Three-dimensional angle sensor calibration detection system and method

Abstract

The present invention discloses a three-dimensional angle sensor calibration and detection system and method, and the system includes an angle test turntable, a data acquisition device and a host computer. The angle test turntable is used to install multiple three-dimensional angle sensors and control the three-dimensional angle sensors to rotate in three dimensions; the data acquisition device is used to collect data output by multiple three-dimensional angle sensors installed on the angle test turntable; the host computer is used to receive the data collected by the data acquisition device, calibrate and detect the three-dimensional angle sensor, and control the rotation state of the angle test turntable. The three-dimensional angle sensor calibration and detection system in the present invention can realize the two processes of three-dimensional calibration and detection without changing the axial installation position, and can calibrate and detect multiple three-dimensional angle sensors at the same time, thereby improving product consistency, reducing costs, and improving calibration and detection efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor calibration, and in particular to a three-dimensional angle sensor calibration detection system and method. Background Art

[0002] The three-dimensional angle sensor is mainly used to measure the flip and pitch angles of the object being measured. When in use, the sensor is fixed to the surface of the object being measured. When the object being measured tilts, its tilt angle can be read through the sensor.

[0003] Three-dimensional angle sensors need to be calibrated and tested before leaving the factory. Calibration is the process of calibrating the sensor using a standard instrument with a higher accuracy than the sensor. After calibration, the calibrated sensor needs to be tested. Generally, the equipment used to calibrate and test three-dimensional angle sensors has fewer stations, and can only calibrate and test one or a few sensors at a time. In addition, the calibration and testing process requires a lot of manual intervention. For example, changing the axial installation position of the sensor, changing the testing process, and other links all require manual operation, resulting in complex and inefficient operation of the existing angle sensor calibration and testing process. Therefore, it is necessary to provide a convenient and efficient calibration and testing system and corresponding methods. Summary of the invention

[0004] The embodiments of the present invention provide a three-dimensional angle sensor calibration and detection system and method, which are used to solve the problems of complex operation and low efficiency of angle sensor calibration and detection processes in the prior art.

[0005] On the one hand, an embodiment of the present invention provides a three-dimensional angle sensor calibration detection system, including:

[0006] Angle test turntable, used to install multiple 3D angle sensors and control the 3D angle sensors to perform 3D rotation;

[0007] A data acquisition device, used to collect data output by multiple three-dimensional angle sensors installed on the angle test turntable;

[0008] The host computer is used to receive the data collected by the data acquisition device, calibrate and detect the three-dimensional angle sensor, and control the rotation state of the angle test turntable.

[0009] On the other hand, an embodiment of the present invention further provides a three-dimensional angle sensor calibration detection method, comprising:

[0010] Install the three-dimensional angle sensor in the above three-dimensional angle sensor calibration and detection system and enter the calibration process;

[0011] During the calibration process, power on the 3D angle sensor;

[0012] Acquiring a calibration determination signal of at least one axis;

[0013] When the calibration determination signal of at least one axis is within a preset calibration parameter range, calibrating the angle threshold set for the corresponding switch signal;

[0014] After the calibration of one axis is completed, determining whether there is a calibration completion confirmation signal of multiple channels;

[0015] If there is a multi-channel calibration completion confirmation signal, the detection process will be entered;

[0016] In the detection process, a detection confirmation signal of at least one axis is obtained;

[0017] When the detection determination signal of at least one axis is within the preset detection parameter range, the angle threshold set for the corresponding switch signal is detected;

[0018] After the detection of one axis is completed, determining whether there is a detection completion determination signal of multiple channels;

[0019] If there are detection completion confirmation signals of multiple channels, the detection process ends.

[0020] The three-dimensional angle sensor calibration detection system and method of the present invention have the following advantages:

[0021] 1. The three-dimensional angle sensor calibration and detection system of the present invention can realize the two processes of three-dimensional calibration and detection without changing the axial installation position, and the present invention also provides a convenient and efficient calibration and detection method.

[0022] 2. The three-dimensional angle sensor calibration and detection system of the present invention can calibrate and detect multiple three-dimensional angle sensors at the same time, thereby improving product consistency, reducing costs, and improving calibration and detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the structure of a three-dimensional angle sensor calibration and detection system provided by an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of a calibration process in a three-dimensional angle sensor calibration detection method provided by an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the detection process in the three-dimensional angle sensor calibration detection method provided in an embodiment of the present invention.

