Method for commissioning calibration of an inclination sensor

Abstract

The application provides a debugging and calibration method of an inclination sensor, which can acquire a debugging configuration file corresponding to a to-be-calibrated inclination sensor according to identification information, and parse and acquire debugging parameters and debugging step information, then control the to-be-calibrated inclination sensor to enter a debugging mode according to the information, control a turntable to rotate to a first angle, send a debugging and calibration instruction corresponding to the first angle to the to-be-calibrated inclination sensor, calibrate an axis zero point and accuracy of the to-be-calibrated inclination sensor, control the to-be-calibrated inclination sensor to enter a working mode, control the turntable to rotate to a second angle, acquire output angle data of the to-be-calibrated inclination sensor corresponding to the second angle, perform accuracy verification according to the second angle and the output angle data, and determine the accuracy of the to-be-calibrated inclination sensor, so that the inclination sensor of various models can be debugged and calibrated in an automatic manner without manual participation, and the debugging and calibration efficiency of the inclination sensor is improved.

Description

Technical Field

[0001] This invention relates to the field of tilt sensor technology, and in particular to a method for debugging and calibrating a tilt sensor. Background Technology

[0002] Currently, a crucial step in the production of tilt sensors is calibration and adjustment. Only tilt sensors that have undergone calibration and adjustment can be shipped as qualified products. The calibration and adjustment process involves using a turntable that can rotate vertically. The sensor is placed on the turntable, and the turntable is rotated to different angles to obtain the output angle of the tilt sensor for calibration.

[0003] The existing debugging and calibration process for tilt sensors requires a significant amount of manual intervention. For example, production debugging personnel control the rotation angle of the turntable using turntable control software and then send corresponding debugging and calibration commands to the tilt sensor via communication software. On the other hand, debugging and calibrating tilt sensors using different communication interfaces and protocols requires frequent replacement of corresponding cables and debugging fixtures, resulting in low debugging and calibration efficiency. Furthermore, the rapid updates and iterations of tilt sensors necessitate the synchronous updates of the corresponding debugging and calibration software, leading to high software maintenance requirements.

[0004] Therefore, a universal, automated solution is needed to debug and calibrate various types of tilt sensors in order to improve the debugging and calibration efficiency and accuracy of tilt sensors. Summary of the Invention

[0005] One objective of this application is to provide a method for debugging and calibrating an inclinometer, in order to solve the problems of low debugging and calibration efficiency that require manual intervention in the debugging and calibration process of inclinometers under the prior art.

[0006] To achieve the above objectives, some embodiments of this application provide a method for debugging and calibrating a tilt sensor, the method comprising:

[0007] Obtain the identification information of the tilt sensor to be calibrated, which is set on the turntable;

[0008] Based on the identification information, obtain the debugging configuration file corresponding to the tilt sensor to be calibrated;

[0009] The debugging configuration file is parsed to obtain the debugging parameters and debugging steps required for calibrating the tilt sensor to be calibrated.

[0010] Based on the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the debugging mode, and the turntable is controlled to rotate to the first angle. The debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the axis zero point and accuracy of the tilt sensor to be calibrated.

[0011] Based on the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the working mode, and the turntable is controlled to rotate to the second angle. The output angle data of the tilt sensor to be calibrated and the second angle are obtained. The accuracy is checked based on the second angle and the output angle data to determine the accuracy of the tilt sensor to be calibrated.

[0012] Furthermore, the identification information of the tilt sensor to be calibrated, mounted on the turntable, is obtained, including:

[0013] Based on the preset QR code corresponding to the tilt sensor to be calibrated, obtain the identification information of the tilt sensor to be calibrated set on the turntable.

[0014] Furthermore, after parsing the debugging configuration file to obtain the debugging parameters and steps required for calibrating the tilt sensor to be calibrated, the process also includes:

[0015] Based on the debugging parameters and debugging steps, determine the communication method for communicating with the tilt sensor to be calibrated, and convert the format of the data sent or received by the tilt sensor to be calibrated according to the communication method.

[0016] Furthermore, based on the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the debugging mode, including:

[0017] Based on the debugging parameters and debugging steps, a command to enter debugging mode is sent to the tilt sensor to be calibrated, so that the tilt sensor to be calibrated enters debugging mode according to the command.

[0018] Furthermore, based on the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the working mode, including:

[0019] According to the debugging parameters and debugging steps, the tilt sensor to be calibrated is powered off, and after a preset waiting time, the tilt sensor to be calibrated is powered on again so that the tilt sensor to be calibrated enters the working mode.

[0020] Further, the turntable is controlled to rotate to a first angle, and a calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the axis zero point of the tilt sensor, including:

[0021] The control turntable is reset, zero degrees is taken as the first angle, the debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated. The tilt sensor to be calibrated is a single-axis sensor.

[0022] After the control reset, the turntable rotates to the preset first axis zero point calibration angle, takes the current rotation angle of the turntable as the first angle, sends the debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receives the corresponding response status command from the tilt sensor to be calibrated.

[0023] The turntable is continuously rotated according to the zero-point calibration angle of the first axis. The current rotation angle of the turntable is taken as the new first angle. The debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated, until the turntable completes one rotation.

[0024] Further, the turntable is controlled to rotate to a first angle, and a calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the axis zero point of the tilt sensor, including:

[0025] The control turntable is rotated to the first angle, and an X-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated. The X-axis zero point of the tilt sensor to be calibrated is calibrated. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable at the position for debugging the X-axis.

[0026] The control turntable is rotated to the first angle, and a Y-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated. The Y-axis zero point of the tilt sensor to be calibrated is calibrated. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable at the position for debugging the Y-axis.

[0027] Further, the turntable is controlled to rotate to a first angle, and an X-axis adjustment and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the X-axis zero point of the tilt sensor, including:

[0028] The control turntable is reset, zero degrees is taken as the first angle, the X-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated.

[0029] After the control reset, the turntable rotates to the preset second axis zero point calibration angle, takes the current rotation angle of the turntable as the first angle, sends the X-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receives the corresponding response status command from the tilt sensor to be calibrated.

[0030] The turntable is continuously rotated according to the zero-point calibration angle of the second axis. The current rotation angle of the turntable is used as the new first angle. The X-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated until the turntable completes one rotation.

[0031] Further, the turntable is controlled to rotate to a first angle, and a Y-axis adjustment and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the Y-axis zero point of the tilt sensor, including:

[0032] The control turntable is reset, zero degrees is taken as the first angle, the Y-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated.

[0033] After the control reset, the turntable rotates to the preset second axis zero point calibration angle, takes the current rotation angle of the turntable as the first angle, sends the Y-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receives the corresponding response status command from the tilt sensor to be calibrated.

[0034] The turntable is continuously rotated according to the zero-point calibration angle of the second axis. The current rotation angle of the turntable is used as the new first angle. The Y-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated until the turntable completes one rotation.

[0035] Furthermore, the turntable is controlled to rotate to a first angle, and a calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the accuracy of the tilt sensor, including:

[0036] After the control reset, the turntable rotates to the preset first accuracy calibration angle. The current rotation angle of the turntable is taken as the first angle. The debugging calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated. The tilt sensor to be calibrated is a single-axis sensor.

[0037] The turntable is continuously rotated according to the first accuracy calibration angle. The current rotation angle of the turntable is taken as the new first angle. The debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command from the tilt sensor to be calibrated is received until the turntable completes one rotation.

[0038] Furthermore, the turntable is controlled to rotate to a first angle, and a calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the accuracy of the tilt sensor, including:

[0039] The turntable is controlled to rotate to the first angle, and an X-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the X-axis accuracy of the tilt sensor to be calibrated. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable at the position for debugging the X-axis. The calibration range of the X-axis accuracy is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated.

[0040] The control turntable is rotated to the first angle, and a Y-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the Y-axis accuracy of the tilt sensor to be calibrated. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable at the position for debugging the Y-axis. The calibration range of the Y-axis accuracy is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated.

[0041] Further, the turntable is controlled to rotate to a first angle, and an X-axis adjustment and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the X-axis accuracy of the tilt sensor, including:

[0042] Control the rotation of the turntable after reset so that the X-axis output angle of the tilt sensor to be calibrated is reset;

[0043] The turntable is controlled to rotate at a preset second accuracy calibration angle. The current rotation angle of the turntable is used as the first angle. The X-axis debugging calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated.

[0044] The turntable is continuously rotated according to the second accuracy calibration angle. The current rotation angle of the turntable is taken as the first angle. The X-axis debugging calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command from the tilt sensor to be calibrated is received until the turntable completes the rotation within the calibration range of the X-axis accuracy.

[0045] Further, the turntable is controlled to rotate to a first angle, and a Y-axis adjustment and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the Y-axis accuracy of the tilt sensor, including:

[0046] Control the rotation of the turntable after reset so that the Y-axis output angle of the tilt sensor to be calibrated is reset;

[0047] The turntable is controlled to rotate at a preset second accuracy calibration angle. The current rotation angle of the turntable is used as the first angle. The Y-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated.

[0048] The turntable is continuously rotated according to the second accuracy calibration angle. The current rotation angle of the turntable is taken as the first angle. The Y-axis debugging calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command from the tilt sensor to be calibrated is received until the turntable completes the rotation within the calibration range of the Y-axis accuracy.

[0049] Furthermore, the tilt sensor to be calibrated is also used for switch output, and the method further includes:

[0050] Based on the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the debugging mode, and an alarm parameter setting command is sent to the tilt sensor to be calibrated to calibrate the switch output of the tilt sensor to be calibrated.

[0051] Furthermore, the alarm parameter setting instructions include at least one of the following:

[0052] Commands include: restore alarm default parameters, set alarm mode, set X-axis alarm angle, set Y-axis alarm angle, set X-axis filter parameters, set Y-axis filter parameters, set alarm delay, and set restore delay.

[0053] Further, the turntable is controlled to rotate to the second angle, and the output angle data corresponding to the second angle of the tilt sensor to be calibrated is acquired. Accuracy is then checked based on the second angle and the output angle data to determine the accuracy of the tilt sensor to be calibrated, including:

[0054] After controlling the reset, the turntable rotates to the preset first accuracy test angle. The current rotation angle of the turntable is used as the second angle. The output angle data of the tilt sensor to be calibrated and the second angle are obtained. The data pair consisting of the second angle and the output angle data is recorded. The tilt sensor to be calibrated is a single-axis sensor.

[0055] The turntable is continuously rotated according to the first accuracy test angle. The current rotation angle of the turntable is taken as the new second angle. The output angle data of the tilt sensor to be calibrated and the second angle are obtained. The data pair consisting of the second angle and the output angle data is recorded until the turntable completes one rotation.

[0056] Accuracy tests were performed on multiple data pairs to determine the accuracy of the tilt sensor to be calibrated.

[0057] Further, the turntable is controlled to rotate to the second angle, and the output angle data corresponding to the second angle of the tilt sensor to be calibrated is acquired. Accuracy is then checked based on the second angle and the output angle data to determine the accuracy of the tilt sensor to be calibrated, including:

[0058] The turntable is controlled to rotate to the second angle, and the X-axis output angle data corresponding to the second angle of the tilt sensor to be calibrated is obtained. The X-axis accuracy is checked based on the second angle and the X-axis output angle data to determine the X-axis accuracy of the tilt sensor to be calibrated. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable for adjusting the X-axis position. The X-axis accuracy check range is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated.

[0059] The turntable is controlled to rotate to the second angle, and the Y-axis output angle data corresponding to the second angle of the tilt sensor to be calibrated is obtained. The Y-axis accuracy is checked based on the second angle and the Y-axis output angle data to determine the Y-axis accuracy of the tilt sensor to be calibrated. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable for adjusting the Y-axis position. The Y-axis accuracy check range is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated.

