A torque sensor automatic calibration system and method

Abstract

The present invention discloses a torque sensor automatic calibration system and method, which relates to the technical field of torque sensor calibration. The method includes: connecting the torque sensor to a communication mainboard; simulating different load conditions to obtain the calibration parameters of the torque sensor; writing the calibration parameters of the torque sensor into the torque sensor to complete the calibration of the torque sensor; detecting the output of the torque sensor, and issuing an alarm message when it is detected that the output of the torque sensor is different from the calibration output. The present invention improves the accuracy of torque sensor calibration by connecting the torque sensor to a communication mainboard, simulating different load conditions to calibrate the torque sensor, and calibrating the torque sensor according to multiple load conditions; based on the calibration method, detecting whether the torque sensor is abnormal, timely discovering the torque sensor in an abnormal state, and improving the quality of the torque sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of torque sensor calibration, and in particular to a torque sensor automatic calibration system and method. Background Art

[0002] Torque sensors are precision instruments that are widely used in mechanical engineering, manufacturing, and the automotive industry to measure the torque of rotating systems. The measurement accuracy of a torque sensor is an important indicator of its performance, which directly affects the optimization and safe operation of the system in which the torque sensor is located. Therefore, it is usually necessary to calibrate the torque sensor.

[0003] The existing torque sensor calibration method is usually carried out in the development stage of the torque sensor, and the calibration operation is performed by using the manufacturer's development kit, and there is a lack of calibration methods during the production process of the torque sensor. Therefore, the torque sensor produced is not accurately calibrated, and there is a problem of low production quality. Summary of the invention

[0004] The objective of the present invention is to provide a torque sensor automatic calibration system and method. The present invention connects the torque sensor to a communication mainboard, simulates different load conditions to calibrate the torque sensor, and calibrates the torque sensor according to multiple load conditions, thereby improving the accuracy of the torque sensor calibration. Based on the calibration method, the torque sensor is detected to see if there is an abnormality, and a torque sensor with an abnormal state is discovered in time, thereby improving the quality of the torque sensor.

[0005] The purpose of the present invention is achieved by the following technical means:

[0006] In a first aspect, the present invention provides a method for automatic calibration of a torque sensor, comprising:

[0007] Connect the torque sensor to the communication mainboard;

[0008] Simulate different load conditions to obtain the calibration parameters of the torque sensor;

[0009] Writing the calibration parameters of the torque sensor into the torque sensor to complete the calibration of the torque sensor;

[0010] The torque sensor output is detected, and when it is detected that the torque sensor output is different from the calibrated output, an alarm message is issued.

[0011] Preferably, simulating different load conditions to obtain calibration parameters of the torque sensor includes:

[0012] Initialize the torque sensor;

[0013] Apply torque loading to the torque sensor to obtain load data of the torque sensor;

[0014] The calibration parameters of the torque sensor are calculated according to the load data of the torque sensor.

[0015] Preferably, performing torque loading on the torque sensor to obtain load data of the torque sensor includes:

[0016] Apply zero-point torque loading to the torque sensor to obtain the zero-point output of the torque sensor;

[0017] Apply half-point torque loading to the torque sensor to obtain the half-point output of the torque sensor;

[0018] The torque sensor is loaded with full-point torque to obtain the full-point output of the torque sensor.

[0019] Preferably, performing torque loading on the torque sensor to obtain load data of the torque sensor includes:

[0020] Setting a first temperature, applying torque loading to the torque sensor, and obtaining a first zero-point output, a first half-point output, and a first full-point output of the torque sensor;

[0021] Setting a second temperature, applying torque loading to the torque sensor, and obtaining a second zero-point output, a second half-point output, and a second full-point output of the torque sensor;

[0022] A third temperature is set, torque is loaded on the torque sensor, and a third zero-point output, a third half-point output, and a third full-point output of the torque sensor are obtained.