[0027] Description of the accompanying figures: 1-host computer, 2-data acquisition device, 3-signal line, 4-angle test turntable. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Figure 1 A schematic diagram of the structure of a three-dimensional angle sensor calibration and detection system provided by an embodiment of the present invention. An embodiment of the present invention provides a three-dimensional angle sensor calibration and detection system, including:

[0030] Angle test turntable 4, used for installing multiple three-dimensional angle sensors and controlling the three-dimensional angle sensors to perform three-dimensional rotation;

[0031] The data acquisition device 2 is used to collect data output by multiple three-dimensional angle sensors installed on the angle test turntable 4;

[0032] The host computer 1 is used to receive the data collected by the data acquisition device 2, calibrate and test the three-dimensional angle sensor, and control the rotation state of the angle test turntable 4.

[0033] Exemplarily, the data acquisition device 2 has a multi-channel data acquisition function, which supports the acquisition of analog and digital signals. The analog signal can acquire 0-30mA current signals and 0-5V voltage signals, and the acquired digital signal can be transmitted to the host computer 1 through RS232, RS485 and UART (Universal Asynchronous Receiver / Transmitter) interfaces.

[0034] In a possible embodiment, it further includes: a signal line 3 for communication connection between the angle test turntable 4 and the host computer 1 , and for communication connection between the data acquisition device 2 and the host computer 1 .

[0035] In a possible embodiment, the angle testing turntable 4 includes: a driving device, which is communicatively connected to the host computer 1; a rotating mounting platform, which has multiple mounting stations, and the mounting stations are used to install three-dimensional angle sensors. The rotating mounting platform performs three-dimensional rotation under the drive of the driving device.

[0036] Exemplarily, the driving device may include a mounting frame and a driving motor, the mounting frame includes a plurality of U-shaped brackets, the plurality of U-shaped brackets are connected to rotate in sequence from the outside to the inside, the driving motor is arranged at the connection of the brackets, the driving motor may be a stepper motor, the stepper motor works under the control of the host computer to rotate the driving device. The rotating mounting platform is arranged on the innermost bracket, and a plurality of mounting stations are arranged thereon. When the three-dimensional angle sensor is mounted on the rotating mounting platform, the data acquisition device 2 can obtain the data output by the three-dimensional angle sensor. In an embodiment of the present invention, the number of mounting stations is 16, which are evenly arranged on the rotating mounting platform in the form of 4 rows and 4 columns, so the three-dimensional angle sensor calibration and detection system of the present invention can calibrate and detect up to 16 three-dimensional angle sensors at a time.

[0037] The embodiment of the present invention also provides a three-dimensional angle sensor calibration detection method, such as Figure 2-3 As shown, the method includes:

[0038] S200, installing the three-dimensional angle sensor in the three-dimensional angle sensor calibration and detection system, and entering the calibration process;

[0039] S210, in the calibration process, powering on the three-dimensional angle sensor;

[0040] S220, obtaining a calibration determination signal of at least one axis;

[0041] S230, when the calibration determination signal of at least one axis is within a preset calibration parameter range, calibrating the angle threshold set for the corresponding switch signal;

[0042] S240, after the calibration of one axis is completed, determining whether there is a calibration completion confirmation signal of multiple channels;

[0043] S250: If there is a multi-channel calibration completion confirmation signal, enter the detection process;

[0044] S300, in the detection process, obtaining a detection confirmation signal of at least one axis;

[0045] S310, when the detection determination signal of at least one axis is within a preset detection parameter range, detecting the angle threshold set for the corresponding switch signal;

[0046] S320, after the detection of one axis is completed, determining whether there is a detection completion confirmation signal of multiple channels;

[0047] S330: If there is a detection completion confirmation signal of multiple channels, the detection process ends.

[0048] For example, before powering on the three-dimensional angle sensor in S210, calibration parameters need to be determined. Specifically, the operator can input the calibration parameters in the host computer, and the calibration parameters include: the number of calibration points in each axis, the calibration angle range, and the calibration frequency.

[0049] S220 specifically includes:

[0050] S221. Determine the directions and calibration parameters of the X-axis, Y-axis and Z-axis; S222. Determine whether there is a channel that needs to be calibrated within a predetermined time after the three-dimensional angle sensor is powered on; S223. If there is a channel that needs to be calibrated, determine the calibration channel where the three-dimensional angle sensor is located; S224. After determining the calibration channel, determine whether to obtain a calibration determination signal for at least one axis.

[0051] In S221, the operator can manually select the directions of the X-axis, Y-axis, and Z-axis. In S222, generally, there are as many channels that need to be calibrated as there are three-dimensional angle sensors installed in the three-dimensional angle sensor calibration detection system, and each three-dimensional angle sensor occupies one channel. If there is no channel that needs to be calibrated, the detection process is entered. In S224, if there is no calibration confirmation signal in any axis, the detection process is also entered.