[0060] Further, the turntable is controlled to rotate to the second angle, and the X-axis output angle data corresponding to the second angle of the tilt sensor to be calibrated is acquired. Based on the second angle and the X-axis output angle data, the X-axis accuracy is checked to determine the X-axis accuracy of the tilt sensor to be calibrated, including:

[0061] After the control reset, the turntable is rotated to the preset second accuracy test angle. The current rotation angle of the turntable is taken as the second angle. The X-axis output angle data of the tilt sensor to be calibrated and the second angle are obtained. The data pair consisting of the second angle and the X-axis output angle data is recorded.

[0062] The turntable is continuously rotated according to the second accuracy test angle. The current rotation angle of the turntable is taken as the new second angle. The X-axis output angle data corresponding to the tilt sensor to be calibrated and the second angle is obtained. The data pair consisting of the second angle and the X-axis output angle data is recorded until the turntable has rotated within the X-axis accuracy test range.

[0063] The X-axis accuracy of the tilt sensor to be calibrated is determined by verifying the accuracy of the X-axis based on multiple data pairs.

[0064] Further, the turntable is controlled to rotate to the second angle, and the Y-axis output angle data corresponding to the tilt sensor to be calibrated and the second angle is acquired. Based on the second angle and the Y-axis output angle data, the Y-axis accuracy is checked to determine the Y-axis accuracy of the tilt sensor to be calibrated, including:

[0065] After the control reset, the turntable is rotated to the preset second accuracy test angle. The current rotation angle of the turntable is taken as the second angle. The Y-axis output angle data of the tilt sensor to be calibrated and the second angle are obtained. The data pair consisting of the second angle and the Y-axis output angle data is recorded.

[0066] The turntable is continuously rotated according to the second accuracy test angle. The current rotation angle of the turntable is taken as the new second angle. The Y-axis output angle data corresponding to the tilt sensor to be calibrated and the second angle is obtained. The data pair consisting of the second angle and the Y-axis output angle data is recorded until the turntable has rotated within the Y-axis accuracy test range.

[0067] The Y-axis accuracy of the tilt sensor to be calibrated is determined by verifying the accuracy of the Y-axis based on multiple data pairs.

[0068] Furthermore, the tilt sensor to be calibrated is also used for switch output, and the method further includes:

[0069] Based on the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the working mode, and the turntable after reset is controlled to rotate in the preset direction, including the positive X-axis direction, the negative X-axis direction, the positive Y-axis direction, and the negative Y-axis direction.

[0070] During the rotation of the turntable, the current output angle data and the corresponding first switching quantity of the tilt sensor to be calibrated are acquired;

[0071] Based on the current output angle data and the preset alarm angle threshold, determine the second switching quantity of the tilt sensor to be calibrated;

[0072] The switching accuracy of the tilt sensor to be calibrated is determined based on the first and second switching signals.

[0073] Furthermore, the tilt sensor to be calibrated is also used for analog output, and the method further includes:

[0074] Based on the debugging parameters and debugging steps, determine the type and range of analog signal acquisition for the tilt sensor to be calibrated, and obtain the analog output data.

[0075] Some embodiments of this application also provide a tilt sensor debugging and calibration device, which includes a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to execute the aforementioned tilt sensor debugging and calibration method.

[0076] Compared with existing technologies, the solution provided in this application can acquire the identification information of the tilt sensor to be calibrated set on the turntable, obtain the corresponding debugging configuration file of the tilt sensor to be calibrated based on the identification information, parse the debugging configuration file to obtain the debugging parameters and debugging steps required for calibrating the tilt sensor to be calibrated, control the tilt sensor to be calibrated to enter the debugging mode based on the debugging parameters and debugging steps, control the turntable to rotate to a first angle, send the debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated, calibrate the axis zero point and accuracy of the tilt sensor to be calibrated, and then control the tilt sensor to be calibrated to enter the working mode based on the debugging parameters and debugging steps, control the turntable to rotate to a second angle, acquire the output angle data of the tilt sensor to be calibrated corresponding to the second angle, and perform accuracy verification based on the second angle and output angle data to determine the accuracy of the tilt sensor to be calibrated. Thus, it is possible to automatically debug and calibrate various types of tilt sensors without manual intervention, thereby improving the debugging and calibration efficiency of tilt sensors. Attached Figure Description

[0077] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0078] Figure 1 A flowchart illustrating a method for debugging and calibrating a tilt sensor, provided for some embodiments of this application.

[0079] Figure 2 This is a structural diagram of a tilt sensor debugging and calibration system provided for some embodiments of this application.

[0080] Figure 3 A flowchart of a method for debugging and calibrating a tilt sensor provided for other embodiments of this application.

[0081] Figure 4 A user operation flowchart for a tilt sensor debugging and calibration system provided for other embodiments of this application. Detailed Implementation

[0082] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0083] Here, the tilt sensor debugging and calibration method of this application embodiment is suitable for scenarios where tilt sensors are debugged and calibrated during the production process of tilt sensors.

[0084] In this scenario, the debugging and calibration process of tilt sensors requires a significant amount of manual intervention. For example, production debugging personnel need to control the operation of the turntable, set the parameters of the tilt sensor, send the corresponding debugging and calibration commands, manually save the output data of the tilt sensor after debugging and calibration, and then manually perform data calculations to obtain the final debugging result. This not only results in low debugging and calibration efficiency but is also prone to various errors such as data entry errors, debugging errors, and result calculation errors. In addition, due to the diversity of tilt sensor products, different models of tilt sensors use different communication interfaces and communication protocols, and different debugging fixtures are used during debugging. Production debugging personnel need to frequently change the corresponding cables for communication interfaces and debugging fixtures during the debugging and calibration process, further reducing debugging and calibration efficiency. Furthermore, tilt sensors are updated and iterated rapidly. After the tilt sensor products are updated and upgraded, the corresponding debugging and calibration solutions need to be upgraded and developed simultaneously, which places high demands on the maintenance of the technical solutions.

[0085] It is understood that the tilt sensor in this application refers not only to a sensor that can be used to obtain tilt data, but also to derivative products related to tilt switch for obtaining tilt data, etc. This application does not impose specific limitations on this.

[0086] The tilt sensor debugging and calibration method provided in this application embodiment can acquire the identification information of the tilt sensor to be calibrated set on the turntable, and obtain the corresponding debugging configuration file of the tilt sensor to be calibrated according to the identification information. Then, the debugging configuration file is parsed to obtain the debugging parameters and debugging steps required for calibrating the tilt sensor to be calibrated. According to the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the debugging mode, and the turntable is controlled to rotate to a first angle. A debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the axis zero point and accuracy. Then, according to the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the working mode, and the turntable is controlled to rotate to a second angle. The output angle data of the tilt sensor to be calibrated corresponding to the second angle is acquired. The accuracy is checked according to the second angle and the output angle data to determine the accuracy of the tilt sensor to be calibrated. Thus, it is possible to debug and calibrate various types of tilt sensors in an automated manner without manual intervention, which can improve the debugging and calibration efficiency of tilt sensors.

[0087] Some embodiments of this application provide a method for debugging and calibrating a tilt sensor, wherein the subject of the method is an electronic device, such as... Figure 1 As shown, the method specifically includes the following steps:

[0088] Step S101: Obtain the identification information of the tilt sensor to be calibrated set on the turntable.

[0089] Here, the turntable is a high-precision turntable capable of rotating vertically, achieving high accuracy, such as 0.01°, to meet calibration requirements. The turntable has multiple mounting positions, allowing for the simultaneous mounting and calibration of multiple tilt sensors. The number of mounting positions can be determined by the number of tilt sensors being calibrated simultaneously, for example, eight mounting positions.

[0090] Here, when installing the tilt sensor to be calibrated onto the turntable, it is horizontally installed in its mounting position on the turntable, and the corresponding cable is connected to it. In some embodiments of this application, different axes of the tilt sensor to be calibrated can be adjusted and calibrated by setting the direction of the connecting cable. For example, when calibrating a single-axis tilt sensor, the direction of the connecting cable is set to be perpendicular to the rotation surface of the turntable; when calibrating a dual-axis tilt sensor, to adjust the X-axis, the direction of the connecting cable is set to be perpendicular to the rotation surface of the turntable, and to adjust the Y-axis, the direction of the connecting cable is set to be parallel to the rotation surface of the turntable.

[0091] The identification information of the tilt sensor to be calibrated is used to uniquely identify the tilt sensor to be calibrated, and the electronic device can determine the corresponding tilt sensor to be calibrated through the identification information.

[0092] In some embodiments of this application, the identification information corresponding to the tilt sensor to be calibrated can be obtained through a QR code. Here, a corresponding QR code is pre-generated for each tilt sensor to be calibrated. The QR code describes relevant information about the tilt sensor, which may include, but is not limited to, identification information, model information, order information, debugging precautions, and customization requirements. When the identification information of the tilt sensor to be calibrated needs to be obtained, it can be obtained by scanning the QR code using a QR code reader. Alternatively, it can be understood that the identification information of the tilt sensor to be calibrated can also be obtained manually, for example, by production and debugging personnel manually inputting the identification information of the tilt sensor to be calibrated into an electronic device.

[0093] Step S102: Obtain the debugging configuration file corresponding to the tilt sensor to be calibrated based on the identification information.

[0094] The debugging and calibration procedures for different models of tilt sensors to be calibrated are different. The debugging and calibration parameters used, such as communication command format, communication command content, sensor return value, number of axes to be calibrated, calibrated angle points, setting parameters, and output data indicators for testing, are all different. Therefore, the debugging configuration file corresponding to each model of tilt sensor to be calibrated is also different.

[0095] In some embodiments of this application, the debugging configuration file corresponding to the tilt sensor to be calibrated can be stored on a dedicated storage server. When obtaining the debugging configuration file, the storage server can be accessed through a computer network to obtain the required debugging configuration file.

[0096] Here, the calibration configuration file for the tilt sensor to be calibrated can be determined based on the corresponding tilt sensor calibration guide. The tilt sensor calibration guide is a pre-established calibration document for each model of tilt sensor to be calibrated, recording the methods and relevant parameters for calibrating the tilt sensor. The calibration configuration file describes the content of the tilt sensor calibration guide in a configurable manner, enabling computers and other electronic devices to recognize the content of the calibration configuration file and perform automated calibration based on the recognized content.

[0097] For example, a portion of a tilt sensor calibration guide for guiding the commissioning and calibration process of a single-axis digital output tilt sensor is as follows, where "product" refers to the tilt sensor to be calibrated:

[0098] 1) Product installation

[0099] Install the product horizontally onto the mounting position on the turntable, and connect the corresponding cables, with the product cable direction perpendicular to the rotating surface of the turntable.

[0100] 2) Communication parameters

[0101] a) Communication method: 3.3V TTL, baud rate 9600, 8 data bits, 1 stop bit, no parity bit;

[0102] b) Display method: ASCII code display and transmission;

[0103] c) Product data output format: "A = 003.60T = +26" (automatically output after power-on). A is the angle, and T is the temperature;

[0104] d) Directional information: Increases clockwise.

[0105] 3) Enter debug mode

[0106] The product has two operating modes: working mode and debug mode. Debug mode is only used during product debugging and calibration; otherwise, the product should operate in working mode. After a power outage and subsequent power-on, the product will enter working mode. Sending "*COMMAND" to the product via the debugging software will activate debug mode. Upon receiving the command, the product will return the data "OK, Debug mode".

[0107] 4) Reset parameters

[0108] The debugging software sends "#RA" to the product to reset all product parameters, and the product returns the data "Reset All ParamOK".

[0109] 5) Shaft zero point correction

[0110] Adjust the turntable so that the turntable angle output is 0° (error ±0.01°), and then correct the product zero point according to Table 1 below.

[0111] Table 1

[0112] 0° 0° #P1 OK Turn 90° clockwise 90° #P2 OK Turn 90° clockwise 180° #P3 OK Turn 90° clockwise 270° #P4 OK

[0113] 6) Accuracy calibration

[0114] Adjust the turntable so that the turntable angle output is 0° (error ±0.01°), and then perform accuracy calibration on the product according to Table 2 below.

