodiments of the present disclosure are: 1. Reduce the cost of manual deviation correction: the deviation correction method of the present disclosure can perform intelligent prediction, intelligent diagnosis, and intelligent decision-making according to the movement trajectory of the equipment, and the entire process of intelligent control does not require human participation. 2. Improve production efficiency: The entire process of the deviation correction method of the present disclosure can be completed in real time without shutting down production, thereby improving production efficiency. 3. To improve the product yield, the deviation correction method of the present disclosure performs real-time deviation correction and compensation according to the movement trajectory of the equipment, so that the movement trajectory of the equipment is always in a relatively stable state, and the occurrence of defective products is reduced.

Other features and advantages of the present specification will become apparent from the following detailed description of exemplary embodiments of the present specification with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

FIG. 1 is a schematic structural diagram of a control device that can be used to implement an embodiment of the present disclosure.

FIG. 2 shows a schematic diagram of the deviation correction method of the equipment motion trajectory of the present disclosure.

FIG. 3 shows a flowchart of the deviation correction method according to the first embodiment of the present disclosure.

Fig. 4 shows the supplementary steps of the deviation correction method according to the first embodiment in the case that the equipment movement trajectory is outside the compliance range and deviation correction is not performed.

FIG. 5 shows a region diagram of an equipment motion trajectory according to Embodiment 1 of the present disclosure.

FIG. 6 shows a flowchart of the deviation correction method according to the second embodiment of the present disclosure.

Fig. 7 shows the supplementary steps of the deviation correction method according to the second embodiment in the case that the equipment movement trajectory is outside the warning range and no deviation correction is performed.

FIG. 8 shows a region diagram of an equipment motion trajectory according to Embodiment 2 of the present disclosure.

FIG. 9 shows a deviation correction effect diagram of Embodiment 2 of the present disclosure.

FIG. 10 is a block diagram of functional modules of a control apparatus according to one embodiment.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses in any way.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification.

In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other instances of the exemplary embodiment may have different values.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

<Hardware configuration>

FIG. 1 is a schematic structural diagram of a control device that can be used to implement an embodiment of the present disclosure.

The control device 1000 may be a smart phone, a portable computer, a desktop computer, a tablet computer, a head-mounted device, etc., which is not limited herein.

The control apparatus 1000 may include, but is not limited to, a processor 1100, a memory 1200, an interface unit 1300, a communication unit 1400, a display unit 1500, an input unit 1600, a speaker 1700, a microphone 1800, and the like. The processor 1100 may be a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor MCU, or the like, and is used to execute a computer program. The computer program may be written using an instruction set of an architecture such as x86, Arm, RISC, MIPS, and SSE. . The memory 1200 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a nonvolatile memory such as a hard disk, and the like. The interface unit 1300 includes, for example, a USB interface, a serial interface, a parallel interface, and the like. The communication unit 1400 can, for example, use optical fibers or cables to perform wired communication, or perform wireless communication, which may specifically include WiFi communication, Bluetooth communication, 2G/3G/4G/5G communication, and the like. The display unit 1500 is, for example, a liquid crystal display screen, a touch display screen, or the like. The input unit 1600 may include, for example, a touch screen, a keyboard, a somatosensory input, and the like. The speaker 1700 is used to output audio signals. Microphone 1800 is used to collect audio signals.

Applied to the embodiment of the present disclosure, the memory 1200 of the control apparatus 1000 is used to store a computer program, and the computer program is used to control the processor 1100 to operate to implement the method according to the embodiment of the present disclosure. A skilled person can design the computer program according to the scheme disclosed in the present disclosure. How the computer program controls the processor to operate is well known in the art, so it will not be described in detail here. The control device 1000 may be installed with an intelligent operating system (such as Windows, Linux, Android, IOS, etc.) and application software.

Those skilled in the art should understand that although a plurality of units of the control apparatus 1000 are shown in FIG. 1 , the control apparatus 1000 in this embodiment of the present disclosure may only involve some of the units, for example, only the processor 1100 and the memory. 1200 and so on.