[0023] Preferably, calculating the calibration parameters of the torque sensor according to the load data of the torque sensor includes:

[0024] Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first zero-point output, the second zero-point output and the third zero-point output to obtain a first output-temperature model;

[0025] Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first half-point output, the second half-point output and the third half-point output to obtain a second output-temperature model;

[0026] Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first full point output, the second full point output and the third full point output to obtain a third output-temperature model;

[0027] Fitting calculation is performed according to the zero-point torque, half-point torque, full-point torque, zero-point output, half-point output and full-point output of the torque sensor to obtain a conversion coefficient;

[0028] Obtaining a conversion equation according to the conversion coefficient and the zero point output;

[0029] The output-temperature model is expressed as follows:

[0030]

[0031] in, For the Output - Output of the temperature model, , and For the Output-Temperature Model The temperature coefficient, is the actual temperature, For the temperature, , ;

[0032] The conversion equation is expressed as follows:

[0033]

[0034] in, To predict the torque, To predict the output, For zero output, is the conversion factor.

[0035] Preferably, the detecting the torque sensor output and issuing an alarm message when it is detected that the torque sensor output is different from the calibrated output includes:

[0036] Get the current ambient temperature and get the actual temperature;

[0037] Calculating a first prediction output, a second prediction output, and a third prediction output according to the threshold interval of the actual temperature;

[0038] Obtaining the current torque sensor output to obtain the actual output;

[0039] Compare the actual output with the first predicted output, the second predicted output and the third predicted output, and select the predicted output with the smallest difference to calculate the predicted torque;

[0040] Calculating an evaluation index according to the actual torque and the predicted torque;

[0041] When the evaluation index is greater than the abnormal threshold, an abnormal alarm is issued to the torque sensor;

[0042] The calculation formula of the evaluation index is as follows:

[0043]

[0044] in, As the evaluation index, To predict the torque, is the actual torque, is the torque sensor range.

[0045] Preferably, the torque sensor is connected to the communication mainboard via RS485 communication protocol.

[0046] In a second aspect, the present invention provides a torque sensor automatic calibration system, which is applied to the above-mentioned torque sensor automatic calibration method, including: a calibration tool and a PC;

[0047] The calibration tooling includes a communication mainboard and an interface module;

[0048] The communication mainboard includes a plurality of embedded modules, a communication module and a calibration module;

[0049] The embedded module is used to connect to the torque sensor and supply power to the torque sensor;

[0050] The communication module is used to connect to the PC to transmit the calibration data of the torque sensor;

[0051] The calibration module is used to simulate different load conditions and calibrate the torque sensor;

[0052] The interface module is used to connect the torque sensor to the communication mainboard;

[0053] The PC includes a command module, a processing module and an alarm module;

[0054] The command module is used to issue the load condition of the torque sensor calibration process;

[0055] The processing module is used to process the calibration data and calculate the calibration parameters of the torque sensor;

[0056] The alarm module is used to detect an abnormal torque sensor and send out an alarm message when an abnormality is detected in the torque sensor.

[0057] Preferably, the step of processing the calibration data to calculate the calibration parameters of the torque sensor includes:

[0058] Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first zero-point output, the second zero-point output and the third zero-point output to obtain a first output-temperature model;

[0059] Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first half-point output, the second half-point output and the third half-point output to obtain a second output-temperature model;

[0060] Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first full point output, the second full point output and the third full point output to obtain a third output-temperature model;

[0061] Fitting calculation is performed according to the zero-point torque, half-point torque, full-point torque, zero-point output, half-point output and full-point output of the torque sensor to obtain a conversion coefficient;

[0062] Obtaining a conversion equation according to the conversion coefficient and the zero point output;

[0063] The output-temperature model is expressed as follows:

[0064]

[0065] in, For the Output - Output of the temperature model, , and For the Output-Temperature Model The temperature coefficient, is the actual temperature, For the temperature, , ;

[0066] The conversion equation is expressed as follows:

[0067]

[0068] in, To predict the torque, To predict the output, For zero output, is the conversion factor.

[0069] Preferably, the torque sensor for detecting abnormalities, when detecting an abnormality in the torque sensor, issues an alarm message, including:

[0070] Get the current ambient temperature and get the actual temperature;

[0071] Calculating a first prediction output, a second prediction output, and a third prediction output according to the threshold interval of the actual temperature;

[0072] Get the current torque sensor output and get the actual output;

[0073] Compare the actual output with the first predicted output, the second predicted output and the third predicted output, and select the predicted output with the smallest difference to calculate the predicted torque;

[0074] Calculating an evaluation index according to the actual torque and the predicted torque;

[0075] When the evaluation index is greater than the abnormal threshold, an abnormal alarm is issued to the torque sensor;

[0076] The calculation formula of the evaluation index is as follows:

[0077]

[0078] in, As the evaluation index, To predict the torque, is the actual torque, is the torque sensor range.