[0115] Table 2

[0116]

[0117]

[0118] 7) Power on the product again

[0119] Power off the product, wait 2 seconds, and then power it back on.

[0120] 8) Accuracy verification

[0121] Starting from zero degrees, a test point is set every 30 degrees within the measurement range. The product output data and the output angle of the turntable at each test point are saved. Finally, the accuracy of the product is calculated, and the accuracy should be less than 0.1°.

[0122] 9) Set product direction

[0123] Set the product direction to clockwise, send "#DIR=CW" to the product in the debugging software, and confirm that the product returns "OK".

[0124] 10) Command List

[0125] Table 3

[0126]

[0127]

[0128] For example, a portion of a tilt sensor calibration guide for guiding the debugging and calibration process of a dual-axis digital output and switch output tilt sensor is as follows, where "product" refers to the tilt sensor to be calibrated:

[0129] 1) Product installation

[0130] Install the product horizontally onto the mounting position on the turntable and connect the corresponding cables. When the product cable direction is perpendicular to the turntable's rotation surface, adjust the X-axis; when the product cable direction is parallel to the turntable's rotation surface, adjust the Y-axis.

[0131] 2) Communication parameters

[0132] a) Communication method: 3.3V TTL, baud rate 19200, 8 data bits, 1 stop bit, no parity bit.

[0133] b) Display method: ASCII code display and transmission.

[0134] c) Product data output format: "X:+0.81Y:+0.02T:+26.06" (automatically output after power-on). X is the X-axis angle, Y is the Y-axis angle, and T is the temperature.

[0135] d) Directional information: Increases clockwise.

[0136] 3) Enter debug mode

[0137] The product has two operating modes: working mode and debug mode. Debug mode is only used during product debugging and calibration; otherwise, the product should operate in working mode. After a power outage and subsequent power-on, the product will enter working mode. Sending "*COMMAND" to the product via the debugging software will cause the product to enter debug mode. Upon receiving the command, the product will return the data "OK, Debug mode".

[0138] 4) Reset parameters

[0139] The debugging software sends "*RSSET" to the product to reset all product parameters, and the product returns the data "OK".

[0140] 5) Shaft zero point correction

[0141] Adjust the turntable so that the turntable angle output is 0° (error ±0.01°), install the product on the turntable and adjust the X-axis position, and then correct the product's X-axis zero point according to Table 4 below.

[0142] Table 4

[0143]

[0144] Adjust the turntable so that the turntable angle output is 0° (error ±0.01°), install the product on the turntable and adjust the Y-axis position, and then correct the product's Y-axis zero point according to Table 5 below.

[0145] Table 5

[0146]

[0147] 6) Accuracy calibration

[0148] Depending on the product's measuring range, calibration requires adding 2° to the range. The following explanation uses a product with a measuring range of -6° to +6° as an example.

[0149] a) X-axis accuracy calibration

[0150] Install the product onto the turntable and adjust the X-axis position. Rotate the turntable to make the product's X-axis output 0°, and then adjust the product's X-axis zero point according to Table 6 below.

[0151] Table 6

[0152]

[0153]

[0154] b) Y-axis accuracy calibration

[0155] Install the product onto the turntable and adjust the Y-axis position. Rotate the turntable until the product's Y-axis output is 0°. Then, calibrate the product's Y-axis zero point according to Table 7 below.

[0156] Table 7

[0157]

[0158]

[0159] Notice:

[0160] A. When both the X and Y axes of a product need to be readjusted, you need to send "*RSSET" first.

[0161] B. When only the X-axis needs to be readjusted, send “*CLR_Z” and “*RST_X” to readjust the X-axis zero point and calibration value.

[0162] C. When only the Y-axis needs to be readjusted, send “*CLR_Z” and “*RST_Y” to readjust the Y-axis zero point and calibration value.

[0163] 7) Set the zero point

[0164] Adjust the turntable so that the turntable angle output is 0°, and send the command: "&Z".

[0165] 8) Alarm parameter settings

[0166] Alarm parameter settings must be configured in sequence according to the following steps:

[0167] a) Send the command: "*RSTALARM" to restore the product's default alarm parameters;

[0168] b) Send the command: “*ALARMMODE=?”. This command is used to set the product's alarm mode. The “?” in the command can be selected as A, B, C, D, or E, corresponding to the product's five alarm modes A / B / C / D / E. The five alarm modes differ only in the alarm angle. Mode E is a custom alarm mode. See Table 8 below:

[0169] Table 8

[0170]

[0171] c) Send the command: “*MRX????”. This command is used to set the alarm angle on the X-axis and is only valid for product E mode. The “????” in the command represents the angle value, and the valid value range is...

[0172] Values ​​outside the range "0010—1500" are invalid. The default parameter is 0300, representing 3°.

[0173] d) Send the command: “*MRY????”. This command is used to set the alarm angle on the Y-axis and is only valid for product E mode. The “????” in the command represents the angle value, and the valid value range is...

[0174] Values ​​outside the range "0010—1500" are invalid. The default parameter is 0300, representing 3°.

[0175] e) Send the command: "*FTX?". This command is used to set the filter parameters for the X-axis. The "?" in the command represents a definable filter parameter, with a value range of "0-9". The larger the value, the lower the product's sensitivity, but the more stable the data. The default value for this filter parameter is 0.

[0176] f) Send the command: "*FTY?". This command is used to set the filter parameters for the Y-axis. The "?" in the command represents a definable filter parameter, with a value range of "0-9". The larger the value, the lower the sensitivity of the product, but the more stable the data. The default value for this filter parameter is 0.

[0177] g) Send the command: "*TIM????". This command is used to set the alarm delay time for the X and Y axes. The "????" in the command represents the alarm delay time parameter, which is 20 times the actual alarm delay time. For example, to set the alarm delay time to 1.5 seconds, use "????".

[0178] The parameter should be set to 0030. The valid value range for this parameter is 0000–9999.

[0179] h) Send the command: "*DTIM????". This command is used to set the recovery delay time for the X and Y axes. The "????" in the command represents the recovery delay time parameter, which is 20 times the actual recovery delay time. For example, to set the recovery delay time to 1.5 seconds, use "????".

[0180] The parameter should be set to 0030. The valid value range for this parameter is 0000-9999.

[0181] 9) Power on the product again

[0182] Power off the product, wait 2 seconds, and then power it back on.

[0183] 10) Accuracy verification:

[0184] Starting from zero degrees, a detection point is set every 1 degree within the measurement range. The product output data and the output angle of the turntable at each detection point are saved. Finally, the accuracy of the product is calculated, and the accuracy should be less than 0.2 degrees.

[0185] 11) Alarm signal verification:

[0186] a) Adjust the turntable to set the turntable angle output to 0°, press the zeroing button on the product, and then...

[0187] Rotary turntables in the X+, X-, Y+, and Y- directions;

[0188] b) When the output angle of a certain axis of the product is greater than or equal to (the alarm angle set for that axis + 0.1°)

[0189] At that time, the product's switch output should be 1;

[0190] c) When the output angle of a certain axis of the product is ≤ (the alarm angle set for that axis - 0.1°)

[0191] At that time, the product's switch output should be 0.

[0192] 12) Command List

[0193] Table 9

[0194]

[0195]

[0196] Based on the aforementioned debugging guides for two different models of tilt sensors, it can be seen that the debugging guides for different models of tilt sensors are not entirely the same. Not only are the command format, command content, and return values ​​received by the tilt sensor during communication different, but the number of axes to be calibrated, the angle positions to be calibrated, the parameters to be set, and the output angle data indicators to be checked during debugging and calibration are also different.

[0197] Step S103: Parse the debugging configuration file to obtain the debugging parameters and debugging steps required for calibrating the tilt sensor to be calibrated.

[0198] Here, the acquired debugging configuration file can be parsed using a pre-established configuration file parsing program. The parsing results include debugging parameters and debugging step information required for debugging and calibration. Debugging parameters describe various parameters used during the debugging and calibration process, including but not limited to: communication parameters, turntable control parameters, and debugging index parameters. Communication parameters may include, but are not limited to: communication method, display method, data output format, and direction information. Here, the communication method describes the relevant parameters used during data exchange, such as TTL, RS232, RS485, CAN bus, etc., or "3.3V TTL, baud rate 19200, 8 data bits, 1 stop bit, no parity bit," etc. The display method describes the encoding used for data display, such as "ASCII code display and transmission." The data output format describes the format of the tilt sensor's output data, such as "A = 003.60T = +26," where A is the output angle data and T is the temperature data. The direction information describes the direction of increase of the tilt sensor's output angle data, such as "clockwise increase."

[0199] Turntable control parameters may include, but are not limited to, turntable running direction, running speed, and motion trajectory.

[0200] The calibration parameters are used to describe the relevant parameters used when calculating the accuracy of the tilt sensor based on the output data generated during the calibration process. These parameters may include, but are not limited to, the name of the calibration parameter, the calculation method of the calibration parameter, the verification standard of the calibration parameter, and the number of calibration calculations.

[0201] The debugging step information describes the specific steps used in the debugging and calibration process. The debugging step information corresponds to the relevant content in the tilt sensor debugging guide. By combining and sorting different debugging step information, different functions can be completed in the tilt sensor debugging and calibration process, such as entering debugging mode, axis zero point calibration, alarm parameter setting, etc.

[0202] The debugging steps described in the configuration file may include, but are not limited to: tilt sensor communication configuration, delay waiting, turntable zeroing, turntable rotation, data saving, command sending and receiving, data monitoring, program pause, tilt sensor restart, communication channel switching, clearing zero-seeking angle, data receiving method, index data calculation, parameter backup, tilt sensor communication configuration switching, and others. Additionally, the debugging steps may also include corresponding configurable debugging parameters.

[0203] The tilt sensor communication configuration steps are used to configure the basic parameters for communication with the tilt sensor, such as communication method, communication parameters, data parsing method, analog quantity acquisition method, acquisition range, and turntable rotation direction.

[0204] The delay waiting step information is used to set a certain waiting time during the debugging and calibration process of the tilt sensor. The waiting time can be configured through relevant debugging parameters.

[0205] The turntable zeroing step information is used to set the current turntable angle to the turntable zero point.

[0206] The turntable rotation step information describes the rotation mode of the turntable. The rotation mode can include, but is not limited to, the following: turntable rotation, turntable rotation to, turntable rotation causing sensor output, and turntable rotation causing sensor analog output. Here, "turntable rotation" refers to controlling the turntable to rotate by a certain angle; "turntable rotation to" refers to controlling the turntable to rotate to a set angle; "turntable rotation causing sensor output" refers to controlling the turntable to rotate so that the digital output of the tilt sensor is a set value; and "turntable rotation causing sensor analog output" refers to controlling the turntable to rotate so that the analog output of the tilt sensor is a set value.

[0207] The data saving step information describes the output data saved during the tilt sensor's debugging and calibration process, and may include, but is not limited to: the data type, saving method, and saving channel settings. The data type describes the data type to be saved, such as digital, analog, or digital signals. The saving method describes how the output data is saved, such as single-point saving or continuous saving. The saving channel settings describe the channels through which the output data is saved, such as single-channel saving or multi-channel saving.

[0208] The command transmission and reception step information describes the relevant command operations for data communication with the tilt sensor, and can include four communication subtypes: send command, return character, analog command, and correction command. Send command is used to send commands to the tilt sensor; return character is used to receive return information from the tilt sensor; analog command is used to send analog quantity-related commands to the tilt sensor; correction command is used to send correction commands to the tilt sensor.

[0209] The data monitoring step information is used to describe the monitoring of the data output of the tilt sensor and to determine whether the output results meet the requirements. It is usually used in conjunction with the content in the command transmission and reception step information.

[0210] The program pause step information describes the operation that pauses the program during debugging and calibration. You can set some prompts, and after the program pauses, an information prompt box will pop up and display the set prompts.