Hereinafter, various embodiments and examples according to the present invention will be described with reference to the accompanying drawings.

FIG. 2 shows a schematic diagram of the deviation correction method of the equipment motion trajectory of the present disclosure. This embodiment can be implemented by the control apparatus of the hardware configuration shown in FIG. 1 . The equipment described in the present disclosure includes, but is not limited to, all equipment whose movement is controlled by an electric cylinder or an air cylinder. In the embodiments of the present disclosure, a manipulator for clamping a workpiece is taken as an example for description.

When using a manipulator to clamp a workpiece, it is expected that the manipulator moves to the target position and then stops for subsequent operations on the workpiece. In an ideal state, the stop position (end position) of the manipulator is the target position. However, in practice, there is a certain deviation between the end position and the target position. When the deviation exceeds a reasonable range, it will cause problems in the processing of the workpiece and produce defective products. Therefore, it is necessary to correct the movement trajectory of the manipulator. The principle of deviation correction of the present disclosure will be summarized by taking a manipulator as an example in conjunction with FIG. 2 . In the following, the coordinate of the end point of the manipulator is a specific example of equipment motion trajectory data.

As shown in FIG. 2 , the principle of deviation correction according to this embodiment includes steps S201 to S206.

First, the coordinates of the end point of the robot are collected (S201). Then, in S202, it is diagnosed whether the collected coordinates of the end point are within the preset compliance range, and the number of end point coordinates within the compliance range is recorded as the first number. The compliance range is a pre-set range based on actual production needs. The coordinates of the end point within the compliance range are compliance coordinates, and no correction operation is required. If it is a compliant coordinate, continue to collect the end point coordinates of the manipulator.

When it is determined in S202 that the coordinates of the end point are outside the compliance range, that is, in the case of non-compliant coordinates, step S203 is entered, and compensation value candidates are calculated in S203, that is, the boundary from the non-compliant coordinates to the compliance range vertical distance (overrun distance).

Then, in S204, virtual deviation correction is performed on all the collected end point coordinates with the compensation value candidates calculated in S203, that is, all end point coordinates are translated by an over-limit distance. The number of coordinates that fall within the compliance range after translation is then recorded as the second number.

Next, in S205, it is compared whether the second number is greater than the first number, that is, whether the number of compliant coordinates after translation is greater than the number of compliant coordinates before translation is compared. Use this to judge whether the candidate compensation value is a reasonable correction value. If a large number of compliance coordinates are outside the compliance range after virtual correction, it means that the candidate compensation value is unreasonable and not suitable for correction.

If the second number is greater than the first number, it means that the number of compliant coordinates after translation is greater than the number before translation, then it is reasonable and effective to perform deviation correction compensation for the manipulator, then go to step S206, and in S206, the compensation value candidate is Set as the compensation value to correct the deviation of the equipment.

<Method Embodiment 1>

The deviation correction principle of the present disclosure has been described above with reference to FIG. 2 , and each step of the present disclosure will be described in detail below by taking a manipulator as an example. FIG. 3 shows a flowchart of the deviation correction method of Embodiment 1 of the present disclosure.

In S301, the compliance range of the end position of the robot is set. First, a coordinate system is established with the target position as the origin. When the manipulator moves in a straight line in only one direction (X direction), the deviation between the end position and the target position is only one dimension. The compliance range is, for example, [x2,x1] The indicated interval on the X-axis, when the end point coordinate x satisfies x2≤x≤x1, the end point is within the compliance range (not shown).

When the manipulator moves linearly in the front-rear direction (X direction) and left-right direction (Y direction) successively, or in the case of curved motion, deviations may occur in both the X direction and the Y direction. In this case, an XY coordinate system is established with the target position as the origin, and the compliance range is, for example, the area enclosed by the boundary T under the coordinate system (as shown in FIG. 5 ). After the compliance range is set, go to step S302.