[0079] Compared with the prior art, the present invention has the following beneficial effects:

[0080] The present invention connects the torque sensor to the communication mainboard, simulates different load conditions to calibrate the torque sensor, and calibrates the torque sensor according to multiple load conditions, thereby improving the accuracy of the torque sensor calibration; based on the calibration method, it is detected whether the torque sensor is abnormal, and the torque sensor with abnormal state is discovered in time, thereby improving the quality of the torque sensor;

[0081] The present invention obtains load data of the torque sensor and calculates calibration parameters of the torque sensor after initializing and torque loading the torque sensor, thereby providing a data basis for subsequent calibration of the torque sensor.

[0082] The present invention obtains load data of the torque sensor and calculates calibration parameters of the torque sensor after initializing and torque loading the torque sensor, thereby providing a data basis for subsequent calibration of the torque sensor.

[0083] The present invention performs interpolation calculation based on temperature and output data to obtain an output-temperature model to perform temperature compensation in the calibration process, thereby improving the accuracy of torque sensor calibration.

[0084] The present invention obtains the ambient temperature, selects a suitable output-temperature model from the data burned in the torque sensor to perform approximate calculation of the predicted torque, calculates an evaluation index based on the predicted torque and the actual torque, and issues an abnormal alarm for the torque sensor when the evaluation index is greater than an abnormal threshold, thereby promptly discovering the torque sensor in an abnormal state and improving the quality of the torque sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0086] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0087] Figure 1 A schematic diagram of a flow chart of a method for automatic calibration of a torque sensor provided in this embodiment;

[0088] Figure 2 A schematic diagram of the process of step S2 provided in this embodiment;

[0089] Figure 3 A schematic diagram of the process of step S23 provided in this embodiment;

[0090] Figure 4 A schematic diagram of the process of step S4 provided in this embodiment;

[0091] Figure 5 A schematic diagram of the structure of an automatic calibration system for a torque sensor provided in this embodiment;

[0092] Figure 6 A schematic diagram of the structure of an electronic device provided in this embodiment. DETAILED DESCRIPTION

[0093] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0094] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0095] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0096] The present invention provides a method for automatic calibration of a torque sensor, such as Figure 1 As shown, the following steps are included:

[0097] S1, connect the torque sensor to the communication mainboard;

[0098] S2, simulating different load conditions to obtain the calibration parameters of the torque sensor;

[0099] S3, writing the calibration parameters of the torque sensor into the torque sensor to complete the calibration of the torque sensor;

[0100] S4, detecting the output of the torque sensor, and issuing an alarm message when it is detected that the output of the torque sensor is different from the calibrated output.

[0101] Specifically, the communication mainboard is composed of multiple embedded boards, interface boards and communication cables. The embedded boards are connected to the torque sensor through the interface board to power the torque sensor for subsequent calibration. The embedded boards are connected to the PC, and each embedded board has an independent communication address to communicate with the PC. The PC can calibrate a single torque sensor or multiple torque sensors at the same time. Different load conditions are selected under the control of the PC to calibrate and detect abnormalities on the torque sensor. The number of embedded boards and interface boards in this embodiment is 48.

[0102] In this embodiment, the torque sensor is connected to the communication mainboard and different load conditions are simulated to calibrate the torque sensor. The torque sensor is calibrated according to multiple load conditions, thereby improving the accuracy of the torque sensor calibration. Based on the calibration method, the torque sensor is detected to see if there is any abnormality, and the torque sensor with abnormal status is discovered in time, thereby improving the quality of the torque sensor.

[0103] In some embodiments, step S2 simulates different load conditions to obtain calibration parameters of the torque sensor, such as Figure 2 As shown, the following steps are included:

[0104] S21, initializing the torque sensor;

[0105] S22, performing torque loading on the torque sensor to obtain load data of the torque sensor;

[0106] S23, calculating calibration parameters of the torque sensor according to the load data of the torque sensor.