[0211] The tilt sensor restart procedure information describes the operation of powering off the tilt sensor and then powering it back on after a preset time.

[0212] The communication channel switching step information describes the relevant operations for switching communication between multiple channels. Here, you can set the waiting time for switching between channels.

[0213] The "Clear Zero Angle Step Information" describes the operation of zeroing the zero angle of the cached tilt sensor. The zero angle of the tilt sensor is the angle of the turntable when the tilt sensor outputs 0 angle data.

[0214] The data reception method step information describes the data reception-related operations when communicating with the tilt sensor, and can include both hexadecimal (Hex) and ASCII code.

[0215] The data calculation steps describe the process of calculating the data saved during the tilt sensor's calibration and commissioning according to preset conditions, comparing the calculation results with preset inspection standards to determine whether the tilt sensor has passed calibration. This step information allows setting relevant calibration parameters, such as the data type of the indicators used for tilt sensor inspection and the inspection standards. Commonly used indicators may include, but are not limited to: accuracy, precision, nonlinearity, sensitivity, cross-axis, zero-point error, and switching quantity. Specific indicators may include, but are not limited to: initial value drift, maximum value within an interval, extreme value difference, maximum value difference, initial mean, interval drift, and maximum difference.

[0216] The parameter backup procedure information describes the operations involved in saving some of the data generated by the tilt sensor during the debugging and calibration process to a remote server. This "some data" generally refers to the parameter list information of the tilt sensor.

[0217] The tilt sensor communication configuration switching steps describe the operations involved in switching basic tilt sensor communication information such as communication mode, communication parameters, data parsing method, analog quantity acquisition mode, analog quantity acquisition range, and turntable rotation direction.

[0218] Other steps information describes the configuration operations of commonly used user commands, precautions during the tilt sensor debugging and calibration process, and other related content.

[0219] In some embodiments of this application, the debugging configuration file can also be edited graphically. Here, an editing tool with a human-computer interaction interface is provided for editing the debugging configuration file to adapt to the debugging and calibration requirements of the tilt sensor. During the editing process, simply add the necessary debugging steps through the human-computer interaction interface, modify the corresponding debugging parameters, and then adjust the order of the steps by dragging and dropping with the mouse. When a loop step is needed in the debugging configuration file, simply select multiple relevant loop steps, right-click, and then select the corresponding "Add Loop" button to complete the addition of the loop.

[0220] Step S104: Based on the debugging parameters and debugging steps, control the tilt sensor to be calibrated to enter the debugging mode, and control the turntable to rotate to the first angle. Send the debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated to calibrate the axis zero point and accuracy of the tilt sensor to be calibrated.

[0221] Here, after obtaining the debugging parameters and debugging steps for the tilt sensor to be calibrated (which typically consist of multiple steps), these steps are interpreted and executed in a preset order. The interpretation and execution of these steps can be implemented as an execution module, which sequentially interprets and executes the multiple steps, thereby controlling the tilt sensor calibration process.

[0222] In some embodiments of this application, after obtaining debugging parameters and debugging step information, the communication method for communicating with the tilt sensor to be calibrated can be determined based on these debugging parameters and debugging step information, and the data sent or received by the tilt sensor to be calibrated can be converted according to the communication method.

[0223] Here, the communication interface used by the tilt sensor to be calibrated is a serial communication interface, which may include, but is not limited to, TTL, RS232, RS485, CAN bus, etc. Different models of tilt sensors to be calibrated use different communication interfaces. To debug and calibrate the tilt sensor to be calibrated, it is necessary to send debugging and calibration commands to it using the communication method supported by the tilt sensor, and convert the relevant data output by the tilt sensor to be calibrated through the communication interface into a data format that the electronic equipment can recognize for corresponding processing. By determining the communication method and converting the data format according to the communication method, production debugging personnel do not need to frequently change different debugging tools when debugging and calibrating tilt sensors that use different communication interfaces and output data in different formats. This not only improves the debugging efficiency of tilt sensors and increases tilt sensor production capacity, but also reduces the learning cost for production debugging personnel.

[0224] The tilt sensor to be calibrated generally includes two modes: debugging mode and working mode. When the tilt sensor to be calibrated is in debugging mode, various debugging commands can be sent to it to obtain the internal status data of the tilt sensor to be calibrated. When the tilt sensor to be calibrated is in working mode, it can output tilt angle related data to the outside.

[0225] In some embodiments of this application, a command to enter debug mode can be sent to the tilt sensor to be calibrated based on debugging parameters and debugging steps, so that the tilt sensor to be calibrated enters debug mode according to the command. The debug mode command can be, for example, "*COMMAND". After receiving the command, the tilt sensor to be calibrated can enter debug mode and return the status data "OK, Debug mode".

[0226] In addition, before sending the command to enter the debugging mode to the tilt sensor to be calibrated, you can first set the relevant communication parameters for communicating with the tilt sensor to be calibrated according to the relevant debugging steps. The communication parameters may include, for example: communication mode: "3.3V TTL, baud rate 19200, 8 data bits, 1 stop bit, no parity bit", display mode: "ASCII code display and transmission", direction information: "clockwise increase", etc.

[0227] In some embodiments of this application, the calibration of the tilt sensor to be calibrated includes calibrating the axis zero point of the sensor and calibrating its accuracy.

[0228] It is understandable that the tilt sensors to be calibrated typically include single-axis sensors and dual-axis sensors. Single-axis sensors are used to output tilt data on the X-axis, while dual-axis sensors are used to output tilt data on both the X-axis and Y-axis. The output tilt data is usually a digital value.

[0229] The debugging and calibration process for single-axis and dual-axis sensors will be described below.

[0230] In some embodiments of this application, zero-point calibration of a single-axis sensor may include the following steps:

[0231] 1) Control the turntable to reset, set zero degrees as the first angle, send the debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated.

[0232] 2) Control the turntable after reset to rotate to the preset first axis zero point calibration angle, take the current rotation angle of the turntable as the first angle, send the debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated.

[0233] 3) Continuously rotate the turntable according to the zero-point calibration angle of the first axis, take the current rotation angle of the turntable as the new first angle, send the debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated until the turntable completes one rotation.

[0234] In the above steps, the turntable is first reset, i.e., the output angle of the turntable is controlled to 0. An error range can be preset here, such as ±0.01°. The output angle within this error range is considered reset. The turntable's output angle is used as the first angle, and a corresponding debugging and calibration command, such as "#P1", is sent to the tilt sensor to be calibrated. Then, the turntable is rotated to the preset first axis zero-point calibration angle. The direction of rotation can be determined according to the corresponding debugging parameters, such as "clockwise rotation". The first axis zero-point calibration angle is the angle used for axis zero-point calibration of a single-axis sensor, for example, 90°. At this point, the current rotation angle of the turntable is the [missing value]. The zero-point calibration angle of one axis, that is, the new first angle, is sent. The corresponding debugging and calibration command for the first angle is sent. For example, if the current rotation angle is 90°, the debugging and calibration command for 90° is "#P2". Then, the "#P2" command is sent to the tilt sensor to be calibrated. After receiving the debugging and calibration command, the tilt sensor to be calibrated determines that the internal output angle is consistent with the turntable angle corresponding to the debugging and calibration command, and returns the corresponding response status command. For example, if the internal output angle of the tilt sensor to be calibrated is 90°, and the turntable angle corresponding to the debugging and calibration command is 90°, and the two are consistent within the error range, then the tilt sensor to be calibrated returns the corresponding status command "OK".

[0235] Next, the turntable rotates another zero-point calibration angle of the first axis. For example, if the current rotation angle of the turntable is 180°, then 180° is taken as the new first angle, and the debugging and calibration command corresponding to the new first angle is sent to the tilt sensor to be calibrated, that is, the debugging and calibration command "#P3" corresponding to 180°. After receiving the debugging and calibration command "#P3", the tilt sensor to be calibrated determines that the internal output angle is 180°, which is consistent with the current rotation angle of the turntable, and then returns the status command "OK".

[0236] Then, the turntable rotates another zero-point calibration angle on the first axis, and the current rotation angle is taken as the new first angle. The turntable then sends a calibration command corresponding to the first angle to the tilt sensor to be calibrated and receives the returned status command. This process of turning the turntable, sending calibration commands, and receiving status commands continues until the turntable completes one full rotation. Furthermore, multiple status commands returned by the tilt sensor to be calibrated can be saved for later processing.

[0237] In some embodiments of this application, if the status command returned by the tilt sensor to be calibrated indicates that the internal output angle of the tilt sensor to be calibrated is inconsistent with the current rotation angle of the turntable, then a correction command is sent to the tilt sensor to be calibrated so that the tilt sensor to be calibrated corrects its internal output angle according to the correction command.

[0238] In some embodiments of this application, zero-point calibration of a dual-axis sensor may include the following steps:

[0239] 1) Control the turntable to rotate to the first angle, send the X-axis debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated, and calibrate the X-axis zero point of the tilt sensor to be calibrated. The tilt sensor to be calibrated is set on the turntable at the position for debugging the X-axis.

[0240] 2) Control the turntable to rotate to the first angle, send the Y-axis debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated, and calibrate the Y-axis zero point of the tilt sensor to be calibrated. The tilt sensor to be calibrated is set on the turntable at the position for debugging the Y-axis.

[0241] Here, when the tilt sensor to be calibrated is a dual-axis sensor, the zero points of the X-axis and Y-axis are calibrated separately. When calibrating the zero point of the X-axis or Y-axis of the tilt sensor, the sensor needs to be set on the turntable at the corresponding position for adjusting the X-axis or Y-axis. For example, when adjusting the zero point of the X-axis, the tilt sensor is set at a position where the direction of the connecting cable is perpendicular to the rotation surface of the turntable; when adjusting the zero point of the Y-axis, the tilt sensor is set at a position where the direction of the connecting cable is parallel to the rotation surface of the turntable.

[0242] In some embodiments of this application, calibrating the X-axis zero point of a biaxial sensor may include the following steps:

[0243] 1) Control the turntable to reset, take zero degrees as the first angle, send the X-axis debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated.

[0244] 2) Control the turntable after reset to rotate to the preset second axis zero point calibration angle, take the current rotation angle of the turntable as the first angle, send the X-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated.

[0245] 3) Continuously rotate the turntable according to the zero-point calibration angle of the second axis, take the current rotation angle of the turntable as the new first angle, send the X-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated until the turntable completes one rotation.

[0246] Here, the zero-point calibration angle of the second axis is different from that of the first axis mentioned above. For example, the zero-point calibration angle of the first axis is usually 90°, while the zero-point calibration angle of the second axis is usually 180°.

[0247] Similarly, first, reset the turntable, i.e., control the output angle of the turntable to 0. Here, an error range can be preset, such as ±0.01°. The output angle within this error range is considered to have been reset. Use the output angle of the turntable as the first angle and send the corresponding X-axis adjustment calibration command to the tilt sensor to be calibrated, such as "#XP". After receiving the X-axis adjustment calibration command, the tilt sensor to be calibrated determines that the internal X-axis output angle is consistent with the turntable angle corresponding to the X-axis adjustment calibration command and returns the corresponding response status command, such as "OK, Load Primary X Axis Origin". Then, rotate the turntable to the preset second axis zero point calibration angle, such as 180°. Use the current rotation angle of the turntable as the new first angle and send the X-axis adjustment calibration command corresponding to the new first angle to the tilt sensor to be calibrated, i.e., the adjustment calibration command "#XN" corresponding to 180°. After receiving the X-axis adjustment calibration command, the tilt sensor to be calibrated can return the response status command "OK, CalcCurrent X Axis Origin". Then, the turntable rotates another second axis zero-point calibration angle, and the current rotation angle is used as the new first angle. The turntable then sends the X-axis calibration command corresponding to the first angle to the tilt sensor to be calibrated and receives the returned status command. This process of turning the turntable, sending X-axis calibration commands, and receiving status commands continues until the turntable completes one full rotation. Here, with the second axis zero-point calibration angle at 180°, the turntable resets after two rotations, completing one full rotation, and the X-axis zero-point calibration process can be stopped.