In S302, the coordinates of the end point position of the manipulator are collected. Then, in S303, it is confirmed whether the collected coordinates are within the compliance range set in step S301. If the coordinates of the end point of the robot are within the compliance range, it belongs to the compliance coordinates, and if it is outside the compliance range, it belongs to the non-compliant coordinates. If it is confirmed in S303 that the collected coordinates are compliant coordinates, then go to step S304.

In S304, the number of compliant coordinates is recorded as the first number, and then returns to S302 to continue the coordinate collection step and the diagnosis step of S303.

If it is confirmed in S303 that the collected coordinates are non-compliant coordinates, step S305 is entered. In S305, the compensation value candidates are calculated. The candidate compensation value is the vertical distance from the non-compliant coordinate to the boundary T of the compliance range. For example, in a one-dimensional case, the coordinates of the end point satisfy x2≤x≤x1 to be the compliant coordinates, and when x>x1, the compensation value candidate is "x-x1" (not shown). In the two-dimensional case, the coordinates of the end point (x, y) satisfy x2≤x≤x1 and y2≤y≤y1 are compliant coordinates. As shown in Figure 5, there are three cases of non-compliant coordinates: X-axis overrun, Y-axis overrun, and XY-axis overrun. There are also three corresponding situations for the subsequent compensation value. When the end position is A1 (X-axis overrun), the compensation value candidate is "x-x1"; when the end position is A2 (Y-axis overrun), the compensation value candidate is "y2-y"; When the position is A3 (both the XY axes are overrun), the compensation value candidates include the X-axis component "x-x1" and the Y-axis component "y-y2". After the compensation value candidates are calculated in S305, the process proceeds to step S306.

In S306, virtual deviation correction is performed on all the collected end point coordinates using the compensation value candidates calculated in S305. The specific method is to make all points translate the same distance in the same direction, the same direction is the opposite direction of the overrun direction, and the same distance is the compensation value candidate. For example, in Figure 5, if the coordinate of the end point is point A1, and its overrun direction is the positive direction of the X-axis, the translation direction of all points during virtual deviation correction is the negative direction of the X-axis. If the coordinate of the end point is point A3, when virtual correction is performed, all points need to be translated by the X-axis component "x-x1" in the negative direction of the X-axis, and the Y-axis component "y-y2" in the positive direction of the Y-axis.

After all the collected end point coordinates are translated in the aforementioned manner, in S307, it is determined whether each translated end point coordinate is within the compliance range, and the number of the shifted end point coordinates within the compliance range is recorded as the second quantity. Then go to step S308.

In S308, it is determined whether the second number is greater than the first number. If the second number is greater than the first number, it means that there are more compliant coordinates after virtual correction, and the correction is effective and reasonable. Therefore, in S309, the offset correction is performed using the compensation value candidate as the compensation value. After the deviation correction is performed in S309, in S310, the collected coordinates of the end point are cleared. That is to say, after each deviation correction, the data is cleared, and step S302 and subsequent steps are performed cyclically.

If the judgment result in S308 is that the second quantity is not greater than the first quantity, it means that the non-compliant coordinates cannot effectively reflect the skew trend, and it is unreasonable to perform skew correction with this compensation value candidate. Return to S302 to continue coordinate collection.

From the previous description, it can be seen that there are cases where irregular coordinates occur and no deviation correction compensation is performed. In this case, no data is cleared, and the process returns to S302 to continue the coordinate acquisition in step S302 and the subsequent steps. Since the non-compliant coordinates have occurred before, the deviation correction compensation has not been performed. Therefore, in S305, the compensation value candidate The term is no longer a term but becomes a set of compensation value candidates for all non-compliant coordinates from the current time to the last correction time. Therefore, it is necessary to replace the steps of steps S305 to S308 with the steps of S405 to S408. Fig. 4 shows the supplementary steps of the deviation correction method according to the first embodiment in the case that the equipment movement trajectory is outside the compliance range and deviation correction is not performed. A specific description will be given below.