[0107] It should be noted that the step of initializing the torque sensor is to write the default configuration to the torque sensor. The default configuration refers to the initial state or default setting of the torque sensor when no specific settings or adjustments are made. The purpose is to provide a basic starting point for work. After initialization, the torque sensor can be further adjusted according to actual conditions. The default configuration includes the measurement range, output format, power supply requirements, etc. of the torque sensor. The load data of the torque sensor includes the load conditions and output voltage of the torque sensor. After the torque sensor is loaded with torque, the torque sensor will output a voltage that changes with the torque. The torque loaded on the torque sensor and its corresponding output voltage are obtained.

[0108] In this embodiment, after the torque sensor is initialized and torque loaded, load data of the torque sensor is obtained and calibration parameters of the torque sensor are calculated, thereby providing a data basis for subsequent calibration of the torque sensor.

[0109] In some embodiments, step S22, performing torque loading on the torque sensor to obtain load data of the torque sensor, includes the following steps:

[0110] Apply zero-point torque loading to the torque sensor to obtain the zero-point output of the torque sensor;

[0111] Apply half-point torque loading to the torque sensor to obtain the half-point output of the torque sensor;

[0112] The torque sensor is loaded with full-point torque to obtain the full-point output of the torque sensor.

[0113] It should be noted that zero-point torque loading means that the torque sensor has no external torque, and its corresponding output is zero-point output; full-point torque loading means that the torque sensor is applied with a torque of its maximum measured value, and its corresponding output is full-point output; half-point torque loading means that the torque sensor is applied with a torque of half of its maximum measured value, and its corresponding output is half-point output.

[0114] In some embodiments, step S22, performing torque loading on the torque sensor to obtain load data of the torque sensor, includes the following steps:

[0115] Setting a first temperature, applying torque loading to the torque sensor, and obtaining a first zero-point output, a first half-point output, and a first full-point output of the torque sensor;

[0116] Setting a second temperature, applying torque loading to the torque sensor, and obtaining a second zero-point output, a second half-point output, and a second full-point output of the torque sensor;

[0117] A third temperature is set, torque is loaded on the torque sensor, and a third zero-point output, a third half-point output, and a third full-point output of the torque sensor are obtained.

[0118] It should be noted that the output of the torque sensor will be affected by temperature. The performance of the strain gauge or magnetic material in the torque sensor will change with the change of temperature, thus affecting the output of the torque sensor. Therefore, when calibrating the torque sensor, it is necessary to consider the ambient temperature of the torque sensor during use. In this embodiment, the first temperature, the second temperature and the third temperature are 0°C, 25°C and 60°C respectively. The reason for setting them is that the torque sensor is widely used in this temperature range. Considering this temperature range, compensating the torque sensor can meet most of the usage situations. This embodiment does not limit the temperature range and division intervals. The temperature range, the setting of temperature points and the number of temperature points can be adjusted according to actual conditions.

[0119] In this embodiment, the torque sensor outputs at three temperatures are obtained by setting the first temperature, the second temperature, and the third temperature, respectively, which provides a data basis for subsequent calibration of the torque sensor taking temperature compensation into consideration.

[0120] In some embodiments, in step S23, the calibration parameters of the torque sensor are calculated according to the load data of the torque sensor, such as Figure 3 As shown, the following steps are included:

[0121] S231, performing interpolation calculation according to the first temperature, the second temperature, the third temperature, the first zero-point output, the second zero-point output, and the third zero-point output to obtain a first output-temperature model;

[0122] S232, performing interpolation calculation according to the first temperature, the second temperature, the third temperature, the first half-point output, the second half-point output, and the third half-point output to obtain a second output-temperature model;

[0123] S233, performing interpolation calculation according to the first temperature, the second temperature, the third temperature, the first full point output, the second full point output and the third full point output to obtain a third output-temperature model;

[0124] S234, performing fitting calculation according to the zero-point torque, half-point torque, full-point torque, zero-point output, half-point output and full-point output of the torque sensor to obtain a conversion coefficient;

[0125] S235, obtaining a conversion equation according to the conversion coefficient and the zero point output;

[0126] The output-temperature model is expressed as follows:

[0127]

[0128] in, For the Output - Output of the temperature model, , and For the Output-Temperature Model The temperature coefficient, is the actual temperature, For the temperature, , ;

[0129] The conversion equation is expressed as follows:

[0130]

[0131] in, To predict the torque, To predict the output, For zero output, is the conversion factor.