[0248] Similarly, if the status command returned by the tilt sensor to be calibrated indicates that the internal X-axis output angle of the tilt sensor to be calibrated is inconsistent with the current rotation angle of the turntable, then an X-axis correction command is sent to the tilt sensor to be calibrated so that the tilt sensor to be calibrated can correct the internal X-axis output angle according to the correction command.

[0249] In some embodiments of this application, calibrating the Y-axis zero point of a dual-axis sensor may include the following steps:

[0250] 1) Control the turntable to reset, take zero degrees as the first angle, send the Y-axis debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated;

[0251] 2) Control the turntable after reset to rotate to the preset second axis zero point calibration angle, take the current rotation angle of the turntable as the first angle, send the Y-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated.

[0252] 3) Continuously rotate the turntable according to the zero-point calibration angle of the second axis, take the current rotation angle of the turntable as the new first angle, send the Y-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated until the turntable completes one rotation.

[0253] Here, the specific method for calibrating the Y-axis zero point of the dual-axis sensor is similar to that for calibrating the X-axis zero point. Please refer to the aforementioned description of the X-axis zero point calibration method, which will not be repeated here.

[0254] In some embodiments of this application, calibrating the accuracy of a single-axis sensor may include the following steps:

[0255] 1) Control the turntable after reset to rotate to the preset first accuracy calibration angle, take the current rotation angle of the turntable as the first angle, send the debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated.

[0256] 2) Continuously rotate the turntable according to the first accuracy calibration angle, take the current rotation angle of the turntable as the new first angle, send the debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated until the turntable completes one rotation.

[0257] In the above steps, the turntable is first reset, i.e., the output angle of the turntable is controlled to 0. Here, an error range can be preset, such as ±0.01°. The output angle is considered to have been reset within this error range. Then, the turntable is rotated to the preset first accuracy calibration angle. The direction of the turntable rotation can be determined according to the corresponding debugging parameters, such as "clockwise rotation". The first accuracy calibration angle is the angle used for the accuracy calibration of a single-axis sensor, for example, it can be 15°. At this time, the current rotation angle of the turntable is the first accuracy calibration angle, i.e., the first angle. The debugging calibration command corresponding to the first angle is sent. For example, if the current rotation angle is 15°, the debugging calibration command corresponding to 15° is "#X+015". Then, the "#X+015" command is sent to the tilt sensor to be calibrated. After receiving the debugging calibration command, the tilt sensor to be calibrated determines that its internal output angle is consistent with the turntable angle corresponding to the debugging calibration command and returns the corresponding response status command. For example, if the internal output angle of the tilt sensor to be calibrated is 15° and the turntable angle corresponding to the debugging calibration command is 15°, and the two are consistent within the error range, then the tilt sensor to be calibrated returns the corresponding status command "OK".

[0258] Next, the turntable rotates another first accuracy calibration angle. For example, if the current rotation angle of the turntable is 30°, then 30° is taken as the new first angle, and the debugging calibration command corresponding to the new first angle is sent to the tilt sensor to be calibrated, that is, the debugging calibration command "#X+030" corresponding to 30°. After receiving the debugging calibration command "#X+030", the tilt sensor to be calibrated determines that the internal output angle is 30°, which is consistent with the current rotation angle of the turntable, and then returns the status command "OK".

[0259] Then, the turntable rotates another first accuracy calibration angle, and the current rotation angle is taken as the new first angle. The turntable then sends a calibration command corresponding to the first angle to the tilt sensor to be calibrated and receives the returned status command. This process of turning the turntable, sending calibration commands, and receiving status commands continues until the turntable completes one full rotation. Furthermore, multiple status commands returned by the tilt sensor to be calibrated can be saved for later processing.

[0260] In some embodiments of this application, if the status command returned by the tilt sensor to be calibrated indicates that the internal output angle of the tilt sensor to be calibrated is inconsistent with the current rotation angle of the turntable, then a correction command is sent to the tilt sensor to be calibrated so that the tilt sensor to be calibrated corrects its internal output angle according to the correction command.

[0261] In some embodiments of this application, calibrating the accuracy of a biaxial sensor may include the following steps:

[0262] 1) Control the turntable to rotate to the first angle, send the X-axis debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated, and calibrate the X-axis accuracy of the tilt sensor to be calibrated. The tilt sensor to be calibrated is set on the turntable at the position for debugging the X-axis. The calibration range of the X-axis accuracy is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated.

[0263] 2) Control the turntable to rotate to the first angle, send the Y-axis debugging and calibration command corresponding to the first angle to the tilt sensor to be calibrated, and calibrate the Y-axis accuracy of the tilt sensor to be calibrated. The tilt sensor to be calibrated is set on the turntable at the position for debugging the Y-axis. The calibration range of the Y-axis accuracy is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated.

[0264] Similarly, when the tilt sensor to be calibrated is a dual-axis sensor, the accuracy of the X-axis and Y-axis are calibrated separately. When calibrating the accuracy of the X-axis or Y-axis of the tilt sensor, the sensor needs to be set up at the corresponding position on the turntable for adjusting the X-axis or Y-axis. For example, when adjusting the accuracy of the X-axis, the tilt sensor is set up with the connecting cable direction perpendicular to the turntable's rotation surface; when adjusting the accuracy of the Y-axis, the tilt sensor is set up with the connecting cable direction parallel to the turntable's rotation surface.

[0265] In addition, the range of the tilt sensor to be calibrated is usually an angular range, used to describe the tilt measurement range of the tilt sensor, for example, the range can be -6° to +6°. The preset increment is an angular value determined according to the range of the tilt sensor to be calibrated, for example, 2°. The calibration range of the accuracy of the tilt sensor to be calibrated is the range obtained by adding the preset increment to the range of the tilt sensor to be calibrated, for example, -8° to +8°, ​​thereby improving the efficiency of accuracy calibration.

[0266] In some embodiments of this application, calibrating the X-axis accuracy of a biaxial sensor may include the following steps:

[0267] 1) Control the rotation of the turntable after reset so that the X-axis output angle of the tilt sensor to be calibrated is reset;

[0268] 2) Control the turntable to rotate at a preset second accuracy calibration angle, take the current rotation angle of the turntable as the first angle, send the X-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated.

[0269] 3) Continuously rotate the turntable according to the second accuracy calibration angle, take the current rotation angle of the turntable as the first angle, send the X-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated until the turntable completes the rotation within the calibration range of the X-axis accuracy.

[0270] Here, the second accuracy calibration angle differs from the aforementioned first accuracy calibration angle. For example, the first accuracy calibration angle is typically 15°, while the second accuracy calibration angle is typically 1°. The calibration range for the X-axis accuracy is the same as the calibration range for the tilt sensor accuracy to be calibrated, for example, -8° to +8°.

[0271] In the above steps, the turntable is first reset, i.e., the output angle of the turntable is controlled to 0. Here, an error range can be preset, such as ±0.01°. The output angle is considered to have been reset within this error range. Then, the turntable is rotated to a preset second accuracy calibration angle, for example, clockwise, and the second accuracy calibration angle is 1°. The current rotation angle of the turntable is taken as the first angle, and the X-axis adjustment calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, i.e., the adjustment calibration command "X+01" corresponding to 1°. After receiving the X-axis adjustment calibration command, the tilt sensor to be calibrated can return the response status command "OK". Then, the turntable rotates another second accuracy calibration angle, and the current rotation angle after the rotation is taken as the new first angle. The X-axis adjustment calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated again, and the returned status command is received. This process of turningtable rotation, sending X-axis adjustment calibration commands, and receiving return status commands continues until the turntable reaches the boundary value of the X-axis accuracy calibration range.

[0272] Here, the turntable rotates in one direction, such as clockwise, until it reaches the boundary value of the X-axis accuracy calibration range, such as +8°. Then, the turntable rotates in the opposite direction to a position with a negative second accuracy calibration angle. For example, the turntable rotates clockwise to +8° and then counterclockwise to -1°. Then, an X-axis adjustment calibration command is sent and a return status command is received. This process of counterclockwise rotation, sending X-axis adjustment calibration commands, and receiving return status commands continues until the turntable reaches another boundary value of the X-axis accuracy calibration range, such as -8°, at which point the X-axis accuracy calibration process can be stopped.

[0273] Similarly, if the status command returned by the tilt sensor to be calibrated indicates that the internal X-axis output angle of the tilt sensor to be calibrated is inconsistent with the current rotation angle of the turntable, then an X-axis correction command is sent to the tilt sensor to be calibrated so that the tilt sensor to be calibrated can correct the internal X-axis output angle according to the correction command.

[0274] In some embodiments of this application, calibrating the Y-axis accuracy of a dual-axis sensor may include the following steps:

[0275] 1) Control the rotation of the turntable after reset so that the Y-axis output angle of the tilt sensor to be calibrated is reset;

[0276] 2) Control the turntable to rotate at a preset second accuracy calibration angle, take the current rotation angle of the turntable as the first angle, send the Y-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated.

[0277] 3) Continuously rotate the turntable according to the second accuracy calibration angle, take the current rotation angle of the turntable as the first angle, send the Y-axis debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive the corresponding response status command from the tilt sensor to be calibrated until the turntable completes the rotation within the calibration range of the Y-axis accuracy.

[0278] The specific method for calibrating the Y-axis accuracy of a dual-axis sensor is similar to that for calibrating the X-axis accuracy. Please refer to the aforementioned description of the X-axis accuracy calibration method, which will not be repeated here.

[0279] In some embodiments of this application, the tilt sensor to be calibrated can also output a switching quantity, which is a variable with a value of 0 or 1. If the output angle of the tilt sensor to be calibrated exceeds a preset alarm threshold, the output switching quantity is 1; if the output angle of the tilt sensor to be calibrated is less than the preset alarm threshold, the output switching quantity is 0.

[0280] In some embodiments of this application, the switching quantity output by the tilt sensor to be calibrated can be calibrated by controlling the tilt sensor to be calibrated to enter the debugging mode according to the debugging parameters and debugging steps, and sending an alarm parameter setting command to the tilt sensor to be calibrated to calibrate the switching quantity output by the tilt sensor to be calibrated.

[0281] The method for controlling the tilt sensor to be calibrated to enter the debugging mode based on the debugging parameters and debugging steps can be referred to the aforementioned method for entering the debugging mode, and will not be repeated here.

[0282] In some embodiments of this application, the alarm parameter setting instructions may include, but are not limited to: restoring default alarm parameters, setting alarm mode, setting X-axis alarm angle, setting Y-axis alarm angle, setting X-axis filter parameters, setting Y-axis filter parameters, setting alarm delay, and setting restore delay.

[0283] Specifically, the "Restore Alarm Default Parameters" command restores the default alarm parameters of the tilt sensor to be calibrated. For example, the command is "*RSTALARM". The "Set Alarm Mode" command sets the alarm mode for the tilt sensor to be calibrated. Multiple alarm modes can be set as needed, each with a different alarm angle. For example, in alarm mode A, the alarm angle can be "X: 2, Y: 3". The command for setting the alarm mode is, for example, "*ALARMMODE=?", where "?" represents the alarm mode, such as "C". The alarm angle in the alarm mode can be a preset angle or a custom angle.

[0284] The X-axis alarm angle setting command is used to set the alarm angle on the X-axis and is only valid for custom alarm modes. The command is, for example, “*MRX????”, where “????” represents the X-axis angle to be set. The valid range for the X-axis angle can be set, for example, “0010—1500”. X-axis angles outside this range are invalid. A default value can also be set for the X-axis angle, for example, “0300”, which represents 3°.

[0285] The command to set the Y-axis alarm angle is used to set the alarm angle along the Y-axis and is only valid for custom alarm modes. For example, the command to set the Y-axis alarm angle is "*MRY????", where "????" represents the Y-axis angle to be set. The valid value range and default value for the Y-axis angle can also be set.