[0052] S230 specifically includes:

[0053] S231. Determine whether the calibration determination signal of at least one axis is within the preset calibration parameter range; S232. If the calibration determination signal of at least one axis is within the preset calibration parameter range, determine the calibration data according to the axial priority, and calibrate the angle threshold set for the corresponding switch signal; S233. If the calibration determination signal of at least one axis is not within the preset calibration parameter range, correct the calibration parameters; S234. Obtain the calibration determination signal of at least one axis based on the corrected calibration parameters; S235. Use the sensor segmented calibration method to perform unidirectional calibration on the three-dimensional angle sensor according to the axial priority.

[0054] In S233, when the calibration determination signal of at least one axis is not within the preset calibration parameter range, the host computer will issue a corresponding prompt, and the operator can modify the calibration parameters according to the prompt to make the calibration determination signal of at least one axis within the calibration parameter range. In S235, the priorities of the axes are X-axis, Y-axis and Z-axis from high to low.

[0055] S240 specifically includes:

[0056] S241, determine whether the calibration of one axis is completed; S242, if the calibration of one axis is completed, determine whether there is a multi-channel calibration completion confirmation signal; S243, if there is no multi-channel calibration completion confirmation signal, calibrate the next axis.

[0057] In S242, if there is a multi-channel calibration completion confirmation signal, it means that all three-dimensional angle sensors in the three-dimensional angle sensor calibration and detection system have completed the calibration of the current axis and can enter the detection process. If the calibration of one axis has not been completed, it is necessary to return to S224 to complete the calibration of the current axis. In S243, it is necessary to return to S222 to complete the calibration of other axes and channels.

[0058] In the detection process, S300 specifically includes:

[0059] S301. Determine the directions and detection parameters of the X-axis, Y-axis and Z-axis; S302. Determine whether there is a channel that needs to be detected within a predetermined time after entering the detection process; S303. If there is a channel that needs to be detected, determine the detection channel where the three-dimensional angle sensor is located; S304. After determining the detection channel, determine whether to obtain a detection determination signal for at least one axis.

[0060] In S301, the directions of the X-axis, Y-axis and Z-axis can be manually selected by the operator, and the operator can input the above-mentioned detection parameters in the upper computer. The detection parameters include: the number of detection points in each axis, the detection angle range and the detection frequency. In S302, generally, there are as many channels that need to be detected as there are three-dimensional angle sensors installed in the three-dimensional angle sensor calibration detection system, and each three-dimensional angle sensor occupies one channel. If there is no channel that needs to be detected, it is determined whether there is a detection completion confirmation signal. If so, the detection process ends, and if not, the calibration process is returned. In S304, if there is no detection confirmation signal in any axis, it is determined whether there is a detection completion confirmation signal. If so, the detection process ends, and if not, the calibration process is returned.

[0061] S310 specifically includes:

[0062] S311. Determine whether the detection determination signal of at least one axis is within the preset detection parameter range; S312. If the detection determination signal of at least one axis is within the preset detection parameter range, determine the detection data according to the axial priority, and detect the angle threshold set for the corresponding switch signal; S313. If the detection determination signal of at least one axis is not within the preset detection parameter range, correct the detection parameters; S314. Obtain the detection determination signal of at least one axis based on the corrected detection parameters; S315. Perform unidirectional detection on the three-dimensional angle sensor according to the axial priority.

[0063] In S313, when the detection determination signal of at least one axis is not within the preset detection parameter range, the host computer will issue a corresponding prompt, and the operator can modify the detection parameter according to the prompt to make the detection determination signal of at least one axis within the detection parameter range. In S315, the priority of the axial direction from high to low is X axis, Y axis and Z axis.

[0064] S320 specifically includes:

[0065] S321, determine whether the detection of one axis is completed; S322, if the detection of one axis is completed, determine whether there is a multi-channel detection completion confirmation signal; S323, if there is no multi-channel detection completion confirmation signal, perform the detection of the next axis.

[0066] In S322, if there is a multi-channel detection completion confirmation signal, it indicates that all three-dimensional angle sensors in the three-dimensional angle sensor calibration detection system have completed the detection of the current axis and the detection process is ended. If the detection of one axis has not been completed, it is necessary to return to S304 to complete the detection of the current axis. In S323, it is necessary to return to S302 to complete the detection of other axes and channels.