If it is determined in S303 that the coordinates of the end point are not within the compliance range, and there are non-compliant coordinates before, and the deviation correction compensation has not been performed, step S405 is entered. In S405, a set Di ( _i =1, 2...N) of compensation value candidates is calculated for all previous non-compliant coordinates. Since the coordinate data is cleared after the correction compensation, all the previously non-compliant coordinates mentioned here refer to all the non-compliant coordinates within the time period from the current moment to the last time the correction was performed. Then go to step S406.

In step S406, with each value in the set D _i (i=1, 2...N), virtual deviation correction is performed on all coordinates in the time period from the current moment to the time when the deviation correction was last executed according to the method described in S306. Since the number of compliant coordinates (the second number) is calculated after virtual deviation correction is performed for each value in D _i , a set of the second number is generated in step S407. Then go to step S407'.

In S407', the largest value in the second number of sets is selected. Then in S408, the selected maximum value is compared with the first number. If the maximum value is greater than the first number, it means that the virtual deviation correction is effective and reasonable. Then step S309 is entered, and the deviation correction value candidate corresponding to the maximum value is selected. Item is used as the deviation correction compensation value to perform deviation correction. If the maximum value is not greater than the first number, the step returns to S302 to continue coordinate collection.

According to the method described in the first embodiment, the calculation and deviation correction compensation can be performed in real time during the operation of the equipment, so that the movement trajectory of the equipment is always in a relatively stable state, and the occurrence of defective products is reduced.

<Method Example 2>

In the aforementioned first embodiment, the compliance range is the threshold value of the coordinate of the end point of the robot. It is also possible to set an early warning range within the scope of compliance. Once the coordinates of the end point exceed the early warning range, the virtual correction for early warning can be performed, and a better correction control effect can be obtained. FIG. 8 shows a region diagram of an equipment motion trajectory according to Embodiment 2 of the present disclosure. As shown in Figure 8, the area enclosed by the warning boundary P is the warning area, and the warning area is within the compliance range.

FIG. 6 shows a flowchart of the deviation correction method according to the second embodiment of the present disclosure. The following is still taking the robot as an example for detailed description. The same steps as those in the first embodiment are denoted by the same reference numerals, and detailed descriptions thereof are omitted.

In step S601, the compliance scope and the warning scope are set, and the compliance scope covers the warning scope. In the example of FIG. 8, the warning scope and the compliance scope have the same center of gravity, but this embodiment is not limited to this, as long as the warning scope is within the compliance scope. within the range. Then, the coordinate acquisition step in step S302 and the diagnosis step in S303 are performed. If it is determined in S303 that the collected coordinates of the end point are outside the compliance range, the process proceeds to step S305, and the steps from S305 to S310 are the same as those in the first embodiment, and will not be repeated.

If it is determined in S303 that the collected coordinates of the end point are within the compliance range, go to step S604. In S604, it is determined whether the collected coordinates of the end point are within the warning range. In the case of being within the warning range, go to step S605, in S605, record the number of coordinates of the end point within the warning range as the third number, and then go to step S302 to continue coordinate collection.

If it is determined in S604 that the collected coordinates of the end point are outside the warning range, go to step S606. Coordinates within the compliance range and outside the warning range are referred to as "super-warning coordinates" in this disclosure. In S606, an early warning compensation value candidate is calculated according to the super early warning coordinates. Similar to the calculation method of the compensation value candidate in the first embodiment, the early warning compensation value candidate is the distance from the super early warning coordinate to the boundary P of the early warning range. Then, it proceeds to step S607.