[0286] The command to set X-axis filter parameters is used to configure the filter parameters for the X-axis, for example, "*FTX?", where "?" represents a definable filter parameter for the X-axis. The definable filter parameter can be set to a range of values, such as "0-9". A larger value results in lower sensitivity of the tilt sensor being calibrated, but more stable data. The definable filter parameter can also be set to a default value, such as "0".

[0287] The command to set Y-axis filter parameters is used to configure the filter parameters for the Y-axis, for example, "*FTY?", where "?" represents a definable filter parameter for the Y-axis. The definable Y-axis filter parameters can also have their value range and default value set.

[0288] The alarm delay setting command is used to set the alarm delay time for the X and Y axes, for example, "*TIM????", where "????" represents the alarm delay time parameter. You can set a magnification factor for the alarm delay time and the actual alarm delay time, for example, 20 times. Therefore, if the alarm delay time parameter is set to 0030, the actual alarm delay time will be 1.5 seconds. You can also set a valid value range for the alarm delay time parameter, for example, 0000-9999.

[0289] The recovery delay command is used to set the recovery delay time for the X and Y axes, for example, "*DTIM????", where "????" represents the recovery delay time parameter. The recovery delay time can also be set as a magnification factor and a valid value range relative to the actual recovery delay time.

[0290] Step S105: Based on the debugging parameters and debugging steps, control the tilt sensor to be calibrated to enter the working mode, and control the turntable to rotate to the second angle. Obtain the output angle data of the tilt sensor to be calibrated corresponding to the second angle. Perform accuracy verification based on the second angle and the output angle data to determine the accuracy of the tilt sensor to be calibrated.

[0291] In some embodiments of this application, the tilt sensor to be calibrated can be powered off according to the debugging parameters and debugging steps, and then powered on again after a preset waiting time, so that the tilt sensor to be calibrated can enter the working mode. Here, the preset waiting time can be determined according to actual needs, for example, 2 seconds.

[0292] After the tilt sensor to be calibrated enters the working mode, it outputs a corresponding angle as the turntable rotates. The accuracy of the tilt sensor to be calibrated is determined by detecting the difference between the rotation angle of the turntable and the output angle of the tilt sensor to be calibrated.

[0293] The accuracy verification process for single-axis and dual-axis sensors is explained below.

[0294] In some embodiments of this application, verifying the accuracy of a single-axis sensor may include the following steps:

[0295] 1) Control the turntable after reset to rotate to the preset first accuracy test angle, take the current rotation angle of the turntable as the second angle, obtain the output angle data of the tilt sensor to be calibrated and the second angle, and record the data pair composed of the second angle and the output angle data;

[0296] 2) Continuously rotate the turntable according to the first accuracy test angle, take the current rotation angle of the turntable as the new second angle, obtain the output angle data of the tilt sensor to be calibrated and the second angle, and record the data pair composed of the second angle and the output angle data until the turntable completes one rotation;

[0297] 3) Verify the accuracy of the tilt sensor to be calibrated by performing accuracy checks on multiple data pairs.

[0298] In the above steps, the turntable is first reset, then rotated to a preset first accuracy test angle. This first accuracy test angle is used for the accuracy test of a single-axis sensor, and can be, for example, 30°. At this point, the current rotation angle of the turntable is the first accuracy test angle, also known as the second angle. Next, the output angle data of the tilt sensor to be calibrated is acquired when the turntable is at the second angle, for example, 29.8°. The angle data output by the tilt sensor to be calibrated is combined with the second angle to form a data pair, which is recorded as the first set of data for the accuracy test. Then, the turntable is controlled to rotate another first accuracy test angle, and the current rotation angle of the turntable is used as the new second angle. The tilt sensor to be calibrated is then acquired at the new second angle. The output angle data at the time is, for example, 60.2°. Similarly, the data pair obtained by the new second angle and the corresponding output angle data is recorded, for example (60°, 60.2°). The new data pair is used as the second set of data. The above steps are repeated until the turntable completes one rotation, thereby obtaining multiple sets of data pairs. Finally, the accuracy of the tilt sensor to be calibrated is calculated based on the multiple sets of data pairs using a preset accuracy test method. Here, accuracy can be understood as the error of the tilt sensor to be calibrated. The accuracy of the tilt sensor to be calibrated is compared with a preset test threshold, for example, 0.1°. If the accuracy exceeds the preset test threshold, the debugging and calibration result of the tilt sensor to be calibrated is determined to be unqualified; otherwise, it is determined to be qualified.

[0299] It is understood that there can be various accuracy testing methods, such as calculating the average value of the difference between the centering angles of the data, calculating the maximum or minimum value of the difference between the centering angles of the data, etc. The embodiments of this application do not impose specific limitations on the accuracy testing methods.

[0300] In some embodiments of this application, verifying the accuracy of a biaxial sensor may include the following steps:

[0301] 1) Control the turntable to rotate to the second angle, obtain the X-axis output angle data of the tilt sensor to be calibrated and the second angle, perform X-axis accuracy verification based on the second angle and the X-axis output angle data, and determine the X-axis accuracy of the tilt sensor to be calibrated. The tilt sensor to be calibrated is set on the turntable at the position for adjusting the X-axis. The verification range of the X-axis accuracy is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated.

[0302] 2) Control the turntable to rotate to the second angle, obtain the Y-axis output angle data of the tilt sensor to be calibrated and the second angle, and perform Y-axis accuracy verification based on the second angle and the Y-axis output angle data to determine the Y-axis accuracy of the tilt sensor to be calibrated. The tilt sensor to be calibrated is set on the turntable at the position for adjusting the Y-axis. The verification range of the Y-axis accuracy is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated.

[0303] Similarly, when verifying the accuracy of a dual-axis sensor, the accuracy of both the X-axis and Y-axis is verified separately. When verifying the accuracy of the X-axis or Y-axis of the tilt sensor to be calibrated, the sensor needs to be positioned on the turntable at the corresponding location for adjusting the X-axis or Y-axis. Furthermore, the verification range for the accuracy of the tilt sensor to be calibrated is also the range obtained by adding a preset increment to the sensor's measurement range.

[0304] In some embodiments of this application, verifying the X-axis accuracy of a dual-axis sensor may include the following steps:

[0305] 1) Control the turntable after reset to rotate to the preset second accuracy test angle, take the current rotation angle of the turntable as the second angle, obtain the X-axis output angle data of the tilt sensor to be calibrated and the second angle, and record the data pair composed of the second angle and the X-axis output angle data;

[0306] 2) Continuously rotate the turntable according to the second accuracy test angle, take the current rotation angle of the turntable as the new second angle, obtain the X-axis output angle data of the tilt sensor to be calibrated and the second angle, and record the data pair composed of the second angle and the X-axis output angle data until the turntable has rotated within the X-axis accuracy test range.

[0307] 3) Perform X-axis accuracy verification based on multiple data pairs to determine the X-axis accuracy of the tilt sensor to be calibrated.

[0308] Here, the second accuracy test angle differs from the aforementioned first accuracy test angle. For example, the first accuracy test angle is typically 30°, while the second accuracy test angle is typically 1°. The test range for X-axis accuracy is the same as the test range for the accuracy of the tilt sensor to be calibrated, for example, -8° to +8°.

[0309] In the above steps, the turntable is first reset, and then rotated to a preset second accuracy test angle. The second accuracy test angle is used for the accuracy test of the dual-axis sensor, for example, it can be 1°. At this time, the current rotation angle of the turntable is the second accuracy test angle, that is, the second angle. Then, the X-axis output angle data of the tilt sensor to be calibrated is obtained when the turntable is at the second angle. The X-axis angle data output by the tilt sensor to be calibrated is combined with the second angle to form a data pair and recorded as the first set of data for X-axis accuracy test. Next, the turntable is controlled to rotate by another second accuracy test angle, and the current rotation angle of the turntable is taken as the new second angle. The X-axis output angle data of the tilt sensor to be calibrated at the new second angle is obtained again, and the data pair of the new second angle and the corresponding X-axis output angle data is recorded. The new data pairs obtained are used as the second set of data. The above steps are repeated until the turntable rotates to the boundary value of the accuracy test range of the tilt sensor to be calibrated, such as +8°. Then, the rotation is continued in the opposite direction until another boundary value of the accuracy test range of the tilt sensor to be calibrated, such as -8°, is reached. Data pairs are continuously acquired during the reverse rotation, resulting in multiple sets of data pairs. Finally, the X-axis accuracy of the tilt sensor to be calibrated is calculated based on the multiple sets of data pairs using a preset accuracy test method. Here, the X-axis accuracy can be understood as the X-axis error of the tilt sensor to be calibrated. The X-axis accuracy of the tilt sensor to be calibrated is compared with a preset test threshold, for example, 0.2°. If the accuracy exceeds the preset test threshold, the X-axis calibration result of the tilt sensor to be calibrated is deemed unqualified; otherwise, it is deemed qualified.

[0310] In some embodiments of this application, verifying the Y-axis accuracy of a dual-axis sensor may include the following steps:

[0311] 1) Control the turntable after reset to rotate to the preset second accuracy test angle, take the current rotation angle of the turntable as the second angle, obtain the Y-axis output angle data of the tilt sensor to be calibrated and the second angle, and record the data pair composed of the second angle and the Y-axis output angle data;

[0312] 2) Continuously rotate the turntable according to the second accuracy test angle, take the current rotation angle of the turntable as the new second angle, obtain the Y-axis output angle data of the tilt sensor to be calibrated and the second angle, and record the data pair composed of the second angle and the Y-axis output angle data until the turntable completes the rotation within the Y-axis accuracy test range;

[0313] 3) Perform Y-axis accuracy verification based on multiple data pairs to determine the Y-axis accuracy of the tilt sensor to be calibrated.

[0314] The specific method for verifying the Y-axis accuracy of a dual-axis sensor is similar to that for verifying the X-axis accuracy. Please refer to the aforementioned description of the method for verifying the X-axis accuracy, which will not be repeated here.

[0315] In some embodiments of this application, verifying the switching quantity output by the tilt sensor to be calibrated may include the following steps:

[0316] 1) Based on the debugging parameters and debugging steps, control the tilt sensor to be calibrated to enter the working mode, and control the turntable after reset to rotate in the preset direction, which includes the positive X-axis direction, the negative X-axis direction, the positive Y-axis direction, and the negative Y-axis direction;

[0317] 2) During the rotation of the turntable, acquire the current output angle data and the corresponding first switching quantity of the tilt sensor to be calibrated;

[0318] 3) Based on the current output angle data and the preset alarm angle threshold, determine the second switching quantity of the tilt sensor to be calibrated;

[0319] 4) Determine the switching accuracy of the tilt sensor to be calibrated based on the first and second switching quantities.

[0320] Here, the specific method for controlling the tilt sensor to be calibrated to enter the working mode based on the debugging parameters and debugging steps can be referred to the aforementioned method, and will not be repeated here.

[0321] In the above steps, after entering the working mode, the turntable is first reset, and then the tilt sensor to be calibrated is reset, for example by pressing the zeroing button on the tilt sensor; after resetting, the turntable is rotated in the positive X-axis direction, negative X-axis direction, positive Y-axis direction, and negative Y-axis direction respectively; during the rotation of the turntable, the current output angle data of the tilt sensor to be calibrated and the corresponding first switch quantity are continuously acquired, where the first switch quantity is the actual switch quantity data output by the tilt sensor to be calibrated; then, the second switch quantity is calculated based on the current output angle data of the tilt sensor to be calibrated and the preset alarm angle threshold. For example, the second switch value is 0.1°. The second switch value is the switch value that should be output when the alarm parameters of the tilt sensor to be calibrated are set accurately. For example, when the current X-axis output angle data of the tilt sensor to be calibrated is greater than or equal to the sum of the X-axis alarm angle and the alarm angle threshold, the second switch value is 1; when the current X-axis output angle data of the tilt sensor to be calibrated is less than or equal to the difference between the X-axis alarm angle and the alarm angle threshold, the second switch value is 0. Finally, the values ​​of the first switch value and the second switch value are compared. If the two are always consistent, it means that the switch value accuracy of the tilt sensor to be calibrated is high; otherwise, it means that the switch value accuracy is low.