[0132] It should be noted that there are three functional relationships in the output-temperature model, and the number of functions depends on the number of temperature points. The number of temperature points in this embodiment is three, so there are three functional relationships in the output-temperature model. Taking the first output-temperature model as an example, the three functional relationships of the first output-temperature model are the threshold interval between the first temperature and the second temperature under zero-point torque loading conditions, the change relationship between the output of the torque sensor and the temperature, the threshold interval between the second temperature and the third temperature under zero-point torque loading conditions, the change relationship between the output of the torque sensor and the temperature, and the threshold interval above the third temperature under zero-point torque loading conditions. Combined with the three functional relationships of the second output-temperature model and the third output-temperature model, a total of nine functional relationships are formed, covering the change relationship between the output and temperature of the torque sensor under zero-point torque loading, half-point torque loading and full-point torque loading. The number of output-temperature models in this embodiment can be adjusted according to actual conditions. The conversion coefficient is used to convert the obtained output voltage into the torque value to be measured. Through the three-point calibration method, the torque loading and output at three temperatures are fitted and calculated respectively to obtain the conversion coefficients at three temperatures.

[0133] In this embodiment, an output-temperature model is obtained by performing interpolation calculation according to the temperature and output data to perform temperature compensation on the calibration process, thereby improving the accuracy of the torque sensor calibration.

[0134] In some embodiments, in step S4, the torque sensor output is detected, and when it is detected that the torque sensor output is different from the calibrated output, an alarm message is issued, such as Figure 4 As shown, the following steps are included:

[0135] S41, obtaining the current ambient temperature and obtaining the actual temperature;

[0136] S42, calculating a first prediction output, a second prediction output, and a third prediction output according to the threshold interval in which the actual temperature is located;

[0137] S43, obtaining the current torque sensor output to obtain the actual output;

[0138] S44, comparing the actual output with the first predicted output, the second predicted output and the third predicted output, and selecting the predicted output with the smallest difference to calculate the predicted torque;

[0139] S45, calculating an evaluation index according to the actual torque and the predicted torque;

[0140] S46, when the evaluation index is greater than the abnormal threshold, an abnormal alarm is issued to the torque sensor;

[0141] The calculation formula of the evaluation index is as follows:

[0142]

[0143] in, As the evaluation index, To predict the torque, is the actual torque, is the torque sensor range.

[0144] It should be noted that the predicted output is the output voltage calculated based on the actual temperature and the functional relationship in the output-temperature model. By obtaining the ambient temperature of the detection process, the functional relationship matching the ambient temperature is selected to calculate the output voltage. In this embodiment, there are three matching functional relationships. For example, when the torque sensor is detected at an ambient temperature of 33°C, the functional relationship in which the actual temperature is at the second temperature and the third temperature in the three output-temperature models is selected to calculate the output voltage, and the first predicted output, the second predicted output and the third predicted output are obtained. After a certain torque is loaded on the torque sensor, it is necessary to determine which temperature change the output of the torque sensor after the torque loading conforms to. In this embodiment, the predicted output with the smallest difference is selected by comparing the actual output with the three predicted outputs, and the corresponding output-temperature model conforms to the change of the output with temperature under the torque loading condition. The predicted output is input into the conversion equation for calculation to obtain the predicted torque, and the evaluation index is calculated based on the predicted torque and the actual torque. When the evaluation index is greater than the abnormal threshold, it indicates that the torque sensor is in an abnormal state and an abnormal alarm is issued. The abnormal threshold of this embodiment is set according to the actual situation and is not limited here.

[0145] In this embodiment, the predicted torque is approximately calculated by acquiring the ambient temperature and selecting a suitable output-temperature model from the data burned into the torque sensor. An evaluation index is calculated based on the predicted torque and the actual torque. When the evaluation index is greater than the abnormal threshold, an abnormal alarm is issued for the torque sensor, and torque sensors with abnormal states are discovered in time, thereby improving the quality of the torque sensor.

[0146] In some embodiments, the torque sensor is connected to the communication mainboard via RS485 communication protocol.