In S607, an early warning virtual deviation correction is performed according to the early warning compensation value candidates calculated in step S606. In the two-dimensional coordinate system, similar to the over-limit coordinates, the over-warning coordinates have three situations: over-warning on the X-axis, over-warning on the Y-axis, and over-warning on both the XY-axis. The processing method is the same as that for the over-limit coordinates. Repeat. The method of pre-warning virtual deviation correction is similar to that in step S306, so that all end-point coordinates within the compliance range are shifted by the same distance in the same direction, which is the opposite direction of the super-warning direction. For example, if the end-point coordinates are in the X-axis If the positive direction exceeds the early warning range, the super early warning direction is the positive direction of the X axis, and the translation direction is the negative direction toward the X axis. The same distance of translation is the early warning compensation value candidate.

After all the coordinates within the compliance range are shifted in the aforementioned manner, in S608, it is determined whether each shifted end coordinate is within the warning range, and the number of the shifted end coordinates within the warning range is recorded as the fourth quantity. Then proceed to step S609.

In S609, it is determined whether the fourth number is greater than the third number. If the fourth number is greater than the third number, go to step S309. After the deviation correction is performed in S309, in S310, the collected coordinates of the end point are cleared. That is to say, after each deviation correction, step S302 and subsequent steps are performed cyclically.

If it is determined in S609 that the fourth quantity is not greater than the third quantity, return to S302 to continue coordinate collection.

It can be seen from the foregoing description that there is a situation in which the over-warning coordinate occurs and the deviation correction compensation is not performed. In this case, without clearing any data, it still returns to S302, and continues to perform the coordinate collection in step S302 and the subsequent steps. Since the over-warning coordinates have occurred before and the deviation correction compensation has not been performed, in S606, the candidate for the warning compensation value is selected. The item is no longer an item, but becomes a set of early warning compensation value candidates for all super early warning coordinates from the current time to the last correction time. Therefore, it is necessary to replace the steps of steps S606 to S609 with the steps of S706 to S709. Fig. 7 shows the supplementary steps of the deviation correction method according to the second embodiment in the case that the equipment movement trajectory is within the compliance range and outside the early warning range and the deviation correction is not performed. A specific description will be given below.

In the case where it is determined in S604 that the coordinates of the end point are not within the warning range, and there are over-warning coordinates before and the deviation correction compensation has not been performed, step S706 is entered. In S706, a set of compensation value candidates D' _i (i=1, 2...N) is calculated for all previous super-warning coordinates. Since the coordinate data is cleared after the correction and compensation, all the previous super-warning coordinates mentioned here refer to all the super-warning coordinates in the time period from the current moment to the last time the correction was performed. Then go to step S707.

In step S707, with each value in the set D' _i (i=1, 2...N), all coordinates within the compliance range within the time period from the current moment to the last time the deviation correction was performed are as shown in S607 The method described above is used for early warning virtual correction. Since the number of coordinates (the fourth number) within the warning range is calculated after virtual deviation correction is performed for each value in D' _i , a set of fourth numbers is generated in step S708. Then go to step S708'.

In S708', the largest value in the fourth number of sets is selected. Then in S709, the selected maximum value is compared with the third quantity, if the maximum value is greater than the third quantity, then go to step S309, and the early warning deviation correction value candidate corresponding to the maximum value is used as the deviation correction compensation value to perform deviation correction, if If the maximum value is not greater than the third number, the step returns to S302 to continue coordinate collection.

FIG. 9 shows a deviation correction effect diagram of Embodiment 2 of the present disclosure. Since the warning value is set within the threshold in the second embodiment, the skew trend can be found earlier, and the skew correction can be performed in time. It can be seen from FIG. 9 that, by applying the deviation correction method of the second embodiment of the present disclosure, a very good deviation correction effect can be obtained.

FIG. 10 is a block diagram of functional modules of a control apparatus according to one embodiment.

<Apparatus Example>

FIG. 10 is a schematic diagram of functional modules of a control apparatus 1000 according to an embodiment of the present disclosure.

As shown in FIG. 10 , the control device 1000 includes a data acquisition module, a diagnosis module, a calculation module, a virtual deviation correction module, a comparison module and a control module.