[0322] In some embodiments of this application, the tilt sensor to be calibrated can also output analog signals. Specifically, the acquisition type and acquisition range of the analog signal of the tilt sensor to be calibrated can be determined based on the debugging parameters and debugging steps, and analog output data can be obtained. Here, the acquisition type of the analog signal of the tilt sensor to be calibrated can include voltage or current, and the acquisition range can be a voltage range or a current range, such as -1V to +1V, 0mA to 20mA, etc.

[0323] In other embodiments of this application, a structural composition of a tilt sensor calibration and adjustment system is also provided, such as... Figure 2 As shown, the system includes control equipment, a remote server, a tilt sensor communication control module, a tilt sensor communication module, a serial port server, a main control module, an analog quantity control module, an analog quantity acquisition module, a turntable control module, a turntable monitoring module, and a high-precision turntable.

[0324] Here, the control equipment runs system control software that implements the debugging and calibration method of the tilt sensor. The system control software is used to schedule all hardware modules in the entire debugging and calibration system, dynamically adjust the operating parameters of each hardware module, control the behavior of each hardware module, and monitor the operating status of each hardware module at all times.

[0325] The remote server is used to store key data output by the tilt sensor, calculation results of tilt sensor indicators, and judgment data of tilt sensor debugging results saved by the debugging and calibration system during the debugging and calibration process. In addition, the remote server stores debugging data files and tilt sensor output data files related to each debugging and calibration process when the debugging and calibration process is completed.

[0326] The tilt sensor communication mode control module is used to control the communication mode of the tilt sensor communication module. The system control software can adjust the data output of this module through the network interface, thereby switching the communication mode between the tilt sensor communication module and the tilt sensor.

[0327] One end of the tilt sensor communication module connects directly to the tilt sensor and is compatible with four common communication interfaces: TTL, RS232, RS485, and CAN bus. The specific communication method used when communicating with the tilt sensor is controlled by the tilt sensor communication method control module. The other end of the tilt sensor communication module connects to a serial port server. This module converts the data sent by the tilt sensor into serial port binary data and forwards it to the serial port server. Additionally, the tilt sensor communication module also converts the data sent by the serial port server into a data format that the tilt sensor can correctly receive and sends the converted data to the tilt sensor.

[0328] The serial port server is a multi-channel data conversion module used to package and convert the data sent by the tilt sensor communication module into corresponding network data, which is then sent to the system control software through the network interface. It is also used to convert the network data sent by the system control software into data that the tilt sensor communication module can parse, and then forward it to the tilt sensor communication module.

[0329] The main control module controls the power supply of other hardware modules and can also acquire the switching signals output by the tilt sensor and send them to the system control software. Additionally, this module can communicate with the analog signal acquisition module via a more interference-resistant RS485 communication interface on one end, packaging the received analog data into network data and sending it to the system control software. On the other end, it receives network data sent by the system control software, converts the network data into RS485 signal data, and then sends it to the analog signal acquisition module.

[0330] The analog quantity control module is connected to the analog quantity acquisition module and is used to control or switch the analog quantity acquisition type of the analog quantity acquisition module. This module can also receive network data sent by the system control software and switch the output of the module according to the network data.

[0331] The analog signal acquisition module is a multi-channel module that can switch the type of analog signal to be acquired based on the output of the analog signal control module. Furthermore, the analog signal acquisition range of this module can be adjusted according to the data sent by the main control module. The analog signal acquisition range supported by this module is shown in Table 10 below:

[0332] Table 10

[0333] Voltage -10V~+10V Voltage 1V~5V Voltage -5V~+5V Voltage -2.5V to +2.5V Voltage -1V~+1V Voltage 0V~2.5V Voltage -500mV~+500mV Current -20mA~20mA Voltage -150mV~+150mV Current 0mA~20mA Voltage 0V~10V Current 4mA~20mA Voltage 0V~5V Current 0mA~22mA

[0334] The turntable control module is used to drive the high-precision turntable. The system control software can communicate with the module via the RS232 communication interface to control parameters such as the high-precision turntable's running direction (clockwise or counterclockwise), running speed (the closer the high-precision turntable's rotation angle is to the target angle, the lower the running speed), and motion trajectory.

[0335] The turntable monitoring module is used to periodically read the current rotation angle of the high-precision turntable and interact with the system control software through the RS232 communication interface. Based on the rotation angle of the high-precision turntable sent by the monitoring module and the target angle cached in the system control software, the system control software dynamically and in real time adjusts the operating parameters of the high-precision turntable, such as the running direction and running speed, to achieve precise control of the high-precision turntable in the optimal way.

[0336] High-precision turntables are used to support the commissioning and calibration process of tilt sensors.

[0337] In other embodiments of this application, a flowchart of another method for debugging and calibrating a tilt sensor is also provided, such as... Figure 3 As shown, the method includes the following specific steps:

[0338] 1) Software startup: When the system control software for implementing the tilt sensor debugging and calibration method starts up, it checks the connection between the control device deploying the system control software and the remote server;

[0339] 2) User Login: After the user enters the correct username and password, they can log in to the system control software;

[0340] 3) Software initialization: After a user successfully logs in, the system control software enters the initialization process. During this process, the system control software configures different operation permissions according to the user's identity information. In addition, the system control software reads the user's configuration file, parameter information, etc. to initialize multiple functional modules.

[0341] 4) Connecting System Modules: The system control software connects to the main modules of the system, such as the main control module, serial server, analog communication modules, digital communication modules, and turntable control modules, based on the user's configuration information and related operations.

[0342] 5) Enter product number: After all the main modules are connected normally, the user can enter the product number of multiple sensor products to be debugged into the system control software by scanning the QR code or manually entering it through the tooling configuration function of the system control software.

[0343] 6) Loading the Product Debugging Configuration File: The product debugging configuration file contains not only detailed parameters related to the sensor product's data parsing method and parameter information for each functional module, but also various debugging steps. The system control software needs to strictly follow these steps to complete the automatic debugging process of the sensor product. Therefore, before starting automatic debugging, the correct product debugging configuration file needs to be selected and loaded into the system control software. Generally, to avoid loading errors, the file name of the product debugging configuration file is the same as the sensor product's model name.

[0344] 7) Configure the parameters of each module: After loading and parsing the product debugging configuration file, the system control software will configure the parameters of each functional module that will be used in the automatic debugging process according to the configuration information stored therein.

[0345] 8) Start Automatic Debugging: When the user clicks the "Automatic Debugging" button, the system control software begins automatic debugging;

[0346] 9) Automatic product debugging: Based on the debugging steps in the product debugging configuration file, the system control software performs a series of related controls on the entire debugging system and sensor products, including a series of command sending and receiving, parameter configuration, etc., and sends debugging and calibration related instructions to the sensor products when appropriate while controlling the operation of the high-precision turntable.

[0347] 10) Cache relevant data: After completing the relevant operations for debugging and calibration of the sensor product, the system control software controls the operation of the high-precision turntable and performs a series of data acquisitions and caches relevant data information of the sensor product according to the relevant debugging steps and parameters in the product debugging configuration file.

[0348] 11) Calculation of debugging index data: Based on the relevant parameters configured in the product debugging configuration file, such as the type of debugging index data, the calculation method of debugging index data, and the verification standard of debugging data index, the system control software will organize and calculate the cached relevant data and give the final judgment result, so that users can monitor the debugging status of the sensor product in real time.

[0349] 12) Data upload to remote server: Each time the system control software performs the debugging index calculation step, it generates a data record for each debugged sensor product and uploads the data to the remote server. The data includes the current sensor product's order information, basic debugging information, the collected data of the product after processing, and the calculated actual debugging results of the product, etc.

[0350] 13) Automatic debugging process ends: When the system control software has completed all debugging steps according to the relevant parameters in the product debugging configuration file, the automatic debugging process ends.

[0351] 14) Generate debugging process file: After the system control software completes the last debugging step of the product debugging configuration file, it generates the corresponding debugging process file. The debugging process file contains all debugging data and all output data of the sensor products during the current debugging process.

[0352] 15) Upload debugging files to the remote server: The system control software uploads the generated debugging process files to the relevant folder on the remote server for easy tracing and retrieval in the future;

[0353] 16) Automatic debugging completed: After the system control software completes the upload of the debugging process files, it will provide status prompts for the operations related to the remote server during the entire automatic debugging process through a status dialog box. If any errors related to the remote server occur during the automatic debugging process, the user can perform the corresponding retry operation. After the user confirms that there are no errors, the system control software ends the current automatic debugging process and resets the relevant data, waiting for the start of the next automatic debugging process.

[0354] In other embodiments of this application, a user operation flow for a tilt sensor debugging and calibration system is also provided, such as... Figure 4 As shown, the method includes the following specific steps:

[0355] 1) Power on the system: Turn on the power button on the automatic debugging system panel to power on the automatic debugging system;

[0356] 2) Open the software: Open the system control software and perform the user login operation;

[0357] 3) Connecting system modules: Click the relevant "Connect" button on the main interface of the system control software to establish a connection between the system control software and the functional modules in the automatic debugging system;

[0358] 4) Install the product onto the turntable: Following the product debugging instructions, install the sensor product to be debugged onto the high-precision turntable and connect all communication signal lines;

[0359] 5) Enter product number: In the system control software, enter the product number of the sensor product to be debugged into the system control software by scanning the QR code or manually entering it;

[0360] 6) Load the product debugging configuration file: Load the product debugging configuration file corresponding to the sensor product to be debugged in the system control software;

[0361] 7) Start Automatic Debugging: Click the "Automatic Debugging" button to start automatic debugging;

[0362] 8) Debugging process complete: Wait for the debugging process to finish;

[0363] 9) Check relevant data: Check whether the relevant debugging results data is correct, and whether the corresponding debugging data and process files have been correctly uploaded to the remote server;

[0364] 10) Remove the completed product: Remove the sensor product that has completed the debugging and calibration process from the high-precision turntable;

[0365] 11) End debugging and shut down the system: Close the system control software and turn off the power to the automatic debugging system.

[0366] In some embodiments of this application, a tilt sensor debugging and calibration device is also provided. The device includes a memory for storing computer program instructions and a processor for executing the program instructions. When the computer program instructions are executed by the processor, the device is triggered to execute the aforementioned tilt sensor debugging and calibration method.

[0367] In summary, the solution provided in this application can acquire the identification information of the tilt sensor to be calibrated mounted on the turntable, obtain the corresponding debugging configuration file based on the identification information, parse the debugging configuration file to obtain the debugging parameters and debugging steps required for calibrating the tilt sensor, control the tilt sensor to enter the debugging mode based on the debugging parameters and debugging steps, control the turntable to rotate to a first angle, send the debugging and calibration command corresponding to the first angle to the tilt sensor to calibrate, calibrate the axis zero point and accuracy of the tilt sensor, control the tilt sensor to enter the working mode based on the debugging parameters and debugging steps, control the turntable to rotate to a second angle, acquire the output angle data of the tilt sensor corresponding to the second angle, and perform accuracy verification based on the second angle and output angle data to determine the accuracy of the tilt sensor. This allows for automated debugging and calibration of various types of tilt sensors without manual intervention, improving the efficiency of tilt sensor debugging and calibration.

[0368] It should be noted that this application can be implemented in software and / or a combination of software and hardware, for example, using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In one embodiment, the software program of this application can be executed by a processor to implement the steps or functions described above. Similarly, the software program of this application (including related data structures) can be stored in a computer-readable recording medium, such as RAM memory, magnetic or optical drives, floppy disks, and similar devices. Furthermore, some steps or functions of this application can be implemented in hardware, for example, as circuitry that cooperates with a processor to perform the various steps or functions.