[0067] Experimental Description

[0068] The effect comparison experiment of the method of the present invention and the calibration and detection method of a single product. The calibration and detection method of the present invention and the calibration and detection method of a single product were used for calibration and detection, and the calibration detection time and zero point detection results were collected respectively, as shown in the following table:

[0069] Table 1 Comparison of single-channel and multi-channel calibration detection time

[0070] Calibration and testing methods Calibration time / min Detection time / min 16 completion times Single 30 30 16h Multi-channel 35 35 1h10min

[0071] Table 2 Comparison of single-channel and multi-channel zero-point detection results

[0072]

[0073]

[0074]

[0075] It can be seen from the comparative experiment that the three-dimensional angle sensor calibration and detection system proposed in the present invention can realize the two processes of three-dimensional calibration and detection without changing the axial installation position, providing a convenient and efficient calibration and detection method. The completion time of multiple detections is drastically reduced, which saves much time than calibrating and detecting each one one by one.

[0076] Moreover, the experimental data also reflect that the three-dimensional angle sensor calibration and detection system in the present invention can calibrate and detect multiple three-dimensional angle sensors at the same time, thereby improving product consistency, reducing costs, and improving calibration and detection efficiency. It can be seen from the experimental data that the zero-point detection result of the present invention has a 40% reduction in comparison error.

[0077] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0078] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A three-dimensional angle sensor calibration and detection system, characterized in that: include: An angle test turntable (4), used for installing a plurality of three-dimensional angle sensors and controlling the three-dimensional angle sensors to perform three-dimensional rotation; A data acquisition device (2) for acquiring data output by a plurality of three-dimensional angle sensors installed on the angle test turntable (4); A host computer (1) is used to receive data collected by the data collection device (2), calibrate and test the three-dimensional angle sensor, and control the rotation state of the angle test turntable (4); The three-dimensional angle sensor calibration and detection system performs calibration and detection on the three-dimensional angle sensor according to the following steps: Installing the three-dimensional angle sensor in the three-dimensional angle sensor calibration and detection system and entering the calibration process; During the calibration process, power on the 3D angle sensor; Acquiring a calibration determination signal of at least one axis; When the calibration determination signal of at least one axis is within a preset calibration parameter range, calibrating the angle threshold set for the corresponding switch signal; After the calibration of one axis is completed, determining whether there is a calibration completion confirmation signal of multiple channels; If there is a multi-channel calibration completion confirmation signal, the detection process will be entered; In the detection process, a detection confirmation signal of at least one axis is obtained; When the detection determination signal of at least one axis is within the preset detection parameter range, the angle threshold set for the corresponding switch signal is detected; After the detection of one axis is completed, determining whether there is a detection completion determination signal of multiple channels; If there is a detection completion confirmation signal of multiple channels, the detection process ends; When the calibration determination signal of at least one axis is within a preset calibration parameter range, the angle threshold set for the corresponding switch signal is calibrated, including: Determine whether the calibration determination signal of at least one axis is within a preset calibration parameter range, wherein the calibration parameters include: the number of calibration points, the calibration angle range and the calibration frequency of each axis; if the calibration determination signal of at least one axis is within the preset calibration parameter range, determine the calibration data according to the priority of the axis, and calibrate the angle threshold set for the corresponding switch signal; if the calibration determination signal of at least one axis is not within the preset calibration parameter range, correct the calibration parameter; obtain the calibration determination signal of at least one axis based on the corrected calibration parameter; adopt the sensor segmented calibration method to perform unidirectional calibration on the three-dimensional angle sensor according to the priority of the axis; When the detection determination signal of at least one axis is within the preset detection parameter range, the angle threshold set for the corresponding switch signal is detected, including: Determine whether the detection determination signal of at least one axis is within a preset detection parameter range, wherein the detection parameters include: the number of detection points, the detection angle range and the detection frequency of each axial direction; if the detection determination signal of at least one axis is within the preset detection parameter range, determine the detection data according to the priority of the axial direction, and detect the angle threshold set for the corresponding switch signal; if the detection determination signal of at least one axis is not within the preset detection parameter range, correct the detection parameters; obtain the detection determination signal of at least one axis based on the corrected detection parameters; and perform unidirectional detection on the three-dimensional angle sensor according to the priority of the axial direction.

2. The three-dimensional angle sensor calibration and detection system according to claim 1, characterized in that: Also includes: The signal line (3) is used for communication connection between the angle test turntable (4) and the host computer (1), and is used for communication connection between the data acquisition device (2) and the host computer (1).