[0147] In this embodiment, communication with the communication mainboard and the PC is performed through RS485 networking, allowing multiple torque sensors to be calibrated simultaneously, thereby improving the efficiency of torque sensor calibration.

[0148] The present invention provides a torque sensor automatic calibration system, which is applied to the above-mentioned torque sensor automatic calibration method, such as Figure 5 As shown, it includes: calibration tooling and PC;

[0149] The calibration tooling includes a communication mainboard and an interface module;

[0150] A communication mainboard, including multiple embedded modules, a communication module and a calibration module;

[0151] An embedded module is used to connect to the torque sensor and supply power to the torque sensor;

[0152] Communication module, used to connect with PC to transmit the calibration data of torque sensor;

[0153] Calibration module, used to simulate different load conditions and calibrate the torque sensor;

[0154] An interface module for connecting the torque sensor to the communication main board;

[0155] The PC includes a command module, a processing module and an alarm module;

[0156] A command module is used to issue load conditions for the torque sensor calibration process;

[0157] A processing module, used for processing the calibration data and calculating the calibration parameters of the torque sensor;

[0158] The alarm module is used to detect abnormal torque sensors and send out an alarm message when an abnormality is detected in the torque sensor.

[0159] The number of embedded modules and communication modules in this embodiment is 48.

[0160] In this embodiment, the torque sensor is connected to the communication mainboard, and the calibration module simulates different load conditions to calibrate multiple torque sensors at the same time, thereby improving the efficiency of the torque sensor calibration. The processing module calibrates the torque sensor according to multiple load conditions, thereby improving the accuracy of the torque sensor calibration. The alarm module detects whether there is any abnormality in the torque sensor based on the calibration method, and promptly discovers torque sensors with abnormal status, thereby improving the quality of the torque sensor.

[0161] In some embodiments, processing the calibration data to calculate the calibration parameters of the torque sensor includes the following steps:

[0162] Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first zero-point output, the second zero-point output and the third zero-point output to obtain a first output-temperature model;

[0163] Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first half-point output, the second half-point output and the third half-point output to obtain a second output-temperature model;

[0164] Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first full point output, the second full point output and the third full point output to obtain a third output-temperature model;

[0165] Fitting calculation is performed according to the zero-point torque, half-point torque, full-point torque, zero-point output, half-point output and full-point output of the torque sensor to obtain a conversion coefficient;

[0166] According to the conversion coefficient and the zero point output, the conversion equation is obtained;

[0167] The output-temperature model is expressed as follows:

[0168]

[0169] in, For the Output - Output of the temperature model, , and For the Output-Temperature Model The temperature coefficient, is the actual temperature, For the temperature, , ;

[0170] The conversion equation is expressed as follows:

[0171]

[0172] in, To predict the torque, To predict the output, For zero output, is the conversion factor.

[0173] In some embodiments, detecting an abnormal torque sensor, when detecting that the torque sensor is abnormal, issuing an alarm message, includes the following steps:

[0174] Get the current ambient temperature and get the actual temperature;

[0175] Calculate a first prediction output, a second prediction output, and a third prediction output according to the threshold interval of the actual temperature;

[0176] Get the current torque sensor output and get the actual output;

[0177] Compare the actual output with the first predicted output, the second predicted output and the third predicted output, and select the predicted output with the smallest difference to calculate the predicted torque;

[0178] Calculate the evaluation index based on the actual torque and the predicted torque;

[0179] When the evaluation index is greater than the abnormal threshold, an abnormal alarm is issued for the torque sensor;

[0180] The calculation formula of the evaluation index is as follows:

[0181]

[0182] in, As the evaluation index, To predict the torque, is the actual torque, is the torque sensor range.

[0183] It should be understood that the disclosed system can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of the above modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, each functional module can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules.

[0184] The present invention provides an electronic device 2, such as Figure 6 As shown, a processor 21 and a memory 22, the memory 22 is used to store computer program codes, the computer program codes include computer instructions, when the processor 21 executes the computer instructions, the electronic device executes the above-mentioned torque sensor automatic calibration method.