The data collection module is used to collect the equipment movement track data. The diagnosis module is used to determine whether the collected equipment motion track data is within a preset compliance range, and record the number of motion track data within the compliance range as the first number. A calculation module, configured to calculate a compensation value candidate when the diagnosis module determines that the equipment motion trajectory data is outside the compliance range. The virtual deviation correction module is used to compensate all the collected motion trajectory data with the compensation value candidates, obtain virtual deviation correction trajectory data, and determine whether each of the virtual deviation correction trajectory data is within the preset compliance range , record the number of virtual deviation correction track data within the compliance range as the second number. The comparison module is used for comparing whether the second quantity is greater than the first quantity. The control module is configured to set the compensation value candidate as a compensation value to perform deviation correction compensation for the equipment when the second quantity is greater than the first quantity.

Those skilled in the art should understand that the control device 1000 may be implemented in various ways. For example, the control apparatus 1000 may be implemented by configuring a processor with instructions. For example, the control apparatus 1000 may be implemented by storing the instructions in ROM and reading the instructions from the ROM into the programmable device when the device is started up. For example, the control apparatus 1000 may be built into a dedicated device (eg, an ASIC). The control device 1000 may be divided into mutually independent units, or they may be implemented by combining them together. The control apparatus 1000 may be implemented by one of the above various implementation manners, or may be implemented by a combination of two or more of the above various implementation manners.

In this embodiment, the control device 1000 may have various implementation forms. For example, the control device 1000 may be any software product or functional module running in an application program that provides control services, or an external software product or application program. It can be embedded parts, plug-ins, patches, etc., and it can also be these software products or application programs themselves.

<Computer-readable storage medium embodiment>

This embodiment provides a computer-readable storage medium, where an executable command is stored in the storage medium, and when the executable command is executed by a processor, the method described in any method embodiment of this specification is executed.

An embodiment or embodiments of this specification may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this specification.

A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

The computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

The computer program instructions for carrying out the operations of the embodiments of this specification may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or programmed in one or more Source or object code written in any combination of languages, including object-oriented programming languages - such as Smalltalk, C++, etc., and conventional procedural programming languages - such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through the Internet connect). In some embodiments, custom electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), can be personalized by utilizing state information of computer readable program instructions. Computer readable program instructions are executed to implement various aspects of this specification.

Aspects of the specification are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

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 specification. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executables for implementing the specified logical function(s) instruction. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks 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 is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation in hardware, implementation in software, and implementation in a combination of software and hardware are all equivalent.

Various embodiments of this specification have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the application is defined by the appended claims.

Claims (10)

1. A deviation rectifying method for a motion trail of equipment is characterized by comprising the following steps:

a data acquisition step, wherein the motion trail data of the equipment is acquired;

a diagnosis step of determining whether the acquired equipment motion trail data is within a preset compliance range, and recording the number of the motion trail data within the compliance range as a first number;

a first calculation step of calculating a compensation value candidate in a case where it is determined in the diagnosis step that the equipment motion trajectory data is outside the compliance range;

a first virtual deviation rectifying step, compensating all the collected motion track data by the compensation value candidate items to obtain virtual deviation rectifying track data, determining whether each virtual deviation rectifying track data is in the preset compliance range, and recording the number of the virtual deviation rectifying track data in the compliance range as a second number;

a first comparison step of comparing whether the second number is greater than the first number;

and a first control step of setting the compensation value candidates as compensation values to perform rectification compensation on the equipment under the condition that the second number is greater than the first number.

2. The method according to claim 1, characterized in that in the case where the second number is not greater than the first number, the first control step is not executed.