3. The three-dimensional angle sensor calibration and detection system according to claim 1, characterized in that: The angle test turntable (4) comprises: A drive device, communicatively connected to the host computer (1); The rotating installation platform has a plurality of installation stations, wherein the installation stations are used to install three-dimensional angle sensors. The rotating installation platform performs three-dimensional rotation under the drive of the driving device.

4. A three-dimensional angle sensor calibration and detection method, characterized in that: include: Installing the three-dimensional angle sensor in the three-dimensional angle sensor calibration and detection system according to any one of claims 1 to 3, and entering the calibration process; During the calibration process, power on the 3D angle sensor; Acquiring a calibration determination signal of at least one axis; When the calibration determination signal of at least one axis is within a preset calibration parameter range, calibrating the angle threshold set for the corresponding switch signal; After the calibration of one axis is completed, determining whether there is a calibration completion confirmation signal of multiple channels; If there is a multi-channel calibration completion confirmation signal, the detection process will be entered; In the detection process, a detection confirmation signal of at least one axis is obtained; When the detection determination signal of at least one axis is within the preset detection parameter range, the angle threshold set for the corresponding switch signal is detected; After the detection of one axis is completed, determining whether there is a detection completion determination signal of multiple channels; If there are detection completion confirmation signals of multiple channels, the detection process ends.

5. The three-dimensional angle sensor calibration and detection method according to claim 4, characterized in that: The obtaining of a calibration determination signal of at least one axis comprises: Determining the directions of the X-axis, Y-axis and Z-axis and the calibration parameters; Within a predetermined time after the three-dimensional angle sensor is powered on, determining whether there is a channel that needs to be calibrated; If there is a channel that needs to be calibrated, determine the calibration channel where the 3D angle sensor is located; After determining the calibration channel, it is determined whether to obtain a calibration determination signal of at least one axis.

6. The three-dimensional angle sensor calibration and detection method according to claim 4, characterized in that: When the calibration determination signal of at least one axis is within a preset calibration parameter range, calibrating the angle threshold set for the corresponding switch signal includes: determining whether a calibration determination signal of at least one axis is within a preset calibration parameter range; If the calibration determination signal of at least one axis is within the preset calibration parameter range, the calibration data is determined according to the priority of the axial direction, and the angle threshold set for the corresponding switch signal is calibrated; If the calibration determination signal of at least one axis is not within a preset calibration parameter range, correcting the calibration parameters; Acquire a calibration determination signal for at least one axis based on the corrected calibration parameters; The sensor segmented calibration method is adopted to perform single-direction calibration on the three-dimensional angle sensor according to the axial priority.

7. The three-dimensional angle sensor calibration and detection method according to claim 4, characterized in that: After the calibration of one axis is completed, before determining whether there is a calibration completion determination signal of multiple channels, the method further includes: Determine whether the calibration of one axis is complete; If the calibration of one axis has been completed, determining whether there is a calibration completion determination signal of multiple channels; If the calibration of one axis is not completed, proceed to the calibration of the next axis.

8. The three-dimensional angle sensor calibration and detection method according to claim 4, characterized in that: In the detection process, obtaining a detection determination signal of at least one axis includes: Determine the directions of the X-axis, Y-axis and Z-axis and the detection parameters; Determine whether there is a channel that needs to be inspected within a predetermined time after entering the inspection process; If there is a channel that needs to be detected, determine the detection channel where the three-dimensional angle sensor is located; After determining the detection channel, it is determined whether to obtain a detection determination signal of at least one axis.

9. The three-dimensional angle sensor calibration and detection method according to claim 4, characterized in that: When the detection determination signal of at least one axis is within a preset detection parameter range, detecting the angle threshold set for the corresponding switch signal includes: Determining whether a detection determination signal of at least one axis is within a preset detection parameter range; If the detection determination signal of at least one axis is within the preset detection parameter range, the detection data is determined according to the priority of the axial direction, and the angle threshold set for the corresponding switch signal is detected; If the detection determination signal of at least one axis is not within the preset detection parameter range, correct the detection parameter; Acquire a detection determination signal of at least one axis based on the corrected detection parameters; The three-dimensional angle sensor is tested in one direction according to the priority of the axial direction.

10. The three-dimensional angle sensor calibration and detection method according to claim 4, characterized in that: After the detection of one axis is completed, before determining whether there is a detection completion determination signal of multiple channels, the method further includes: Determine whether the detection of one axis is completed; If the detection of one axis has been completed, determining whether there is a detection completion determination signal of multiple channels; If the detection of one axis is not completed, the detection of the next axis will be carried out.

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