[0185] The electronic device 2 includes a processor 21, a memory 22, an output device 23, and an input device 24. The processor 21, the memory 22, the output device 23, and the input device 24 are coupled via a connector, and the connector includes various interfaces, transmission lines, or buses, etc., which are not limited in the embodiments of the present invention. It should be understood that in various embodiments of the present invention, coupling refers to mutual connection in a specific manner, including direct connection or indirect connection through other devices, for example, through various interfaces, transmission lines, buses, etc.

[0186] The processor 21 may be one or more graphics processing units (GPUs). When the processor 21 is a GPU, the GPU may be a single-core GPU or a multi-core GPU. Optionally, the processor 21 may be a processor group consisting of multiple GPUs, and the multiple processors are coupled to each other via one or more buses. Optionally, the processor 21 may also be other types of processors, etc., which are not limited in the embodiments of the present invention.

[0187] The memory 22 can be used to store computer program instructions and various computer program codes including program codes for executing the scheme of the present invention. Optionally, the memory 22 includes but is not limited to random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM), or portable read only memory (CD-ROM), and the memory 22 is used for related instructions and data.

[0188] The input device 24 is used to input data and / or signals, and the output device 23 is used to output data and / or signals. The output device 23 and the input device 24 can be independent devices or an integrated device.

[0189] The present invention provides a computer-readable storage medium, in which a computer program is stored. The computer program includes program instructions. When the program instructions are executed by a processor of an electronic device, the processor executes the above-mentioned torque sensor automatic calibration method.

[0190] The above are only specific embodiments of the present invention, which enable those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for automatic calibration of a torque sensor, characterized in that: include: Connect the torque sensor to the communication mainboard; Simulate different load conditions to obtain the calibration parameters of the torque sensor; Writing the calibration parameters of the torque sensor into the torque sensor to complete the calibration of the torque sensor; The torque sensor output is detected, and when it is detected that the torque sensor output is different from the calibrated output, an alarm message is issued. Wherein, simulating different load conditions to obtain calibration parameters of the torque sensor includes: Initialize the torque sensor; Apply torque loading to the torque sensor to obtain load data of the torque sensor; Calculating calibration parameters of the torque sensor according to load data of the torque sensor includes: Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first zero-point output, the second zero-point output and the third zero-point output to obtain a first output-temperature model; Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first half-point output, the second half-point output and the third half-point output to obtain a second output-temperature model; Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first full point output, the second full point output and the third full point output to obtain a third output-temperature model; Fitting calculation is performed according to the zero-point torque, half-point torque, full-point torque, zero-point output, half-point output and full-point output of the torque sensor to obtain a conversion coefficient; Obtaining a conversion equation according to the conversion coefficient and the zero point output; The output-temperature model is expressed as follows: ； in, For the Output - Output of the temperature model, , and For the Output-Temperature Model The temperature coefficient, is the actual temperature, For the temperature, , ; The conversion equation is expressed as follows: ； in, To predict the torque, To predict the output, is zero output, is the conversion factor; The step of performing torque loading on the torque sensor to obtain load data of the torque sensor includes: Apply zero-point torque loading to the torque sensor to obtain the zero-point output of the torque sensor; Apply half-point torque loading to the torque sensor to obtain the half-point output of the torque sensor; Apply full-point torque loading to the torque sensor to obtain the full-point output of the torque sensor; Among them, the zero-point torque loading means that the torque sensor has no external torque, and its corresponding output is the zero-point output; the full-point torque loading means that the torque sensor is applied with a torque of its maximum measured value, and its corresponding output is the full-point output; the half-point torque loading means that the torque sensor is applied with a torque of half of its maximum measured value, and its corresponding output is the half-point output.

2. The method for automatic calibration of a torque sensor according to claim 1, characterized in that: The step of performing torque loading on the torque sensor to obtain load data of the torque sensor includes: Setting a first temperature, applying torque loading to the torque sensor, and obtaining a first zero-point output, a first half-point output, and a first full-point output of the torque sensor; Setting a second temperature, applying torque loading to the torque sensor, and obtaining a second zero-point output, a second half-point output, and a second full-point output of the torque sensor; A third temperature is set, torque is loaded on the torque sensor, and a third zero-point output, a third half-point output, and a third full-point output of the torque sensor are obtained.