3. The method of claim 2, wherein when the first controlling step is not performed, the method further comprises:

a second calculation step of calculating compensation value candidates for all previous motion trajectory data outside the compliance range to obtain a set of compensation value candidates in the case where it is determined in the diagnosis step that the equipment motion trajectory data is outside the compliance range;

a second virtual deviation rectifying step, wherein each compensation value candidate item in the set of compensation value candidate items is used for compensating all motion trail data to obtain a set of a second quantity;

a second comparison step of selecting a maximum value among the set of the second number, and comparing the maximum value with the first number;

and a second control step of setting the compensation value candidate corresponding to the maximum value as a compensation value to perform the deviation rectifying compensation on the equipment under the condition that the maximum value is greater than the first number, and not performing the deviation rectifying compensation under the condition that the maximum value is not greater than the first number.

4. The method of claim 1, wherein the collected equipment motion trajectory data is cleared after each deskew compensation.

5. The method of claim 1, wherein the collected rig motion trajectory data is an end position coordinate of rig motion at a time of collection.

6. The method of claim 5, wherein the compensation value candidate is a vertical distance from an end position of the equipment motion outside the compliance range to a boundary of the compliance range.

7. The method according to claim 1, wherein an early warning range is set, the early warning range is within the compliance limit, the diagnosing step further comprises an early warning diagnosing step, in the early warning diagnosing step, whether the collected equipment motion trail data is within the set early warning range is determined, and the number of the motion trail data within the early warning range is recorded as a third number;

when the equipment motion trajectory data is determined to be within the close regulation range and outside the early warning range in the early warning diagnosis step, executing the following steps:

a first early warning calculation step, calculating early warning compensation value candidate items;

a first early warning virtual deviation rectifying step, compensating all motion track data in the collected compliance range by using the early warning compensation value candidate items to obtain early warning virtual deviation rectifying track data, determining whether each early warning virtual deviation rectifying track data is in the early warning range, and recording the number of the early warning virtual deviation rectifying track data in the early warning range as a fourth number;

a first early warning comparison step of comparing whether the fourth quantity is greater than the third quantity;

and a first early warning control step, wherein the early warning compensation value candidate item is set as a compensation value to perform deviation correction compensation on the equipment when the fourth quantity is greater than the third quantity, and the deviation correction compensation is not performed when the fourth quantity is not greater than the third quantity.

8. The method of claim 7, wherein when the fourth number is not greater than the third number without performing deskew compensation, the method further comprises:

a second early warning calculation step of calculating early warning compensation value candidates for all previous motion trajectory data within the closed standard and outside the early warning range to obtain a set of early warning compensation value candidates when it is determined in the early warning diagnosis step that the equipment motion trajectory data is within the closed standard and outside the early warning range;

a second early warning virtual deviation rectifying step, wherein each early warning compensation value candidate item in the set of early warning compensation value candidate items is used for compensating all motion track data in the closed standard range to obtain a set of a fourth quantity;

a second early warning comparison step, selecting a maximum value from the set of the fourth quantity, and comparing the maximum value with the third quantity;

and a second early warning control step, wherein under the condition that the maximum value is larger than the third number, the early warning compensation value candidate item corresponding to the maximum value is set as a compensation value to perform deviation correction compensation on the equipment, and under the condition that the maximum value is not larger than the third number, the deviation correction compensation is not performed.

9. A control device of an apparatus, characterized in that the control device comprises:

the data acquisition module is used for acquiring the motion trail data of the equipment;

the diagnosis module is used for determining whether the collected equipment motion trail data is within a preset compliance range or not and recording the number of the motion trail data within the compliance range as a first number;

the calculation module is used for calculating a compensation value candidate under the condition that the diagnosis module determines that the equipment motion trail data is out of the compliance range;

the virtual deviation rectifying module is used for compensating all the collected motion track data by the compensation value candidate items to obtain virtual deviation rectifying track data, determining whether each piece of virtual deviation rectifying track data is in the preset compliance range, and recording the number of the virtual deviation rectifying track data in the compliance range as a second number;

a comparison module for comparing whether the second number is greater than the first number;

and the control module is used for setting the compensation value candidate items as compensation values to perform deviation rectification compensation on the equipment under the condition that the second quantity is greater than the first quantity.

10. A readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the method of any one of claims 1 to 8.

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