[0369] In a typical configuration of this application, both the terminal and the network device include one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0370] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0371] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include non-transitory computer-readable media, such as modulated data signals and carrier waves.

[0372] Furthermore, a portion of this application can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to this application through the operation of the computer. The program instructions invoking the methods of this application may be stored in a fixed or removable recording medium, and / or transmitted via a data stream in a broadcast or other signal carrying medium, and / or stored in the working memory of a computer device operating according to the program instructions. Here, one embodiment of this application includes a device comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein, when the computer program instructions are executed by the processor, the device is triggered to run methods and / or technical solutions based on the foregoing embodiments of this application.

[0373] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in the apparatus claims may also be implemented by a single unit or device in software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

Claims

1. A method for debugging and calibrating a tilt sensor, characterized in that, The method includes: Obtain the identification information of the tilt sensor to be calibrated, which is set on the turntable; Based on the identification information, obtain the debugging configuration file corresponding to the tilt sensor to be calibrated; The debugging configuration file is parsed to obtain the debugging parameters and debugging steps required for calibrating the tilt sensor to be calibrated. The debugging steps describe the specific steps used in the debugging and calibration process. By combining and sorting different debugging steps, different functions are completed in the tilt sensor debugging and calibration process, including tilt sensor communication configuration, delay waiting, turntable zeroing, turntable rotation, data saving, command sending and receiving, data monitoring, program pause, tilt sensor restart, communication channel switching, clearing zero-finding angle, data receiving mode, index data calculation, parameter backup, and tilt sensor communication configuration switching. Based on the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the debugging mode, and the turntable is controlled to rotate to a first angle. A debugging calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated to calibrate the axis zero point and accuracy of the tilt sensor. Specifically, controlling the turntable to rotate to the first angle and sending the debugging calibration command corresponding to the first angle to calibrate the axis zero point of the tilt sensor includes: controlling the turntable to reset, taking zero degrees as the first angle, and sending the debugging calibration command to the tilt sensor to be calibrated to calibrate the axis zero point. Send an X-axis calibration command corresponding to the first angle and receive a corresponding response status command from the tilt sensor to be calibrated, wherein the tilt sensor to be calibrated is a dual-axis sensor and is positioned on the turntable for X-axis calibration; control the reset turntable to rotate to a preset second-axis zero-point calibration angle, take the current rotation angle of the turntable as the first angle, send the X-axis calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receive a corresponding response status command from the tilt sensor to be calibrated; continuously rotate the turntable according to the second-axis zero-point calibration angle, so that the X-axis calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and receive a corresponding response status command from the tilt sensor to be calibrated; continuously rotate the turntable according to the second-axis zero-point calibration angle, so that the X-axis calibration command is sent to the tilt sensor to be calibrated, and the X-axis calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and receive a corresponding response status command from the tilt sensor to be calibrated. The current rotation angle of the turntable is used as a new first angle. An X-axis calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and a corresponding response status command is received from the tilt sensor to be calibrated, until the turntable completes one revolution. The turntable is then controlled to reset, setting zero degrees as the first angle. A Y-axis calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and a corresponding response status command is received from the tilt sensor to be calibrated. The tilt sensor to be calibrated is a dual-axis sensor and is positioned on the turntable for Y-axis calibration. The reset is then controlled. The turntable is then rotated to a preset second axis zero-point calibration angle. The current rotation angle of the turntable is taken as the first angle, and a Y-axis adjustment calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated. The turntable is then received in response to the tilt sensor. The turntable is then rotated continuously according to the second axis zero-point calibration angle. The current rotation angle of the turntable is taken as the new first angle, and a Y-axis adjustment calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated. The turntable is then received in response to the tilt sensor. The rotation continues until the turntable completes one revolution. According to the debugging parameters and the debugging steps, the tilt sensor to be calibrated is controlled to enter the working mode, and the turntable is controlled to rotate to the second angle. The output angle data of the tilt sensor to be calibrated and the second angle are obtained. The accuracy is checked according to the second angle and the output angle data to determine the accuracy of the tilt sensor to be calibrated. The debugging configuration file describes the contents of the tilt sensor debugging guide in a configurable manner. The debugging step information corresponds to the relevant contents in the tilt sensor debugging guide. The tilt sensor debugging guide is a debugging and calibration document pre-established for each type of tilt sensor to be calibrated. The document records the methods and relevant parameters for debugging and calibrating the tilt sensor.

2. The method according to claim 1, characterized in that, Controlling the turntable to rotate to a first angle, sending a calibration command corresponding to the first angle to the tilt sensor to be calibrated, and calibrating the axis zero point of the tilt sensor to be calibrated, including: The turntable is controlled to reset, zero degrees is taken as the first angle, and a debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated, wherein the tilt sensor to be calibrated is a single-axis sensor. After the control reset, the turntable rotates to the preset first axis zero point calibration angle, takes the current rotation angle of the turntable as the first angle, sends the debugging calibration command corresponding to the first angle to the tilt sensor to be calibrated, and receives the corresponding response status command from the tilt sensor to be calibrated. The turntable is continuously rotated according to the zero-point calibration angle of the first axis. The current rotation angle of the turntable is taken as the new first angle. The debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated, until the turntable completes one rotation.

3. The method according to claim 1, characterized in that, Controlling the turntable to rotate to a first angle, sending a calibration command corresponding to the first angle to the tilt sensor to be calibrated, and calibrating the accuracy of the tilt sensor to be calibrated, including: After the control reset, the turntable rotates to a preset first accuracy calibration angle. The current rotation angle of the turntable is taken as the first angle. The debugging calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated. The tilt sensor to be calibrated is a single-axis sensor. The turntable is continuously rotated according to the first accuracy calibration angle. The current rotation angle of the turntable is taken as the new first angle. The debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated, until the turntable completes one rotation.

4. The method according to claim 1, characterized in that, Controlling the turntable to rotate to a first angle, sending a calibration command corresponding to the first angle to the tilt sensor to be calibrated, and calibrating the accuracy of the tilt sensor to be calibrated, including: The rotation of the turntable after the reset is controlled to reset the X-axis output angle of the tilt sensor to be calibrated. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable for adjusting the X-axis position. The calibration range of the X-axis accuracy is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated. The turntable is controlled to rotate at a preset second accuracy calibration angle. The current rotation angle of the turntable is used as the first angle. The X-axis debugging calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated. The turntable is continuously rotated according to the second accuracy calibration angle. The current rotation angle of the turntable is used as the first angle. An X-axis adjustment calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and corresponding response status commands are received from the tilt sensor to be calibrated, until the turntable completes rotation within the calibration range of the X-axis accuracy. The rotation of the turntable after the reset is controlled to reset the Y-axis output angle of the tilt sensor to be calibrated. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable for adjusting the Y-axis position. The calibration range of the Y-axis accuracy is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated. The turntable is controlled to rotate at a preset second accuracy calibration angle. The current rotation angle of the turntable is used as the first angle. The Y-axis debugging and calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated. The turntable is continuously rotated according to the second accuracy calibration angle. The current rotation angle of the turntable is taken as the first angle. The Y-axis debugging calibration command corresponding to the first angle is sent to the tilt sensor to be calibrated, and the corresponding response status command is received from the tilt sensor to be calibrated, until the turntable completes the rotation within the calibration range of the Y-axis accuracy.

5. The method according to claim 1, characterized in that, The tilt sensor to be calibrated is also used for switch output, and the method further includes: Based on the debugging parameters and debugging steps, the tilt sensor to be calibrated is controlled to enter the debugging mode, and an alarm parameter setting command is sent to the tilt sensor to be calibrated to calibrate the switch output of the tilt sensor to be calibrated. The alarm parameter setting command includes at least one of the following: restore alarm default parameter command, set alarm mode command, set X-axis alarm angle command, set Y-axis alarm angle command, set X-axis filter parameter command, set Y-axis filter parameter command, set alarm delay command, and set restore delay command.

6. The method according to claim 1, characterized in that, Controlling the turntable to rotate to a second angle, acquiring the output angle data of the tilt sensor to be calibrated corresponding to the second angle, and performing an accuracy check based on the second angle and the output angle data to determine the accuracy of the tilt sensor to be calibrated, including: After the control reset, the turntable is rotated to a preset first accuracy test angle. The current rotation angle of the turntable is taken as the second angle. The output angle data of the tilt sensor to be calibrated and the second angle are obtained. The data pair composed of the second angle and the output angle data is recorded. The tilt sensor to be calibrated is a single-axis sensor. The turntable is continuously rotated according to the first accuracy test angle. The current rotation angle of the turntable is taken as the new second angle. The output angle data of the tilt sensor to be calibrated and the second angle are obtained. The data pair composed of the second angle and the output angle data is recorded until the turntable completes one rotation. The accuracy of the tilt sensor to be calibrated is determined by performing an accuracy test on multiple data pairs.

7. The method according to claim 1, characterized in that, Controlling the turntable to rotate to a second angle, acquiring the output angle data of the tilt sensor to be calibrated corresponding to the second angle, and performing an accuracy check based on the second angle and the output angle data to determine the accuracy of the tilt sensor to be calibrated, including: After controlling the reset, the turntable rotates to a preset second accuracy test angle. The current rotation angle of the turntable is taken as the second angle. The X-axis output angle data corresponding to the tilt sensor to be calibrated and the second angle is obtained. The data pair consisting of the second angle and the X-axis output angle data is recorded. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable for adjusting the X-axis. The X-axis accuracy test range is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated. The turntable is continuously rotated according to the second accuracy test angle. The current rotation angle of the turntable is taken as the new second angle. The X-axis output angle data corresponding to the tilt sensor to be calibrated and the second angle is obtained. The data pair composed of the second angle and the X-axis output angle data is recorded until the turntable completes the rotation within the X-axis accuracy test range. The X-axis accuracy of the tilt sensor to be calibrated is determined by performing an X-axis accuracy test on multiple data pairs; and After controlling the reset, the turntable rotates to a preset second accuracy test angle. The current rotation angle of the turntable is taken as the second angle. The Y-axis output angle data corresponding to the tilt sensor to be calibrated and the second angle is obtained. The data pair consisting of the second angle and the Y-axis output angle data is recorded. The tilt sensor to be calibrated is a dual-axis sensor and is set on the turntable for adjusting the Y-axis position. The test range of the Y-axis accuracy is the range obtained by adding a preset increment to the range of the tilt sensor to be calibrated. The turntable is continuously rotated according to the second accuracy test angle. The current rotation angle of the turntable is taken as the new second angle. The Y-axis output angle data corresponding to the tilt sensor to be calibrated and the second angle is obtained. The data pair consisting of the second angle and the Y-axis output angle data is recorded until the turntable completes the rotation within the Y-axis accuracy test range. The Y-axis accuracy of the tilt sensor to be calibrated is determined by performing a Y-axis accuracy test on multiple data pairs.

8. The method according to claim 1, characterized in that, The tilt sensor to be calibrated is also used for switch output, and the method further includes: According to the debugging parameters and the debugging steps, the tilt sensor to be calibrated is controlled to enter the working mode, and the turntable after reset is controlled to rotate in a preset direction, wherein the direction includes the positive X-axis direction, the negative X-axis direction, the positive Y-axis direction, and the negative Y-axis direction; During the rotation of the turntable, the current output angle data and the corresponding first switching quantity of the tilt sensor to be calibrated are acquired; Based on the current output angle data and the preset alarm angle threshold, determine the second switching quantity of the tilt sensor to be calibrated; The switching accuracy of the tilt sensor to be calibrated is determined based on the first switching quantity and the second switching quantity.

9. The method according to claim 1, characterized in that, The tilt sensor to be calibrated is also used for analog output, and the method further includes: Based on the debugging parameters and debugging steps, determine the type and range of analog signal acquisition for the tilt sensor to be calibrated, and obtain the analog output data.

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