3. The method for automatic calibration of a torque sensor according to claim 1, characterized in that: The step of detecting the output of the torque sensor and issuing an alarm message when it is detected that the output of the torque sensor is different from the calibrated output includes: Get the current ambient temperature and get the actual temperature; Calculating a first prediction output, a second prediction output, and a third prediction output according to the threshold interval of the actual temperature; Obtaining the current torque sensor output to obtain the actual output; Compare the actual output with the first predicted output, the second predicted output and the third predicted output, and select the predicted output with the smallest difference to calculate the predicted torque; Calculating an evaluation index according to the actual torque and the predicted torque; When the evaluation index is greater than the abnormal threshold, an abnormal alarm is issued to the torque sensor; The calculation formula of the evaluation index is as follows: ； in, As the evaluation index, To predict the torque, is the actual torque, is the torque sensor range.

4. The method for automatic calibration of a torque sensor according to claim 1, characterized in that: The torque sensor is connected to the communication mainboard via the RS485 communication protocol.

5. A torque sensor automatic calibration system, using the torque sensor automatic calibration method according to any one of claims 1 to 4, characterized in that: include: Calibration tooling and PC; The calibration tooling includes a communication mainboard and an interface module; The communication mainboard includes a plurality of embedded modules, a communication module and a calibration module; The embedded module is used to connect to the torque sensor and supply power to the torque sensor; The communication module is used to connect to the PC to transmit the calibration data of the torque sensor; The calibration module is used to simulate different load conditions and calibrate the torque sensor; The interface module is used to connect the torque sensor to the communication mainboard; The PC includes a command module, a processing module and an alarm module; The command module is used to issue the load condition of the torque sensor calibration process; The processing module is used to process the calibration data and calculate the calibration parameters of the torque sensor; The alarm module is used to detect an abnormal torque sensor and send out an alarm message when an abnormality is detected in the torque sensor; The step of processing the calibration data to calculate the calibration parameters of the torque sensor includes: Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first zero-point output, the second zero-point output and the third zero-point output to obtain a first output-temperature model; Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first half-point output, the second half-point output and the third half-point output to obtain a second output-temperature model; Perform interpolation calculation according to the first temperature, the second temperature, the third temperature, the first full point output, the second full point output and the third full point output to obtain a third output-temperature model; Fitting calculation is performed according to the zero-point torque, half-point torque, full-point torque, zero-point output, half-point output and full-point output of the torque sensor to obtain a conversion coefficient; Obtaining a conversion equation according to the conversion coefficient and the zero point output; The output-temperature model is expressed as follows: ； in, For the Output - Output of the temperature model, , and For the Output-Temperature Model The temperature coefficient, is the actual temperature, For the temperature, , ; The conversion equation is expressed as follows: ； in, To predict the torque, To predict the output, is zero output, is the conversion factor; The step of performing torque loading on the torque sensor to obtain load data of the torque sensor includes: Apply zero-point torque loading to the torque sensor to obtain the zero-point output of the torque sensor; Apply half-point torque loading to the torque sensor to obtain the half-point output of the torque sensor; Apply full-point torque loading to the torque sensor to obtain the full-point output of the torque sensor; Among them, the zero-point torque loading means that the torque sensor has no external torque, and its corresponding output is the zero-point output; the full-point torque loading means that the torque sensor is applied with a torque of its maximum measured value, and its corresponding output is the full-point output; the half-point torque loading means that the torque sensor is applied with a torque of half of its maximum measured value, and its corresponding output is the half-point output.

6. The torque sensor automatic calibration system according to claim 5, characterized in that: The torque sensor for detecting abnormalities, when detecting an abnormality in the torque sensor, issues an alarm message, including: Get the current ambient temperature and get the actual temperature; Calculating a first prediction output, a second prediction output, and a third prediction output according to the threshold interval of the actual temperature; Get the current torque sensor output and get the actual output; Compare the actual output with the first predicted output, the second predicted output and the third predicted output, and select the predicted output with the smallest difference to calculate the predicted torque; Calculating an evaluation index according to the actual torque and the predicted torque; When the evaluation index is greater than the abnormal threshold, an abnormal alarm is issued to the torque sensor; The calculation formula of the evaluation index is as follows: ； in, As the evaluation index, To predict the torque, is the actual torque, is the torque sensor range.

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